diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-01_10_31--CLbest_g1_t24.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-01_10_31--CLbest_g1_t24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7f2a73f795934ac82e66f0ffb4cc2b42de09803e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-01_10_31--CLbest_g1_t24.txt
@@ -0,0 +1,6071 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2,4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLbest_g1_t24', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2, 4]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.632 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5287
+t=10: Selected seed 195 with value = 0.5287
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6103
+t=26: Selected seed 195 with value = 0.6103
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7330
+t=42: Selected seed 195 with value = 0.7330
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8329
+t=58: Selected seed 195 with value = 0.8329
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9044
+t=74: Selected seed 195 with value = 0.9044
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=90: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4408
+t=10: Selected seed 195 with value = 0.4408
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4943
+t=26: Selected seed 195 with value = 0.4943
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5837
+t=42: Selected seed 195 with value = 0.5837
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7030
+t=58: Selected seed 195 with value = 0.7030
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7889
+t=74: Selected seed 195 with value = 0.7889
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=90: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=106: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=10: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4919
+t=26: Selected seed 195 with value = 0.4919
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5977
+t=42: Selected seed 195 with value = 0.5977
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6908
+t=58: Selected seed 195 with value = 0.6908
+Query 1/1: Action query time = 1.144 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8347
+t=74: Selected seed 195 with value = 0.8347
+Query 1/1: Action query time = 1.090 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9130
+t=90: Selected seed 195 with value = 0.9130
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.044 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5127
+t=10: Selected seed 195 with value = 0.5127
+Query 1/1: Action query time = 1.012 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5304
+t=26: Selected seed 195 with value = 0.5304
+Query 1/1: Action query time = 1.008 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5894
+t=42: Selected seed 195 with value = 0.5894
+Query 1/1: Action query time = 1.057 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=58: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 1.110 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9077
+t=74: Selected seed 195 with value = 0.9077
+Query 1/1: Action query time = 1.167 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=90: Selected seed 195 with value = 0.9950
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5040
+t=10: Selected seed 195 with value = 0.5040
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5801
+t=26: Selected seed 195 with value = 0.5801
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6193
+t=42: Selected seed 195 with value = 0.6193
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7442
+t=58: Selected seed 195 with value = 0.7442
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7872
+t=74: Selected seed 195 with value = 0.7872
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=90: Selected seed 195 with value = 0.9017
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=106: Selected seed 195 with value = 0.9978
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=10: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5787
+t=26: Selected seed 195 with value = 0.5787
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6637
+t=42: Selected seed 195 with value = 0.6637
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7753
+t=58: Selected seed 195 with value = 0.7753
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=74: Selected seed 195 with value = 0.8884
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=90: Selected seed 195 with value = 0.9743
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4211
+t=10: Selected seed 195 with value = 0.4211
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5006
+t=26: Selected seed 195 with value = 0.5006
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5840
+t=42: Selected seed 195 with value = 0.5840
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6363
+t=58: Selected seed 195 with value = 0.6363
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7951
+t=74: Selected seed 195 with value = 0.7951
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8720
+t=90: Selected seed 195 with value = 0.8720
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=106: Selected seed 195 with value = 0.9542
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4596
+t=10: Selected seed 195 with value = 0.4596
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4815
+t=26: Selected seed 195 with value = 0.4815
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=42: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7103
+t=58: Selected seed 195 with value = 0.7103
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=74: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9107
+t=90: Selected seed 195 with value = 0.9107
+Query 1/1: Action query time = 1.056 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=106: Selected seed 195 with value = 0.9954
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 1.297 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4854
+t=10: Selected seed 195 with value = 0.4854
+Query 1/1: Action query time = 1.311 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5187
+t=26: Selected seed 195 with value = 0.5187
+Query 1/1: Action query time = 1.233 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=42: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 1.231 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=58: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 1.250 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8428
+t=74: Selected seed 195 with value = 0.8428
+Query 1/1: Action query time = 1.274 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9102
+t=90: Selected seed 195 with value = 0.9102
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 1.236 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5091
+t=10: Selected seed 195 with value = 0.5091
+Query 1/1: Action query time = 1.383 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=26: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6234
+t=42: Selected seed 195 with value = 0.6234
+Query 1/1: Action query time = 0.953 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7735
+t=58: Selected seed 195 with value = 0.7735
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8617
+t=74: Selected seed 195 with value = 0.8617
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=90: Selected seed 195 with value = 0.9717
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5121
+t=10: Selected seed 195 with value = 0.5121
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5468
+t=26: Selected seed 195 with value = 0.5468
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5927
+t=42: Selected seed 195 with value = 0.5927
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6918
+t=58: Selected seed 195 with value = 0.6918
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8851
+t=74: Selected seed 195 with value = 0.8851
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9500
+t=90: Selected seed 195 with value = 0.9500
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7525
+t=106: Selected seed 195 with value = 0.7525
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7041
+t=122: Selected seed 195 with value = 0.7041
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8665
+t=138: Selected seed 195 with value = 0.8665
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8368
+t=154: Selected seed 195 with value = 0.8368
+Query 1/1: Action query time = 0.988 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7479
+t=170: Selected seed 195 with value = 0.7479
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=186: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8207
+t=202: Selected seed 195 with value = 0.8207
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8192
+t=218: Selected seed 195 with value = 0.8192
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9022
+t=234: Selected seed 195 with value = 0.9022
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=250: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7525
+t=266: Selected seed 195 with value = 0.7525
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7776
+t=282: Selected seed 195 with value = 0.7776
+Query 1/1: Action query time = 0.960 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7363
+t=298: Selected seed 195 with value = 0.7363
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=11--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=11--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5105
+t=10: Selected seed 195 with value = 0.5105
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6003
+t=26: Selected seed 195 with value = 0.6003
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7135
+t=42: Selected seed 195 with value = 0.7135
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8287
+t=58: Selected seed 195 with value = 0.8287
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=74: Selected seed 195 with value = 0.9086
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5125
+t=10: Selected seed 195 with value = 0.5125
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5739
+t=26: Selected seed 195 with value = 0.5739
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6179
+t=42: Selected seed 195 with value = 0.6179
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7605
+t=58: Selected seed 195 with value = 0.7605
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8593
+t=74: Selected seed 195 with value = 0.8593
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=90: Selected seed 195 with value = 0.9183
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=106: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=122: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=202: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 0.961 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=218: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.958 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=234: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=250: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=266: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=282: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 1.121 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=298: Selected seed 195 with value = 0.9905
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=13--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=13--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5037
+t=10: Selected seed 195 with value = 0.5037
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5001
+t=26: Selected seed 195 with value = 0.5001
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5721
+t=42: Selected seed 195 with value = 0.5721
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6898
+t=58: Selected seed 195 with value = 0.6898
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7963
+t=74: Selected seed 195 with value = 0.7963
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8913
+t=90: Selected seed 195 with value = 0.8913
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=106: Selected seed 195 with value = 0.9889
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=14--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=14--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 12 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4871
+t=10: Selected seed 195 with value = 0.4871
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5368
+t=26: Selected seed 195 with value = 0.5368
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5963
+t=42: Selected seed 195 with value = 0.5963
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6831
+t=58: Selected seed 195 with value = 0.6831
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8296
+t=74: Selected seed 195 with value = 0.8296
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9219
+t=90: Selected seed 195 with value = 0.9219
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=15--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=15--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 13 (86.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4774
+t=10: Selected seed 195 with value = 0.4774
+Query 1/1: Action query time = 1.004 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=26: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5981
+t=42: Selected seed 195 with value = 0.5981
+Query 1/1: Action query time = 1.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6937
+t=58: Selected seed 195 with value = 0.6937
+Query 1/1: Action query time = 1.152 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=74: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 1.150 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8835
+t=90: Selected seed 195 with value = 0.8835
+Query 1/1: Action query time = 1.099 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=106: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=16--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=16--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 14 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 1.138 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4656
+t=10: Selected seed 195 with value = 0.4656
+Query 1/1: Action query time = 1.161 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4956
+t=26: Selected seed 195 with value = 0.4956
+Query 1/1: Action query time = 1.177 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=42: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 1.117 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6720
+t=58: Selected seed 195 with value = 0.6720
+Query 1/1: Action query time = 1.024 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7941
+t=74: Selected seed 195 with value = 0.7941
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=90: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=106: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=17--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=17--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 15 (88.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5007
+t=10: Selected seed 195 with value = 0.5007
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5095
+t=26: Selected seed 195 with value = 0.5095
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=42: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7352
+t=58: Selected seed 195 with value = 0.7352
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8218
+t=74: Selected seed 195 with value = 0.8218
+Query 1/1: Action query time = 1.028 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9321
+t=90: Selected seed 195 with value = 0.9321
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=18--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=18--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 16 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4926
+t=10: Selected seed 195 with value = 0.4926
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5041
+t=26: Selected seed 195 with value = 0.5041
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6230
+t=42: Selected seed 195 with value = 0.6230
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7670
+t=58: Selected seed 195 with value = 0.7670
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8559
+t=74: Selected seed 195 with value = 0.8559
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9299
+t=90: Selected seed 195 with value = 0.9299
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=19--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=19--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 17 (89.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4964
+t=10: Selected seed 195 with value = 0.4964
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5277
+t=26: Selected seed 195 with value = 0.5277
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6078
+t=42: Selected seed 195 with value = 0.6078
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6874
+t=58: Selected seed 195 with value = 0.6874
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8109
+t=74: Selected seed 195 with value = 0.8109
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9158
+t=90: Selected seed 195 with value = 0.9158
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=20--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=20--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 18 (90.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5389
+t=10: Selected seed 195 with value = 0.5389
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5818
+t=26: Selected seed 195 with value = 0.5818
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=42: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7646
+t=58: Selected seed 195 with value = 0.7646
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=74: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=90: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=21--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=21--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 19 (90.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 1.070 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5068
+t=10: Selected seed 195 with value = 0.5068
+Query 1/1: Action query time = 1.069 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5432
+t=26: Selected seed 195 with value = 0.5432
+Query 1/1: Action query time = 1.050 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6177
+t=42: Selected seed 195 with value = 0.6177
+Query 1/1: Action query time = 1.100 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=58: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 1.184 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8422
+t=74: Selected seed 195 with value = 0.8422
+Query 1/1: Action query time = 1.136 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9169
+t=90: Selected seed 195 with value = 0.9169
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=22--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=22--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 20 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 1.195 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4407
+t=10: Selected seed 195 with value = 0.4407
+Query 1/1: Action query time = 1.171 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5286
+t=26: Selected seed 195 with value = 0.5286
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6268
+t=42: Selected seed 195 with value = 0.6268
+Query 1/1: Action query time = 0.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7310
+t=58: Selected seed 195 with value = 0.7310
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8460
+t=74: Selected seed 195 with value = 0.8460
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9332
+t=90: Selected seed 195 with value = 0.9332
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=23--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=23--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 21 (91.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5042
+t=10: Selected seed 195 with value = 0.5042
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=26: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6212
+t=42: Selected seed 195 with value = 0.6212
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6058
+t=58: Selected seed 195 with value = 0.6058
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8690
+t=74: Selected seed 195 with value = 0.8690
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8489
+t=90: Selected seed 195 with value = 0.8489
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=106: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9035
+t=122: Selected seed 195 with value = 0.9035
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8237
+t=138: Selected seed 195 with value = 0.8237
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8681
+t=154: Selected seed 195 with value = 0.8681
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7515
+t=170: Selected seed 195 with value = 0.7515
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7924
+t=186: Selected seed 195 with value = 0.7924
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7492
+t=202: Selected seed 195 with value = 0.7492
+Query 1/1: Action query time = 0.999 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=218: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 1.050 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7135
+t=234: Selected seed 195 with value = 0.7135
+Query 1/1: Action query time = 1.081 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7160
+t=250: Selected seed 195 with value = 0.7160
+Query 1/1: Action query time = 1.141 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7189
+t=266: Selected seed 195 with value = 0.7189
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7183
+t=282: Selected seed 195 with value = 0.7183
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7197
+t=298: Selected seed 195 with value = 0.7197
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=24--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=24--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 24
+# successes: 21 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 1.018 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4197
+t=10: Selected seed 195 with value = 0.4197
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5271
+t=26: Selected seed 195 with value = 0.5271
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6023
+t=42: Selected seed 195 with value = 0.6023
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7230
+t=58: Selected seed 195 with value = 0.7230
+Query 1/1: Action query time = 1.027 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8543
+t=74: Selected seed 195 with value = 0.8543
+Query 1/1: Action query time = 1.076 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=90: Selected seed 195 with value = 0.9643
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=25--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=25--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 22 (88.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 1.080 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=10: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 1.084 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5411
+t=26: Selected seed 195 with value = 0.5411
+Query 1/1: Action query time = 1.106 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6211
+t=42: Selected seed 195 with value = 0.6211
+Query 1/1: Action query time = 1.173 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7844
+t=58: Selected seed 195 with value = 0.7844
+Query 1/1: Action query time = 1.141 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8365
+t=74: Selected seed 195 with value = 0.8365
+Query 1/1: Action query time = 1.021 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9225
+t=90: Selected seed 195 with value = 0.9225
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=26--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=26--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 23 (88.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4363
+t=10: Selected seed 195 with value = 0.4363
+Query 1/1: Action query time = 0.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4730
+t=26: Selected seed 195 with value = 0.4730
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5510
+t=42: Selected seed 195 with value = 0.5510
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5974
+t=58: Selected seed 195 with value = 0.5974
+Query 1/1: Action query time = 1.022 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=74: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 1.021 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6099
+t=90: Selected seed 195 with value = 0.6099
+Query 1/1: Action query time = 1.047 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8596
+t=106: Selected seed 195 with value = 0.8596
+Query 1/1: Action query time = 1.102 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=122: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 1.108 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9299
+t=138: Selected seed 195 with value = 0.9299
+Query 1/1: Action query time = 1.091 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8313
+t=154: Selected seed 195 with value = 0.8313
+Query 1/1: Action query time = 1.131 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=170: Selected seed 195 with value = 0.9284
+Query 1/1: Action query time = 1.166 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8237
+t=186: Selected seed 195 with value = 0.8237
+Query 1/1: Action query time = 1.184 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8643
+t=202: Selected seed 195 with value = 0.8643
+Query 1/1: Action query time = 1.146 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7650
+t=218: Selected seed 195 with value = 0.7650
+Query 1/1: Action query time = 1.149 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8088
+t=234: Selected seed 195 with value = 0.8088
+Query 1/1: Action query time = 1.118 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7203
+t=250: Selected seed 195 with value = 0.7203
+Query 1/1: Action query time = 1.152 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7293
+t=266: Selected seed 195 with value = 0.7293
+Query 1/1: Action query time = 1.091 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7383
+t=282: Selected seed 195 with value = 0.7383
+Query 1/1: Action query time = 1.056 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7481
+t=298: Selected seed 195 with value = 0.7481
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=27--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=27--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 23 (85.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4643
+t=10: Selected seed 195 with value = 0.4643
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5344
+t=26: Selected seed 195 with value = 0.5344
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6024
+t=42: Selected seed 195 with value = 0.6024
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7620
+t=58: Selected seed 195 with value = 0.7620
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8718
+t=74: Selected seed 195 with value = 0.8718
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9467
+t=90: Selected seed 195 with value = 0.9467
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=28--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=28--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 24 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 1.028 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4283
+t=10: Selected seed 195 with value = 0.4283
+Query 1/1: Action query time = 1.051 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4872
+t=26: Selected seed 195 with value = 0.4872
+Query 1/1: Action query time = 1.066 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5400
+t=42: Selected seed 195 with value = 0.5400
+Query 1/1: Action query time = 1.023 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6848
+t=58: Selected seed 195 with value = 0.6848
+Query 1/1: Action query time = 1.038 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7241
+t=74: Selected seed 195 with value = 0.7241
+Query 1/1: Action query time = 1.013 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5998
+t=90: Selected seed 195 with value = 0.5998
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7506
+t=106: Selected seed 195 with value = 0.7506
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6931
+t=122: Selected seed 195 with value = 0.6931
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=138: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=154: Selected seed 195 with value = 0.8755
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8284
+t=170: Selected seed 195 with value = 0.8284
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7538
+t=186: Selected seed 195 with value = 0.7538
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=202: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=218: Selected seed 195 with value = 0.8161
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8927
+t=234: Selected seed 195 with value = 0.8927
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=250: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=282: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9448
+t=298: Selected seed 195 with value = 0.9448
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=29--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=29--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 29
+# successes: 24 (82.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5066
+t=10: Selected seed 195 with value = 0.5066
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5924
+t=26: Selected seed 195 with value = 0.5924
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6875
+t=42: Selected seed 195 with value = 0.6875
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8059
+t=58: Selected seed 195 with value = 0.8059
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=74: Selected seed 195 with value = 0.9183
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=30--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=30--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 25 (83.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 1.176 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=10: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 1.179 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4983
+t=26: Selected seed 195 with value = 0.4983
+Query 1/1: Action query time = 1.157 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5832
+t=42: Selected seed 195 with value = 0.5832
+Query 1/1: Action query time = 1.178 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7142
+t=58: Selected seed 195 with value = 0.7142
+Query 1/1: Action query time = 1.158 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8131
+t=74: Selected seed 195 with value = 0.8131
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=90: Selected seed 195 with value = 0.9090
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=31--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=31--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 26 (83.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4793
+t=10: Selected seed 195 with value = 0.4793
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5261
+t=26: Selected seed 195 with value = 0.5261
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5900
+t=42: Selected seed 195 with value = 0.5900
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6759
+t=58: Selected seed 195 with value = 0.6759
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7986
+t=74: Selected seed 195 with value = 0.7986
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=90: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=106: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=186: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=202: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9520
+t=218: Selected seed 195 with value = 0.9520
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9551
+t=234: Selected seed 195 with value = 0.9551
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=250: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8157
+t=266: Selected seed 195 with value = 0.8157
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8004
+t=282: Selected seed 195 with value = 0.8004
+Query 1/1: Action query time = 0.961 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=298: Selected seed 195 with value = 0.7512
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=32--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=32--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 26 (81.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5072
+t=10: Selected seed 195 with value = 0.5072
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5547
+t=26: Selected seed 195 with value = 0.5547
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6091
+t=42: Selected seed 195 with value = 0.6091
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7412
+t=58: Selected seed 195 with value = 0.7412
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8741
+t=74: Selected seed 195 with value = 0.8741
+Query 1/1: Action query time = 0.999 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=90: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 1.022 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.994 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=186: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=202: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=218: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9608
+t=234: Selected seed 195 with value = 0.9608
+Query 1/1: Action query time = 0.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=250: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 1.006 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8785
+t=266: Selected seed 195 with value = 0.8785
+Query 1/1: Action query time = 1.009 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8209
+t=282: Selected seed 195 with value = 0.8209
+Query 1/1: Action query time = 1.006 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8394
+t=298: Selected seed 195 with value = 0.8394
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=33--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=33--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 26 (78.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4736
+t=10: Selected seed 195 with value = 0.4736
+Query 1/1: Action query time = 1.194 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5361
+t=26: Selected seed 195 with value = 0.5361
+Query 1/1: Action query time = 1.192 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6110
+t=42: Selected seed 195 with value = 0.6110
+Query 1/1: Action query time = 1.160 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7004
+t=58: Selected seed 195 with value = 0.7004
+Query 1/1: Action query time = 1.099 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8497
+t=74: Selected seed 195 with value = 0.8497
+Query 1/1: Action query time = 1.073 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9436
+t=90: Selected seed 195 with value = 0.9436
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=34--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=34--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 27 (79.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 1.174 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4181
+t=10: Selected seed 195 with value = 0.4181
+Query 1/1: Action query time = 1.218 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4880
+t=26: Selected seed 195 with value = 0.4880
+Query 1/1: Action query time = 1.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=42: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 1.189 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6138
+t=58: Selected seed 195 with value = 0.6138
+Query 1/1: Action query time = 1.153 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=74: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 1.170 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6068
+t=90: Selected seed 195 with value = 0.6068
+Query 1/1: Action query time = 1.140 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=106: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 1.096 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8659
+t=122: Selected seed 195 with value = 0.8659
+Query 1/1: Action query time = 1.058 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8990
+t=138: Selected seed 195 with value = 0.8990
+Query 1/1: Action query time = 1.041 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9073
+t=154: Selected seed 195 with value = 0.9073
+Query 1/1: Action query time = 1.088 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8117
+t=170: Selected seed 195 with value = 0.8117
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8095
+t=186: Selected seed 195 with value = 0.8095
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7236
+t=202: Selected seed 195 with value = 0.7236
+Query 1/1: Action query time = 0.995 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7386
+t=218: Selected seed 195 with value = 0.7386
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7306
+t=234: Selected seed 195 with value = 0.7306
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=250: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 1.118 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7496
+t=266: Selected seed 195 with value = 0.7496
+Query 1/1: Action query time = 1.191 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=282: Selected seed 195 with value = 0.7419
+Query 1/1: Action query time = 1.169 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7454
+t=298: Selected seed 195 with value = 0.7454
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=35--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=35--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 35
+# successes: 27 (77.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=10: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5447
+t=26: Selected seed 195 with value = 0.5447
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5939
+t=42: Selected seed 195 with value = 0.5939
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8259
+t=58: Selected seed 195 with value = 0.8259
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8099
+t=74: Selected seed 195 with value = 0.8099
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8965
+t=90: Selected seed 195 with value = 0.8965
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9001
+t=106: Selected seed 195 with value = 0.9001
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9128
+t=122: Selected seed 195 with value = 0.9128
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=138: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=154: Selected seed 195 with value = 0.9196
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8303
+t=170: Selected seed 195 with value = 0.8303
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7985
+t=186: Selected seed 195 with value = 0.7985
+Query 1/1: Action query time = 0.990 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7678
+t=202: Selected seed 195 with value = 0.7678
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7267
+t=218: Selected seed 195 with value = 0.7267
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=234: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7394
+t=250: Selected seed 195 with value = 0.7394
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7617
+t=266: Selected seed 195 with value = 0.7617
+Query 1/1: Action query time = 0.985 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7621
+t=282: Selected seed 195 with value = 0.7621
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7650
+t=298: Selected seed 195 with value = 0.7650
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=36--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=36--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 36
+# successes: 27 (75.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 1.078 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4663
+t=10: Selected seed 195 with value = 0.4663
+Query 1/1: Action query time = 1.100 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5409
+t=26: Selected seed 195 with value = 0.5409
+Query 1/1: Action query time = 1.122 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=42: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 1.142 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7116
+t=58: Selected seed 195 with value = 0.7116
+Query 1/1: Action query time = 1.199 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8244
+t=74: Selected seed 195 with value = 0.8244
+Query 1/1: Action query time = 1.138 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9283
+t=90: Selected seed 195 with value = 0.9283
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=37--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=37--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 28 (75.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 1.106 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3918
+t=10: Selected seed 195 with value = 0.3918
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4832
+t=26: Selected seed 195 with value = 0.4832
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5393
+t=42: Selected seed 195 with value = 0.5393
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6715
+t=58: Selected seed 195 with value = 0.6715
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7433
+t=74: Selected seed 195 with value = 0.7433
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6030
+t=90: Selected seed 195 with value = 0.6030
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7913
+t=106: Selected seed 195 with value = 0.7913
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7472
+t=122: Selected seed 195 with value = 0.7472
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8695
+t=138: Selected seed 195 with value = 0.8695
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8563
+t=154: Selected seed 195 with value = 0.8563
+Query 1/1: Action query time = 0.995 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8261
+t=170: Selected seed 195 with value = 0.8261
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7439
+t=186: Selected seed 195 with value = 0.7439
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8332
+t=202: Selected seed 195 with value = 0.8332
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7562
+t=218: Selected seed 195 with value = 0.7562
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7148
+t=234: Selected seed 195 with value = 0.7148
+Query 1/1: Action query time = 0.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7106
+t=250: Selected seed 195 with value = 0.7106
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7101
+t=266: Selected seed 195 with value = 0.7101
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7096
+t=282: Selected seed 195 with value = 0.7096
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7179
+t=298: Selected seed 195 with value = 0.7179
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=38--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=38--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 38
+# successes: 28 (73.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 1.101 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=10: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5299
+t=26: Selected seed 195 with value = 0.5299
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5919
+t=42: Selected seed 195 with value = 0.5919
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6808
+t=58: Selected seed 195 with value = 0.6808
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=74: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9203
+t=90: Selected seed 195 with value = 0.9203
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=39--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=39--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 29 (74.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4435
+t=10: Selected seed 195 with value = 0.4435
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=26: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5647
+t=42: Selected seed 195 with value = 0.5647
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6024
+t=58: Selected seed 195 with value = 0.6024
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=74: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=90: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9545
+t=106: Selected seed 195 with value = 0.9545
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9348
+t=122: Selected seed 195 with value = 0.9348
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=138: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8633
+t=154: Selected seed 195 with value = 0.8633
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8372
+t=170: Selected seed 195 with value = 0.8372
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8549
+t=186: Selected seed 195 with value = 0.8549
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8386
+t=202: Selected seed 195 with value = 0.8386
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8912
+t=218: Selected seed 195 with value = 0.8912
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9146
+t=234: Selected seed 195 with value = 0.9146
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9417
+t=250: Selected seed 195 with value = 0.9417
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=40--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=40--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 29 (72.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4850
+t=10: Selected seed 195 with value = 0.4850
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5297
+t=26: Selected seed 195 with value = 0.5297
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5754
+t=42: Selected seed 195 with value = 0.5754
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=58: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8144
+t=74: Selected seed 195 with value = 0.8144
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9067
+t=90: Selected seed 195 with value = 0.9067
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=41--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=41--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 30 (73.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4596
+t=10: Selected seed 195 with value = 0.4596
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=26: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6132
+t=42: Selected seed 195 with value = 0.6132
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7622
+t=58: Selected seed 195 with value = 0.7622
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8490
+t=74: Selected seed 195 with value = 0.8490
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=90: Selected seed 195 with value = 0.9241
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=42--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=42--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 31 (73.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4761
+t=10: Selected seed 195 with value = 0.4761
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5079
+t=26: Selected seed 195 with value = 0.5079
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5801
+t=42: Selected seed 195 with value = 0.5801
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6243
+t=58: Selected seed 195 with value = 0.6243
+Query 1/1: Action query time = 1.056 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8024
+t=74: Selected seed 195 with value = 0.8024
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=90: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=106: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8370
+t=122: Selected seed 195 with value = 0.8370
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=138: Selected seed 195 with value = 0.9182
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8990
+t=154: Selected seed 195 with value = 0.8990
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=170: Selected seed 195 with value = 0.8281
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8063
+t=186: Selected seed 195 with value = 0.8063
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7284
+t=202: Selected seed 195 with value = 0.7284
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7986
+t=218: Selected seed 195 with value = 0.7986
+Query 1/1: Action query time = 0.993 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8813
+t=234: Selected seed 195 with value = 0.8813
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=250: Selected seed 195 with value = 0.9197
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=266: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=282: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=43--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=43--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 43
+# successes: 31 (72.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4255
+t=10: Selected seed 195 with value = 0.4255
+Query 1/1: Action query time = 0.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4953
+t=26: Selected seed 195 with value = 0.4953
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5474
+t=42: Selected seed 195 with value = 0.5474
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6391
+t=58: Selected seed 195 with value = 0.6391
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=74: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6217
+t=90: Selected seed 195 with value = 0.6217
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7840
+t=106: Selected seed 195 with value = 0.7840
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6996
+t=122: Selected seed 195 with value = 0.6996
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=138: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7447
+t=154: Selected seed 195 with value = 0.7447
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7521
+t=170: Selected seed 195 with value = 0.7521
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9242
+t=186: Selected seed 195 with value = 0.9242
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9145
+t=202: Selected seed 195 with value = 0.9145
+Query 1/1: Action query time = 0.986 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8534
+t=218: Selected seed 195 with value = 0.8534
+Query 1/1: Action query time = 1.019 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8597
+t=234: Selected seed 195 with value = 0.8597
+Query 1/1: Action query time = 1.085 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9486
+t=250: Selected seed 195 with value = 0.9486
+Query 1/1: Action query time = 1.154 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=266: Selected seed 195 with value = 0.9318
+Query 1/1: Action query time = 1.126 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9413
+t=282: Selected seed 195 with value = 0.9413
+Query 1/1: Action query time = 1.095 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=298: Selected seed 195 with value = 0.9818
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=44--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=44--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 31 (70.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4656
+t=10: Selected seed 195 with value = 0.4656
+Query 1/1: Action query time = 1.001 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5806
+t=26: Selected seed 195 with value = 0.5806
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6002
+t=42: Selected seed 195 with value = 0.6002
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=58: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 0.993 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8634
+t=74: Selected seed 195 with value = 0.8634
+Query 1/1: Action query time = 1.036 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=90: Selected seed 195 with value = 0.9662
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=45--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=45--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 32 (71.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5304
+t=10: Selected seed 195 with value = 0.5304
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6119
+t=26: Selected seed 195 with value = 0.6119
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6994
+t=42: Selected seed 195 with value = 0.6994
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8088
+t=58: Selected seed 195 with value = 0.8088
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9266
+t=74: Selected seed 195 with value = 0.9266
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=90: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=46--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=46--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 33 (71.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4965
+t=10: Selected seed 195 with value = 0.4965
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5571
+t=26: Selected seed 195 with value = 0.5571
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6006
+t=42: Selected seed 195 with value = 0.6006
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7273
+t=58: Selected seed 195 with value = 0.7273
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8417
+t=74: Selected seed 195 with value = 0.8417
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9300
+t=90: Selected seed 195 with value = 0.9300
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=47--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=47--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 34 (72.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4882
+t=10: Selected seed 195 with value = 0.4882
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=26: Selected seed 195 with value = 0.5479
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6057
+t=42: Selected seed 195 with value = 0.6057
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6624
+t=58: Selected seed 195 with value = 0.6624
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8289
+t=74: Selected seed 195 with value = 0.8289
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9322
+t=90: Selected seed 195 with value = 0.9322
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9139
+t=106: Selected seed 195 with value = 0.9139
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=122: Selected seed 195 with value = 0.9256
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=138: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=154: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=170: Selected seed 195 with value = 0.9595
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9085
+t=186: Selected seed 195 with value = 0.9085
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8523
+t=202: Selected seed 195 with value = 0.8523
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=218: Selected seed 195 with value = 0.8506
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7408
+t=234: Selected seed 195 with value = 0.7408
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7426
+t=250: Selected seed 195 with value = 0.7426
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7548
+t=266: Selected seed 195 with value = 0.7548
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=282: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 0.994 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8434
+t=298: Selected seed 195 with value = 0.8434
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=48--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=48--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 48
+# successes: 34 (70.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4976
+t=10: Selected seed 195 with value = 0.4976
+Query 1/1: Action query time = 1.032 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4940
+t=26: Selected seed 195 with value = 0.4940
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5811
+t=42: Selected seed 195 with value = 0.5811
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=58: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8108
+t=74: Selected seed 195 with value = 0.8108
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9097
+t=90: Selected seed 195 with value = 0.9097
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=106: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=49--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=49--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 35 (71.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 1.061 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4926
+t=10: Selected seed 195 with value = 0.4926
+Query 1/1: Action query time = 1.084 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5201
+t=26: Selected seed 195 with value = 0.5201
+Query 1/1: Action query time = 1.059 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6253
+t=42: Selected seed 195 with value = 0.6253
+Query 1/1: Action query time = 1.087 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7029
+t=58: Selected seed 195 with value = 0.7029
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8515
+t=74: Selected seed 195 with value = 0.8515
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9212
+t=90: Selected seed 195 with value = 0.9212
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=50--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=50--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 36 (72.0%)
+Current task success rate: 0.72
+Current total success rate: 0.72
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4792
+t=10: Selected seed 195 with value = 0.4792
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5925
+t=26: Selected seed 195 with value = 0.5925
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7018
+t=42: Selected seed 195 with value = 0.7018
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8577
+t=58: Selected seed 195 with value = 0.8577
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7413
+t=74: Selected seed 195 with value = 0.7413
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=90: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9410
+t=106: Selected seed 195 with value = 0.9410
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9549
+t=122: Selected seed 195 with value = 0.9549
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=138: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 0.953 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9400
+t=154: Selected seed 195 with value = 0.9400
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9077
+t=170: Selected seed 195 with value = 0.9077
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=186: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7782
+t=202: Selected seed 195 with value = 0.7782
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8919
+t=218: Selected seed 195 with value = 0.8919
+Query 1/1: Action query time = 0.952 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9490
+t=234: Selected seed 195 with value = 0.9490
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=250: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=266: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=282: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9605
+t=298: Selected seed 195 with value = 0.9605
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=51--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=51--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 51
+# successes: 36 (70.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.156 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4785
+t=10: Selected seed 195 with value = 0.4785
+Query 1/1: Action query time = 1.182 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5726
+t=26: Selected seed 195 with value = 0.5726
+Query 1/1: Action query time = 1.231 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6282
+t=42: Selected seed 195 with value = 0.6282
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7465
+t=58: Selected seed 195 with value = 0.7465
+Query 1/1: Action query time = 0.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8951
+t=74: Selected seed 195 with value = 0.8951
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=90: Selected seed 195 with value = 0.9749
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=106: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6687
+t=122: Selected seed 195 with value = 0.6687
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8080
+t=138: Selected seed 195 with value = 0.8080
+Query 1/1: Action query time = 1.095 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=154: Selected seed 195 with value = 0.8535
+Query 1/1: Action query time = 1.177 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=170: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 1.171 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=186: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 1.159 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=202: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 1.129 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=218: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 1.166 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=234: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 1.164 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=250: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 1.178 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=266: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 1.150 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=282: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 1.178 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=298: Selected seed 195 with value = 0.9900
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=52--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=52--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 52
+# successes: 36 (69.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4749
+t=10: Selected seed 195 with value = 0.4749
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5670
+t=26: Selected seed 195 with value = 0.5670
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6351
+t=42: Selected seed 195 with value = 0.6351
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6656
+t=58: Selected seed 195 with value = 0.6656
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8431
+t=74: Selected seed 195 with value = 0.8431
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9606
+t=90: Selected seed 195 with value = 0.9606
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=106: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=122: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=138: Selected seed 195 with value = 0.9637
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=154: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=170: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.998 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=186: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 1.032 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=202: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 1.081 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=218: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 1.135 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=234: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 1.190 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=250: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 1.154 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=266: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 1.196 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=282: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 1.142 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=298: Selected seed 195 with value = 0.9908
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=53--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=53--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 53
+# successes: 36 (67.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4597
+t=10: Selected seed 195 with value = 0.4597
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5706
+t=26: Selected seed 195 with value = 0.5706
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6426
+t=42: Selected seed 195 with value = 0.6426
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7555
+t=58: Selected seed 195 with value = 0.7555
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=74: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=90: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9249
+t=106: Selected seed 195 with value = 0.9249
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8433
+t=122: Selected seed 195 with value = 0.8433
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=138: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=154: Selected seed 195 with value = 0.9706
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=170: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=186: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=202: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=218: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=234: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=250: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 0.962 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=266: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=282: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=298: Selected seed 195 with value = 0.9647
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=54--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=54--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 54
+# successes: 36 (66.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 0.960 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4870
+t=10: Selected seed 195 with value = 0.4870
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5853
+t=26: Selected seed 195 with value = 0.5853
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=42: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6168
+t=58: Selected seed 195 with value = 0.6168
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6899
+t=74: Selected seed 195 with value = 0.6899
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8121
+t=90: Selected seed 195 with value = 0.8121
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=106: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=122: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=138: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 1.015 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=154: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=170: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 1.051 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=186: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 1.068 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9702
+t=202: Selected seed 195 with value = 0.9702
+Query 1/1: Action query time = 1.094 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=218: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 1.103 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=234: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 1.094 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=250: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 1.075 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=266: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 1.074 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=282: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 1.142 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=298: Selected seed 195 with value = 0.9752
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=55--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=55--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 55
+# successes: 36 (65.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5109
+t=10: Selected seed 195 with value = 0.5109
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5814
+t=26: Selected seed 195 with value = 0.5814
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6801
+t=42: Selected seed 195 with value = 0.6801
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8236
+t=58: Selected seed 195 with value = 0.8236
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=74: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9402
+t=90: Selected seed 195 with value = 0.9402
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9324
+t=106: Selected seed 195 with value = 0.9324
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9110
+t=122: Selected seed 195 with value = 0.9110
+Query 1/1: Action query time = 0.987 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=138: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 0.993 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=154: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9532
+t=170: Selected seed 195 with value = 0.9532
+Query 1/1: Action query time = 0.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=186: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9490
+t=202: Selected seed 195 with value = 0.9490
+Query 1/1: Action query time = 0.988 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=218: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=234: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=250: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=266: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=282: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=298: Selected seed 195 with value = 0.9923
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=56--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=56--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 56
+# successes: 36 (64.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4914
+t=10: Selected seed 195 with value = 0.4914
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=26: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6650
+t=42: Selected seed 195 with value = 0.6650
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8377
+t=58: Selected seed 195 with value = 0.8377
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=74: Selected seed 195 with value = 0.9708
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=57--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=57--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 57
+# successes: 37 (64.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 1.150 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=10: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 1.120 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5633
+t=26: Selected seed 195 with value = 0.5633
+Query 1/1: Action query time = 1.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=42: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 1.182 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8002
+t=58: Selected seed 195 with value = 0.8002
+Query 1/1: Action query time = 1.204 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9034
+t=74: Selected seed 195 with value = 0.9034
+Query 1/1: Action query time = 1.163 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9278
+t=90: Selected seed 195 with value = 0.9278
+Query 1/1: Action query time = 1.159 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9390
+t=106: Selected seed 195 with value = 0.9390
+Query 1/1: Action query time = 1.164 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=122: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 1.195 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8818
+t=138: Selected seed 195 with value = 0.8818
+Query 1/1: Action query time = 1.151 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=154: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 1.191 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=170: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 1.185 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=186: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 1.111 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=202: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 1.129 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=218: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 1.125 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=234: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 1.170 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=250: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 1.089 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=266: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 1.087 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9745
+t=282: Selected seed 195 with value = 0.9745
+Query 1/1: Action query time = 1.100 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=298: Selected seed 195 with value = 0.9858
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=58--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=58--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 58
+# successes: 37 (63.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 1.039 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5043
+t=10: Selected seed 195 with value = 0.5043
+Query 1/1: Action query time = 1.056 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5851
+t=26: Selected seed 195 with value = 0.5851
+Query 1/1: Action query time = 1.088 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6623
+t=42: Selected seed 195 with value = 0.6623
+Query 1/1: Action query time = 1.133 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8071
+t=58: Selected seed 195 with value = 0.8071
+Query 1/1: Action query time = 1.156 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9358
+t=74: Selected seed 195 with value = 0.9358
+Query 1/1: Action query time = 1.161 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=90: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 1.157 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=106: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 1.173 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9710
+t=122: Selected seed 195 with value = 0.9710
+Query 1/1: Action query time = 1.173 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=138: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 1.163 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=154: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 1.169 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9602
+t=170: Selected seed 195 with value = 0.9602
+Query 1/1: Action query time = 1.177 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=186: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 1.167 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=202: Selected seed 195 with value = 0.9693
+Query 1/1: Action query time = 1.138 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=218: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 1.144 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=234: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 1.104 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=250: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 1.114 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=266: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9457
+t=282: Selected seed 195 with value = 0.9457
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=298: Selected seed 195 with value = 0.9508
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=59--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=59--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 59
+# successes: 37 (62.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4791
+t=10: Selected seed 195 with value = 0.4791
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=26: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6714
+t=42: Selected seed 195 with value = 0.6714
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8103
+t=58: Selected seed 195 with value = 0.8103
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8933
+t=74: Selected seed 195 with value = 0.8933
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=90: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=106: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6756
+t=122: Selected seed 195 with value = 0.6756
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=138: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9452
+t=154: Selected seed 195 with value = 0.9452
+Query 1/1: Action query time = 1.003 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=170: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=186: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 1.001 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=202: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=218: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=234: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 0.991 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9674
+t=250: Selected seed 195 with value = 0.9674
+Query 1/1: Action query time = 1.127 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=266: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 1.030 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=282: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 1.215 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=298: Selected seed 195 with value = 0.9797
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=60--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=60--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 60
+# successes: 37 (61.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4749
+t=10: Selected seed 195 with value = 0.4749
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5758
+t=26: Selected seed 195 with value = 0.5758
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6679
+t=42: Selected seed 195 with value = 0.6679
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8035
+t=58: Selected seed 195 with value = 0.8035
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9075
+t=74: Selected seed 195 with value = 0.9075
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=90: Selected seed 195 with value = 0.9226
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=106: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=122: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=138: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=154: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=170: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 0.998 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=186: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=202: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=218: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=234: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=250: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 0.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=266: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.994 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=282: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=298: Selected seed 195 with value = 0.9939
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=61--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=61--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 61
+# successes: 37 (60.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4817
+t=10: Selected seed 195 with value = 0.4817
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5891
+t=26: Selected seed 195 with value = 0.5891
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6708
+t=42: Selected seed 195 with value = 0.6708
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8331
+t=58: Selected seed 195 with value = 0.8331
+Query 1/1: Action query time = 1.099 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8956
+t=74: Selected seed 195 with value = 0.8956
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9429
+t=90: Selected seed 195 with value = 0.9429
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9200
+t=106: Selected seed 195 with value = 0.9200
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9588
+t=122: Selected seed 195 with value = 0.9588
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=138: Selected seed 195 with value = 0.9681
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8952
+t=154: Selected seed 195 with value = 0.8952
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9281
+t=170: Selected seed 195 with value = 0.9281
+Query 1/1: Action query time = 1.014 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9290
+t=186: Selected seed 195 with value = 0.9290
+Query 1/1: Action query time = 1.012 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=202: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 1.024 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9393
+t=218: Selected seed 195 with value = 0.9393
+Query 1/1: Action query time = 1.071 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=234: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 1.113 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9353
+t=250: Selected seed 195 with value = 0.9353
+Query 1/1: Action query time = 1.160 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=266: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 1.161 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=282: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 1.212 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=298: Selected seed 195 with value = 0.9784
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=62--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=62--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 62
+# successes: 37 (59.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.245 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4665
+t=10: Selected seed 195 with value = 0.4665
+Query 1/1: Action query time = 1.143 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=26: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 1.034 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6407
+t=42: Selected seed 195 with value = 0.6407
+Query 1/1: Action query time = 1.121 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7066
+t=58: Selected seed 195 with value = 0.7066
+Query 1/1: Action query time = 1.205 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8650
+t=74: Selected seed 195 with value = 0.8650
+Query 1/1: Action query time = 1.178 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=90: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 1.201 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9613
+t=106: Selected seed 195 with value = 0.9613
+Query 1/1: Action query time = 1.180 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=122: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 1.177 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9613
+t=138: Selected seed 195 with value = 0.9613
+Query 1/1: Action query time = 1.185 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=154: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 1.196 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=170: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 1.195 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=186: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 1.149 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=202: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 1.193 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=218: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 1.192 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=234: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 1.170 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=250: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 1.135 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=266: Selected seed 195 with value = 0.9844
+Query 1/1: Action query time = 1.164 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9281
+t=282: Selected seed 195 with value = 0.9281
+Query 1/1: Action query time = 1.188 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6726
+t=298: Selected seed 195 with value = 0.6726
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=63--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=63--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 63
+# successes: 37 (58.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 1.155 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4853
+t=10: Selected seed 195 with value = 0.4853
+Query 1/1: Action query time = 1.158 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5798
+t=26: Selected seed 195 with value = 0.5798
+Query 1/1: Action query time = 1.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6346
+t=42: Selected seed 195 with value = 0.6346
+Query 1/1: Action query time = 1.182 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7784
+t=58: Selected seed 195 with value = 0.7784
+Query 1/1: Action query time = 1.159 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=74: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 1.154 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=90: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 1.216 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=106: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 1.196 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=122: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 1.176 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=138: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 1.182 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=154: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 1.175 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=170: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 1.224 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=186: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 1.209 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=202: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 1.180 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=218: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 1.175 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9140
+t=234: Selected seed 195 with value = 0.9140
+Query 1/1: Action query time = 1.195 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=250: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 1.177 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=266: Selected seed 195 with value = 0.9430
+Query 1/1: Action query time = 1.174 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=282: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 1.155 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9481
+t=298: Selected seed 195 with value = 0.9481
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=64--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=64--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 64
+# successes: 37 (57.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 1.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4722
+t=10: Selected seed 195 with value = 0.4722
+Query 1/1: Action query time = 1.115 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5762
+t=26: Selected seed 195 with value = 0.5762
+Query 1/1: Action query time = 1.072 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6751
+t=42: Selected seed 195 with value = 0.6751
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8395
+t=58: Selected seed 195 with value = 0.8395
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9312
+t=74: Selected seed 195 with value = 0.9312
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=90: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8270
+t=106: Selected seed 195 with value = 0.8270
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9283
+t=122: Selected seed 195 with value = 0.9283
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=138: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=154: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9533
+t=170: Selected seed 195 with value = 0.9533
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=186: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 0.998 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=202: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=218: Selected seed 195 with value = 0.9783
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=234: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=250: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=266: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 0.992 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=282: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=298: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=65--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=65--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 65
+# successes: 37 (56.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5039
+t=10: Selected seed 195 with value = 0.5039
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5758
+t=26: Selected seed 195 with value = 0.5758
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6761
+t=42: Selected seed 195 with value = 0.6761
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8029
+t=58: Selected seed 195 with value = 0.8029
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=74: Selected seed 195 with value = 0.9569
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=66--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=66--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 66
+# successes: 38 (57.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 1.008 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5056
+t=10: Selected seed 195 with value = 0.5056
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5954
+t=26: Selected seed 195 with value = 0.5954
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6675
+t=42: Selected seed 195 with value = 0.6675
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8022
+t=58: Selected seed 195 with value = 0.8022
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=74: Selected seed 195 with value = 0.9559
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=67--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=67--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 67
+# successes: 39 (58.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=10: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=26: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6296
+t=42: Selected seed 195 with value = 0.6296
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6461
+t=58: Selected seed 195 with value = 0.6461
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=74: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=90: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=106: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7074
+t=122: Selected seed 195 with value = 0.7074
+Query 1/1: Action query time = 0.999 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6324
+t=138: Selected seed 195 with value = 0.6324
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8115
+t=154: Selected seed 195 with value = 0.8115
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=170: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 0.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9521
+t=186: Selected seed 195 with value = 0.9521
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=202: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9472
+t=218: Selected seed 195 with value = 0.9472
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=234: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=250: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=266: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=282: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=298: Selected seed 195 with value = 0.9858
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=68--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=68--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 68
+# successes: 39 (57.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 1.099 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4770
+t=10: Selected seed 195 with value = 0.4770
+Query 1/1: Action query time = 1.054 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5614
+t=26: Selected seed 195 with value = 0.5614
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6206
+t=42: Selected seed 195 with value = 0.6206
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6074
+t=58: Selected seed 195 with value = 0.6074
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6399
+t=74: Selected seed 195 with value = 0.6399
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6217
+t=90: Selected seed 195 with value = 0.6217
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6437
+t=106: Selected seed 195 with value = 0.6437
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6976
+t=122: Selected seed 195 with value = 0.6976
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7487
+t=138: Selected seed 195 with value = 0.7487
+Query 1/1: Action query time = 0.988 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8730
+t=154: Selected seed 195 with value = 0.8730
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9481
+t=170: Selected seed 195 with value = 0.9481
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9404
+t=186: Selected seed 195 with value = 0.9404
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=202: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=218: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=234: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 0.997 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9678
+t=250: Selected seed 195 with value = 0.9678
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=266: Selected seed 195 with value = 0.9566
+Query 1/1: Action query time = 0.985 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9501
+t=282: Selected seed 195 with value = 0.9501
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8990
+t=298: Selected seed 195 with value = 0.8990
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=69--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=69--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 69
+# successes: 39 (56.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 1.087 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4840
+t=10: Selected seed 195 with value = 0.4840
+Query 1/1: Action query time = 1.049 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5851
+t=26: Selected seed 195 with value = 0.5851
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6361
+t=42: Selected seed 195 with value = 0.6361
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7975
+t=58: Selected seed 195 with value = 0.7975
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9419
+t=74: Selected seed 195 with value = 0.9419
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=90: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=106: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 1.081 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9540
+t=122: Selected seed 195 with value = 0.9540
+Query 1/1: Action query time = 1.107 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=138: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 1.146 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=154: Selected seed 195 with value = 0.9372
+Query 1/1: Action query time = 1.089 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9597
+t=170: Selected seed 195 with value = 0.9597
+Query 1/1: Action query time = 1.056 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8484
+t=186: Selected seed 195 with value = 0.8484
+Query 1/1: Action query time = 1.065 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8449
+t=202: Selected seed 195 with value = 0.8449
+Query 1/1: Action query time = 1.017 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7852
+t=218: Selected seed 195 with value = 0.7852
+Query 1/1: Action query time = 1.021 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6982
+t=234: Selected seed 195 with value = 0.6982
+Query 1/1: Action query time = 1.073 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8452
+t=250: Selected seed 195 with value = 0.8452
+Query 1/1: Action query time = 1.146 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9339
+t=266: Selected seed 195 with value = 0.9339
+Query 1/1: Action query time = 1.240 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=70--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=70--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 70
+# successes: 40 (57.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4664
+t=10: Selected seed 195 with value = 0.4664
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5777
+t=26: Selected seed 195 with value = 0.5777
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6451
+t=42: Selected seed 195 with value = 0.6451
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7705
+t=58: Selected seed 195 with value = 0.7705
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=74: Selected seed 195 with value = 0.8884
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9209
+t=90: Selected seed 195 with value = 0.9209
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=106: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=122: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8804
+t=138: Selected seed 195 with value = 0.8804
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=154: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8580
+t=170: Selected seed 195 with value = 0.8580
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=186: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=202: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 0.997 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=218: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=234: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=250: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=266: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=282: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=298: Selected seed 195 with value = 0.9842
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=71--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=71--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 71
+# successes: 40 (56.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5150
+t=10: Selected seed 195 with value = 0.5150
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5733
+t=26: Selected seed 195 with value = 0.5733
+Query 1/1: Action query time = 1.001 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=42: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=58: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=74: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9519
+t=90: Selected seed 195 with value = 0.9519
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=106: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9206
+t=122: Selected seed 195 with value = 0.9206
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8404
+t=138: Selected seed 195 with value = 0.8404
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=154: Selected seed 195 with value = 0.9226
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=170: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=186: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9707
+t=202: Selected seed 195 with value = 0.9707
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=218: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9745
+t=234: Selected seed 195 with value = 0.9745
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=250: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=266: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=282: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=298: Selected seed 195 with value = 0.9773
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=72--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=72--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 72
+# successes: 40 (55.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4912
+t=10: Selected seed 195 with value = 0.4912
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5758
+t=26: Selected seed 195 with value = 0.5758
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6885
+t=42: Selected seed 195 with value = 0.6885
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8114
+t=58: Selected seed 195 with value = 0.8114
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=74: Selected seed 195 with value = 0.9596
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=73--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=73--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 73
+# successes: 41 (56.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4949
+t=10: Selected seed 195 with value = 0.4949
+Query 1/1: Action query time = 1.073 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5955
+t=26: Selected seed 195 with value = 0.5955
+Query 1/1: Action query time = 1.047 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6701
+t=42: Selected seed 195 with value = 0.6701
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8200
+t=58: Selected seed 195 with value = 0.8200
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9002
+t=74: Selected seed 195 with value = 0.9002
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=90: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=106: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=122: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=138: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=154: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 0.987 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=170: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 0.987 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=186: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=202: Selected seed 195 with value = 0.9752
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=218: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=234: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 0.991 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=250: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=266: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=282: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=298: Selected seed 195 with value = 0.9812
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=74--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=74--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 74
+# successes: 41 (55.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5011
+t=10: Selected seed 195 with value = 0.5011
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6014
+t=26: Selected seed 195 with value = 0.6014
+Query 1/1: Action query time = 0.999 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6910
+t=42: Selected seed 195 with value = 0.6910
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8418
+t=58: Selected seed 195 with value = 0.8418
+Query 1/1: Action query time = 0.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9000
+t=74: Selected seed 195 with value = 0.9000
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9078
+t=90: Selected seed 195 with value = 0.9078
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=106: Selected seed 195 with value = 0.9634
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=122: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=138: Selected seed 195 with value = 0.9860
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=154: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=170: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=186: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.986 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=202: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 0.986 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=218: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=234: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 0.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=250: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=266: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 0.989 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=282: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=298: Selected seed 195 with value = 0.9813
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=75--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=75--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 75
+# successes: 41 (54.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4771
+t=10: Selected seed 195 with value = 0.4771
+Query 1/1: Action query time = 1.024 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5731
+t=26: Selected seed 195 with value = 0.5731
+Query 1/1: Action query time = 1.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6319
+t=42: Selected seed 195 with value = 0.6319
+Query 1/1: Action query time = 1.184 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7018
+t=58: Selected seed 195 with value = 0.7018
+Query 1/1: Action query time = 1.175 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8385
+t=74: Selected seed 195 with value = 0.8385
+Query 1/1: Action query time = 1.171 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=90: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 1.188 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=106: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 1.227 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=122: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 1.151 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=138: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 1.186 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=154: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 1.190 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=170: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 1.207 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=186: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 1.206 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=202: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 1.168 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=218: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 1.132 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=234: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 1.174 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=250: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 1.143 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=266: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 1.110 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=282: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 1.091 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=298: Selected seed 195 with value = 0.9706
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=76--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=76--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 76
+# successes: 41 (53.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4781
+t=10: Selected seed 195 with value = 0.4781
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5663
+t=26: Selected seed 195 with value = 0.5663
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6518
+t=42: Selected seed 195 with value = 0.6518
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7801
+t=58: Selected seed 195 with value = 0.7801
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8830
+t=74: Selected seed 195 with value = 0.8830
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=90: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=106: Selected seed 195 with value = 0.9666
+Query 1/1: Action query time = 0.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=122: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 1.071 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9082
+t=138: Selected seed 195 with value = 0.9082
+Query 1/1: Action query time = 1.100 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8419
+t=154: Selected seed 195 with value = 0.8419
+Query 1/1: Action query time = 1.071 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9123
+t=170: Selected seed 195 with value = 0.9123
+Query 1/1: Action query time = 1.074 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=186: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 1.093 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=202: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 1.076 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9652
+t=218: Selected seed 195 with value = 0.9652
+Query 1/1: Action query time = 0.991 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=234: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=250: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=266: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=282: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=298: Selected seed 195 with value = 0.9838
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=77--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=77--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 77
+# successes: 41 (53.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 1.048 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5052
+t=10: Selected seed 195 with value = 0.5052
+Query 1/1: Action query time = 1.016 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5718
+t=26: Selected seed 195 with value = 0.5718
+Query 1/1: Action query time = 1.036 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6195
+t=42: Selected seed 195 with value = 0.6195
+Query 1/1: Action query time = 1.106 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7813
+t=58: Selected seed 195 with value = 0.7813
+Query 1/1: Action query time = 1.240 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=74: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 1.098 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9707
+t=90: Selected seed 195 with value = 0.9707
+Query 1/1: Action query time = 1.039 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=106: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 1.059 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=122: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9253
+t=138: Selected seed 195 with value = 0.9253
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7915
+t=154: Selected seed 195 with value = 0.7915
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=170: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8836
+t=186: Selected seed 195 with value = 0.8836
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=202: Selected seed 195 with value = 0.9681
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=218: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 0.991 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=234: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=250: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=266: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=282: Selected seed 195 with value = 0.9693
+Query 1/1: Action query time = 1.077 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=298: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=78--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=78--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 78
+# successes: 41 (52.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 1.018 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4967
+t=10: Selected seed 195 with value = 0.4967
+Query 1/1: Action query time = 1.002 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5693
+t=26: Selected seed 195 with value = 0.5693
+Query 1/1: Action query time = 1.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6287
+t=42: Selected seed 195 with value = 0.6287
+Query 1/1: Action query time = 0.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8003
+t=58: Selected seed 195 with value = 0.8003
+Query 1/1: Action query time = 1.060 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8295
+t=74: Selected seed 195 with value = 0.8295
+Query 1/1: Action query time = 1.206 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=90: Selected seed 195 with value = 0.9318
+Query 1/1: Action query time = 1.183 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=106: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 1.145 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9186
+t=122: Selected seed 195 with value = 0.9186
+Query 1/1: Action query time = 1.137 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=138: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 1.055 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=154: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 1.054 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7591
+t=170: Selected seed 195 with value = 0.7591
+Query 1/1: Action query time = 1.248 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8922
+t=186: Selected seed 195 with value = 0.8922
+Query 1/1: Action query time = 1.627 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=202: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 1.698 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=218: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 1.605 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=234: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 1.790 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=250: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 1.609 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9605
+t=266: Selected seed 195 with value = 0.9605
+Query 1/1: Action query time = 1.607 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=282: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 1.609 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=298: Selected seed 195 with value = 0.9899
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=79--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=79--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 79
+# successes: 41 (51.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 1.638 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4878
+t=10: Selected seed 195 with value = 0.4878
+Query 1/1: Action query time = 1.635 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5749
+t=26: Selected seed 195 with value = 0.5749
+Query 1/1: Action query time = 1.614 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6328
+t=42: Selected seed 195 with value = 0.6328
+Query 1/1: Action query time = 1.587 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6272
+t=58: Selected seed 195 with value = 0.6272
+Query 1/1: Action query time = 1.625 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6436
+t=74: Selected seed 195 with value = 0.6436
+Query 1/1: Action query time = 1.623 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8114
+t=90: Selected seed 195 with value = 0.8114
+Query 1/1: Action query time = 1.635 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6402
+t=106: Selected seed 195 with value = 0.6402
+Query 1/1: Action query time = 1.598 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8437
+t=122: Selected seed 195 with value = 0.8437
+Query 1/1: Action query time = 1.864 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=138: Selected seed 195 with value = 0.6121
+Query 1/1: Action query time = 1.608 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6330
+t=154: Selected seed 195 with value = 0.6330
+Query 1/1: Action query time = 1.603 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=170: Selected seed 195 with value = 0.8171
+Query 1/1: Action query time = 1.658 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=186: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 1.607 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6141
+t=202: Selected seed 195 with value = 0.6141
+Query 1/1: Action query time = 1.638 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8475
+t=218: Selected seed 195 with value = 0.8475
+Query 1/1: Action query time = 1.634 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5928
+t=234: Selected seed 195 with value = 0.5928
+Query 1/1: Action query time = 1.596 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8369
+t=250: Selected seed 195 with value = 0.8369
+Query 1/1: Action query time = 1.604 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8927
+t=266: Selected seed 195 with value = 0.8927
+Query 1/1: Action query time = 1.623 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6556
+t=282: Selected seed 195 with value = 0.6556
+Query 1/1: Action query time = 1.599 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5849
+t=298: Selected seed 195 with value = 0.5849
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=80--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=80--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 80
+# successes: 41 (51.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 1.295 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4638
+t=10: Selected seed 195 with value = 0.4638
+Query 1/1: Action query time = 1.133 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5477
+t=26: Selected seed 195 with value = 0.5477
+Query 1/1: Action query time = 1.118 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6345
+t=42: Selected seed 195 with value = 0.6345
+Query 1/1: Action query time = 1.177 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6381
+t=58: Selected seed 195 with value = 0.6381
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8335
+t=74: Selected seed 195 with value = 0.8335
+Query 1/1: Action query time = 1.017 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=90: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=106: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=122: Selected seed 195 with value = 0.9148
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=138: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=154: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 1.017 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6350
+t=170: Selected seed 195 with value = 0.6350
+Query 1/1: Action query time = 1.005 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8024
+t=186: Selected seed 195 with value = 0.8024
+Query 1/1: Action query time = 1.014 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8799
+t=202: Selected seed 195 with value = 0.8799
+Query 1/1: Action query time = 0.995 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=218: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9700
+t=234: Selected seed 195 with value = 0.9700
+Query 1/1: Action query time = 0.999 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=250: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.993 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=266: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 1.000 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=282: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=298: Selected seed 195 with value = 0.9859
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=81--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=81--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 81
+# successes: 41 (50.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 1.268 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4839
+t=10: Selected seed 195 with value = 0.4839
+Query 1/1: Action query time = 1.186 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5813
+t=26: Selected seed 195 with value = 0.5813
+Query 1/1: Action query time = 1.113 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6744
+t=42: Selected seed 195 with value = 0.6744
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7984
+t=58: Selected seed 195 with value = 0.7984
+Query 1/1: Action query time = 1.005 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9377
+t=74: Selected seed 195 with value = 0.9377
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9720
+t=90: Selected seed 195 with value = 0.9720
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=106: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9605
+t=122: Selected seed 195 with value = 0.9605
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9778
+t=138: Selected seed 195 with value = 0.9778
+Query 1/1: Action query time = 0.997 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=154: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 1.014 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=170: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=186: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=202: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=218: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 1.010 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=234: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 1.006 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=250: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=266: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=282: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=298: Selected seed 195 with value = 0.9827
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=82--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=82--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 82
+# successes: 41 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 1.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5128
+t=10: Selected seed 195 with value = 0.5128
+Query 1/1: Action query time = 1.035 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5882
+t=26: Selected seed 195 with value = 0.5882
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=42: Selected seed 195 with value = 0.6627
+Query 1/1: Action query time = 1.002 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8141
+t=58: Selected seed 195 with value = 0.8141
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9396
+t=74: Selected seed 195 with value = 0.9396
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=83--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=83--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 83
+# successes: 42 (50.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 1.016 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=10: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5722
+t=26: Selected seed 195 with value = 0.5722
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6681
+t=42: Selected seed 195 with value = 0.6681
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8000
+t=58: Selected seed 195 with value = 0.8000
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=74: Selected seed 195 with value = 0.9609
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=84--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=84--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 84
+# successes: 43 (51.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4679
+t=10: Selected seed 195 with value = 0.4679
+Query 1/1: Action query time = 1.036 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5676
+t=26: Selected seed 195 with value = 0.5676
+Query 1/1: Action query time = 1.061 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6684
+t=42: Selected seed 195 with value = 0.6684
+Query 1/1: Action query time = 1.147 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8500
+t=58: Selected seed 195 with value = 0.8500
+Query 1/1: Action query time = 1.213 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6440
+t=74: Selected seed 195 with value = 0.6440
+Query 1/1: Action query time = 1.143 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7590
+t=90: Selected seed 195 with value = 0.7590
+Query 1/1: Action query time = 1.046 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=106: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9104
+t=122: Selected seed 195 with value = 0.9104
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9046
+t=138: Selected seed 195 with value = 0.9046
+Query 1/1: Action query time = 1.000 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=154: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 1.003 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=170: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=186: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 1.001 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=202: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=218: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 0.993 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=234: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=250: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=266: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 1.279 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=282: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 1.243 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=298: Selected seed 195 with value = 0.9737
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=85--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=85--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 85
+# successes: 43 (50.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4807
+t=10: Selected seed 195 with value = 0.4807
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=26: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6367
+t=42: Selected seed 195 with value = 0.6367
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7379
+t=58: Selected seed 195 with value = 0.7379
+Query 1/1: Action query time = 1.072 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=74: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=90: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=106: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8568
+t=122: Selected seed 195 with value = 0.8568
+Query 1/1: Action query time = 1.015 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9583
+t=138: Selected seed 195 with value = 0.9583
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8267
+t=154: Selected seed 195 with value = 0.8267
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7368
+t=170: Selected seed 195 with value = 0.7368
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8442
+t=186: Selected seed 195 with value = 0.8442
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=202: Selected seed 195 with value = 0.9361
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=218: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=234: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=250: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=266: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=282: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 1.032 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=298: Selected seed 195 with value = 0.9909
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=86--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=86--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 86
+# successes: 43 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 1.822 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4801
+t=10: Selected seed 195 with value = 0.4801
+Query 1/1: Action query time = 1.574 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5743
+t=26: Selected seed 195 with value = 0.5743
+Query 1/1: Action query time = 1.770 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6683
+t=42: Selected seed 195 with value = 0.6683
+Query 1/1: Action query time = 1.585 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8564
+t=58: Selected seed 195 with value = 0.8564
+Query 1/1: Action query time = 1.627 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=74: Selected seed 195 with value = 0.9141
+Query 1/1: Action query time = 1.615 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9240
+t=90: Selected seed 195 with value = 0.9240
+Query 1/1: Action query time = 1.635 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=106: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 1.611 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=122: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 1.596 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=138: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 1.607 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9447
+t=154: Selected seed 195 with value = 0.9447
+Query 1/1: Action query time = 1.622 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7773
+t=170: Selected seed 195 with value = 0.7773
+Query 1/1: Action query time = 1.600 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9027
+t=186: Selected seed 195 with value = 0.9027
+Query 1/1: Action query time = 1.628 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=202: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 1.601 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=218: Selected seed 195 with value = 0.9578
+Query 1/1: Action query time = 1.608 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9354
+t=234: Selected seed 195 with value = 0.9354
+Query 1/1: Action query time = 1.610 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=250: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 1.620 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=266: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 1.641 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=282: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 1.617 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=298: Selected seed 195 with value = 0.9809
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=87--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=87--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 87
+# successes: 43 (49.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 1.605 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4766
+t=10: Selected seed 195 with value = 0.4766
+Query 1/1: Action query time = 1.647 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5849
+t=26: Selected seed 195 with value = 0.5849
+Query 1/1: Action query time = 1.620 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6120
+t=42: Selected seed 195 with value = 0.6120
+Query 1/1: Action query time = 1.617 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7248
+t=58: Selected seed 195 with value = 0.7248
+Query 1/1: Action query time = 1.784 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8575
+t=74: Selected seed 195 with value = 0.8575
+Query 1/1: Action query time = 1.618 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=90: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 1.664 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=106: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 1.709 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8815
+t=122: Selected seed 195 with value = 0.8815
+Query 1/1: Action query time = 1.615 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7629
+t=138: Selected seed 195 with value = 0.7629
+Query 1/1: Action query time = 1.631 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8380
+t=154: Selected seed 195 with value = 0.8380
+Query 1/1: Action query time = 1.628 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=170: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 1.806 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=186: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 1.603 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=202: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 1.811 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=218: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 1.657 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=234: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 1.807 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=250: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 1.615 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=266: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 1.597 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=282: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 1.620 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=298: Selected seed 195 with value = 0.9856
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=88--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=88--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 88
+# successes: 43 (48.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 1.678 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4878
+t=10: Selected seed 195 with value = 0.4878
+Query 1/1: Action query time = 1.612 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5721
+t=26: Selected seed 195 with value = 0.5721
+Query 1/1: Action query time = 1.660 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6590
+t=42: Selected seed 195 with value = 0.6590
+Query 1/1: Action query time = 1.076 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7925
+t=58: Selected seed 195 with value = 0.7925
+Query 1/1: Action query time = 1.039 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=74: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 1.077 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=90: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 1.036 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=106: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 1.010 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=122: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=138: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 1.014 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=154: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 1.046 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=170: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 1.075 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=186: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 1.043 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=202: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=218: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9402
+t=234: Selected seed 195 with value = 0.9402
+Query 1/1: Action query time = 0.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=250: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 0.998 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=266: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.990 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=282: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=298: Selected seed 195 with value = 0.9848
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=89--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=89--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 89
+# successes: 43 (48.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4762
+t=10: Selected seed 195 with value = 0.4762
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5624
+t=26: Selected seed 195 with value = 0.5624
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6318
+t=42: Selected seed 195 with value = 0.6318
+Query 1/1: Action query time = 1.064 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7463
+t=58: Selected seed 195 with value = 0.7463
+Query 1/1: Action query time = 1.190 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=74: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 1.218 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=90: Selected seed 195 with value = 0.9463
+Query 1/1: Action query time = 1.228 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=106: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 1.212 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=122: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 1.178 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=138: Selected seed 195 with value = 0.9197
+Query 1/1: Action query time = 1.095 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=154: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 1.066 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9269
+t=170: Selected seed 195 with value = 0.9269
+Query 1/1: Action query time = 1.066 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8190
+t=186: Selected seed 195 with value = 0.8190
+Query 1/1: Action query time = 1.105 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9073
+t=202: Selected seed 195 with value = 0.9073
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=218: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.999 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=234: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=250: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 0.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=266: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=282: Selected seed 195 with value = 0.9712
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=298: Selected seed 195 with value = 0.9911
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=90--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=90--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 90
+# successes: 43 (47.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 1.240 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4843
+t=10: Selected seed 195 with value = 0.4843
+Query 1/1: Action query time = 1.184 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5899
+t=26: Selected seed 195 with value = 0.5899
+Query 1/1: Action query time = 1.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6660
+t=42: Selected seed 195 with value = 0.6660
+Query 1/1: Action query time = 0.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8327
+t=58: Selected seed 195 with value = 0.8327
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=74: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=90: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9603
+t=106: Selected seed 195 with value = 0.9603
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=122: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=138: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=154: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=170: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=186: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=202: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.997 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=218: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=234: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=250: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=266: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.987 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=282: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 1.201 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=298: Selected seed 195 with value = 0.9664
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=91--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=91--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 91
+# successes: 43 (47.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5055
+t=10: Selected seed 195 with value = 0.5055
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=26: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6622
+t=42: Selected seed 195 with value = 0.6622
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8045
+t=58: Selected seed 195 with value = 0.8045
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9329
+t=74: Selected seed 195 with value = 0.9329
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=92--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=92--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 92
+# successes: 44 (47.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4735
+t=10: Selected seed 195 with value = 0.4735
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5790
+t=26: Selected seed 195 with value = 0.5790
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6499
+t=42: Selected seed 195 with value = 0.6499
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=58: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=74: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=90: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=106: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=122: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 1.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9567
+t=138: Selected seed 195 with value = 0.9567
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=154: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 1.237 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=170: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 1.164 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=186: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 1.162 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=202: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 1.175 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=218: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 1.159 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=234: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 1.163 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=250: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 1.155 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=266: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 1.097 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=282: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 1.113 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=298: Selected seed 195 with value = 0.9863
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=93--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=93--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 93
+# successes: 44 (47.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4765
+t=10: Selected seed 195 with value = 0.4765
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5654
+t=26: Selected seed 195 with value = 0.5654
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=42: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7260
+t=58: Selected seed 195 with value = 0.7260
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6815
+t=74: Selected seed 195 with value = 0.6815
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7256
+t=90: Selected seed 195 with value = 0.7256
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8508
+t=106: Selected seed 195 with value = 0.8508
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9371
+t=122: Selected seed 195 with value = 0.9371
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=138: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=154: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.997 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=170: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9370
+t=186: Selected seed 195 with value = 0.9370
+Query 1/1: Action query time = 0.986 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=202: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=218: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=234: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=250: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=266: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=282: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=298: Selected seed 195 with value = 0.9900
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=94--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=94--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 94
+# successes: 44 (46.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 1.013 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4990
+t=10: Selected seed 195 with value = 0.4990
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5846
+t=26: Selected seed 195 with value = 0.5846
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6633
+t=42: Selected seed 195 with value = 0.6633
+Query 1/1: Action query time = 1.075 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7966
+t=58: Selected seed 195 with value = 0.7966
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=74: Selected seed 195 with value = 0.9595
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=95--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=95--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 95
+# successes: 45 (47.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4968
+t=10: Selected seed 195 with value = 0.4968
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5951
+t=26: Selected seed 195 with value = 0.5951
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6860
+t=42: Selected seed 195 with value = 0.6860
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7987
+t=58: Selected seed 195 with value = 0.7987
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=74: Selected seed 195 with value = 0.9752
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=90: Selected seed 195 with value = 0.9298
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9189
+t=106: Selected seed 195 with value = 0.9189
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=122: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 0.957 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9131
+t=138: Selected seed 195 with value = 0.9131
+Query 1/1: Action query time = 1.000 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9327
+t=154: Selected seed 195 with value = 0.9327
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8665
+t=170: Selected seed 195 with value = 0.8665
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7789
+t=186: Selected seed 195 with value = 0.7789
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8953
+t=202: Selected seed 195 with value = 0.8953
+Query 1/1: Action query time = 0.984 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=218: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 1.004 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=234: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 1.037 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=250: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 1.200 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=266: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 1.317 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=282: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 1.342 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=298: Selected seed 195 with value = 0.9974
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=96--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=96--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 96
+# successes: 45 (46.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4855
+t=10: Selected seed 195 with value = 0.4855
+Query 1/1: Action query time = 1.073 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5717
+t=26: Selected seed 195 with value = 0.5717
+Query 1/1: Action query time = 1.295 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6900
+t=42: Selected seed 195 with value = 0.6900
+Query 1/1: Action query time = 1.238 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8033
+t=58: Selected seed 195 with value = 0.8033
+Query 1/1: Action query time = 1.238 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=74: Selected seed 195 with value = 0.9688
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=97--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=97--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 97
+# successes: 46 (47.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 1.302 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4828
+t=10: Selected seed 195 with value = 0.4828
+Query 1/1: Action query time = 1.259 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5978
+t=26: Selected seed 195 with value = 0.5978
+Query 1/1: Action query time = 1.688 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7081
+t=42: Selected seed 195 with value = 0.7081
+Query 1/1: Action query time = 1.532 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=58: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 1.356 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=74: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 1.130 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=90: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 1.060 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9111
+t=106: Selected seed 195 with value = 0.9111
+Query 1/1: Action query time = 1.126 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9366
+t=122: Selected seed 195 with value = 0.9366
+Query 1/1: Action query time = 1.434 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9506
+t=138: Selected seed 195 with value = 0.9506
+Query 1/1: Action query time = 1.401 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=154: Selected seed 195 with value = 0.9586
+Query 1/1: Action query time = 1.257 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=170: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 1.261 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=186: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 1.419 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=202: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 1.205 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=218: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 1.229 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=234: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 1.229 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=250: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=266: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=282: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=298: Selected seed 195 with value = 0.9941
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=98--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=98--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 98
+# successes: 46 (46.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 1.372 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4769
+t=10: Selected seed 195 with value = 0.4769
+Query 1/1: Action query time = 1.332 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5751
+t=26: Selected seed 195 with value = 0.5751
+Query 1/1: Action query time = 1.248 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6416
+t=42: Selected seed 195 with value = 0.6416
+Query 1/1: Action query time = 1.241 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7862
+t=58: Selected seed 195 with value = 0.7862
+Query 1/1: Action query time = 1.047 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9028
+t=74: Selected seed 195 with value = 0.9028
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7278
+t=90: Selected seed 195 with value = 0.7278
+Query 1/1: Action query time = 0.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7998
+t=106: Selected seed 195 with value = 0.7998
+Query 1/1: Action query time = 1.024 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9324
+t=122: Selected seed 195 with value = 0.9324
+Query 1/1: Action query time = 1.248 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=138: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 1.253 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=154: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 1.156 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=170: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 1.157 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=186: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 1.265 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=202: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 1.224 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=218: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 1.186 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=234: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 1.228 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=250: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 0.999 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=266: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=282: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=298: Selected seed 195 with value = 0.9562
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=99--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=99--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 99
+# successes: 46 (46.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4774
+t=10: Selected seed 195 with value = 0.4774
+Query 1/1: Action query time = 1.000 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5861
+t=26: Selected seed 195 with value = 0.5861
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6214
+t=42: Selected seed 195 with value = 0.6214
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7469
+t=58: Selected seed 195 with value = 0.7469
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8963
+t=74: Selected seed 195 with value = 0.8963
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=90: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=106: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=122: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=138: Selected seed 195 with value = 0.9728
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9259
+t=154: Selected seed 195 with value = 0.9259
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8578
+t=170: Selected seed 195 with value = 0.8578
+Query 1/1: Action query time = 0.984 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9070
+t=186: Selected seed 195 with value = 0.9070
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=202: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=218: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=234: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9265
+t=250: Selected seed 195 with value = 0.9265
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=266: Selected seed 195 with value = 0.8884
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9260
+t=282: Selected seed 195 with value = 0.9260
+Query 1/1: Action query time = 0.988 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=298: Selected seed 195 with value = 0.9443
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--episode=100--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g1_t24/2026_07_31-01_10_31--with_future_img--episode=100--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 100
+# successes: 46 (46.0%)
+Current task success rate: 0.2
+Current total success rate: 0.46
+Final results:
+Total episodes: 100
+Total successes: 46
+Overall success rate: 0.4600 (46.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_46_55--CLi800_t5.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_46_55--CLi800_t5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e8470a62a8737a1143ad85f028ddc8e8cb9d9f06
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_46_55--CLi800_t5.txt
@@ -0,0 +1,1960 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLi800_t5', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.613 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3301
+t=10: Selected seed 195 with value = 0.3301
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3673
+t=26: Selected seed 195 with value = 0.3673
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4155
+t=42: Selected seed 195 with value = 0.4155
+Query 1/1: Action query time = 0.937 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5201
+t=58: Selected seed 195 with value = 0.5201
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6070
+t=74: Selected seed 195 with value = 0.6070
+Query 1/1: Action query time = 0.939 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=90: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=106: Selected seed 195 with value = 0.9637
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=1--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.071 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3272
+t=10: Selected seed 195 with value = 0.3272
+Query 1/1: Action query time = 1.015 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3519
+t=26: Selected seed 195 with value = 0.3519
+Query 1/1: Action query time = 0.940 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4053
+t=42: Selected seed 195 with value = 0.4053
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=58: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6396
+t=74: Selected seed 195 with value = 0.6396
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8505
+t=90: Selected seed 195 with value = 0.8505
+Query 1/1: Action query time = 0.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=106: Selected seed 195 with value = 0.9844
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=2--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3281
+t=10: Selected seed 195 with value = 0.3281
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3822
+t=26: Selected seed 195 with value = 0.3822
+Query 1/1: Action query time = 1.010 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4291
+t=42: Selected seed 195 with value = 0.4291
+Query 1/1: Action query time = 1.138 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5334
+t=58: Selected seed 195 with value = 0.5334
+Query 1/1: Action query time = 1.060 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6938
+t=74: Selected seed 195 with value = 0.6938
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8698
+t=90: Selected seed 195 with value = 0.8698
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=106: Selected seed 195 with value = 0.9962
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=3--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.058 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3380
+t=10: Selected seed 195 with value = 0.3380
+Query 1/1: Action query time = 1.152 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3668
+t=26: Selected seed 195 with value = 0.3668
+Query 1/1: Action query time = 1.186 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5155
+t=42: Selected seed 195 with value = 0.5155
+Query 1/1: Action query time = 1.094 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5212
+t=58: Selected seed 195 with value = 0.5212
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5793
+t=74: Selected seed 195 with value = 0.5793
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8047
+t=90: Selected seed 195 with value = 0.8047
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=106: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 0.946 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=122: Selected seed 195 with value = 0.9934
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=4--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 1.074 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3358
+t=10: Selected seed 195 with value = 0.3358
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3741
+t=26: Selected seed 195 with value = 0.3741
+Query 1/1: Action query time = 0.948 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3964
+t=42: Selected seed 195 with value = 0.3964
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5441
+t=58: Selected seed 195 with value = 0.5441
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7154
+t=74: Selected seed 195 with value = 0.7154
+Query 1/1: Action query time = 1.038 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8992
+t=90: Selected seed 195 with value = 0.8992
+Query 1/1: Action query time = 1.030 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=106: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=5--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 0.960 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3313
+t=10: Selected seed 195 with value = 0.3313
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3763
+t=26: Selected seed 195 with value = 0.3763
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4852
+t=42: Selected seed 195 with value = 0.4852
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6064
+t=58: Selected seed 195 with value = 0.6064
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7125
+t=74: Selected seed 195 with value = 0.7125
+Query 1/1: Action query time = 1.085 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8445
+t=90: Selected seed 195 with value = 0.8445
+Query 1/1: Action query time = 1.086 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=106: Selected seed 195 with value = 0.9795
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=6--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3373
+t=10: Selected seed 195 with value = 0.3373
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3743
+t=26: Selected seed 195 with value = 0.3743
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=42: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5407
+t=58: Selected seed 195 with value = 0.5407
+Query 1/1: Action query time = 0.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5773
+t=74: Selected seed 195 with value = 0.5773
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7902
+t=90: Selected seed 195 with value = 0.7902
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9619
+t=106: Selected seed 195 with value = 0.9619
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=122: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=7--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3940
+t=10: Selected seed 195 with value = 0.3940
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3867
+t=26: Selected seed 195 with value = 0.3867
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4465
+t=42: Selected seed 195 with value = 0.4465
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5284
+t=58: Selected seed 195 with value = 0.5284
+Query 1/1: Action query time = 0.946 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7258
+t=74: Selected seed 195 with value = 0.7258
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8583
+t=90: Selected seed 195 with value = 0.8583
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=106: Selected seed 195 with value = 0.9909
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=8--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 0.962 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3388
+t=10: Selected seed 195 with value = 0.3388
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3825
+t=26: Selected seed 195 with value = 0.3825
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4125
+t=42: Selected seed 195 with value = 0.4125
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6503
+t=58: Selected seed 195 with value = 0.6503
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=74: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8841
+t=90: Selected seed 195 with value = 0.8841
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=106: Selected seed 195 with value = 0.9960
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=9--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 1.068 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3494
+t=10: Selected seed 195 with value = 0.3494
+Query 1/1: Action query time = 1.132 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3673
+t=26: Selected seed 195 with value = 0.3673
+Query 1/1: Action query time = 1.146 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4130
+t=42: Selected seed 195 with value = 0.4130
+Query 1/1: Action query time = 1.092 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5488
+t=58: Selected seed 195 with value = 0.5488
+Query 1/1: Action query time = 1.063 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6894
+t=74: Selected seed 195 with value = 0.6894
+Query 1/1: Action query time = 1.029 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8560
+t=90: Selected seed 195 with value = 0.8560
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=106: Selected seed 195 with value = 0.9885
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=10--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 1.185 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3221
+t=10: Selected seed 195 with value = 0.3221
+Query 1/1: Action query time = 1.142 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3615
+t=26: Selected seed 195 with value = 0.3615
+Query 1/1: Action query time = 1.014 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4863
+t=42: Selected seed 195 with value = 0.4863
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=58: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8050
+t=74: Selected seed 195 with value = 0.8050
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=90: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 0.947 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=106: Selected seed 195 with value = 0.9935
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=11--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 0.959 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3385
+t=10: Selected seed 195 with value = 0.3385
+Query 1/1: Action query time = 1.043 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3670
+t=26: Selected seed 195 with value = 0.3670
+Query 1/1: Action query time = 1.044 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5247
+t=42: Selected seed 195 with value = 0.5247
+Query 1/1: Action query time = 1.042 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5396
+t=58: Selected seed 195 with value = 0.5396
+Query 1/1: Action query time = 1.077 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7002
+t=74: Selected seed 195 with value = 0.7002
+Query 1/1: Action query time = 1.132 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8816
+t=90: Selected seed 195 with value = 0.8816
+Query 1/1: Action query time = 1.139 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=106: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=12--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3567
+t=10: Selected seed 195 with value = 0.3567
+Query 1/1: Action query time = 0.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3654
+t=26: Selected seed 195 with value = 0.3654
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4487
+t=42: Selected seed 195 with value = 0.4487
+Query 1/1: Action query time = 1.038 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7218
+t=58: Selected seed 195 with value = 0.7218
+Query 1/1: Action query time = 1.093 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7870
+t=74: Selected seed 195 with value = 0.7870
+Query 1/1: Action query time = 1.159 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=90: Selected seed 195 with value = 0.9556
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=13--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=13--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 14...
+Query 1/1: Action query time = 1.102 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3706
+t=10: Selected seed 195 with value = 0.3706
+Query 1/1: Action query time = 1.016 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3809
+t=26: Selected seed 195 with value = 0.3809
+Query 1/1: Action query time = 1.007 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4068
+t=42: Selected seed 195 with value = 0.4068
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5441
+t=58: Selected seed 195 with value = 0.5441
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6782
+t=74: Selected seed 195 with value = 0.6782
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=90: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 0.950 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=106: Selected seed 195 with value = 0.9923
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=14--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=14--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 15...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3430
+t=10: Selected seed 195 with value = 0.3430
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3624
+t=26: Selected seed 195 with value = 0.3624
+Query 1/1: Action query time = 0.946 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4898
+t=42: Selected seed 195 with value = 0.4898
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5170
+t=58: Selected seed 195 with value = 0.5170
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5679
+t=74: Selected seed 195 with value = 0.5679
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8265
+t=90: Selected seed 195 with value = 0.8265
+Query 1/1: Action query time = 0.951 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9474
+t=106: Selected seed 195 with value = 0.9474
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=122: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=15--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=15--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 16...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3557
+t=10: Selected seed 195 with value = 0.3557
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3687
+t=26: Selected seed 195 with value = 0.3687
+Query 1/1: Action query time = 0.948 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5066
+t=42: Selected seed 195 with value = 0.5066
+Query 1/1: Action query time = 0.941 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8080
+t=58: Selected seed 195 with value = 0.8080
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8807
+t=74: Selected seed 195 with value = 0.8807
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=90: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 1.003 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=106: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=16--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=16--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 17...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3383
+t=10: Selected seed 195 with value = 0.3383
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3767
+t=26: Selected seed 195 with value = 0.3767
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4746
+t=42: Selected seed 195 with value = 0.4746
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5064
+t=58: Selected seed 195 with value = 0.5064
+Query 1/1: Action query time = 0.943 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5315
+t=74: Selected seed 195 with value = 0.5315
+Query 1/1: Action query time = 0.949 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7594
+t=90: Selected seed 195 with value = 0.7594
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9101
+t=106: Selected seed 195 with value = 0.9101
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=122: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=17--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=17--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 18...
+Query 1/1: Action query time = 0.960 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3386
+t=10: Selected seed 195 with value = 0.3386
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3614
+t=26: Selected seed 195 with value = 0.3614
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4563
+t=42: Selected seed 195 with value = 0.4563
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5389
+t=58: Selected seed 195 with value = 0.5389
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6260
+t=74: Selected seed 195 with value = 0.6260
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8129
+t=90: Selected seed 195 with value = 0.8129
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=106: Selected seed 195 with value = 0.9853
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=18--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=18--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 19...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3434
+t=10: Selected seed 195 with value = 0.3434
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3849
+t=26: Selected seed 195 with value = 0.3849
+Query 1/1: Action query time = 0.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4216
+t=42: Selected seed 195 with value = 0.4216
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5162
+t=58: Selected seed 195 with value = 0.5162
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6320
+t=74: Selected seed 195 with value = 0.6320
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8519
+t=90: Selected seed 195 with value = 0.8519
+Query 1/1: Action query time = 0.951 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=106: Selected seed 195 with value = 0.9712
+Query 1/1: Action query time = 0.947 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=122: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=19--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=19--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 20...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3331
+t=10: Selected seed 195 with value = 0.3331
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3597
+t=26: Selected seed 195 with value = 0.3597
+Query 1/1: Action query time = 0.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=42: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8044
+t=58: Selected seed 195 with value = 0.8044
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8642
+t=74: Selected seed 195 with value = 0.8642
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=90: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 0.951 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=106: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=20--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=20--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 21...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3362
+t=10: Selected seed 195 with value = 0.3362
+Query 1/1: Action query time = 0.952 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3673
+t=26: Selected seed 195 with value = 0.3673
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4387
+t=42: Selected seed 195 with value = 0.4387
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7729
+t=58: Selected seed 195 with value = 0.7729
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7791
+t=74: Selected seed 195 with value = 0.7791
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=90: Selected seed 195 with value = 0.9489
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=106: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=21--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=21--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 22...
+Query 1/1: Action query time = 0.963 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3390
+t=10: Selected seed 195 with value = 0.3390
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3807
+t=26: Selected seed 195 with value = 0.3807
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4377
+t=42: Selected seed 195 with value = 0.4377
+Query 1/1: Action query time = 1.048 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=58: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 1.033 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5188
+t=74: Selected seed 195 with value = 0.5188
+Query 1/1: Action query time = 1.129 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7678
+t=90: Selected seed 195 with value = 0.7678
+Query 1/1: Action query time = 1.166 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9011
+t=106: Selected seed 195 with value = 0.9011
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=138: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=22--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=22--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 22 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 23...
+Query 1/1: Action query time = 0.958 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3364
+t=10: Selected seed 195 with value = 0.3364
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3664
+t=26: Selected seed 195 with value = 0.3664
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4169
+t=42: Selected seed 195 with value = 0.4169
+Query 1/1: Action query time = 0.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=58: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6704
+t=74: Selected seed 195 with value = 0.6704
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8433
+t=90: Selected seed 195 with value = 0.8433
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=106: Selected seed 195 with value = 0.9921
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=23--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=23--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 23 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 24...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3359
+t=10: Selected seed 195 with value = 0.3359
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3586
+t=26: Selected seed 195 with value = 0.3586
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4438
+t=42: Selected seed 195 with value = 0.4438
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6950
+t=58: Selected seed 195 with value = 0.6950
+Query 1/1: Action query time = 0.945 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7904
+t=74: Selected seed 195 with value = 0.7904
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=90: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 1.112 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=106: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=24--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=24--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 25...
+Query 1/1: Action query time = 0.959 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3431
+t=10: Selected seed 195 with value = 0.3431
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3639
+t=26: Selected seed 195 with value = 0.3639
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4557
+t=42: Selected seed 195 with value = 0.4557
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5167
+t=58: Selected seed 195 with value = 0.5167
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5510
+t=74: Selected seed 195 with value = 0.5510
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=90: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 0.950 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=106: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 0.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=122: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=138: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=154: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.950 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.947 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.002 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=234: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 1.062 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=250: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 1.145 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=266: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 1.167 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9145
+t=282: Selected seed 195 with value = 0.9145
+Query 1/1: Action query time = 1.158 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8985
+t=298: Selected seed 195 with value = 0.8985
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=25--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=25--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 26...
+Query 1/1: Action query time = 1.147 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3477
+t=10: Selected seed 195 with value = 0.3477
+Query 1/1: Action query time = 1.146 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3741
+t=26: Selected seed 195 with value = 0.3741
+Query 1/1: Action query time = 1.108 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4379
+t=42: Selected seed 195 with value = 0.4379
+Query 1/1: Action query time = 1.044 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5229
+t=58: Selected seed 195 with value = 0.5229
+Query 1/1: Action query time = 1.063 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6445
+t=74: Selected seed 195 with value = 0.6445
+Query 1/1: Action query time = 1.061 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8592
+t=90: Selected seed 195 with value = 0.8592
+Query 1/1: Action query time = 1.032 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=106: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=26--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=26--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 25 (96.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 27...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3581
+t=10: Selected seed 195 with value = 0.3581
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3707
+t=26: Selected seed 195 with value = 0.3707
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4506
+t=42: Selected seed 195 with value = 0.4506
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5176
+t=58: Selected seed 195 with value = 0.5176
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6534
+t=74: Selected seed 195 with value = 0.6534
+Query 1/1: Action query time = 0.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8501
+t=90: Selected seed 195 with value = 0.8501
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=106: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=27--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=27--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 26 (96.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 28...
+Query 1/1: Action query time = 1.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3332
+t=10: Selected seed 195 with value = 0.3332
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3712
+t=26: Selected seed 195 with value = 0.3712
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=42: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6319
+t=58: Selected seed 195 with value = 0.6319
+Query 1/1: Action query time = 1.008 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7343
+t=74: Selected seed 195 with value = 0.7343
+Query 1/1: Action query time = 1.040 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=90: Selected seed 195 with value = 0.9379
+Query 1/1: Action query time = 1.042 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=106: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=28--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=28--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 27 (96.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 29...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3333
+t=10: Selected seed 195 with value = 0.3333
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3820
+t=26: Selected seed 195 with value = 0.3820
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4705
+t=42: Selected seed 195 with value = 0.4705
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5042
+t=58: Selected seed 195 with value = 0.5042
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5445
+t=74: Selected seed 195 with value = 0.5445
+Query 1/1: Action query time = 0.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7843
+t=90: Selected seed 195 with value = 0.7843
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=106: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=29--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=29--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 28 (96.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 30...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3620
+t=10: Selected seed 195 with value = 0.3620
+Query 1/1: Action query time = 0.950 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3776
+t=26: Selected seed 195 with value = 0.3776
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5124
+t=42: Selected seed 195 with value = 0.5124
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5429
+t=58: Selected seed 195 with value = 0.5429
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6962
+t=74: Selected seed 195 with value = 0.6962
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8849
+t=90: Selected seed 195 with value = 0.8849
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=106: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=30--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=30--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 29 (96.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 31...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3285
+t=10: Selected seed 195 with value = 0.3285
+Query 1/1: Action query time = 1.178 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3551
+t=26: Selected seed 195 with value = 0.3551
+Query 1/1: Action query time = 1.162 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4130
+t=42: Selected seed 195 with value = 0.4130
+Query 1/1: Action query time = 1.088 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=58: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 1.026 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5940
+t=74: Selected seed 195 with value = 0.5940
+Query 1/1: Action query time = 1.013 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7816
+t=90: Selected seed 195 with value = 0.7816
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9378
+t=106: Selected seed 195 with value = 0.9378
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=122: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=31--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=31--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 30 (96.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 32...
+Query 1/1: Action query time = 1.080 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3388
+t=10: Selected seed 195 with value = 0.3388
+Query 1/1: Action query time = 1.011 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3853
+t=26: Selected seed 195 with value = 0.3853
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4763
+t=42: Selected seed 195 with value = 0.4763
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5146
+t=58: Selected seed 195 with value = 0.5146
+Query 1/1: Action query time = 1.082 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3732
+t=74: Selected seed 195 with value = 0.3732
+Query 1/1: Action query time = 1.077 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7353
+t=90: Selected seed 195 with value = 0.7353
+Query 1/1: Action query time = 1.012 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8941
+t=106: Selected seed 195 with value = 0.8941
+Query 1/1: Action query time = 1.028 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=122: Selected seed 195 with value = 0.9980
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=32--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=32--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 31 (96.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 33...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3515
+t=10: Selected seed 195 with value = 0.3515
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3650
+t=26: Selected seed 195 with value = 0.3650
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4579
+t=42: Selected seed 195 with value = 0.4579
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6791
+t=58: Selected seed 195 with value = 0.6791
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7883
+t=74: Selected seed 195 with value = 0.7883
+Query 1/1: Action query time = 1.037 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=90: Selected seed 195 with value = 0.9522
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=106: Selected seed 195 with value = 0.9939
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=33--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=33--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 32 (97.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 34...
+Query 1/1: Action query time = 1.215 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3277
+t=10: Selected seed 195 with value = 0.3277
+Query 1/1: Action query time = 1.193 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3523
+t=26: Selected seed 195 with value = 0.3523
+Query 1/1: Action query time = 1.098 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4539
+t=42: Selected seed 195 with value = 0.4539
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7653
+t=58: Selected seed 195 with value = 0.7653
+Query 1/1: Action query time = 0.953 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7974
+t=74: Selected seed 195 with value = 0.7974
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9512
+t=90: Selected seed 195 with value = 0.9512
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=34--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=34--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 33 (97.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 35...
+Query 1/1: Action query time = 1.037 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3487
+t=10: Selected seed 195 with value = 0.3487
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3578
+t=26: Selected seed 195 with value = 0.3578
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4175
+t=42: Selected seed 195 with value = 0.4175
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5963
+t=58: Selected seed 195 with value = 0.5963
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7075
+t=74: Selected seed 195 with value = 0.7075
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=90: Selected seed 195 with value = 0.9136
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=106: Selected seed 195 with value = 0.9936
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=35--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=35--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 34 (97.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 36...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3456
+t=10: Selected seed 195 with value = 0.3456
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3709
+t=26: Selected seed 195 with value = 0.3709
+Query 1/1: Action query time = 0.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5468
+t=42: Selected seed 195 with value = 0.5468
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5169
+t=58: Selected seed 195 with value = 0.5169
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5715
+t=74: Selected seed 195 with value = 0.5715
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8504
+t=90: Selected seed 195 with value = 0.8504
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=106: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7508
+t=122: Selected seed 195 with value = 0.7508
+Query 1/1: Action query time = 1.064 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8508
+t=138: Selected seed 195 with value = 0.8508
+Query 1/1: Action query time = 1.129 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=154: Selected seed 195 with value = 0.9586
+Query 1/1: Action query time = 1.196 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=170: Selected seed 195 with value = 0.9761
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=36--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=36--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 35 (97.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 37...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3384
+t=10: Selected seed 195 with value = 0.3384
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3690
+t=26: Selected seed 195 with value = 0.3690
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4589
+t=42: Selected seed 195 with value = 0.4589
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5167
+t=58: Selected seed 195 with value = 0.5167
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5868
+t=74: Selected seed 195 with value = 0.5868
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7925
+t=90: Selected seed 195 with value = 0.7925
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=106: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=122: Selected seed 195 with value = 0.9947
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=37--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=37--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 36 (97.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 38...
+Query 1/1: Action query time = 1.094 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3346
+t=10: Selected seed 195 with value = 0.3346
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3599
+t=26: Selected seed 195 with value = 0.3599
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4128
+t=42: Selected seed 195 with value = 0.4128
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5145
+t=58: Selected seed 195 with value = 0.5145
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6126
+t=74: Selected seed 195 with value = 0.6126
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=90: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=106: Selected seed 195 with value = 0.9810
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=38--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=38--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 37 (97.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 39...
+Query 1/1: Action query time = 1.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3354
+t=10: Selected seed 195 with value = 0.3354
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3757
+t=26: Selected seed 195 with value = 0.3757
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4194
+t=42: Selected seed 195 with value = 0.4194
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5706
+t=58: Selected seed 195 with value = 0.5706
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6591
+t=74: Selected seed 195 with value = 0.6591
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=90: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=106: Selected seed 195 with value = 0.9722
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=39--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=39--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 38 (97.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 40...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3206
+t=10: Selected seed 195 with value = 0.3206
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3810
+t=26: Selected seed 195 with value = 0.3810
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5562
+t=42: Selected seed 195 with value = 0.5562
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6138
+t=58: Selected seed 195 with value = 0.6138
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7433
+t=74: Selected seed 195 with value = 0.7433
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9171
+t=90: Selected seed 195 with value = 0.9171
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=106: Selected seed 195 with value = 0.9934
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=40--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=40--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 39 (97.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 41...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3344
+t=10: Selected seed 195 with value = 0.3344
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3824
+t=26: Selected seed 195 with value = 0.3824
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4363
+t=42: Selected seed 195 with value = 0.4363
+Query 1/1: Action query time = 0.948 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5154
+t=58: Selected seed 195 with value = 0.5154
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5749
+t=74: Selected seed 195 with value = 0.5749
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=90: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 0.950 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9368
+t=106: Selected seed 195 with value = 0.9368
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=122: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=138: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=154: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.949 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=186: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.961 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=202: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 0.958 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=218: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 0.948 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8504
+t=234: Selected seed 195 with value = 0.8504
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8887
+t=250: Selected seed 195 with value = 0.8887
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=266: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 0.956 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8679
+t=282: Selected seed 195 with value = 0.8679
+Query 1/1: Action query time = 0.989 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8683
+t=298: Selected seed 195 with value = 0.8683
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=41--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=41--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 41
+# successes: 39 (95.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 42...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3417
+t=10: Selected seed 195 with value = 0.3417
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3711
+t=26: Selected seed 195 with value = 0.3711
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4253
+t=42: Selected seed 195 with value = 0.4253
+Query 1/1: Action query time = 1.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5199
+t=58: Selected seed 195 with value = 0.5199
+Query 1/1: Action query time = 1.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6581
+t=74: Selected seed 195 with value = 0.6581
+Query 1/1: Action query time = 1.031 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8521
+t=90: Selected seed 195 with value = 0.8521
+Query 1/1: Action query time = 1.019 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=106: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=42--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=42--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 40 (95.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 43...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3205
+t=10: Selected seed 195 with value = 0.3205
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3685
+t=26: Selected seed 195 with value = 0.3685
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4135
+t=42: Selected seed 195 with value = 0.4135
+Query 1/1: Action query time = 0.949 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=58: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=74: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8843
+t=90: Selected seed 195 with value = 0.8843
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=106: Selected seed 195 with value = 0.9934
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=43--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=43--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 41 (95.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 44...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3441
+t=10: Selected seed 195 with value = 0.3441
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3642
+t=26: Selected seed 195 with value = 0.3642
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4182
+t=42: Selected seed 195 with value = 0.4182
+Query 1/1: Action query time = 0.947 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5310
+t=58: Selected seed 195 with value = 0.5310
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6685
+t=74: Selected seed 195 with value = 0.6685
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8399
+t=90: Selected seed 195 with value = 0.8399
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=106: Selected seed 195 with value = 0.9915
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=44--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=44--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 42 (95.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 45...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3420
+t=10: Selected seed 195 with value = 0.3420
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3681
+t=26: Selected seed 195 with value = 0.3681
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4235
+t=42: Selected seed 195 with value = 0.4235
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7732
+t=58: Selected seed 195 with value = 0.7732
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=74: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=90: Selected seed 195 with value = 0.9555
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=106: Selected seed 195 with value = 0.9954
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=45--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=45--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 43 (95.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 46...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3309
+t=10: Selected seed 195 with value = 0.3309
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3615
+t=26: Selected seed 195 with value = 0.3615
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5011
+t=42: Selected seed 195 with value = 0.5011
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8074
+t=58: Selected seed 195 with value = 0.8074
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8808
+t=74: Selected seed 195 with value = 0.8808
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=90: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=106: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=46--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=46--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 44 (95.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 47...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3395
+t=10: Selected seed 195 with value = 0.3395
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3591
+t=26: Selected seed 195 with value = 0.3591
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4153
+t=42: Selected seed 195 with value = 0.4153
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4427
+t=58: Selected seed 195 with value = 0.4427
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5394
+t=74: Selected seed 195 with value = 0.5394
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=90: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 0.952 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9102
+t=106: Selected seed 195 with value = 0.9102
+Query 1/1: Action query time = 0.953 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=122: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=47--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=47--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 45 (95.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 48...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3559
+t=10: Selected seed 195 with value = 0.3559
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3699
+t=26: Selected seed 195 with value = 0.3699
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4832
+t=42: Selected seed 195 with value = 0.4832
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6480
+t=58: Selected seed 195 with value = 0.6480
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7835
+t=74: Selected seed 195 with value = 0.7835
+Query 1/1: Action query time = 1.048 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9391
+t=90: Selected seed 195 with value = 0.9391
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=48--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=48--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 46 (95.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 49...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3329
+t=10: Selected seed 195 with value = 0.3329
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3574
+t=26: Selected seed 195 with value = 0.3574
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4261
+t=42: Selected seed 195 with value = 0.4261
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8011
+t=58: Selected seed 195 with value = 0.8011
+Query 1/1: Action query time = 0.953 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8431
+t=74: Selected seed 195 with value = 0.8431
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=90: Selected seed 195 with value = 0.9590
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=49--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=49--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 47 (95.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 50...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3298
+t=10: Selected seed 195 with value = 0.3298
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3763
+t=26: Selected seed 195 with value = 0.3763
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4821
+t=42: Selected seed 195 with value = 0.4821
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5391
+t=58: Selected seed 195 with value = 0.5391
+Query 1/1: Action query time = 0.953 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5813
+t=74: Selected seed 195 with value = 0.5813
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8387
+t=90: Selected seed 195 with value = 0.8387
+Query 1/1: Action query time = 0.948 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=106: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 0.952 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=122: Selected seed 195 with value = 0.9928
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--episode=50--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t5/2026_07_31-14_46_55--with_future_img--episode=50--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 48 (96.0%)
+Current task success rate: 0.96
+Current total success rate: 0.96
+Final results:
+Total episodes: 50
+Total successes: 48
+Overall success rate: 0.9600 (96.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_58_43--CLi800_t3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_58_43--CLi800_t3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0dc9f9959208fbac14a312b0587a022265835be9
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_58_43--CLi800_t3.txt
@@ -0,0 +1,4112 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLi800_t3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 1.474 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3899
+t=10: Selected seed 195 with value = 0.3899
+Query 1/1: Action query time = 0.942 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3986
+t=26: Selected seed 195 with value = 0.3986
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5158
+t=42: Selected seed 195 with value = 0.5158
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5873
+t=58: Selected seed 195 with value = 0.5873
+Query 1/1: Action query time = 0.946 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7777
+t=74: Selected seed 195 with value = 0.7777
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5065
+t=90: Selected seed 195 with value = 0.5065
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=106: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=122: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.950 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=138: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.946 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=154: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.951 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=170: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 0.951 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=186: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.956 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=202: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 0.944 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7243
+t=218: Selected seed 195 with value = 0.7243
+Query 1/1: Action query time = 0.948 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8046
+t=234: Selected seed 195 with value = 0.8046
+Query 1/1: Action query time = 0.951 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9359
+t=250: Selected seed 195 with value = 0.9359
+Query 1/1: Action query time = 0.950 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=1--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 0.958 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3602
+t=10: Selected seed 195 with value = 0.3602
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3626
+t=26: Selected seed 195 with value = 0.3626
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5574
+t=42: Selected seed 195 with value = 0.5574
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5990
+t=58: Selected seed 195 with value = 0.5990
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5817
+t=74: Selected seed 195 with value = 0.5817
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5636
+t=90: Selected seed 195 with value = 0.5636
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4662
+t=106: Selected seed 195 with value = 0.4662
+Query 1/1: Action query time = 1.061 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6152
+t=122: Selected seed 195 with value = 0.6152
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7049
+t=138: Selected seed 195 with value = 0.7049
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8574
+t=154: Selected seed 195 with value = 0.8574
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9593
+t=170: Selected seed 195 with value = 0.9593
+Query 1/1: Action query time = 0.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=186: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.956 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=202: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=218: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=234: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 0.954 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=250: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 0.964 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9563
+t=266: Selected seed 195 with value = 0.9563
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9583
+t=282: Selected seed 195 with value = 0.9583
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=298: Selected seed 195 with value = 0.8871
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=2--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 0.953 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3222
+t=10: Selected seed 195 with value = 0.3222
+Query 1/1: Action query time = 0.948 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3453
+t=26: Selected seed 195 with value = 0.3453
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5351
+t=42: Selected seed 195 with value = 0.5351
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6147
+t=58: Selected seed 195 with value = 0.6147
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=74: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4951
+t=90: Selected seed 195 with value = 0.4951
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4807
+t=106: Selected seed 195 with value = 0.4807
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5570
+t=122: Selected seed 195 with value = 0.5570
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=138: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8350
+t=154: Selected seed 195 with value = 0.8350
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=170: Selected seed 195 with value = 0.9459
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=186: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.956 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=202: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 0.959 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=218: Selected seed 195 with value = 0.9783
+Query 1/1: Action query time = 0.951 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=234: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=250: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 0.988 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9580
+t=266: Selected seed 195 with value = 0.9580
+Query 1/1: Action query time = 0.952 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=282: Selected seed 195 with value = 0.9685
+Query 1/1: Action query time = 0.951 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9392
+t=298: Selected seed 195 with value = 0.9392
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=3--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 0.952 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3195
+t=10: Selected seed 195 with value = 0.3195
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3366
+t=26: Selected seed 195 with value = 0.3366
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5459
+t=42: Selected seed 195 with value = 0.5459
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6081
+t=58: Selected seed 195 with value = 0.6081
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5980
+t=74: Selected seed 195 with value = 0.5980
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5686
+t=90: Selected seed 195 with value = 0.5686
+Query 1/1: Action query time = 0.950 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5885
+t=106: Selected seed 195 with value = 0.5885
+Query 1/1: Action query time = 0.953 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4886
+t=122: Selected seed 195 with value = 0.4886
+Query 1/1: Action query time = 0.950 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5841
+t=138: Selected seed 195 with value = 0.5841
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7072
+t=154: Selected seed 195 with value = 0.7072
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7987
+t=170: Selected seed 195 with value = 0.7987
+Query 1/1: Action query time = 0.956 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=186: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=202: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 0.950 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=218: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=234: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=250: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=266: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=282: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=298: Selected seed 195 with value = 0.9821
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=4--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3633
+t=10: Selected seed 195 with value = 0.3633
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4090
+t=26: Selected seed 195 with value = 0.4090
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5073
+t=42: Selected seed 195 with value = 0.5073
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5364
+t=58: Selected seed 195 with value = 0.5364
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7776
+t=74: Selected seed 195 with value = 0.7776
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8133
+t=90: Selected seed 195 with value = 0.8133
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=106: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.946 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.949 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=170: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=186: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=202: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.996 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=218: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 1.036 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=234: Selected seed 195 with value = 0.9783
+Query 1/1: Action query time = 1.063 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=250: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 0.964 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=266: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 0.945 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=282: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 0.960 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=298: Selected seed 195 with value = 0.9825
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=5--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=5--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 1 (20.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2994
+t=10: Selected seed 195 with value = 0.2994
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3622
+t=26: Selected seed 195 with value = 0.3622
+Query 1/1: Action query time = 0.948 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5179
+t=42: Selected seed 195 with value = 0.5179
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6115
+t=58: Selected seed 195 with value = 0.6115
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5878
+t=74: Selected seed 195 with value = 0.5878
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6727
+t=90: Selected seed 195 with value = 0.6727
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4578
+t=106: Selected seed 195 with value = 0.4578
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7481
+t=122: Selected seed 195 with value = 0.7481
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6408
+t=138: Selected seed 195 with value = 0.6408
+Query 1/1: Action query time = 0.950 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7814
+t=154: Selected seed 195 with value = 0.7814
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=170: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 0.944 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9532
+t=186: Selected seed 195 with value = 0.9532
+Query 1/1: Action query time = 0.956 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=202: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=218: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=266: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=282: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.957 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=298: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=6--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=6--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 1 (16.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3830
+t=10: Selected seed 195 with value = 0.3830
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3382
+t=26: Selected seed 195 with value = 0.3382
+Query 1/1: Action query time = 1.042 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5140
+t=42: Selected seed 195 with value = 0.5140
+Query 1/1: Action query time = 1.043 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6266
+t=58: Selected seed 195 with value = 0.6266
+Query 1/1: Action query time = 1.015 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6075
+t=74: Selected seed 195 with value = 0.6075
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5186
+t=90: Selected seed 195 with value = 0.5186
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5886
+t=106: Selected seed 195 with value = 0.5886
+Query 1/1: Action query time = 0.948 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5759
+t=122: Selected seed 195 with value = 0.5759
+Query 1/1: Action query time = 0.952 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6005
+t=138: Selected seed 195 with value = 0.6005
+Query 1/1: Action query time = 0.952 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5939
+t=154: Selected seed 195 with value = 0.5939
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6086
+t=170: Selected seed 195 with value = 0.6086
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7643
+t=186: Selected seed 195 with value = 0.7643
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9038
+t=202: Selected seed 195 with value = 0.9038
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7826
+t=218: Selected seed 195 with value = 0.7826
+Query 1/1: Action query time = 1.008 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6668
+t=234: Selected seed 195 with value = 0.6668
+Query 1/1: Action query time = 1.103 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=250: Selected seed 195 with value = 0.6094
+Query 1/1: Action query time = 1.170 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5481
+t=266: Selected seed 195 with value = 0.5481
+Query 1/1: Action query time = 1.162 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5551
+t=282: Selected seed 195 with value = 0.5551
+Query 1/1: Action query time = 1.150 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6207
+t=298: Selected seed 195 with value = 0.6207
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=7--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=7--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 1 (14.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 0.958 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3442
+t=10: Selected seed 195 with value = 0.3442
+Query 1/1: Action query time = 0.950 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3662
+t=26: Selected seed 195 with value = 0.3662
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5401
+t=42: Selected seed 195 with value = 0.5401
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6111
+t=58: Selected seed 195 with value = 0.6111
+Query 1/1: Action query time = 0.947 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5836
+t=74: Selected seed 195 with value = 0.5836
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6456
+t=90: Selected seed 195 with value = 0.6456
+Query 1/1: Action query time = 0.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7927
+t=106: Selected seed 195 with value = 0.7927
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9178
+t=122: Selected seed 195 with value = 0.9178
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=138: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.952 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=154: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=170: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=186: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 0.950 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=202: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=218: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 0.949 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=234: Selected seed 195 with value = 0.9706
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9696
+t=250: Selected seed 195 with value = 0.9696
+Query 1/1: Action query time = 0.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=266: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 0.949 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9089
+t=282: Selected seed 195 with value = 0.9089
+Query 1/1: Action query time = 0.962 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=298: Selected seed 195 with value = 0.9912
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=8--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=8--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 1 (12.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 1.182 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3745
+t=10: Selected seed 195 with value = 0.3745
+Query 1/1: Action query time = 1.146 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3631
+t=26: Selected seed 195 with value = 0.3631
+Query 1/1: Action query time = 1.180 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5618
+t=42: Selected seed 195 with value = 0.5618
+Query 1/1: Action query time = 1.211 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6113
+t=58: Selected seed 195 with value = 0.6113
+Query 1/1: Action query time = 1.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4975
+t=74: Selected seed 195 with value = 0.4975
+Query 1/1: Action query time = 1.160 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5307
+t=90: Selected seed 195 with value = 0.5307
+Query 1/1: Action query time = 1.174 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=106: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 1.088 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7007
+t=122: Selected seed 195 with value = 0.7007
+Query 1/1: Action query time = 1.151 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8339
+t=138: Selected seed 195 with value = 0.8339
+Query 1/1: Action query time = 1.144 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=154: Selected seed 195 with value = 0.9479
+Query 1/1: Action query time = 1.128 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=170: Selected seed 195 with value = 0.9749
+Query 1/1: Action query time = 1.167 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=186: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.950 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=282: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.952 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=298: Selected seed 195 with value = 0.9932
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=9--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 1 (11.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3383
+t=10: Selected seed 195 with value = 0.3383
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3690
+t=26: Selected seed 195 with value = 0.3690
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5944
+t=42: Selected seed 195 with value = 0.5944
+Query 1/1: Action query time = 0.947 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=58: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4953
+t=74: Selected seed 195 with value = 0.4953
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5262
+t=90: Selected seed 195 with value = 0.5262
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7383
+t=106: Selected seed 195 with value = 0.7383
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8521
+t=122: Selected seed 195 with value = 0.8521
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=138: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=154: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=170: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 0.946 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=186: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 0.953 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=202: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 0.961 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=218: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 0.951 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=234: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 0.954 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=250: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 0.952 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=266: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=282: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 1.139 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=298: Selected seed 195 with value = 0.9727
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=10--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 1 (10.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3969
+t=10: Selected seed 195 with value = 0.3969
+Query 1/1: Action query time = 0.954 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4191
+t=26: Selected seed 195 with value = 0.4191
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=42: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=58: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5667
+t=74: Selected seed 195 with value = 0.5667
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5085
+t=90: Selected seed 195 with value = 0.5085
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4500
+t=106: Selected seed 195 with value = 0.4500
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4950
+t=122: Selected seed 195 with value = 0.4950
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5766
+t=138: Selected seed 195 with value = 0.5766
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6504
+t=154: Selected seed 195 with value = 0.6504
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8233
+t=170: Selected seed 195 with value = 0.8233
+Query 1/1: Action query time = 0.946 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8852
+t=186: Selected seed 195 with value = 0.8852
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=202: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=218: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.955 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=234: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=11--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=11--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 1 (9.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3564
+t=10: Selected seed 195 with value = 0.3564
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3968
+t=26: Selected seed 195 with value = 0.3968
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5028
+t=42: Selected seed 195 with value = 0.5028
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5663
+t=58: Selected seed 195 with value = 0.5663
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7177
+t=74: Selected seed 195 with value = 0.7177
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=90: Selected seed 195 with value = 0.8603
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=106: Selected seed 195 with value = 0.9666
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9437
+t=122: Selected seed 195 with value = 0.9437
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7452
+t=138: Selected seed 195 with value = 0.7452
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8115
+t=154: Selected seed 195 with value = 0.8115
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=170: Selected seed 195 with value = 0.9964
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=12--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 2 (16.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 1.076 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3504
+t=10: Selected seed 195 with value = 0.3504
+Query 1/1: Action query time = 1.079 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3874
+t=26: Selected seed 195 with value = 0.3874
+Query 1/1: Action query time = 1.031 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6345
+t=42: Selected seed 195 with value = 0.6345
+Query 1/1: Action query time = 1.080 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5990
+t=58: Selected seed 195 with value = 0.5990
+Query 1/1: Action query time = 1.063 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5419
+t=74: Selected seed 195 with value = 0.5419
+Query 1/1: Action query time = 1.022 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6040
+t=90: Selected seed 195 with value = 0.6040
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=106: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8316
+t=122: Selected seed 195 with value = 0.8316
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9467
+t=138: Selected seed 195 with value = 0.9467
+Query 1/1: Action query time = 0.959 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=154: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=170: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=186: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=202: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=218: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=234: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=250: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.962 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=266: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=282: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 1.087 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=298: Selected seed 195 with value = 0.9893
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=13--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=13--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 2 (15.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 14...
+Query 1/1: Action query time = 0.958 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3354
+t=10: Selected seed 195 with value = 0.3354
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3652
+t=26: Selected seed 195 with value = 0.3652
+Query 1/1: Action query time = 0.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5256
+t=42: Selected seed 195 with value = 0.5256
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5907
+t=58: Selected seed 195 with value = 0.5907
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5056
+t=74: Selected seed 195 with value = 0.5056
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4882
+t=90: Selected seed 195 with value = 0.4882
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5840
+t=106: Selected seed 195 with value = 0.5840
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7246
+t=122: Selected seed 195 with value = 0.7246
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8442
+t=138: Selected seed 195 with value = 0.8442
+Query 1/1: Action query time = 0.952 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=154: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 0.956 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=170: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=186: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=202: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=218: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.960 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=234: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=250: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 0.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=266: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=282: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=298: Selected seed 195 with value = 0.9669
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=14--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=14--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 2 (14.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 15...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3747
+t=10: Selected seed 195 with value = 0.3747
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3825
+t=26: Selected seed 195 with value = 0.3825
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5243
+t=42: Selected seed 195 with value = 0.5243
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6135
+t=58: Selected seed 195 with value = 0.6135
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6061
+t=74: Selected seed 195 with value = 0.6061
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6615
+t=90: Selected seed 195 with value = 0.6615
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=106: Selected seed 195 with value = 0.9384
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8172
+t=122: Selected seed 195 with value = 0.8172
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7089
+t=138: Selected seed 195 with value = 0.7089
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=154: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6305
+t=170: Selected seed 195 with value = 0.6305
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7235
+t=186: Selected seed 195 with value = 0.7235
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=202: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8166
+t=218: Selected seed 195 with value = 0.8166
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=234: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=250: Selected seed 195 with value = 0.9634
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=266: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=282: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 1.116 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=298: Selected seed 195 with value = 0.9715
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=15--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=15--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 2 (13.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 16...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3598
+t=10: Selected seed 195 with value = 0.3598
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4303
+t=26: Selected seed 195 with value = 0.4303
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5272
+t=42: Selected seed 195 with value = 0.5272
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6371
+t=58: Selected seed 195 with value = 0.6371
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6149
+t=74: Selected seed 195 with value = 0.6149
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6562
+t=90: Selected seed 195 with value = 0.6562
+Query 1/1: Action query time = 0.951 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7656
+t=106: Selected seed 195 with value = 0.7656
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9191
+t=122: Selected seed 195 with value = 0.9191
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=138: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=154: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9721
+t=170: Selected seed 195 with value = 0.9721
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=186: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=202: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=218: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 0.954 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=234: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=250: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9173
+t=266: Selected seed 195 with value = 0.9173
+Query 1/1: Action query time = 1.118 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9164
+t=282: Selected seed 195 with value = 0.9164
+Query 1/1: Action query time = 1.150 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9281
+t=298: Selected seed 195 with value = 0.9281
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=16--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=16--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 16
+# successes: 2 (12.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 17...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3354
+t=10: Selected seed 195 with value = 0.3354
+Query 1/1: Action query time = 1.013 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3518
+t=26: Selected seed 195 with value = 0.3518
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5365
+t=42: Selected seed 195 with value = 0.5365
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6093
+t=58: Selected seed 195 with value = 0.6093
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5542
+t=74: Selected seed 195 with value = 0.5542
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6071
+t=90: Selected seed 195 with value = 0.6071
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4635
+t=106: Selected seed 195 with value = 0.4635
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4787
+t=122: Selected seed 195 with value = 0.4787
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=138: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5484
+t=154: Selected seed 195 with value = 0.5484
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7990
+t=170: Selected seed 195 with value = 0.7990
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8656
+t=186: Selected seed 195 with value = 0.8656
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=202: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 0.951 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=218: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 0.961 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=234: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=17--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=17--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 17
+# successes: 2 (11.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 18...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3874
+t=10: Selected seed 195 with value = 0.3874
+Query 1/1: Action query time = 1.001 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4690
+t=26: Selected seed 195 with value = 0.4690
+Query 1/1: Action query time = 1.011 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=42: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8717
+t=58: Selected seed 195 with value = 0.8717
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=74: Selected seed 195 with value = 0.9497
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9626
+t=90: Selected seed 195 with value = 0.9626
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6698
+t=106: Selected seed 195 with value = 0.6698
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7781
+t=122: Selected seed 195 with value = 0.7781
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8509
+t=138: Selected seed 195 with value = 0.8509
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=154: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=170: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=186: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=18--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=18--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 18
+# successes: 2 (11.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 19...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3469
+t=10: Selected seed 195 with value = 0.3469
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3465
+t=26: Selected seed 195 with value = 0.3465
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4758
+t=42: Selected seed 195 with value = 0.4758
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6261
+t=58: Selected seed 195 with value = 0.6261
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6366
+t=74: Selected seed 195 with value = 0.6366
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6145
+t=90: Selected seed 195 with value = 0.6145
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5187
+t=106: Selected seed 195 with value = 0.5187
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6530
+t=122: Selected seed 195 with value = 0.6530
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7188
+t=138: Selected seed 195 with value = 0.7188
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6160
+t=154: Selected seed 195 with value = 0.6160
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8005
+t=170: Selected seed 195 with value = 0.8005
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=186: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=202: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9567
+t=218: Selected seed 195 with value = 0.9567
+Query 1/1: Action query time = 0.957 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=234: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=250: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=266: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 0.987 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=282: Selected seed 195 with value = 0.9576
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7708
+t=298: Selected seed 195 with value = 0.7708
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=19--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=19--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 19
+# successes: 2 (10.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 20...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3211
+t=10: Selected seed 195 with value = 0.3211
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3296
+t=26: Selected seed 195 with value = 0.3296
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=42: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5949
+t=58: Selected seed 195 with value = 0.5949
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5400
+t=74: Selected seed 195 with value = 0.5400
+Query 1/1: Action query time = 0.949 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4685
+t=90: Selected seed 195 with value = 0.4685
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5017
+t=106: Selected seed 195 with value = 0.5017
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6023
+t=122: Selected seed 195 with value = 0.6023
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5521
+t=138: Selected seed 195 with value = 0.5521
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6751
+t=154: Selected seed 195 with value = 0.6751
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=170: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8222
+t=186: Selected seed 195 with value = 0.8222
+Query 1/1: Action query time = 0.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=202: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=218: Selected seed 195 with value = 0.9616
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=234: Selected seed 195 with value = 0.9783
+Query 1/1: Action query time = 0.963 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=20--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=20--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 20
+# successes: 2 (10.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 21...
+Query 1/1: Action query time = 1.018 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3674
+t=10: Selected seed 195 with value = 0.3674
+Query 1/1: Action query time = 1.023 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4257
+t=26: Selected seed 195 with value = 0.4257
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4848
+t=42: Selected seed 195 with value = 0.4848
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5357
+t=58: Selected seed 195 with value = 0.5357
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7480
+t=74: Selected seed 195 with value = 0.7480
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5040
+t=90: Selected seed 195 with value = 0.5040
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=106: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=138: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8076
+t=154: Selected seed 195 with value = 0.8076
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8042
+t=170: Selected seed 195 with value = 0.8042
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=186: Selected seed 195 with value = 0.9647
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=21--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=21--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 3 (14.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 22...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3461
+t=10: Selected seed 195 with value = 0.3461
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3884
+t=26: Selected seed 195 with value = 0.3884
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5529
+t=42: Selected seed 195 with value = 0.5529
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5786
+t=58: Selected seed 195 with value = 0.5786
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5280
+t=74: Selected seed 195 with value = 0.5280
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5325
+t=90: Selected seed 195 with value = 0.5325
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6953
+t=106: Selected seed 195 with value = 0.6953
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8468
+t=122: Selected seed 195 with value = 0.8468
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=138: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=154: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=170: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=186: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=202: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=218: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=234: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=250: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=266: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=282: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=298: Selected seed 195 with value = 0.9698
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=22--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=22--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 22
+# successes: 3 (13.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 23...
+Query 1/1: Action query time = 1.008 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3237
+t=10: Selected seed 195 with value = 0.3237
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3689
+t=26: Selected seed 195 with value = 0.3689
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5154
+t=42: Selected seed 195 with value = 0.5154
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6020
+t=58: Selected seed 195 with value = 0.6020
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7360
+t=74: Selected seed 195 with value = 0.7360
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7900
+t=90: Selected seed 195 with value = 0.7900
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=106: Selected seed 195 with value = 0.9783
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9638
+t=122: Selected seed 195 with value = 0.9638
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7560
+t=138: Selected seed 195 with value = 0.7560
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8316
+t=154: Selected seed 195 with value = 0.8316
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9621
+t=170: Selected seed 195 with value = 0.9621
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=23--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=23--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 4 (17.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 24...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3410
+t=10: Selected seed 195 with value = 0.3410
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4069
+t=26: Selected seed 195 with value = 0.4069
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4802
+t=42: Selected seed 195 with value = 0.4802
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5273
+t=58: Selected seed 195 with value = 0.5273
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6284
+t=74: Selected seed 195 with value = 0.6284
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=90: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5686
+t=106: Selected seed 195 with value = 0.5686
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4982
+t=122: Selected seed 195 with value = 0.4982
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5615
+t=138: Selected seed 195 with value = 0.5615
+Query 1/1: Action query time = 1.000 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7318
+t=154: Selected seed 195 with value = 0.7318
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=170: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=186: Selected seed 195 with value = 0.9453
+Query 1/1: Action query time = 0.985 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=202: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.993 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=218: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 1.004 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=234: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 0.994 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=250: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9490
+t=266: Selected seed 195 with value = 0.9490
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9353
+t=282: Selected seed 195 with value = 0.9353
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9213
+t=298: Selected seed 195 with value = 0.9213
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=24--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=24--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 24
+# successes: 4 (16.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 25...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3280
+t=10: Selected seed 195 with value = 0.3280
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3183
+t=26: Selected seed 195 with value = 0.3183
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5372
+t=42: Selected seed 195 with value = 0.5372
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5830
+t=58: Selected seed 195 with value = 0.5830
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=74: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4847
+t=90: Selected seed 195 with value = 0.4847
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5034
+t=106: Selected seed 195 with value = 0.5034
+Query 1/1: Action query time = 0.998 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5637
+t=122: Selected seed 195 with value = 0.5637
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7010
+t=138: Selected seed 195 with value = 0.7010
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8318
+t=154: Selected seed 195 with value = 0.8318
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9371
+t=170: Selected seed 195 with value = 0.9371
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=186: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=202: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 0.959 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=218: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=234: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=250: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=266: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 0.999 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=282: Selected seed 195 with value = 0.9730
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=298: Selected seed 195 with value = 0.9692
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=25--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=25--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 4 (16.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 26...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3508
+t=10: Selected seed 195 with value = 0.3508
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4149
+t=26: Selected seed 195 with value = 0.4149
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8265
+t=42: Selected seed 195 with value = 0.8265
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=58: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 1.012 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=74: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 1.029 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=90: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 1.042 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=106: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=122: Selected seed 195 with value = 0.9141
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=138: Selected seed 195 with value = 0.9711
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=154: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=170: Selected seed 195 with value = 0.9604
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=186: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=202: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=218: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=234: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=250: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=266: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 0.957 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=282: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.988 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=298: Selected seed 195 with value = 0.9861
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=26--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=26--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 26
+# successes: 4 (15.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 27...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3673
+t=10: Selected seed 195 with value = 0.3673
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3352
+t=26: Selected seed 195 with value = 0.3352
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5072
+t=42: Selected seed 195 with value = 0.5072
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6108
+t=58: Selected seed 195 with value = 0.6108
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5144
+t=74: Selected seed 195 with value = 0.5144
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4609
+t=90: Selected seed 195 with value = 0.4609
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5261
+t=106: Selected seed 195 with value = 0.5261
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7432
+t=122: Selected seed 195 with value = 0.7432
+Query 1/1: Action query time = 0.953 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7727
+t=138: Selected seed 195 with value = 0.7727
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7757
+t=154: Selected seed 195 with value = 0.7757
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8844
+t=170: Selected seed 195 with value = 0.8844
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=186: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 1.003 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=202: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 1.033 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=218: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 1.095 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.118 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.133 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.162 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=27--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=27--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 4 (14.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 28...
+Query 1/1: Action query time = 1.239 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3249
+t=10: Selected seed 195 with value = 0.3249
+Query 1/1: Action query time = 1.178 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3376
+t=26: Selected seed 195 with value = 0.3376
+Query 1/1: Action query time = 1.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5404
+t=42: Selected seed 195 with value = 0.5404
+Query 1/1: Action query time = 1.181 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6050
+t=58: Selected seed 195 with value = 0.6050
+Query 1/1: Action query time = 1.140 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5893
+t=74: Selected seed 195 with value = 0.5893
+Query 1/1: Action query time = 1.104 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5048
+t=90: Selected seed 195 with value = 0.5048
+Query 1/1: Action query time = 1.078 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4795
+t=106: Selected seed 195 with value = 0.4795
+Query 1/1: Action query time = 1.126 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5543
+t=122: Selected seed 195 with value = 0.5543
+Query 1/1: Action query time = 1.192 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6943
+t=138: Selected seed 195 with value = 0.6943
+Query 1/1: Action query time = 1.155 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8126
+t=154: Selected seed 195 with value = 0.8126
+Query 1/1: Action query time = 1.188 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9326
+t=170: Selected seed 195 with value = 0.9326
+Query 1/1: Action query time = 1.133 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=186: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 1.102 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=202: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 1.102 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=218: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 1.092 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=234: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 1.116 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9602
+t=250: Selected seed 195 with value = 0.9602
+Query 1/1: Action query time = 1.079 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9610
+t=266: Selected seed 195 with value = 0.9610
+Query 1/1: Action query time = 1.074 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9178
+t=282: Selected seed 195 with value = 0.9178
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=298: Selected seed 195 with value = 0.9833
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=28--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=28--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 28
+# successes: 4 (14.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 29...
+Query 1/1: Action query time = 1.075 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3099
+t=10: Selected seed 195 with value = 0.3099
+Query 1/1: Action query time = 1.047 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4286
+t=26: Selected seed 195 with value = 0.4286
+Query 1/1: Action query time = 1.157 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6214
+t=42: Selected seed 195 with value = 0.6214
+Query 1/1: Action query time = 1.157 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6712
+t=58: Selected seed 195 with value = 0.6712
+Query 1/1: Action query time = 1.058 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5988
+t=74: Selected seed 195 with value = 0.5988
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6123
+t=90: Selected seed 195 with value = 0.6123
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5325
+t=106: Selected seed 195 with value = 0.5325
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6111
+t=122: Selected seed 195 with value = 0.6111
+Query 1/1: Action query time = 1.017 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5568
+t=138: Selected seed 195 with value = 0.5568
+Query 1/1: Action query time = 1.039 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7891
+t=154: Selected seed 195 with value = 0.7891
+Query 1/1: Action query time = 1.007 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8479
+t=170: Selected seed 195 with value = 0.8479
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8996
+t=186: Selected seed 195 with value = 0.8996
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=202: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=218: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 0.954 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=29--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=29--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 29
+# successes: 4 (13.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 30...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3475
+t=10: Selected seed 195 with value = 0.3475
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3627
+t=26: Selected seed 195 with value = 0.3627
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5236
+t=42: Selected seed 195 with value = 0.5236
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6235
+t=58: Selected seed 195 with value = 0.6235
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6418
+t=74: Selected seed 195 with value = 0.6418
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=90: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5707
+t=106: Selected seed 195 with value = 0.5707
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6380
+t=122: Selected seed 195 with value = 0.6380
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8052
+t=138: Selected seed 195 with value = 0.8052
+Query 1/1: Action query time = 0.988 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=154: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=170: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8929
+t=186: Selected seed 195 with value = 0.8929
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8852
+t=202: Selected seed 195 with value = 0.8852
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8890
+t=218: Selected seed 195 with value = 0.8890
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=234: Selected seed 195 with value = 0.9132
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=250: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8513
+t=266: Selected seed 195 with value = 0.8513
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8719
+t=282: Selected seed 195 with value = 0.8719
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=298: Selected seed 195 with value = 0.9229
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=30--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=30--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 30
+# successes: 4 (13.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 31...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3574
+t=10: Selected seed 195 with value = 0.3574
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3895
+t=26: Selected seed 195 with value = 0.3895
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4962
+t=42: Selected seed 195 with value = 0.4962
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5754
+t=58: Selected seed 195 with value = 0.5754
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7220
+t=74: Selected seed 195 with value = 0.7220
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4500
+t=90: Selected seed 195 with value = 0.4500
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9454
+t=106: Selected seed 195 with value = 0.9454
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9793
+t=122: Selected seed 195 with value = 0.9793
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9274
+t=138: Selected seed 195 with value = 0.9274
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6715
+t=154: Selected seed 195 with value = 0.6715
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8069
+t=170: Selected seed 195 with value = 0.8069
+Query 1/1: Action query time = 1.007 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9040
+t=186: Selected seed 195 with value = 0.9040
+Query 1/1: Action query time = 0.998 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=202: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 1.018 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.025 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.014 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.018 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.024 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=31--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=31--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 31
+# successes: 4 (12.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 32...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3529
+t=10: Selected seed 195 with value = 0.3529
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3619
+t=26: Selected seed 195 with value = 0.3619
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5459
+t=42: Selected seed 195 with value = 0.5459
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5968
+t=58: Selected seed 195 with value = 0.5968
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5889
+t=74: Selected seed 195 with value = 0.5889
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4751
+t=90: Selected seed 195 with value = 0.4751
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4564
+t=106: Selected seed 195 with value = 0.4564
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5315
+t=122: Selected seed 195 with value = 0.5315
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6391
+t=138: Selected seed 195 with value = 0.6391
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6995
+t=154: Selected seed 195 with value = 0.6995
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8569
+t=170: Selected seed 195 with value = 0.8569
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=186: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 0.985 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=202: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=218: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=234: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 0.961 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9631
+t=250: Selected seed 195 with value = 0.9631
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=266: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9540
+t=282: Selected seed 195 with value = 0.9540
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8915
+t=298: Selected seed 195 with value = 0.8915
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=32--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=32--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 4 (12.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 33...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3367
+t=10: Selected seed 195 with value = 0.3367
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3486
+t=26: Selected seed 195 with value = 0.3486
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4984
+t=42: Selected seed 195 with value = 0.4984
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6262
+t=58: Selected seed 195 with value = 0.6262
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5872
+t=74: Selected seed 195 with value = 0.5872
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5945
+t=90: Selected seed 195 with value = 0.5945
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=106: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 0.996 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6376
+t=122: Selected seed 195 with value = 0.6376
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7774
+t=138: Selected seed 195 with value = 0.7774
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8877
+t=154: Selected seed 195 with value = 0.8877
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=170: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=186: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=202: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.954 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=218: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=234: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=250: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 1.011 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=266: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 1.110 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9551
+t=282: Selected seed 195 with value = 0.9551
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8886
+t=298: Selected seed 195 with value = 0.8886
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=33--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=33--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 4 (12.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 34...
+Query 1/1: Action query time = 1.169 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3184
+t=10: Selected seed 195 with value = 0.3184
+Query 1/1: Action query time = 1.153 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3418
+t=26: Selected seed 195 with value = 0.3418
+Query 1/1: Action query time = 1.039 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5288
+t=42: Selected seed 195 with value = 0.5288
+Query 1/1: Action query time = 1.034 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5974
+t=58: Selected seed 195 with value = 0.5974
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5357
+t=74: Selected seed 195 with value = 0.5357
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6083
+t=90: Selected seed 195 with value = 0.6083
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4779
+t=106: Selected seed 195 with value = 0.4779
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6329
+t=122: Selected seed 195 with value = 0.6329
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6382
+t=138: Selected seed 195 with value = 0.6382
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7966
+t=154: Selected seed 195 with value = 0.7966
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8873
+t=170: Selected seed 195 with value = 0.8873
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9621
+t=186: Selected seed 195 with value = 0.9621
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=202: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=218: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=34--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=34--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 4 (11.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 35...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3655
+t=10: Selected seed 195 with value = 0.3655
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4181
+t=26: Selected seed 195 with value = 0.4181
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=42: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5554
+t=58: Selected seed 195 with value = 0.5554
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7266
+t=74: Selected seed 195 with value = 0.7266
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=90: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9512
+t=106: Selected seed 195 with value = 0.9512
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=122: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8862
+t=138: Selected seed 195 with value = 0.8862
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=154: Selected seed 195 with value = 0.9479
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=170: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=186: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 0.991 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=202: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=218: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=234: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=250: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 1.000 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=266: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=35--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=35--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 35
+# successes: 4 (11.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 36...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3718
+t=10: Selected seed 195 with value = 0.3718
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4146
+t=26: Selected seed 195 with value = 0.4146
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5357
+t=42: Selected seed 195 with value = 0.5357
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6259
+t=58: Selected seed 195 with value = 0.6259
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5497
+t=74: Selected seed 195 with value = 0.5497
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=90: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4899
+t=106: Selected seed 195 with value = 0.4899
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6026
+t=122: Selected seed 195 with value = 0.6026
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5472
+t=138: Selected seed 195 with value = 0.5472
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8196
+t=154: Selected seed 195 with value = 0.8196
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=170: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=186: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=202: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=218: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=36--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=36--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 36
+# successes: 4 (11.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 37...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3494
+t=10: Selected seed 195 with value = 0.3494
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4014
+t=26: Selected seed 195 with value = 0.4014
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4999
+t=42: Selected seed 195 with value = 0.4999
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5703
+t=58: Selected seed 195 with value = 0.5703
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=74: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5157
+t=90: Selected seed 195 with value = 0.5157
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=106: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 0.953 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=122: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=154: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 0.960 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9381
+t=170: Selected seed 195 with value = 0.9381
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9194
+t=186: Selected seed 195 with value = 0.9194
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9391
+t=202: Selected seed 195 with value = 0.9391
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=218: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=234: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=250: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=266: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=37--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=37--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 37
+# successes: 4 (10.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 38...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3138
+t=10: Selected seed 195 with value = 0.3138
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3582
+t=26: Selected seed 195 with value = 0.3582
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=42: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 1.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6178
+t=58: Selected seed 195 with value = 0.6178
+Query 1/1: Action query time = 1.056 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5378
+t=74: Selected seed 195 with value = 0.5378
+Query 1/1: Action query time = 1.054 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4706
+t=90: Selected seed 195 with value = 0.4706
+Query 1/1: Action query time = 1.073 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5264
+t=106: Selected seed 195 with value = 0.5264
+Query 1/1: Action query time = 1.043 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6250
+t=122: Selected seed 195 with value = 0.6250
+Query 1/1: Action query time = 0.996 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=138: Selected seed 195 with value = 0.8161
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8079
+t=154: Selected seed 195 with value = 0.8079
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=170: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9060
+t=186: Selected seed 195 with value = 0.9060
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9189
+t=202: Selected seed 195 with value = 0.9189
+Query 1/1: Action query time = 0.957 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=218: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=234: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=250: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=266: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=282: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 0.958 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=298: Selected seed 195 with value = 0.9808
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=38--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=38--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 38
+# successes: 4 (10.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 39...
+Query 1/1: Action query time = 1.087 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3192
+t=10: Selected seed 195 with value = 0.3192
+Query 1/1: Action query time = 1.027 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4019
+t=26: Selected seed 195 with value = 0.4019
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5531
+t=42: Selected seed 195 with value = 0.5531
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6025
+t=58: Selected seed 195 with value = 0.6025
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5383
+t=74: Selected seed 195 with value = 0.5383
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4913
+t=90: Selected seed 195 with value = 0.4913
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5388
+t=106: Selected seed 195 with value = 0.5388
+Query 1/1: Action query time = 1.078 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7201
+t=122: Selected seed 195 with value = 0.7201
+Query 1/1: Action query time = 1.111 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8461
+t=138: Selected seed 195 with value = 0.8461
+Query 1/1: Action query time = 1.145 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=154: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 1.081 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=170: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 1.059 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=186: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 1.025 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=202: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 1.012 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9650
+t=218: Selected seed 195 with value = 0.9650
+Query 1/1: Action query time = 1.030 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=234: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 1.080 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=250: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 1.107 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9059
+t=266: Selected seed 195 with value = 0.9059
+Query 1/1: Action query time = 1.111 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=282: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 1.165 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=298: Selected seed 195 with value = 0.9857
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=39--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=39--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 39
+# successes: 4 (10.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 40...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3540
+t=10: Selected seed 195 with value = 0.3540
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4121
+t=26: Selected seed 195 with value = 0.4121
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=42: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5995
+t=58: Selected seed 195 with value = 0.5995
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7444
+t=74: Selected seed 195 with value = 0.7444
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=90: Selected seed 195 with value = 0.8602
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=106: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=122: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9111
+t=138: Selected seed 195 with value = 0.9111
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=170: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=186: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=202: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=218: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=234: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.947 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=250: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=266: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=282: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.990 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=298: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=40--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=40--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 4 (10.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 41...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3656
+t=10: Selected seed 195 with value = 0.3656
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3483
+t=26: Selected seed 195 with value = 0.3483
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4789
+t=42: Selected seed 195 with value = 0.4789
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6158
+t=58: Selected seed 195 with value = 0.6158
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5565
+t=74: Selected seed 195 with value = 0.5565
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6219
+t=90: Selected seed 195 with value = 0.6219
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4603
+t=106: Selected seed 195 with value = 0.4603
+Query 1/1: Action query time = 1.046 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6357
+t=122: Selected seed 195 with value = 0.6357
+Query 1/1: Action query time = 1.011 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8320
+t=138: Selected seed 195 with value = 0.8320
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8380
+t=154: Selected seed 195 with value = 0.8380
+Query 1/1: Action query time = 1.034 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9251
+t=170: Selected seed 195 with value = 0.9251
+Query 1/1: Action query time = 1.023 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=186: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=202: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=218: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=234: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 0.992 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=250: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 0.994 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=266: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=282: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=298: Selected seed 195 with value = 0.9751
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=41--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=41--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 41
+# successes: 4 (9.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 42...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3686
+t=10: Selected seed 195 with value = 0.3686
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3792
+t=26: Selected seed 195 with value = 0.3792
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5278
+t=42: Selected seed 195 with value = 0.5278
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=58: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=74: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5888
+t=90: Selected seed 195 with value = 0.5888
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4742
+t=106: Selected seed 195 with value = 0.4742
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4809
+t=122: Selected seed 195 with value = 0.4809
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5554
+t=138: Selected seed 195 with value = 0.5554
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7340
+t=154: Selected seed 195 with value = 0.7340
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8566
+t=170: Selected seed 195 with value = 0.8566
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9501
+t=186: Selected seed 195 with value = 0.9501
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=202: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=218: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=234: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9635
+t=250: Selected seed 195 with value = 0.9635
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9574
+t=266: Selected seed 195 with value = 0.9574
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=282: Selected seed 195 with value = 0.9586
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=298: Selected seed 195 with value = 0.9627
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=42--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=42--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 42
+# successes: 4 (9.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 43...
+Query 1/1: Action query time = 1.013 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3124
+t=10: Selected seed 195 with value = 0.3124
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=26: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5159
+t=42: Selected seed 195 with value = 0.5159
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5988
+t=58: Selected seed 195 with value = 0.5988
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5438
+t=74: Selected seed 195 with value = 0.5438
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4812
+t=90: Selected seed 195 with value = 0.4812
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5284
+t=106: Selected seed 195 with value = 0.5284
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7307
+t=122: Selected seed 195 with value = 0.7307
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8431
+t=138: Selected seed 195 with value = 0.8431
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9424
+t=154: Selected seed 195 with value = 0.9424
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=170: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=186: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9624
+t=202: Selected seed 195 with value = 0.9624
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=218: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 0.995 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9370
+t=234: Selected seed 195 with value = 0.9370
+Query 1/1: Action query time = 0.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9257
+t=250: Selected seed 195 with value = 0.9257
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=266: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=282: Selected seed 195 with value = 0.9427
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=298: Selected seed 195 with value = 0.9318
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=43--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=43--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 43
+# successes: 4 (9.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 44...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3586
+t=10: Selected seed 195 with value = 0.3586
+Query 1/1: Action query time = 1.033 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3400
+t=26: Selected seed 195 with value = 0.3400
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5347
+t=42: Selected seed 195 with value = 0.5347
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6157
+t=58: Selected seed 195 with value = 0.6157
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5844
+t=74: Selected seed 195 with value = 0.5844
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6562
+t=90: Selected seed 195 with value = 0.6562
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=106: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5161
+t=122: Selected seed 195 with value = 0.5161
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6307
+t=138: Selected seed 195 with value = 0.6307
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8077
+t=154: Selected seed 195 with value = 0.8077
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=170: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=202: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=218: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=234: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=250: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9549
+t=266: Selected seed 195 with value = 0.9549
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=282: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8983
+t=298: Selected seed 195 with value = 0.8983
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=44--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=44--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 4 (9.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 45...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3490
+t=10: Selected seed 195 with value = 0.3490
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3990
+t=26: Selected seed 195 with value = 0.3990
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5379
+t=42: Selected seed 195 with value = 0.5379
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5936
+t=58: Selected seed 195 with value = 0.5936
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6325
+t=74: Selected seed 195 with value = 0.6325
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4658
+t=90: Selected seed 195 with value = 0.4658
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8790
+t=106: Selected seed 195 with value = 0.8790
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6451
+t=122: Selected seed 195 with value = 0.6451
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=138: Selected seed 195 with value = 0.8603
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=154: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 0.956 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8912
+t=170: Selected seed 195 with value = 0.8912
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=186: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 1.128 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9452
+t=202: Selected seed 195 with value = 0.9452
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9700
+t=218: Selected seed 195 with value = 0.9700
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=234: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=250: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9650
+t=266: Selected seed 195 with value = 0.9650
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=282: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9589
+t=298: Selected seed 195 with value = 0.9589
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=45--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=45--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 45
+# successes: 4 (8.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 46...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3357
+t=10: Selected seed 195 with value = 0.3357
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3502
+t=26: Selected seed 195 with value = 0.3502
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5264
+t=42: Selected seed 195 with value = 0.5264
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5980
+t=58: Selected seed 195 with value = 0.5980
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=74: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 0.992 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4855
+t=90: Selected seed 195 with value = 0.4855
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5852
+t=106: Selected seed 195 with value = 0.5852
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7265
+t=122: Selected seed 195 with value = 0.7265
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8227
+t=138: Selected seed 195 with value = 0.8227
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=154: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=170: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=186: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=202: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=218: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=234: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 0.952 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=250: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=266: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=282: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=298: Selected seed 195 with value = 0.9679
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=46--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=46--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 46
+# successes: 4 (8.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 47...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3474
+t=10: Selected seed 195 with value = 0.3474
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3678
+t=26: Selected seed 195 with value = 0.3678
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5129
+t=42: Selected seed 195 with value = 0.5129
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5549
+t=58: Selected seed 195 with value = 0.5549
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7096
+t=74: Selected seed 195 with value = 0.7096
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8298
+t=90: Selected seed 195 with value = 0.8298
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=106: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 1.020 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=122: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 1.040 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9546
+t=138: Selected seed 195 with value = 0.9546
+Query 1/1: Action query time = 1.068 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7583
+t=154: Selected seed 195 with value = 0.7583
+Query 1/1: Action query time = 1.057 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8076
+t=170: Selected seed 195 with value = 0.8076
+Query 1/1: Action query time = 1.023 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9252
+t=186: Selected seed 195 with value = 0.9252
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=202: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=218: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.110 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.078 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.058 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=47--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=47--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 47
+# successes: 4 (8.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 48...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3038
+t=10: Selected seed 195 with value = 0.3038
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3381
+t=26: Selected seed 195 with value = 0.3381
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5141
+t=42: Selected seed 195 with value = 0.5141
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6292
+t=58: Selected seed 195 with value = 0.6292
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=74: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5028
+t=90: Selected seed 195 with value = 0.5028
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5683
+t=106: Selected seed 195 with value = 0.5683
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7375
+t=122: Selected seed 195 with value = 0.7375
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8168
+t=138: Selected seed 195 with value = 0.8168
+Query 1/1: Action query time = 1.035 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=154: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 1.049 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=170: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 1.078 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=186: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 1.063 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=202: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 1.086 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=218: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 1.105 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=234: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=250: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=266: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=282: Selected seed 195 with value = 0.9712
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=298: Selected seed 195 with value = 0.9668
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=48--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=48--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 48
+# successes: 4 (8.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 49...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3679
+t=10: Selected seed 195 with value = 0.3679
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3735
+t=26: Selected seed 195 with value = 0.3735
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5098
+t=42: Selected seed 195 with value = 0.5098
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6181
+t=58: Selected seed 195 with value = 0.6181
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5794
+t=74: Selected seed 195 with value = 0.5794
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5249
+t=90: Selected seed 195 with value = 0.5249
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4387
+t=106: Selected seed 195 with value = 0.4387
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8274
+t=122: Selected seed 195 with value = 0.8274
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8006
+t=138: Selected seed 195 with value = 0.8006
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7733
+t=154: Selected seed 195 with value = 0.7733
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8545
+t=170: Selected seed 195 with value = 0.8545
+Query 1/1: Action query time = 1.153 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=186: Selected seed 195 with value = 0.9530
+Query 1/1: Action query time = 1.120 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=202: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 1.099 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=218: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 1.160 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.146 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.051 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=49--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=49--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 49
+# successes: 4 (8.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 50...
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3744
+t=10: Selected seed 195 with value = 0.3744
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3628
+t=26: Selected seed 195 with value = 0.3628
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5096
+t=42: Selected seed 195 with value = 0.5096
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6294
+t=58: Selected seed 195 with value = 0.6294
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6067
+t=74: Selected seed 195 with value = 0.6067
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5798
+t=90: Selected seed 195 with value = 0.5798
+Query 1/1: Action query time = 0.998 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5468
+t=106: Selected seed 195 with value = 0.5468
+Query 1/1: Action query time = 1.052 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4910
+t=122: Selected seed 195 with value = 0.4910
+Query 1/1: Action query time = 1.016 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8004
+t=138: Selected seed 195 with value = 0.8004
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7779
+t=154: Selected seed 195 with value = 0.7779
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=170: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8867
+t=186: Selected seed 195 with value = 0.8867
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=202: Selected seed 195 with value = 0.9783
+Query 1/1: Action query time = 0.999 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=218: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--episode=50--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t3/2026_07_31-14_58_43--with_future_img--episode=50--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 50
+# successes: 4 (8.0%)
+Current task success rate: 0.08
+Current total success rate: 0.08
+Final results:
+Total episodes: 50
+Total successes: 4
+Overall success rate: 0.0800 (8.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_21_46--realcl_i800_t3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_21_46--realcl_i800_t3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..070820f51971d1a2d79116c5883573e8ac335d6c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_21_46--realcl_i800_t3.txt
@@ -0,0 +1,3268 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl_i800_t3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 1.458 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1973
+t=10: Selected seed 195 with value = 0.1973
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2300
+t=26: Selected seed 195 with value = 0.2300
+Query 1/1: Action query time = 1.251 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1171
+t=42: Selected seed 195 with value = 0.1171
+Query 1/1: Action query time = 1.173 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2593
+t=58: Selected seed 195 with value = 0.2593
+Query 1/1: Action query time = 1.223 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3295
+t=74: Selected seed 195 with value = 0.3295
+Query 1/1: Action query time = 1.115 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3864
+t=90: Selected seed 195 with value = 0.3864
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4561
+t=106: Selected seed 195 with value = 0.4561
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4054
+t=122: Selected seed 195 with value = 0.4054
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6292
+t=138: Selected seed 195 with value = 0.6292
+Query 1/1: Action query time = 0.954 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=154: Selected seed 195 with value = 0.7025
+Query 1/1: Action query time = 0.944 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=170: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 0.943 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=186: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=1--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 0.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1652
+t=10: Selected seed 195 with value = 0.1652
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1572
+t=26: Selected seed 195 with value = 0.1572
+Query 1/1: Action query time = 0.948 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1925
+t=42: Selected seed 195 with value = 0.1925
+Query 1/1: Action query time = 0.941 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2117
+t=58: Selected seed 195 with value = 0.2117
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2421
+t=74: Selected seed 195 with value = 0.2421
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2721
+t=90: Selected seed 195 with value = 0.2721
+Query 1/1: Action query time = 0.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4452
+t=106: Selected seed 195 with value = 0.4452
+Query 1/1: Action query time = 1.006 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4661
+t=122: Selected seed 195 with value = 0.4661
+Query 1/1: Action query time = 1.137 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5984
+t=138: Selected seed 195 with value = 0.5984
+Query 1/1: Action query time = 1.006 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6266
+t=154: Selected seed 195 with value = 0.6266
+Query 1/1: Action query time = 1.026 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6543
+t=170: Selected seed 195 with value = 0.6543
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5655
+t=186: Selected seed 195 with value = 0.5655
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5858
+t=202: Selected seed 195 with value = 0.5858
+Query 1/1: Action query time = 0.957 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7298
+t=218: Selected seed 195 with value = 0.7298
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8282
+t=234: Selected seed 195 with value = 0.8282
+Query 1/1: Action query time = 0.963 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=250: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 0.988 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=2--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 1.093 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1622
+t=10: Selected seed 195 with value = 0.1622
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2113
+t=26: Selected seed 195 with value = 0.2113
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2289
+t=42: Selected seed 195 with value = 0.2289
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2533
+t=58: Selected seed 195 with value = 0.2533
+Query 1/1: Action query time = 1.058 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2939
+t=74: Selected seed 195 with value = 0.2939
+Query 1/1: Action query time = 1.116 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3882
+t=90: Selected seed 195 with value = 0.3882
+Query 1/1: Action query time = 1.197 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4923
+t=106: Selected seed 195 with value = 0.4923
+Query 1/1: Action query time = 1.252 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5269
+t=122: Selected seed 195 with value = 0.5269
+Query 1/1: Action query time = 1.366 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6095
+t=138: Selected seed 195 with value = 0.6095
+Query 1/1: Action query time = 1.418 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7382
+t=154: Selected seed 195 with value = 0.7382
+Query 1/1: Action query time = 1.405 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8312
+t=170: Selected seed 195 with value = 0.8312
+Query 1/1: Action query time = 1.218 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8622
+t=186: Selected seed 195 with value = 0.8622
+Query 1/1: Action query time = 1.217 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9626
+t=202: Selected seed 195 with value = 0.9626
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9155
+t=218: Selected seed 195 with value = 0.9155
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8392
+t=234: Selected seed 195 with value = 0.8392
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2765
+t=250: Selected seed 195 with value = 0.2765
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2744
+t=266: Selected seed 195 with value = 0.2744
+Query 1/1: Action query time = 0.994 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9194
+t=282: Selected seed 195 with value = 0.9194
+Query 1/1: Action query time = 1.004 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=298: Selected seed 195 with value = 0.9531
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=3--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 1.061 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1658
+t=10: Selected seed 195 with value = 0.1658
+Query 1/1: Action query time = 1.083 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1970
+t=26: Selected seed 195 with value = 0.1970
+Query 1/1: Action query time = 1.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2455
+t=42: Selected seed 195 with value = 0.2455
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2658
+t=58: Selected seed 195 with value = 0.2658
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3404
+t=74: Selected seed 195 with value = 0.3404
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4004
+t=90: Selected seed 195 with value = 0.4004
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4637
+t=106: Selected seed 195 with value = 0.4637
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5421
+t=122: Selected seed 195 with value = 0.5421
+Query 1/1: Action query time = 1.007 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5689
+t=138: Selected seed 195 with value = 0.5689
+Query 1/1: Action query time = 0.988 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7533
+t=154: Selected seed 195 with value = 0.7533
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8784
+t=170: Selected seed 195 with value = 0.8784
+Query 1/1: Action query time = 1.012 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=4--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1820
+t=10: Selected seed 195 with value = 0.1820
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2123
+t=26: Selected seed 195 with value = 0.2123
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2588
+t=42: Selected seed 195 with value = 0.2588
+Query 1/1: Action query time = 1.113 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2947
+t=58: Selected seed 195 with value = 0.2947
+Query 1/1: Action query time = 1.180 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3467
+t=74: Selected seed 195 with value = 0.3467
+Query 1/1: Action query time = 1.183 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4190
+t=90: Selected seed 195 with value = 0.4190
+Query 1/1: Action query time = 1.077 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5056
+t=106: Selected seed 195 with value = 0.5056
+Query 1/1: Action query time = 1.030 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6043
+t=122: Selected seed 195 with value = 0.6043
+Query 1/1: Action query time = 1.043 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6887
+t=138: Selected seed 195 with value = 0.6887
+Query 1/1: Action query time = 1.010 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7540
+t=154: Selected seed 195 with value = 0.7540
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8990
+t=170: Selected seed 195 with value = 0.8990
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=186: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=5--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1408
+t=10: Selected seed 195 with value = 0.1408
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1856
+t=26: Selected seed 195 with value = 0.1856
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2512
+t=42: Selected seed 195 with value = 0.2512
+Query 1/1: Action query time = 1.021 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2481
+t=58: Selected seed 195 with value = 0.2481
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3567
+t=74: Selected seed 195 with value = 0.3567
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3760
+t=90: Selected seed 195 with value = 0.3760
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4276
+t=106: Selected seed 195 with value = 0.4276
+Query 1/1: Action query time = 1.172 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5548
+t=122: Selected seed 195 with value = 0.5548
+Query 1/1: Action query time = 1.132 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6216
+t=138: Selected seed 195 with value = 0.6216
+Query 1/1: Action query time = 1.119 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7220
+t=154: Selected seed 195 with value = 0.7220
+Query 1/1: Action query time = 1.168 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8977
+t=170: Selected seed 195 with value = 0.8977
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=6--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1861
+t=10: Selected seed 195 with value = 0.1861
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2031
+t=26: Selected seed 195 with value = 0.2031
+Query 1/1: Action query time = 1.156 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1959
+t=42: Selected seed 195 with value = 0.1959
+Query 1/1: Action query time = 1.271 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1778
+t=58: Selected seed 195 with value = 0.1778
+Query 1/1: Action query time = 1.237 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2862
+t=74: Selected seed 195 with value = 0.2862
+Query 1/1: Action query time = 1.022 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3777
+t=90: Selected seed 195 with value = 0.3777
+Query 1/1: Action query time = 1.088 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4392
+t=106: Selected seed 195 with value = 0.4392
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5488
+t=122: Selected seed 195 with value = 0.5488
+Query 1/1: Action query time = 1.000 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6631
+t=138: Selected seed 195 with value = 0.6631
+Query 1/1: Action query time = 0.992 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7482
+t=154: Selected seed 195 with value = 0.7482
+Query 1/1: Action query time = 1.247 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8420
+t=170: Selected seed 195 with value = 0.8420
+Query 1/1: Action query time = 1.241 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=186: Selected seed 195 with value = 0.9918
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=7--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1688
+t=10: Selected seed 195 with value = 0.1688
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1937
+t=26: Selected seed 195 with value = 0.1937
+Query 1/1: Action query time = 1.186 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2425
+t=42: Selected seed 195 with value = 0.2425
+Query 1/1: Action query time = 1.149 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2969
+t=58: Selected seed 195 with value = 0.2969
+Query 1/1: Action query time = 1.165 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3443
+t=74: Selected seed 195 with value = 0.3443
+Query 1/1: Action query time = 1.057 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3619
+t=90: Selected seed 195 with value = 0.3619
+Query 1/1: Action query time = 1.037 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4308
+t=106: Selected seed 195 with value = 0.4308
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5448
+t=122: Selected seed 195 with value = 0.5448
+Query 1/1: Action query time = 1.024 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6021
+t=138: Selected seed 195 with value = 0.6021
+Query 1/1: Action query time = 1.013 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6661
+t=154: Selected seed 195 with value = 0.6661
+Query 1/1: Action query time = 1.011 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6058
+t=170: Selected seed 195 with value = 0.6058
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5722
+t=186: Selected seed 195 with value = 0.5722
+Query 1/1: Action query time = 0.955 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5515
+t=202: Selected seed 195 with value = 0.5515
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6708
+t=218: Selected seed 195 with value = 0.6708
+Query 1/1: Action query time = 0.958 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7592
+t=234: Selected seed 195 with value = 0.7592
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8686
+t=250: Selected seed 195 with value = 0.8686
+Query 1/1: Action query time = 0.992 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=266: Selected seed 195 with value = 0.9896
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=8--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 1.038 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1946
+t=10: Selected seed 195 with value = 0.1946
+Query 1/1: Action query time = 0.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2111
+t=26: Selected seed 195 with value = 0.2111
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1894
+t=42: Selected seed 195 with value = 0.1894
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2299
+t=58: Selected seed 195 with value = 0.2299
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2377
+t=74: Selected seed 195 with value = 0.2377
+Query 1/1: Action query time = 1.199 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2733
+t=90: Selected seed 195 with value = 0.2733
+Query 1/1: Action query time = 1.062 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3505
+t=106: Selected seed 195 with value = 0.3505
+Query 1/1: Action query time = 1.199 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5427
+t=122: Selected seed 195 with value = 0.5427
+Query 1/1: Action query time = 1.228 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6544
+t=138: Selected seed 195 with value = 0.6544
+Query 1/1: Action query time = 1.450 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7661
+t=154: Selected seed 195 with value = 0.7661
+Query 1/1: Action query time = 1.454 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8259
+t=170: Selected seed 195 with value = 0.8259
+Query 1/1: Action query time = 1.138 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9653
+t=186: Selected seed 195 with value = 0.9653
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=9--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1488
+t=10: Selected seed 195 with value = 0.1488
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2257
+t=26: Selected seed 195 with value = 0.2257
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1849
+t=42: Selected seed 195 with value = 0.1849
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2626
+t=58: Selected seed 195 with value = 0.2626
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1855
+t=74: Selected seed 195 with value = 0.1855
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2358
+t=90: Selected seed 195 with value = 0.2358
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2790
+t=106: Selected seed 195 with value = 0.2790
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=122: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6804
+t=138: Selected seed 195 with value = 0.6804
+Query 1/1: Action query time = 0.984 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7489
+t=154: Selected seed 195 with value = 0.7489
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4378
+t=170: Selected seed 195 with value = 0.4378
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3010
+t=186: Selected seed 195 with value = 0.3010
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4046
+t=202: Selected seed 195 with value = 0.4046
+Query 1/1: Action query time = 0.956 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2838
+t=218: Selected seed 195 with value = 0.2838
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2371
+t=234: Selected seed 195 with value = 0.2371
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2673
+t=250: Selected seed 195 with value = 0.2673
+Query 1/1: Action query time = 1.173 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2802
+t=266: Selected seed 195 with value = 0.2802
+Query 1/1: Action query time = 1.196 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2951
+t=282: Selected seed 195 with value = 0.2951
+Query 1/1: Action query time = 1.185 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3228
+t=298: Selected seed 195 with value = 0.3228
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=10--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 1.107 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2128
+t=10: Selected seed 195 with value = 0.2128
+Query 1/1: Action query time = 1.153 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2359
+t=26: Selected seed 195 with value = 0.2359
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2755
+t=42: Selected seed 195 with value = 0.2755
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3033
+t=58: Selected seed 195 with value = 0.3033
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3594
+t=74: Selected seed 195 with value = 0.3594
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4381
+t=90: Selected seed 195 with value = 0.4381
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5081
+t=106: Selected seed 195 with value = 0.5081
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=122: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 1.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6707
+t=138: Selected seed 195 with value = 0.6707
+Query 1/1: Action query time = 1.020 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7718
+t=154: Selected seed 195 with value = 0.7718
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9320
+t=170: Selected seed 195 with value = 0.9320
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=11--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=11--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1601
+t=10: Selected seed 195 with value = 0.1601
+Query 1/1: Action query time = 1.037 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1959
+t=26: Selected seed 195 with value = 0.1959
+Query 1/1: Action query time = 1.220 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1953
+t=42: Selected seed 195 with value = 0.1953
+Query 1/1: Action query time = 1.182 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1525
+t=58: Selected seed 195 with value = 0.1525
+Query 1/1: Action query time = 0.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2951
+t=74: Selected seed 195 with value = 0.2951
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3610
+t=90: Selected seed 195 with value = 0.3610
+Query 1/1: Action query time = 0.997 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4494
+t=106: Selected seed 195 with value = 0.4494
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5543
+t=122: Selected seed 195 with value = 0.5543
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6721
+t=138: Selected seed 195 with value = 0.6721
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=154: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8713
+t=170: Selected seed 195 with value = 0.8713
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=186: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=12--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 1.192 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2013
+t=10: Selected seed 195 with value = 0.2013
+Query 1/1: Action query time = 1.210 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2019
+t=26: Selected seed 195 with value = 0.2019
+Query 1/1: Action query time = 1.130 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2357
+t=42: Selected seed 195 with value = 0.2357
+Query 1/1: Action query time = 1.165 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2098
+t=58: Selected seed 195 with value = 0.2098
+Query 1/1: Action query time = 1.082 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2321
+t=74: Selected seed 195 with value = 0.2321
+Query 1/1: Action query time = 1.049 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2656
+t=90: Selected seed 195 with value = 0.2656
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2979
+t=106: Selected seed 195 with value = 0.2979
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3361
+t=122: Selected seed 195 with value = 0.3361
+Query 1/1: Action query time = 1.019 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5904
+t=138: Selected seed 195 with value = 0.5904
+Query 1/1: Action query time = 1.069 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6953
+t=154: Selected seed 195 with value = 0.6953
+Query 1/1: Action query time = 1.080 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8117
+t=170: Selected seed 195 with value = 0.8117
+Query 1/1: Action query time = 0.996 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=186: Selected seed 195 with value = 0.9749
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=13--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=13--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 14...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1164
+t=10: Selected seed 195 with value = 0.1164
+Query 1/1: Action query time = 1.114 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2070
+t=26: Selected seed 195 with value = 0.2070
+Query 1/1: Action query time = 1.049 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2421
+t=42: Selected seed 195 with value = 0.2421
+Query 1/1: Action query time = 1.231 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2719
+t=58: Selected seed 195 with value = 0.2719
+Query 1/1: Action query time = 1.292 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3253
+t=74: Selected seed 195 with value = 0.3253
+Query 1/1: Action query time = 1.313 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2436
+t=90: Selected seed 195 with value = 0.2436
+Query 1/1: Action query time = 1.141 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4131
+t=106: Selected seed 195 with value = 0.4131
+Query 1/1: Action query time = 1.089 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5324
+t=122: Selected seed 195 with value = 0.5324
+Query 1/1: Action query time = 1.071 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6545
+t=138: Selected seed 195 with value = 0.6545
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7192
+t=154: Selected seed 195 with value = 0.7192
+Query 1/1: Action query time = 0.999 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8758
+t=170: Selected seed 195 with value = 0.8758
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9466
+t=186: Selected seed 195 with value = 0.9466
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2516
+t=202: Selected seed 195 with value = 0.2516
+Query 1/1: Action query time = 1.186 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8622
+t=218: Selected seed 195 with value = 0.8622
+Query 1/1: Action query time = 1.052 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2938
+t=234: Selected seed 195 with value = 0.2938
+Query 1/1: Action query time = 1.032 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8905
+t=250: Selected seed 195 with value = 0.8905
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2926
+t=266: Selected seed 195 with value = 0.2926
+Query 1/1: Action query time = 1.050 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9115
+t=282: Selected seed 195 with value = 0.9115
+Query 1/1: Action query time = 0.956 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3013
+t=298: Selected seed 195 with value = 0.3013
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=14--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=14--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 11 (78.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 15...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1741
+t=10: Selected seed 195 with value = 0.1741
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1867
+t=26: Selected seed 195 with value = 0.1867
+Query 1/1: Action query time = 1.126 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2238
+t=42: Selected seed 195 with value = 0.2238
+Query 1/1: Action query time = 1.082 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2399
+t=58: Selected seed 195 with value = 0.2399
+Query 1/1: Action query time = 1.403 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2535
+t=74: Selected seed 195 with value = 0.2535
+Query 1/1: Action query time = 1.425 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2760
+t=90: Selected seed 195 with value = 0.2760
+Query 1/1: Action query time = 1.345 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4055
+t=106: Selected seed 195 with value = 0.4055
+Query 1/1: Action query time = 1.128 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5104
+t=122: Selected seed 195 with value = 0.5104
+Query 1/1: Action query time = 1.249 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3941
+t=138: Selected seed 195 with value = 0.3941
+Query 1/1: Action query time = 1.144 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4218
+t=154: Selected seed 195 with value = 0.4218
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4158
+t=170: Selected seed 195 with value = 0.4158
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2863
+t=186: Selected seed 195 with value = 0.2863
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3896
+t=202: Selected seed 195 with value = 0.3896
+Query 1/1: Action query time = 1.125 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8514
+t=218: Selected seed 195 with value = 0.8514
+Query 1/1: Action query time = 1.202 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4372
+t=234: Selected seed 195 with value = 0.4372
+Query 1/1: Action query time = 1.132 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7047
+t=250: Selected seed 195 with value = 0.7047
+Query 1/1: Action query time = 1.185 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7887
+t=266: Selected seed 195 with value = 0.7887
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=282: Selected seed 195 with value = 0.8128
+Query 1/1: Action query time = 0.988 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8700
+t=298: Selected seed 195 with value = 0.8700
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=15--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=15--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 11 (73.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 16...
+Query 1/1: Action query time = 1.556 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1691
+t=10: Selected seed 195 with value = 0.1691
+Query 1/1: Action query time = 1.264 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1896
+t=26: Selected seed 195 with value = 0.1896
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2224
+t=42: Selected seed 195 with value = 0.2224
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2424
+t=58: Selected seed 195 with value = 0.2424
+Query 1/1: Action query time = 1.103 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2279
+t=74: Selected seed 195 with value = 0.2279
+Query 1/1: Action query time = 1.036 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2243
+t=90: Selected seed 195 with value = 0.2243
+Query 1/1: Action query time = 1.067 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2751
+t=106: Selected seed 195 with value = 0.2751
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=122: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4693
+t=138: Selected seed 195 with value = 0.4693
+Query 1/1: Action query time = 1.086 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5623
+t=154: Selected seed 195 with value = 0.5623
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6678
+t=170: Selected seed 195 with value = 0.6678
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=186: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9222
+t=202: Selected seed 195 with value = 0.9222
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=16--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=16--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 12 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 17...
+Query 1/1: Action query time = 1.199 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1643
+t=10: Selected seed 195 with value = 0.1643
+Query 1/1: Action query time = 1.175 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2021
+t=26: Selected seed 195 with value = 0.2021
+Query 1/1: Action query time = 1.150 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1438
+t=42: Selected seed 195 with value = 0.1438
+Query 1/1: Action query time = 1.185 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2036
+t=58: Selected seed 195 with value = 0.2036
+Query 1/1: Action query time = 1.102 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1800
+t=74: Selected seed 195 with value = 0.1800
+Query 1/1: Action query time = 1.065 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3652
+t=90: Selected seed 195 with value = 0.3652
+Query 1/1: Action query time = 1.116 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4428
+t=106: Selected seed 195 with value = 0.4428
+Query 1/1: Action query time = 1.041 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5748
+t=122: Selected seed 195 with value = 0.5748
+Query 1/1: Action query time = 1.140 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4630
+t=138: Selected seed 195 with value = 0.4630
+Query 1/1: Action query time = 1.195 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5553
+t=154: Selected seed 195 with value = 0.5553
+Query 1/1: Action query time = 1.155 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6423
+t=170: Selected seed 195 with value = 0.6423
+Query 1/1: Action query time = 1.172 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6441
+t=186: Selected seed 195 with value = 0.6441
+Query 1/1: Action query time = 1.169 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7201
+t=202: Selected seed 195 with value = 0.7201
+Query 1/1: Action query time = 1.175 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8412
+t=218: Selected seed 195 with value = 0.8412
+Query 1/1: Action query time = 1.146 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=234: Selected seed 195 with value = 0.9965
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=17--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=17--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 13 (76.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 18...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1746
+t=10: Selected seed 195 with value = 0.1746
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1952
+t=26: Selected seed 195 with value = 0.1952
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2095
+t=42: Selected seed 195 with value = 0.2095
+Query 1/1: Action query time = 1.068 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2435
+t=58: Selected seed 195 with value = 0.2435
+Query 1/1: Action query time = 1.110 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3506
+t=74: Selected seed 195 with value = 0.3506
+Query 1/1: Action query time = 1.382 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4078
+t=90: Selected seed 195 with value = 0.4078
+Query 1/1: Action query time = 1.353 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=106: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 1.308 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=122: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 1.159 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6460
+t=138: Selected seed 195 with value = 0.6460
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7797
+t=154: Selected seed 195 with value = 0.7797
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=170: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 0.959 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=186: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 1.049 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2956
+t=202: Selected seed 195 with value = 0.2956
+Query 1/1: Action query time = 1.051 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2600
+t=218: Selected seed 195 with value = 0.2600
+Query 1/1: Action query time = 1.068 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3828
+t=234: Selected seed 195 with value = 0.3828
+Query 1/1: Action query time = 1.044 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2677
+t=250: Selected seed 195 with value = 0.2677
+Query 1/1: Action query time = 1.143 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3930
+t=266: Selected seed 195 with value = 0.3930
+Query 1/1: Action query time = 1.171 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2700
+t=282: Selected seed 195 with value = 0.2700
+Query 1/1: Action query time = 0.964 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4027
+t=298: Selected seed 195 with value = 0.4027
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=18--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=18--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 18
+# successes: 13 (72.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 19...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1570
+t=10: Selected seed 195 with value = 0.1570
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2000
+t=26: Selected seed 195 with value = 0.2000
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2159
+t=42: Selected seed 195 with value = 0.2159
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2405
+t=58: Selected seed 195 with value = 0.2405
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2713
+t=74: Selected seed 195 with value = 0.2713
+Query 1/1: Action query time = 1.065 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4134
+t=90: Selected seed 195 with value = 0.4134
+Query 1/1: Action query time = 1.026 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4646
+t=106: Selected seed 195 with value = 0.4646
+Query 1/1: Action query time = 0.996 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5492
+t=122: Selected seed 195 with value = 0.5492
+Query 1/1: Action query time = 1.088 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6306
+t=138: Selected seed 195 with value = 0.6306
+Query 1/1: Action query time = 1.103 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7983
+t=154: Selected seed 195 with value = 0.7983
+Query 1/1: Action query time = 1.137 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9447
+t=170: Selected seed 195 with value = 0.9447
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=19--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=19--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 14 (73.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 20...
+Query 1/1: Action query time = 1.135 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1842
+t=10: Selected seed 195 with value = 0.1842
+Query 1/1: Action query time = 1.153 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2007
+t=26: Selected seed 195 with value = 0.2007
+Query 1/1: Action query time = 1.023 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2072
+t=42: Selected seed 195 with value = 0.2072
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2281
+t=58: Selected seed 195 with value = 0.2281
+Query 1/1: Action query time = 0.953 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2456
+t=74: Selected seed 195 with value = 0.2456
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2163
+t=90: Selected seed 195 with value = 0.2163
+Query 1/1: Action query time = 1.001 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2467
+t=106: Selected seed 195 with value = 0.2467
+Query 1/1: Action query time = 1.006 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3407
+t=122: Selected seed 195 with value = 0.3407
+Query 1/1: Action query time = 1.147 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6293
+t=138: Selected seed 195 with value = 0.6293
+Query 1/1: Action query time = 1.127 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7128
+t=154: Selected seed 195 with value = 0.7128
+Query 1/1: Action query time = 1.112 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8805
+t=170: Selected seed 195 with value = 0.8805
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=20--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=20--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 15 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 21...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1964
+t=10: Selected seed 195 with value = 0.1964
+Query 1/1: Action query time = 0.954 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2220
+t=26: Selected seed 195 with value = 0.2220
+Query 1/1: Action query time = 1.143 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2563
+t=42: Selected seed 195 with value = 0.2563
+Query 1/1: Action query time = 1.280 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2961
+t=58: Selected seed 195 with value = 0.2961
+Query 1/1: Action query time = 1.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3525
+t=74: Selected seed 195 with value = 0.3525
+Query 1/1: Action query time = 1.140 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4125
+t=90: Selected seed 195 with value = 0.4125
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5025
+t=106: Selected seed 195 with value = 0.5025
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4321
+t=122: Selected seed 195 with value = 0.4321
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5250
+t=138: Selected seed 195 with value = 0.5250
+Query 1/1: Action query time = 0.958 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6550
+t=154: Selected seed 195 with value = 0.6550
+Query 1/1: Action query time = 1.033 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7316
+t=170: Selected seed 195 with value = 0.7316
+Query 1/1: Action query time = 1.170 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8480
+t=186: Selected seed 195 with value = 0.8480
+Query 1/1: Action query time = 1.172 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=21--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=21--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 16 (76.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 22...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1860
+t=10: Selected seed 195 with value = 0.1860
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2000
+t=26: Selected seed 195 with value = 0.2000
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2029
+t=42: Selected seed 195 with value = 0.2029
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2324
+t=58: Selected seed 195 with value = 0.2324
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2636
+t=74: Selected seed 195 with value = 0.2636
+Query 1/1: Action query time = 1.075 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2753
+t=90: Selected seed 195 with value = 0.2753
+Query 1/1: Action query time = 1.080 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3380
+t=106: Selected seed 195 with value = 0.3380
+Query 1/1: Action query time = 1.058 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4522
+t=122: Selected seed 195 with value = 0.4522
+Query 1/1: Action query time = 0.996 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6017
+t=138: Selected seed 195 with value = 0.6017
+Query 1/1: Action query time = 1.048 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7269
+t=154: Selected seed 195 with value = 0.7269
+Query 1/1: Action query time = 1.114 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8585
+t=170: Selected seed 195 with value = 0.8585
+Query 1/1: Action query time = 1.154 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=186: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=22--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=22--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 17 (77.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 23...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1578
+t=10: Selected seed 195 with value = 0.1578
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2126
+t=26: Selected seed 195 with value = 0.2126
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2116
+t=42: Selected seed 195 with value = 0.2116
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2111
+t=58: Selected seed 195 with value = 0.2111
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2078
+t=74: Selected seed 195 with value = 0.2078
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3457
+t=90: Selected seed 195 with value = 0.3457
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4548
+t=106: Selected seed 195 with value = 0.4548
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5589
+t=122: Selected seed 195 with value = 0.5589
+Query 1/1: Action query time = 0.949 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5878
+t=138: Selected seed 195 with value = 0.5878
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7234
+t=154: Selected seed 195 with value = 0.7234
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8579
+t=170: Selected seed 195 with value = 0.8579
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=23--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=23--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 18 (78.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 24...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1734
+t=10: Selected seed 195 with value = 0.1734
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2063
+t=26: Selected seed 195 with value = 0.2063
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2473
+t=42: Selected seed 195 with value = 0.2473
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2596
+t=58: Selected seed 195 with value = 0.2596
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3305
+t=74: Selected seed 195 with value = 0.3305
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3904
+t=90: Selected seed 195 with value = 0.3904
+Query 1/1: Action query time = 1.014 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4623
+t=106: Selected seed 195 with value = 0.4623
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5375
+t=122: Selected seed 195 with value = 0.5375
+Query 1/1: Action query time = 1.135 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4912
+t=138: Selected seed 195 with value = 0.4912
+Query 1/1: Action query time = 1.091 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7164
+t=154: Selected seed 195 with value = 0.7164
+Query 1/1: Action query time = 1.296 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8388
+t=170: Selected seed 195 with value = 0.8388
+Query 1/1: Action query time = 1.197 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=186: Selected seed 195 with value = 0.9717
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=24--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=24--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 19 (79.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 25...
+Query 1/1: Action query time = 1.137 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1722
+t=10: Selected seed 195 with value = 0.1722
+Query 1/1: Action query time = 1.085 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1930
+t=26: Selected seed 195 with value = 0.1930
+Query 1/1: Action query time = 1.128 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2463
+t=42: Selected seed 195 with value = 0.2463
+Query 1/1: Action query time = 1.162 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2456
+t=58: Selected seed 195 with value = 0.2456
+Query 1/1: Action query time = 1.109 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3493
+t=74: Selected seed 195 with value = 0.3493
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3837
+t=90: Selected seed 195 with value = 0.3837
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4169
+t=106: Selected seed 195 with value = 0.4169
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5342
+t=122: Selected seed 195 with value = 0.5342
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6426
+t=138: Selected seed 195 with value = 0.6426
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7119
+t=154: Selected seed 195 with value = 0.7119
+Query 1/1: Action query time = 0.952 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8431
+t=170: Selected seed 195 with value = 0.8431
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8804
+t=186: Selected seed 195 with value = 0.8804
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2545
+t=202: Selected seed 195 with value = 0.2545
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2755
+t=218: Selected seed 195 with value = 0.2755
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2567
+t=234: Selected seed 195 with value = 0.2567
+Query 1/1: Action query time = 1.002 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6275
+t=250: Selected seed 195 with value = 0.6275
+Query 1/1: Action query time = 1.026 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2525
+t=266: Selected seed 195 with value = 0.2525
+Query 1/1: Action query time = 1.024 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6915
+t=282: Selected seed 195 with value = 0.6915
+Query 1/1: Action query time = 1.024 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2454
+t=298: Selected seed 195 with value = 0.2454
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=25--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=25--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 19 (76.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 26...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1168
+t=10: Selected seed 195 with value = 0.1168
+Query 1/1: Action query time = 1.220 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2204
+t=26: Selected seed 195 with value = 0.2204
+Query 1/1: Action query time = 1.189 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2535
+t=42: Selected seed 195 with value = 0.2535
+Query 1/1: Action query time = 1.220 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2372
+t=58: Selected seed 195 with value = 0.2372
+Query 1/1: Action query time = 1.163 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3235
+t=74: Selected seed 195 with value = 0.3235
+Query 1/1: Action query time = 1.005 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3966
+t=90: Selected seed 195 with value = 0.3966
+Query 1/1: Action query time = 1.037 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4689
+t=106: Selected seed 195 with value = 0.4689
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5053
+t=122: Selected seed 195 with value = 0.5053
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6097
+t=138: Selected seed 195 with value = 0.6097
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7115
+t=154: Selected seed 195 with value = 0.7115
+Query 1/1: Action query time = 0.996 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8339
+t=170: Selected seed 195 with value = 0.8339
+Query 1/1: Action query time = 1.025 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=186: Selected seed 195 with value = 0.9685
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=26--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=26--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 20 (76.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 27...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1793
+t=10: Selected seed 195 with value = 0.1793
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2030
+t=26: Selected seed 195 with value = 0.2030
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2036
+t=42: Selected seed 195 with value = 0.2036
+Query 1/1: Action query time = 1.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2147
+t=58: Selected seed 195 with value = 0.2147
+Query 1/1: Action query time = 1.284 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2172
+t=74: Selected seed 195 with value = 0.2172
+Query 1/1: Action query time = 1.302 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2871
+t=90: Selected seed 195 with value = 0.2871
+Query 1/1: Action query time = 1.245 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3637
+t=106: Selected seed 195 with value = 0.3637
+Query 1/1: Action query time = 1.195 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4279
+t=122: Selected seed 195 with value = 0.4279
+Query 1/1: Action query time = 1.147 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4975
+t=138: Selected seed 195 with value = 0.4975
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5630
+t=154: Selected seed 195 with value = 0.5630
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6838
+t=170: Selected seed 195 with value = 0.6838
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7399
+t=186: Selected seed 195 with value = 0.7399
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=202: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8869
+t=218: Selected seed 195 with value = 0.8869
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8825
+t=234: Selected seed 195 with value = 0.8825
+Query 1/1: Action query time = 0.962 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8573
+t=250: Selected seed 195 with value = 0.8573
+Query 1/1: Action query time = 0.964 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9031
+t=266: Selected seed 195 with value = 0.9031
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9122
+t=282: Selected seed 195 with value = 0.9122
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9331
+t=298: Selected seed 195 with value = 0.9331
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=27--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=27--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 20 (74.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 28...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1834
+t=10: Selected seed 195 with value = 0.1834
+Query 1/1: Action query time = 0.952 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2021
+t=26: Selected seed 195 with value = 0.2021
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2355
+t=42: Selected seed 195 with value = 0.2355
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2466
+t=58: Selected seed 195 with value = 0.2466
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2972
+t=74: Selected seed 195 with value = 0.2972
+Query 1/1: Action query time = 1.225 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3070
+t=90: Selected seed 195 with value = 0.3070
+Query 1/1: Action query time = 1.160 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4273
+t=106: Selected seed 195 with value = 0.4273
+Query 1/1: Action query time = 1.152 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5564
+t=122: Selected seed 195 with value = 0.5564
+Query 1/1: Action query time = 1.193 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6369
+t=138: Selected seed 195 with value = 0.6369
+Query 1/1: Action query time = 1.151 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7536
+t=154: Selected seed 195 with value = 0.7536
+Query 1/1: Action query time = 1.110 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=170: Selected seed 195 with value = 0.9017
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=28--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=28--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 21 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 29...
+Query 1/1: Action query time = 1.268 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1728
+t=10: Selected seed 195 with value = 0.1728
+Query 1/1: Action query time = 1.199 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1899
+t=26: Selected seed 195 with value = 0.1899
+Query 1/1: Action query time = 1.064 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2565
+t=42: Selected seed 195 with value = 0.2565
+Query 1/1: Action query time = 1.081 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2936
+t=58: Selected seed 195 with value = 0.2936
+Query 1/1: Action query time = 1.031 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3529
+t=74: Selected seed 195 with value = 0.3529
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4140
+t=90: Selected seed 195 with value = 0.4140
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4870
+t=106: Selected seed 195 with value = 0.4870
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5932
+t=122: Selected seed 195 with value = 0.5932
+Query 1/1: Action query time = 0.958 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=138: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7762
+t=154: Selected seed 195 with value = 0.7762
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8976
+t=170: Selected seed 195 with value = 0.8976
+Query 1/1: Action query time = 1.002 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=29--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=29--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 22 (75.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 30...
+Query 1/1: Action query time = 1.023 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1609
+t=10: Selected seed 195 with value = 0.1609
+Query 1/1: Action query time = 1.071 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1911
+t=26: Selected seed 195 with value = 0.1911
+Query 1/1: Action query time = 1.114 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2321
+t=42: Selected seed 195 with value = 0.2321
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2433
+t=58: Selected seed 195 with value = 0.2433
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2828
+t=74: Selected seed 195 with value = 0.2828
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3769
+t=90: Selected seed 195 with value = 0.3769
+Query 1/1: Action query time = 1.098 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4394
+t=106: Selected seed 195 with value = 0.4394
+Query 1/1: Action query time = 1.117 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4832
+t=122: Selected seed 195 with value = 0.4832
+Query 1/1: Action query time = 1.156 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=138: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 1.379 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6643
+t=154: Selected seed 195 with value = 0.6643
+Query 1/1: Action query time = 1.327 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8032
+t=170: Selected seed 195 with value = 0.8032
+Query 1/1: Action query time = 1.369 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9397
+t=186: Selected seed 195 with value = 0.9397
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=30--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=30--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 23 (76.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 31...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1737
+t=10: Selected seed 195 with value = 0.1737
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2090
+t=26: Selected seed 195 with value = 0.2090
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2726
+t=42: Selected seed 195 with value = 0.2726
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2373
+t=58: Selected seed 195 with value = 0.2373
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2413
+t=74: Selected seed 195 with value = 0.2413
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3054
+t=90: Selected seed 195 with value = 0.3054
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4706
+t=106: Selected seed 195 with value = 0.4706
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5453
+t=122: Selected seed 195 with value = 0.5453
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6930
+t=138: Selected seed 195 with value = 0.6930
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8513
+t=154: Selected seed 195 with value = 0.8513
+Query 1/1: Action query time = 0.956 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=170: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=31--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=31--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 24 (77.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 32...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1248
+t=10: Selected seed 195 with value = 0.1248
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2090
+t=26: Selected seed 195 with value = 0.2090
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2325
+t=42: Selected seed 195 with value = 0.2325
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2862
+t=58: Selected seed 195 with value = 0.2862
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1763
+t=74: Selected seed 195 with value = 0.1763
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2023
+t=90: Selected seed 195 with value = 0.2023
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2393
+t=106: Selected seed 195 with value = 0.2393
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2784
+t=122: Selected seed 195 with value = 0.2784
+Query 1/1: Action query time = 1.023 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3359
+t=138: Selected seed 195 with value = 0.3359
+Query 1/1: Action query time = 1.054 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3800
+t=154: Selected seed 195 with value = 0.3800
+Query 1/1: Action query time = 1.110 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7824
+t=170: Selected seed 195 with value = 0.7824
+Query 1/1: Action query time = 1.139 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8841
+t=186: Selected seed 195 with value = 0.8841
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=202: Selected seed 195 with value = 0.8675
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2629
+t=218: Selected seed 195 with value = 0.2629
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3298
+t=234: Selected seed 195 with value = 0.3298
+Query 1/1: Action query time = 0.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2852
+t=250: Selected seed 195 with value = 0.2852
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8484
+t=266: Selected seed 195 with value = 0.8484
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2990
+t=282: Selected seed 195 with value = 0.2990
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3548
+t=298: Selected seed 195 with value = 0.3548
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=32--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=32--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 24 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 33...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1692
+t=10: Selected seed 195 with value = 0.1692
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1856
+t=26: Selected seed 195 with value = 0.1856
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2570
+t=42: Selected seed 195 with value = 0.2570
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2679
+t=58: Selected seed 195 with value = 0.2679
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2960
+t=74: Selected seed 195 with value = 0.2960
+Query 1/1: Action query time = 0.992 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3485
+t=90: Selected seed 195 with value = 0.3485
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4209
+t=106: Selected seed 195 with value = 0.4209
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5044
+t=122: Selected seed 195 with value = 0.5044
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5893
+t=138: Selected seed 195 with value = 0.5893
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6682
+t=154: Selected seed 195 with value = 0.6682
+Query 1/1: Action query time = 0.955 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7740
+t=170: Selected seed 195 with value = 0.7740
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9137
+t=186: Selected seed 195 with value = 0.9137
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=33--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=33--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 25 (75.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 34...
+Query 1/1: Action query time = 1.162 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1807
+t=10: Selected seed 195 with value = 0.1807
+Query 1/1: Action query time = 1.176 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1901
+t=26: Selected seed 195 with value = 0.1901
+Query 1/1: Action query time = 1.100 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2184
+t=42: Selected seed 195 with value = 0.2184
+Query 1/1: Action query time = 1.063 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2673
+t=58: Selected seed 195 with value = 0.2673
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3503
+t=74: Selected seed 195 with value = 0.3503
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4048
+t=90: Selected seed 195 with value = 0.4048
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4358
+t=106: Selected seed 195 with value = 0.4358
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5104
+t=122: Selected seed 195 with value = 0.5104
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4469
+t=138: Selected seed 195 with value = 0.4469
+Query 1/1: Action query time = 0.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7198
+t=154: Selected seed 195 with value = 0.7198
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=170: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=186: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2469
+t=202: Selected seed 195 with value = 0.2469
+Query 1/1: Action query time = 0.990 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2460
+t=218: Selected seed 195 with value = 0.2460
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2402
+t=234: Selected seed 195 with value = 0.2402
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2392
+t=250: Selected seed 195 with value = 0.2392
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2402
+t=266: Selected seed 195 with value = 0.2402
+Query 1/1: Action query time = 0.990 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2400
+t=282: Selected seed 195 with value = 0.2400
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2381
+t=298: Selected seed 195 with value = 0.2381
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=34--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=34--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 25 (73.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 35...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1414
+t=10: Selected seed 195 with value = 0.1414
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1397
+t=26: Selected seed 195 with value = 0.1397
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1953
+t=42: Selected seed 195 with value = 0.1953
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2078
+t=58: Selected seed 195 with value = 0.2078
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2582
+t=74: Selected seed 195 with value = 0.2582
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2574
+t=90: Selected seed 195 with value = 0.2574
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3294
+t=106: Selected seed 195 with value = 0.3294
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5331
+t=122: Selected seed 195 with value = 0.5331
+Query 1/1: Action query time = 0.996 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6611
+t=138: Selected seed 195 with value = 0.6611
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4600
+t=154: Selected seed 195 with value = 0.4600
+Query 1/1: Action query time = 0.991 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4281
+t=170: Selected seed 195 with value = 0.4281
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3663
+t=186: Selected seed 195 with value = 0.3663
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4041
+t=202: Selected seed 195 with value = 0.4041
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7400
+t=218: Selected seed 195 with value = 0.7400
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7666
+t=234: Selected seed 195 with value = 0.7666
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7768
+t=250: Selected seed 195 with value = 0.7768
+Query 1/1: Action query time = 0.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8217
+t=266: Selected seed 195 with value = 0.8217
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8980
+t=282: Selected seed 195 with value = 0.8980
+Query 1/1: Action query time = 0.964 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9204
+t=298: Selected seed 195 with value = 0.9204
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=35--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=35--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 35
+# successes: 25 (71.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 36...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1803
+t=10: Selected seed 195 with value = 0.1803
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2082
+t=26: Selected seed 195 with value = 0.2082
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2488
+t=42: Selected seed 195 with value = 0.2488
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2828
+t=58: Selected seed 195 with value = 0.2828
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3318
+t=74: Selected seed 195 with value = 0.3318
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3955
+t=90: Selected seed 195 with value = 0.3955
+Query 1/1: Action query time = 0.949 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4674
+t=106: Selected seed 195 with value = 0.4674
+Query 1/1: Action query time = 1.003 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5437
+t=122: Selected seed 195 with value = 0.5437
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=138: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7235
+t=154: Selected seed 195 with value = 0.7235
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=170: Selected seed 195 with value = 0.9291
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=36--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=36--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 26 (72.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 37...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1504
+t=10: Selected seed 195 with value = 0.1504
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1161
+t=26: Selected seed 195 with value = 0.1161
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1172
+t=42: Selected seed 195 with value = 0.1172
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1258
+t=58: Selected seed 195 with value = 0.1258
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1560
+t=74: Selected seed 195 with value = 0.1560
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1901
+t=90: Selected seed 195 with value = 0.1901
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2577
+t=106: Selected seed 195 with value = 0.2577
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3640
+t=122: Selected seed 195 with value = 0.3640
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5651
+t=138: Selected seed 195 with value = 0.5651
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7158
+t=154: Selected seed 195 with value = 0.7158
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=170: Selected seed 195 with value = 0.8779
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=37--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=37--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 27 (73.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 38...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1320
+t=10: Selected seed 195 with value = 0.1320
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1590
+t=26: Selected seed 195 with value = 0.1590
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1700
+t=42: Selected seed 195 with value = 0.1700
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1949
+t=58: Selected seed 195 with value = 0.1949
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2250
+t=74: Selected seed 195 with value = 0.2250
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3796
+t=90: Selected seed 195 with value = 0.3796
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4654
+t=106: Selected seed 195 with value = 0.4654
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=122: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6405
+t=138: Selected seed 195 with value = 0.6405
+Query 1/1: Action query time = 0.950 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7726
+t=154: Selected seed 195 with value = 0.7726
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=170: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8970
+t=186: Selected seed 195 with value = 0.8970
+Query 1/1: Action query time = 0.956 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2155
+t=202: Selected seed 195 with value = 0.2155
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2561
+t=218: Selected seed 195 with value = 0.2561
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7536
+t=234: Selected seed 195 with value = 0.7536
+Query 1/1: Action query time = 0.951 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2470
+t=250: Selected seed 195 with value = 0.2470
+Query 1/1: Action query time = 0.956 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=266: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2962
+t=282: Selected seed 195 with value = 0.2962
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2309
+t=298: Selected seed 195 with value = 0.2309
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=38--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=38--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 38
+# successes: 27 (71.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 39...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1832
+t=10: Selected seed 195 with value = 0.1832
+Query 1/1: Action query time = 0.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1560
+t=26: Selected seed 195 with value = 0.1560
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2283
+t=42: Selected seed 195 with value = 0.2283
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1932
+t=58: Selected seed 195 with value = 0.1932
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2444
+t=74: Selected seed 195 with value = 0.2444
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2272
+t=90: Selected seed 195 with value = 0.2272
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2779
+t=106: Selected seed 195 with value = 0.2779
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=122: Selected seed 195 with value = 0.5479
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4657
+t=138: Selected seed 195 with value = 0.4657
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5979
+t=154: Selected seed 195 with value = 0.5979
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=170: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6989
+t=186: Selected seed 195 with value = 0.6989
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8212
+t=202: Selected seed 195 with value = 0.8212
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9145
+t=218: Selected seed 195 with value = 0.9145
+Query 1/1: Action query time = 0.961 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8442
+t=234: Selected seed 195 with value = 0.8442
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9382
+t=250: Selected seed 195 with value = 0.9382
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=266: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 0.960 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=282: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=298: Selected seed 195 with value = 0.9840
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=39--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=39--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 39
+# successes: 27 (69.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 40...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1883
+t=10: Selected seed 195 with value = 0.1883
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2328
+t=26: Selected seed 195 with value = 0.2328
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2651
+t=42: Selected seed 195 with value = 0.2651
+Query 1/1: Action query time = 0.953 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2748
+t=58: Selected seed 195 with value = 0.2748
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3563
+t=74: Selected seed 195 with value = 0.3563
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3449
+t=90: Selected seed 195 with value = 0.3449
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4645
+t=106: Selected seed 195 with value = 0.4645
+Query 1/1: Action query time = 0.949 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5343
+t=122: Selected seed 195 with value = 0.5343
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=138: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4947
+t=154: Selected seed 195 with value = 0.4947
+Query 1/1: Action query time = 0.954 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5466
+t=170: Selected seed 195 with value = 0.5466
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6550
+t=186: Selected seed 195 with value = 0.6550
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7882
+t=202: Selected seed 195 with value = 0.7882
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8868
+t=218: Selected seed 195 with value = 0.8868
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=40--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=40--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 28 (70.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 41...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1785
+t=10: Selected seed 195 with value = 0.1785
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2042
+t=26: Selected seed 195 with value = 0.2042
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2515
+t=42: Selected seed 195 with value = 0.2515
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2322
+t=58: Selected seed 195 with value = 0.2322
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2199
+t=74: Selected seed 195 with value = 0.2199
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3795
+t=90: Selected seed 195 with value = 0.3795
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4673
+t=106: Selected seed 195 with value = 0.4673
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5333
+t=122: Selected seed 195 with value = 0.5333
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6399
+t=138: Selected seed 195 with value = 0.6399
+Query 1/1: Action query time = 1.029 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7266
+t=154: Selected seed 195 with value = 0.7266
+Query 1/1: Action query time = 1.015 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7408
+t=170: Selected seed 195 with value = 0.7408
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9056
+t=186: Selected seed 195 with value = 0.9056
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9268
+t=202: Selected seed 195 with value = 0.9268
+Query 1/1: Action query time = 1.002 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=218: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=234: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 1.006 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=250: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 1.004 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=266: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=282: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.995 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9638
+t=298: Selected seed 195 with value = 0.9638
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=41--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=41--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 41
+# successes: 28 (68.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 42...
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1607
+t=10: Selected seed 195 with value = 0.1607
+Query 1/1: Action query time = 1.045 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1967
+t=26: Selected seed 195 with value = 0.1967
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2176
+t=42: Selected seed 195 with value = 0.2176
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2096
+t=58: Selected seed 195 with value = 0.2096
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1992
+t=74: Selected seed 195 with value = 0.1992
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2168
+t=90: Selected seed 195 with value = 0.2168
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2425
+t=106: Selected seed 195 with value = 0.2425
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2744
+t=122: Selected seed 195 with value = 0.2744
+Query 1/1: Action query time = 0.987 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2978
+t=138: Selected seed 195 with value = 0.2978
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4130
+t=154: Selected seed 195 with value = 0.4130
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3660
+t=170: Selected seed 195 with value = 0.3660
+Query 1/1: Action query time = 0.984 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5318
+t=186: Selected seed 195 with value = 0.5318
+Query 1/1: Action query time = 0.991 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6751
+t=202: Selected seed 195 with value = 0.6751
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=218: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9322
+t=234: Selected seed 195 with value = 0.9322
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=42--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=42--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 29 (69.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 43...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1720
+t=10: Selected seed 195 with value = 0.1720
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1661
+t=26: Selected seed 195 with value = 0.1661
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1872
+t=42: Selected seed 195 with value = 0.1872
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2174
+t=58: Selected seed 195 with value = 0.2174
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2992
+t=74: Selected seed 195 with value = 0.2992
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2827
+t=90: Selected seed 195 with value = 0.2827
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4147
+t=106: Selected seed 195 with value = 0.4147
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4064
+t=122: Selected seed 195 with value = 0.4064
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5252
+t=138: Selected seed 195 with value = 0.5252
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6847
+t=154: Selected seed 195 with value = 0.6847
+Query 1/1: Action query time = 0.988 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8348
+t=170: Selected seed 195 with value = 0.8348
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=186: Selected seed 195 with value = 0.9757
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=43--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=43--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 30 (69.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 44...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1681
+t=10: Selected seed 195 with value = 0.1681
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1912
+t=26: Selected seed 195 with value = 0.1912
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2386
+t=42: Selected seed 195 with value = 0.2386
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2396
+t=58: Selected seed 195 with value = 0.2396
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2531
+t=74: Selected seed 195 with value = 0.2531
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3983
+t=90: Selected seed 195 with value = 0.3983
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3611
+t=106: Selected seed 195 with value = 0.3611
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5202
+t=122: Selected seed 195 with value = 0.5202
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6318
+t=138: Selected seed 195 with value = 0.6318
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7434
+t=154: Selected seed 195 with value = 0.7434
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8762
+t=170: Selected seed 195 with value = 0.8762
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=186: Selected seed 195 with value = 0.9827
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=44--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=44--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 31 (70.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 45...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1739
+t=10: Selected seed 195 with value = 0.1739
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1945
+t=26: Selected seed 195 with value = 0.1945
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1960
+t=42: Selected seed 195 with value = 0.1960
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2479
+t=58: Selected seed 195 with value = 0.2479
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2774
+t=74: Selected seed 195 with value = 0.2774
+Query 1/1: Action query time = 0.954 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4129
+t=90: Selected seed 195 with value = 0.4129
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4907
+t=106: Selected seed 195 with value = 0.4907
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5557
+t=122: Selected seed 195 with value = 0.5557
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6594
+t=138: Selected seed 195 with value = 0.6594
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7940
+t=154: Selected seed 195 with value = 0.7940
+Query 1/1: Action query time = 0.991 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=170: Selected seed 195 with value = 0.9465
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=45--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=45--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 32 (71.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 46...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1410
+t=10: Selected seed 195 with value = 0.1410
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2183
+t=26: Selected seed 195 with value = 0.2183
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2592
+t=42: Selected seed 195 with value = 0.2592
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2909
+t=58: Selected seed 195 with value = 0.2909
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3408
+t=74: Selected seed 195 with value = 0.3408
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2642
+t=90: Selected seed 195 with value = 0.2642
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2941
+t=106: Selected seed 195 with value = 0.2941
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3788
+t=122: Selected seed 195 with value = 0.3788
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5660
+t=138: Selected seed 195 with value = 0.5660
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4612
+t=154: Selected seed 195 with value = 0.4612
+Query 1/1: Action query time = 0.959 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=170: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5550
+t=186: Selected seed 195 with value = 0.5550
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6216
+t=202: Selected seed 195 with value = 0.6216
+Query 1/1: Action query time = 0.996 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7877
+t=218: Selected seed 195 with value = 0.7877
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7145
+t=234: Selected seed 195 with value = 0.7145
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=46--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=46--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 33 (71.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 47...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1376
+t=10: Selected seed 195 with value = 0.1376
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1960
+t=26: Selected seed 195 with value = 0.1960
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2573
+t=42: Selected seed 195 with value = 0.2573
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2387
+t=58: Selected seed 195 with value = 0.2387
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3376
+t=74: Selected seed 195 with value = 0.3376
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3350
+t=90: Selected seed 195 with value = 0.3350
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3791
+t=106: Selected seed 195 with value = 0.3791
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5440
+t=122: Selected seed 195 with value = 0.5440
+Query 1/1: Action query time = 0.958 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6474
+t=138: Selected seed 195 with value = 0.6474
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7524
+t=154: Selected seed 195 with value = 0.7524
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8496
+t=170: Selected seed 195 with value = 0.8496
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=186: Selected seed 195 with value = 0.9895
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=47--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=47--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 34 (72.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 48...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1556
+t=10: Selected seed 195 with value = 0.1556
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1920
+t=26: Selected seed 195 with value = 0.1920
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2525
+t=42: Selected seed 195 with value = 0.2525
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2664
+t=58: Selected seed 195 with value = 0.2664
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3172
+t=74: Selected seed 195 with value = 0.3172
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3175
+t=90: Selected seed 195 with value = 0.3175
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4425
+t=106: Selected seed 195 with value = 0.4425
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5201
+t=122: Selected seed 195 with value = 0.5201
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6198
+t=138: Selected seed 195 with value = 0.6198
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7395
+t=154: Selected seed 195 with value = 0.7395
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7991
+t=170: Selected seed 195 with value = 0.7991
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=48--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=48--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 35 (72.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 49...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1199
+t=10: Selected seed 195 with value = 0.1199
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1635
+t=26: Selected seed 195 with value = 0.1635
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1327
+t=42: Selected seed 195 with value = 0.1327
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1493
+t=58: Selected seed 195 with value = 0.1493
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1699
+t=74: Selected seed 195 with value = 0.1699
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2691
+t=90: Selected seed 195 with value = 0.2691
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3708
+t=106: Selected seed 195 with value = 0.3708
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4478
+t=122: Selected seed 195 with value = 0.4478
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5067
+t=138: Selected seed 195 with value = 0.5067
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5690
+t=154: Selected seed 195 with value = 0.5690
+Query 1/1: Action query time = 0.988 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6114
+t=170: Selected seed 195 with value = 0.6114
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4937
+t=186: Selected seed 195 with value = 0.4937
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4809
+t=202: Selected seed 195 with value = 0.4809
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5175
+t=218: Selected seed 195 with value = 0.5175
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6150
+t=234: Selected seed 195 with value = 0.6150
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5012
+t=250: Selected seed 195 with value = 0.5012
+Query 1/1: Action query time = 0.996 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4908
+t=266: Selected seed 195 with value = 0.4908
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5481
+t=282: Selected seed 195 with value = 0.5481
+Query 1/1: Action query time = 0.995 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5909
+t=298: Selected seed 195 with value = 0.5909
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=49--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=49--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 49
+# successes: 35 (71.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 50...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1913
+t=10: Selected seed 195 with value = 0.1913
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2279
+t=26: Selected seed 195 with value = 0.2279
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2823
+t=42: Selected seed 195 with value = 0.2823
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3362
+t=58: Selected seed 195 with value = 0.3362
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3966
+t=74: Selected seed 195 with value = 0.3966
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4498
+t=90: Selected seed 195 with value = 0.4498
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5265
+t=106: Selected seed 195 with value = 0.5265
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6201
+t=122: Selected seed 195 with value = 0.6201
+Query 1/1: Action query time = 0.987 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6801
+t=138: Selected seed 195 with value = 0.6801
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7630
+t=154: Selected seed 195 with value = 0.7630
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9156
+t=170: Selected seed 195 with value = 0.9156
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--episode=50--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t3/2026_08_01-00_21_46--with_future_img--episode=50--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 36 (72.0%)
+Current task success rate: 0.72
+Current total success rate: 0.72
+Final results:
+Total episodes: 50
+Total successes: 36
+Overall success rate: 0.7200 (72.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_24_16--realcl_i800_t1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_24_16--realcl_i800_t1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d5d3562976d43e51a9cc3fc331cdde675ce7f90
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_24_16--realcl_i800_t1.txt
@@ -0,0 +1,1632 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl_i800_t1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.557 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4452
+t=10: Selected seed 195 with value = 0.4452
+Query 1/1: Action query time = 1.064 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5395
+t=26: Selected seed 195 with value = 0.5395
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6439
+t=42: Selected seed 195 with value = 0.6439
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7443
+t=58: Selected seed 195 with value = 0.7443
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8684
+t=74: Selected seed 195 with value = 0.8684
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=90: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.247 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4432
+t=10: Selected seed 195 with value = 0.4432
+Query 1/1: Action query time = 1.183 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5060
+t=26: Selected seed 195 with value = 0.5060
+Query 1/1: Action query time = 1.053 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=42: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 1.066 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=58: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 1.047 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8003
+t=74: Selected seed 195 with value = 0.8003
+Query 1/1: Action query time = 1.180 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=90: Selected seed 195 with value = 0.9867
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4451
+t=10: Selected seed 195 with value = 0.4451
+Query 1/1: Action query time = 1.035 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5366
+t=26: Selected seed 195 with value = 0.5366
+Query 1/1: Action query time = 1.048 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5675
+t=42: Selected seed 195 with value = 0.5675
+Query 1/1: Action query time = 1.125 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=58: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 1.125 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8455
+t=74: Selected seed 195 with value = 0.8455
+Query 1/1: Action query time = 1.126 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=90: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4383
+t=10: Selected seed 195 with value = 0.4383
+Query 1/1: Action query time = 0.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5279
+t=26: Selected seed 195 with value = 0.5279
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6027
+t=42: Selected seed 195 with value = 0.6027
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=58: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8563
+t=74: Selected seed 195 with value = 0.8563
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=90: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4508
+t=10: Selected seed 195 with value = 0.4508
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5279
+t=26: Selected seed 195 with value = 0.5279
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6193
+t=42: Selected seed 195 with value = 0.6193
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7194
+t=58: Selected seed 195 with value = 0.7194
+Query 1/1: Action query time = 1.051 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8386
+t=74: Selected seed 195 with value = 0.8386
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=90: Selected seed 195 with value = 0.9847
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 1.487 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4194
+t=10: Selected seed 195 with value = 0.4194
+Query 1/1: Action query time = 1.406 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4969
+t=26: Selected seed 195 with value = 0.4969
+Query 1/1: Action query time = 1.122 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5827
+t=42: Selected seed 195 with value = 0.5827
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6886
+t=58: Selected seed 195 with value = 0.6886
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7941
+t=74: Selected seed 195 with value = 0.7941
+Query 1/1: Action query time = 1.181 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9313
+t=90: Selected seed 195 with value = 0.9313
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3718
+t=10: Selected seed 195 with value = 0.3718
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4442
+t=26: Selected seed 195 with value = 0.4442
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5075
+t=42: Selected seed 195 with value = 0.5075
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6507
+t=58: Selected seed 195 with value = 0.6507
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7308
+t=74: Selected seed 195 with value = 0.7308
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8782
+t=90: Selected seed 195 with value = 0.8782
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=106: Selected seed 195 with value = 0.9822
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 1.153 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4325
+t=10: Selected seed 195 with value = 0.4325
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5253
+t=26: Selected seed 195 with value = 0.5253
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6036
+t=42: Selected seed 195 with value = 0.6036
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7097
+t=58: Selected seed 195 with value = 0.7097
+Query 1/1: Action query time = 0.998 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8494
+t=74: Selected seed 195 with value = 0.8494
+Query 1/1: Action query time = 1.012 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=90: Selected seed 195 with value = 0.9734
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 1.091 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4424
+t=10: Selected seed 195 with value = 0.4424
+Query 1/1: Action query time = 1.056 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5305
+t=26: Selected seed 195 with value = 0.5305
+Query 1/1: Action query time = 1.055 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=42: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 1.114 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7258
+t=58: Selected seed 195 with value = 0.7258
+Query 1/1: Action query time = 1.128 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8196
+t=74: Selected seed 195 with value = 0.8196
+Query 1/1: Action query time = 1.074 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=90: Selected seed 195 with value = 0.9708
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 1.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4400
+t=10: Selected seed 195 with value = 0.4400
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5310
+t=26: Selected seed 195 with value = 0.5310
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6267
+t=42: Selected seed 195 with value = 0.6267
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7147
+t=58: Selected seed 195 with value = 0.7147
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8126
+t=74: Selected seed 195 with value = 0.8126
+Query 1/1: Action query time = 1.027 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9589
+t=90: Selected seed 195 with value = 0.9589
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4224
+t=10: Selected seed 195 with value = 0.4224
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5224
+t=26: Selected seed 195 with value = 0.5224
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=42: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 1.154 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7178
+t=58: Selected seed 195 with value = 0.7178
+Query 1/1: Action query time = 1.161 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8467
+t=74: Selected seed 195 with value = 0.8467
+Query 1/1: Action query time = 1.149 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=90: Selected seed 195 with value = 0.9794
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4569
+t=10: Selected seed 195 with value = 0.4569
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5151
+t=26: Selected seed 195 with value = 0.5151
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6123
+t=42: Selected seed 195 with value = 0.6123
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6960
+t=58: Selected seed 195 with value = 0.6960
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=74: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=90: Selected seed 195 with value = 0.9511
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.035 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4597
+t=10: Selected seed 195 with value = 0.4597
+Query 1/1: Action query time = 1.066 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5032
+t=26: Selected seed 195 with value = 0.5032
+Query 1/1: Action query time = 1.007 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6295
+t=42: Selected seed 195 with value = 0.6295
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7181
+t=58: Selected seed 195 with value = 0.7181
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8374
+t=74: Selected seed 195 with value = 0.8374
+Query 1/1: Action query time = 1.071 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=90: Selected seed 195 with value = 0.9973
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=13--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=13--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 14...
+Query 1/1: Action query time = 1.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4450
+t=10: Selected seed 195 with value = 0.4450
+Query 1/1: Action query time = 1.064 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5187
+t=26: Selected seed 195 with value = 0.5187
+Query 1/1: Action query time = 1.107 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6067
+t=42: Selected seed 195 with value = 0.6067
+Query 1/1: Action query time = 1.097 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6998
+t=58: Selected seed 195 with value = 0.6998
+Query 1/1: Action query time = 1.024 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8200
+t=74: Selected seed 195 with value = 0.8200
+Query 1/1: Action query time = 1.003 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9593
+t=90: Selected seed 195 with value = 0.9593
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=14--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=14--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 15...
+Query 1/1: Action query time = 1.216 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4209
+t=10: Selected seed 195 with value = 0.4209
+Query 1/1: Action query time = 1.038 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5439
+t=26: Selected seed 195 with value = 0.5439
+Query 1/1: Action query time = 1.070 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6379
+t=42: Selected seed 195 with value = 0.6379
+Query 1/1: Action query time = 1.115 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7417
+t=58: Selected seed 195 with value = 0.7417
+Query 1/1: Action query time = 1.181 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8566
+t=74: Selected seed 195 with value = 0.8566
+Query 1/1: Action query time = 1.035 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=90: Selected seed 195 with value = 0.9969
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=15--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=15--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 16...
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3752
+t=10: Selected seed 195 with value = 0.3752
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4221
+t=26: Selected seed 195 with value = 0.4221
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4981
+t=42: Selected seed 195 with value = 0.4981
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6013
+t=58: Selected seed 195 with value = 0.6013
+Query 1/1: Action query time = 1.132 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=74: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 1.041 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8578
+t=90: Selected seed 195 with value = 0.8578
+Query 1/1: Action query time = 1.023 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=106: Selected seed 195 with value = 0.9973
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=16--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=16--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 17...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4371
+t=10: Selected seed 195 with value = 0.4371
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5538
+t=26: Selected seed 195 with value = 0.5538
+Query 1/1: Action query time = 1.153 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=42: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 1.282 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7478
+t=58: Selected seed 195 with value = 0.7478
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8890
+t=74: Selected seed 195 with value = 0.8890
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=90: Selected seed 195 with value = 0.9944
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=17--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=17--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 18...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4174
+t=10: Selected seed 195 with value = 0.4174
+Query 1/1: Action query time = 1.038 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5297
+t=26: Selected seed 195 with value = 0.5297
+Query 1/1: Action query time = 1.315 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6177
+t=42: Selected seed 195 with value = 0.6177
+Query 1/1: Action query time = 1.336 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=58: Selected seed 195 with value = 0.7474
+Query 1/1: Action query time = 1.100 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=74: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 1.181 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=90: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=18--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=18--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 19...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4228
+t=10: Selected seed 195 with value = 0.4228
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5331
+t=26: Selected seed 195 with value = 0.5331
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5477
+t=42: Selected seed 195 with value = 0.5477
+Query 1/1: Action query time = 1.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=58: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 1.275 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8066
+t=74: Selected seed 195 with value = 0.8066
+Query 1/1: Action query time = 1.325 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=90: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=19--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=19--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 20...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4536
+t=10: Selected seed 195 with value = 0.4536
+Query 1/1: Action query time = 1.171 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5341
+t=26: Selected seed 195 with value = 0.5341
+Query 1/1: Action query time = 1.308 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5927
+t=42: Selected seed 195 with value = 0.5927
+Query 1/1: Action query time = 1.331 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7099
+t=58: Selected seed 195 with value = 0.7099
+Query 1/1: Action query time = 1.483 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8285
+t=74: Selected seed 195 with value = 0.8285
+Query 1/1: Action query time = 1.349 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=90: Selected seed 195 with value = 0.9629
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=20--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=20--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 21...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4425
+t=10: Selected seed 195 with value = 0.4425
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5317
+t=26: Selected seed 195 with value = 0.5317
+Query 1/1: Action query time = 1.110 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=42: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 1.168 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=58: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 1.203 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7998
+t=74: Selected seed 195 with value = 0.7998
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=90: Selected seed 195 with value = 0.9741
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=21--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=21--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 22...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3799
+t=10: Selected seed 195 with value = 0.3799
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4410
+t=26: Selected seed 195 with value = 0.4410
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5144
+t=42: Selected seed 195 with value = 0.5144
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6078
+t=58: Selected seed 195 with value = 0.6078
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6999
+t=74: Selected seed 195 with value = 0.6999
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8786
+t=90: Selected seed 195 with value = 0.8786
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=106: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=22--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=22--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 22 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 23...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4020
+t=10: Selected seed 195 with value = 0.4020
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5230
+t=26: Selected seed 195 with value = 0.5230
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5527
+t=42: Selected seed 195 with value = 0.5527
+Query 1/1: Action query time = 1.050 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6464
+t=58: Selected seed 195 with value = 0.6464
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7867
+t=74: Selected seed 195 with value = 0.7867
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=90: Selected seed 195 with value = 0.9461
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=23--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=23--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 23 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 24...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4508
+t=10: Selected seed 195 with value = 0.4508
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5287
+t=26: Selected seed 195 with value = 0.5287
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6177
+t=42: Selected seed 195 with value = 0.6177
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7061
+t=58: Selected seed 195 with value = 0.7061
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7719
+t=74: Selected seed 195 with value = 0.7719
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8945
+t=90: Selected seed 195 with value = 0.8945
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=24--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=24--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 25...
+Query 1/1: Action query time = 1.107 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4325
+t=10: Selected seed 195 with value = 0.4325
+Query 1/1: Action query time = 1.144 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5056
+t=26: Selected seed 195 with value = 0.5056
+Query 1/1: Action query time = 1.379 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=42: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 1.379 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6778
+t=58: Selected seed 195 with value = 0.6778
+Query 1/1: Action query time = 1.370 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7954
+t=74: Selected seed 195 with value = 0.7954
+Query 1/1: Action query time = 1.169 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9260
+t=90: Selected seed 195 with value = 0.9260
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=25--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=25--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 25 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 26...
+Query 1/1: Action query time = 1.197 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4324
+t=10: Selected seed 195 with value = 0.4324
+Query 1/1: Action query time = 1.082 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5199
+t=26: Selected seed 195 with value = 0.5199
+Query 1/1: Action query time = 1.046 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6017
+t=42: Selected seed 195 with value = 0.6017
+Query 1/1: Action query time = 1.035 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6946
+t=58: Selected seed 195 with value = 0.6946
+Query 1/1: Action query time = 1.252 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8165
+t=74: Selected seed 195 with value = 0.8165
+Query 1/1: Action query time = 1.169 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9510
+t=90: Selected seed 195 with value = 0.9510
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=26--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=26--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 26 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 27...
+Query 1/1: Action query time = 1.131 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4467
+t=10: Selected seed 195 with value = 0.4467
+Query 1/1: Action query time = 1.088 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5359
+t=26: Selected seed 195 with value = 0.5359
+Query 1/1: Action query time = 1.020 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6081
+t=42: Selected seed 195 with value = 0.6081
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7545
+t=58: Selected seed 195 with value = 0.7545
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8819
+t=74: Selected seed 195 with value = 0.8819
+Query 1/1: Action query time = 1.000 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=90: Selected seed 195 with value = 0.9912
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=27--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=27--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 27 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 28...
+Query 1/1: Action query time = 1.071 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4293
+t=10: Selected seed 195 with value = 0.4293
+Query 1/1: Action query time = 1.052 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5284
+t=26: Selected seed 195 with value = 0.5284
+Query 1/1: Action query time = 1.034 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6159
+t=42: Selected seed 195 with value = 0.6159
+Query 1/1: Action query time = 1.092 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7294
+t=58: Selected seed 195 with value = 0.7294
+Query 1/1: Action query time = 1.114 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=74: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 1.181 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=90: Selected seed 195 with value = 0.9974
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=28--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=28--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 28 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 29...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4372
+t=10: Selected seed 195 with value = 0.4372
+Query 1/1: Action query time = 1.128 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5364
+t=26: Selected seed 195 with value = 0.5364
+Query 1/1: Action query time = 1.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6303
+t=42: Selected seed 195 with value = 0.6303
+Query 1/1: Action query time = 1.071 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7064
+t=58: Selected seed 195 with value = 0.7064
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7843
+t=74: Selected seed 195 with value = 0.7843
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9606
+t=90: Selected seed 195 with value = 0.9606
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=29--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=29--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 29 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 30...
+Query 1/1: Action query time = 1.235 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4725
+t=10: Selected seed 195 with value = 0.4725
+Query 1/1: Action query time = 1.141 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5258
+t=26: Selected seed 195 with value = 0.5258
+Query 1/1: Action query time = 1.096 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5992
+t=42: Selected seed 195 with value = 0.5992
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7161
+t=58: Selected seed 195 with value = 0.7161
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8310
+t=74: Selected seed 195 with value = 0.8310
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=90: Selected seed 195 with value = 0.9871
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=30--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=30--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 30 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 31...
+Query 1/1: Action query time = 1.290 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4456
+t=10: Selected seed 195 with value = 0.4456
+Query 1/1: Action query time = 1.208 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=26: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 1.044 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6080
+t=42: Selected seed 195 with value = 0.6080
+Query 1/1: Action query time = 1.026 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=58: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8291
+t=74: Selected seed 195 with value = 0.8291
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=90: Selected seed 195 with value = 0.9768
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=31--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=31--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 31 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 32...
+Query 1/1: Action query time = 1.192 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4495
+t=10: Selected seed 195 with value = 0.4495
+Query 1/1: Action query time = 1.164 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5263
+t=26: Selected seed 195 with value = 0.5263
+Query 1/1: Action query time = 1.158 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6100
+t=42: Selected seed 195 with value = 0.6100
+Query 1/1: Action query time = 1.179 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7029
+t=58: Selected seed 195 with value = 0.7029
+Query 1/1: Action query time = 1.159 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8265
+t=74: Selected seed 195 with value = 0.8265
+Query 1/1: Action query time = 1.117 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=90: Selected seed 195 with value = 0.9792
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=32--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=32--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 32 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 33...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4690
+t=10: Selected seed 195 with value = 0.4690
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5210
+t=26: Selected seed 195 with value = 0.5210
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6238
+t=42: Selected seed 195 with value = 0.6238
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7308
+t=58: Selected seed 195 with value = 0.7308
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8554
+t=74: Selected seed 195 with value = 0.8554
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=90: Selected seed 195 with value = 0.9497
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=33--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=33--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 33 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 34...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4350
+t=10: Selected seed 195 with value = 0.4350
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5309
+t=26: Selected seed 195 with value = 0.5309
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6283
+t=42: Selected seed 195 with value = 0.6283
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7071
+t=58: Selected seed 195 with value = 0.7071
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8297
+t=74: Selected seed 195 with value = 0.8297
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=90: Selected seed 195 with value = 0.9863
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=34--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=34--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 34 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 35...
+Query 1/1: Action query time = 1.025 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4364
+t=10: Selected seed 195 with value = 0.4364
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=26: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6170
+t=42: Selected seed 195 with value = 0.6170
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7366
+t=58: Selected seed 195 with value = 0.7366
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8573
+t=74: Selected seed 195 with value = 0.8573
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=90: Selected seed 195 with value = 0.9919
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=35--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=35--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 35 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 36...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4038
+t=10: Selected seed 195 with value = 0.4038
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4633
+t=26: Selected seed 195 with value = 0.4633
+Query 1/1: Action query time = 0.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5356
+t=42: Selected seed 195 with value = 0.5356
+Query 1/1: Action query time = 1.042 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6332
+t=58: Selected seed 195 with value = 0.6332
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7370
+t=74: Selected seed 195 with value = 0.7370
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8864
+t=90: Selected seed 195 with value = 0.8864
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=106: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=36--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=36--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 36 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 37...
+Query 1/1: Action query time = 1.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4532
+t=10: Selected seed 195 with value = 0.4532
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5430
+t=26: Selected seed 195 with value = 0.5430
+Query 1/1: Action query time = 1.110 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6400
+t=42: Selected seed 195 with value = 0.6400
+Query 1/1: Action query time = 1.111 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7468
+t=58: Selected seed 195 with value = 0.7468
+Query 1/1: Action query time = 1.251 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8640
+t=74: Selected seed 195 with value = 0.8640
+Query 1/1: Action query time = 1.237 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=37--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=37--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 37 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 38...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4572
+t=10: Selected seed 195 with value = 0.4572
+Query 1/1: Action query time = 1.099 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5277
+t=26: Selected seed 195 with value = 0.5277
+Query 1/1: Action query time = 1.082 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6141
+t=42: Selected seed 195 with value = 0.6141
+Query 1/1: Action query time = 1.149 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7116
+t=58: Selected seed 195 with value = 0.7116
+Query 1/1: Action query time = 1.152 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8289
+t=74: Selected seed 195 with value = 0.8289
+Query 1/1: Action query time = 1.107 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=90: Selected seed 195 with value = 0.9841
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=38--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=38--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 38 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 39...
+Query 1/1: Action query time = 1.103 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4234
+t=10: Selected seed 195 with value = 0.4234
+Query 1/1: Action query time = 1.097 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4768
+t=26: Selected seed 195 with value = 0.4768
+Query 1/1: Action query time = 1.159 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5886
+t=42: Selected seed 195 with value = 0.5886
+Query 1/1: Action query time = 1.107 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6939
+t=58: Selected seed 195 with value = 0.6939
+Query 1/1: Action query time = 1.106 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8192
+t=74: Selected seed 195 with value = 0.8192
+Query 1/1: Action query time = 1.137 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=90: Selected seed 195 with value = 0.9528
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=39--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=39--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 39 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 40...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4781
+t=10: Selected seed 195 with value = 0.4781
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5358
+t=26: Selected seed 195 with value = 0.5358
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6091
+t=42: Selected seed 195 with value = 0.6091
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7140
+t=58: Selected seed 195 with value = 0.7140
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=74: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=90: Selected seed 195 with value = 0.9892
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=40--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=40--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 40 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 41...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4122
+t=10: Selected seed 195 with value = 0.4122
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4589
+t=26: Selected seed 195 with value = 0.4589
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5099
+t=42: Selected seed 195 with value = 0.5099
+Query 1/1: Action query time = 1.118 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6064
+t=58: Selected seed 195 with value = 0.6064
+Query 1/1: Action query time = 1.127 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7064
+t=74: Selected seed 195 with value = 0.7064
+Query 1/1: Action query time = 1.105 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=90: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 1.049 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=106: Selected seed 195 with value = 0.9917
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=41--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=41--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 41 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 42...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3945
+t=10: Selected seed 195 with value = 0.3945
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4589
+t=26: Selected seed 195 with value = 0.4589
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6265
+t=42: Selected seed 195 with value = 0.6265
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7169
+t=58: Selected seed 195 with value = 0.7169
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8165
+t=74: Selected seed 195 with value = 0.8165
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9572
+t=90: Selected seed 195 with value = 0.9572
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=42--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=42--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 42 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 43...
+Query 1/1: Action query time = 1.026 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4388
+t=10: Selected seed 195 with value = 0.4388
+Query 1/1: Action query time = 1.219 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5266
+t=26: Selected seed 195 with value = 0.5266
+Query 1/1: Action query time = 1.234 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6022
+t=42: Selected seed 195 with value = 0.6022
+Query 1/1: Action query time = 1.217 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7210
+t=58: Selected seed 195 with value = 0.7210
+Query 1/1: Action query time = 1.162 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8379
+t=74: Selected seed 195 with value = 0.8379
+Query 1/1: Action query time = 1.135 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=90: Selected seed 195 with value = 0.9846
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=43--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=43--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 43 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 44...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4563
+t=10: Selected seed 195 with value = 0.4563
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5350
+t=26: Selected seed 195 with value = 0.5350
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5830
+t=42: Selected seed 195 with value = 0.5830
+Query 1/1: Action query time = 1.010 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6801
+t=58: Selected seed 195 with value = 0.6801
+Query 1/1: Action query time = 1.051 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8217
+t=74: Selected seed 195 with value = 0.8217
+Query 1/1: Action query time = 1.053 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=90: Selected seed 195 with value = 0.9840
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=44--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=44--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 44 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 45...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4304
+t=10: Selected seed 195 with value = 0.4304
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5187
+t=26: Selected seed 195 with value = 0.5187
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=42: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6438
+t=58: Selected seed 195 with value = 0.6438
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7477
+t=74: Selected seed 195 with value = 0.7477
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9123
+t=90: Selected seed 195 with value = 0.9123
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=45--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=45--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 45 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 46...
+Query 1/1: Action query time = 1.234 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3686
+t=10: Selected seed 195 with value = 0.3686
+Query 1/1: Action query time = 1.174 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4661
+t=26: Selected seed 195 with value = 0.4661
+Query 1/1: Action query time = 1.162 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5514
+t=42: Selected seed 195 with value = 0.5514
+Query 1/1: Action query time = 1.203 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6307
+t=58: Selected seed 195 with value = 0.6307
+Query 1/1: Action query time = 1.162 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7255
+t=74: Selected seed 195 with value = 0.7255
+Query 1/1: Action query time = 1.103 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8481
+t=90: Selected seed 195 with value = 0.8481
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=46--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=46--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 46 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 47...
+Query 1/1: Action query time = 1.055 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4030
+t=10: Selected seed 195 with value = 0.4030
+Query 1/1: Action query time = 1.160 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5182
+t=26: Selected seed 195 with value = 0.5182
+Query 1/1: Action query time = 1.239 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5877
+t=42: Selected seed 195 with value = 0.5877
+Query 1/1: Action query time = 1.203 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=58: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 1.146 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8144
+t=74: Selected seed 195 with value = 0.8144
+Query 1/1: Action query time = 1.140 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9621
+t=90: Selected seed 195 with value = 0.9621
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=47--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=47--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 47 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 48...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4446
+t=10: Selected seed 195 with value = 0.4446
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5421
+t=26: Selected seed 195 with value = 0.5421
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6137
+t=42: Selected seed 195 with value = 0.6137
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7036
+t=58: Selected seed 195 with value = 0.7036
+Query 1/1: Action query time = 0.993 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8141
+t=74: Selected seed 195 with value = 0.8141
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=90: Selected seed 195 with value = 0.9680
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=48--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=48--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 48 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 49...
+Query 1/1: Action query time = 1.147 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4503
+t=10: Selected seed 195 with value = 0.4503
+Query 1/1: Action query time = 1.047 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5237
+t=26: Selected seed 195 with value = 0.5237
+Query 1/1: Action query time = 0.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6029
+t=42: Selected seed 195 with value = 0.6029
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7038
+t=58: Selected seed 195 with value = 0.7038
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8329
+t=74: Selected seed 195 with value = 0.8329
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=90: Selected seed 195 with value = 0.9814
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=49--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=49--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 49 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 50...
+Query 1/1: Action query time = 1.356 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4645
+t=10: Selected seed 195 with value = 0.4645
+Query 1/1: Action query time = 1.345 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5572
+t=26: Selected seed 195 with value = 0.5572
+Query 1/1: Action query time = 1.345 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=42: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 1.186 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7449
+t=58: Selected seed 195 with value = 0.7449
+Query 1/1: Action query time = 1.115 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8736
+t=74: Selected seed 195 with value = 0.8736
+Query 1/1: Action query time = 1.085 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=90: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--episode=50--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t1/2026_08_01-00_24_16--with_future_img--episode=50--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 50 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 50
+Total successes: 50
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-04_56_48--regen_cl_iter200_task1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-04_56_48--regen_cl_iter200_task1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d5d32e3f46bea63d6de5be9fb2f6cde0791183fd
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-04_56_48--regen_cl_iter200_task1.txt
@@ -0,0 +1,2037 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='regen_cl_iter200_task1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.477 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4876
+t=10: Selected seed 195 with value = 0.4876
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5729
+t=26: Selected seed 195 with value = 0.5729
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6563
+t=42: Selected seed 195 with value = 0.6563
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7606
+t=58: Selected seed 195 with value = 0.7606
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8300
+t=74: Selected seed 195 with value = 0.8300
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=90: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=138: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.946 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.950 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=250: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=266: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9621
+t=282: Selected seed 195 with value = 0.9621
+Query 1/1: Action query time = 0.956 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9044
+t=298: Selected seed 195 with value = 0.9044
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4791
+t=10: Selected seed 195 with value = 0.4791
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5449
+t=26: Selected seed 195 with value = 0.5449
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5990
+t=42: Selected seed 195 with value = 0.5990
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7175
+t=58: Selected seed 195 with value = 0.7175
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=74: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=90: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=106: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=122: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.950 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=138: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=154: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=170: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=186: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 0.952 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=202: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.950 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=218: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 0.960 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=234: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 0.961 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=250: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 0.964 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=266: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=282: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=298: Selected seed 195 with value = 0.9794
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=10: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5718
+t=26: Selected seed 195 with value = 0.5718
+Query 1/1: Action query time = 0.940 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6245
+t=42: Selected seed 195 with value = 0.6245
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7578
+t=58: Selected seed 195 with value = 0.7578
+Query 1/1: Action query time = 0.944 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9004
+t=74: Selected seed 195 with value = 0.9004
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=90: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 0.951 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=106: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=122: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8702
+t=186: Selected seed 195 with value = 0.8702
+Query 1/1: Action query time = 0.961 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8806
+t=202: Selected seed 195 with value = 0.8806
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8867
+t=218: Selected seed 195 with value = 0.8867
+Query 1/1: Action query time = 0.959 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=234: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 0.953 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=10: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=26: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6489
+t=42: Selected seed 195 with value = 0.6489
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7335
+t=58: Selected seed 195 with value = 0.7335
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8179
+t=74: Selected seed 195 with value = 0.8179
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=90: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=106: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=154: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=170: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 0.954 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=186: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 0.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=202: Selected seed 195 with value = 0.9431
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8970
+t=218: Selected seed 195 with value = 0.8970
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8526
+t=234: Selected seed 195 with value = 0.8526
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8100
+t=250: Selected seed 195 with value = 0.8100
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7747
+t=266: Selected seed 195 with value = 0.7747
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=282: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8165
+t=298: Selected seed 195 with value = 0.8165
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=10: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5443
+t=26: Selected seed 195 with value = 0.5443
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6166
+t=42: Selected seed 195 with value = 0.6166
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=58: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=74: Selected seed 195 with value = 0.8755
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9524
+t=90: Selected seed 195 with value = 0.9524
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=106: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=122: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=138: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.952 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=154: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 0.956 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=202: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 0.956 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9211
+t=218: Selected seed 195 with value = 0.9211
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=234: Selected seed 195 with value = 0.9625
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=250: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=266: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=282: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=298: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 0.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4884
+t=10: Selected seed 195 with value = 0.4884
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5291
+t=26: Selected seed 195 with value = 0.5291
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6124
+t=42: Selected seed 195 with value = 0.6124
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7356
+t=58: Selected seed 195 with value = 0.7356
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8570
+t=74: Selected seed 195 with value = 0.8570
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=90: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=154: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=170: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=186: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=234: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 0.956 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8875
+t=250: Selected seed 195 with value = 0.8875
+Query 1/1: Action query time = 0.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8472
+t=266: Selected seed 195 with value = 0.8472
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8906
+t=282: Selected seed 195 with value = 0.8906
+Query 1/1: Action query time = 0.955 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=298: Selected seed 195 with value = 0.9788
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4834
+t=10: Selected seed 195 with value = 0.4834
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5206
+t=26: Selected seed 195 with value = 0.5206
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5776
+t=42: Selected seed 195 with value = 0.5776
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8625
+t=58: Selected seed 195 with value = 0.8625
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7833
+t=74: Selected seed 195 with value = 0.7833
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=90: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=154: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=170: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=186: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=202: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=218: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9249
+t=234: Selected seed 195 with value = 0.9249
+Query 1/1: Action query time = 0.991 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=250: Selected seed 195 with value = 0.9132
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=266: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=282: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9412
+t=298: Selected seed 195 with value = 0.9412
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4853
+t=10: Selected seed 195 with value = 0.4853
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5862
+t=26: Selected seed 195 with value = 0.5862
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6297
+t=42: Selected seed 195 with value = 0.6297
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6947
+t=58: Selected seed 195 with value = 0.6947
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7817
+t=74: Selected seed 195 with value = 0.7817
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9091
+t=90: Selected seed 195 with value = 0.9091
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=106: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.946 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=154: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.948 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=170: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=186: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8982
+t=202: Selected seed 195 with value = 0.8982
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8412
+t=218: Selected seed 195 with value = 0.8412
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7511
+t=234: Selected seed 195 with value = 0.7511
+Query 1/1: Action query time = 0.961 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7469
+t=250: Selected seed 195 with value = 0.7469
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7570
+t=266: Selected seed 195 with value = 0.7570
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7786
+t=282: Selected seed 195 with value = 0.7786
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8139
+t=298: Selected seed 195 with value = 0.8139
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4647
+t=10: Selected seed 195 with value = 0.4647
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5565
+t=26: Selected seed 195 with value = 0.5565
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6246
+t=42: Selected seed 195 with value = 0.6246
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7599
+t=58: Selected seed 195 with value = 0.7599
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8874
+t=74: Selected seed 195 with value = 0.8874
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=90: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=106: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=122: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=138: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=154: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 0.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=170: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=186: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9638
+t=202: Selected seed 195 with value = 0.9638
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=218: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=234: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=250: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=266: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=282: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=298: Selected seed 195 with value = 0.9734
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 0.960 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=10: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=26: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6213
+t=42: Selected seed 195 with value = 0.6213
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=58: Selected seed 195 with value = 0.7419
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=74: Selected seed 195 with value = 0.7512
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8487
+t=90: Selected seed 195 with value = 0.8487
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=138: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.959 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9652
+t=154: Selected seed 195 with value = 0.9652
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9363
+t=170: Selected seed 195 with value = 0.9363
+Query 1/1: Action query time = 0.954 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8911
+t=186: Selected seed 195 with value = 0.8911
+Query 1/1: Action query time = 0.956 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8191
+t=202: Selected seed 195 with value = 0.8191
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7373
+t=218: Selected seed 195 with value = 0.7373
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7308
+t=234: Selected seed 195 with value = 0.7308
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7673
+t=250: Selected seed 195 with value = 0.7673
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8228
+t=266: Selected seed 195 with value = 0.8228
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9081
+t=282: Selected seed 195 with value = 0.9081
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=298: Selected seed 195 with value = 0.9301
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4976
+t=10: Selected seed 195 with value = 0.4976
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=26: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=42: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=58: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7627
+t=74: Selected seed 195 with value = 0.7627
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8723
+t=90: Selected seed 195 with value = 0.8723
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=138: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=154: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=170: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9234
+t=186: Selected seed 195 with value = 0.9234
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8576
+t=202: Selected seed 195 with value = 0.8576
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7524
+t=218: Selected seed 195 with value = 0.7524
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7566
+t=234: Selected seed 195 with value = 0.7566
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8832
+t=250: Selected seed 195 with value = 0.8832
+Query 1/1: Action query time = 0.955 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9186
+t=266: Selected seed 195 with value = 0.9186
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=282: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=298: Selected seed 195 with value = 0.9805
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5036
+t=10: Selected seed 195 with value = 0.5036
+Query 1/1: Action query time = 0.948 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5520
+t=26: Selected seed 195 with value = 0.5520
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6270
+t=42: Selected seed 195 with value = 0.6270
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7104
+t=58: Selected seed 195 with value = 0.7104
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7604
+t=74: Selected seed 195 with value = 0.7604
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8530
+t=90: Selected seed 195 with value = 0.8530
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=154: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=170: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9266
+t=186: Selected seed 195 with value = 0.9266
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=202: Selected seed 195 with value = 0.8675
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8006
+t=218: Selected seed 195 with value = 0.8006
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7584
+t=234: Selected seed 195 with value = 0.7584
+Query 1/1: Action query time = 0.953 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8302
+t=250: Selected seed 195 with value = 0.8302
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=266: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=282: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=298: Selected seed 195 with value = 0.9781
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5102
+t=10: Selected seed 195 with value = 0.5102
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5435
+t=26: Selected seed 195 with value = 0.5435
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6211
+t=42: Selected seed 195 with value = 0.6211
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7356
+t=58: Selected seed 195 with value = 0.7356
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7588
+t=74: Selected seed 195 with value = 0.7588
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8531
+t=90: Selected seed 195 with value = 0.8531
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=138: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.989 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=154: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9448
+t=170: Selected seed 195 with value = 0.9448
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=186: Selected seed 195 with value = 0.9149
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8570
+t=202: Selected seed 195 with value = 0.8570
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8062
+t=218: Selected seed 195 with value = 0.8062
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7763
+t=234: Selected seed 195 with value = 0.7763
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7349
+t=250: Selected seed 195 with value = 0.7349
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8297
+t=266: Selected seed 195 with value = 0.8297
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=282: Selected seed 195 with value = 0.9047
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=298: Selected seed 195 with value = 0.9600
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=13--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=13--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 14...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4754
+t=10: Selected seed 195 with value = 0.4754
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5683
+t=26: Selected seed 195 with value = 0.5683
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6287
+t=42: Selected seed 195 with value = 0.6287
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7462
+t=58: Selected seed 195 with value = 0.7462
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8657
+t=74: Selected seed 195 with value = 0.8657
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=90: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=106: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=122: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=138: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=154: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=170: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=202: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=218: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9142
+t=234: Selected seed 195 with value = 0.9142
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8989
+t=250: Selected seed 195 with value = 0.8989
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9064
+t=266: Selected seed 195 with value = 0.9064
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9345
+t=282: Selected seed 195 with value = 0.9345
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9467
+t=298: Selected seed 195 with value = 0.9467
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=14--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=14--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 15...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4947
+t=10: Selected seed 195 with value = 0.4947
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5786
+t=26: Selected seed 195 with value = 0.5786
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=42: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6589
+t=58: Selected seed 195 with value = 0.6589
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8094
+t=74: Selected seed 195 with value = 0.8094
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=90: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=122: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=154: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 0.953 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9519
+t=170: Selected seed 195 with value = 0.9519
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9071
+t=186: Selected seed 195 with value = 0.9071
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8522
+t=202: Selected seed 195 with value = 0.8522
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7639
+t=218: Selected seed 195 with value = 0.7639
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7747
+t=234: Selected seed 195 with value = 0.7747
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8215
+t=250: Selected seed 195 with value = 0.8215
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=266: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9169
+t=282: Selected seed 195 with value = 0.9169
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=298: Selected seed 195 with value = 0.9026
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=15--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=15--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 16...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4664
+t=10: Selected seed 195 with value = 0.4664
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5207
+t=26: Selected seed 195 with value = 0.5207
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5784
+t=42: Selected seed 195 with value = 0.5784
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=58: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8088
+t=74: Selected seed 195 with value = 0.8088
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8537
+t=90: Selected seed 195 with value = 0.8537
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=106: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8909
+t=122: Selected seed 195 with value = 0.8909
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=138: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 0.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=154: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=170: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=186: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=202: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8133
+t=218: Selected seed 195 with value = 0.8133
+Query 1/1: Action query time = 0.970 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=234: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=250: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 0.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=266: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=282: Selected seed 195 with value = 0.9379
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9392
+t=298: Selected seed 195 with value = 0.9392
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=16--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=16--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 16
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 17...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5027
+t=10: Selected seed 195 with value = 0.5027
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5802
+t=26: Selected seed 195 with value = 0.5802
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6465
+t=42: Selected seed 195 with value = 0.6465
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6009
+t=58: Selected seed 195 with value = 0.6009
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=74: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7907
+t=90: Selected seed 195 with value = 0.7907
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=106: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=122: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=138: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=170: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=186: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9494
+t=202: Selected seed 195 with value = 0.9494
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9168
+t=218: Selected seed 195 with value = 0.9168
+Query 1/1: Action query time = 0.961 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8719
+t=234: Selected seed 195 with value = 0.8719
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8045
+t=250: Selected seed 195 with value = 0.8045
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7529
+t=266: Selected seed 195 with value = 0.7529
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8412
+t=282: Selected seed 195 with value = 0.8412
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8785
+t=298: Selected seed 195 with value = 0.8785
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=17--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=17--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 17
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 18...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4739
+t=10: Selected seed 195 with value = 0.4739
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5520
+t=26: Selected seed 195 with value = 0.5520
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6016
+t=42: Selected seed 195 with value = 0.6016
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7381
+t=58: Selected seed 195 with value = 0.7381
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9048
+t=74: Selected seed 195 with value = 0.9048
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=90: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=106: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 0.951 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=122: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=170: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7954
+t=186: Selected seed 195 with value = 0.7954
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8738
+t=202: Selected seed 195 with value = 0.8738
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=218: Selected seed 195 with value = 0.9725
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=18--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=18--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 1 (5.6%)
+
+Task: put the bowl on the stove
+Starting episode 19...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4893
+t=10: Selected seed 195 with value = 0.4893
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5813
+t=26: Selected seed 195 with value = 0.5813
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6152
+t=42: Selected seed 195 with value = 0.6152
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7108
+t=58: Selected seed 195 with value = 0.7108
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8270
+t=74: Selected seed 195 with value = 0.8270
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=90: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=122: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=154: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=170: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=186: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=202: Selected seed 195 with value = 0.9578
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=218: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8991
+t=234: Selected seed 195 with value = 0.8991
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8267
+t=250: Selected seed 195 with value = 0.8267
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8008
+t=266: Selected seed 195 with value = 0.8008
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=282: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9426
+t=298: Selected seed 195 with value = 0.9426
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=19--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=19--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 19
+# successes: 1 (5.3%)
+
+Task: put the bowl on the stove
+Starting episode 20...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4939
+t=10: Selected seed 195 with value = 0.4939
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5820
+t=26: Selected seed 195 with value = 0.5820
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6365
+t=42: Selected seed 195 with value = 0.6365
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7766
+t=58: Selected seed 195 with value = 0.7766
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=74: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=90: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=106: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=138: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=218: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=234: Selected seed 195 with value = 0.9387
+Query 1/1: Action query time = 0.996 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=250: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 0.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=266: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=282: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 0.992 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=298: Selected seed 195 with value = 0.9734
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=20--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=20--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 20
+# successes: 1 (5.0%)
+
+Task: put the bowl on the stove
+Starting episode 21...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4695
+t=10: Selected seed 195 with value = 0.4695
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5617
+t=26: Selected seed 195 with value = 0.5617
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6206
+t=42: Selected seed 195 with value = 0.6206
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7522
+t=58: Selected seed 195 with value = 0.7522
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=74: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=90: Selected seed 195 with value = 0.9706
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=106: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=122: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=138: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=154: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=170: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=202: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9218
+t=218: Selected seed 195 with value = 0.9218
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8751
+t=234: Selected seed 195 with value = 0.8751
+Query 1/1: Action query time = 0.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=250: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.997 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=21--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=21--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 21
+# successes: 1 (4.8%)
+
+Task: put the bowl on the stove
+Starting episode 22...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4831
+t=10: Selected seed 195 with value = 0.4831
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5487
+t=26: Selected seed 195 with value = 0.5487
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6082
+t=42: Selected seed 195 with value = 0.6082
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=58: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8933
+t=74: Selected seed 195 with value = 0.8933
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=90: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=106: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=122: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=138: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=154: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=186: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.985 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=202: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 0.986 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8569
+t=218: Selected seed 195 with value = 0.8569
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=234: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 0.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=282: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=22--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=22--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 22
+# successes: 1 (4.5%)
+
+Task: put the bowl on the stove
+Starting episode 23...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4699
+t=10: Selected seed 195 with value = 0.4699
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5621
+t=26: Selected seed 195 with value = 0.5621
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6064
+t=42: Selected seed 195 with value = 0.6064
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7484
+t=58: Selected seed 195 with value = 0.7484
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9225
+t=74: Selected seed 195 with value = 0.9225
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=90: Selected seed 195 with value = 0.9734
+Query 1/1: Action query time = 0.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=106: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=122: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=138: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8502
+t=170: Selected seed 195 with value = 0.8502
+Query 1/1: Action query time = 0.991 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8407
+t=186: Selected seed 195 with value = 0.8407
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=202: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9403
+t=218: Selected seed 195 with value = 0.9403
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=23--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=23--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 23
+# successes: 1 (4.3%)
+
+Task: put the bowl on the stove
+Starting episode 24...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4709
+t=10: Selected seed 195 with value = 0.4709
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5555
+t=26: Selected seed 195 with value = 0.5555
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6254
+t=42: Selected seed 195 with value = 0.6254
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=58: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7637
+t=74: Selected seed 195 with value = 0.7637
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9044
+t=90: Selected seed 195 with value = 0.9044
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=106: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=122: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=170: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=186: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=202: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=218: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 0.968 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=234: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9027
+t=250: Selected seed 195 with value = 0.9027
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8507
+t=266: Selected seed 195 with value = 0.8507
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7523
+t=282: Selected seed 195 with value = 0.7523
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7476
+t=298: Selected seed 195 with value = 0.7476
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--episode=24--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_cl_iter200_task1/2026_08_01-04_56_48--with_future_img--episode=24--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 24
+# successes: 1 (4.2%)
+
+Task: put the bowl on the stove
+Starting episode 25...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4493
+t=10: Selected seed 195 with value = 0.4493
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5296
+t=26: Selected seed 195 with value = 0.5296
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5909
+t=42: Selected seed 195 with value = 0.5909
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6881
+t=58: Selected seed 195 with value = 0.6881
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7740
+t=74: Selected seed 195 with value = 0.7740
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=90: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=106: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-09_40_10--base100_t1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-09_40_10--base100_t1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ac1f13cd1b427f050b58fdc41287637954f4d6b7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-09_40_10--base100_t1.txt
@@ -0,0 +1,4192 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base100_t1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.475 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4988
+t=10: Selected seed 195 with value = 0.4988
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6134
+t=26: Selected seed 195 with value = 0.6134
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6228
+t=42: Selected seed 195 with value = 0.6228
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=58: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 1.070 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=74: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 1.093 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=90: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 1.126 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.146 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.121 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.134 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.114 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=170: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 1.004 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=186: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.947 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=202: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=218: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.955 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=234: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=250: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 0.956 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=266: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 0.944 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9695
+t=282: Selected seed 195 with value = 0.9695
+Query 1/1: Action query time = 0.941 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9682
+t=298: Selected seed 195 with value = 0.9682
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 0.962 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=10: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6056
+t=26: Selected seed 195 with value = 0.6056
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=42: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7389
+t=58: Selected seed 195 with value = 0.7389
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8520
+t=74: Selected seed 195 with value = 0.8520
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=90: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.946 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.954 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=170: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.954 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=186: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.955 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=202: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 1.106 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=218: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 1.043 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=234: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 1.001 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=250: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=266: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=282: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=298: Selected seed 195 with value = 0.9948
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5000
+t=10: Selected seed 195 with value = 0.5000
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5990
+t=26: Selected seed 195 with value = 0.5990
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6416
+t=42: Selected seed 195 with value = 0.6416
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7235
+t=58: Selected seed 195 with value = 0.7235
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7880
+t=74: Selected seed 195 with value = 0.7880
+Query 1/1: Action query time = 0.947 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8423
+t=90: Selected seed 195 with value = 0.8423
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=106: Selected seed 195 with value = 0.9076
+Query 1/1: Action query time = 0.952 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=122: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=138: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=154: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 0.954 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9167
+t=170: Selected seed 195 with value = 0.9167
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8193
+t=186: Selected seed 195 with value = 0.8193
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=202: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9424
+t=218: Selected seed 195 with value = 0.9424
+Query 1/1: Action query time = 0.948 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=234: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 0.950 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=250: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 0.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=266: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9343
+t=282: Selected seed 195 with value = 0.9343
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9240
+t=298: Selected seed 195 with value = 0.9240
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=10: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6082
+t=26: Selected seed 195 with value = 0.6082
+Query 1/1: Action query time = 0.944 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6274
+t=42: Selected seed 195 with value = 0.6274
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7455
+t=58: Selected seed 195 with value = 0.7455
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=74: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=90: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.954 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=154: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=186: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.956 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=202: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.960 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=218: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=234: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=250: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 1.020 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=266: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 1.015 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=282: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 1.138 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=298: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5121
+t=10: Selected seed 195 with value = 0.5121
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5483
+t=26: Selected seed 195 with value = 0.5483
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6386
+t=42: Selected seed 195 with value = 0.6386
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8433
+t=58: Selected seed 195 with value = 0.8433
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8556
+t=74: Selected seed 195 with value = 0.8556
+Query 1/1: Action query time = 0.944 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9423
+t=90: Selected seed 195 with value = 0.9423
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=138: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.952 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=154: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.959 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=170: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.954 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=186: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=202: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.959 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=218: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 0.962 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=234: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 1.084 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=250: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 1.049 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=266: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 1.044 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=282: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=298: Selected seed 195 with value = 0.9961
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5061
+t=10: Selected seed 195 with value = 0.5061
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5387
+t=26: Selected seed 195 with value = 0.5387
+Query 1/1: Action query time = 0.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6305
+t=42: Selected seed 195 with value = 0.6305
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7502
+t=58: Selected seed 195 with value = 0.7502
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8362
+t=74: Selected seed 195 with value = 0.8362
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=90: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.947 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=234: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=250: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 0.954 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=266: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 0.946 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=282: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 0.949 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=298: Selected seed 195 with value = 0.9761
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5106
+t=10: Selected seed 195 with value = 0.5106
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5379
+t=26: Selected seed 195 with value = 0.5379
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6279
+t=42: Selected seed 195 with value = 0.6279
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=58: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8466
+t=74: Selected seed 195 with value = 0.8466
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=90: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 0.951 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=154: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.951 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=170: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.951 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=202: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.958 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=234: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 1.163 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4643
+t=10: Selected seed 195 with value = 0.4643
+Query 1/1: Action query time = 1.012 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6150
+t=26: Selected seed 195 with value = 0.6150
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6305
+t=42: Selected seed 195 with value = 0.6305
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7505
+t=58: Selected seed 195 with value = 0.7505
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7660
+t=74: Selected seed 195 with value = 0.7660
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7960
+t=90: Selected seed 195 with value = 0.7960
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8952
+t=106: Selected seed 195 with value = 0.8952
+Query 1/1: Action query time = 0.952 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=122: Selected seed 195 with value = 0.9693
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=138: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=154: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 0.947 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9190
+t=170: Selected seed 195 with value = 0.9190
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=186: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 0.948 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=202: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=218: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=234: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=250: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9131
+t=266: Selected seed 195 with value = 0.9131
+Query 1/1: Action query time = 0.957 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8855
+t=282: Selected seed 195 with value = 0.8855
+Query 1/1: Action query time = 0.950 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8403
+t=298: Selected seed 195 with value = 0.8403
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 0.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5071
+t=10: Selected seed 195 with value = 0.5071
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5532
+t=26: Selected seed 195 with value = 0.5532
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6460
+t=42: Selected seed 195 with value = 0.6460
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7705
+t=58: Selected seed 195 with value = 0.7705
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8360
+t=74: Selected seed 195 with value = 0.8360
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=90: Selected seed 195 with value = 0.9578
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=154: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=170: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=186: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 1.133 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=202: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 1.169 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=218: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 1.154 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=234: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 1.107 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=250: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 1.120 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=266: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 1.114 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=282: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 1.130 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=298: Selected seed 195 with value = 0.9480
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 1.075 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4750
+t=10: Selected seed 195 with value = 0.4750
+Query 1/1: Action query time = 1.138 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5410
+t=26: Selected seed 195 with value = 0.5410
+Query 1/1: Action query time = 1.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6338
+t=42: Selected seed 195 with value = 0.6338
+Query 1/1: Action query time = 1.168 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7442
+t=58: Selected seed 195 with value = 0.7442
+Query 1/1: Action query time = 1.177 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8550
+t=74: Selected seed 195 with value = 0.8550
+Query 1/1: Action query time = 1.177 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=90: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 1.196 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=154: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=170: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=186: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=202: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=218: Selected seed 195 with value = 0.9148
+Query 1/1: Action query time = 0.957 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8455
+t=234: Selected seed 195 with value = 0.8455
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8442
+t=250: Selected seed 195 with value = 0.8442
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=266: Selected seed 195 with value = 0.9360
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.949 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4921
+t=10: Selected seed 195 with value = 0.4921
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5691
+t=26: Selected seed 195 with value = 0.5691
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6251
+t=42: Selected seed 195 with value = 0.6251
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7315
+t=58: Selected seed 195 with value = 0.7315
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8397
+t=74: Selected seed 195 with value = 0.8397
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=90: Selected seed 195 with value = 0.9599
+Query 1/1: Action query time = 0.948 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=170: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=186: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.953 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=202: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.960 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=218: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.961 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=234: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=250: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.954 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=266: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.957 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=282: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.951 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=298: Selected seed 195 with value = 0.9933
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4915
+t=10: Selected seed 195 with value = 0.4915
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5323
+t=26: Selected seed 195 with value = 0.5323
+Query 1/1: Action query time = 0.945 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6324
+t=42: Selected seed 195 with value = 0.6324
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7275
+t=58: Selected seed 195 with value = 0.7275
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7544
+t=74: Selected seed 195 with value = 0.7544
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7697
+t=90: Selected seed 195 with value = 0.7697
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=106: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=122: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=138: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9492
+t=154: Selected seed 195 with value = 0.9492
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=170: Selected seed 195 with value = 0.9360
+Query 1/1: Action query time = 0.957 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9140
+t=186: Selected seed 195 with value = 0.9140
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8962
+t=202: Selected seed 195 with value = 0.8962
+Query 1/1: Action query time = 0.957 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8490
+t=218: Selected seed 195 with value = 0.8490
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7530
+t=234: Selected seed 195 with value = 0.7530
+Query 1/1: Action query time = 0.967 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8354
+t=250: Selected seed 195 with value = 0.8354
+Query 1/1: Action query time = 0.962 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9045
+t=266: Selected seed 195 with value = 0.9045
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=282: Selected seed 195 with value = 0.9629
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=298: Selected seed 195 with value = 0.9592
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.140 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5028
+t=10: Selected seed 195 with value = 0.5028
+Query 1/1: Action query time = 1.135 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5315
+t=26: Selected seed 195 with value = 0.5315
+Query 1/1: Action query time = 1.059 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6277
+t=42: Selected seed 195 with value = 0.6277
+Query 1/1: Action query time = 1.014 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7579
+t=58: Selected seed 195 with value = 0.7579
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8321
+t=74: Selected seed 195 with value = 0.8321
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=90: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=170: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=202: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 1.058 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=218: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=234: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=250: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=266: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9541
+t=282: Selected seed 195 with value = 0.9541
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9602
+t=298: Selected seed 195 with value = 0.9602
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=13--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=13--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 14...
+Query 1/1: Action query time = 0.956 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5036
+t=10: Selected seed 195 with value = 0.5036
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5765
+t=26: Selected seed 195 with value = 0.5765
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6446
+t=42: Selected seed 195 with value = 0.6446
+Query 1/1: Action query time = 1.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7526
+t=58: Selected seed 195 with value = 0.7526
+Query 1/1: Action query time = 1.114 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8512
+t=74: Selected seed 195 with value = 0.8512
+Query 1/1: Action query time = 1.182 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=90: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 1.167 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.124 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.018 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=154: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=170: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=186: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=202: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 0.953 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=218: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 0.968 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=234: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=250: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 0.962 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9650
+t=266: Selected seed 195 with value = 0.9650
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=282: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=298: Selected seed 195 with value = 0.9511
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=14--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=14--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 15...
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5020
+t=10: Selected seed 195 with value = 0.5020
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5748
+t=26: Selected seed 195 with value = 0.5748
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=42: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7353
+t=58: Selected seed 195 with value = 0.7353
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=74: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9646
+t=90: Selected seed 195 with value = 0.9646
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=202: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=218: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.959 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=234: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 0.961 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=250: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 0.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=266: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9176
+t=282: Selected seed 195 with value = 0.9176
+Query 1/1: Action query time = 0.993 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=298: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=15--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=15--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 16...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4797
+t=10: Selected seed 195 with value = 0.4797
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5405
+t=26: Selected seed 195 with value = 0.5405
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6430
+t=42: Selected seed 195 with value = 0.6430
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7837
+t=58: Selected seed 195 with value = 0.7837
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8493
+t=74: Selected seed 195 with value = 0.8493
+Query 1/1: Action query time = 0.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9638
+t=90: Selected seed 195 with value = 0.9638
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=202: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=218: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 0.960 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=234: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.951 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=250: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=266: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=282: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 1.031 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=298: Selected seed 195 with value = 0.9722
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=16--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=16--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 16
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 17...
+Query 1/1: Action query time = 1.052 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4954
+t=10: Selected seed 195 with value = 0.4954
+Query 1/1: Action query time = 1.006 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5913
+t=26: Selected seed 195 with value = 0.5913
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6302
+t=42: Selected seed 195 with value = 0.6302
+Query 1/1: Action query time = 1.036 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6706
+t=58: Selected seed 195 with value = 0.6706
+Query 1/1: Action query time = 1.042 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7829
+t=74: Selected seed 195 with value = 0.7829
+Query 1/1: Action query time = 1.098 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8117
+t=90: Selected seed 195 with value = 0.8117
+Query 1/1: Action query time = 1.172 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8686
+t=106: Selected seed 195 with value = 0.8686
+Query 1/1: Action query time = 1.165 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8941
+t=122: Selected seed 195 with value = 0.8941
+Query 1/1: Action query time = 1.153 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=138: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=154: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=170: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9492
+t=186: Selected seed 195 with value = 0.9492
+Query 1/1: Action query time = 0.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=202: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9290
+t=218: Selected seed 195 with value = 0.9290
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9142
+t=234: Selected seed 195 with value = 0.9142
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=250: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 0.960 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=266: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8459
+t=282: Selected seed 195 with value = 0.8459
+Query 1/1: Action query time = 1.222 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7659
+t=298: Selected seed 195 with value = 0.7659
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=17--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=17--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 17
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 18...
+Query 1/1: Action query time = 1.119 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4936
+t=10: Selected seed 195 with value = 0.4936
+Query 1/1: Action query time = 1.019 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5593
+t=26: Selected seed 195 with value = 0.5593
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=42: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7565
+t=58: Selected seed 195 with value = 0.7565
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8660
+t=74: Selected seed 195 with value = 0.8660
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=90: Selected seed 195 with value = 0.9607
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=154: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=186: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 0.986 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=202: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=218: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=234: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=250: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=266: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=282: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.961 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=298: Selected seed 195 with value = 0.9938
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=18--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=18--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 18
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 19...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5035
+t=10: Selected seed 195 with value = 0.5035
+Query 1/1: Action query time = 0.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5691
+t=26: Selected seed 195 with value = 0.5691
+Query 1/1: Action query time = 1.001 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6561
+t=42: Selected seed 195 with value = 0.6561
+Query 1/1: Action query time = 1.029 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=58: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8568
+t=74: Selected seed 195 with value = 0.8568
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=90: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=154: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=170: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=186: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8998
+t=202: Selected seed 195 with value = 0.8998
+Query 1/1: Action query time = 1.082 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8800
+t=218: Selected seed 195 with value = 0.8800
+Query 1/1: Action query time = 1.143 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8232
+t=234: Selected seed 195 with value = 0.8232
+Query 1/1: Action query time = 1.075 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8916
+t=250: Selected seed 195 with value = 0.8916
+Query 1/1: Action query time = 1.034 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.994 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=298: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=19--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=19--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 19
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 20...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5070
+t=10: Selected seed 195 with value = 0.5070
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5919
+t=26: Selected seed 195 with value = 0.5919
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6438
+t=42: Selected seed 195 with value = 0.6438
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=58: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8529
+t=74: Selected seed 195 with value = 0.8529
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=90: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=154: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=170: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 0.953 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=186: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 0.985 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=202: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=218: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 1.111 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=234: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 1.093 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=250: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 1.118 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=266: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 1.068 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=282: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 1.020 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=298: Selected seed 195 with value = 0.9923
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=20--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=20--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 20
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 21...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4946
+t=10: Selected seed 195 with value = 0.4946
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5485
+t=26: Selected seed 195 with value = 0.5485
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6191
+t=42: Selected seed 195 with value = 0.6191
+Query 1/1: Action query time = 1.022 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7355
+t=58: Selected seed 195 with value = 0.7355
+Query 1/1: Action query time = 1.095 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=74: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=90: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=234: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 1.002 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=250: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=266: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=282: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=298: Selected seed 195 with value = 0.9713
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=21--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=21--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 21
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 22...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4790
+t=10: Selected seed 195 with value = 0.4790
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5528
+t=26: Selected seed 195 with value = 0.5528
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6402
+t=42: Selected seed 195 with value = 0.6402
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7580
+t=58: Selected seed 195 with value = 0.7580
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8564
+t=74: Selected seed 195 with value = 0.8564
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=90: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=138: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.989 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=154: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=170: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 0.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=186: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8000
+t=202: Selected seed 195 with value = 0.8000
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9077
+t=218: Selected seed 195 with value = 0.9077
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=22--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=22--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 1 (4.5%)
+
+Task: put the bowl on the stove
+Starting episode 23...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4998
+t=10: Selected seed 195 with value = 0.4998
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5499
+t=26: Selected seed 195 with value = 0.5499
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6365
+t=42: Selected seed 195 with value = 0.6365
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7471
+t=58: Selected seed 195 with value = 0.7471
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8604
+t=74: Selected seed 195 with value = 0.8604
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9606
+t=90: Selected seed 195 with value = 0.9606
+Query 1/1: Action query time = 0.946 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=154: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.952 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=170: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=186: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=202: Selected seed 195 with value = 0.9273
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8427
+t=218: Selected seed 195 with value = 0.8427
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8818
+t=234: Selected seed 195 with value = 0.8818
+Query 1/1: Action query time = 0.992 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=282: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=298: Selected seed 195 with value = 0.9817
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=23--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=23--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 23
+# successes: 1 (4.3%)
+
+Task: put the bowl on the stove
+Starting episode 24...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5008
+t=10: Selected seed 195 with value = 0.5008
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5556
+t=26: Selected seed 195 with value = 0.5556
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6357
+t=42: Selected seed 195 with value = 0.6357
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7476
+t=58: Selected seed 195 with value = 0.7476
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=74: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=90: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.948 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=154: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.958 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=170: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=186: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=202: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8803
+t=218: Selected seed 195 with value = 0.8803
+Query 1/1: Action query time = 0.956 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8285
+t=234: Selected seed 195 with value = 0.8285
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=250: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9646
+t=266: Selected seed 195 with value = 0.9646
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=282: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=298: Selected seed 195 with value = 0.9936
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=24--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=24--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 24
+# successes: 1 (4.2%)
+
+Task: put the bowl on the stove
+Starting episode 25...
+Query 1/1: Action query time = 0.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4773
+t=10: Selected seed 195 with value = 0.4773
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5591
+t=26: Selected seed 195 with value = 0.5591
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6254
+t=42: Selected seed 195 with value = 0.6254
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=58: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8314
+t=74: Selected seed 195 with value = 0.8314
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9249
+t=90: Selected seed 195 with value = 0.9249
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=106: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=218: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=234: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.949 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=250: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8986
+t=266: Selected seed 195 with value = 0.8986
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8592
+t=282: Selected seed 195 with value = 0.8592
+Query 1/1: Action query time = 0.955 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8551
+t=298: Selected seed 195 with value = 0.8551
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=25--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=25--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 1 (4.0%)
+
+Task: put the bowl on the stove
+Starting episode 26...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5049
+t=10: Selected seed 195 with value = 0.5049
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5661
+t=26: Selected seed 195 with value = 0.5661
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6428
+t=42: Selected seed 195 with value = 0.6428
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7462
+t=58: Selected seed 195 with value = 0.7462
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8559
+t=74: Selected seed 195 with value = 0.8559
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=90: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=154: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=186: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.961 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=202: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=218: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=234: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8398
+t=250: Selected seed 195 with value = 0.8398
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=266: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=26--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=26--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 26
+# successes: 1 (3.8%)
+
+Task: put the bowl on the stove
+Starting episode 27...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4877
+t=10: Selected seed 195 with value = 0.4877
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6385
+t=26: Selected seed 195 with value = 0.6385
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6476
+t=42: Selected seed 195 with value = 0.6476
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7411
+t=58: Selected seed 195 with value = 0.7411
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=74: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=90: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=170: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.957 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=186: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=202: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=218: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=234: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9695
+t=250: Selected seed 195 with value = 0.9695
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9526
+t=266: Selected seed 195 with value = 0.9526
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=282: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=298: Selected seed 195 with value = 0.9662
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=27--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=27--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 1 (3.7%)
+
+Task: put the bowl on the stove
+Starting episode 28...
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4851
+t=10: Selected seed 195 with value = 0.4851
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5981
+t=26: Selected seed 195 with value = 0.5981
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6240
+t=42: Selected seed 195 with value = 0.6240
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7413
+t=58: Selected seed 195 with value = 0.7413
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8508
+t=74: Selected seed 195 with value = 0.8508
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=90: Selected seed 195 with value = 0.9693
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=154: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.951 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=170: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=186: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=202: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=218: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 1.121 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=234: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 1.151 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=250: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 1.152 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=266: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 1.182 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=282: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 1.115 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=298: Selected seed 195 with value = 0.9910
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=28--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=28--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 28
+# successes: 1 (3.6%)
+
+Task: put the bowl on the stove
+Starting episode 29...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4616
+t=10: Selected seed 195 with value = 0.4616
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5459
+t=26: Selected seed 195 with value = 0.5459
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6252
+t=42: Selected seed 195 with value = 0.6252
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=58: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 0.949 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8385
+t=74: Selected seed 195 with value = 0.8385
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=90: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 0.949 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=218: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 0.951 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=234: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.953 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=250: Selected seed 195 with value = 0.9681
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8594
+t=266: Selected seed 195 with value = 0.8594
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=282: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=29--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=29--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 29
+# successes: 1 (3.4%)
+
+Task: put the bowl on the stove
+Starting episode 30...
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5313
+t=10: Selected seed 195 with value = 0.5313
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=26: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6363
+t=42: Selected seed 195 with value = 0.6363
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7466
+t=58: Selected seed 195 with value = 0.7466
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8501
+t=74: Selected seed 195 with value = 0.8501
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=90: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=202: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=218: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.961 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=234: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 0.961 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9150
+t=250: Selected seed 195 with value = 0.9150
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8666
+t=266: Selected seed 195 with value = 0.8666
+Query 1/1: Action query time = 0.950 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8769
+t=282: Selected seed 195 with value = 0.8769
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=298: Selected seed 195 with value = 0.9810
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=30--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=30--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 30
+# successes: 1 (3.3%)
+
+Task: put the bowl on the stove
+Starting episode 31...
+Query 1/1: Action query time = 1.032 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4831
+t=10: Selected seed 195 with value = 0.4831
+Query 1/1: Action query time = 1.027 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5662
+t=26: Selected seed 195 with value = 0.5662
+Query 1/1: Action query time = 1.021 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6315
+t=42: Selected seed 195 with value = 0.6315
+Query 1/1: Action query time = 1.030 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7802
+t=58: Selected seed 195 with value = 0.7802
+Query 1/1: Action query time = 1.030 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8084
+t=74: Selected seed 195 with value = 0.8084
+Query 1/1: Action query time = 1.047 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9168
+t=90: Selected seed 195 with value = 0.9168
+Query 1/1: Action query time = 1.066 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=106: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=170: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=186: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=202: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9403
+t=218: Selected seed 195 with value = 0.9403
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8393
+t=234: Selected seed 195 with value = 0.8393
+Query 1/1: Action query time = 0.967 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9020
+t=250: Selected seed 195 with value = 0.9020
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=298: Selected seed 195 with value = 0.9927
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=31--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=31--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 31
+# successes: 1 (3.2%)
+
+Task: put the bowl on the stove
+Starting episode 32...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5004
+t=10: Selected seed 195 with value = 0.5004
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5471
+t=26: Selected seed 195 with value = 0.5471
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6399
+t=42: Selected seed 195 with value = 0.6399
+Query 1/1: Action query time = 0.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6952
+t=58: Selected seed 195 with value = 0.6952
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6358
+t=74: Selected seed 195 with value = 0.6358
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6841
+t=90: Selected seed 195 with value = 0.6841
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7789
+t=106: Selected seed 195 with value = 0.7789
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=122: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 0.957 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=138: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=234: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=250: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=266: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=282: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 0.958 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9069
+t=298: Selected seed 195 with value = 0.9069
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=32--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=32--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 1 (3.1%)
+
+Task: put the bowl on the stove
+Starting episode 33...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5038
+t=10: Selected seed 195 with value = 0.5038
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5502
+t=26: Selected seed 195 with value = 0.5502
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6273
+t=42: Selected seed 195 with value = 0.6273
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=58: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8170
+t=74: Selected seed 195 with value = 0.8170
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9220
+t=90: Selected seed 195 with value = 0.9220
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=106: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=170: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.996 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=186: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=202: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 1.186 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=218: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 1.163 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9038
+t=234: Selected seed 195 with value = 0.9038
+Query 1/1: Action query time = 1.112 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8671
+t=250: Selected seed 195 with value = 0.8671
+Query 1/1: Action query time = 1.051 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8696
+t=266: Selected seed 195 with value = 0.8696
+Query 1/1: Action query time = 1.009 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=282: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 1.019 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=298: Selected seed 195 with value = 0.9835
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=33--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=33--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 1 (3.0%)
+
+Task: put the bowl on the stove
+Starting episode 34...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4924
+t=10: Selected seed 195 with value = 0.4924
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=26: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6209
+t=42: Selected seed 195 with value = 0.6209
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7254
+t=58: Selected seed 195 with value = 0.7254
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8178
+t=74: Selected seed 195 with value = 0.8178
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=90: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.998 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=234: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 1.018 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=250: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 1.021 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=266: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 1.042 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=282: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 1.137 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=298: Selected seed 195 with value = 0.9797
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=34--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=34--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 1 (2.9%)
+
+Task: put the bowl on the stove
+Starting episode 35...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4893
+t=10: Selected seed 195 with value = 0.4893
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5777
+t=26: Selected seed 195 with value = 0.5777
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6361
+t=42: Selected seed 195 with value = 0.6361
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7422
+t=58: Selected seed 195 with value = 0.7422
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8461
+t=74: Selected seed 195 with value = 0.8461
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=90: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=138: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=154: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=170: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 0.959 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=186: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8886
+t=202: Selected seed 195 with value = 0.8886
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8507
+t=218: Selected seed 195 with value = 0.8507
+Query 1/1: Action query time = 1.217 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9485
+t=234: Selected seed 195 with value = 0.9485
+Query 1/1: Action query time = 1.179 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.193 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.186 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=282: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 1.147 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=298: Selected seed 195 with value = 0.9677
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=35--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=35--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 35
+# successes: 1 (2.9%)
+
+Task: put the bowl on the stove
+Starting episode 36...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5014
+t=10: Selected seed 195 with value = 0.5014
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6173
+t=26: Selected seed 195 with value = 0.6173
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6214
+t=42: Selected seed 195 with value = 0.6214
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7310
+t=58: Selected seed 195 with value = 0.7310
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8488
+t=74: Selected seed 195 with value = 0.8488
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=90: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=154: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=170: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=186: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=202: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=234: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=250: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=266: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=282: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=298: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=36--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=36--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 36
+# successes: 1 (2.8%)
+
+Task: put the bowl on the stove
+Starting episode 37...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4933
+t=10: Selected seed 195 with value = 0.4933
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6061
+t=26: Selected seed 195 with value = 0.6061
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6285
+t=42: Selected seed 195 with value = 0.6285
+Query 1/1: Action query time = 1.008 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7301
+t=58: Selected seed 195 with value = 0.7301
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8310
+t=74: Selected seed 195 with value = 0.8310
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9500
+t=90: Selected seed 195 with value = 0.9500
+Query 1/1: Action query time = 0.997 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=218: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=234: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=250: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 0.960 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8319
+t=266: Selected seed 195 with value = 0.8319
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9053
+t=282: Selected seed 195 with value = 0.9053
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=37--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=37--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 37
+# successes: 1 (2.7%)
+
+Task: put the bowl on the stove
+Starting episode 38...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4928
+t=10: Selected seed 195 with value = 0.4928
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6051
+t=26: Selected seed 195 with value = 0.6051
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6307
+t=42: Selected seed 195 with value = 0.6307
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=58: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8480
+t=74: Selected seed 195 with value = 0.8480
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=90: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.184 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.175 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.163 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.178 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=170: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 1.235 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=186: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 1.153 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=202: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 1.100 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=218: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 1.049 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=234: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=250: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=266: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=282: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=298: Selected seed 195 with value = 0.9846
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=38--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=38--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 38
+# successes: 1 (2.6%)
+
+Task: put the bowl on the stove
+Starting episode 39...
+Query 1/1: Action query time = 1.115 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4861
+t=10: Selected seed 195 with value = 0.4861
+Query 1/1: Action query time = 1.125 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5409
+t=26: Selected seed 195 with value = 0.5409
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6289
+t=42: Selected seed 195 with value = 0.6289
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8115
+t=58: Selected seed 195 with value = 0.8115
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8293
+t=74: Selected seed 195 with value = 0.8293
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9286
+t=90: Selected seed 195 with value = 0.9286
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=106: Selected seed 195 with value = 0.9706
+Query 1/1: Action query time = 1.015 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.005 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.998 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=202: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=218: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.962 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=234: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=250: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 1.188 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=266: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 1.216 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=282: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 1.163 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=298: Selected seed 195 with value = 0.9824
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=39--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=39--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 39
+# successes: 1 (2.6%)
+
+Task: put the bowl on the stove
+Starting episode 40...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5089
+t=10: Selected seed 195 with value = 0.5089
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5546
+t=26: Selected seed 195 with value = 0.5546
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6315
+t=42: Selected seed 195 with value = 0.6315
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=58: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=74: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 0.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=90: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=170: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=186: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=202: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=218: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=234: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=250: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=266: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=282: Selected seed 195 with value = 0.9660
+Query 1/1: Action query time = 0.989 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9003
+t=298: Selected seed 195 with value = 0.9003
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=40--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=40--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 1 (2.5%)
+
+Task: put the bowl on the stove
+Starting episode 41...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4975
+t=10: Selected seed 195 with value = 0.4975
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5373
+t=26: Selected seed 195 with value = 0.5373
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6329
+t=42: Selected seed 195 with value = 0.6329
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7971
+t=58: Selected seed 195 with value = 0.7971
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8579
+t=74: Selected seed 195 with value = 0.8579
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=90: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=154: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=186: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.985 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=202: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=218: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=234: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8245
+t=250: Selected seed 195 with value = 0.8245
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9034
+t=266: Selected seed 195 with value = 0.9034
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.122 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=41--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=41--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 41
+# successes: 1 (2.4%)
+
+Task: put the bowl on the stove
+Starting episode 42...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4386
+t=10: Selected seed 195 with value = 0.4386
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6112
+t=26: Selected seed 195 with value = 0.6112
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6316
+t=42: Selected seed 195 with value = 0.6316
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=58: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8523
+t=74: Selected seed 195 with value = 0.8523
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9580
+t=90: Selected seed 195 with value = 0.9580
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=138: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=154: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=170: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 1.145 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=186: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 1.149 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=202: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 1.182 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=218: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 1.169 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=234: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 1.187 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=250: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 1.193 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=266: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 1.204 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=282: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 1.193 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=298: Selected seed 195 with value = 0.9881
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=42--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=42--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 42
+# successes: 1 (2.4%)
+
+Task: put the bowl on the stove
+Starting episode 43...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4793
+t=10: Selected seed 195 with value = 0.4793
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=26: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6193
+t=42: Selected seed 195 with value = 0.6193
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7672
+t=58: Selected seed 195 with value = 0.7672
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8062
+t=74: Selected seed 195 with value = 0.8062
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9123
+t=90: Selected seed 195 with value = 0.9123
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=106: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=170: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=186: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=202: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=218: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=234: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.991 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=250: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=266: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=282: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.996 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=298: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=43--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=43--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 43
+# successes: 1 (2.3%)
+
+Task: put the bowl on the stove
+Starting episode 44...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=10: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5726
+t=26: Selected seed 195 with value = 0.5726
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6381
+t=42: Selected seed 195 with value = 0.6381
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=58: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8524
+t=74: Selected seed 195 with value = 0.8524
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=90: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.994 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=170: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.180 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=186: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 1.150 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=202: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 1.152 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=218: Selected seed 195 with value = 0.9430
+Query 1/1: Action query time = 1.139 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8186
+t=234: Selected seed 195 with value = 0.8186
+Query 1/1: Action query time = 1.159 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9078
+t=250: Selected seed 195 with value = 0.9078
+Query 1/1: Action query time = 1.114 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.000 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=298: Selected seed 195 with value = 0.9904
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=44--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=44--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 1 (2.3%)
+
+Task: put the bowl on the stove
+Starting episode 45...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=10: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5421
+t=26: Selected seed 195 with value = 0.5421
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6347
+t=42: Selected seed 195 with value = 0.6347
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=58: Selected seed 195 with value = 0.7474
+Query 1/1: Action query time = 1.114 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8523
+t=74: Selected seed 195 with value = 0.8523
+Query 1/1: Action query time = 1.107 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=90: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 1.074 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.100 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.160 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.142 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.181 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=170: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 1.149 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=186: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 1.079 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9778
+t=202: Selected seed 195 with value = 0.9778
+Query 1/1: Action query time = 1.032 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9419
+t=218: Selected seed 195 with value = 0.9419
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=234: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8744
+t=250: Selected seed 195 with value = 0.8744
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8656
+t=266: Selected seed 195 with value = 0.8656
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9456
+t=282: Selected seed 195 with value = 0.9456
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=45--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=45--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 45
+# successes: 1 (2.2%)
+
+Task: put the bowl on the stove
+Starting episode 46...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=10: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5639
+t=26: Selected seed 195 with value = 0.5639
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6462
+t=42: Selected seed 195 with value = 0.6462
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7560
+t=58: Selected seed 195 with value = 0.7560
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=74: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=90: Selected seed 195 with value = 0.9751
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.095 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=202: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 1.129 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=218: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 1.189 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=234: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 1.214 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=250: Selected seed 195 with value = 0.9637
+Query 1/1: Action query time = 1.194 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=266: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 1.202 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=282: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 1.099 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=298: Selected seed 195 with value = 0.9750
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=46--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=46--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 46
+# successes: 1 (2.2%)
+
+Task: put the bowl on the stove
+Starting episode 47...
+Query 1/1: Action query time = 1.188 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4570
+t=10: Selected seed 195 with value = 0.4570
+Query 1/1: Action query time = 1.041 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5194
+t=26: Selected seed 195 with value = 0.5194
+Query 1/1: Action query time = 1.118 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6354
+t=42: Selected seed 195 with value = 0.6354
+Query 1/1: Action query time = 1.078 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7368
+t=58: Selected seed 195 with value = 0.7368
+Query 1/1: Action query time = 1.092 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=74: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 1.027 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9429
+t=90: Selected seed 195 with value = 0.9429
+Query 1/1: Action query time = 1.006 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=138: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=154: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=170: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8777
+t=186: Selected seed 195 with value = 0.8777
+Query 1/1: Action query time = 1.186 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7999
+t=202: Selected seed 195 with value = 0.7999
+Query 1/1: Action query time = 1.146 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=218: Selected seed 195 with value = 0.8893
+Query 1/1: Action query time = 1.143 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.174 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.216 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=266: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 1.241 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=282: Selected seed 195 with value = 0.9616
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=298: Selected seed 195 with value = 0.9414
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=47--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=47--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 47
+# successes: 1 (2.1%)
+
+Task: put the bowl on the stove
+Starting episode 48...
+Query 1/1: Action query time = 1.102 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4785
+t=10: Selected seed 195 with value = 0.4785
+Query 1/1: Action query time = 1.053 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5672
+t=26: Selected seed 195 with value = 0.5672
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6251
+t=42: Selected seed 195 with value = 0.6251
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7703
+t=58: Selected seed 195 with value = 0.7703
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8203
+t=74: Selected seed 195 with value = 0.8203
+Query 1/1: Action query time = 1.099 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9206
+t=90: Selected seed 195 with value = 0.9206
+Query 1/1: Action query time = 1.024 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=106: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 1.012 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.098 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.118 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.139 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.123 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.117 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.076 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=218: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=234: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.998 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=250: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.964 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=266: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8619
+t=282: Selected seed 195 with value = 0.8619
+Query 1/1: Action query time = 0.998 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8631
+t=298: Selected seed 195 with value = 0.8631
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=48--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=48--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 48
+# successes: 1 (2.1%)
+
+Task: put the bowl on the stove
+Starting episode 49...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4931
+t=10: Selected seed 195 with value = 0.4931
+Query 1/1: Action query time = 1.181 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5485
+t=26: Selected seed 195 with value = 0.5485
+Query 1/1: Action query time = 1.171 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6243
+t=42: Selected seed 195 with value = 0.6243
+Query 1/1: Action query time = 1.185 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7564
+t=58: Selected seed 195 with value = 0.7564
+Query 1/1: Action query time = 1.203 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8336
+t=74: Selected seed 195 with value = 0.8336
+Query 1/1: Action query time = 1.172 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=90: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 1.170 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=170: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.993 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=186: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=202: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.993 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=218: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8396
+t=234: Selected seed 195 with value = 0.8396
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8941
+t=250: Selected seed 195 with value = 0.8941
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=49--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=49--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 49
+# successes: 1 (2.0%)
+
+Task: put the bowl on the stove
+Starting episode 50...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=10: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5665
+t=26: Selected seed 195 with value = 0.5665
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6400
+t=42: Selected seed 195 with value = 0.6400
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7444
+t=58: Selected seed 195 with value = 0.7444
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=74: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=90: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.010 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=186: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=202: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 1.004 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=218: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9354
+t=234: Selected seed 195 with value = 0.9354
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8248
+t=250: Selected seed 195 with value = 0.8248
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9050
+t=266: Selected seed 195 with value = 0.9050
+Query 1/1: Action query time = 0.960 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.230 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--episode=50--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/base100_t1/2026_08_01-09_40_10--with_future_img--episode=50--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 50
+# successes: 1 (2.0%)
+Current task success rate: 0.02
+Current total success rate: 0.02
+Final results:
+Total episodes: 50
+Total successes: 1
+Overall success rate: 0.0200 (2.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-10_08_21--regen_iter200_t1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-10_08_21--regen_iter200_t1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8adde3a9963234f5cfe141c2c656a6b593f11b6f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-10_08_21--regen_iter200_t1.txt
@@ -0,0 +1,4088 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='regen_iter200_t1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.595 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4876
+t=10: Selected seed 195 with value = 0.4876
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5730
+t=26: Selected seed 195 with value = 0.5730
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6553
+t=42: Selected seed 195 with value = 0.6553
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7673
+t=58: Selected seed 195 with value = 0.7673
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8377
+t=74: Selected seed 195 with value = 0.8377
+Query 1/1: Action query time = 0.951 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=90: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=138: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=234: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=250: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=266: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 1.082 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9520
+t=282: Selected seed 195 with value = 0.9520
+Query 1/1: Action query time = 1.097 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9034
+t=298: Selected seed 195 with value = 0.9034
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4788
+t=10: Selected seed 195 with value = 0.4788
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5438
+t=26: Selected seed 195 with value = 0.5438
+Query 1/1: Action query time = 0.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5983
+t=42: Selected seed 195 with value = 0.5983
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7129
+t=58: Selected seed 195 with value = 0.7129
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=74: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=90: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=106: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=122: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=138: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 0.958 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=154: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=170: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 1.042 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=186: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 1.073 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=202: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 1.111 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=218: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 1.143 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=234: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 1.169 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=250: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 1.164 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=266: Selected seed 195 with value = 0.9730
+Query 1/1: Action query time = 1.185 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=282: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 1.173 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=298: Selected seed 195 with value = 0.9801
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=10: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=26: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6243
+t=42: Selected seed 195 with value = 0.6243
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7545
+t=58: Selected seed 195 with value = 0.7545
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9013
+t=74: Selected seed 195 with value = 0.9013
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=90: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=106: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=122: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=186: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 0.961 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=202: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8862
+t=218: Selected seed 195 with value = 0.8862
+Query 1/1: Action query time = 0.959 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9362
+t=234: Selected seed 195 with value = 0.9362
+Query 1/1: Action query time = 0.962 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.033 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=10: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=26: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 0.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6489
+t=42: Selected seed 195 with value = 0.6489
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7335
+t=58: Selected seed 195 with value = 0.7335
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8179
+t=74: Selected seed 195 with value = 0.8179
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=90: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 0.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=106: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=154: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=170: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=186: Selected seed 195 with value = 0.9666
+Query 1/1: Action query time = 0.961 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9423
+t=202: Selected seed 195 with value = 0.9423
+Query 1/1: Action query time = 0.955 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8997
+t=218: Selected seed 195 with value = 0.8997
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8566
+t=234: Selected seed 195 with value = 0.8566
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8116
+t=250: Selected seed 195 with value = 0.8116
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7758
+t=266: Selected seed 195 with value = 0.7758
+Query 1/1: Action query time = 0.956 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8078
+t=282: Selected seed 195 with value = 0.8078
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8798
+t=298: Selected seed 195 with value = 0.8798
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=10: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5443
+t=26: Selected seed 195 with value = 0.5443
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6166
+t=42: Selected seed 195 with value = 0.6166
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=58: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=74: Selected seed 195 with value = 0.8755
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9524
+t=90: Selected seed 195 with value = 0.9524
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=106: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=122: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=138: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=154: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=186: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=202: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=218: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=234: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=250: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=266: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 0.951 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=282: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=298: Selected seed 195 with value = 0.9978
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4885
+t=10: Selected seed 195 with value = 0.4885
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5291
+t=26: Selected seed 195 with value = 0.5291
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6119
+t=42: Selected seed 195 with value = 0.6119
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7365
+t=58: Selected seed 195 with value = 0.7365
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8570
+t=74: Selected seed 195 with value = 0.8570
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=90: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=138: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=154: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=170: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=186: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 0.951 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=234: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 0.963 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8909
+t=250: Selected seed 195 with value = 0.8909
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8460
+t=266: Selected seed 195 with value = 0.8460
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9327
+t=282: Selected seed 195 with value = 0.9327
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=298: Selected seed 195 with value = 0.8974
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4832
+t=10: Selected seed 195 with value = 0.4832
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5203
+t=26: Selected seed 195 with value = 0.5203
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=42: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=58: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7520
+t=74: Selected seed 195 with value = 0.7520
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8592
+t=90: Selected seed 195 with value = 0.8592
+Query 1/1: Action query time = 0.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=106: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=138: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=154: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 0.955 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=170: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=186: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=202: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=218: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9397
+t=234: Selected seed 195 with value = 0.9397
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8836
+t=250: Selected seed 195 with value = 0.8836
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=266: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7370
+t=282: Selected seed 195 with value = 0.7370
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7463
+t=298: Selected seed 195 with value = 0.7463
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4854
+t=10: Selected seed 195 with value = 0.4854
+Query 1/1: Action query time = 0.950 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5864
+t=26: Selected seed 195 with value = 0.5864
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6296
+t=42: Selected seed 195 with value = 0.6296
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=58: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7798
+t=74: Selected seed 195 with value = 0.7798
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=90: Selected seed 195 with value = 0.9076
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=106: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=154: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.954 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=170: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=186: Selected seed 195 with value = 0.9479
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8894
+t=202: Selected seed 195 with value = 0.8894
+Query 1/1: Action query time = 1.019 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8389
+t=218: Selected seed 195 with value = 0.8389
+Query 1/1: Action query time = 1.038 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7510
+t=234: Selected seed 195 with value = 0.7510
+Query 1/1: Action query time = 1.057 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7486
+t=250: Selected seed 195 with value = 0.7486
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7591
+t=266: Selected seed 195 with value = 0.7591
+Query 1/1: Action query time = 0.989 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7805
+t=282: Selected seed 195 with value = 0.7805
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8121
+t=298: Selected seed 195 with value = 0.8121
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4647
+t=10: Selected seed 195 with value = 0.4647
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=26: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6237
+t=42: Selected seed 195 with value = 0.6237
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7614
+t=58: Selected seed 195 with value = 0.7614
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8866
+t=74: Selected seed 195 with value = 0.8866
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=90: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=106: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=122: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=138: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=154: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=170: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=186: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=218: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 0.962 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9126
+t=234: Selected seed 195 with value = 0.9126
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8549
+t=250: Selected seed 195 with value = 0.8549
+Query 1/1: Action query time = 0.960 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=266: Selected seed 195 with value = 0.9504
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=282: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=10: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=26: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6213
+t=42: Selected seed 195 with value = 0.6213
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=58: Selected seed 195 with value = 0.7419
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=74: Selected seed 195 with value = 0.7512
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8487
+t=90: Selected seed 195 with value = 0.8487
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=138: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=154: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9338
+t=170: Selected seed 195 with value = 0.9338
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8841
+t=186: Selected seed 195 with value = 0.8841
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=202: Selected seed 195 with value = 0.8142
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7310
+t=218: Selected seed 195 with value = 0.7310
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7306
+t=234: Selected seed 195 with value = 0.7306
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7684
+t=250: Selected seed 195 with value = 0.7684
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8215
+t=266: Selected seed 195 with value = 0.8215
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=282: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 0.959 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9309
+t=298: Selected seed 195 with value = 0.9309
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4976
+t=10: Selected seed 195 with value = 0.4976
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=26: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=42: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=58: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7627
+t=74: Selected seed 195 with value = 0.7627
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8724
+t=90: Selected seed 195 with value = 0.8724
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=138: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=154: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=170: Selected seed 195 with value = 0.9565
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9252
+t=186: Selected seed 195 with value = 0.9252
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=202: Selected seed 195 with value = 0.8602
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7572
+t=218: Selected seed 195 with value = 0.7572
+Query 1/1: Action query time = 0.960 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7605
+t=234: Selected seed 195 with value = 0.7605
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8824
+t=250: Selected seed 195 with value = 0.8824
+Query 1/1: Action query time = 0.956 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=266: Selected seed 195 with value = 0.9258
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=282: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=298: Selected seed 195 with value = 0.9810
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5036
+t=10: Selected seed 195 with value = 0.5036
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5523
+t=26: Selected seed 195 with value = 0.5523
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6270
+t=42: Selected seed 195 with value = 0.6270
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7110
+t=58: Selected seed 195 with value = 0.7110
+Query 1/1: Action query time = 0.950 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7601
+t=74: Selected seed 195 with value = 0.7601
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8550
+t=90: Selected seed 195 with value = 0.8550
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=122: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.954 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=154: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9721
+t=170: Selected seed 195 with value = 0.9721
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9274
+t=186: Selected seed 195 with value = 0.9274
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8683
+t=202: Selected seed 195 with value = 0.8683
+Query 1/1: Action query time = 0.960 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8071
+t=218: Selected seed 195 with value = 0.8071
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7602
+t=234: Selected seed 195 with value = 0.7602
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8039
+t=250: Selected seed 195 with value = 0.8039
+Query 1/1: Action query time = 0.939 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8492
+t=266: Selected seed 195 with value = 0.8492
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=282: Selected seed 195 with value = 0.9479
+Query 1/1: Action query time = 0.956 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=298: Selected seed 195 with value = 0.9714
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5102
+t=10: Selected seed 195 with value = 0.5102
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5437
+t=26: Selected seed 195 with value = 0.5437
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6203
+t=42: Selected seed 195 with value = 0.6203
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=58: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7589
+t=74: Selected seed 195 with value = 0.7589
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8527
+t=90: Selected seed 195 with value = 0.8527
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=138: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=154: Selected seed 195 with value = 0.9612
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=170: Selected seed 195 with value = 0.9431
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=186: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8609
+t=202: Selected seed 195 with value = 0.8609
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8223
+t=218: Selected seed 195 with value = 0.8223
+Query 1/1: Action query time = 0.958 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7712
+t=234: Selected seed 195 with value = 0.7712
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7879
+t=250: Selected seed 195 with value = 0.7879
+Query 1/1: Action query time = 0.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=266: Selected seed 195 with value = 0.8535
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9521
+t=282: Selected seed 195 with value = 0.9521
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=298: Selected seed 195 with value = 0.9677
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=13--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=13--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 14...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4755
+t=10: Selected seed 195 with value = 0.4755
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5686
+t=26: Selected seed 195 with value = 0.5686
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6288
+t=42: Selected seed 195 with value = 0.6288
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7483
+t=58: Selected seed 195 with value = 0.7483
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8653
+t=74: Selected seed 195 with value = 0.8653
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=90: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=106: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=122: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=138: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=154: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 0.953 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=170: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=202: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=218: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9063
+t=234: Selected seed 195 with value = 0.9063
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8831
+t=250: Selected seed 195 with value = 0.8831
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=266: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=14--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=14--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 15...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=10: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5784
+t=26: Selected seed 195 with value = 0.5784
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6195
+t=42: Selected seed 195 with value = 0.6195
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7132
+t=58: Selected seed 195 with value = 0.7132
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7671
+t=74: Selected seed 195 with value = 0.7671
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8984
+t=90: Selected seed 195 with value = 0.8984
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=138: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=154: Selected seed 195 with value = 0.9555
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=170: Selected seed 195 with value = 0.9226
+Query 1/1: Action query time = 0.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8842
+t=186: Selected seed 195 with value = 0.8842
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8100
+t=202: Selected seed 195 with value = 0.8100
+Query 1/1: Action query time = 0.961 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7374
+t=218: Selected seed 195 with value = 0.7374
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7677
+t=234: Selected seed 195 with value = 0.7677
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8265
+t=250: Selected seed 195 with value = 0.8265
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9062
+t=266: Selected seed 195 with value = 0.9062
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=282: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=298: Selected seed 195 with value = 0.9270
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=15--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=15--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 16...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4664
+t=10: Selected seed 195 with value = 0.4664
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5207
+t=26: Selected seed 195 with value = 0.5207
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5786
+t=42: Selected seed 195 with value = 0.5786
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=58: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8079
+t=74: Selected seed 195 with value = 0.8079
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8521
+t=90: Selected seed 195 with value = 0.8521
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=106: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8757
+t=122: Selected seed 195 with value = 0.8757
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=138: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=154: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9574
+t=170: Selected seed 195 with value = 0.9574
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8733
+t=186: Selected seed 195 with value = 0.8733
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=202: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=218: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8856
+t=234: Selected seed 195 with value = 0.8856
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9249
+t=250: Selected seed 195 with value = 0.9249
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=266: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=282: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=298: Selected seed 195 with value = 0.9017
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=16--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=16--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 16
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 17...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5026
+t=10: Selected seed 195 with value = 0.5026
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5803
+t=26: Selected seed 195 with value = 0.5803
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6470
+t=42: Selected seed 195 with value = 0.6470
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6013
+t=58: Selected seed 195 with value = 0.6013
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7677
+t=74: Selected seed 195 with value = 0.7677
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7901
+t=90: Selected seed 195 with value = 0.7901
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=106: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=170: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=186: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9539
+t=202: Selected seed 195 with value = 0.9539
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9177
+t=218: Selected seed 195 with value = 0.9177
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8762
+t=234: Selected seed 195 with value = 0.8762
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8053
+t=250: Selected seed 195 with value = 0.8053
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7568
+t=266: Selected seed 195 with value = 0.7568
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8436
+t=282: Selected seed 195 with value = 0.8436
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8836
+t=298: Selected seed 195 with value = 0.8836
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=17--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=17--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 17
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 18...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4739
+t=10: Selected seed 195 with value = 0.4739
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5521
+t=26: Selected seed 195 with value = 0.5521
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6015
+t=42: Selected seed 195 with value = 0.6015
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7400
+t=58: Selected seed 195 with value = 0.7400
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9038
+t=74: Selected seed 195 with value = 0.9038
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=90: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=106: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=122: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=170: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8182
+t=186: Selected seed 195 with value = 0.8182
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=202: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=218: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=266: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=18--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=18--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 18
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 19...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4893
+t=10: Selected seed 195 with value = 0.4893
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5811
+t=26: Selected seed 195 with value = 0.5811
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6148
+t=42: Selected seed 195 with value = 0.6148
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7215
+t=58: Selected seed 195 with value = 0.7215
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8234
+t=74: Selected seed 195 with value = 0.8234
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=90: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=122: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=154: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=170: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.956 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=186: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9568
+t=202: Selected seed 195 with value = 0.9568
+Query 1/1: Action query time = 0.984 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9419
+t=218: Selected seed 195 with value = 0.9419
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=234: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=250: Selected seed 195 with value = 0.8590
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7749
+t=266: Selected seed 195 with value = 0.7749
+Query 1/1: Action query time = 0.960 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7822
+t=282: Selected seed 195 with value = 0.7822
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8209
+t=298: Selected seed 195 with value = 0.8209
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=19--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=19--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 19
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 20...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4938
+t=10: Selected seed 195 with value = 0.4938
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5820
+t=26: Selected seed 195 with value = 0.5820
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6366
+t=42: Selected seed 195 with value = 0.6366
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7773
+t=58: Selected seed 195 with value = 0.7773
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9066
+t=74: Selected seed 195 with value = 0.9066
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=90: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=106: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=218: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 0.970 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9316
+t=234: Selected seed 195 with value = 0.9316
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9220
+t=250: Selected seed 195 with value = 0.9220
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8860
+t=266: Selected seed 195 with value = 0.8860
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9476
+t=282: Selected seed 195 with value = 0.9476
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=298: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=20--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=20--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 20
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 21...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4695
+t=10: Selected seed 195 with value = 0.4695
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5616
+t=26: Selected seed 195 with value = 0.5616
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6212
+t=42: Selected seed 195 with value = 0.6212
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=58: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8872
+t=74: Selected seed 195 with value = 0.8872
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=90: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=106: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=122: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=138: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=154: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=170: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=186: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9255
+t=234: Selected seed 195 with value = 0.9255
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=250: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=266: Selected seed 195 with value = 0.9471
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=21--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=21--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 21
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 22...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4832
+t=10: Selected seed 195 with value = 0.4832
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5487
+t=26: Selected seed 195 with value = 0.5487
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6083
+t=42: Selected seed 195 with value = 0.6083
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=58: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8923
+t=74: Selected seed 195 with value = 0.8923
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=90: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=106: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=122: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=138: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=154: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8222
+t=202: Selected seed 195 with value = 0.8222
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=218: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9139
+t=234: Selected seed 195 with value = 0.9139
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=282: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=298: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=22--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=22--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 22
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 23...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4698
+t=10: Selected seed 195 with value = 0.4698
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5622
+t=26: Selected seed 195 with value = 0.5622
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6067
+t=42: Selected seed 195 with value = 0.6067
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=58: Selected seed 195 with value = 0.7474
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9211
+t=74: Selected seed 195 with value = 0.9211
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=90: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=106: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=122: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=138: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7436
+t=170: Selected seed 195 with value = 0.7436
+Query 1/1: Action query time = 0.984 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8056
+t=186: Selected seed 195 with value = 0.8056
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8509
+t=202: Selected seed 195 with value = 0.8509
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=218: Selected seed 195 with value = 0.9557
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=23--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=23--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 1 (4.3%)
+
+Task: put the bowl on the stove
+Starting episode 24...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4710
+t=10: Selected seed 195 with value = 0.4710
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5557
+t=26: Selected seed 195 with value = 0.5557
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=42: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7654
+t=58: Selected seed 195 with value = 0.7654
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7683
+t=74: Selected seed 195 with value = 0.7683
+Query 1/1: Action query time = 0.992 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9395
+t=90: Selected seed 195 with value = 0.9395
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=106: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=170: Selected seed 195 with value = 0.9917
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=186: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=202: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9254
+t=218: Selected seed 195 with value = 0.9254
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8887
+t=234: Selected seed 195 with value = 0.8887
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8143
+t=250: Selected seed 195 with value = 0.8143
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7375
+t=266: Selected seed 195 with value = 0.7375
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7456
+t=282: Selected seed 195 with value = 0.7456
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8235
+t=298: Selected seed 195 with value = 0.8235
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=24--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=24--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 24
+# successes: 1 (4.2%)
+
+Task: put the bowl on the stove
+Starting episode 25...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4493
+t=10: Selected seed 195 with value = 0.4493
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5296
+t=26: Selected seed 195 with value = 0.5296
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5917
+t=42: Selected seed 195 with value = 0.5917
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6883
+t=58: Selected seed 195 with value = 0.6883
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7728
+t=74: Selected seed 195 with value = 0.7728
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8999
+t=90: Selected seed 195 with value = 0.8999
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=106: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=154: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=170: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=186: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=202: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7587
+t=218: Selected seed 195 with value = 0.7587
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=234: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=250: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 0.993 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=266: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9146
+t=282: Selected seed 195 with value = 0.9146
+Query 1/1: Action query time = 0.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8983
+t=298: Selected seed 195 with value = 0.8983
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=25--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=25--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 1 (4.0%)
+
+Task: put the bowl on the stove
+Starting episode 26...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4845
+t=10: Selected seed 195 with value = 0.4845
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5654
+t=26: Selected seed 195 with value = 0.5654
+Query 1/1: Action query time = 1.013 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6196
+t=42: Selected seed 195 with value = 0.6196
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7499
+t=58: Selected seed 195 with value = 0.7499
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7595
+t=74: Selected seed 195 with value = 0.7595
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8896
+t=90: Selected seed 195 with value = 0.8896
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.999 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=154: Selected seed 195 with value = 0.9917
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9710
+t=170: Selected seed 195 with value = 0.9710
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9442
+t=186: Selected seed 195 with value = 0.9442
+Query 1/1: Action query time = 0.985 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9077
+t=202: Selected seed 195 with value = 0.9077
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8536
+t=218: Selected seed 195 with value = 0.8536
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7578
+t=234: Selected seed 195 with value = 0.7578
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7576
+t=250: Selected seed 195 with value = 0.7576
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8198
+t=266: Selected seed 195 with value = 0.8198
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9059
+t=282: Selected seed 195 with value = 0.9059
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9224
+t=298: Selected seed 195 with value = 0.9224
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=26--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=26--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 26
+# successes: 1 (3.8%)
+
+Task: put the bowl on the stove
+Starting episode 27...
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4982
+t=10: Selected seed 195 with value = 0.4982
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5911
+t=26: Selected seed 195 with value = 0.5911
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6414
+t=42: Selected seed 195 with value = 0.6414
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6006
+t=58: Selected seed 195 with value = 0.6006
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7336
+t=74: Selected seed 195 with value = 0.7336
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7440
+t=90: Selected seed 195 with value = 0.7440
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8627
+t=106: Selected seed 195 with value = 0.8627
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=122: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=154: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=170: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=186: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=202: Selected seed 195 with value = 0.9566
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=218: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7686
+t=234: Selected seed 195 with value = 0.7686
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=250: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=266: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=282: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=298: Selected seed 195 with value = 0.8364
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=27--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=27--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 1 (3.7%)
+
+Task: put the bowl on the stove
+Starting episode 28...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5024
+t=10: Selected seed 195 with value = 0.5024
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5864
+t=26: Selected seed 195 with value = 0.5864
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6592
+t=42: Selected seed 195 with value = 0.6592
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7490
+t=58: Selected seed 195 with value = 0.7490
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8046
+t=74: Selected seed 195 with value = 0.8046
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=90: Selected seed 195 with value = 0.9229
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=28--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=28--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 2 (7.1%)
+
+Task: put the bowl on the stove
+Starting episode 29...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4825
+t=10: Selected seed 195 with value = 0.4825
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5570
+t=26: Selected seed 195 with value = 0.5570
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6185
+t=42: Selected seed 195 with value = 0.6185
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7082
+t=58: Selected seed 195 with value = 0.7082
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=74: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=90: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9532
+t=106: Selected seed 195 with value = 0.9532
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=122: Selected seed 195 with value = 0.9451
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9519
+t=138: Selected seed 195 with value = 0.9519
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=154: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=170: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9419
+t=186: Selected seed 195 with value = 0.9419
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=202: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 0.994 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=218: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=234: Selected seed 195 with value = 0.9550
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=250: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9243
+t=266: Selected seed 195 with value = 0.9243
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=282: Selected seed 195 with value = 0.9241
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9095
+t=298: Selected seed 195 with value = 0.9095
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=29--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=29--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 29
+# successes: 2 (6.9%)
+
+Task: put the bowl on the stove
+Starting episode 30...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5409
+t=10: Selected seed 195 with value = 0.5409
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=26: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6444
+t=42: Selected seed 195 with value = 0.6444
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=58: Selected seed 195 with value = 0.6663
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8598
+t=74: Selected seed 195 with value = 0.8598
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8363
+t=90: Selected seed 195 with value = 0.8363
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9011
+t=106: Selected seed 195 with value = 0.9011
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=186: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=202: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=218: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 0.962 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=234: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 0.982 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8053
+t=250: Selected seed 195 with value = 0.8053
+Query 1/1: Action query time = 0.996 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7809
+t=266: Selected seed 195 with value = 0.7809
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7908
+t=282: Selected seed 195 with value = 0.7908
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7779
+t=298: Selected seed 195 with value = 0.7779
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=30--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=30--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 30
+# successes: 2 (6.7%)
+
+Task: put the bowl on the stove
+Starting episode 31...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4719
+t=10: Selected seed 195 with value = 0.4719
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5313
+t=26: Selected seed 195 with value = 0.5313
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6311
+t=42: Selected seed 195 with value = 0.6311
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7178
+t=58: Selected seed 195 with value = 0.7178
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8192
+t=74: Selected seed 195 with value = 0.8192
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=90: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=106: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=122: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=138: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=154: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=186: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=202: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=218: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9732
+t=234: Selected seed 195 with value = 0.9732
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=250: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9476
+t=266: Selected seed 195 with value = 0.9476
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8749
+t=282: Selected seed 195 with value = 0.8749
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8512
+t=298: Selected seed 195 with value = 0.8512
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=31--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=31--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 31
+# successes: 2 (6.5%)
+
+Task: put the bowl on the stove
+Starting episode 32...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4736
+t=10: Selected seed 195 with value = 0.4736
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5458
+t=26: Selected seed 195 with value = 0.5458
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=42: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7963
+t=58: Selected seed 195 with value = 0.7963
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8757
+t=74: Selected seed 195 with value = 0.8757
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=90: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=106: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=122: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=138: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=154: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=170: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=202: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9339
+t=218: Selected seed 195 with value = 0.9339
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=234: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=250: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=266: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=282: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 0.964 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=298: Selected seed 195 with value = 0.9628
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=32--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=32--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 2 (6.2%)
+
+Task: put the bowl on the stove
+Starting episode 33...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5164
+t=10: Selected seed 195 with value = 0.5164
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5456
+t=26: Selected seed 195 with value = 0.5456
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6176
+t=42: Selected seed 195 with value = 0.6176
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7553
+t=58: Selected seed 195 with value = 0.7553
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7650
+t=74: Selected seed 195 with value = 0.7650
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9261
+t=90: Selected seed 195 with value = 0.9261
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=106: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=138: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9636
+t=154: Selected seed 195 with value = 0.9636
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=170: Selected seed 195 with value = 0.9480
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9153
+t=186: Selected seed 195 with value = 0.9153
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8568
+t=202: Selected seed 195 with value = 0.8568
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8040
+t=218: Selected seed 195 with value = 0.8040
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7668
+t=234: Selected seed 195 with value = 0.7668
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=250: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8253
+t=266: Selected seed 195 with value = 0.8253
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8979
+t=282: Selected seed 195 with value = 0.8979
+Query 1/1: Action query time = 0.990 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=298: Selected seed 195 with value = 0.9471
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=33--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=33--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 2 (6.1%)
+
+Task: put the bowl on the stove
+Starting episode 34...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4908
+t=10: Selected seed 195 with value = 0.4908
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5575
+t=26: Selected seed 195 with value = 0.5575
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6177
+t=42: Selected seed 195 with value = 0.6177
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7533
+t=58: Selected seed 195 with value = 0.7533
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=74: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=90: Selected seed 195 with value = 0.9730
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=106: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=122: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=138: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=154: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=170: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=218: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8104
+t=234: Selected seed 195 with value = 0.8104
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=250: Selected seed 195 with value = 0.8603
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=266: Selected seed 195 with value = 0.9361
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=34--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=34--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 2 (5.9%)
+
+Task: put the bowl on the stove
+Starting episode 35...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4785
+t=10: Selected seed 195 with value = 0.4785
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5500
+t=26: Selected seed 195 with value = 0.5500
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6134
+t=42: Selected seed 195 with value = 0.6134
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7489
+t=58: Selected seed 195 with value = 0.7489
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7644
+t=74: Selected seed 195 with value = 0.7644
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9329
+t=90: Selected seed 195 with value = 0.9329
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=106: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=138: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.997 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=154: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=170: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 0.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9124
+t=186: Selected seed 195 with value = 0.9124
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=202: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=218: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 0.988 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7625
+t=234: Selected seed 195 with value = 0.7625
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7770
+t=250: Selected seed 195 with value = 0.7770
+Query 1/1: Action query time = 0.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8284
+t=266: Selected seed 195 with value = 0.8284
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9187
+t=282: Selected seed 195 with value = 0.9187
+Query 1/1: Action query time = 0.991 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=298: Selected seed 195 with value = 0.9387
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=35--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=35--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 35
+# successes: 2 (5.7%)
+
+Task: put the bowl on the stove
+Starting episode 36...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4898
+t=10: Selected seed 195 with value = 0.4898
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5733
+t=26: Selected seed 195 with value = 0.5733
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6137
+t=42: Selected seed 195 with value = 0.6137
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7470
+t=58: Selected seed 195 with value = 0.7470
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8792
+t=74: Selected seed 195 with value = 0.8792
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=90: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=106: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=122: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.992 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7521
+t=218: Selected seed 195 with value = 0.7521
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8731
+t=234: Selected seed 195 with value = 0.8731
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8838
+t=250: Selected seed 195 with value = 0.8838
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=266: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=36--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=36--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 36
+# successes: 2 (5.6%)
+
+Task: put the bowl on the stove
+Starting episode 37...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5045
+t=10: Selected seed 195 with value = 0.5045
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5847
+t=26: Selected seed 195 with value = 0.5847
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6448
+t=42: Selected seed 195 with value = 0.6448
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6955
+t=58: Selected seed 195 with value = 0.6955
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7081
+t=74: Selected seed 195 with value = 0.7081
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7750
+t=90: Selected seed 195 with value = 0.7750
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8713
+t=106: Selected seed 195 with value = 0.8713
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=138: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=170: Selected seed 195 with value = 0.9860
+Query 1/1: Action query time = 0.957 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=186: Selected seed 195 with value = 0.9860
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=202: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=218: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=234: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9732
+t=250: Selected seed 195 with value = 0.9732
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=266: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=282: Selected seed 195 with value = 0.9233
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=298: Selected seed 195 with value = 0.8538
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=37--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=37--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 37
+# successes: 2 (5.4%)
+
+Task: put the bowl on the stove
+Starting episode 38...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=10: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5743
+t=26: Selected seed 195 with value = 0.5743
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6449
+t=42: Selected seed 195 with value = 0.6449
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7476
+t=58: Selected seed 195 with value = 0.7476
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7900
+t=74: Selected seed 195 with value = 0.7900
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=90: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=138: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=154: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=170: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9588
+t=186: Selected seed 195 with value = 0.9588
+Query 1/1: Action query time = 0.995 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9358
+t=202: Selected seed 195 with value = 0.9358
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=218: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8377
+t=234: Selected seed 195 with value = 0.8377
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7870
+t=250: Selected seed 195 with value = 0.7870
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7670
+t=266: Selected seed 195 with value = 0.7670
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8446
+t=282: Selected seed 195 with value = 0.8446
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9222
+t=298: Selected seed 195 with value = 0.9222
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=38--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=38--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 38
+# successes: 2 (5.3%)
+
+Task: put the bowl on the stove
+Starting episode 39...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4569
+t=10: Selected seed 195 with value = 0.4569
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5217
+t=26: Selected seed 195 with value = 0.5217
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5904
+t=42: Selected seed 195 with value = 0.5904
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7227
+t=58: Selected seed 195 with value = 0.7227
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7531
+t=74: Selected seed 195 with value = 0.7531
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8092
+t=90: Selected seed 195 with value = 0.8092
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=106: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=122: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=138: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.991 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=154: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=170: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9304
+t=186: Selected seed 195 with value = 0.9304
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7875
+t=202: Selected seed 195 with value = 0.7875
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8788
+t=218: Selected seed 195 with value = 0.8788
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=234: Selected seed 195 with value = 0.9693
+Query 1/1: Action query time = 0.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=250: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.993 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9048
+t=266: Selected seed 195 with value = 0.9048
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=282: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=298: Selected seed 195 with value = 0.9816
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=39--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=39--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 39
+# successes: 2 (5.1%)
+
+Task: put the bowl on the stove
+Starting episode 40...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=10: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=26: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6202
+t=42: Selected seed 195 with value = 0.6202
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7371
+t=58: Selected seed 195 with value = 0.7371
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7780
+t=74: Selected seed 195 with value = 0.7780
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8633
+t=90: Selected seed 195 with value = 0.8633
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=40--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=40--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 3 (7.5%)
+
+Task: put the bowl on the stove
+Starting episode 41...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4754
+t=10: Selected seed 195 with value = 0.4754
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5415
+t=26: Selected seed 195 with value = 0.5415
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6143
+t=42: Selected seed 195 with value = 0.6143
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7462
+t=58: Selected seed 195 with value = 0.7462
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8718
+t=74: Selected seed 195 with value = 0.8718
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9678
+t=90: Selected seed 195 with value = 0.9678
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=106: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=122: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=138: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=186: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=202: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=218: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=234: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=250: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=266: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=282: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=298: Selected seed 195 with value = 0.9891
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=41--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=41--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 41
+# successes: 3 (7.3%)
+
+Task: put the bowl on the stove
+Starting episode 42...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4824
+t=10: Selected seed 195 with value = 0.4824
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=26: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6138
+t=42: Selected seed 195 with value = 0.6138
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7463
+t=58: Selected seed 195 with value = 0.7463
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8428
+t=74: Selected seed 195 with value = 0.8428
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9533
+t=90: Selected seed 195 with value = 0.9533
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=106: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=122: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=138: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=170: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=186: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=202: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9547
+t=218: Selected seed 195 with value = 0.9547
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=234: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=250: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=266: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=282: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=298: Selected seed 195 with value = 0.9725
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=42--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=42--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 42
+# successes: 3 (7.1%)
+
+Task: put the bowl on the stove
+Starting episode 43...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4592
+t=10: Selected seed 195 with value = 0.4592
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5416
+t=26: Selected seed 195 with value = 0.5416
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6155
+t=42: Selected seed 195 with value = 0.6155
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7102
+t=58: Selected seed 195 with value = 0.7102
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7740
+t=74: Selected seed 195 with value = 0.7740
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8883
+t=90: Selected seed 195 with value = 0.8883
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=138: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=154: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=170: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 0.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9367
+t=186: Selected seed 195 with value = 0.9367
+Query 1/1: Action query time = 0.954 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9085
+t=202: Selected seed 195 with value = 0.9085
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=218: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7982
+t=234: Selected seed 195 with value = 0.7982
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7921
+t=250: Selected seed 195 with value = 0.7921
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=266: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9322
+t=282: Selected seed 195 with value = 0.9322
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=298: Selected seed 195 with value = 0.9857
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=43--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=43--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 43
+# successes: 3 (7.0%)
+
+Task: put the bowl on the stove
+Starting episode 44...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4897
+t=10: Selected seed 195 with value = 0.4897
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5772
+t=26: Selected seed 195 with value = 0.5772
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6235
+t=42: Selected seed 195 with value = 0.6235
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7640
+t=58: Selected seed 195 with value = 0.7640
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9230
+t=74: Selected seed 195 with value = 0.9230
+Query 1/1: Action query time = 0.992 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=90: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=106: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=122: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=138: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.992 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=154: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=186: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=202: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=218: Selected seed 195 with value = 0.9086
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9695
+t=234: Selected seed 195 with value = 0.9695
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=250: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9406
+t=266: Selected seed 195 with value = 0.9406
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9540
+t=282: Selected seed 195 with value = 0.9540
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=298: Selected seed 195 with value = 0.9554
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=44--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=44--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 3 (6.8%)
+
+Task: put the bowl on the stove
+Starting episode 45...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4939
+t=10: Selected seed 195 with value = 0.4939
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5738
+t=26: Selected seed 195 with value = 0.5738
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6212
+t=42: Selected seed 195 with value = 0.6212
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=58: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8060
+t=74: Selected seed 195 with value = 0.8060
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=90: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=106: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=154: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=170: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=298: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=45--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=45--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 45
+# successes: 3 (6.7%)
+
+Task: put the bowl on the stove
+Starting episode 46...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4594
+t=10: Selected seed 195 with value = 0.4594
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5575
+t=26: Selected seed 195 with value = 0.5575
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6139
+t=42: Selected seed 195 with value = 0.6139
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7923
+t=58: Selected seed 195 with value = 0.7923
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7594
+t=74: Selected seed 195 with value = 0.7594
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8490
+t=90: Selected seed 195 with value = 0.8490
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=106: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=154: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=170: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=186: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=202: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=218: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=234: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=250: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=266: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 0.985 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7754
+t=282: Selected seed 195 with value = 0.7754
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7829
+t=298: Selected seed 195 with value = 0.7829
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=46--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=46--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 46
+# successes: 3 (6.5%)
+
+Task: put the bowl on the stove
+Starting episode 47...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4831
+t=10: Selected seed 195 with value = 0.4831
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5430
+t=26: Selected seed 195 with value = 0.5430
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6218
+t=42: Selected seed 195 with value = 0.6218
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7154
+t=58: Selected seed 195 with value = 0.7154
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7895
+t=74: Selected seed 195 with value = 0.7895
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8346
+t=90: Selected seed 195 with value = 0.8346
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=106: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=122: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=138: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9746
+t=154: Selected seed 195 with value = 0.9746
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=170: Selected seed 195 with value = 0.9564
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9188
+t=186: Selected seed 195 with value = 0.9188
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8851
+t=202: Selected seed 195 with value = 0.8851
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8208
+t=218: Selected seed 195 with value = 0.8208
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8604
+t=234: Selected seed 195 with value = 0.8604
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9466
+t=250: Selected seed 195 with value = 0.9466
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=266: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=282: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 0.990 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=298: Selected seed 195 with value = 0.9668
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=47--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=47--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 47
+# successes: 3 (6.4%)
+
+Task: put the bowl on the stove
+Starting episode 48...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4783
+t=10: Selected seed 195 with value = 0.4783
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5571
+t=26: Selected seed 195 with value = 0.5571
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6138
+t=42: Selected seed 195 with value = 0.6138
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7192
+t=58: Selected seed 195 with value = 0.7192
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7825
+t=74: Selected seed 195 with value = 0.7825
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=90: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=138: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9646
+t=154: Selected seed 195 with value = 0.9646
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9331
+t=170: Selected seed 195 with value = 0.9331
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=186: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8558
+t=202: Selected seed 195 with value = 0.8558
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7868
+t=218: Selected seed 195 with value = 0.7868
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7295
+t=234: Selected seed 195 with value = 0.7295
+Query 1/1: Action query time = 0.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8375
+t=250: Selected seed 195 with value = 0.8375
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8966
+t=266: Selected seed 195 with value = 0.8966
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9591
+t=282: Selected seed 195 with value = 0.9591
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=298: Selected seed 195 with value = 0.9562
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=48--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=48--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 48
+# successes: 3 (6.2%)
+
+Task: put the bowl on the stove
+Starting episode 49...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4674
+t=10: Selected seed 195 with value = 0.4674
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5609
+t=26: Selected seed 195 with value = 0.5609
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6301
+t=42: Selected seed 195 with value = 0.6301
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=58: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7771
+t=74: Selected seed 195 with value = 0.7771
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=90: Selected seed 195 with value = 0.9282
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.999 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=154: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=170: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=186: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9494
+t=202: Selected seed 195 with value = 0.9494
+Query 1/1: Action query time = 0.986 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9113
+t=218: Selected seed 195 with value = 0.9113
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8498
+t=234: Selected seed 195 with value = 0.8498
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7665
+t=250: Selected seed 195 with value = 0.7665
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7353
+t=266: Selected seed 195 with value = 0.7353
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7465
+t=282: Selected seed 195 with value = 0.7465
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7616
+t=298: Selected seed 195 with value = 0.7616
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=49--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=49--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 49
+# successes: 3 (6.1%)
+
+Task: put the bowl on the stove
+Starting episode 50...
+Query 1/1: Action query time = 1.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5096
+t=10: Selected seed 195 with value = 0.5096
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5485
+t=26: Selected seed 195 with value = 0.5485
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6232
+t=42: Selected seed 195 with value = 0.6232
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7482
+t=58: Selected seed 195 with value = 0.7482
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8762
+t=74: Selected seed 195 with value = 0.8762
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=90: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=106: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.003 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=138: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=154: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=170: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.995 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.992 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9524
+t=218: Selected seed 195 with value = 0.9524
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9274
+t=234: Selected seed 195 with value = 0.9274
+Query 1/1: Action query time = 1.006 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9237
+t=250: Selected seed 195 with value = 0.9237
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=266: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=282: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=298: Selected seed 195 with value = 0.9919
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--episode=50--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/regen_iter200_t1/2026_08_01-10_08_21--with_future_img--episode=50--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 50
+# successes: 3 (6.0%)
+Current task success rate: 0.06
+Current total success rate: 0.06
+Final results:
+Total episodes: 50
+Total successes: 3
+Overall success rate: 0.0600 (6.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_09--forget_cl_iter350_par_t3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_09--forget_cl_iter350_par_t3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be18ccc892acc1128b311482c7aceaeaa3cd65e8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_09--forget_cl_iter350_par_t3.txt
@@ -0,0 +1,3364 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forget_cl_iter350_par_t3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.382 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4460
+t=10: Selected seed 195 with value = 0.4460
+Query 1/1: Action query time = 2.507 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4857
+t=26: Selected seed 195 with value = 0.4857
+Query 1/1: Action query time = 2.322 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5463
+t=42: Selected seed 195 with value = 0.5463
+Query 1/1: Action query time = 2.670 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6857
+t=58: Selected seed 195 with value = 0.6857
+Query 1/1: Action query time = 1.536 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8244
+t=74: Selected seed 195 with value = 0.8244
+Query 1/1: Action query time = 1.720 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9143
+t=90: Selected seed 195 with value = 0.9143
+Query 1/1: Action query time = 1.393 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=106: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 1.265 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=122: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 2.844 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=138: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 2.928 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7622
+t=154: Selected seed 195 with value = 0.7622
+Query 1/1: Action query time = 2.877 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8273
+t=170: Selected seed 195 with value = 0.8273
+Query 1/1: Action query time = 1.615 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=186: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 2.147 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=202: Selected seed 195 with value = 0.9149
+Query 1/1: Action query time = 1.839 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9441
+t=218: Selected seed 195 with value = 0.9441
+Query 1/1: Action query time = 1.744 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=234: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 1.620 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.501 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.735 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.739 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=1--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.614 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4232
+t=10: Selected seed 195 with value = 0.4232
+Query 1/1: Action query time = 2.206 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4800
+t=26: Selected seed 195 with value = 0.4800
+Query 1/1: Action query time = 2.253 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5700
+t=42: Selected seed 195 with value = 0.5700
+Query 1/1: Action query time = 2.838 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6778
+t=58: Selected seed 195 with value = 0.6778
+Query 1/1: Action query time = 1.941 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7978
+t=74: Selected seed 195 with value = 0.7978
+Query 1/1: Action query time = 1.489 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9092
+t=90: Selected seed 195 with value = 0.9092
+Query 1/1: Action query time = 1.700 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9575
+t=106: Selected seed 195 with value = 0.9575
+Query 1/1: Action query time = 2.478 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6726
+t=122: Selected seed 195 with value = 0.6726
+Query 1/1: Action query time = 2.429 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7673
+t=138: Selected seed 195 with value = 0.7673
+Query 1/1: Action query time = 2.514 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=154: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 2.376 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=170: Selected seed 195 with value = 0.9906
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=2--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 1.061 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4100
+t=10: Selected seed 195 with value = 0.4100
+Query 1/1: Action query time = 1.419 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4697
+t=26: Selected seed 195 with value = 0.4697
+Query 1/1: Action query time = 1.568 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5502
+t=42: Selected seed 195 with value = 0.5502
+Query 1/1: Action query time = 2.444 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=58: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 2.277 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=74: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 2.673 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9257
+t=90: Selected seed 195 with value = 0.9257
+Query 1/1: Action query time = 2.414 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=106: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 1.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6555
+t=122: Selected seed 195 with value = 0.6555
+Query 1/1: Action query time = 1.647 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7284
+t=138: Selected seed 195 with value = 0.7284
+Query 1/1: Action query time = 1.426 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=154: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 2.240 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7342
+t=170: Selected seed 195 with value = 0.7342
+Query 1/1: Action query time = 1.909 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7386
+t=186: Selected seed 195 with value = 0.7386
+Query 1/1: Action query time = 1.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=202: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 1.763 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=218: Selected seed 195 with value = 0.9743
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=3--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 1.661 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3821
+t=10: Selected seed 195 with value = 0.3821
+Query 1/1: Action query time = 1.212 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=26: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 1.708 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5490
+t=42: Selected seed 195 with value = 0.5490
+Query 1/1: Action query time = 2.670 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6331
+t=58: Selected seed 195 with value = 0.6331
+Query 1/1: Action query time = 2.358 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7810
+t=74: Selected seed 195 with value = 0.7810
+Query 1/1: Action query time = 2.319 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=90: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 2.312 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=106: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 1.744 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6401
+t=122: Selected seed 195 with value = 0.6401
+Query 1/1: Action query time = 1.519 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6982
+t=138: Selected seed 195 with value = 0.6982
+Query 1/1: Action query time = 1.734 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8105
+t=154: Selected seed 195 with value = 0.8105
+Query 1/1: Action query time = 2.167 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9261
+t=170: Selected seed 195 with value = 0.9261
+Query 1/1: Action query time = 2.131 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=186: Selected seed 195 with value = 0.9796
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=4--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 2.183 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4501
+t=10: Selected seed 195 with value = 0.4501
+Query 1/1: Action query time = 2.664 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4988
+t=26: Selected seed 195 with value = 0.4988
+Query 1/1: Action query time = 1.938 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5286
+t=42: Selected seed 195 with value = 0.5286
+Query 1/1: Action query time = 1.808 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6418
+t=58: Selected seed 195 with value = 0.6418
+Query 1/1: Action query time = 2.454 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7420
+t=74: Selected seed 195 with value = 0.7420
+Query 1/1: Action query time = 2.619 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8939
+t=90: Selected seed 195 with value = 0.8939
+Query 1/1: Action query time = 2.358 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=106: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 2.313 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6014
+t=122: Selected seed 195 with value = 0.6014
+Query 1/1: Action query time = 1.305 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6422
+t=138: Selected seed 195 with value = 0.6422
+Query 1/1: Action query time = 1.686 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8140
+t=154: Selected seed 195 with value = 0.8140
+Query 1/1: Action query time = 1.943 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=170: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 1.888 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9588
+t=186: Selected seed 195 with value = 0.9588
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=5--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 2.577 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2965
+t=10: Selected seed 195 with value = 0.2965
+Query 1/1: Action query time = 2.430 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4840
+t=26: Selected seed 195 with value = 0.4840
+Query 1/1: Action query time = 2.305 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5003
+t=42: Selected seed 195 with value = 0.5003
+Query 1/1: Action query time = 1.904 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4912
+t=58: Selected seed 195 with value = 0.4912
+Query 1/1: Action query time = 1.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4889
+t=74: Selected seed 195 with value = 0.4889
+Query 1/1: Action query time = 2.734 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4928
+t=90: Selected seed 195 with value = 0.4928
+Query 1/1: Action query time = 2.762 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6201
+t=106: Selected seed 195 with value = 0.6201
+Query 1/1: Action query time = 2.493 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7018
+t=122: Selected seed 195 with value = 0.7018
+Query 1/1: Action query time = 2.196 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8246
+t=138: Selected seed 195 with value = 0.8246
+Query 1/1: Action query time = 1.274 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9526
+t=154: Selected seed 195 with value = 0.9526
+Query 1/1: Action query time = 1.860 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=170: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 2.480 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6124
+t=186: Selected seed 195 with value = 0.6124
+Query 1/1: Action query time = 2.727 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=202: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 2.655 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=218: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 2.441 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9745
+t=234: Selected seed 195 with value = 0.9745
+Query 1/1: Action query time = 2.391 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=6--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 2.068 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4109
+t=10: Selected seed 195 with value = 0.4109
+Query 1/1: Action query time = 1.905 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4736
+t=26: Selected seed 195 with value = 0.4736
+Query 1/1: Action query time = 2.444 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5413
+t=42: Selected seed 195 with value = 0.5413
+Query 1/1: Action query time = 2.557 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6422
+t=58: Selected seed 195 with value = 0.6422
+Query 1/1: Action query time = 2.697 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7324
+t=74: Selected seed 195 with value = 0.7324
+Query 1/1: Action query time = 1.681 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8861
+t=90: Selected seed 195 with value = 0.8861
+Query 1/1: Action query time = 2.252 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.776 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6439
+t=122: Selected seed 195 with value = 0.6439
+Query 1/1: Action query time = 1.769 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7944
+t=138: Selected seed 195 with value = 0.7944
+Query 1/1: Action query time = 1.766 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8796
+t=154: Selected seed 195 with value = 0.8796
+Query 1/1: Action query time = 1.301 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=170: Selected seed 195 with value = 0.9668
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=7--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 1.790 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3676
+t=10: Selected seed 195 with value = 0.3676
+Query 1/1: Action query time = 2.674 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4712
+t=26: Selected seed 195 with value = 0.4712
+Query 1/1: Action query time = 2.168 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=42: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 2.438 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6476
+t=58: Selected seed 195 with value = 0.6476
+Query 1/1: Action query time = 2.628 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7637
+t=74: Selected seed 195 with value = 0.7637
+Query 1/1: Action query time = 2.574 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8708
+t=90: Selected seed 195 with value = 0.8708
+Query 1/1: Action query time = 2.299 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.119 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6740
+t=122: Selected seed 195 with value = 0.6740
+Query 1/1: Action query time = 1.163 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6051
+t=138: Selected seed 195 with value = 0.6051
+Query 1/1: Action query time = 1.402 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6705
+t=154: Selected seed 195 with value = 0.6705
+Query 1/1: Action query time = 2.065 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6215
+t=170: Selected seed 195 with value = 0.6215
+Query 1/1: Action query time = 2.749 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6544
+t=186: Selected seed 195 with value = 0.6544
+Query 1/1: Action query time = 2.546 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7319
+t=202: Selected seed 195 with value = 0.7319
+Query 1/1: Action query time = 2.585 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7654
+t=218: Selected seed 195 with value = 0.7654
+Query 1/1: Action query time = 2.136 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8339
+t=234: Selected seed 195 with value = 0.8339
+Query 1/1: Action query time = 2.136 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7980
+t=250: Selected seed 195 with value = 0.7980
+Query 1/1: Action query time = 2.360 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7567
+t=266: Selected seed 195 with value = 0.7567
+Query 1/1: Action query time = 1.414 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8476
+t=282: Selected seed 195 with value = 0.8476
+Query 1/1: Action query time = 2.277 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=298: Selected seed 195 with value = 0.9717
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=8--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=8--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 1.886 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3991
+t=10: Selected seed 195 with value = 0.3991
+Query 1/1: Action query time = 2.079 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4664
+t=26: Selected seed 195 with value = 0.4664
+Query 1/1: Action query time = 2.449 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5656
+t=42: Selected seed 195 with value = 0.5656
+Query 1/1: Action query time = 3.265 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6065
+t=58: Selected seed 195 with value = 0.6065
+Query 1/1: Action query time = 2.895 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=74: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 1.830 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9532
+t=90: Selected seed 195 with value = 0.9532
+Query 1/1: Action query time = 1.675 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=106: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 2.251 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7091
+t=122: Selected seed 195 with value = 0.7091
+Query 1/1: Action query time = 1.529 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6854
+t=138: Selected seed 195 with value = 0.6854
+Query 1/1: Action query time = 2.220 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7708
+t=154: Selected seed 195 with value = 0.7708
+Query 1/1: Action query time = 3.076 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8677
+t=170: Selected seed 195 with value = 0.8677
+Query 1/1: Action query time = 2.896 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9392
+t=186: Selected seed 195 with value = 0.9392
+Query 1/1: Action query time = 2.859 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9746
+t=202: Selected seed 195 with value = 0.9746
+Query 1/1: Action query time = 2.742 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9486
+t=218: Selected seed 195 with value = 0.9486
+Query 1/1: Action query time = 2.370 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8100
+t=234: Selected seed 195 with value = 0.8100
+Query 1/1: Action query time = 1.367 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9339
+t=250: Selected seed 195 with value = 0.9339
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7716
+t=266: Selected seed 195 with value = 0.7716
+Query 1/1: Action query time = 1.488 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9046
+t=282: Selected seed 195 with value = 0.9046
+Query 1/1: Action query time = 2.786 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8193
+t=298: Selected seed 195 with value = 0.8193
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=9--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 1.681 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4198
+t=10: Selected seed 195 with value = 0.4198
+Query 1/1: Action query time = 1.630 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4953
+t=26: Selected seed 195 with value = 0.4953
+Query 1/1: Action query time = 2.361 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5517
+t=42: Selected seed 195 with value = 0.5517
+Query 1/1: Action query time = 3.144 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6568
+t=58: Selected seed 195 with value = 0.6568
+Query 1/1: Action query time = 2.536 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8294
+t=74: Selected seed 195 with value = 0.8294
+Query 1/1: Action query time = 2.666 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=90: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 2.413 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=106: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 2.473 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6654
+t=122: Selected seed 195 with value = 0.6654
+Query 1/1: Action query time = 2.358 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5306
+t=138: Selected seed 195 with value = 0.5306
+Query 1/1: Action query time = 1.793 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6325
+t=154: Selected seed 195 with value = 0.6325
+Query 1/1: Action query time = 1.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7108
+t=170: Selected seed 195 with value = 0.7108
+Query 1/1: Action query time = 2.343 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8020
+t=186: Selected seed 195 with value = 0.8020
+Query 1/1: Action query time = 2.400 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=202: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 1.894 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=10--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 2.433 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4512
+t=10: Selected seed 195 with value = 0.4512
+Query 1/1: Action query time = 3.020 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4808
+t=26: Selected seed 195 with value = 0.4808
+Query 1/1: Action query time = 2.589 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5649
+t=42: Selected seed 195 with value = 0.5649
+Query 1/1: Action query time = 2.085 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7202
+t=58: Selected seed 195 with value = 0.7202
+Query 1/1: Action query time = 1.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7920
+t=74: Selected seed 195 with value = 0.7920
+Query 1/1: Action query time = 1.806 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=90: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 2.046 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=106: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 1.906 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6397
+t=122: Selected seed 195 with value = 0.6397
+Query 1/1: Action query time = 2.266 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7225
+t=138: Selected seed 195 with value = 0.7225
+Query 1/1: Action query time = 2.381 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8389
+t=154: Selected seed 195 with value = 0.8389
+Query 1/1: Action query time = 2.274 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=170: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 2.254 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=186: Selected seed 195 with value = 0.9893
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=11--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=11--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 1.013 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4004
+t=10: Selected seed 195 with value = 0.4004
+Query 1/1: Action query time = 1.842 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4714
+t=26: Selected seed 195 with value = 0.4714
+Query 1/1: Action query time = 2.709 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5578
+t=42: Selected seed 195 with value = 0.5578
+Query 1/1: Action query time = 2.932 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6261
+t=58: Selected seed 195 with value = 0.6261
+Query 1/1: Action query time = 2.357 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7944
+t=74: Selected seed 195 with value = 0.7944
+Query 1/1: Action query time = 1.620 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8756
+t=90: Selected seed 195 with value = 0.8756
+Query 1/1: Action query time = 2.082 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=106: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 3.610 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5979
+t=122: Selected seed 195 with value = 0.5979
+Query 1/1: Action query time = 2.682 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6747
+t=138: Selected seed 195 with value = 0.6747
+Query 1/1: Action query time = 2.055 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5291
+t=154: Selected seed 195 with value = 0.5291
+Query 1/1: Action query time = 2.320 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=170: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 2.586 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8279
+t=186: Selected seed 195 with value = 0.8279
+Query 1/1: Action query time = 2.505 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=202: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 1.877 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=12--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 2.508 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3834
+t=10: Selected seed 195 with value = 0.3834
+Query 1/1: Action query time = 2.479 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4517
+t=26: Selected seed 195 with value = 0.4517
+Query 1/1: Action query time = 2.203 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5743
+t=42: Selected seed 195 with value = 0.5743
+Query 1/1: Action query time = 2.292 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6204
+t=58: Selected seed 195 with value = 0.6204
+Query 1/1: Action query time = 2.761 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7139
+t=74: Selected seed 195 with value = 0.7139
+Query 1/1: Action query time = 2.553 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9146
+t=90: Selected seed 195 with value = 0.9146
+Query 1/1: Action query time = 1.595 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=106: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 1.272 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6283
+t=122: Selected seed 195 with value = 0.6283
+Query 1/1: Action query time = 2.204 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7413
+t=138: Selected seed 195 with value = 0.7413
+Query 1/1: Action query time = 2.342 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=154: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 2.388 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=170: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 2.817 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=186: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=13--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=13--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 14...
+Query 1/1: Action query time = 1.669 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3938
+t=10: Selected seed 195 with value = 0.3938
+Query 1/1: Action query time = 1.930 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4845
+t=26: Selected seed 195 with value = 0.4845
+Query 1/1: Action query time = 1.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=42: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 1.398 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=58: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 1.913 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7368
+t=74: Selected seed 195 with value = 0.7368
+Query 1/1: Action query time = 2.895 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8792
+t=90: Selected seed 195 with value = 0.8792
+Query 1/1: Action query time = 2.263 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=106: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 2.345 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6386
+t=122: Selected seed 195 with value = 0.6386
+Query 1/1: Action query time = 1.726 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6134
+t=138: Selected seed 195 with value = 0.6134
+Query 1/1: Action query time = 2.073 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7717
+t=154: Selected seed 195 with value = 0.7717
+Query 1/1: Action query time = 2.231 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=170: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 2.500 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=186: Selected seed 195 with value = 0.9489
+Query 1/1: Action query time = 2.586 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9458
+t=202: Selected seed 195 with value = 0.9458
+Query 1/1: Action query time = 2.614 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=218: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 2.103 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7756
+t=234: Selected seed 195 with value = 0.7756
+Query 1/1: Action query time = 1.340 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=250: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 1.890 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8784
+t=266: Selected seed 195 with value = 0.8784
+Query 1/1: Action query time = 2.503 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=282: Selected seed 195 with value = 0.8778
+Query 1/1: Action query time = 2.575 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=298: Selected seed 195 with value = 0.8834
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=14--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=14--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 10 (71.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 15...
+Query 1/1: Action query time = 3.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4218
+t=10: Selected seed 195 with value = 0.4218
+Query 1/1: Action query time = 1.448 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4880
+t=26: Selected seed 195 with value = 0.4880
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5696
+t=42: Selected seed 195 with value = 0.5696
+Query 1/1: Action query time = 1.944 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6680
+t=58: Selected seed 195 with value = 0.6680
+Query 1/1: Action query time = 2.181 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=74: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 3.077 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9163
+t=90: Selected seed 195 with value = 0.9163
+Query 1/1: Action query time = 2.902 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=106: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 3.000 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5534
+t=122: Selected seed 195 with value = 0.5534
+Query 1/1: Action query time = 3.447 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5450
+t=138: Selected seed 195 with value = 0.5450
+Query 1/1: Action query time = 2.742 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7648
+t=154: Selected seed 195 with value = 0.7648
+Query 1/1: Action query time = 2.357 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9201
+t=170: Selected seed 195 with value = 0.9201
+Query 1/1: Action query time = 2.621 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9567
+t=186: Selected seed 195 with value = 0.9567
+Query 1/1: Action query time = 2.124 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=202: Selected seed 195 with value = 0.9888
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=15--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=15--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 11 (73.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 16...
+Query 1/1: Action query time = 2.073 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3595
+t=10: Selected seed 195 with value = 0.3595
+Query 1/1: Action query time = 1.844 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4282
+t=26: Selected seed 195 with value = 0.4282
+Query 1/1: Action query time = 3.055 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5435
+t=42: Selected seed 195 with value = 0.5435
+Query 1/1: Action query time = 3.245 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6068
+t=58: Selected seed 195 with value = 0.6068
+Query 1/1: Action query time = 2.943 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7101
+t=74: Selected seed 195 with value = 0.7101
+Query 1/1: Action query time = 2.209 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8889
+t=90: Selected seed 195 with value = 0.8889
+Query 1/1: Action query time = 2.202 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=106: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 2.557 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6481
+t=122: Selected seed 195 with value = 0.6481
+Query 1/1: Action query time = 1.875 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7803
+t=138: Selected seed 195 with value = 0.7803
+Query 1/1: Action query time = 2.636 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8521
+t=154: Selected seed 195 with value = 0.8521
+Query 1/1: Action query time = 2.534 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=170: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 2.462 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=186: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 2.287 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8143
+t=202: Selected seed 195 with value = 0.8143
+Query 1/1: Action query time = 2.560 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=218: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 2.152 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8809
+t=234: Selected seed 195 with value = 0.8809
+Query 1/1: Action query time = 1.531 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8859
+t=250: Selected seed 195 with value = 0.8859
+Query 1/1: Action query time = 1.130 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8903
+t=266: Selected seed 195 with value = 0.8903
+Query 1/1: Action query time = 1.389 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8933
+t=282: Selected seed 195 with value = 0.8933
+Query 1/1: Action query time = 2.049 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8951
+t=298: Selected seed 195 with value = 0.8951
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=16--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=16--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 16
+# successes: 11 (68.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 17...
+Query 1/1: Action query time = 1.687 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3964
+t=10: Selected seed 195 with value = 0.3964
+Query 1/1: Action query time = 1.785 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4684
+t=26: Selected seed 195 with value = 0.4684
+Query 1/1: Action query time = 2.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5526
+t=42: Selected seed 195 with value = 0.5526
+Query 1/1: Action query time = 2.306 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6293
+t=58: Selected seed 195 with value = 0.6293
+Query 1/1: Action query time = 2.215 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7993
+t=74: Selected seed 195 with value = 0.7993
+Query 1/1: Action query time = 1.797 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=90: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 1.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=106: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 2.346 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6487
+t=122: Selected seed 195 with value = 0.6487
+Query 1/1: Action query time = 1.780 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=138: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 1.882 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5543
+t=154: Selected seed 195 with value = 0.5543
+Query 1/1: Action query time = 1.794 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7001
+t=170: Selected seed 195 with value = 0.7001
+Query 1/1: Action query time = 2.687 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=186: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 2.594 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7997
+t=202: Selected seed 195 with value = 0.7997
+Query 1/1: Action query time = 2.671 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9184
+t=218: Selected seed 195 with value = 0.9184
+Query 1/1: Action query time = 1.882 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=234: Selected seed 195 with value = 0.9923
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=17--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=17--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 12 (70.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 18...
+Query 1/1: Action query time = 2.710 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3675
+t=10: Selected seed 195 with value = 0.3675
+Query 1/1: Action query time = 2.656 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3885
+t=26: Selected seed 195 with value = 0.3885
+Query 1/1: Action query time = 2.548 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5846
+t=42: Selected seed 195 with value = 0.5846
+Query 1/1: Action query time = 2.384 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6846
+t=58: Selected seed 195 with value = 0.6846
+Query 1/1: Action query time = 2.184 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7981
+t=74: Selected seed 195 with value = 0.7981
+Query 1/1: Action query time = 1.945 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8905
+t=90: Selected seed 195 with value = 0.8905
+Query 1/1: Action query time = 1.780 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.796 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=122: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 2.183 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6494
+t=138: Selected seed 195 with value = 0.6494
+Query 1/1: Action query time = 2.452 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7877
+t=154: Selected seed 195 with value = 0.7877
+Query 1/1: Action query time = 2.595 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8916
+t=170: Selected seed 195 with value = 0.8916
+Query 1/1: Action query time = 2.335 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=186: Selected seed 195 with value = 0.9834
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=18--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=18--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 13 (72.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 19...
+Query 1/1: Action query time = 2.591 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4017
+t=10: Selected seed 195 with value = 0.4017
+Query 1/1: Action query time = 2.569 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4561
+t=26: Selected seed 195 with value = 0.4561
+Query 1/1: Action query time = 1.780 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=42: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 1.936 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6223
+t=58: Selected seed 195 with value = 0.6223
+Query 1/1: Action query time = 3.249 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7301
+t=74: Selected seed 195 with value = 0.7301
+Query 1/1: Action query time = 2.029 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8745
+t=90: Selected seed 195 with value = 0.8745
+Query 1/1: Action query time = 1.781 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=106: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 2.241 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6821
+t=122: Selected seed 195 with value = 0.6821
+Query 1/1: Action query time = 2.368 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6613
+t=138: Selected seed 195 with value = 0.6613
+Query 1/1: Action query time = 2.468 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7844
+t=154: Selected seed 195 with value = 0.7844
+Query 1/1: Action query time = 2.405 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8911
+t=170: Selected seed 195 with value = 0.8911
+Query 1/1: Action query time = 2.120 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=19--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=19--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 14 (73.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 20...
+Query 1/1: Action query time = 3.409 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3834
+t=10: Selected seed 195 with value = 0.3834
+Query 1/1: Action query time = 2.876 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4690
+t=26: Selected seed 195 with value = 0.4690
+Query 1/1: Action query time = 2.397 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5757
+t=42: Selected seed 195 with value = 0.5757
+Query 1/1: Action query time = 2.296 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6532
+t=58: Selected seed 195 with value = 0.6532
+Query 1/1: Action query time = 2.335 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7445
+t=74: Selected seed 195 with value = 0.7445
+Query 1/1: Action query time = 2.403 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8869
+t=90: Selected seed 195 with value = 0.8869
+Query 1/1: Action query time = 2.088 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=106: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 2.382 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6512
+t=122: Selected seed 195 with value = 0.6512
+Query 1/1: Action query time = 1.364 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5944
+t=138: Selected seed 195 with value = 0.5944
+Query 1/1: Action query time = 1.337 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7195
+t=154: Selected seed 195 with value = 0.7195
+Query 1/1: Action query time = 1.508 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8976
+t=170: Selected seed 195 with value = 0.8976
+Query 1/1: Action query time = 2.386 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=186: Selected seed 195 with value = 0.9838
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=20--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=20--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 15 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 21...
+Query 1/1: Action query time = 2.638 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4320
+t=10: Selected seed 195 with value = 0.4320
+Query 1/1: Action query time = 2.338 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5064
+t=26: Selected seed 195 with value = 0.5064
+Query 1/1: Action query time = 2.408 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5502
+t=42: Selected seed 195 with value = 0.5502
+Query 1/1: Action query time = 2.289 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5130
+t=58: Selected seed 195 with value = 0.5130
+Query 1/1: Action query time = 1.228 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=74: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 1.017 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4721
+t=90: Selected seed 195 with value = 0.4721
+Query 1/1: Action query time = 1.217 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4633
+t=106: Selected seed 195 with value = 0.4633
+Query 1/1: Action query time = 1.276 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4540
+t=122: Selected seed 195 with value = 0.4540
+Query 1/1: Action query time = 1.926 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4510
+t=138: Selected seed 195 with value = 0.4510
+Query 1/1: Action query time = 2.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2150
+t=154: Selected seed 195 with value = 0.2150
+Query 1/1: Action query time = 3.225 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6768
+t=170: Selected seed 195 with value = 0.6768
+Query 1/1: Action query time = 2.458 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8077
+t=186: Selected seed 195 with value = 0.8077
+Query 1/1: Action query time = 2.166 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=202: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 2.290 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=218: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 2.594 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6558
+t=234: Selected seed 195 with value = 0.6558
+Query 1/1: Action query time = 1.556 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7075
+t=250: Selected seed 195 with value = 0.7075
+Query 1/1: Action query time = 1.473 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7961
+t=266: Selected seed 195 with value = 0.7961
+Query 1/1: Action query time = 1.749 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9170
+t=282: Selected seed 195 with value = 0.9170
+Query 1/1: Action query time = 2.329 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=298: Selected seed 195 with value = 0.9383
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=21--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=21--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 21
+# successes: 15 (71.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 22...
+Query 1/1: Action query time = 3.440 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3570
+t=10: Selected seed 195 with value = 0.3570
+Query 1/1: Action query time = 2.798 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4717
+t=26: Selected seed 195 with value = 0.4717
+Query 1/1: Action query time = 3.361 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5619
+t=42: Selected seed 195 with value = 0.5619
+Query 1/1: Action query time = 2.566 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6353
+t=58: Selected seed 195 with value = 0.6353
+Query 1/1: Action query time = 2.167 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7604
+t=74: Selected seed 195 with value = 0.7604
+Query 1/1: Action query time = 3.057 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=90: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 2.374 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=106: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 2.476 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6189
+t=122: Selected seed 195 with value = 0.6189
+Query 1/1: Action query time = 2.518 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5770
+t=138: Selected seed 195 with value = 0.5770
+Query 1/1: Action query time = 2.467 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7556
+t=154: Selected seed 195 with value = 0.7556
+Query 1/1: Action query time = 2.432 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=170: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 2.545 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=186: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 2.348 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9335
+t=202: Selected seed 195 with value = 0.9335
+Query 1/1: Action query time = 2.452 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=218: Selected seed 195 with value = 0.9561
+Query 1/1: Action query time = 1.369 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9217
+t=234: Selected seed 195 with value = 0.9217
+Query 1/1: Action query time = 1.239 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9014
+t=250: Selected seed 195 with value = 0.9014
+Query 1/1: Action query time = 2.448 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8957
+t=266: Selected seed 195 with value = 0.8957
+Query 1/1: Action query time = 2.764 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8961
+t=282: Selected seed 195 with value = 0.8961
+Query 1/1: Action query time = 2.694 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=298: Selected seed 195 with value = 0.8967
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=22--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=22--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 22
+# successes: 15 (68.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 23...
+Query 1/1: Action query time = 1.585 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3730
+t=10: Selected seed 195 with value = 0.3730
+Query 1/1: Action query time = 1.600 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4809
+t=26: Selected seed 195 with value = 0.4809
+Query 1/1: Action query time = 1.731 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5544
+t=42: Selected seed 195 with value = 0.5544
+Query 1/1: Action query time = 1.548 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6537
+t=58: Selected seed 195 with value = 0.6537
+Query 1/1: Action query time = 1.549 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7707
+t=74: Selected seed 195 with value = 0.7707
+Query 1/1: Action query time = 2.587 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8722
+t=90: Selected seed 195 with value = 0.8722
+Query 1/1: Action query time = 2.141 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=106: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 2.553 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=122: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 1.722 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7373
+t=138: Selected seed 195 with value = 0.7373
+Query 1/1: Action query time = 2.163 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=154: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 3.049 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8105
+t=170: Selected seed 195 with value = 0.8105
+Query 1/1: Action query time = 2.821 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8406
+t=186: Selected seed 195 with value = 0.8406
+Query 1/1: Action query time = 2.239 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=202: Selected seed 195 with value = 0.9659
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=23--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=23--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 16 (69.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 24...
+Query 1/1: Action query time = 1.475 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3981
+t=10: Selected seed 195 with value = 0.3981
+Query 1/1: Action query time = 2.065 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4815
+t=26: Selected seed 195 with value = 0.4815
+Query 1/1: Action query time = 2.340 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5705
+t=42: Selected seed 195 with value = 0.5705
+Query 1/1: Action query time = 2.385 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6558
+t=58: Selected seed 195 with value = 0.6558
+Query 1/1: Action query time = 2.330 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7375
+t=74: Selected seed 195 with value = 0.7375
+Query 1/1: Action query time = 2.522 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=90: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 2.538 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=106: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 1.651 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6278
+t=122: Selected seed 195 with value = 0.6278
+Query 1/1: Action query time = 1.622 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5250
+t=138: Selected seed 195 with value = 0.5250
+Query 1/1: Action query time = 1.389 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6017
+t=154: Selected seed 195 with value = 0.6017
+Query 1/1: Action query time = 1.594 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5534
+t=170: Selected seed 195 with value = 0.5534
+Query 1/1: Action query time = 1.814 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6686
+t=186: Selected seed 195 with value = 0.6686
+Query 1/1: Action query time = 1.951 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7589
+t=202: Selected seed 195 with value = 0.7589
+Query 1/1: Action query time = 2.089 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7857
+t=218: Selected seed 195 with value = 0.7857
+Query 1/1: Action query time = 1.728 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=234: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 1.242 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=24--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=24--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 17 (70.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 25...
+Query 1/1: Action query time = 1.367 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3574
+t=10: Selected seed 195 with value = 0.3574
+Query 1/1: Action query time = 1.405 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4768
+t=26: Selected seed 195 with value = 0.4768
+Query 1/1: Action query time = 2.055 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5519
+t=42: Selected seed 195 with value = 0.5519
+Query 1/1: Action query time = 1.623 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6329
+t=58: Selected seed 195 with value = 0.6329
+Query 1/1: Action query time = 1.662 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7618
+t=74: Selected seed 195 with value = 0.7618
+Query 1/1: Action query time = 1.476 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8780
+t=90: Selected seed 195 with value = 0.8780
+Query 1/1: Action query time = 1.433 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=106: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 1.475 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=122: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 1.493 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5832
+t=138: Selected seed 195 with value = 0.5832
+Query 1/1: Action query time = 1.390 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7655
+t=154: Selected seed 195 with value = 0.7655
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8098
+t=170: Selected seed 195 with value = 0.8098
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9441
+t=186: Selected seed 195 with value = 0.9441
+Query 1/1: Action query time = 1.014 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=202: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=25--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=25--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 18 (72.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 26...
+Query 1/1: Action query time = 1.461 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3927
+t=10: Selected seed 195 with value = 0.3927
+Query 1/1: Action query time = 1.529 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=26: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 1.686 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5787
+t=42: Selected seed 195 with value = 0.5787
+Query 1/1: Action query time = 1.708 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6457
+t=58: Selected seed 195 with value = 0.6457
+Query 1/1: Action query time = 1.070 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7289
+t=74: Selected seed 195 with value = 0.7289
+Query 1/1: Action query time = 1.135 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8897
+t=90: Selected seed 195 with value = 0.8897
+Query 1/1: Action query time = 1.182 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=106: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 1.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6378
+t=122: Selected seed 195 with value = 0.6378
+Query 1/1: Action query time = 1.634 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7875
+t=138: Selected seed 195 with value = 0.7875
+Query 1/1: Action query time = 1.487 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8519
+t=154: Selected seed 195 with value = 0.8519
+Query 1/1: Action query time = 1.411 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=170: Selected seed 195 with value = 0.9884
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=26--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=26--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 19 (73.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 27...
+Query 1/1: Action query time = 1.355 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3607
+t=10: Selected seed 195 with value = 0.3607
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4537
+t=26: Selected seed 195 with value = 0.4537
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5093
+t=42: Selected seed 195 with value = 0.5093
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6395
+t=58: Selected seed 195 with value = 0.6395
+Query 1/1: Action query time = 1.210 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7114
+t=74: Selected seed 195 with value = 0.7114
+Query 1/1: Action query time = 1.196 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8552
+t=90: Selected seed 195 with value = 0.8552
+Query 1/1: Action query time = 1.249 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=106: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 1.236 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=122: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 1.312 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6795
+t=138: Selected seed 195 with value = 0.6795
+Query 1/1: Action query time = 1.309 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7880
+t=154: Selected seed 195 with value = 0.7880
+Query 1/1: Action query time = 1.311 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=170: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 1.319 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=186: Selected seed 195 with value = 0.9968
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=27--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=27--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 20 (74.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 28...
+Query 1/1: Action query time = 1.403 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3603
+t=10: Selected seed 195 with value = 0.3603
+Query 1/1: Action query time = 1.426 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4685
+t=26: Selected seed 195 with value = 0.4685
+Query 1/1: Action query time = 1.489 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=42: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 1.492 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5980
+t=58: Selected seed 195 with value = 0.5980
+Query 1/1: Action query time = 1.486 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=74: Selected seed 195 with value = 0.7025
+Query 1/1: Action query time = 1.509 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8576
+t=90: Selected seed 195 with value = 0.8576
+Query 1/1: Action query time = 1.620 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=106: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 1.621 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=122: Selected seed 195 with value = 0.6121
+Query 1/1: Action query time = 1.390 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5872
+t=138: Selected seed 195 with value = 0.5872
+Query 1/1: Action query time = 1.345 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7876
+t=154: Selected seed 195 with value = 0.7876
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8978
+t=170: Selected seed 195 with value = 0.8978
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9358
+t=186: Selected seed 195 with value = 0.9358
+Query 1/1: Action query time = 1.002 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=202: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 1.618 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6580
+t=218: Selected seed 195 with value = 0.6580
+Query 1/1: Action query time = 1.540 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=234: Selected seed 195 with value = 0.9152
+Query 1/1: Action query time = 1.583 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6426
+t=250: Selected seed 195 with value = 0.6426
+Query 1/1: Action query time = 1.572 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8515
+t=266: Selected seed 195 with value = 0.8515
+Query 1/1: Action query time = 1.518 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=282: Selected seed 195 with value = 0.9148
+Query 1/1: Action query time = 1.455 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9139
+t=298: Selected seed 195 with value = 0.9139
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=28--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=28--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 28
+# successes: 20 (71.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 29...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3135
+t=10: Selected seed 195 with value = 0.3135
+Query 1/1: Action query time = 1.335 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4365
+t=26: Selected seed 195 with value = 0.4365
+Query 1/1: Action query time = 1.317 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5729
+t=42: Selected seed 195 with value = 0.5729
+Query 1/1: Action query time = 1.331 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6735
+t=58: Selected seed 195 with value = 0.6735
+Query 1/1: Action query time = 1.336 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8021
+t=74: Selected seed 195 with value = 0.8021
+Query 1/1: Action query time = 1.333 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9143
+t=90: Selected seed 195 with value = 0.9143
+Query 1/1: Action query time = 1.331 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.294 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6412
+t=122: Selected seed 195 with value = 0.6412
+Query 1/1: Action query time = 1.236 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6753
+t=138: Selected seed 195 with value = 0.6753
+Query 1/1: Action query time = 1.191 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7833
+t=154: Selected seed 195 with value = 0.7833
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8604
+t=170: Selected seed 195 with value = 0.8604
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=186: Selected seed 195 with value = 0.9725
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=29--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=29--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 21 (72.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 30...
+Query 1/1: Action query time = 1.354 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4118
+t=10: Selected seed 195 with value = 0.4118
+Query 1/1: Action query time = 1.334 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4887
+t=26: Selected seed 195 with value = 0.4887
+Query 1/1: Action query time = 1.349 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5466
+t=42: Selected seed 195 with value = 0.5466
+Query 1/1: Action query time = 1.352 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=58: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 1.383 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7397
+t=74: Selected seed 195 with value = 0.7397
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8698
+t=90: Selected seed 195 with value = 0.8698
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=106: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6074
+t=122: Selected seed 195 with value = 0.6074
+Query 1/1: Action query time = 1.380 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6849
+t=138: Selected seed 195 with value = 0.6849
+Query 1/1: Action query time = 1.323 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7895
+t=154: Selected seed 195 with value = 0.7895
+Query 1/1: Action query time = 1.310 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=170: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 1.316 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9420
+t=186: Selected seed 195 with value = 0.9420
+Query 1/1: Action query time = 1.296 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9478
+t=202: Selected seed 195 with value = 0.9478
+Query 1/1: Action query time = 1.281 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=218: Selected seed 195 with value = 0.9479
+Query 1/1: Action query time = 1.306 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=234: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 1.342 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=250: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=266: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=282: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 1.013 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=30--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=30--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 30
+# successes: 21 (70.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 31...
+Query 1/1: Action query time = 1.248 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3962
+t=10: Selected seed 195 with value = 0.3962
+Query 1/1: Action query time = 1.281 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4643
+t=26: Selected seed 195 with value = 0.4643
+Query 1/1: Action query time = 1.285 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=42: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 1.280 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6617
+t=58: Selected seed 195 with value = 0.6617
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7704
+t=74: Selected seed 195 with value = 0.7704
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8610
+t=90: Selected seed 195 with value = 0.8610
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.339 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=122: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 1.286 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7612
+t=138: Selected seed 195 with value = 0.7612
+Query 1/1: Action query time = 1.226 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6445
+t=154: Selected seed 195 with value = 0.6445
+Query 1/1: Action query time = 1.233 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7051
+t=170: Selected seed 195 with value = 0.7051
+Query 1/1: Action query time = 1.178 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8419
+t=186: Selected seed 195 with value = 0.8419
+Query 1/1: Action query time = 1.195 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8361
+t=202: Selected seed 195 with value = 0.8361
+Query 1/1: Action query time = 1.178 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8245
+t=218: Selected seed 195 with value = 0.8245
+Query 1/1: Action query time = 1.164 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8200
+t=234: Selected seed 195 with value = 0.8200
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8023
+t=250: Selected seed 195 with value = 0.8023
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=266: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 0.985 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=282: Selected seed 195 with value = 0.9616
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8742
+t=298: Selected seed 195 with value = 0.8742
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=31--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=31--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 31
+# successes: 21 (67.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 32...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4147
+t=10: Selected seed 195 with value = 0.4147
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4763
+t=26: Selected seed 195 with value = 0.4763
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5676
+t=42: Selected seed 195 with value = 0.5676
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6628
+t=58: Selected seed 195 with value = 0.6628
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8114
+t=74: Selected seed 195 with value = 0.8114
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9190
+t=90: Selected seed 195 with value = 0.9190
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6779
+t=122: Selected seed 195 with value = 0.6779
+Query 1/1: Action query time = 0.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7233
+t=138: Selected seed 195 with value = 0.7233
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8851
+t=154: Selected seed 195 with value = 0.8851
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=170: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9488
+t=186: Selected seed 195 with value = 0.9488
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=202: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=218: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.968 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=266: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=282: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=298: Selected seed 195 with value = 0.9654
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=32--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=32--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 21 (65.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 33...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4017
+t=10: Selected seed 195 with value = 0.4017
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4704
+t=26: Selected seed 195 with value = 0.4704
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5453
+t=42: Selected seed 195 with value = 0.5453
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6040
+t=58: Selected seed 195 with value = 0.6040
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7463
+t=74: Selected seed 195 with value = 0.7463
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8674
+t=90: Selected seed 195 with value = 0.8674
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9560
+t=106: Selected seed 195 with value = 0.9560
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=122: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6506
+t=138: Selected seed 195 with value = 0.6506
+Query 1/1: Action query time = 0.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6347
+t=154: Selected seed 195 with value = 0.6347
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5477
+t=170: Selected seed 195 with value = 0.5477
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=186: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7045
+t=202: Selected seed 195 with value = 0.7045
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8508
+t=218: Selected seed 195 with value = 0.8508
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9732
+t=234: Selected seed 195 with value = 0.9732
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=33--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=33--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 22 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 34...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3560
+t=10: Selected seed 195 with value = 0.3560
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4675
+t=26: Selected seed 195 with value = 0.4675
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5568
+t=42: Selected seed 195 with value = 0.5568
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6267
+t=58: Selected seed 195 with value = 0.6267
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7647
+t=74: Selected seed 195 with value = 0.7647
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8723
+t=90: Selected seed 195 with value = 0.8723
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=106: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 0.951 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8212
+t=122: Selected seed 195 with value = 0.8212
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7009
+t=138: Selected seed 195 with value = 0.7009
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7879
+t=154: Selected seed 195 with value = 0.7879
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=170: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 0.954 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=186: Selected seed 195 with value = 0.9830
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=34--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=34--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 23 (67.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 35...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4295
+t=10: Selected seed 195 with value = 0.4295
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4800
+t=26: Selected seed 195 with value = 0.4800
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5672
+t=42: Selected seed 195 with value = 0.5672
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6712
+t=58: Selected seed 195 with value = 0.6712
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=74: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=90: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=106: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6891
+t=122: Selected seed 195 with value = 0.6891
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7962
+t=138: Selected seed 195 with value = 0.7962
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5762
+t=154: Selected seed 195 with value = 0.5762
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=170: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6462
+t=186: Selected seed 195 with value = 0.6462
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7351
+t=202: Selected seed 195 with value = 0.7351
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8649
+t=218: Selected seed 195 with value = 0.8649
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=234: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=35--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=35--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 24 (68.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 36...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4463
+t=10: Selected seed 195 with value = 0.4463
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5146
+t=26: Selected seed 195 with value = 0.5146
+Query 1/1: Action query time = 0.948 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5298
+t=42: Selected seed 195 with value = 0.5298
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6449
+t=58: Selected seed 195 with value = 0.6449
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7076
+t=74: Selected seed 195 with value = 0.7076
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8920
+t=90: Selected seed 195 with value = 0.8920
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=106: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6486
+t=122: Selected seed 195 with value = 0.6486
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4695
+t=138: Selected seed 195 with value = 0.4695
+Query 1/1: Action query time = 0.984 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=154: Selected seed 195 with value = 0.8775
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=170: Selected seed 195 with value = 0.9939
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=36--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=36--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 25 (69.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 37...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3775
+t=10: Selected seed 195 with value = 0.3775
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4566
+t=26: Selected seed 195 with value = 0.4566
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5434
+t=42: Selected seed 195 with value = 0.5434
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6724
+t=58: Selected seed 195 with value = 0.6724
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7594
+t=74: Selected seed 195 with value = 0.7594
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8998
+t=90: Selected seed 195 with value = 0.8998
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=106: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6580
+t=122: Selected seed 195 with value = 0.6580
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8003
+t=138: Selected seed 195 with value = 0.8003
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=154: Selected seed 195 with value = 0.8775
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=186: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7235
+t=202: Selected seed 195 with value = 0.7235
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9150
+t=218: Selected seed 195 with value = 0.9150
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7405
+t=234: Selected seed 195 with value = 0.7405
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8876
+t=250: Selected seed 195 with value = 0.8876
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=266: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8825
+t=282: Selected seed 195 with value = 0.8825
+Query 1/1: Action query time = 0.961 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=298: Selected seed 195 with value = 0.8863
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=37--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=37--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 37
+# successes: 25 (67.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 38...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3381
+t=10: Selected seed 195 with value = 0.3381
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4806
+t=26: Selected seed 195 with value = 0.4806
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5523
+t=42: Selected seed 195 with value = 0.5523
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6273
+t=58: Selected seed 195 with value = 0.6273
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7220
+t=74: Selected seed 195 with value = 0.7220
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8567
+t=90: Selected seed 195 with value = 0.8567
+Query 1/1: Action query time = 0.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=106: Selected seed 195 with value = 0.9917
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6198
+t=122: Selected seed 195 with value = 0.6198
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6870
+t=138: Selected seed 195 with value = 0.6870
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7832
+t=154: Selected seed 195 with value = 0.7832
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8005
+t=170: Selected seed 195 with value = 0.8005
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8492
+t=186: Selected seed 195 with value = 0.8492
+Query 1/1: Action query time = 0.955 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8298
+t=202: Selected seed 195 with value = 0.8298
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=218: Selected seed 195 with value = 0.9878
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=38--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=38--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 26 (68.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 39...
+Query 1/1: Action query time = 0.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3669
+t=10: Selected seed 195 with value = 0.3669
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4712
+t=26: Selected seed 195 with value = 0.4712
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5650
+t=42: Selected seed 195 with value = 0.5650
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6328
+t=58: Selected seed 195 with value = 0.6328
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7568
+t=74: Selected seed 195 with value = 0.7568
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8673
+t=90: Selected seed 195 with value = 0.8673
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=106: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5722
+t=122: Selected seed 195 with value = 0.5722
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5173
+t=138: Selected seed 195 with value = 0.5173
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6625
+t=154: Selected seed 195 with value = 0.6625
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7743
+t=170: Selected seed 195 with value = 0.7743
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=186: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=39--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=39--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 27 (69.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 40...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4203
+t=10: Selected seed 195 with value = 0.4203
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4901
+t=26: Selected seed 195 with value = 0.4901
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5386
+t=42: Selected seed 195 with value = 0.5386
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6488
+t=58: Selected seed 195 with value = 0.6488
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7843
+t=74: Selected seed 195 with value = 0.7843
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=90: Selected seed 195 with value = 0.9086
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=106: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5784
+t=122: Selected seed 195 with value = 0.5784
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6347
+t=138: Selected seed 195 with value = 0.6347
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=154: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 0.959 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9381
+t=170: Selected seed 195 with value = 0.9381
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=186: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9353
+t=202: Selected seed 195 with value = 0.9353
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=218: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=234: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=40--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=40--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 27 (67.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 41...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3902
+t=10: Selected seed 195 with value = 0.3902
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4513
+t=26: Selected seed 195 with value = 0.4513
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5375
+t=42: Selected seed 195 with value = 0.5375
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6272
+t=58: Selected seed 195 with value = 0.6272
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6991
+t=74: Selected seed 195 with value = 0.6991
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9124
+t=90: Selected seed 195 with value = 0.9124
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=106: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7505
+t=122: Selected seed 195 with value = 0.7505
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6676
+t=138: Selected seed 195 with value = 0.6676
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7300
+t=154: Selected seed 195 with value = 0.7300
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8412
+t=170: Selected seed 195 with value = 0.8412
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=186: Selected seed 195 with value = 0.9928
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=41--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=41--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 28 (68.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 42...
+Query 1/1: Action query time = 0.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4156
+t=10: Selected seed 195 with value = 0.4156
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4781
+t=26: Selected seed 195 with value = 0.4781
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5693
+t=42: Selected seed 195 with value = 0.5693
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6625
+t=58: Selected seed 195 with value = 0.6625
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=74: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9288
+t=90: Selected seed 195 with value = 0.9288
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=106: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 0.951 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6226
+t=122: Selected seed 195 with value = 0.6226
+Query 1/1: Action query time = 0.952 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5718
+t=138: Selected seed 195 with value = 0.5718
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=154: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 0.952 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8830
+t=170: Selected seed 195 with value = 0.8830
+Query 1/1: Action query time = 0.952 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=186: Selected seed 195 with value = 0.9916
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=42--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=42--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 29 (69.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 43...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3892
+t=10: Selected seed 195 with value = 0.3892
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4725
+t=26: Selected seed 195 with value = 0.4725
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5578
+t=42: Selected seed 195 with value = 0.5578
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7027
+t=58: Selected seed 195 with value = 0.7027
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8302
+t=74: Selected seed 195 with value = 0.8302
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9277
+t=90: Selected seed 195 with value = 0.9277
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=106: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6025
+t=122: Selected seed 195 with value = 0.6025
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6128
+t=138: Selected seed 195 with value = 0.6128
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6919
+t=154: Selected seed 195 with value = 0.6919
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5798
+t=170: Selected seed 195 with value = 0.5798
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7743
+t=186: Selected seed 195 with value = 0.7743
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8264
+t=202: Selected seed 195 with value = 0.8264
+Query 1/1: Action query time = 0.953 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=218: Selected seed 195 with value = 0.9819
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=43--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=43--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 30 (69.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 44...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4153
+t=10: Selected seed 195 with value = 0.4153
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4859
+t=26: Selected seed 195 with value = 0.4859
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5529
+t=42: Selected seed 195 with value = 0.5529
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6198
+t=58: Selected seed 195 with value = 0.6198
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7275
+t=74: Selected seed 195 with value = 0.7275
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=90: Selected seed 195 with value = 0.8778
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=106: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6327
+t=122: Selected seed 195 with value = 0.6327
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7909
+t=138: Selected seed 195 with value = 0.7909
+Query 1/1: Action query time = 0.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8867
+t=154: Selected seed 195 with value = 0.8867
+Query 1/1: Action query time = 0.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=170: Selected seed 195 with value = 0.9705
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=44--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=44--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 31 (70.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 45...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3696
+t=10: Selected seed 195 with value = 0.3696
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4490
+t=26: Selected seed 195 with value = 0.4490
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5299
+t=42: Selected seed 195 with value = 0.5299
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6198
+t=58: Selected seed 195 with value = 0.6198
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6922
+t=74: Selected seed 195 with value = 0.6922
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8862
+t=90: Selected seed 195 with value = 0.8862
+Query 1/1: Action query time = 0.951 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=106: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.952 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6632
+t=122: Selected seed 195 with value = 0.6632
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7693
+t=138: Selected seed 195 with value = 0.7693
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8140
+t=154: Selected seed 195 with value = 0.8140
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=170: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 0.957 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=186: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=202: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6999
+t=218: Selected seed 195 with value = 0.6999
+Query 1/1: Action query time = 0.961 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=234: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 1.001 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=250: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=45--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=45--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 45
+# successes: 31 (68.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 46...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3843
+t=10: Selected seed 195 with value = 0.3843
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4771
+t=26: Selected seed 195 with value = 0.4771
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5585
+t=42: Selected seed 195 with value = 0.5585
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6354
+t=58: Selected seed 195 with value = 0.6354
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7460
+t=74: Selected seed 195 with value = 0.7460
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8658
+t=90: Selected seed 195 with value = 0.8658
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=106: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6313
+t=122: Selected seed 195 with value = 0.6313
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7779
+t=138: Selected seed 195 with value = 0.7779
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7839
+t=154: Selected seed 195 with value = 0.7839
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=170: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=186: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8225
+t=202: Selected seed 195 with value = 0.8225
+Query 1/1: Action query time = 0.995 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8631
+t=218: Selected seed 195 with value = 0.8631
+Query 1/1: Action query time = 0.962 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8790
+t=234: Selected seed 195 with value = 0.8790
+Query 1/1: Action query time = 0.953 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=250: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 0.962 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=266: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=282: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.957 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=298: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=46--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=46--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 46
+# successes: 31 (67.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 47...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3876
+t=10: Selected seed 195 with value = 0.3876
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4827
+t=26: Selected seed 195 with value = 0.4827
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5550
+t=42: Selected seed 195 with value = 0.5550
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6432
+t=58: Selected seed 195 with value = 0.6432
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=74: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8732
+t=90: Selected seed 195 with value = 0.8732
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=106: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6011
+t=122: Selected seed 195 with value = 0.6011
+Query 1/1: Action query time = 0.955 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7525
+t=138: Selected seed 195 with value = 0.7525
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=154: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 0.949 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=170: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=186: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=202: Selected seed 195 with value = 0.9273
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8486
+t=218: Selected seed 195 with value = 0.8486
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8736
+t=234: Selected seed 195 with value = 0.8736
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=250: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 0.951 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=266: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8783
+t=282: Selected seed 195 with value = 0.8783
+Query 1/1: Action query time = 0.955 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8759
+t=298: Selected seed 195 with value = 0.8759
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=47--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=47--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 47
+# successes: 31 (66.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 48...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3385
+t=10: Selected seed 195 with value = 0.3385
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4589
+t=26: Selected seed 195 with value = 0.4589
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5866
+t=42: Selected seed 195 with value = 0.5866
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6767
+t=58: Selected seed 195 with value = 0.6767
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=74: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9153
+t=90: Selected seed 195 with value = 0.9153
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=106: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6603
+t=122: Selected seed 195 with value = 0.6603
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7941
+t=138: Selected seed 195 with value = 0.7941
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8425
+t=154: Selected seed 195 with value = 0.8425
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9707
+t=170: Selected seed 195 with value = 0.9707
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=48--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=48--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 32 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 49...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4144
+t=10: Selected seed 195 with value = 0.4144
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4744
+t=26: Selected seed 195 with value = 0.4744
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5593
+t=42: Selected seed 195 with value = 0.5593
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6489
+t=58: Selected seed 195 with value = 0.6489
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7723
+t=74: Selected seed 195 with value = 0.7723
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=90: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=106: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=122: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6680
+t=138: Selected seed 195 with value = 0.6680
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7943
+t=154: Selected seed 195 with value = 0.7943
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8266
+t=170: Selected seed 195 with value = 0.8266
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=186: Selected seed 195 with value = 0.9809
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=49--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=49--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 33 (67.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 50...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3969
+t=10: Selected seed 195 with value = 0.3969
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4595
+t=26: Selected seed 195 with value = 0.4595
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5573
+t=42: Selected seed 195 with value = 0.5573
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6748
+t=58: Selected seed 195 with value = 0.6748
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7710
+t=74: Selected seed 195 with value = 0.7710
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=90: Selected seed 195 with value = 0.9017
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6222
+t=122: Selected seed 195 with value = 0.6222
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7220
+t=138: Selected seed 195 with value = 0.7220
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=154: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=170: Selected seed 195 with value = 0.9831
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--episode=50--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t3/2026_08_01-11_38_09--with_future_img--episode=50--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 34 (68.0%)
+Current task success rate: 0.68
+Current total success rate: 0.68
+Final results:
+Total episodes: 50
+Total successes: 34
+Overall success rate: 0.6800 (68.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-12_39_05--base40k_t3_shard13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-12_39_05--base40k_t3_shard13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..601eba228f51a3b0263e0e2023f108c2cdee6bea
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-12_39_05--base40k_t3_shard13.txt
@@ -0,0 +1,221 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40k_t3_shard13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.493 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1209
+t=10: Selected seed 195 with value = 0.1209
+Query 1/1: Action query time = 5.300 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1931
+t=26: Selected seed 195 with value = 0.1931
+Query 1/1: Action query time = 5.472 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2374
+t=42: Selected seed 195 with value = 0.2374
+Query 1/1: Action query time = 4.867 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2457
+t=58: Selected seed 195 with value = 0.2457
+Query 1/1: Action query time = 5.039 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3261
+t=74: Selected seed 195 with value = 0.3261
+Query 1/1: Action query time = 5.011 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4171
+t=90: Selected seed 195 with value = 0.4171
+Query 1/1: Action query time = 4.713 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4872
+t=106: Selected seed 195 with value = 0.4872
+Query 1/1: Action query time = 4.778 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5368
+t=122: Selected seed 195 with value = 0.5368
+Query 1/1: Action query time = 4.207 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6525
+t=138: Selected seed 195 with value = 0.6525
+Query 1/1: Action query time = 4.642 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6208
+t=154: Selected seed 195 with value = 0.6208
+Query 1/1: Action query time = 5.530 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5594
+t=170: Selected seed 195 with value = 0.5594
+Query 1/1: Action query time = 4.650 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5176
+t=186: Selected seed 195 with value = 0.5176
+Query 1/1: Action query time = 2.667 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6466
+t=202: Selected seed 195 with value = 0.6466
+Query 1/1: Action query time = 3.109 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7899
+t=218: Selected seed 195 with value = 0.7899
+Query 1/1: Action query time = 6.140 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9488
+t=234: Selected seed 195 with value = 0.9488
+Query 1/1: Action query time = 5.837 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40k_t3_shard13/2026_08_01-12_39_05--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.749 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1613
+t=10: Selected seed 195 with value = 0.1613
+Query 1/1: Action query time = 4.398 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2214
+t=26: Selected seed 195 with value = 0.2214
+Query 1/1: Action query time = 3.908 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2160
+t=42: Selected seed 195 with value = 0.2160
+Query 1/1: Action query time = 4.333 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2405
+t=58: Selected seed 195 with value = 0.2405
+Query 1/1: Action query time = 4.593 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3285
+t=74: Selected seed 195 with value = 0.3285
+Query 1/1: Action query time = 5.042 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3967
+t=90: Selected seed 195 with value = 0.3967
+Query 1/1: Action query time = 3.448 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4532
+t=106: Selected seed 195 with value = 0.4532
+Query 1/1: Action query time = 5.103 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5109
+t=122: Selected seed 195 with value = 0.5109
+Query 1/1: Action query time = 3.692 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5905
+t=138: Selected seed 195 with value = 0.5905
+Query 1/1: Action query time = 4.644 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7103
+t=154: Selected seed 195 with value = 0.7103
+Query 1/1: Action query time = 4.554 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7483
+t=170: Selected seed 195 with value = 0.7483
+Query 1/1: Action query time = 4.547 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8727
+t=186: Selected seed 195 with value = 0.8727
+Query 1/1: Action query time = 5.324 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8515
+t=202: Selected seed 195 with value = 0.8515
+Query 1/1: Action query time = 5.586 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9187
+t=218: Selected seed 195 with value = 0.9187
+Query 1/1: Action query time = 5.277 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=234: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 4.454 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=250: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 5.142 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=266: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 4.670 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=282: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 4.758 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=298: Selected seed 195 with value = 0.9876
+Saved rollout MP4 at path ./rollouts/base40k_t3_shard13/2026_08_01-12_39_05--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.558 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1513
+t=10: Selected seed 195 with value = 0.1513
+Query 1/1: Action query time = 4.002 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1958
+t=26: Selected seed 195 with value = 0.1958
+Query 1/1: Action query time = 3.912 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2352
+t=42: Selected seed 195 with value = 0.2352
+Query 1/1: Action query time = 2.615 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2826
+t=58: Selected seed 195 with value = 0.2826
+Query 1/1: Action query time = 2.247 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3398
+t=74: Selected seed 195 with value = 0.3398
+Query 1/1: Action query time = 1.893 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3988
+t=90: Selected seed 195 with value = 0.3988
+Query 1/1: Action query time = 2.450 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=106: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 2.512 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=122: Selected seed 195 with value = 0.5479
+Query 1/1: Action query time = 1.186 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6246
+t=138: Selected seed 195 with value = 0.6246
+Query 1/1: Action query time = 1.326 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=154: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 1.420 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7819
+t=170: Selected seed 195 with value = 0.7819
+Query 1/1: Action query time = 1.363 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9597
+t=186: Selected seed 195 with value = 0.9597
+Saved rollout MP4 at path ./rollouts/base40k_t3_shard13/2026_08_01-12_39_05--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f9559a8d214a5d938b43116ea6ad7e5e9d3c82b1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s05.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t1_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.837 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4926
+t=10: Selected seed 195 with value = 0.4926
+Query 1/1: Action query time = 4.347 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5694
+t=26: Selected seed 195 with value = 0.5694
+Query 1/1: Action query time = 5.152 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6755
+t=42: Selected seed 195 with value = 0.6755
+Query 1/1: Action query time = 5.848 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7892
+t=58: Selected seed 195 with value = 0.7892
+Query 1/1: Action query time = 5.208 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8839
+t=74: Selected seed 195 with value = 0.8839
+Query 1/1: Action query time = 2.669 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=90: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s05/2026_08_01-13_00_07--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.858 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4878
+t=10: Selected seed 195 with value = 0.4878
+Query 1/1: Action query time = 5.822 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5750
+t=26: Selected seed 195 with value = 0.5750
+Query 1/1: Action query time = 5.065 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7352
+t=42: Selected seed 195 with value = 0.7352
+Query 1/1: Action query time = 4.756 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7394
+t=58: Selected seed 195 with value = 0.7394
+Query 1/1: Action query time = 3.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8457
+t=74: Selected seed 195 with value = 0.8457
+Query 1/1: Action query time = 3.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=90: Selected seed 195 with value = 0.9728
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s05/2026_08_01-13_00_07--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.704 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5149
+t=10: Selected seed 195 with value = 0.5149
+Query 1/1: Action query time = 5.771 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5880
+t=26: Selected seed 195 with value = 0.5880
+Query 1/1: Action query time = 5.373 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6848
+t=42: Selected seed 195 with value = 0.6848
+Query 1/1: Action query time = 3.403 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=58: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 4.183 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=74: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 2.885 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=90: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s05/2026_08_01-13_00_07--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..933f176ab3187657331473b8e22a6889da6ef764
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s08.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t1_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.859 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5021
+t=10: Selected seed 195 with value = 0.5021
+Query 1/1: Action query time = 5.067 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5753
+t=26: Selected seed 195 with value = 0.5753
+Query 1/1: Action query time = 4.395 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=42: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 4.733 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7696
+t=58: Selected seed 195 with value = 0.7696
+Query 1/1: Action query time = 5.517 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8922
+t=74: Selected seed 195 with value = 0.8922
+Query 1/1: Action query time = 5.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=90: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s08/2026_08_01-13_00_07--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.841 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4910
+t=10: Selected seed 195 with value = 0.4910
+Query 1/1: Action query time = 1.512 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5804
+t=26: Selected seed 195 with value = 0.5804
+Query 1/1: Action query time = 3.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6967
+t=42: Selected seed 195 with value = 0.6967
+Query 1/1: Action query time = 5.447 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8179
+t=58: Selected seed 195 with value = 0.8179
+Query 1/1: Action query time = 5.548 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=74: Selected seed 195 with value = 0.9301
+Query 1/1: Action query time = 4.925 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s08/2026_08_01-13_00_07--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=10: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 3.389 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=26: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 2.621 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7036
+t=42: Selected seed 195 with value = 0.7036
+Query 1/1: Action query time = 5.665 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7157
+t=58: Selected seed 195 with value = 0.7157
+Query 1/1: Action query time = 4.704 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8210
+t=74: Selected seed 195 with value = 0.8210
+Query 1/1: Action query time = 4.410 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=90: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 4.009 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=106: Selected seed 195 with value = 0.9978
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s08/2026_08_01-13_00_07--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02b8de9c3de3fe16a15acb1d0b08349a01ab5524
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s10.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t1_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.431 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5013
+t=10: Selected seed 195 with value = 0.5013
+Query 1/1: Action query time = 5.651 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5822
+t=26: Selected seed 195 with value = 0.5822
+Query 1/1: Action query time = 4.603 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6675
+t=42: Selected seed 195 with value = 0.6675
+Query 1/1: Action query time = 4.231 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8083
+t=58: Selected seed 195 with value = 0.8083
+Query 1/1: Action query time = 5.316 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=74: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 4.041 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=90: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s10/2026_08_01-13_00_07--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.807 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5106
+t=10: Selected seed 195 with value = 0.5106
+Query 1/1: Action query time = 4.706 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5996
+t=26: Selected seed 195 with value = 0.5996
+Query 1/1: Action query time = 5.647 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7201
+t=42: Selected seed 195 with value = 0.7201
+Query 1/1: Action query time = 5.459 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8487
+t=58: Selected seed 195 with value = 0.8487
+Query 1/1: Action query time = 3.134 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9421
+t=74: Selected seed 195 with value = 0.9421
+Query 1/1: Action query time = 4.450 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=90: Selected seed 195 with value = 0.9895
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s10/2026_08_01-13_00_07--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.579 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4969
+t=10: Selected seed 195 with value = 0.4969
+Query 1/1: Action query time = 5.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=26: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 4.936 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6874
+t=42: Selected seed 195 with value = 0.6874
+Query 1/1: Action query time = 5.399 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8119
+t=58: Selected seed 195 with value = 0.8119
+Query 1/1: Action query time = 5.330 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9147
+t=74: Selected seed 195 with value = 0.9147
+Query 1/1: Action query time = 2.878 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=90: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s10/2026_08_01-13_00_07--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_02_58--demochan200_t3_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_02_58--demochan200_t3_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21b46b015e315a4de6c6bf1a3f2dfc827f7dce85
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_02_58--demochan200_t3_s03.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t3_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 1.588 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3801
+t=10: Selected seed 195 with value = 0.3801
+Query 1/1: Action query time = 1.529 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5386
+t=26: Selected seed 195 with value = 0.5386
+Query 1/1: Action query time = 2.116 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6850
+t=42: Selected seed 195 with value = 0.6850
+Query 1/1: Action query time = 4.505 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7014
+t=58: Selected seed 195 with value = 0.7014
+Query 1/1: Action query time = 4.880 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9563
+t=74: Selected seed 195 with value = 0.9563
+Query 1/1: Action query time = 5.302 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=90: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 5.433 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=106: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 5.007 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=122: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 4.923 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=138: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 5.023 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=154: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 5.008 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=170: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 4.952 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=186: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 5.035 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.204 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=218: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 5.139 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.788 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.067 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.154 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.141 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s03/2026_08_01-13_02_58--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.643 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3773
+t=10: Selected seed 195 with value = 0.3773
+Query 1/1: Action query time = 2.777 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5088
+t=26: Selected seed 195 with value = 0.5088
+Query 1/1: Action query time = 1.765 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6839
+t=42: Selected seed 195 with value = 0.6839
+Query 1/1: Action query time = 1.881 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6907
+t=58: Selected seed 195 with value = 0.6907
+Query 1/1: Action query time = 3.747 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7471
+t=74: Selected seed 195 with value = 0.7471
+Query 1/1: Action query time = 5.734 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9696
+t=90: Selected seed 195 with value = 0.9696
+Query 1/1: Action query time = 5.047 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=106: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 4.636 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=122: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 4.741 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=138: Selected seed 195 with value = 0.9751
+Query 1/1: Action query time = 5.599 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.112 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.150 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.340 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.804 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.028 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.416 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.242 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.100 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s03/2026_08_01-13_02_58--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.643 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4104
+t=10: Selected seed 195 with value = 0.4104
+Query 1/1: Action query time = 2.363 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5404
+t=26: Selected seed 195 with value = 0.5404
+Query 1/1: Action query time = 4.568 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6664
+t=42: Selected seed 195 with value = 0.6664
+Query 1/1: Action query time = 3.600 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6814
+t=58: Selected seed 195 with value = 0.6814
+Query 1/1: Action query time = 2.778 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6783
+t=74: Selected seed 195 with value = 0.6783
+Query 1/1: Action query time = 4.494 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8949
+t=90: Selected seed 195 with value = 0.8949
+Query 1/1: Action query time = 6.392 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8306
+t=106: Selected seed 195 with value = 0.8306
+Query 1/1: Action query time = 4.498 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6995
+t=122: Selected seed 195 with value = 0.6995
+Query 1/1: Action query time = 4.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8609
+t=138: Selected seed 195 with value = 0.8609
+Query 1/1: Action query time = 5.555 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=154: Selected seed 195 with value = 0.9291
+Query 1/1: Action query time = 5.497 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=170: Selected seed 195 with value = 0.9783
+Query 1/1: Action query time = 5.031 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=186: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 4.513 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.216 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.790 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.947 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.315 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.359 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.157 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s03/2026_08_01-13_02_58--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..81a20d0f301a45e88c737ad907c49ebfd7c5383b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s08.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t3_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 4.911 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3912
+t=10: Selected seed 195 with value = 0.3912
+Query 1/1: Action query time = 4.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5981
+t=26: Selected seed 195 with value = 0.5981
+Query 1/1: Action query time = 5.589 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6738
+t=42: Selected seed 195 with value = 0.6738
+Query 1/1: Action query time = 5.867 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6871
+t=58: Selected seed 195 with value = 0.6871
+Query 1/1: Action query time = 4.935 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9151
+t=74: Selected seed 195 with value = 0.9151
+Query 1/1: Action query time = 5.084 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=90: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 5.131 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=106: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 5.129 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9095
+t=122: Selected seed 195 with value = 0.9095
+Query 1/1: Action query time = 5.132 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8270
+t=138: Selected seed 195 with value = 0.8270
+Query 1/1: Action query time = 5.080 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9498
+t=154: Selected seed 195 with value = 0.9498
+Query 1/1: Action query time = 4.820 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=170: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 4.934 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.024 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.334 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.959 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.115 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.389 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.658 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.904 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s08/2026_08_01-13_03_00--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.682 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3734
+t=10: Selected seed 195 with value = 0.3734
+Query 1/1: Action query time = 4.823 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5071
+t=26: Selected seed 195 with value = 0.5071
+Query 1/1: Action query time = 4.864 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6844
+t=42: Selected seed 195 with value = 0.6844
+Query 1/1: Action query time = 5.049 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6989
+t=58: Selected seed 195 with value = 0.6989
+Query 1/1: Action query time = 4.820 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=74: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 4.902 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=90: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 5.292 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8218
+t=106: Selected seed 195 with value = 0.8218
+Query 1/1: Action query time = 4.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8132
+t=122: Selected seed 195 with value = 0.8132
+Query 1/1: Action query time = 5.056 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9195
+t=138: Selected seed 195 with value = 0.9195
+Query 1/1: Action query time = 4.874 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=154: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 4.922 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8598
+t=170: Selected seed 195 with value = 0.8598
+Query 1/1: Action query time = 5.128 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=186: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 5.182 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8057
+t=202: Selected seed 195 with value = 0.8057
+Query 1/1: Action query time = 4.868 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7955
+t=218: Selected seed 195 with value = 0.7955
+Query 1/1: Action query time = 4.878 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8087
+t=234: Selected seed 195 with value = 0.8087
+Query 1/1: Action query time = 4.375 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=250: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 3.507 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=266: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 4.320 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=282: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 4.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=298: Selected seed 195 with value = 0.9868
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s08/2026_08_01-13_03_00--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 1.909 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3919
+t=10: Selected seed 195 with value = 0.3919
+Query 1/1: Action query time = 3.811 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5695
+t=26: Selected seed 195 with value = 0.5695
+Query 1/1: Action query time = 5.098 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6485
+t=42: Selected seed 195 with value = 0.6485
+Query 1/1: Action query time = 6.476 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6909
+t=58: Selected seed 195 with value = 0.6909
+Query 1/1: Action query time = 5.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=74: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 5.728 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=90: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 5.427 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8200
+t=106: Selected seed 195 with value = 0.8200
+Query 1/1: Action query time = 5.269 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8557
+t=122: Selected seed 195 with value = 0.8557
+Query 1/1: Action query time = 4.941 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=138: Selected seed 195 with value = 0.9443
+Query 1/1: Action query time = 4.751 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=154: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 4.753 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=170: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 5.094 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=186: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 4.835 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.830 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.366 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.444 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.572 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.091 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.829 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s08/2026_08_01-13_03_00--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..76581e82c2b49a79af790f7b78f24c4793797f95
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s04.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t6_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.240 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4233
+t=10: Selected seed 195 with value = 0.4233
+Query 1/1: Action query time = 5.058 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5031
+t=26: Selected seed 195 with value = 0.5031
+Query 1/1: Action query time = 5.049 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6337
+t=42: Selected seed 195 with value = 0.6337
+Query 1/1: Action query time = 4.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6818
+t=58: Selected seed 195 with value = 0.6818
+Query 1/1: Action query time = 5.429 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5919
+t=74: Selected seed 195 with value = 0.5919
+Query 1/1: Action query time = 4.807 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=90: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 3.373 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6679
+t=106: Selected seed 195 with value = 0.6679
+Query 1/1: Action query time = 4.617 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=122: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 4.996 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8092
+t=138: Selected seed 195 with value = 0.8092
+Query 1/1: Action query time = 5.351 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=154: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 5.266 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=170: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 5.255 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=186: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 5.604 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.152 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.094 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.582 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.750 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.023 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=298: Selected seed 195 with value = 0.9934
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s04/2026_08_01-13_09_48--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.553 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4417
+t=10: Selected seed 195 with value = 0.4417
+Query 1/1: Action query time = 5.057 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5065
+t=26: Selected seed 195 with value = 0.5065
+Query 1/1: Action query time = 4.388 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6371
+t=42: Selected seed 195 with value = 0.6371
+Query 1/1: Action query time = 5.005 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7738
+t=58: Selected seed 195 with value = 0.7738
+Query 1/1: Action query time = 5.732 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8708
+t=74: Selected seed 195 with value = 0.8708
+Query 1/1: Action query time = 3.616 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=90: Selected seed 195 with value = 0.9806
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s04/2026_08_01-13_09_48--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.400 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4095
+t=10: Selected seed 195 with value = 0.4095
+Query 1/1: Action query time = 4.826 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4946
+t=26: Selected seed 195 with value = 0.4946
+Query 1/1: Action query time = 4.191 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6289
+t=42: Selected seed 195 with value = 0.6289
+Query 1/1: Action query time = 4.051 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7069
+t=58: Selected seed 195 with value = 0.7069
+Query 1/1: Action query time = 4.544 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8094
+t=74: Selected seed 195 with value = 0.8094
+Query 1/1: Action query time = 4.119 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9250
+t=90: Selected seed 195 with value = 0.9250
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s04/2026_08_01-13_09_48--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6225dc2f661fb4e88354406d48fbfdcd84e6ab39
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s06.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t6_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.470 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4612
+t=10: Selected seed 195 with value = 0.4612
+Query 1/1: Action query time = 4.807 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5265
+t=26: Selected seed 195 with value = 0.5265
+Query 1/1: Action query time = 4.790 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5888
+t=42: Selected seed 195 with value = 0.5888
+Query 1/1: Action query time = 3.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5645
+t=58: Selected seed 195 with value = 0.5645
+Query 1/1: Action query time = 4.573 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6086
+t=74: Selected seed 195 with value = 0.6086
+Query 1/1: Action query time = 4.164 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6230
+t=90: Selected seed 195 with value = 0.6230
+Query 1/1: Action query time = 4.721 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6374
+t=106: Selected seed 195 with value = 0.6374
+Query 1/1: Action query time = 5.051 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=122: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 5.645 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6802
+t=138: Selected seed 195 with value = 0.6802
+Query 1/1: Action query time = 5.356 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7090
+t=154: Selected seed 195 with value = 0.7090
+Query 1/1: Action query time = 5.091 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6474
+t=170: Selected seed 195 with value = 0.6474
+Query 1/1: Action query time = 4.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7418
+t=186: Selected seed 195 with value = 0.7418
+Query 1/1: Action query time = 5.104 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=202: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 4.824 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=218: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 5.037 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=234: Selected seed 195 with value = 0.9749
+Query 1/1: Action query time = 5.256 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=250: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 4.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=266: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 4.220 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=282: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 4.248 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=298: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s06/2026_08_01-13_09_48--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.500 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4397
+t=10: Selected seed 195 with value = 0.4397
+Query 1/1: Action query time = 5.426 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4606
+t=26: Selected seed 195 with value = 0.4606
+Query 1/1: Action query time = 4.443 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5737
+t=42: Selected seed 195 with value = 0.5737
+Query 1/1: Action query time = 4.624 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7229
+t=58: Selected seed 195 with value = 0.7229
+Query 1/1: Action query time = 4.558 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8205
+t=74: Selected seed 195 with value = 0.8205
+Query 1/1: Action query time = 3.778 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9610
+t=90: Selected seed 195 with value = 0.9610
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s06/2026_08_01-13_09_48--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.202 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4328
+t=10: Selected seed 195 with value = 0.4328
+Query 1/1: Action query time = 5.227 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5012
+t=26: Selected seed 195 with value = 0.5012
+Query 1/1: Action query time = 4.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6054
+t=42: Selected seed 195 with value = 0.6054
+Query 1/1: Action query time = 4.847 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7046
+t=58: Selected seed 195 with value = 0.7046
+Query 1/1: Action query time = 4.536 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8311
+t=74: Selected seed 195 with value = 0.8311
+Query 1/1: Action query time = 4.365 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9456
+t=90: Selected seed 195 with value = 0.9456
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s06/2026_08_01-13_09_48--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5cb59c1115e25f048f5ad600a081fb00cf72c6b7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s08.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t6_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 2.734 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4535
+t=10: Selected seed 195 with value = 0.4535
+Query 1/1: Action query time = 4.783 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4904
+t=26: Selected seed 195 with value = 0.4904
+Query 1/1: Action query time = 5.410 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6200
+t=42: Selected seed 195 with value = 0.6200
+Query 1/1: Action query time = 5.739 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7484
+t=58: Selected seed 195 with value = 0.7484
+Query 1/1: Action query time = 5.404 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8665
+t=74: Selected seed 195 with value = 0.8665
+Query 1/1: Action query time = 4.817 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=90: Selected seed 195 with value = 0.9537
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s08/2026_08_01-13_09_48--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.628 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4329
+t=10: Selected seed 195 with value = 0.4329
+Query 1/1: Action query time = 4.543 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5316
+t=26: Selected seed 195 with value = 0.5316
+Query 1/1: Action query time = 4.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6353
+t=42: Selected seed 195 with value = 0.6353
+Query 1/1: Action query time = 5.409 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6894
+t=58: Selected seed 195 with value = 0.6894
+Query 1/1: Action query time = 5.228 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8414
+t=74: Selected seed 195 with value = 0.8414
+Query 1/1: Action query time = 4.146 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=90: Selected seed 195 with value = 0.9556
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s08/2026_08_01-13_09_48--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.107 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4590
+t=10: Selected seed 195 with value = 0.4590
+Query 1/1: Action query time = 4.292 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5669
+t=26: Selected seed 195 with value = 0.5669
+Query 1/1: Action query time = 4.886 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6991
+t=42: Selected seed 195 with value = 0.6991
+Query 1/1: Action query time = 4.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=58: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 5.036 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8697
+t=74: Selected seed 195 with value = 0.8697
+Query 1/1: Action query time = 4.913 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=90: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 3.679 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=106: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 2.241 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=122: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 3.402 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=138: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 5.779 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=154: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 5.216 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.359 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.350 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.631 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.398 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.738 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.852 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=266: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 5.756 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=282: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 4.995 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=298: Selected seed 195 with value = 0.9950
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s08/2026_08_01-13_09_48--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aa2334a1bc54c1c75851a513281fab98a684a2e0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s00.txt
@@ -0,0 +1,304 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.075 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3368
+t=10: Selected seed 195 with value = 0.3368
+Query 1/1: Action query time = 2.526 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3986
+t=26: Selected seed 195 with value = 0.3986
+Query 1/1: Action query time = 4.383 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=42: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 3.742 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5755
+t=58: Selected seed 195 with value = 0.5755
+Query 1/1: Action query time = 4.867 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6767
+t=74: Selected seed 195 with value = 0.6767
+Query 1/1: Action query time = 4.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=90: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 5.679 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8815
+t=106: Selected seed 195 with value = 0.8815
+Query 1/1: Action query time = 4.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7551
+t=122: Selected seed 195 with value = 0.7551
+Query 1/1: Action query time = 5.094 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7465
+t=138: Selected seed 195 with value = 0.7465
+Query 1/1: Action query time = 4.926 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7516
+t=154: Selected seed 195 with value = 0.7516
+Query 1/1: Action query time = 4.838 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=170: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 2.447 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7563
+t=186: Selected seed 195 with value = 0.7563
+Query 1/1: Action query time = 4.015 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7600
+t=202: Selected seed 195 with value = 0.7600
+Query 1/1: Action query time = 3.756 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7611
+t=218: Selected seed 195 with value = 0.7611
+Query 1/1: Action query time = 5.280 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7593
+t=234: Selected seed 195 with value = 0.7593
+Query 1/1: Action query time = 5.153 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=250: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 5.304 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7637
+t=266: Selected seed 195 with value = 0.7637
+Query 1/1: Action query time = 4.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7612
+t=282: Selected seed 195 with value = 0.7612
+Query 1/1: Action query time = 5.011 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7597
+t=298: Selected seed 195 with value = 0.7597
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s00/2026_08_01-13_41_19--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.690 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3471
+t=10: Selected seed 195 with value = 0.3471
+Query 1/1: Action query time = 5.033 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4102
+t=26: Selected seed 195 with value = 0.4102
+Query 1/1: Action query time = 4.174 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4625
+t=42: Selected seed 195 with value = 0.4625
+Query 1/1: Action query time = 4.473 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5838
+t=58: Selected seed 195 with value = 0.5838
+Query 1/1: Action query time = 5.542 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6887
+t=74: Selected seed 195 with value = 0.6887
+Query 1/1: Action query time = 4.409 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=90: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 4.935 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8858
+t=106: Selected seed 195 with value = 0.8858
+Query 1/1: Action query time = 5.089 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7565
+t=122: Selected seed 195 with value = 0.7565
+Query 1/1: Action query time = 4.802 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7482
+t=138: Selected seed 195 with value = 0.7482
+Query 1/1: Action query time = 4.555 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7734
+t=154: Selected seed 195 with value = 0.7734
+Query 1/1: Action query time = 5.039 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7464
+t=170: Selected seed 195 with value = 0.7464
+Query 1/1: Action query time = 3.015 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7769
+t=186: Selected seed 195 with value = 0.7769
+Query 1/1: Action query time = 2.718 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7312
+t=202: Selected seed 195 with value = 0.7312
+Query 1/1: Action query time = 3.956 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6906
+t=218: Selected seed 195 with value = 0.6906
+Query 1/1: Action query time = 4.632 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6838
+t=234: Selected seed 195 with value = 0.6838
+Query 1/1: Action query time = 3.711 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6839
+t=250: Selected seed 195 with value = 0.6839
+Query 1/1: Action query time = 3.883 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6869
+t=266: Selected seed 195 with value = 0.6869
+Query 1/1: Action query time = 3.824 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6971
+t=282: Selected seed 195 with value = 0.6971
+Query 1/1: Action query time = 3.760 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7062
+t=298: Selected seed 195 with value = 0.7062
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s00/2026_08_01-13_41_19--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.174 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3272
+t=10: Selected seed 195 with value = 0.3272
+Query 1/1: Action query time = 1.329 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4157
+t=26: Selected seed 195 with value = 0.4157
+Query 1/1: Action query time = 1.188 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4654
+t=42: Selected seed 195 with value = 0.4654
+Query 1/1: Action query time = 1.646 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5585
+t=58: Selected seed 195 with value = 0.5585
+Query 1/1: Action query time = 1.732 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6684
+t=74: Selected seed 195 with value = 0.6684
+Query 1/1: Action query time = 1.725 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8135
+t=90: Selected seed 195 with value = 0.8135
+Query 1/1: Action query time = 1.771 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8715
+t=106: Selected seed 195 with value = 0.8715
+Query 1/1: Action query time = 1.799 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=122: Selected seed 195 with value = 0.9666
+Query 1/1: Action query time = 1.804 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=138: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 1.861 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=154: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 1.802 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=170: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 1.784 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=186: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 1.572 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=202: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=218: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9710
+t=234: Selected seed 195 with value = 0.9710
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9649
+t=250: Selected seed 195 with value = 0.9649
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9575
+t=266: Selected seed 195 with value = 0.9575
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=282: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=298: Selected seed 195 with value = 0.9683
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s00/2026_08_01-13_41_19--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3639
+t=10: Selected seed 195 with value = 0.3639
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4075
+t=26: Selected seed 195 with value = 0.4075
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4346
+t=42: Selected seed 195 with value = 0.4346
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5468
+t=58: Selected seed 195 with value = 0.5468
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6645
+t=74: Selected seed 195 with value = 0.6645
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=90: Selected seed 195 with value = 0.9570
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=106: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=122: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s00/2026_08_01-13_41_19--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+Current task success rate: 0.25
+Current total success rate: 0.25
+Final results:
+Total episodes: 4
+Total successes: 1
+Overall success rate: 0.2500 (25.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..56f6bb4e7834ff6d01c0e818c49cc7e4acc7bf85
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s03.txt
@@ -0,0 +1,189 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.743 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3279
+t=10: Selected seed 195 with value = 0.3279
+Query 1/1: Action query time = 1.792 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4207
+t=26: Selected seed 195 with value = 0.4207
+Query 1/1: Action query time = 2.269 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4633
+t=42: Selected seed 195 with value = 0.4633
+Query 1/1: Action query time = 4.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5534
+t=58: Selected seed 195 with value = 0.5534
+Query 1/1: Action query time = 5.705 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6383
+t=74: Selected seed 195 with value = 0.6383
+Query 1/1: Action query time = 6.101 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8822
+t=90: Selected seed 195 with value = 0.8822
+Query 1/1: Action query time = 4.940 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7435
+t=106: Selected seed 195 with value = 0.7435
+Query 1/1: Action query time = 4.703 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7301
+t=122: Selected seed 195 with value = 0.7301
+Query 1/1: Action query time = 4.755 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=138: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 5.151 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8078
+t=154: Selected seed 195 with value = 0.8078
+Query 1/1: Action query time = 5.400 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7723
+t=170: Selected seed 195 with value = 0.7723
+Query 1/1: Action query time = 3.761 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7593
+t=186: Selected seed 195 with value = 0.7593
+Query 1/1: Action query time = 3.685 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7589
+t=202: Selected seed 195 with value = 0.7589
+Query 1/1: Action query time = 3.755 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7570
+t=218: Selected seed 195 with value = 0.7570
+Query 1/1: Action query time = 5.118 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7538
+t=234: Selected seed 195 with value = 0.7538
+Query 1/1: Action query time = 4.669 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7631
+t=250: Selected seed 195 with value = 0.7631
+Query 1/1: Action query time = 5.439 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7704
+t=266: Selected seed 195 with value = 0.7704
+Query 1/1: Action query time = 5.085 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7694
+t=282: Selected seed 195 with value = 0.7694
+Query 1/1: Action query time = 5.033 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7711
+t=298: Selected seed 195 with value = 0.7711
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s03/2026_08_01-13_41_19--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.018 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3963
+t=10: Selected seed 195 with value = 0.3963
+Query 1/1: Action query time = 4.276 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4333
+t=26: Selected seed 195 with value = 0.4333
+Query 1/1: Action query time = 4.718 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4902
+t=42: Selected seed 195 with value = 0.4902
+Query 1/1: Action query time = 3.084 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5794
+t=58: Selected seed 195 with value = 0.5794
+Query 1/1: Action query time = 4.339 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6986
+t=74: Selected seed 195 with value = 0.6986
+Query 1/1: Action query time = 5.367 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=90: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 4.361 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=106: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 5.232 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=122: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 5.056 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=138: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 5.019 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s03/2026_08_01-13_41_19--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.414 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3642
+t=10: Selected seed 195 with value = 0.3642
+Query 1/1: Action query time = 3.546 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3891
+t=26: Selected seed 195 with value = 0.3891
+Query 1/1: Action query time = 3.780 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4186
+t=42: Selected seed 195 with value = 0.4186
+Query 1/1: Action query time = 4.293 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5102
+t=58: Selected seed 195 with value = 0.5102
+Query 1/1: Action query time = 3.895 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6445
+t=74: Selected seed 195 with value = 0.6445
+Query 1/1: Action query time = 3.561 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8715
+t=90: Selected seed 195 with value = 0.8715
+Query 1/1: Action query time = 3.481 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=106: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 3.711 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=122: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 4.123 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=138: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 3.373 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s03/2026_08_01-13_41_19--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f838080b306e99cb0cb4fa0756495e55a982c83d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s06.txt
@@ -0,0 +1,145 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.438 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3525
+t=10: Selected seed 195 with value = 0.3525
+Query 1/1: Action query time = 4.812 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3731
+t=26: Selected seed 195 with value = 0.3731
+Query 1/1: Action query time = 5.606 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4055
+t=42: Selected seed 195 with value = 0.4055
+Query 1/1: Action query time = 5.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4687
+t=58: Selected seed 195 with value = 0.4687
+Query 1/1: Action query time = 5.881 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6189
+t=74: Selected seed 195 with value = 0.6189
+Query 1/1: Action query time = 5.138 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7274
+t=90: Selected seed 195 with value = 0.7274
+Query 1/1: Action query time = 4.679 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9281
+t=106: Selected seed 195 with value = 0.9281
+Query 1/1: Action query time = 4.850 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=122: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 5.199 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s06/2026_08_01-13_41_19--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.058 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3934
+t=10: Selected seed 195 with value = 0.3934
+Query 1/1: Action query time = 3.785 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4259
+t=26: Selected seed 195 with value = 0.4259
+Query 1/1: Action query time = 4.873 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4525
+t=42: Selected seed 195 with value = 0.4525
+Query 1/1: Action query time = 4.901 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5580
+t=58: Selected seed 195 with value = 0.5580
+Query 1/1: Action query time = 5.185 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6698
+t=74: Selected seed 195 with value = 0.6698
+Query 1/1: Action query time = 5.067 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9605
+t=90: Selected seed 195 with value = 0.9605
+Query 1/1: Action query time = 5.170 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=106: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 3.688 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=122: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 3.871 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s06/2026_08_01-13_41_19--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.772 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3407
+t=10: Selected seed 195 with value = 0.3407
+Query 1/1: Action query time = 4.823 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4167
+t=26: Selected seed 195 with value = 0.4167
+Query 1/1: Action query time = 4.176 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4620
+t=42: Selected seed 195 with value = 0.4620
+Query 1/1: Action query time = 4.828 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5066
+t=58: Selected seed 195 with value = 0.5066
+Query 1/1: Action query time = 4.561 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6258
+t=74: Selected seed 195 with value = 0.6258
+Query 1/1: Action query time = 4.750 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7694
+t=90: Selected seed 195 with value = 0.7694
+Query 1/1: Action query time = 5.005 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=106: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 5.010 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=122: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 5.414 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.389 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s06/2026_08_01-13_41_19--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80fae7a871dfba59e5311d363488f1904f523557
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s01.txt
@@ -0,0 +1,232 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.900 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3786
+t=10: Selected seed 195 with value = 0.3786
+Query 1/1: Action query time = 5.950 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3831
+t=26: Selected seed 195 with value = 0.3831
+Query 1/1: Action query time = 6.150 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4163
+t=42: Selected seed 195 with value = 0.4163
+Query 1/1: Action query time = 4.541 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5129
+t=58: Selected seed 195 with value = 0.5129
+Query 1/1: Action query time = 4.696 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6297
+t=74: Selected seed 195 with value = 0.6297
+Query 1/1: Action query time = 4.840 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8641
+t=90: Selected seed 195 with value = 0.8641
+Query 1/1: Action query time = 5.068 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=106: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 4.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=122: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 4.176 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=138: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 2.655 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s01/2026_08_01-13_41_20--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.065 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3348
+t=10: Selected seed 195 with value = 0.3348
+Query 1/1: Action query time = 4.737 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4062
+t=26: Selected seed 195 with value = 0.4062
+Query 1/1: Action query time = 4.911 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4847
+t=42: Selected seed 195 with value = 0.4847
+Query 1/1: Action query time = 5.400 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5602
+t=58: Selected seed 195 with value = 0.5602
+Query 1/1: Action query time = 5.281 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6785
+t=74: Selected seed 195 with value = 0.6785
+Query 1/1: Action query time = 4.506 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7854
+t=90: Selected seed 195 with value = 0.7854
+Query 1/1: Action query time = 3.676 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9030
+t=106: Selected seed 195 with value = 0.9030
+Query 1/1: Action query time = 4.927 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=122: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 4.825 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9462
+t=138: Selected seed 195 with value = 0.9462
+Query 1/1: Action query time = 4.918 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=154: Selected seed 195 with value = 0.9445
+Query 1/1: Action query time = 4.269 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9424
+t=170: Selected seed 195 with value = 0.9424
+Query 1/1: Action query time = 5.131 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9407
+t=186: Selected seed 195 with value = 0.9407
+Query 1/1: Action query time = 4.355 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9393
+t=202: Selected seed 195 with value = 0.9393
+Query 1/1: Action query time = 4.832 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9395
+t=218: Selected seed 195 with value = 0.9395
+Query 1/1: Action query time = 5.082 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=234: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 4.638 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9368
+t=250: Selected seed 195 with value = 0.9368
+Query 1/1: Action query time = 4.710 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=266: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 4.779 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=282: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 3.339 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9279
+t=298: Selected seed 195 with value = 0.9279
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s01/2026_08_01-13_41_20--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.496 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3685
+t=10: Selected seed 195 with value = 0.3685
+Query 1/1: Action query time = 4.023 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3944
+t=26: Selected seed 195 with value = 0.3944
+Query 1/1: Action query time = 3.634 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=42: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 3.304 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5090
+t=58: Selected seed 195 with value = 0.5090
+Query 1/1: Action query time = 4.222 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6415
+t=74: Selected seed 195 with value = 0.6415
+Query 1/1: Action query time = 4.117 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7231
+t=90: Selected seed 195 with value = 0.7231
+Query 1/1: Action query time = 3.290 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9396
+t=106: Selected seed 195 with value = 0.9396
+Query 1/1: Action query time = 2.290 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=122: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 3.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s01/2026_08_01-13_41_20--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.819 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3606
+t=10: Selected seed 195 with value = 0.3606
+Query 1/1: Action query time = 1.748 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3882
+t=26: Selected seed 195 with value = 0.3882
+Query 1/1: Action query time = 1.764 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4672
+t=42: Selected seed 195 with value = 0.4672
+Query 1/1: Action query time = 1.762 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5243
+t=58: Selected seed 195 with value = 0.5243
+Query 1/1: Action query time = 1.787 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6840
+t=74: Selected seed 195 with value = 0.6840
+Query 1/1: Action query time = 1.865 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6920
+t=90: Selected seed 195 with value = 0.6920
+Query 1/1: Action query time = 1.883 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8882
+t=106: Selected seed 195 with value = 0.8882
+Query 1/1: Action query time = 1.735 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=122: Selected seed 195 with value = 0.9566
+Query 1/1: Action query time = 1.756 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=138: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 1.583 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s01/2026_08_01-13_41_20--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..52ed906b1a4c0172fc409105ba3a987bc397aa7f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s04.txt
@@ -0,0 +1,221 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.951 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3655
+t=10: Selected seed 195 with value = 0.3655
+Query 1/1: Action query time = 5.876 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4227
+t=26: Selected seed 195 with value = 0.4227
+Query 1/1: Action query time = 5.747 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4799
+t=42: Selected seed 195 with value = 0.4799
+Query 1/1: Action query time = 3.857 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=58: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 4.796 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6768
+t=74: Selected seed 195 with value = 0.6768
+Query 1/1: Action query time = 4.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=90: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 5.005 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=106: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 4.659 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.561 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s04/2026_08_01-13_41_20--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.038 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3310
+t=10: Selected seed 195 with value = 0.3310
+Query 1/1: Action query time = 5.132 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4086
+t=26: Selected seed 195 with value = 0.4086
+Query 1/1: Action query time = 5.006 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4644
+t=42: Selected seed 195 with value = 0.4644
+Query 1/1: Action query time = 5.306 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5580
+t=58: Selected seed 195 with value = 0.5580
+Query 1/1: Action query time = 5.107 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6294
+t=74: Selected seed 195 with value = 0.6294
+Query 1/1: Action query time = 5.113 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9087
+t=90: Selected seed 195 with value = 0.9087
+Query 1/1: Action query time = 4.069 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7191
+t=106: Selected seed 195 with value = 0.7191
+Query 1/1: Action query time = 3.644 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7239
+t=122: Selected seed 195 with value = 0.7239
+Query 1/1: Action query time = 4.698 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7194
+t=138: Selected seed 195 with value = 0.7194
+Query 1/1: Action query time = 5.298 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7573
+t=154: Selected seed 195 with value = 0.7573
+Query 1/1: Action query time = 4.128 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7871
+t=170: Selected seed 195 with value = 0.7871
+Query 1/1: Action query time = 4.558 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7877
+t=186: Selected seed 195 with value = 0.7877
+Query 1/1: Action query time = 4.797 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7890
+t=202: Selected seed 195 with value = 0.7890
+Query 1/1: Action query time = 4.386 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7829
+t=218: Selected seed 195 with value = 0.7829
+Query 1/1: Action query time = 5.311 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7784
+t=234: Selected seed 195 with value = 0.7784
+Query 1/1: Action query time = 5.020 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7786
+t=250: Selected seed 195 with value = 0.7786
+Query 1/1: Action query time = 4.815 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7812
+t=266: Selected seed 195 with value = 0.7812
+Query 1/1: Action query time = 4.002 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7853
+t=282: Selected seed 195 with value = 0.7853
+Query 1/1: Action query time = 4.939 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7810
+t=298: Selected seed 195 with value = 0.7810
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s04/2026_08_01-13_41_20--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.879 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3593
+t=10: Selected seed 195 with value = 0.3593
+Query 1/1: Action query time = 4.737 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4033
+t=26: Selected seed 195 with value = 0.4033
+Query 1/1: Action query time = 3.842 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4560
+t=42: Selected seed 195 with value = 0.4560
+Query 1/1: Action query time = 3.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5484
+t=58: Selected seed 195 with value = 0.5484
+Query 1/1: Action query time = 3.917 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7944
+t=74: Selected seed 195 with value = 0.7944
+Query 1/1: Action query time = 3.083 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=90: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 2.935 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7501
+t=106: Selected seed 195 with value = 0.7501
+Query 1/1: Action query time = 3.267 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=122: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 2.485 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7321
+t=138: Selected seed 195 with value = 0.7321
+Query 1/1: Action query time = 2.714 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7390
+t=154: Selected seed 195 with value = 0.7390
+Query 1/1: Action query time = 1.289 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7583
+t=170: Selected seed 195 with value = 0.7583
+Query 1/1: Action query time = 1.344 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7588
+t=186: Selected seed 195 with value = 0.7588
+Query 1/1: Action query time = 1.860 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=202: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 1.767 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7618
+t=218: Selected seed 195 with value = 0.7618
+Query 1/1: Action query time = 1.814 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7548
+t=234: Selected seed 195 with value = 0.7548
+Query 1/1: Action query time = 1.713 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7557
+t=250: Selected seed 195 with value = 0.7557
+Query 1/1: Action query time = 1.694 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7479
+t=266: Selected seed 195 with value = 0.7479
+Query 1/1: Action query time = 1.588 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=282: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 1.463 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7437
+t=298: Selected seed 195 with value = 0.7437
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s04/2026_08_01-13_41_20--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..034b872e1e931c397ae40a9d13a4760cd42c4f31
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s05.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.331 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3436
+t=10: Selected seed 195 with value = 0.3436
+Query 1/1: Action query time = 4.078 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4108
+t=26: Selected seed 195 with value = 0.4108
+Query 1/1: Action query time = 5.109 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4572
+t=42: Selected seed 195 with value = 0.4572
+Query 1/1: Action query time = 5.415 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5454
+t=58: Selected seed 195 with value = 0.5454
+Query 1/1: Action query time = 5.102 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=74: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 4.489 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7896
+t=90: Selected seed 195 with value = 0.7896
+Query 1/1: Action query time = 4.779 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=106: Selected seed 195 with value = 0.9148
+Query 1/1: Action query time = 5.379 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9635
+t=122: Selected seed 195 with value = 0.9635
+Query 1/1: Action query time = 3.528 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=138: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 3.473 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s05/2026_08_01-13_41_20--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.317 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3488
+t=10: Selected seed 195 with value = 0.3488
+Query 1/1: Action query time = 5.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3833
+t=26: Selected seed 195 with value = 0.3833
+Query 1/1: Action query time = 5.313 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4472
+t=42: Selected seed 195 with value = 0.4472
+Query 1/1: Action query time = 4.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5469
+t=58: Selected seed 195 with value = 0.5469
+Query 1/1: Action query time = 5.084 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6557
+t=74: Selected seed 195 with value = 0.6557
+Query 1/1: Action query time = 3.770 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8973
+t=90: Selected seed 195 with value = 0.8973
+Query 1/1: Action query time = 4.262 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=106: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 4.388 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=122: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 5.180 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=138: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 4.151 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=154: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 4.487 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=170: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 5.195 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=186: Selected seed 195 with value = 0.9662
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s05/2026_08_01-13_41_20--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.171 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3661
+t=10: Selected seed 195 with value = 0.3661
+Query 1/1: Action query time = 4.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3783
+t=26: Selected seed 195 with value = 0.3783
+Query 1/1: Action query time = 4.928 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4118
+t=42: Selected seed 195 with value = 0.4118
+Query 1/1: Action query time = 4.424 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4986
+t=58: Selected seed 195 with value = 0.4986
+Query 1/1: Action query time = 5.067 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6328
+t=74: Selected seed 195 with value = 0.6328
+Query 1/1: Action query time = 3.291 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7193
+t=90: Selected seed 195 with value = 0.7193
+Query 1/1: Action query time = 3.134 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9462
+t=106: Selected seed 195 with value = 0.9462
+Query 1/1: Action query time = 3.920 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=122: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 5.211 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s05/2026_08_01-13_41_20--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7c149dfe681d27a23b9bb706a63d0993d2b8200c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s08.txt
@@ -0,0 +1,185 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.939 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3372
+t=10: Selected seed 195 with value = 0.3372
+Query 1/1: Action query time = 1.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4303
+t=26: Selected seed 195 with value = 0.4303
+Query 1/1: Action query time = 4.396 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4961
+t=42: Selected seed 195 with value = 0.4961
+Query 1/1: Action query time = 5.619 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5821
+t=58: Selected seed 195 with value = 0.5821
+Query 1/1: Action query time = 5.503 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6764
+t=74: Selected seed 195 with value = 0.6764
+Query 1/1: Action query time = 3.603 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8855
+t=90: Selected seed 195 with value = 0.8855
+Query 1/1: Action query time = 4.880 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8329
+t=106: Selected seed 195 with value = 0.8329
+Query 1/1: Action query time = 5.454 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9410
+t=122: Selected seed 195 with value = 0.9410
+Query 1/1: Action query time = 5.143 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=138: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 5.045 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=154: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 4.218 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=170: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 3.835 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=186: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 4.531 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9621
+t=202: Selected seed 195 with value = 0.9621
+Query 1/1: Action query time = 4.369 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9589
+t=218: Selected seed 195 with value = 0.9589
+Query 1/1: Action query time = 4.310 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=234: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 4.793 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9591
+t=250: Selected seed 195 with value = 0.9591
+Query 1/1: Action query time = 5.286 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=266: Selected seed 195 with value = 0.9595
+Query 1/1: Action query time = 5.366 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=282: Selected seed 195 with value = 0.9604
+Query 1/1: Action query time = 5.267 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9606
+t=298: Selected seed 195 with value = 0.9606
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s08/2026_08_01-13_41_20--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.053 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3746
+t=10: Selected seed 195 with value = 0.3746
+Query 1/1: Action query time = 2.939 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3822
+t=26: Selected seed 195 with value = 0.3822
+Query 1/1: Action query time = 4.347 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4195
+t=42: Selected seed 195 with value = 0.4195
+Query 1/1: Action query time = 4.687 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5163
+t=58: Selected seed 195 with value = 0.5163
+Query 1/1: Action query time = 3.810 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6441
+t=74: Selected seed 195 with value = 0.6441
+Query 1/1: Action query time = 5.807 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8867
+t=90: Selected seed 195 with value = 0.8867
+Query 1/1: Action query time = 5.373 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=106: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 5.211 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=122: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 4.987 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s08/2026_08_01-13_41_20--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.602 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3739
+t=10: Selected seed 195 with value = 0.3739
+Query 1/1: Action query time = 4.525 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3946
+t=26: Selected seed 195 with value = 0.3946
+Query 1/1: Action query time = 4.393 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4188
+t=42: Selected seed 195 with value = 0.4188
+Query 1/1: Action query time = 3.949 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5130
+t=58: Selected seed 195 with value = 0.5130
+Query 1/1: Action query time = 3.091 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6429
+t=74: Selected seed 195 with value = 0.6429
+Query 1/1: Action query time = 3.201 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7042
+t=90: Selected seed 195 with value = 0.7042
+Query 1/1: Action query time = 3.384 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=106: Selected seed 195 with value = 0.9479
+Query 1/1: Action query time = 3.016 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=122: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 3.139 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.585 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s08/2026_08_01-13_41_20--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cb37237934af695869c3b678a1a62e86eb28d026
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s11.txt
@@ -0,0 +1,185 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.484 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3739
+t=10: Selected seed 195 with value = 0.3739
+Query 1/1: Action query time = 3.516 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3898
+t=26: Selected seed 195 with value = 0.3898
+Query 1/1: Action query time = 5.239 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4355
+t=42: Selected seed 195 with value = 0.4355
+Query 1/1: Action query time = 4.826 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4942
+t=58: Selected seed 195 with value = 0.4942
+Query 1/1: Action query time = 4.701 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6382
+t=74: Selected seed 195 with value = 0.6382
+Query 1/1: Action query time = 5.828 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7194
+t=90: Selected seed 195 with value = 0.7194
+Query 1/1: Action query time = 5.776 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=106: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 5.290 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=122: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 5.102 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s11/2026_08_01-13_41_20--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3500
+t=10: Selected seed 195 with value = 0.3500
+Query 1/1: Action query time = 4.189 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4158
+t=26: Selected seed 195 with value = 0.4158
+Query 1/1: Action query time = 3.863 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4550
+t=42: Selected seed 195 with value = 0.4550
+Query 1/1: Action query time = 4.597 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5473
+t=58: Selected seed 195 with value = 0.5473
+Query 1/1: Action query time = 5.271 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6572
+t=74: Selected seed 195 with value = 0.6572
+Query 1/1: Action query time = 5.528 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8572
+t=90: Selected seed 195 with value = 0.8572
+Query 1/1: Action query time = 4.943 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=106: Selected seed 195 with value = 0.9555
+Query 1/1: Action query time = 4.901 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=122: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 4.404 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=138: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 4.250 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s11/2026_08_01-13_41_20--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.237 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3303
+t=10: Selected seed 195 with value = 0.3303
+Query 1/1: Action query time = 4.767 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4205
+t=26: Selected seed 195 with value = 0.4205
+Query 1/1: Action query time = 3.363 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4640
+t=42: Selected seed 195 with value = 0.4640
+Query 1/1: Action query time = 3.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5606
+t=58: Selected seed 195 with value = 0.5606
+Query 1/1: Action query time = 5.223 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6436
+t=74: Selected seed 195 with value = 0.6436
+Query 1/1: Action query time = 4.907 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8606
+t=90: Selected seed 195 with value = 0.8606
+Query 1/1: Action query time = 5.098 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7248
+t=106: Selected seed 195 with value = 0.7248
+Query 1/1: Action query time = 4.660 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7272
+t=122: Selected seed 195 with value = 0.7272
+Query 1/1: Action query time = 4.211 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7155
+t=138: Selected seed 195 with value = 0.7155
+Query 1/1: Action query time = 5.351 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7181
+t=154: Selected seed 195 with value = 0.7181
+Query 1/1: Action query time = 4.307 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7377
+t=170: Selected seed 195 with value = 0.7377
+Query 1/1: Action query time = 4.175 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7642
+t=186: Selected seed 195 with value = 0.7642
+Query 1/1: Action query time = 3.876 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7624
+t=202: Selected seed 195 with value = 0.7624
+Query 1/1: Action query time = 3.153 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7642
+t=218: Selected seed 195 with value = 0.7642
+Query 1/1: Action query time = 3.097 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7668
+t=234: Selected seed 195 with value = 0.7668
+Query 1/1: Action query time = 3.194 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=250: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 3.233 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7612
+t=266: Selected seed 195 with value = 0.7612
+Query 1/1: Action query time = 2.912 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=282: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 3.013 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7633
+t=298: Selected seed 195 with value = 0.7633
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s11/2026_08_01-13_41_20--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_21--demochan200_t0_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_21--demochan200_t0_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b4f2cbad2d8e7af5c52a7339bcc736915e6ccfb
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_21--demochan200_t0_s12.txt
@@ -0,0 +1,185 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.298 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3725
+t=10: Selected seed 195 with value = 0.3725
+Query 1/1: Action query time = 5.070 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3903
+t=26: Selected seed 195 with value = 0.3903
+Query 1/1: Action query time = 4.854 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4328
+t=42: Selected seed 195 with value = 0.4328
+Query 1/1: Action query time = 5.603 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5091
+t=58: Selected seed 195 with value = 0.5091
+Query 1/1: Action query time = 5.045 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6284
+t=74: Selected seed 195 with value = 0.6284
+Query 1/1: Action query time = 4.375 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7521
+t=90: Selected seed 195 with value = 0.7521
+Query 1/1: Action query time = 4.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=106: Selected seed 195 with value = 0.9629
+Query 1/1: Action query time = 4.786 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=122: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 4.183 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s12/2026_08_01-13_41_21--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.779 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3611
+t=10: Selected seed 195 with value = 0.3611
+Query 1/1: Action query time = 4.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3863
+t=26: Selected seed 195 with value = 0.3863
+Query 1/1: Action query time = 5.486 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4152
+t=42: Selected seed 195 with value = 0.4152
+Query 1/1: Action query time = 5.069 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5050
+t=58: Selected seed 195 with value = 0.5050
+Query 1/1: Action query time = 4.849 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6369
+t=74: Selected seed 195 with value = 0.6369
+Query 1/1: Action query time = 4.744 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7977
+t=90: Selected seed 195 with value = 0.7977
+Query 1/1: Action query time = 4.404 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=106: Selected seed 195 with value = 0.9530
+Query 1/1: Action query time = 4.234 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=122: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 2.727 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.900 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s12/2026_08_01-13_41_21--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.698 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3277
+t=10: Selected seed 195 with value = 0.3277
+Query 1/1: Action query time = 3.780 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4085
+t=26: Selected seed 195 with value = 0.4085
+Query 1/1: Action query time = 5.735 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4636
+t=42: Selected seed 195 with value = 0.4636
+Query 1/1: Action query time = 5.280 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5603
+t=58: Selected seed 195 with value = 0.5603
+Query 1/1: Action query time = 4.864 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6629
+t=74: Selected seed 195 with value = 0.6629
+Query 1/1: Action query time = 4.526 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8092
+t=90: Selected seed 195 with value = 0.8092
+Query 1/1: Action query time = 4.315 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=106: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 4.691 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7624
+t=122: Selected seed 195 with value = 0.7624
+Query 1/1: Action query time = 4.296 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7658
+t=138: Selected seed 195 with value = 0.7658
+Query 1/1: Action query time = 4.157 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=154: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 3.594 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7319
+t=170: Selected seed 195 with value = 0.7319
+Query 1/1: Action query time = 3.353 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7436
+t=186: Selected seed 195 with value = 0.7436
+Query 1/1: Action query time = 3.200 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7588
+t=202: Selected seed 195 with value = 0.7588
+Query 1/1: Action query time = 3.129 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7736
+t=218: Selected seed 195 with value = 0.7736
+Query 1/1: Action query time = 2.847 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7817
+t=234: Selected seed 195 with value = 0.7817
+Query 1/1: Action query time = 3.248 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7941
+t=250: Selected seed 195 with value = 0.7941
+Query 1/1: Action query time = 2.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8062
+t=266: Selected seed 195 with value = 0.8062
+Query 1/1: Action query time = 1.913 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8110
+t=282: Selected seed 195 with value = 0.8110
+Query 1/1: Action query time = 1.862 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8150
+t=298: Selected seed 195 with value = 0.8150
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s12/2026_08_01-13_41_21--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_21--demochan200_t0_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_21--demochan200_t0_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..09f84f5a19e77193722e49ca5dce86c389b39e51
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_21--demochan200_t0_s15.txt
@@ -0,0 +1,145 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.611 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3316
+t=10: Selected seed 195 with value = 0.3316
+Query 1/1: Action query time = 5.193 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3912
+t=26: Selected seed 195 with value = 0.3912
+Query 1/1: Action query time = 4.828 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4459
+t=42: Selected seed 195 with value = 0.4459
+Query 1/1: Action query time = 4.669 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4932
+t=58: Selected seed 195 with value = 0.4932
+Query 1/1: Action query time = 5.721 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6266
+t=74: Selected seed 195 with value = 0.6266
+Query 1/1: Action query time = 5.668 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7066
+t=90: Selected seed 195 with value = 0.7066
+Query 1/1: Action query time = 5.079 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9418
+t=106: Selected seed 195 with value = 0.9418
+Query 1/1: Action query time = 4.768 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=122: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 4.147 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s15/2026_08_01-13_41_21--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.463 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3517
+t=10: Selected seed 195 with value = 0.3517
+Query 1/1: Action query time = 4.270 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3616
+t=26: Selected seed 195 with value = 0.3616
+Query 1/1: Action query time = 4.512 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4006
+t=42: Selected seed 195 with value = 0.4006
+Query 1/1: Action query time = 4.851 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4748
+t=58: Selected seed 195 with value = 0.4748
+Query 1/1: Action query time = 5.343 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6272
+t=74: Selected seed 195 with value = 0.6272
+Query 1/1: Action query time = 5.112 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7376
+t=90: Selected seed 195 with value = 0.7376
+Query 1/1: Action query time = 4.918 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9473
+t=106: Selected seed 195 with value = 0.9473
+Query 1/1: Action query time = 4.335 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=122: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 4.749 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s15/2026_08_01-13_41_21--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.290 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3800
+t=10: Selected seed 195 with value = 0.3800
+Query 1/1: Action query time = 5.086 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4206
+t=26: Selected seed 195 with value = 0.4206
+Query 1/1: Action query time = 3.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4738
+t=42: Selected seed 195 with value = 0.4738
+Query 1/1: Action query time = 5.077 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5569
+t=58: Selected seed 195 with value = 0.5569
+Query 1/1: Action query time = 4.817 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=74: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 5.154 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8679
+t=90: Selected seed 195 with value = 0.8679
+Query 1/1: Action query time = 5.087 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=106: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 4.422 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=122: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 4.634 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=138: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 4.873 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s15/2026_08_01-13_41_21--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..523d7d9b1ee888d61d5019e15cd5b379c64b8bdc
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s06.txt
@@ -0,0 +1,113 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t2_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.205 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4670
+t=10: Selected seed 195 with value = 0.4670
+Query 1/1: Action query time = 5.452 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5898
+t=26: Selected seed 195 with value = 0.5898
+Query 1/1: Action query time = 5.694 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6994
+t=42: Selected seed 195 with value = 0.6994
+Query 1/1: Action query time = 5.061 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7656
+t=58: Selected seed 195 with value = 0.7656
+Query 1/1: Action query time = 4.515 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8723
+t=74: Selected seed 195 with value = 0.8723
+Query 1/1: Action query time = 5.217 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=90: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 2.306 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s06/2026_08_01-13_46_15--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.268 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4712
+t=10: Selected seed 195 with value = 0.4712
+Query 1/1: Action query time = 5.152 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5686
+t=26: Selected seed 195 with value = 0.5686
+Query 1/1: Action query time = 5.440 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9370
+t=42: Selected seed 195 with value = 0.9370
+Query 1/1: Action query time = 5.613 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8072
+t=58: Selected seed 195 with value = 0.8072
+Query 1/1: Action query time = 5.617 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8744
+t=74: Selected seed 195 with value = 0.8744
+Query 1/1: Action query time = 4.915 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=90: Selected seed 195 with value = 0.9881
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s06/2026_08_01-13_46_15--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.186 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5160
+t=10: Selected seed 195 with value = 0.5160
+Query 1/1: Action query time = 4.644 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5898
+t=26: Selected seed 195 with value = 0.5898
+Query 1/1: Action query time = 4.698 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7481
+t=42: Selected seed 195 with value = 0.7481
+Query 1/1: Action query time = 3.916 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7463
+t=58: Selected seed 195 with value = 0.7463
+Query 1/1: Action query time = 2.167 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8274
+t=74: Selected seed 195 with value = 0.8274
+Query 1/1: Action query time = 2.768 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=90: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 4.241 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s06/2026_08_01-13_46_15--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_16--demochan200_t2_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_16--demochan200_t2_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..024266badd89c7cc0d6336233993c2fcfe128381
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_16--demochan200_t2_s03.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t2_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.847 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5343
+t=10: Selected seed 195 with value = 0.5343
+Query 1/1: Action query time = 4.874 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5672
+t=26: Selected seed 195 with value = 0.5672
+Query 1/1: Action query time = 5.166 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7034
+t=42: Selected seed 195 with value = 0.7034
+Query 1/1: Action query time = 5.571 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7571
+t=58: Selected seed 195 with value = 0.7571
+Query 1/1: Action query time = 5.140 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8696
+t=74: Selected seed 195 with value = 0.8696
+Query 1/1: Action query time = 4.228 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=90: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 5.595 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.349 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.232 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.193 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.941 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.100 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.448 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.671 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.481 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.240 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.818 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9378
+t=282: Selected seed 195 with value = 0.9378
+Query 1/1: Action query time = 4.748 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8818
+t=298: Selected seed 195 with value = 0.8818
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s03/2026_08_01-13_46_16--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.447 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5135
+t=10: Selected seed 195 with value = 0.5135
+Query 1/1: Action query time = 5.580 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5908
+t=26: Selected seed 195 with value = 0.5908
+Query 1/1: Action query time = 4.686 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7494
+t=42: Selected seed 195 with value = 0.7494
+Query 1/1: Action query time = 3.636 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8389
+t=58: Selected seed 195 with value = 0.8389
+Query 1/1: Action query time = 3.265 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=74: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 3.349 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.748 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.729 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.859 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.837 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.347 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.520 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.885 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.879 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.573 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.274 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.068 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=282: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 4.303 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8689
+t=298: Selected seed 195 with value = 0.8689
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s03/2026_08_01-13_46_16--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.948 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5080
+t=10: Selected seed 195 with value = 0.5080
+Query 1/1: Action query time = 4.312 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5762
+t=26: Selected seed 195 with value = 0.5762
+Query 1/1: Action query time = 4.324 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6822
+t=42: Selected seed 195 with value = 0.6822
+Query 1/1: Action query time = 3.640 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=58: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 3.418 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=74: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 3.488 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.080 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.318 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.118 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.122 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.126 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.118 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.458 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.526 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.591 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.599 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=250: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 2.624 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9156
+t=266: Selected seed 195 with value = 0.9156
+Query 1/1: Action query time = 2.691 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9283
+t=282: Selected seed 195 with value = 0.9283
+Query 1/1: Action query time = 2.543 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=298: Selected seed 195 with value = 0.9193
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s03/2026_08_01-13_46_16--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_17--demochan200_t2_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_17--demochan200_t2_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7ca82b7325f6d048f3ad911d20861e781271bc83
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_17--demochan200_t2_s14.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t2_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.761 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5037
+t=10: Selected seed 195 with value = 0.5037
+Query 1/1: Action query time = 5.188 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5778
+t=26: Selected seed 195 with value = 0.5778
+Query 1/1: Action query time = 4.799 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7874
+t=42: Selected seed 195 with value = 0.7874
+Query 1/1: Action query time = 4.676 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7788
+t=58: Selected seed 195 with value = 0.7788
+Query 1/1: Action query time = 5.127 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=74: Selected seed 195 with value = 0.9192
+Query 1/1: Action query time = 5.795 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.713 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.631 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.382 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.447 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.945 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.881 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.140 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.998 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.443 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.021 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.045 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=282: Selected seed 195 with value = 0.9471
+Query 1/1: Action query time = 4.733 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=298: Selected seed 195 with value = 0.8755
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s14/2026_08_01-13_46_17--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 6.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5298
+t=10: Selected seed 195 with value = 0.5298
+Query 1/1: Action query time = 3.399 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=26: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 4.915 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8043
+t=42: Selected seed 195 with value = 0.8043
+Query 1/1: Action query time = 5.894 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7871
+t=58: Selected seed 195 with value = 0.7871
+Query 1/1: Action query time = 5.821 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9110
+t=74: Selected seed 195 with value = 0.9110
+Query 1/1: Action query time = 3.713 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=90: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 3.478 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=106: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 4.692 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=122: Selected seed 195 with value = 0.9196
+Query 1/1: Action query time = 4.547 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9095
+t=138: Selected seed 195 with value = 0.9095
+Query 1/1: Action query time = 4.331 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=154: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 4.255 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=170: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 4.257 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8964
+t=186: Selected seed 195 with value = 0.8964
+Query 1/1: Action query time = 4.723 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8968
+t=202: Selected seed 195 with value = 0.8968
+Query 1/1: Action query time = 3.753 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9006
+t=218: Selected seed 195 with value = 0.9006
+Query 1/1: Action query time = 2.999 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9051
+t=234: Selected seed 195 with value = 0.9051
+Query 1/1: Action query time = 3.450 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=250: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 4.327 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=266: Selected seed 195 with value = 0.9094
+Query 1/1: Action query time = 4.016 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=282: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 4.154 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8948
+t=298: Selected seed 195 with value = 0.8948
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s14/2026_08_01-13_46_17--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.726 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5038
+t=10: Selected seed 195 with value = 0.5038
+Query 1/1: Action query time = 4.544 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5744
+t=26: Selected seed 195 with value = 0.5744
+Query 1/1: Action query time = 3.695 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7119
+t=42: Selected seed 195 with value = 0.7119
+Query 1/1: Action query time = 3.110 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7989
+t=58: Selected seed 195 with value = 0.7989
+Query 1/1: Action query time = 1.907 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=74: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 1.887 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=90: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s14/2026_08_01-13_46_17--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_40--demochan200_t4_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_40--demochan200_t4_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b516ea47bf2435dcddb62ef951fe9edd8b7dd3d5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_40--demochan200_t4_s02.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t4_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.698 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5099
+t=10: Selected seed 195 with value = 0.5099
+Query 1/1: Action query time = 1.397 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5831
+t=26: Selected seed 195 with value = 0.5831
+Query 1/1: Action query time = 3.619 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6575
+t=42: Selected seed 195 with value = 0.6575
+Query 1/1: Action query time = 4.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7862
+t=58: Selected seed 195 with value = 0.7862
+Query 1/1: Action query time = 5.138 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9436
+t=74: Selected seed 195 with value = 0.9436
+Query 1/1: Action query time = 5.182 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=90: Selected seed 195 with value = 0.9841
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s02/2026_08_01-13_51_40--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.179 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=10: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 3.780 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5614
+t=26: Selected seed 195 with value = 0.5614
+Query 1/1: Action query time = 3.668 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6399
+t=42: Selected seed 195 with value = 0.6399
+Query 1/1: Action query time = 5.748 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7663
+t=58: Selected seed 195 with value = 0.7663
+Query 1/1: Action query time = 4.564 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=74: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 4.829 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=90: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 4.875 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=106: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 5.420 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=122: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 4.391 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=138: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 4.099 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=154: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 5.798 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=170: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 5.101 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=186: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 4.627 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=202: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 4.636 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=218: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 3.642 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=234: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 3.407 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=250: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 2.988 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=266: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 2.914 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=282: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 2.351 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=298: Selected seed 195 with value = 0.9845
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s02/2026_08_01-13_51_40--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.467 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4909
+t=10: Selected seed 195 with value = 0.4909
+Query 1/1: Action query time = 2.111 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5883
+t=26: Selected seed 195 with value = 0.5883
+Query 1/1: Action query time = 2.275 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6665
+t=42: Selected seed 195 with value = 0.6665
+Query 1/1: Action query time = 2.314 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7803
+t=58: Selected seed 195 with value = 0.7803
+Query 1/1: Action query time = 1.651 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=74: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 2.697 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=90: Selected seed 195 with value = 0.9922
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s02/2026_08_01-13_51_40--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_42--demochan200_t4_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_42--demochan200_t4_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4d70c7ef519c2acc1db29c2c1571d32f6dd1417
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_42--demochan200_t4_s12.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t4_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.731 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4924
+t=10: Selected seed 195 with value = 0.4924
+Query 1/1: Action query time = 4.656 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5696
+t=26: Selected seed 195 with value = 0.5696
+Query 1/1: Action query time = 5.272 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6297
+t=42: Selected seed 195 with value = 0.6297
+Query 1/1: Action query time = 4.924 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7847
+t=58: Selected seed 195 with value = 0.7847
+Query 1/1: Action query time = 4.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9358
+t=74: Selected seed 195 with value = 0.9358
+Query 1/1: Action query time = 4.700 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=90: Selected seed 195 with value = 0.9948
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s12/2026_08_01-13_51_42--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.945 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5054
+t=10: Selected seed 195 with value = 0.5054
+Query 1/1: Action query time = 5.088 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5701
+t=26: Selected seed 195 with value = 0.5701
+Query 1/1: Action query time = 5.201 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=42: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 5.234 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7719
+t=58: Selected seed 195 with value = 0.7719
+Query 1/1: Action query time = 5.040 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9013
+t=74: Selected seed 195 with value = 0.9013
+Query 1/1: Action query time = 4.235 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s12/2026_08_01-13_51_42--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.582 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5151
+t=10: Selected seed 195 with value = 0.5151
+Query 1/1: Action query time = 5.477 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6024
+t=26: Selected seed 195 with value = 0.6024
+Query 1/1: Action query time = 5.458 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6873
+t=42: Selected seed 195 with value = 0.6873
+Query 1/1: Action query time = 4.944 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8013
+t=58: Selected seed 195 with value = 0.8013
+Query 1/1: Action query time = 5.024 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=74: Selected seed 195 with value = 0.9306
+Query 1/1: Action query time = 2.224 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=90: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s12/2026_08_01-13_51_42--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..34f90ce0e1efdd7244d7143694834b7d109f9339
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s00.txt
@@ -0,0 +1,224 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t5_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.399 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3484
+t=10: Selected seed 195 with value = 0.3484
+Query 1/1: Action query time = 5.328 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3886
+t=26: Selected seed 195 with value = 0.3886
+Query 1/1: Action query time = 5.129 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5107
+t=42: Selected seed 195 with value = 0.5107
+Query 1/1: Action query time = 4.794 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5458
+t=58: Selected seed 195 with value = 0.5458
+Query 1/1: Action query time = 5.264 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5928
+t=74: Selected seed 195 with value = 0.5928
+Query 1/1: Action query time = 5.241 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6290
+t=90: Selected seed 195 with value = 0.6290
+Query 1/1: Action query time = 4.865 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7842
+t=106: Selected seed 195 with value = 0.7842
+Query 1/1: Action query time = 4.408 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=122: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 4.182 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=138: Selected seed 195 with value = 0.8840
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s00/2026_08_01-13_55_08--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.917 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3670
+t=10: Selected seed 195 with value = 0.3670
+Query 1/1: Action query time = 5.298 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4020
+t=26: Selected seed 195 with value = 0.4020
+Query 1/1: Action query time = 5.381 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=42: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 5.286 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5577
+t=58: Selected seed 195 with value = 0.5577
+Query 1/1: Action query time = 4.848 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5943
+t=74: Selected seed 195 with value = 0.5943
+Query 1/1: Action query time = 3.313 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6524
+t=90: Selected seed 195 with value = 0.6524
+Query 1/1: Action query time = 4.466 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=106: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 4.845 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=122: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s00/2026_08_01-13_55_08--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.818 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3719
+t=10: Selected seed 195 with value = 0.3719
+Query 1/1: Action query time = 4.836 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4099
+t=26: Selected seed 195 with value = 0.4099
+Query 1/1: Action query time = 4.026 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5046
+t=42: Selected seed 195 with value = 0.5046
+Query 1/1: Action query time = 4.786 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5407
+t=58: Selected seed 195 with value = 0.5407
+Query 1/1: Action query time = 5.514 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6273
+t=74: Selected seed 195 with value = 0.6273
+Query 1/1: Action query time = 5.309 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7389
+t=90: Selected seed 195 with value = 0.7389
+Query 1/1: Action query time = 4.895 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7816
+t=106: Selected seed 195 with value = 0.7816
+Query 1/1: Action query time = 4.653 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7982
+t=122: Selected seed 195 with value = 0.7982
+Query 1/1: Action query time = 3.183 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8705
+t=138: Selected seed 195 with value = 0.8705
+Query 1/1: Action query time = 1.917 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9315
+t=154: Selected seed 195 with value = 0.9315
+Query 1/1: Action query time = 2.797 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=170: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 3.779 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=186: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 2.492 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4407
+t=202: Selected seed 195 with value = 0.4407
+Query 1/1: Action query time = 2.682 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8760
+t=218: Selected seed 195 with value = 0.8760
+Query 1/1: Action query time = 3.373 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9636
+t=234: Selected seed 195 with value = 0.9636
+Query 1/1: Action query time = 3.424 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=250: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 3.756 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9200
+t=266: Selected seed 195 with value = 0.9200
+Query 1/1: Action query time = 3.634 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=282: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 2.925 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=298: Selected seed 195 with value = 0.9815
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s00/2026_08_01-13_55_08--with_future_img--episode=3--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.336 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3285
+t=10: Selected seed 195 with value = 0.3285
+Query 1/1: Action query time = 1.925 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3710
+t=26: Selected seed 195 with value = 0.3710
+Query 1/1: Action query time = 1.892 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4475
+t=42: Selected seed 195 with value = 0.4475
+Query 1/1: Action query time = 1.850 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5475
+t=58: Selected seed 195 with value = 0.5475
+Query 1/1: Action query time = 1.777 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=74: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 1.302 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7465
+t=90: Selected seed 195 with value = 0.7465
+Query 1/1: Action query time = 1.270 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8323
+t=106: Selected seed 195 with value = 0.8323
+Query 1/1: Action query time = 1.230 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8866
+t=122: Selected seed 195 with value = 0.8866
+Query 1/1: Action query time = 1.213 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9359
+t=138: Selected seed 195 with value = 0.9359
+Query 1/1: Action query time = 1.205 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=154: Selected seed 195 with value = 0.9833
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s00/2026_08_01-13_55_08--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..65180761a87a1bad8392567b0647dbf07ae29e09
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s06.txt
@@ -0,0 +1,181 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t5_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.107 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3538
+t=10: Selected seed 195 with value = 0.3538
+Query 1/1: Action query time = 4.870 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3914
+t=26: Selected seed 195 with value = 0.3914
+Query 1/1: Action query time = 4.556 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4951
+t=42: Selected seed 195 with value = 0.4951
+Query 1/1: Action query time = 4.694 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5542
+t=58: Selected seed 195 with value = 0.5542
+Query 1/1: Action query time = 5.084 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6013
+t=74: Selected seed 195 with value = 0.6013
+Query 1/1: Action query time = 5.228 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6471
+t=90: Selected seed 195 with value = 0.6471
+Query 1/1: Action query time = 4.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7771
+t=106: Selected seed 195 with value = 0.7771
+Query 1/1: Action query time = 3.646 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9039
+t=122: Selected seed 195 with value = 0.9039
+Query 1/1: Action query time = 5.060 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=138: Selected seed 195 with value = 0.9816
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s06/2026_08_01-13_55_08--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.343 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3407
+t=10: Selected seed 195 with value = 0.3407
+Query 1/1: Action query time = 2.541 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3826
+t=26: Selected seed 195 with value = 0.3826
+Query 1/1: Action query time = 2.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4765
+t=42: Selected seed 195 with value = 0.4765
+Query 1/1: Action query time = 4.925 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5684
+t=58: Selected seed 195 with value = 0.5684
+Query 1/1: Action query time = 5.645 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6152
+t=74: Selected seed 195 with value = 0.6152
+Query 1/1: Action query time = 5.447 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7526
+t=90: Selected seed 195 with value = 0.7526
+Query 1/1: Action query time = 5.438 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8375
+t=106: Selected seed 195 with value = 0.8375
+Query 1/1: Action query time = 5.054 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8783
+t=122: Selected seed 195 with value = 0.8783
+Query 1/1: Action query time = 4.083 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=138: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 4.795 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=154: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 3.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=170: Selected seed 195 with value = 0.9711
+Query 1/1: Action query time = 3.226 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=186: Selected seed 195 with value = 0.9561
+Query 1/1: Action query time = 5.386 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=202: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 4.683 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=218: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 6.107 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=234: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 5.656 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=250: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 4.826 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6345
+t=266: Selected seed 195 with value = 0.6345
+Query 1/1: Action query time = 4.781 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5360
+t=282: Selected seed 195 with value = 0.5360
+Query 1/1: Action query time = 4.499 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5430
+t=298: Selected seed 195 with value = 0.5430
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s06/2026_08_01-13_55_08--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.687 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3379
+t=10: Selected seed 195 with value = 0.3379
+Query 1/1: Action query time = 3.194 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3761
+t=26: Selected seed 195 with value = 0.3761
+Query 1/1: Action query time = 2.821 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5186
+t=42: Selected seed 195 with value = 0.5186
+Query 1/1: Action query time = 2.832 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5491
+t=58: Selected seed 195 with value = 0.5491
+Query 1/1: Action query time = 3.395 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5948
+t=74: Selected seed 195 with value = 0.5948
+Query 1/1: Action query time = 3.327 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6446
+t=90: Selected seed 195 with value = 0.6446
+Query 1/1: Action query time = 3.786 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7752
+t=106: Selected seed 195 with value = 0.7752
+Query 1/1: Action query time = 3.300 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=122: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 2.581 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=138: Selected seed 195 with value = 0.9037
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s06/2026_08_01-13_55_08--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bee845fa9f5d20ef4e01acfdcc5334a9fd620586
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s01.txt
@@ -0,0 +1,228 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t5_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.328 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3309
+t=10: Selected seed 195 with value = 0.3309
+Query 1/1: Action query time = 5.452 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=26: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 5.457 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4889
+t=42: Selected seed 195 with value = 0.4889
+Query 1/1: Action query time = 5.327 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5664
+t=58: Selected seed 195 with value = 0.5664
+Query 1/1: Action query time = 4.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6427
+t=74: Selected seed 195 with value = 0.6427
+Query 1/1: Action query time = 4.763 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7774
+t=90: Selected seed 195 with value = 0.7774
+Query 1/1: Action query time = 4.876 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8342
+t=106: Selected seed 195 with value = 0.8342
+Query 1/1: Action query time = 5.363 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=122: Selected seed 195 with value = 0.8590
+Query 1/1: Action query time = 4.519 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8920
+t=138: Selected seed 195 with value = 0.8920
+Query 1/1: Action query time = 4.281 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8230
+t=154: Selected seed 195 with value = 0.8230
+Query 1/1: Action query time = 3.413 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6856
+t=170: Selected seed 195 with value = 0.6856
+Query 1/1: Action query time = 2.555 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8498
+t=186: Selected seed 195 with value = 0.8498
+Query 1/1: Action query time = 4.546 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7851
+t=202: Selected seed 195 with value = 0.7851
+Query 1/1: Action query time = 5.574 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6841
+t=218: Selected seed 195 with value = 0.6841
+Query 1/1: Action query time = 5.477 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5311
+t=234: Selected seed 195 with value = 0.5311
+Query 1/1: Action query time = 5.500 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9172
+t=250: Selected seed 195 with value = 0.9172
+Query 1/1: Action query time = 5.009 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=266: Selected seed 195 with value = 0.9072
+Query 1/1: Action query time = 4.393 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9195
+t=282: Selected seed 195 with value = 0.9195
+Query 1/1: Action query time = 4.910 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9074
+t=298: Selected seed 195 with value = 0.9074
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s01/2026_08_01-13_55_09--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.746 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3280
+t=10: Selected seed 195 with value = 0.3280
+Query 1/1: Action query time = 4.662 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3900
+t=26: Selected seed 195 with value = 0.3900
+Query 1/1: Action query time = 5.872 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5205
+t=42: Selected seed 195 with value = 0.5205
+Query 1/1: Action query time = 5.746 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5603
+t=58: Selected seed 195 with value = 0.5603
+Query 1/1: Action query time = 5.381 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6377
+t=74: Selected seed 195 with value = 0.6377
+Query 1/1: Action query time = 5.086 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7269
+t=90: Selected seed 195 with value = 0.7269
+Query 1/1: Action query time = 4.246 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8696
+t=106: Selected seed 195 with value = 0.8696
+Query 1/1: Action query time = 3.205 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=122: Selected seed 195 with value = 0.9361
+Query 1/1: Action query time = 1.899 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9574
+t=138: Selected seed 195 with value = 0.9574
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s01/2026_08_01-13_55_09--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.392 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3236
+t=10: Selected seed 195 with value = 0.3236
+Query 1/1: Action query time = 3.640 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3833
+t=26: Selected seed 195 with value = 0.3833
+Query 1/1: Action query time = 2.798 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5038
+t=42: Selected seed 195 with value = 0.5038
+Query 1/1: Action query time = 2.705 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5664
+t=58: Selected seed 195 with value = 0.5664
+Query 1/1: Action query time = 2.928 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6724
+t=74: Selected seed 195 with value = 0.6724
+Query 1/1: Action query time = 3.327 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=90: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 3.609 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=106: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 3.111 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=122: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 1.480 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9053
+t=138: Selected seed 195 with value = 0.9053
+Query 1/1: Action query time = 1.374 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=154: Selected seed 195 with value = 0.9347
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s01/2026_08_01-13_55_09--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.851 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3446
+t=10: Selected seed 195 with value = 0.3446
+Query 1/1: Action query time = 1.800 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4107
+t=26: Selected seed 195 with value = 0.4107
+Query 1/1: Action query time = 1.745 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5204
+t=42: Selected seed 195 with value = 0.5204
+Query 1/1: Action query time = 1.661 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5394
+t=58: Selected seed 195 with value = 0.5394
+Query 1/1: Action query time = 1.526 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5925
+t=74: Selected seed 195 with value = 0.5925
+Query 1/1: Action query time = 1.258 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6342
+t=90: Selected seed 195 with value = 0.6342
+Query 1/1: Action query time = 1.207 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7774
+t=106: Selected seed 195 with value = 0.7774
+Query 1/1: Action query time = 1.187 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9364
+t=122: Selected seed 195 with value = 0.9364
+Query 1/1: Action query time = 1.201 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=138: Selected seed 195 with value = 0.9586
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s01/2026_08_01-13_55_09--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9341ca5fa87602e680daa270720852ea02879024
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s14.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t5_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.243 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3724
+t=10: Selected seed 195 with value = 0.3724
+Query 1/1: Action query time = 5.056 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3940
+t=26: Selected seed 195 with value = 0.3940
+Query 1/1: Action query time = 5.123 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4598
+t=42: Selected seed 195 with value = 0.4598
+Query 1/1: Action query time = 5.089 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5830
+t=58: Selected seed 195 with value = 0.5830
+Query 1/1: Action query time = 5.113 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6313
+t=74: Selected seed 195 with value = 0.6313
+Query 1/1: Action query time = 4.710 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7182
+t=90: Selected seed 195 with value = 0.7182
+Query 1/1: Action query time = 5.122 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9043
+t=106: Selected seed 195 with value = 0.9043
+Query 1/1: Action query time = 5.429 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=122: Selected seed 195 with value = 0.9561
+Query 1/1: Action query time = 3.778 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=138: Selected seed 195 with value = 0.9365
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s14/2026_08_01-13_55_09--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.865 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3284
+t=10: Selected seed 195 with value = 0.3284
+Query 1/1: Action query time = 4.436 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3893
+t=26: Selected seed 195 with value = 0.3893
+Query 1/1: Action query time = 5.168 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5238
+t=42: Selected seed 195 with value = 0.5238
+Query 1/1: Action query time = 5.241 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5495
+t=58: Selected seed 195 with value = 0.5495
+Query 1/1: Action query time = 5.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6241
+t=74: Selected seed 195 with value = 0.6241
+Query 1/1: Action query time = 4.332 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6874
+t=90: Selected seed 195 with value = 0.6874
+Query 1/1: Action query time = 4.673 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=106: Selected seed 195 with value = 0.8281
+Query 1/1: Action query time = 5.669 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=122: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 2.876 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=138: Selected seed 195 with value = 0.9940
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s14/2026_08_01-13_55_09--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.094 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3350
+t=10: Selected seed 195 with value = 0.3350
+Query 1/1: Action query time = 5.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3857
+t=26: Selected seed 195 with value = 0.3857
+Query 1/1: Action query time = 4.738 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4896
+t=42: Selected seed 195 with value = 0.4896
+Query 1/1: Action query time = 4.775 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5532
+t=58: Selected seed 195 with value = 0.5532
+Query 1/1: Action query time = 5.094 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6209
+t=74: Selected seed 195 with value = 0.6209
+Query 1/1: Action query time = 5.782 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7152
+t=90: Selected seed 195 with value = 0.7152
+Query 1/1: Action query time = 5.506 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8252
+t=106: Selected seed 195 with value = 0.8252
+Query 1/1: Action query time = 4.259 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9397
+t=122: Selected seed 195 with value = 0.9397
+Query 1/1: Action query time = 1.916 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9638
+t=138: Selected seed 195 with value = 0.9638
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s14/2026_08_01-13_55_09--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-18_14_59--demochan800_t0123.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-18_14_59--demochan800_t0123.txt
new file mode 100644
index 0000000000000000000000000000000000000000..598397bc0f96767432eb5586de658dc4562c1498
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-18_14_59--demochan800_t0123.txt
@@ -0,0 +1,12437 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0,1,2,3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan800_t0123', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0, 1, 2, 3]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.551 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3339
+t=10: Selected seed 195 with value = 0.3339
+Query 1/1: Action query time = 0.947 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3913
+t=26: Selected seed 195 with value = 0.3913
+Query 1/1: Action query time = 0.946 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4538
+t=42: Selected seed 195 with value = 0.4538
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5923
+t=58: Selected seed 195 with value = 0.5923
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6530
+t=74: Selected seed 195 with value = 0.6530
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=90: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7540
+t=106: Selected seed 195 with value = 0.7540
+Query 1/1: Action query time = 0.955 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7478
+t=122: Selected seed 195 with value = 0.7478
+Query 1/1: Action query time = 0.958 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7073
+t=138: Selected seed 195 with value = 0.7073
+Query 1/1: Action query time = 0.954 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6973
+t=154: Selected seed 195 with value = 0.6973
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=170: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7368
+t=186: Selected seed 195 with value = 0.7368
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7443
+t=202: Selected seed 195 with value = 0.7443
+Query 1/1: Action query time = 1.006 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7393
+t=218: Selected seed 195 with value = 0.7393
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7365
+t=234: Selected seed 195 with value = 0.7365
+Query 1/1: Action query time = 0.948 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=250: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 0.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6763
+t=266: Selected seed 195 with value = 0.6763
+Query 1/1: Action query time = 1.085 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6618
+t=282: Selected seed 195 with value = 0.6618
+Query 1/1: Action query time = 1.062 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6886
+t=298: Selected seed 195 with value = 0.6886
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=1--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3542
+t=10: Selected seed 195 with value = 0.3542
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4090
+t=26: Selected seed 195 with value = 0.4090
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4683
+t=42: Selected seed 195 with value = 0.4683
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5356
+t=58: Selected seed 195 with value = 0.5356
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6450
+t=74: Selected seed 195 with value = 0.6450
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8658
+t=90: Selected seed 195 with value = 0.8658
+Query 1/1: Action query time = 0.948 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=106: Selected seed 195 with value = 0.9518
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9091
+t=122: Selected seed 195 with value = 0.9091
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.943 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=2--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.960 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=10: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4263
+t=26: Selected seed 195 with value = 0.4263
+Query 1/1: Action query time = 1.023 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=42: Selected seed 195 with value = 0.4838
+Query 1/1: Action query time = 1.041 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5717
+t=58: Selected seed 195 with value = 0.5717
+Query 1/1: Action query time = 1.036 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6657
+t=74: Selected seed 195 with value = 0.6657
+Query 1/1: Action query time = 1.140 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9095
+t=90: Selected seed 195 with value = 0.9095
+Query 1/1: Action query time = 1.195 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=106: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 1.192 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=3--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3264
+t=10: Selected seed 195 with value = 0.3264
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4041
+t=26: Selected seed 195 with value = 0.4041
+Query 1/1: Action query time = 1.013 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=42: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5896
+t=58: Selected seed 195 with value = 0.5896
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6517
+t=74: Selected seed 195 with value = 0.6517
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7791
+t=90: Selected seed 195 with value = 0.7791
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=122: Selected seed 195 with value = 0.9965
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=4--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 1.051 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3684
+t=10: Selected seed 195 with value = 0.3684
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4287
+t=26: Selected seed 195 with value = 0.4287
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=42: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5826
+t=58: Selected seed 195 with value = 0.5826
+Query 1/1: Action query time = 0.949 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6715
+t=74: Selected seed 195 with value = 0.6715
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9266
+t=90: Selected seed 195 with value = 0.9266
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7381
+t=106: Selected seed 195 with value = 0.7381
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7265
+t=122: Selected seed 195 with value = 0.7265
+Query 1/1: Action query time = 0.948 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7901
+t=138: Selected seed 195 with value = 0.7901
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8003
+t=154: Selected seed 195 with value = 0.8003
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8131
+t=170: Selected seed 195 with value = 0.8131
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8422
+t=186: Selected seed 195 with value = 0.8422
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8256
+t=202: Selected seed 195 with value = 0.8256
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8117
+t=218: Selected seed 195 with value = 0.8117
+Query 1/1: Action query time = 1.190 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8125
+t=234: Selected seed 195 with value = 0.8125
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8002
+t=250: Selected seed 195 with value = 0.8002
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7914
+t=266: Selected seed 195 with value = 0.7914
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7857
+t=282: Selected seed 195 with value = 0.7857
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7835
+t=298: Selected seed 195 with value = 0.7835
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=5--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=5--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 0.955 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3314
+t=10: Selected seed 195 with value = 0.3314
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4199
+t=26: Selected seed 195 with value = 0.4199
+Query 1/1: Action query time = 0.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4767
+t=42: Selected seed 195 with value = 0.4767
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5663
+t=58: Selected seed 195 with value = 0.5663
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6509
+t=74: Selected seed 195 with value = 0.6509
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8122
+t=90: Selected seed 195 with value = 0.8122
+Query 1/1: Action query time = 0.950 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9397
+t=106: Selected seed 195 with value = 0.9397
+Query 1/1: Action query time = 0.955 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=122: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9390
+t=138: Selected seed 195 with value = 0.9390
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=154: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 0.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=6--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 1.050 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3407
+t=10: Selected seed 195 with value = 0.3407
+Query 1/1: Action query time = 1.017 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4142
+t=26: Selected seed 195 with value = 0.4142
+Query 1/1: Action query time = 1.133 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4709
+t=42: Selected seed 195 with value = 0.4709
+Query 1/1: Action query time = 1.179 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5236
+t=58: Selected seed 195 with value = 0.5236
+Query 1/1: Action query time = 1.100 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6472
+t=74: Selected seed 195 with value = 0.6472
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7366
+t=90: Selected seed 195 with value = 0.7366
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=106: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 0.949 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=122: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=7--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3445
+t=10: Selected seed 195 with value = 0.3445
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4210
+t=26: Selected seed 195 with value = 0.4210
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4857
+t=42: Selected seed 195 with value = 0.4857
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5601
+t=58: Selected seed 195 with value = 0.5601
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6521
+t=74: Selected seed 195 with value = 0.6521
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8430
+t=90: Selected seed 195 with value = 0.8430
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=106: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=8--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3391
+t=10: Selected seed 195 with value = 0.3391
+Query 1/1: Action query time = 1.001 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4164
+t=26: Selected seed 195 with value = 0.4164
+Query 1/1: Action query time = 1.060 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4953
+t=42: Selected seed 195 with value = 0.4953
+Query 1/1: Action query time = 1.043 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5834
+t=58: Selected seed 195 with value = 0.5834
+Query 1/1: Action query time = 1.150 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6426
+t=74: Selected seed 195 with value = 0.6426
+Query 1/1: Action query time = 1.124 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8572
+t=90: Selected seed 195 with value = 0.8572
+Query 1/1: Action query time = 1.062 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=106: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=122: Selected seed 195 with value = 0.9927
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=9--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3771
+t=10: Selected seed 195 with value = 0.3771
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4323
+t=26: Selected seed 195 with value = 0.4323
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5051
+t=42: Selected seed 195 with value = 0.5051
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5897
+t=58: Selected seed 195 with value = 0.5897
+Query 1/1: Action query time = 1.104 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6838
+t=74: Selected seed 195 with value = 0.6838
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=90: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=106: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 0.950 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=122: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8868
+t=138: Selected seed 195 with value = 0.8868
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=154: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 0.958 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7703
+t=170: Selected seed 195 with value = 0.7703
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7900
+t=186: Selected seed 195 with value = 0.7900
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7864
+t=202: Selected seed 195 with value = 0.7864
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7899
+t=218: Selected seed 195 with value = 0.7899
+Query 1/1: Action query time = 0.949 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7917
+t=234: Selected seed 195 with value = 0.7917
+Query 1/1: Action query time = 0.945 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7624
+t=250: Selected seed 195 with value = 0.7624
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7585
+t=266: Selected seed 195 with value = 0.7585
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7611
+t=282: Selected seed 195 with value = 0.7611
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=298: Selected seed 195 with value = 0.7507
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=10--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=10--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3494
+t=10: Selected seed 195 with value = 0.3494
+Query 1/1: Action query time = 0.952 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4234
+t=26: Selected seed 195 with value = 0.4234
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5074
+t=42: Selected seed 195 with value = 0.5074
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5858
+t=58: Selected seed 195 with value = 0.5858
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=74: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7777
+t=90: Selected seed 195 with value = 0.7777
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.941 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=11--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 0.957 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3654
+t=10: Selected seed 195 with value = 0.3654
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4332
+t=26: Selected seed 195 with value = 0.4332
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4865
+t=42: Selected seed 195 with value = 0.4865
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5620
+t=58: Selected seed 195 with value = 0.5620
+Query 1/1: Action query time = 0.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=74: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 0.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8219
+t=90: Selected seed 195 with value = 0.8219
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=106: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 0.955 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9520
+t=122: Selected seed 195 with value = 0.9520
+Query 1/1: Action query time = 0.948 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=138: Selected seed 195 with value = 0.9896
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=12--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3611
+t=10: Selected seed 195 with value = 0.3611
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4135
+t=26: Selected seed 195 with value = 0.4135
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4714
+t=42: Selected seed 195 with value = 0.4714
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5470
+t=58: Selected seed 195 with value = 0.5470
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6483
+t=74: Selected seed 195 with value = 0.6483
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7853
+t=90: Selected seed 195 with value = 0.7853
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=106: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=13--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 1.105 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3638
+t=10: Selected seed 195 with value = 0.3638
+Query 1/1: Action query time = 1.158 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4243
+t=26: Selected seed 195 with value = 0.4243
+Query 1/1: Action query time = 1.160 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4901
+t=42: Selected seed 195 with value = 0.4901
+Query 1/1: Action query time = 1.048 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5705
+t=58: Selected seed 195 with value = 0.5705
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6568
+t=74: Selected seed 195 with value = 0.6568
+Query 1/1: Action query time = 0.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8155
+t=90: Selected seed 195 with value = 0.8155
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=106: Selected seed 195 with value = 0.9284
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=14--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=14--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 11 (78.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3349
+t=10: Selected seed 195 with value = 0.3349
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4066
+t=26: Selected seed 195 with value = 0.4066
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4749
+t=42: Selected seed 195 with value = 0.4749
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5695
+t=58: Selected seed 195 with value = 0.5695
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6515
+t=74: Selected seed 195 with value = 0.6515
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=90: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 0.946 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8240
+t=106: Selected seed 195 with value = 0.8240
+Query 1/1: Action query time = 0.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8264
+t=122: Selected seed 195 with value = 0.8264
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8192
+t=138: Selected seed 195 with value = 0.8192
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=154: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 0.958 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=170: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7774
+t=186: Selected seed 195 with value = 0.7774
+Query 1/1: Action query time = 1.198 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7585
+t=202: Selected seed 195 with value = 0.7585
+Query 1/1: Action query time = 1.152 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7520
+t=218: Selected seed 195 with value = 0.7520
+Query 1/1: Action query time = 1.023 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=234: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 1.070 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7078
+t=250: Selected seed 195 with value = 0.7078
+Query 1/1: Action query time = 1.036 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7388
+t=266: Selected seed 195 with value = 0.7388
+Query 1/1: Action query time = 1.001 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7341
+t=282: Selected seed 195 with value = 0.7341
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7396
+t=298: Selected seed 195 with value = 0.7396
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=15--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=15--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 11 (73.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.095 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3422
+t=10: Selected seed 195 with value = 0.3422
+Query 1/1: Action query time = 1.015 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4159
+t=26: Selected seed 195 with value = 0.4159
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4767
+t=42: Selected seed 195 with value = 0.4767
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5296
+t=58: Selected seed 195 with value = 0.5296
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6610
+t=74: Selected seed 195 with value = 0.6610
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8503
+t=90: Selected seed 195 with value = 0.8503
+Query 1/1: Action query time = 0.999 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8929
+t=106: Selected seed 195 with value = 0.8929
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=122: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 1.069 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=138: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=16--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=16--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 12 (75.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3535
+t=10: Selected seed 195 with value = 0.3535
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3956
+t=26: Selected seed 195 with value = 0.3956
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4836
+t=42: Selected seed 195 with value = 0.4836
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5934
+t=58: Selected seed 195 with value = 0.5934
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6560
+t=74: Selected seed 195 with value = 0.6560
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=90: Selected seed 195 with value = 0.8506
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=106: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=122: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=138: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=17--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=17--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 13 (76.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 1.150 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3285
+t=10: Selected seed 195 with value = 0.3285
+Query 1/1: Action query time = 1.128 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4014
+t=26: Selected seed 195 with value = 0.4014
+Query 1/1: Action query time = 1.113 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4639
+t=42: Selected seed 195 with value = 0.4639
+Query 1/1: Action query time = 1.051 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5547
+t=58: Selected seed 195 with value = 0.5547
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6560
+t=74: Selected seed 195 with value = 0.6560
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8565
+t=90: Selected seed 195 with value = 0.8565
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8477
+t=106: Selected seed 195 with value = 0.8477
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=122: Selected seed 195 with value = 0.9479
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9682
+t=138: Selected seed 195 with value = 0.9682
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9638
+t=154: Selected seed 195 with value = 0.9638
+Query 1/1: Action query time = 0.950 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9491
+t=170: Selected seed 195 with value = 0.9491
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9268
+t=186: Selected seed 195 with value = 0.9268
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8336
+t=202: Selected seed 195 with value = 0.8336
+Query 1/1: Action query time = 0.958 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7956
+t=218: Selected seed 195 with value = 0.7956
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8120
+t=234: Selected seed 195 with value = 0.8120
+Query 1/1: Action query time = 1.160 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=250: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 1.039 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7250
+t=266: Selected seed 195 with value = 0.7250
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7367
+t=282: Selected seed 195 with value = 0.7367
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7094
+t=298: Selected seed 195 with value = 0.7094
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=18--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=18--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 18
+# successes: 13 (72.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 1.194 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3457
+t=10: Selected seed 195 with value = 0.3457
+Query 1/1: Action query time = 1.198 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3936
+t=26: Selected seed 195 with value = 0.3936
+Query 1/1: Action query time = 1.153 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4744
+t=42: Selected seed 195 with value = 0.4744
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5305
+t=58: Selected seed 195 with value = 0.5305
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6304
+t=74: Selected seed 195 with value = 0.6304
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8598
+t=90: Selected seed 195 with value = 0.8598
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=106: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=122: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 1.091 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=138: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 1.114 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=154: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 1.156 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.140 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9208
+t=186: Selected seed 195 with value = 0.9208
+Query 1/1: Action query time = 1.099 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7985
+t=202: Selected seed 195 with value = 0.7985
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8321
+t=218: Selected seed 195 with value = 0.8321
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8132
+t=234: Selected seed 195 with value = 0.8132
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7291
+t=250: Selected seed 195 with value = 0.7291
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7483
+t=266: Selected seed 195 with value = 0.7483
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7773
+t=282: Selected seed 195 with value = 0.7773
+Query 1/1: Action query time = 0.957 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7794
+t=298: Selected seed 195 with value = 0.7794
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=19--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=19--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 19
+# successes: 13 (68.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3589
+t=10: Selected seed 195 with value = 0.3589
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4296
+t=26: Selected seed 195 with value = 0.4296
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5068
+t=42: Selected seed 195 with value = 0.5068
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5905
+t=58: Selected seed 195 with value = 0.5905
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6825
+t=74: Selected seed 195 with value = 0.6825
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=90: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7415
+t=106: Selected seed 195 with value = 0.7415
+Query 1/1: Action query time = 0.951 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7361
+t=122: Selected seed 195 with value = 0.7361
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7036
+t=138: Selected seed 195 with value = 0.7036
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6925
+t=154: Selected seed 195 with value = 0.6925
+Query 1/1: Action query time = 1.048 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=170: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 0.957 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6718
+t=186: Selected seed 195 with value = 0.6718
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6789
+t=202: Selected seed 195 with value = 0.6789
+Query 1/1: Action query time = 0.958 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6851
+t=218: Selected seed 195 with value = 0.6851
+Query 1/1: Action query time = 0.970 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7700
+t=234: Selected seed 195 with value = 0.7700
+Query 1/1: Action query time = 0.963 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8087
+t=250: Selected seed 195 with value = 0.8087
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8134
+t=266: Selected seed 195 with value = 0.8134
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8405
+t=282: Selected seed 195 with value = 0.8405
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8376
+t=298: Selected seed 195 with value = 0.8376
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=20--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=20--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 20
+# successes: 13 (65.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 0.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3240
+t=10: Selected seed 195 with value = 0.3240
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3940
+t=26: Selected seed 195 with value = 0.3940
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4594
+t=42: Selected seed 195 with value = 0.4594
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5851
+t=58: Selected seed 195 with value = 0.5851
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6423
+t=74: Selected seed 195 with value = 0.6423
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7817
+t=90: Selected seed 195 with value = 0.7817
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=106: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.952 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=122: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=138: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=21--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=21--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 14 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3418
+t=10: Selected seed 195 with value = 0.3418
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4129
+t=26: Selected seed 195 with value = 0.4129
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4665
+t=42: Selected seed 195 with value = 0.4665
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5237
+t=58: Selected seed 195 with value = 0.5237
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6014
+t=74: Selected seed 195 with value = 0.6014
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7593
+t=90: Selected seed 195 with value = 0.7593
+Query 1/1: Action query time = 0.952 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8339
+t=106: Selected seed 195 with value = 0.8339
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=122: Selected seed 195 with value = 0.9711
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=22--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=22--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 15 (68.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3748
+t=10: Selected seed 195 with value = 0.3748
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4441
+t=26: Selected seed 195 with value = 0.4441
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5047
+t=42: Selected seed 195 with value = 0.5047
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5807
+t=58: Selected seed 195 with value = 0.5807
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6732
+t=74: Selected seed 195 with value = 0.6732
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8090
+t=90: Selected seed 195 with value = 0.8090
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8928
+t=106: Selected seed 195 with value = 0.8928
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=122: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 0.958 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=138: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=154: Selected seed 195 with value = 0.9722
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8694
+t=170: Selected seed 195 with value = 0.8694
+Query 1/1: Action query time = 1.010 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8919
+t=186: Selected seed 195 with value = 0.8919
+Query 1/1: Action query time = 1.047 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8320
+t=202: Selected seed 195 with value = 0.8320
+Query 1/1: Action query time = 0.960 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8213
+t=218: Selected seed 195 with value = 0.8213
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8065
+t=234: Selected seed 195 with value = 0.8065
+Query 1/1: Action query time = 0.961 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7728
+t=250: Selected seed 195 with value = 0.7728
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7720
+t=266: Selected seed 195 with value = 0.7720
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7569
+t=282: Selected seed 195 with value = 0.7569
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7473
+t=298: Selected seed 195 with value = 0.7473
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=23--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=23--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 23
+# successes: 15 (65.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3123
+t=10: Selected seed 195 with value = 0.3123
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4163
+t=26: Selected seed 195 with value = 0.4163
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4735
+t=42: Selected seed 195 with value = 0.4735
+Query 1/1: Action query time = 1.044 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=58: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 1.032 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6500
+t=74: Selected seed 195 with value = 0.6500
+Query 1/1: Action query time = 1.031 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8132
+t=90: Selected seed 195 with value = 0.8132
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=106: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=122: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=138: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=24--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=24--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 16 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3669
+t=10: Selected seed 195 with value = 0.3669
+Query 1/1: Action query time = 0.947 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4072
+t=26: Selected seed 195 with value = 0.4072
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4593
+t=42: Selected seed 195 with value = 0.4593
+Query 1/1: Action query time = 0.946 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5485
+t=58: Selected seed 195 with value = 0.5485
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6546
+t=74: Selected seed 195 with value = 0.6546
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=90: Selected seed 195 with value = 0.8779
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=106: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=25--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=25--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 17 (68.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3578
+t=10: Selected seed 195 with value = 0.3578
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4208
+t=26: Selected seed 195 with value = 0.4208
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4753
+t=42: Selected seed 195 with value = 0.4753
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5384
+t=58: Selected seed 195 with value = 0.5384
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6364
+t=74: Selected seed 195 with value = 0.6364
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7828
+t=90: Selected seed 195 with value = 0.7828
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7510
+t=106: Selected seed 195 with value = 0.7510
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8121
+t=122: Selected seed 195 with value = 0.8121
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=26--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=26--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 18 (69.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3218
+t=10: Selected seed 195 with value = 0.3218
+Query 1/1: Action query time = 1.022 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3908
+t=26: Selected seed 195 with value = 0.3908
+Query 1/1: Action query time = 0.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4679
+t=42: Selected seed 195 with value = 0.4679
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=58: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=74: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7628
+t=90: Selected seed 195 with value = 0.7628
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8415
+t=106: Selected seed 195 with value = 0.8415
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8303
+t=122: Selected seed 195 with value = 0.8303
+Query 1/1: Action query time = 0.954 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8419
+t=138: Selected seed 195 with value = 0.8419
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=154: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 1.168 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=170: Selected seed 195 with value = 0.9595
+Query 1/1: Action query time = 1.187 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=186: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 1.174 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=202: Selected seed 195 with value = 0.9499
+Query 1/1: Action query time = 1.116 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=218: Selected seed 195 with value = 0.9960
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=27--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=27--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 19 (70.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3644
+t=10: Selected seed 195 with value = 0.3644
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4265
+t=26: Selected seed 195 with value = 0.4265
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4916
+t=42: Selected seed 195 with value = 0.4916
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5489
+t=58: Selected seed 195 with value = 0.5489
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6525
+t=74: Selected seed 195 with value = 0.6525
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8492
+t=90: Selected seed 195 with value = 0.8492
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=106: Selected seed 195 with value = 0.9086
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=28--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=28--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 20 (71.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 1.044 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3511
+t=10: Selected seed 195 with value = 0.3511
+Query 1/1: Action query time = 1.083 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4079
+t=26: Selected seed 195 with value = 0.4079
+Query 1/1: Action query time = 1.154 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4855
+t=42: Selected seed 195 with value = 0.4855
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5385
+t=58: Selected seed 195 with value = 0.5385
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6394
+t=74: Selected seed 195 with value = 0.6394
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8122
+t=90: Selected seed 195 with value = 0.8122
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9425
+t=106: Selected seed 195 with value = 0.9425
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=122: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=29--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=29--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 21 (72.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 1.112 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3577
+t=10: Selected seed 195 with value = 0.3577
+Query 1/1: Action query time = 1.350 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4019
+t=26: Selected seed 195 with value = 0.4019
+Query 1/1: Action query time = 1.296 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4572
+t=42: Selected seed 195 with value = 0.4572
+Query 1/1: Action query time = 1.185 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5504
+t=58: Selected seed 195 with value = 0.5504
+Query 1/1: Action query time = 1.038 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6451
+t=74: Selected seed 195 with value = 0.6451
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8794
+t=90: Selected seed 195 with value = 0.8794
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=106: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=122: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.991 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=138: Selected seed 195 with value = 0.9915
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=30--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=30--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 22 (73.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 1.028 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3575
+t=10: Selected seed 195 with value = 0.3575
+Query 1/1: Action query time = 1.144 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4265
+t=26: Selected seed 195 with value = 0.4265
+Query 1/1: Action query time = 1.198 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4942
+t=42: Selected seed 195 with value = 0.4942
+Query 1/1: Action query time = 1.206 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5747
+t=58: Selected seed 195 with value = 0.5747
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6703
+t=74: Selected seed 195 with value = 0.6703
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9080
+t=90: Selected seed 195 with value = 0.9080
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=106: Selected seed 195 with value = 0.8535
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7637
+t=122: Selected seed 195 with value = 0.7637
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=138: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7163
+t=154: Selected seed 195 with value = 0.7163
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7284
+t=170: Selected seed 195 with value = 0.7284
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6936
+t=186: Selected seed 195 with value = 0.6936
+Query 1/1: Action query time = 1.026 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6918
+t=202: Selected seed 195 with value = 0.6918
+Query 1/1: Action query time = 1.175 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7558
+t=218: Selected seed 195 with value = 0.7558
+Query 1/1: Action query time = 0.996 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7695
+t=234: Selected seed 195 with value = 0.7695
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7944
+t=250: Selected seed 195 with value = 0.7944
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8050
+t=266: Selected seed 195 with value = 0.8050
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8500
+t=282: Selected seed 195 with value = 0.8500
+Query 1/1: Action query time = 0.961 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8101
+t=298: Selected seed 195 with value = 0.8101
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=31--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=31--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 31
+# successes: 22 (71.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 1.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3393
+t=10: Selected seed 195 with value = 0.3393
+Query 1/1: Action query time = 1.022 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4026
+t=26: Selected seed 195 with value = 0.4026
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4519
+t=42: Selected seed 195 with value = 0.4519
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5160
+t=58: Selected seed 195 with value = 0.5160
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6338
+t=74: Selected seed 195 with value = 0.6338
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=90: Selected seed 195 with value = 0.8281
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9195
+t=106: Selected seed 195 with value = 0.9195
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=122: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 0.987 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=138: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.989 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=154: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=32--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=32--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 23 (71.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3372
+t=10: Selected seed 195 with value = 0.3372
+Query 1/1: Action query time = 1.138 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3916
+t=26: Selected seed 195 with value = 0.3916
+Query 1/1: Action query time = 1.153 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=42: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 1.177 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5897
+t=58: Selected seed 195 with value = 0.5897
+Query 1/1: Action query time = 1.071 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6703
+t=74: Selected seed 195 with value = 0.6703
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8985
+t=90: Selected seed 195 with value = 0.8985
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7641
+t=106: Selected seed 195 with value = 0.7641
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7479
+t=122: Selected seed 195 with value = 0.7479
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=138: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7301
+t=154: Selected seed 195 with value = 0.7301
+Query 1/1: Action query time = 1.130 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8248
+t=170: Selected seed 195 with value = 0.8248
+Query 1/1: Action query time = 1.081 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7839
+t=186: Selected seed 195 with value = 0.7839
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7690
+t=202: Selected seed 195 with value = 0.7690
+Query 1/1: Action query time = 0.959 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7536
+t=218: Selected seed 195 with value = 0.7536
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=234: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7389
+t=250: Selected seed 195 with value = 0.7389
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7380
+t=266: Selected seed 195 with value = 0.7380
+Query 1/1: Action query time = 0.954 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7373
+t=282: Selected seed 195 with value = 0.7373
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7351
+t=298: Selected seed 195 with value = 0.7351
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=33--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=33--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 23 (69.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3659
+t=10: Selected seed 195 with value = 0.3659
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4117
+t=26: Selected seed 195 with value = 0.4117
+Query 1/1: Action query time = 1.029 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4908
+t=42: Selected seed 195 with value = 0.4908
+Query 1/1: Action query time = 1.103 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5571
+t=58: Selected seed 195 with value = 0.5571
+Query 1/1: Action query time = 1.175 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6655
+t=74: Selected seed 195 with value = 0.6655
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=90: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7930
+t=106: Selected seed 195 with value = 0.7930
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=122: Selected seed 195 with value = 0.9301
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=138: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=154: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=34--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=34--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 24 (70.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3338
+t=10: Selected seed 195 with value = 0.3338
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4260
+t=26: Selected seed 195 with value = 0.4260
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4779
+t=42: Selected seed 195 with value = 0.4779
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5613
+t=58: Selected seed 195 with value = 0.5613
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6600
+t=74: Selected seed 195 with value = 0.6600
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8540
+t=90: Selected seed 195 with value = 0.8540
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=106: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=122: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=35--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=35--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 25 (71.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3509
+t=10: Selected seed 195 with value = 0.3509
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4154
+t=26: Selected seed 195 with value = 0.4154
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4742
+t=42: Selected seed 195 with value = 0.4742
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5444
+t=58: Selected seed 195 with value = 0.5444
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6506
+t=74: Selected seed 195 with value = 0.6506
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8421
+t=90: Selected seed 195 with value = 0.8421
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=106: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=122: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=36--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=36--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 26 (72.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3623
+t=10: Selected seed 195 with value = 0.3623
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4301
+t=26: Selected seed 195 with value = 0.4301
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4800
+t=42: Selected seed 195 with value = 0.4800
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=58: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6425
+t=74: Selected seed 195 with value = 0.6425
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8724
+t=90: Selected seed 195 with value = 0.8724
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=106: Selected seed 195 with value = 0.9072
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8477
+t=122: Selected seed 195 with value = 0.8477
+Query 1/1: Action query time = 1.001 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=138: Selected seed 195 with value = 0.8921
+Query 1/1: Action query time = 1.037 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8481
+t=154: Selected seed 195 with value = 0.8481
+Query 1/1: Action query time = 1.109 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7632
+t=170: Selected seed 195 with value = 0.7632
+Query 1/1: Action query time = 1.174 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7601
+t=186: Selected seed 195 with value = 0.7601
+Query 1/1: Action query time = 1.200 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7568
+t=202: Selected seed 195 with value = 0.7568
+Query 1/1: Action query time = 1.152 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7527
+t=218: Selected seed 195 with value = 0.7527
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7491
+t=234: Selected seed 195 with value = 0.7491
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7453
+t=250: Selected seed 195 with value = 0.7453
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=266: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7480
+t=282: Selected seed 195 with value = 0.7480
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7592
+t=298: Selected seed 195 with value = 0.7592
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=37--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=37--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 37
+# successes: 26 (70.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3560
+t=10: Selected seed 195 with value = 0.3560
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4096
+t=26: Selected seed 195 with value = 0.4096
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4679
+t=42: Selected seed 195 with value = 0.4679
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5336
+t=58: Selected seed 195 with value = 0.5336
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6306
+t=74: Selected seed 195 with value = 0.6306
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7943
+t=90: Selected seed 195 with value = 0.7943
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8693
+t=106: Selected seed 195 with value = 0.8693
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=122: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=38--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=38--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 27 (71.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 0.957 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3426
+t=10: Selected seed 195 with value = 0.3426
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4203
+t=26: Selected seed 195 with value = 0.4203
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4857
+t=42: Selected seed 195 with value = 0.4857
+Query 1/1: Action query time = 1.067 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5716
+t=58: Selected seed 195 with value = 0.5716
+Query 1/1: Action query time = 1.045 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6545
+t=74: Selected seed 195 with value = 0.6545
+Query 1/1: Action query time = 1.042 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8098
+t=90: Selected seed 195 with value = 0.8098
+Query 1/1: Action query time = 1.009 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=106: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 1.009 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=122: Selected seed 195 with value = 0.9963
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=39--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=39--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 28 (71.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3205
+t=10: Selected seed 195 with value = 0.3205
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3972
+t=26: Selected seed 195 with value = 0.3972
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4378
+t=42: Selected seed 195 with value = 0.4378
+Query 1/1: Action query time = 1.132 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5623
+t=58: Selected seed 195 with value = 0.5623
+Query 1/1: Action query time = 1.138 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6472
+t=74: Selected seed 195 with value = 0.6472
+Query 1/1: Action query time = 1.178 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7907
+t=90: Selected seed 195 with value = 0.7907
+Query 1/1: Action query time = 1.177 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8827
+t=106: Selected seed 195 with value = 0.8827
+Query 1/1: Action query time = 1.104 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7227
+t=122: Selected seed 195 with value = 0.7227
+Query 1/1: Action query time = 1.162 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7180
+t=138: Selected seed 195 with value = 0.7180
+Query 1/1: Action query time = 1.140 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6972
+t=154: Selected seed 195 with value = 0.6972
+Query 1/1: Action query time = 1.058 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7033
+t=170: Selected seed 195 with value = 0.7033
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7015
+t=186: Selected seed 195 with value = 0.7015
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7194
+t=202: Selected seed 195 with value = 0.7194
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7162
+t=218: Selected seed 195 with value = 0.7162
+Query 1/1: Action query time = 0.994 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6790
+t=234: Selected seed 195 with value = 0.6790
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=250: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 0.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6751
+t=266: Selected seed 195 with value = 0.6751
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6870
+t=282: Selected seed 195 with value = 0.6870
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7251
+t=298: Selected seed 195 with value = 0.7251
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=40--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=40--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 28 (70.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 1.087 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3642
+t=10: Selected seed 195 with value = 0.3642
+Query 1/1: Action query time = 1.136 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4221
+t=26: Selected seed 195 with value = 0.4221
+Query 1/1: Action query time = 1.051 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4779
+t=42: Selected seed 195 with value = 0.4779
+Query 1/1: Action query time = 1.085 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5484
+t=58: Selected seed 195 with value = 0.5484
+Query 1/1: Action query time = 1.158 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6481
+t=74: Selected seed 195 with value = 0.6481
+Query 1/1: Action query time = 1.205 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8661
+t=90: Selected seed 195 with value = 0.8661
+Query 1/1: Action query time = 1.182 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=106: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 1.126 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=41--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=41--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 29 (70.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 1.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3378
+t=10: Selected seed 195 with value = 0.3378
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3975
+t=26: Selected seed 195 with value = 0.3975
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4697
+t=42: Selected seed 195 with value = 0.4697
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5566
+t=58: Selected seed 195 with value = 0.5566
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6374
+t=74: Selected seed 195 with value = 0.6374
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8303
+t=90: Selected seed 195 with value = 0.8303
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=106: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=122: Selected seed 195 with value = 0.9925
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=42--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=42--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 30 (71.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3684
+t=10: Selected seed 195 with value = 0.3684
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4331
+t=26: Selected seed 195 with value = 0.4331
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4942
+t=42: Selected seed 195 with value = 0.4942
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5732
+t=58: Selected seed 195 with value = 0.5732
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6708
+t=74: Selected seed 195 with value = 0.6708
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=90: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=106: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=43--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=43--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 31 (72.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3266
+t=10: Selected seed 195 with value = 0.3266
+Query 1/1: Action query time = 1.000 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3927
+t=26: Selected seed 195 with value = 0.3927
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4567
+t=42: Selected seed 195 with value = 0.4567
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=58: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6497
+t=74: Selected seed 195 with value = 0.6497
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7940
+t=90: Selected seed 195 with value = 0.7940
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=106: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=122: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=138: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=44--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=44--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 32 (72.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3257
+t=10: Selected seed 195 with value = 0.3257
+Query 1/1: Action query time = 1.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3932
+t=26: Selected seed 195 with value = 0.3932
+Query 1/1: Action query time = 1.112 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4486
+t=42: Selected seed 195 with value = 0.4486
+Query 1/1: Action query time = 1.097 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5516
+t=58: Selected seed 195 with value = 0.5516
+Query 1/1: Action query time = 1.120 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6554
+t=74: Selected seed 195 with value = 0.6554
+Query 1/1: Action query time = 1.201 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=90: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 1.224 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7703
+t=106: Selected seed 195 with value = 0.7703
+Query 1/1: Action query time = 1.128 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7956
+t=122: Selected seed 195 with value = 0.7956
+Query 1/1: Action query time = 1.116 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8340
+t=138: Selected seed 195 with value = 0.8340
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8397
+t=154: Selected seed 195 with value = 0.8397
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8337
+t=170: Selected seed 195 with value = 0.8337
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8449
+t=186: Selected seed 195 with value = 0.8449
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8444
+t=202: Selected seed 195 with value = 0.8444
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8435
+t=218: Selected seed 195 with value = 0.8435
+Query 1/1: Action query time = 0.993 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8439
+t=234: Selected seed 195 with value = 0.8439
+Query 1/1: Action query time = 1.016 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8381
+t=250: Selected seed 195 with value = 0.8381
+Query 1/1: Action query time = 1.275 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8228
+t=266: Selected seed 195 with value = 0.8228
+Query 1/1: Action query time = 1.007 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8145
+t=282: Selected seed 195 with value = 0.8145
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8197
+t=298: Selected seed 195 with value = 0.8197
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=45--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=45--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 45
+# successes: 32 (71.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3484
+t=10: Selected seed 195 with value = 0.3484
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4126
+t=26: Selected seed 195 with value = 0.4126
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4724
+t=42: Selected seed 195 with value = 0.4724
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5529
+t=58: Selected seed 195 with value = 0.5529
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6289
+t=74: Selected seed 195 with value = 0.6289
+Query 1/1: Action query time = 0.954 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=90: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7784
+t=106: Selected seed 195 with value = 0.7784
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8162
+t=122: Selected seed 195 with value = 0.8162
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=138: Selected seed 195 with value = 0.8907
+Query 1/1: Action query time = 0.946 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=154: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 0.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=46--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=46--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 33 (71.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 1.230 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3595
+t=10: Selected seed 195 with value = 0.3595
+Query 1/1: Action query time = 1.229 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4200
+t=26: Selected seed 195 with value = 0.4200
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4887
+t=42: Selected seed 195 with value = 0.4887
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5758
+t=58: Selected seed 195 with value = 0.5758
+Query 1/1: Action query time = 0.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6553
+t=74: Selected seed 195 with value = 0.6553
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8353
+t=90: Selected seed 195 with value = 0.8353
+Query 1/1: Action query time = 1.011 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9110
+t=106: Selected seed 195 with value = 0.9110
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=122: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8883
+t=138: Selected seed 195 with value = 0.8883
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8653
+t=154: Selected seed 195 with value = 0.8653
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8482
+t=170: Selected seed 195 with value = 0.8482
+Query 1/1: Action query time = 0.993 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8240
+t=186: Selected seed 195 with value = 0.8240
+Query 1/1: Action query time = 0.985 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7581
+t=202: Selected seed 195 with value = 0.7581
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7557
+t=218: Selected seed 195 with value = 0.7557
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7467
+t=234: Selected seed 195 with value = 0.7467
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7374
+t=250: Selected seed 195 with value = 0.7374
+Query 1/1: Action query time = 1.020 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7352
+t=266: Selected seed 195 with value = 0.7352
+Query 1/1: Action query time = 1.140 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7342
+t=282: Selected seed 195 with value = 0.7342
+Query 1/1: Action query time = 1.190 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7249
+t=298: Selected seed 195 with value = 0.7249
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=47--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=47--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 47
+# successes: 33 (70.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3784
+t=10: Selected seed 195 with value = 0.3784
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4302
+t=26: Selected seed 195 with value = 0.4302
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=42: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 1.153 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5818
+t=58: Selected seed 195 with value = 0.5818
+Query 1/1: Action query time = 1.214 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6723
+t=74: Selected seed 195 with value = 0.6723
+Query 1/1: Action query time = 1.208 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=90: Selected seed 195 with value = 0.9451
+Query 1/1: Action query time = 1.170 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7478
+t=106: Selected seed 195 with value = 0.7478
+Query 1/1: Action query time = 1.188 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7136
+t=122: Selected seed 195 with value = 0.7136
+Query 1/1: Action query time = 1.110 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8844
+t=138: Selected seed 195 with value = 0.8844
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8074
+t=154: Selected seed 195 with value = 0.8074
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7953
+t=170: Selected seed 195 with value = 0.7953
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8009
+t=186: Selected seed 195 with value = 0.8009
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8238
+t=202: Selected seed 195 with value = 0.8238
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=218: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 1.079 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8307
+t=234: Selected seed 195 with value = 0.8307
+Query 1/1: Action query time = 1.229 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8277
+t=250: Selected seed 195 with value = 0.8277
+Query 1/1: Action query time = 1.033 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=266: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8190
+t=282: Selected seed 195 with value = 0.8190
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=298: Selected seed 195 with value = 0.8161
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=48--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=48--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 48
+# successes: 33 (68.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3604
+t=10: Selected seed 195 with value = 0.3604
+Query 1/1: Action query time = 1.073 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4306
+t=26: Selected seed 195 with value = 0.4306
+Query 1/1: Action query time = 1.161 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=42: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 1.206 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5696
+t=58: Selected seed 195 with value = 0.5696
+Query 1/1: Action query time = 1.235 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=74: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 1.109 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8803
+t=90: Selected seed 195 with value = 0.8803
+Query 1/1: Action query time = 1.079 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.023 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=49--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=49--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 34 (69.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 1.197 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3669
+t=10: Selected seed 195 with value = 0.3669
+Query 1/1: Action query time = 1.141 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4199
+t=26: Selected seed 195 with value = 0.4199
+Query 1/1: Action query time = 1.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=42: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 1.192 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5665
+t=58: Selected seed 195 with value = 0.5665
+Query 1/1: Action query time = 1.197 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6368
+t=74: Selected seed 195 with value = 0.6368
+Query 1/1: Action query time = 1.198 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8172
+t=90: Selected seed 195 with value = 0.8172
+Query 1/1: Action query time = 1.232 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7397
+t=106: Selected seed 195 with value = 0.7397
+Query 1/1: Action query time = 1.232 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8148
+t=122: Selected seed 195 with value = 0.8148
+Query 1/1: Action query time = 1.176 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8133
+t=138: Selected seed 195 with value = 0.8133
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7862
+t=154: Selected seed 195 with value = 0.7862
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7700
+t=170: Selected seed 195 with value = 0.7700
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7808
+t=186: Selected seed 195 with value = 0.7808
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7266
+t=202: Selected seed 195 with value = 0.7266
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7397
+t=218: Selected seed 195 with value = 0.7397
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7463
+t=234: Selected seed 195 with value = 0.7463
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7523
+t=250: Selected seed 195 with value = 0.7523
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7545
+t=266: Selected seed 195 with value = 0.7545
+Query 1/1: Action query time = 0.990 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7473
+t=282: Selected seed 195 with value = 0.7473
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7551
+t=298: Selected seed 195 with value = 0.7551
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=50--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=50--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 50
+# successes: 34 (68.0%)
+Current task success rate: 0.68
+Current total success rate: 0.68
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4841
+t=10: Selected seed 195 with value = 0.4841
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5661
+t=26: Selected seed 195 with value = 0.5661
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6901
+t=42: Selected seed 195 with value = 0.6901
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8066
+t=58: Selected seed 195 with value = 0.8066
+Query 1/1: Action query time = 0.948 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9209
+t=74: Selected seed 195 with value = 0.9209
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=90: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=51--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=51--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 51
+# successes: 35 (68.6%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 0.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4805
+t=10: Selected seed 195 with value = 0.4805
+Query 1/1: Action query time = 1.006 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5755
+t=26: Selected seed 195 with value = 0.5755
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=42: Selected seed 195 with value = 0.6627
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7891
+t=58: Selected seed 195 with value = 0.7891
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8805
+t=74: Selected seed 195 with value = 0.8805
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=90: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=52--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=52--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 52
+# successes: 36 (69.2%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5141
+t=10: Selected seed 195 with value = 0.5141
+Query 1/1: Action query time = 0.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5995
+t=26: Selected seed 195 with value = 0.5995
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7149
+t=42: Selected seed 195 with value = 0.7149
+Query 1/1: Action query time = 0.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8339
+t=58: Selected seed 195 with value = 0.8339
+Query 1/1: Action query time = 0.949 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=74: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 1.090 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=53--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=53--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 53
+# successes: 37 (69.8%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5079
+t=10: Selected seed 195 with value = 0.5079
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6059
+t=26: Selected seed 195 with value = 0.6059
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7163
+t=42: Selected seed 195 with value = 0.7163
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8354
+t=58: Selected seed 195 with value = 0.8354
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9349
+t=74: Selected seed 195 with value = 0.9349
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=90: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=54--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=54--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 54
+# successes: 38 (70.4%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=10: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 0.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5721
+t=26: Selected seed 195 with value = 0.5721
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6939
+t=42: Selected seed 195 with value = 0.6939
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8468
+t=58: Selected seed 195 with value = 0.8468
+Query 1/1: Action query time = 0.946 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9500
+t=74: Selected seed 195 with value = 0.9500
+Query 1/1: Action query time = 0.944 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=90: Selected seed 195 with value = 0.9882
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=55--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=55--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 55
+# successes: 39 (70.9%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 1.050 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4789
+t=10: Selected seed 195 with value = 0.4789
+Query 1/1: Action query time = 0.950 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5629
+t=26: Selected seed 195 with value = 0.5629
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=42: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=58: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 1.147 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9109
+t=74: Selected seed 195 with value = 0.9109
+Query 1/1: Action query time = 1.170 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=90: Selected seed 195 with value = 0.9893
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=56--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=56--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 56
+# successes: 40 (71.4%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 0.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4904
+t=10: Selected seed 195 with value = 0.4904
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5606
+t=26: Selected seed 195 with value = 0.5606
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7058
+t=42: Selected seed 195 with value = 0.7058
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7903
+t=58: Selected seed 195 with value = 0.7903
+Query 1/1: Action query time = 0.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=74: Selected seed 195 with value = 0.9136
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=90: Selected seed 195 with value = 0.9946
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=57--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=57--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 57
+# successes: 41 (71.9%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 1.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4892
+t=10: Selected seed 195 with value = 0.4892
+Query 1/1: Action query time = 1.092 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5874
+t=26: Selected seed 195 with value = 0.5874
+Query 1/1: Action query time = 1.155 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7078
+t=42: Selected seed 195 with value = 0.7078
+Query 1/1: Action query time = 1.159 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8180
+t=58: Selected seed 195 with value = 0.8180
+Query 1/1: Action query time = 1.118 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9264
+t=74: Selected seed 195 with value = 0.9264
+Query 1/1: Action query time = 1.140 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=90: Selected seed 195 with value = 0.9840
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=58--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=58--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 58
+# successes: 42 (72.4%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4999
+t=10: Selected seed 195 with value = 0.4999
+Query 1/1: Action query time = 1.207 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5497
+t=26: Selected seed 195 with value = 0.5497
+Query 1/1: Action query time = 1.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6378
+t=42: Selected seed 195 with value = 0.6378
+Query 1/1: Action query time = 1.215 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7322
+t=58: Selected seed 195 with value = 0.7322
+Query 1/1: Action query time = 1.175 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8520
+t=74: Selected seed 195 with value = 0.8520
+Query 1/1: Action query time = 1.159 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=90: Selected seed 195 with value = 0.9697
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=59--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=59--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 59
+# successes: 43 (72.9%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5116
+t=10: Selected seed 195 with value = 0.5116
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5713
+t=26: Selected seed 195 with value = 0.5713
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6912
+t=42: Selected seed 195 with value = 0.6912
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7897
+t=58: Selected seed 195 with value = 0.7897
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8816
+t=74: Selected seed 195 with value = 0.8816
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=60--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=60--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 60
+# successes: 44 (73.3%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 1.201 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4793
+t=10: Selected seed 195 with value = 0.4793
+Query 1/1: Action query time = 1.117 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=26: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 1.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=42: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 1.120 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=58: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 1.150 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8917
+t=74: Selected seed 195 with value = 0.8917
+Query 1/1: Action query time = 1.011 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=61--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=61--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 61
+# successes: 45 (73.8%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5024
+t=10: Selected seed 195 with value = 0.5024
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5759
+t=26: Selected seed 195 with value = 0.5759
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6872
+t=42: Selected seed 195 with value = 0.6872
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7867
+t=58: Selected seed 195 with value = 0.7867
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8725
+t=74: Selected seed 195 with value = 0.8725
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=90: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=62--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=62--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 62
+# successes: 46 (74.2%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=10: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 0.945 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5869
+t=26: Selected seed 195 with value = 0.5869
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6774
+t=42: Selected seed 195 with value = 0.6774
+Query 1/1: Action query time = 0.953 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=58: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9110
+t=74: Selected seed 195 with value = 0.9110
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=90: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=63--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=63--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 63
+# successes: 47 (74.6%)
+
+Task: put the bowl on the stove
+Starting episode 14...
+Query 1/1: Action query time = 1.186 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5014
+t=10: Selected seed 195 with value = 0.5014
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5518
+t=26: Selected seed 195 with value = 0.5518
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6746
+t=42: Selected seed 195 with value = 0.6746
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7801
+t=58: Selected seed 195 with value = 0.7801
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=74: Selected seed 195 with value = 0.8969
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=64--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=64--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 64
+# successes: 48 (75.0%)
+
+Task: put the bowl on the stove
+Starting episode 15...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5238
+t=10: Selected seed 195 with value = 0.5238
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5910
+t=26: Selected seed 195 with value = 0.5910
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7155
+t=42: Selected seed 195 with value = 0.7155
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8262
+t=58: Selected seed 195 with value = 0.8262
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=74: Selected seed 195 with value = 0.9471
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=90: Selected seed 195 with value = 0.9952
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=65--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=65--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 65
+# successes: 49 (75.4%)
+
+Task: put the bowl on the stove
+Starting episode 16...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4648
+t=10: Selected seed 195 with value = 0.4648
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5624
+t=26: Selected seed 195 with value = 0.5624
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6590
+t=42: Selected seed 195 with value = 0.6590
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7769
+t=58: Selected seed 195 with value = 0.7769
+Query 1/1: Action query time = 0.949 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8832
+t=74: Selected seed 195 with value = 0.8832
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=90: Selected seed 195 with value = 0.9895
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=66--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=66--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 66
+# successes: 50 (75.8%)
+
+Task: put the bowl on the stove
+Starting episode 17...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4959
+t=10: Selected seed 195 with value = 0.4959
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5793
+t=26: Selected seed 195 with value = 0.5793
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6870
+t=42: Selected seed 195 with value = 0.6870
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8021
+t=58: Selected seed 195 with value = 0.8021
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9269
+t=74: Selected seed 195 with value = 0.9269
+Query 1/1: Action query time = 1.052 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=90: Selected seed 195 with value = 0.9924
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=67--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=67--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 67
+# successes: 51 (76.1%)
+
+Task: put the bowl on the stove
+Starting episode 18...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5065
+t=10: Selected seed 195 with value = 0.5065
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5853
+t=26: Selected seed 195 with value = 0.5853
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6909
+t=42: Selected seed 195 with value = 0.6909
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8241
+t=58: Selected seed 195 with value = 0.8241
+Query 1/1: Action query time = 0.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9490
+t=74: Selected seed 195 with value = 0.9490
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=90: Selected seed 195 with value = 0.9912
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=68--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=68--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 68
+# successes: 52 (76.5%)
+
+Task: put the bowl on the stove
+Starting episode 19...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5151
+t=10: Selected seed 195 with value = 0.5151
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5775
+t=26: Selected seed 195 with value = 0.5775
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6692
+t=42: Selected seed 195 with value = 0.6692
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7951
+t=58: Selected seed 195 with value = 0.7951
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=74: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 0.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=90: Selected seed 195 with value = 0.9919
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=69--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=69--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 69
+# successes: 53 (76.8%)
+
+Task: put the bowl on the stove
+Starting episode 20...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4828
+t=10: Selected seed 195 with value = 0.4828
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5500
+t=26: Selected seed 195 with value = 0.5500
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6904
+t=42: Selected seed 195 with value = 0.6904
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=58: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9164
+t=74: Selected seed 195 with value = 0.9164
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=90: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=70--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=70--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 70
+# successes: 54 (77.1%)
+
+Task: put the bowl on the stove
+Starting episode 21...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4817
+t=10: Selected seed 195 with value = 0.4817
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5597
+t=26: Selected seed 195 with value = 0.5597
+Query 1/1: Action query time = 0.999 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6698
+t=42: Selected seed 195 with value = 0.6698
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7438
+t=58: Selected seed 195 with value = 0.7438
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8666
+t=74: Selected seed 195 with value = 0.8666
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=90: Selected seed 195 with value = 0.9964
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=71--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=71--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 71
+# successes: 55 (77.5%)
+
+Task: put the bowl on the stove
+Starting episode 22...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4769
+t=10: Selected seed 195 with value = 0.4769
+Query 1/1: Action query time = 1.056 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5565
+t=26: Selected seed 195 with value = 0.5565
+Query 1/1: Action query time = 1.081 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6451
+t=42: Selected seed 195 with value = 0.6451
+Query 1/1: Action query time = 1.104 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7669
+t=58: Selected seed 195 with value = 0.7669
+Query 1/1: Action query time = 1.066 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=74: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 1.207 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=90: Selected seed 195 with value = 0.9933
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=72--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=72--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 72
+# successes: 56 (77.8%)
+
+Task: put the bowl on the stove
+Starting episode 23...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=10: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5765
+t=26: Selected seed 195 with value = 0.5765
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=42: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7962
+t=58: Selected seed 195 with value = 0.7962
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=74: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=90: Selected seed 195 with value = 0.9904
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=73--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=73--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 73
+# successes: 57 (78.1%)
+
+Task: put the bowl on the stove
+Starting episode 24...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4972
+t=10: Selected seed 195 with value = 0.4972
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5491
+t=26: Selected seed 195 with value = 0.5491
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6538
+t=42: Selected seed 195 with value = 0.6538
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7779
+t=58: Selected seed 195 with value = 0.7779
+Query 1/1: Action query time = 0.950 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9003
+t=74: Selected seed 195 with value = 0.9003
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=90: Selected seed 195 with value = 0.9883
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=74--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=74--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 74
+# successes: 58 (78.4%)
+
+Task: put the bowl on the stove
+Starting episode 25...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4903
+t=10: Selected seed 195 with value = 0.4903
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5691
+t=26: Selected seed 195 with value = 0.5691
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6546
+t=42: Selected seed 195 with value = 0.6546
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7799
+t=58: Selected seed 195 with value = 0.7799
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8873
+t=74: Selected seed 195 with value = 0.8873
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=90: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=75--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=75--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 75
+# successes: 59 (78.7%)
+
+Task: put the bowl on the stove
+Starting episode 26...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4871
+t=10: Selected seed 195 with value = 0.4871
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5580
+t=26: Selected seed 195 with value = 0.5580
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6637
+t=42: Selected seed 195 with value = 0.6637
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=58: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8578
+t=74: Selected seed 195 with value = 0.8578
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=90: Selected seed 195 with value = 0.9969
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=76--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=76--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 76
+# successes: 60 (78.9%)
+
+Task: put the bowl on the stove
+Starting episode 27...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5067
+t=10: Selected seed 195 with value = 0.5067
+Query 1/1: Action query time = 1.098 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5987
+t=26: Selected seed 195 with value = 0.5987
+Query 1/1: Action query time = 1.070 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7128
+t=42: Selected seed 195 with value = 0.7128
+Query 1/1: Action query time = 1.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8209
+t=58: Selected seed 195 with value = 0.8209
+Query 1/1: Action query time = 1.164 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=74: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 1.087 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=77--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=77--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 77
+# successes: 61 (79.2%)
+
+Task: put the bowl on the stove
+Starting episode 28...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4793
+t=10: Selected seed 195 with value = 0.4793
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5678
+t=26: Selected seed 195 with value = 0.5678
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6916
+t=42: Selected seed 195 with value = 0.6916
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=58: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8927
+t=74: Selected seed 195 with value = 0.8927
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=90: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=78--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=78--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 78
+# successes: 62 (79.5%)
+
+Task: put the bowl on the stove
+Starting episode 29...
+Query 1/1: Action query time = 1.233 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4872
+t=10: Selected seed 195 with value = 0.4872
+Query 1/1: Action query time = 1.154 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=26: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 1.078 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6713
+t=42: Selected seed 195 with value = 0.6713
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7764
+t=58: Selected seed 195 with value = 0.7764
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8676
+t=74: Selected seed 195 with value = 0.8676
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=90: Selected seed 195 with value = 0.9975
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=79--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=79--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 79
+# successes: 63 (79.7%)
+
+Task: put the bowl on the stove
+Starting episode 30...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5258
+t=10: Selected seed 195 with value = 0.5258
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=26: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6676
+t=42: Selected seed 195 with value = 0.6676
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7903
+t=58: Selected seed 195 with value = 0.7903
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8963
+t=74: Selected seed 195 with value = 0.8963
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=90: Selected seed 195 with value = 0.9894
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=80--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=80--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 80
+# successes: 64 (80.0%)
+
+Task: put the bowl on the stove
+Starting episode 31...
+Query 1/1: Action query time = 1.016 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4992
+t=10: Selected seed 195 with value = 0.4992
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5633
+t=26: Selected seed 195 with value = 0.5633
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6486
+t=42: Selected seed 195 with value = 0.6486
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7812
+t=58: Selected seed 195 with value = 0.7812
+Query 1/1: Action query time = 1.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9014
+t=74: Selected seed 195 with value = 0.9014
+Query 1/1: Action query time = 1.021 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=90: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=81--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=81--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 81
+# successes: 65 (80.2%)
+
+Task: put the bowl on the stove
+Starting episode 32...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5018
+t=10: Selected seed 195 with value = 0.5018
+Query 1/1: Action query time = 1.021 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=26: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=42: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7448
+t=58: Selected seed 195 with value = 0.7448
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8655
+t=74: Selected seed 195 with value = 0.8655
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=90: Selected seed 195 with value = 0.9669
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=82--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=82--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 82
+# successes: 66 (80.5%)
+
+Task: put the bowl on the stove
+Starting episode 33...
+Query 1/1: Action query time = 1.040 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5127
+t=10: Selected seed 195 with value = 0.5127
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5706
+t=26: Selected seed 195 with value = 0.5706
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6610
+t=42: Selected seed 195 with value = 0.6610
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7742
+t=58: Selected seed 195 with value = 0.7742
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9028
+t=74: Selected seed 195 with value = 0.9028
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=90: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=83--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=83--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 83
+# successes: 67 (80.7%)
+
+Task: put the bowl on the stove
+Starting episode 34...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=10: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5635
+t=26: Selected seed 195 with value = 0.5635
+Query 1/1: Action query time = 1.115 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6782
+t=42: Selected seed 195 with value = 0.6782
+Query 1/1: Action query time = 1.140 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7442
+t=58: Selected seed 195 with value = 0.7442
+Query 1/1: Action query time = 1.073 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=74: Selected seed 195 with value = 0.8746
+Query 1/1: Action query time = 1.131 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=84--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=84--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 84
+# successes: 68 (81.0%)
+
+Task: put the bowl on the stove
+Starting episode 35...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5081
+t=10: Selected seed 195 with value = 0.5081
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5621
+t=26: Selected seed 195 with value = 0.5621
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6861
+t=42: Selected seed 195 with value = 0.6861
+Query 1/1: Action query time = 1.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7942
+t=58: Selected seed 195 with value = 0.7942
+Query 1/1: Action query time = 1.157 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9081
+t=74: Selected seed 195 with value = 0.9081
+Query 1/1: Action query time = 1.198 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=90: Selected seed 195 with value = 0.9948
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=85--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=85--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 85
+# successes: 69 (81.2%)
+
+Task: put the bowl on the stove
+Starting episode 36...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4903
+t=10: Selected seed 195 with value = 0.4903
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5895
+t=26: Selected seed 195 with value = 0.5895
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7061
+t=42: Selected seed 195 with value = 0.7061
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=58: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=74: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=90: Selected seed 195 with value = 0.9952
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=86--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=86--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 86
+# successes: 70 (81.4%)
+
+Task: put the bowl on the stove
+Starting episode 37...
+Query 1/1: Action query time = 1.107 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4875
+t=10: Selected seed 195 with value = 0.4875
+Query 1/1: Action query time = 1.053 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5844
+t=26: Selected seed 195 with value = 0.5844
+Query 1/1: Action query time = 1.048 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7096
+t=42: Selected seed 195 with value = 0.7096
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8152
+t=58: Selected seed 195 with value = 0.8152
+Query 1/1: Action query time = 0.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=74: Selected seed 195 with value = 0.9136
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=90: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=87--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=87--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 87
+# successes: 71 (81.6%)
+
+Task: put the bowl on the stove
+Starting episode 38...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5110
+t=10: Selected seed 195 with value = 0.5110
+Query 1/1: Action query time = 0.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=26: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6986
+t=42: Selected seed 195 with value = 0.6986
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=58: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8721
+t=74: Selected seed 195 with value = 0.8721
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=90: Selected seed 195 with value = 0.9968
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=88--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=88--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 88
+# successes: 72 (81.8%)
+
+Task: put the bowl on the stove
+Starting episode 39...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4754
+t=10: Selected seed 195 with value = 0.4754
+Query 1/1: Action query time = 1.043 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5598
+t=26: Selected seed 195 with value = 0.5598
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6502
+t=42: Selected seed 195 with value = 0.6502
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7598
+t=58: Selected seed 195 with value = 0.7598
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8570
+t=74: Selected seed 195 with value = 0.8570
+Query 1/1: Action query time = 1.198 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=90: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 1.194 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9304
+t=106: Selected seed 195 with value = 0.9304
+Query 1/1: Action query time = 1.205 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=122: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 1.172 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8357
+t=138: Selected seed 195 with value = 0.8357
+Query 1/1: Action query time = 1.037 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=154: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.960 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9438
+t=170: Selected seed 195 with value = 0.9438
+Query 1/1: Action query time = 0.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9469
+t=186: Selected seed 195 with value = 0.9469
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9568
+t=202: Selected seed 195 with value = 0.9568
+Query 1/1: Action query time = 0.986 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9501
+t=218: Selected seed 195 with value = 0.9501
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=234: Selected seed 195 with value = 0.9620
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=250: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9433
+t=266: Selected seed 195 with value = 0.9433
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=282: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 0.960 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9526
+t=298: Selected seed 195 with value = 0.9526
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=89--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=89--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 89
+# successes: 72 (80.9%)
+
+Task: put the bowl on the stove
+Starting episode 40...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5174
+t=10: Selected seed 195 with value = 0.5174
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5658
+t=26: Selected seed 195 with value = 0.5658
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6710
+t=42: Selected seed 195 with value = 0.6710
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=58: Selected seed 195 with value = 0.7419
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8606
+t=74: Selected seed 195 with value = 0.8606
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=90: Selected seed 195 with value = 0.9878
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=90--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=90--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 90
+# successes: 73 (81.1%)
+
+Task: put the bowl on the stove
+Starting episode 41...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4839
+t=10: Selected seed 195 with value = 0.4839
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5711
+t=26: Selected seed 195 with value = 0.5711
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6472
+t=42: Selected seed 195 with value = 0.6472
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=58: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8589
+t=74: Selected seed 195 with value = 0.8589
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=90: Selected seed 195 with value = 0.9909
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=91--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=91--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 91
+# successes: 74 (81.3%)
+
+Task: put the bowl on the stove
+Starting episode 42...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5092
+t=10: Selected seed 195 with value = 0.5092
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6084
+t=26: Selected seed 195 with value = 0.6084
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7046
+t=42: Selected seed 195 with value = 0.7046
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8148
+t=58: Selected seed 195 with value = 0.8148
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=74: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=92--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=92--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 92
+# successes: 75 (81.5%)
+
+Task: put the bowl on the stove
+Starting episode 43...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=10: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5747
+t=26: Selected seed 195 with value = 0.5747
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6692
+t=42: Selected seed 195 with value = 0.6692
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=58: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9403
+t=74: Selected seed 195 with value = 0.9403
+Query 1/1: Action query time = 0.954 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=90: Selected seed 195 with value = 0.9999
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=93--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=93--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 93
+# successes: 76 (81.7%)
+
+Task: put the bowl on the stove
+Starting episode 44...
+Query 1/1: Action query time = 1.157 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5206
+t=10: Selected seed 195 with value = 0.5206
+Query 1/1: Action query time = 1.086 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5642
+t=26: Selected seed 195 with value = 0.5642
+Query 1/1: Action query time = 1.130 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6575
+t=42: Selected seed 195 with value = 0.6575
+Query 1/1: Action query time = 1.100 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7454
+t=58: Selected seed 195 with value = 0.7454
+Query 1/1: Action query time = 1.083 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8463
+t=74: Selected seed 195 with value = 0.8463
+Query 1/1: Action query time = 1.073 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=90: Selected seed 195 with value = 0.9826
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=94--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=94--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 94
+# successes: 77 (81.9%)
+
+Task: put the bowl on the stove
+Starting episode 45...
+Query 1/1: Action query time = 1.157 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5095
+t=10: Selected seed 195 with value = 0.5095
+Query 1/1: Action query time = 1.039 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=26: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6534
+t=42: Selected seed 195 with value = 0.6534
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7227
+t=58: Selected seed 195 with value = 0.7227
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8618
+t=74: Selected seed 195 with value = 0.8618
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=95--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=95--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 95
+# successes: 78 (82.1%)
+
+Task: put the bowl on the stove
+Starting episode 46...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5068
+t=10: Selected seed 195 with value = 0.5068
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=26: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6505
+t=42: Selected seed 195 with value = 0.6505
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7476
+t=58: Selected seed 195 with value = 0.7476
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8368
+t=74: Selected seed 195 with value = 0.8368
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=90: Selected seed 195 with value = 0.9948
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=96--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=96--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 96
+# successes: 79 (82.3%)
+
+Task: put the bowl on the stove
+Starting episode 47...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4912
+t=10: Selected seed 195 with value = 0.4912
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5566
+t=26: Selected seed 195 with value = 0.5566
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6423
+t=42: Selected seed 195 with value = 0.6423
+Query 1/1: Action query time = 1.112 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7578
+t=58: Selected seed 195 with value = 0.7578
+Query 1/1: Action query time = 1.150 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8738
+t=74: Selected seed 195 with value = 0.8738
+Query 1/1: Action query time = 1.206 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=90: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=97--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=97--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 97
+# successes: 80 (82.5%)
+
+Task: put the bowl on the stove
+Starting episode 48...
+Query 1/1: Action query time = 1.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5037
+t=10: Selected seed 195 with value = 0.5037
+Query 1/1: Action query time = 0.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5830
+t=26: Selected seed 195 with value = 0.5830
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=42: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8204
+t=58: Selected seed 195 with value = 0.8204
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9104
+t=74: Selected seed 195 with value = 0.9104
+Query 1/1: Action query time = 1.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=90: Selected seed 195 with value = 0.9785
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=98--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=98--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 98
+# successes: 81 (82.7%)
+
+Task: put the bowl on the stove
+Starting episode 49...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4898
+t=10: Selected seed 195 with value = 0.4898
+Query 1/1: Action query time = 0.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5512
+t=26: Selected seed 195 with value = 0.5512
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6523
+t=42: Selected seed 195 with value = 0.6523
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7502
+t=58: Selected seed 195 with value = 0.7502
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8607
+t=74: Selected seed 195 with value = 0.8607
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=90: Selected seed 195 with value = 0.9869
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=99--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=99--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 99
+# successes: 82 (82.8%)
+
+Task: put the bowl on the stove
+Starting episode 50...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5372
+t=10: Selected seed 195 with value = 0.5372
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=26: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6880
+t=42: Selected seed 195 with value = 0.6880
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7848
+t=58: Selected seed 195 with value = 0.7848
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=74: Selected seed 195 with value = 0.9273
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=100--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=100--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 100
+# successes: 83 (83.0%)
+Current task success rate: 0.98
+Current total success rate: 0.83
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5332
+t=10: Selected seed 195 with value = 0.5332
+Query 1/1: Action query time = 0.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6421
+t=26: Selected seed 195 with value = 0.6421
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7822
+t=42: Selected seed 195 with value = 0.7822
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8617
+t=58: Selected seed 195 with value = 0.8617
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=74: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.998 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.034 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.104 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.176 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.223 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.197 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.163 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.086 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.069 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.060 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=101--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=101--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 101
+# successes: 83 (82.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4727
+t=10: Selected seed 195 with value = 0.4727
+Query 1/1: Action query time = 1.138 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=26: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 1.180 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6452
+t=42: Selected seed 195 with value = 0.6452
+Query 1/1: Action query time = 1.160 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6905
+t=58: Selected seed 195 with value = 0.6905
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8262
+t=74: Selected seed 195 with value = 0.8262
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9481
+t=90: Selected seed 195 with value = 0.9481
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=106: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=282: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 0.949 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=298: Selected seed 195 with value = 0.9628
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=102--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=102--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 102
+# successes: 83 (81.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4612
+t=10: Selected seed 195 with value = 0.4612
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5372
+t=26: Selected seed 195 with value = 0.5372
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=42: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=58: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=74: Selected seed 195 with value = 0.8281
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=90: Selected seed 195 with value = 0.9612
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.026 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.024 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.010 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.053 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.124 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.200 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=266: Selected seed 195 with value = 0.9634
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9470
+t=282: Selected seed 195 with value = 0.9470
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9296
+t=298: Selected seed 195 with value = 0.9296
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=103--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=103--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 103
+# successes: 83 (80.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5043
+t=10: Selected seed 195 with value = 0.5043
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5504
+t=26: Selected seed 195 with value = 0.5504
+Query 1/1: Action query time = 1.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6025
+t=42: Selected seed 195 with value = 0.6025
+Query 1/1: Action query time = 1.147 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7600
+t=58: Selected seed 195 with value = 0.7600
+Query 1/1: Action query time = 1.084 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7754
+t=74: Selected seed 195 with value = 0.7754
+Query 1/1: Action query time = 1.017 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9409
+t=90: Selected seed 195 with value = 0.9409
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.009 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.017 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.086 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.176 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.231 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9778
+t=250: Selected seed 195 with value = 0.9778
+Query 1/1: Action query time = 1.082 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=266: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 1.066 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=282: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 1.062 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=298: Selected seed 195 with value = 0.9471
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=104--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=104--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 104
+# successes: 83 (79.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5069
+t=10: Selected seed 195 with value = 0.5069
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5944
+t=26: Selected seed 195 with value = 0.5944
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6367
+t=42: Selected seed 195 with value = 0.6367
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7044
+t=58: Selected seed 195 with value = 0.7044
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8509
+t=74: Selected seed 195 with value = 0.8509
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=90: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=105--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=105--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 105
+# successes: 83 (79.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 1.032 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5067
+t=10: Selected seed 195 with value = 0.5067
+Query 1/1: Action query time = 1.013 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5769
+t=26: Selected seed 195 with value = 0.5769
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8331
+t=42: Selected seed 195 with value = 0.8331
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7134
+t=58: Selected seed 195 with value = 0.7134
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8007
+t=74: Selected seed 195 with value = 0.8007
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9224
+t=90: Selected seed 195 with value = 0.9224
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=106: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.037 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=266: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 0.987 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=282: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 0.964 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=298: Selected seed 195 with value = 0.9282
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=106--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=106--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 106
+# successes: 83 (78.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 1.171 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4644
+t=10: Selected seed 195 with value = 0.4644
+Query 1/1: Action query time = 1.121 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5563
+t=26: Selected seed 195 with value = 0.5563
+Query 1/1: Action query time = 1.097 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6207
+t=42: Selected seed 195 with value = 0.6207
+Query 1/1: Action query time = 1.086 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7185
+t=58: Selected seed 195 with value = 0.7185
+Query 1/1: Action query time = 1.091 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=74: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 1.103 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7978
+t=90: Selected seed 195 with value = 0.7978
+Query 1/1: Action query time = 1.028 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8978
+t=106: Selected seed 195 with value = 0.8978
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=122: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=266: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=282: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9437
+t=298: Selected seed 195 with value = 0.9437
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=107--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=107--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 107
+# successes: 83 (77.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4700
+t=10: Selected seed 195 with value = 0.4700
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5369
+t=26: Selected seed 195 with value = 0.5369
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7897
+t=42: Selected seed 195 with value = 0.7897
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7424
+t=58: Selected seed 195 with value = 0.7424
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7154
+t=74: Selected seed 195 with value = 0.7154
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8205
+t=90: Selected seed 195 with value = 0.8205
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9409
+t=106: Selected seed 195 with value = 0.9409
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=108--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=108--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 108
+# successes: 84 (77.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4899
+t=10: Selected seed 195 with value = 0.4899
+Query 1/1: Action query time = 0.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5571
+t=26: Selected seed 195 with value = 0.5571
+Query 1/1: Action query time = 1.210 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5934
+t=42: Selected seed 195 with value = 0.5934
+Query 1/1: Action query time = 1.215 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7116
+t=58: Selected seed 195 with value = 0.7116
+Query 1/1: Action query time = 1.233 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7603
+t=74: Selected seed 195 with value = 0.7603
+Query 1/1: Action query time = 1.150 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8773
+t=90: Selected seed 195 with value = 0.8773
+Query 1/1: Action query time = 1.133 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=106: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 1.078 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=122: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.947 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.950 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.034 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=282: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.962 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=298: Selected seed 195 with value = 0.9654
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=109--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=109--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 109
+# successes: 84 (77.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5077
+t=10: Selected seed 195 with value = 0.5077
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=26: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 1.002 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6225
+t=42: Selected seed 195 with value = 0.6225
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7060
+t=58: Selected seed 195 with value = 0.7060
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8295
+t=74: Selected seed 195 with value = 0.8295
+Query 1/1: Action query time = 0.947 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9696
+t=90: Selected seed 195 with value = 0.9696
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=282: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=298: Selected seed 195 with value = 0.9592
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=110--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=110--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 110
+# successes: 84 (76.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 1.067 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5114
+t=10: Selected seed 195 with value = 0.5114
+Query 1/1: Action query time = 1.127 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=26: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6439
+t=42: Selected seed 195 with value = 0.6439
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7437
+t=58: Selected seed 195 with value = 0.7437
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8588
+t=74: Selected seed 195 with value = 0.8588
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=90: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.944 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.017 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.068 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.183 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.210 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.207 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.157 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.116 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.117 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=111--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=111--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 111
+# successes: 84 (75.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5141
+t=10: Selected seed 195 with value = 0.5141
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6026
+t=26: Selected seed 195 with value = 0.6026
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7234
+t=42: Selected seed 195 with value = 0.7234
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8484
+t=58: Selected seed 195 with value = 0.8484
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=74: Selected seed 195 with value = 0.9919
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=112--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=112--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 112
+# successes: 85 (75.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4911
+t=10: Selected seed 195 with value = 0.4911
+Query 1/1: Action query time = 0.952 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5727
+t=26: Selected seed 195 with value = 0.5727
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6842
+t=42: Selected seed 195 with value = 0.6842
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7336
+t=58: Selected seed 195 with value = 0.7336
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8596
+t=74: Selected seed 195 with value = 0.8596
+Query 1/1: Action query time = 0.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=90: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 1.201 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.169 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.318 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.347 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.338 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.247 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.038 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.007 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=282: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=298: Selected seed 195 with value = 0.9755
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=113--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=113--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 113
+# successes: 85 (75.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 1.108 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4931
+t=10: Selected seed 195 with value = 0.4931
+Query 1/1: Action query time = 1.078 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5506
+t=26: Selected seed 195 with value = 0.5506
+Query 1/1: Action query time = 1.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7803
+t=42: Selected seed 195 with value = 0.7803
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7581
+t=58: Selected seed 195 with value = 0.7581
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7155
+t=74: Selected seed 195 with value = 0.7155
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8033
+t=90: Selected seed 195 with value = 0.8033
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=106: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9126
+t=122: Selected seed 195 with value = 0.9126
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=138: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.006 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.104 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.144 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=282: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9498
+t=298: Selected seed 195 with value = 0.9498
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=114--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=114--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 114
+# successes: 85 (74.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4946
+t=10: Selected seed 195 with value = 0.4946
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5554
+t=26: Selected seed 195 with value = 0.5554
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6385
+t=42: Selected seed 195 with value = 0.6385
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7163
+t=58: Selected seed 195 with value = 0.7163
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8155
+t=74: Selected seed 195 with value = 0.8155
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=90: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=106: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.955 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=282: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9610
+t=298: Selected seed 195 with value = 0.9610
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=115--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=115--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 115
+# successes: 85 (73.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=10: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 0.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5454
+t=26: Selected seed 195 with value = 0.5454
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6677
+t=42: Selected seed 195 with value = 0.6677
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6966
+t=58: Selected seed 195 with value = 0.6966
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8181
+t=74: Selected seed 195 with value = 0.8181
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=90: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=106: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.004 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.130 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.168 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=266: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 1.192 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=282: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=298: Selected seed 195 with value = 0.9576
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=116--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=116--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 116
+# successes: 85 (73.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4756
+t=10: Selected seed 195 with value = 0.4756
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5546
+t=26: Selected seed 195 with value = 0.5546
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6552
+t=42: Selected seed 195 with value = 0.6552
+Query 1/1: Action query time = 1.008 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=58: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 1.008 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8127
+t=74: Selected seed 195 with value = 0.8127
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9469
+t=90: Selected seed 195 with value = 0.9469
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.142 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.134 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.132 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.175 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.188 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.250 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.011 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=266: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=282: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9543
+t=298: Selected seed 195 with value = 0.9543
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=117--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=117--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 117
+# successes: 85 (72.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4967
+t=10: Selected seed 195 with value = 0.4967
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=26: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7804
+t=42: Selected seed 195 with value = 0.7804
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7660
+t=58: Selected seed 195 with value = 0.7660
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7825
+t=74: Selected seed 195 with value = 0.7825
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=90: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=118--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=118--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 118
+# successes: 86 (72.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=10: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5673
+t=26: Selected seed 195 with value = 0.5673
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6395
+t=42: Selected seed 195 with value = 0.6395
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7064
+t=58: Selected seed 195 with value = 0.7064
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8024
+t=74: Selected seed 195 with value = 0.8024
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8984
+t=90: Selected seed 195 with value = 0.8984
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=106: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.015 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.158 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=250: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=266: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9424
+t=282: Selected seed 195 with value = 0.9424
+Query 1/1: Action query time = 0.956 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=298: Selected seed 195 with value = 0.9284
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=119--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=119--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 119
+# successes: 86 (72.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5029
+t=10: Selected seed 195 with value = 0.5029
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5842
+t=26: Selected seed 195 with value = 0.5842
+Query 1/1: Action query time = 1.024 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7031
+t=42: Selected seed 195 with value = 0.7031
+Query 1/1: Action query time = 1.011 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7817
+t=58: Selected seed 195 with value = 0.7817
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=74: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=90: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.066 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.083 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.116 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.177 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.219 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=250: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 1.156 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=266: Selected seed 195 with value = 0.9530
+Query 1/1: Action query time = 1.147 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9404
+t=282: Selected seed 195 with value = 0.9404
+Query 1/1: Action query time = 1.194 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9331
+t=298: Selected seed 195 with value = 0.9331
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=120--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=120--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 120
+# successes: 86 (71.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 1.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5373
+t=10: Selected seed 195 with value = 0.5373
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5998
+t=26: Selected seed 195 with value = 0.5998
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8928
+t=42: Selected seed 195 with value = 0.8928
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8023
+t=58: Selected seed 195 with value = 0.8023
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=74: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.085 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.070 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.018 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=121--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=121--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 121
+# successes: 86 (71.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 1.125 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5108
+t=10: Selected seed 195 with value = 0.5108
+Query 1/1: Action query time = 1.139 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5985
+t=26: Selected seed 195 with value = 0.5985
+Query 1/1: Action query time = 1.113 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7860
+t=42: Selected seed 195 with value = 0.7860
+Query 1/1: Action query time = 1.129 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7892
+t=58: Selected seed 195 with value = 0.7892
+Query 1/1: Action query time = 1.178 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9405
+t=74: Selected seed 195 with value = 0.9405
+Query 1/1: Action query time = 1.178 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=90: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.125 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.201 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.114 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.021 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=234: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=250: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 0.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9295
+t=266: Selected seed 195 with value = 0.9295
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9002
+t=282: Selected seed 195 with value = 0.9002
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8033
+t=298: Selected seed 195 with value = 0.8033
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=122--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=122--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 122
+# successes: 86 (70.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4642
+t=10: Selected seed 195 with value = 0.4642
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5393
+t=26: Selected seed 195 with value = 0.5393
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6692
+t=42: Selected seed 195 with value = 0.6692
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7047
+t=58: Selected seed 195 with value = 0.7047
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8116
+t=74: Selected seed 195 with value = 0.8116
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=90: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=123--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=123--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 123
+# successes: 87 (70.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 1.199 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5006
+t=10: Selected seed 195 with value = 0.5006
+Query 1/1: Action query time = 1.190 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5877
+t=26: Selected seed 195 with value = 0.5877
+Query 1/1: Action query time = 1.134 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8502
+t=42: Selected seed 195 with value = 0.8502
+Query 1/1: Action query time = 1.091 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7193
+t=58: Selected seed 195 with value = 0.7193
+Query 1/1: Action query time = 1.077 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8660
+t=74: Selected seed 195 with value = 0.8660
+Query 1/1: Action query time = 1.019 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=90: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 1.006 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.995 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.996 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.993 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=124--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=124--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 124
+# successes: 87 (70.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 1.039 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4607
+t=10: Selected seed 195 with value = 0.4607
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5793
+t=26: Selected seed 195 with value = 0.5793
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6667
+t=42: Selected seed 195 with value = 0.6667
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=58: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=74: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 1.127 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=90: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=125--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=125--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 125
+# successes: 88 (70.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4980
+t=10: Selected seed 195 with value = 0.4980
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=26: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7743
+t=42: Selected seed 195 with value = 0.7743
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8194
+t=58: Selected seed 195 with value = 0.8194
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=74: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=126--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=126--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 126
+# successes: 89 (70.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4426
+t=10: Selected seed 195 with value = 0.4426
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5316
+t=26: Selected seed 195 with value = 0.5316
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6340
+t=42: Selected seed 195 with value = 0.6340
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7230
+t=58: Selected seed 195 with value = 0.7230
+Query 1/1: Action query time = 0.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7939
+t=74: Selected seed 195 with value = 0.7939
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9366
+t=90: Selected seed 195 with value = 0.9366
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=106: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.009 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.048 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=250: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 1.135 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=266: Selected seed 195 with value = 0.9489
+Query 1/1: Action query time = 1.134 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9412
+t=282: Selected seed 195 with value = 0.9412
+Query 1/1: Action query time = 1.187 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=298: Selected seed 195 with value = 0.9301
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=127--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=127--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 127
+# successes: 89 (70.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 1.217 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4783
+t=10: Selected seed 195 with value = 0.4783
+Query 1/1: Action query time = 1.126 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5658
+t=26: Selected seed 195 with value = 0.5658
+Query 1/1: Action query time = 1.151 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7693
+t=42: Selected seed 195 with value = 0.7693
+Query 1/1: Action query time = 1.213 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8584
+t=58: Selected seed 195 with value = 0.8584
+Query 1/1: Action query time = 1.197 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.115 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=128--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=128--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 128
+# successes: 90 (70.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4292
+t=10: Selected seed 195 with value = 0.4292
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5002
+t=26: Selected seed 195 with value = 0.5002
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7364
+t=42: Selected seed 195 with value = 0.7364
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8050
+t=58: Selected seed 195 with value = 0.8050
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=74: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7958
+t=90: Selected seed 195 with value = 0.7958
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8234
+t=106: Selected seed 195 with value = 0.8234
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7910
+t=122: Selected seed 195 with value = 0.7910
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8789
+t=138: Selected seed 195 with value = 0.8789
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=154: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=266: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=282: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=298: Selected seed 195 with value = 0.9662
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=129--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=129--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 129
+# successes: 90 (69.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 1.057 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5081
+t=10: Selected seed 195 with value = 0.5081
+Query 1/1: Action query time = 1.111 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5955
+t=26: Selected seed 195 with value = 0.5955
+Query 1/1: Action query time = 1.081 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7030
+t=42: Selected seed 195 with value = 0.7030
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7262
+t=58: Selected seed 195 with value = 0.7262
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8549
+t=74: Selected seed 195 with value = 0.8549
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9621
+t=90: Selected seed 195 with value = 0.9621
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.948 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.948 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.039 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.057 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=250: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 1.097 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=266: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 1.106 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=282: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 1.158 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9410
+t=298: Selected seed 195 with value = 0.9410
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=130--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=130--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 130
+# successes: 90 (69.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5086
+t=10: Selected seed 195 with value = 0.5086
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5677
+t=26: Selected seed 195 with value = 0.5677
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=42: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7016
+t=58: Selected seed 195 with value = 0.7016
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8225
+t=74: Selected seed 195 with value = 0.8225
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9574
+t=90: Selected seed 195 with value = 0.9574
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=106: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.951 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.950 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=298: Selected seed 195 with value = 0.9729
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=131--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=131--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 131
+# successes: 90 (68.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4884
+t=10: Selected seed 195 with value = 0.4884
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5604
+t=26: Selected seed 195 with value = 0.5604
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6262
+t=42: Selected seed 195 with value = 0.6262
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7612
+t=58: Selected seed 195 with value = 0.7612
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7828
+t=74: Selected seed 195 with value = 0.7828
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8889
+t=90: Selected seed 195 with value = 0.8889
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=106: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=266: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=282: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 0.958 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=298: Selected seed 195 with value = 0.9573
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=132--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=132--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 132
+# successes: 90 (68.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 0.959 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5071
+t=10: Selected seed 195 with value = 0.5071
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5484
+t=26: Selected seed 195 with value = 0.5484
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6434
+t=42: Selected seed 195 with value = 0.6434
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7408
+t=58: Selected seed 195 with value = 0.7408
+Query 1/1: Action query time = 0.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=74: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 0.949 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=90: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.954 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.943 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=298: Selected seed 195 with value = 0.9827
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=133--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=133--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 133
+# successes: 90 (67.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 0.962 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4862
+t=10: Selected seed 195 with value = 0.4862
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5629
+t=26: Selected seed 195 with value = 0.5629
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8468
+t=42: Selected seed 195 with value = 0.8468
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7084
+t=58: Selected seed 195 with value = 0.7084
+Query 1/1: Action query time = 0.950 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7865
+t=74: Selected seed 195 with value = 0.7865
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8457
+t=90: Selected seed 195 with value = 0.8457
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=106: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.948 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.945 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=266: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=282: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 0.964 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9594
+t=298: Selected seed 195 with value = 0.9594
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=134--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=134--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 134
+# successes: 90 (67.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4324
+t=10: Selected seed 195 with value = 0.4324
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5177
+t=26: Selected seed 195 with value = 0.5177
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6178
+t=42: Selected seed 195 with value = 0.6178
+Query 1/1: Action query time = 0.947 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7559
+t=58: Selected seed 195 with value = 0.7559
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7977
+t=74: Selected seed 195 with value = 0.7977
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8253
+t=90: Selected seed 195 with value = 0.8253
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=106: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.954 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=298: Selected seed 195 with value = 0.9749
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=135--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=135--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 135
+# successes: 90 (66.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5088
+t=10: Selected seed 195 with value = 0.5088
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5552
+t=26: Selected seed 195 with value = 0.5552
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=42: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7148
+t=58: Selected seed 195 with value = 0.7148
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8151
+t=74: Selected seed 195 with value = 0.8151
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=90: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=106: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.949 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=266: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 0.950 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9546
+t=282: Selected seed 195 with value = 0.9546
+Query 1/1: Action query time = 0.953 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=298: Selected seed 195 with value = 0.9398
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=136--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=136--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 136
+# successes: 90 (66.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 0.963 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4810
+t=10: Selected seed 195 with value = 0.4810
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5472
+t=26: Selected seed 195 with value = 0.5472
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6519
+t=42: Selected seed 195 with value = 0.6519
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7236
+t=58: Selected seed 195 with value = 0.7236
+Query 1/1: Action query time = 0.949 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8292
+t=74: Selected seed 195 with value = 0.8292
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=90: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.954 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.944 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.943 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=298: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=137--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=137--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 137
+# successes: 90 (65.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4048
+t=10: Selected seed 195 with value = 0.4048
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5042
+t=26: Selected seed 195 with value = 0.5042
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6771
+t=42: Selected seed 195 with value = 0.6771
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7102
+t=58: Selected seed 195 with value = 0.7102
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8043
+t=74: Selected seed 195 with value = 0.8043
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=90: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=106: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=122: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=138: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.949 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=234: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9370
+t=250: Selected seed 195 with value = 0.9370
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9366
+t=266: Selected seed 195 with value = 0.9366
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=282: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 0.962 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7599
+t=298: Selected seed 195 with value = 0.7599
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=138--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=138--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 138
+# successes: 90 (65.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5029
+t=10: Selected seed 195 with value = 0.5029
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5677
+t=26: Selected seed 195 with value = 0.5677
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6516
+t=42: Selected seed 195 with value = 0.6516
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7127
+t=58: Selected seed 195 with value = 0.7127
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8047
+t=74: Selected seed 195 with value = 0.8047
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9510
+t=90: Selected seed 195 with value = 0.9510
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.949 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.947 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=298: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=139--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=139--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 139
+# successes: 90 (64.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4587
+t=10: Selected seed 195 with value = 0.4587
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5388
+t=26: Selected seed 195 with value = 0.5388
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6113
+t=42: Selected seed 195 with value = 0.6113
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7728
+t=58: Selected seed 195 with value = 0.7728
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7859
+t=74: Selected seed 195 with value = 0.7859
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8502
+t=90: Selected seed 195 with value = 0.8502
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=106: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=282: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.954 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=298: Selected seed 195 with value = 0.9617
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=140--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=140--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 140
+# successes: 90 (64.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5012
+t=10: Selected seed 195 with value = 0.5012
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5715
+t=26: Selected seed 195 with value = 0.5715
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7771
+t=42: Selected seed 195 with value = 0.7771
+Query 1/1: Action query time = 0.997 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=58: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 0.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8272
+t=74: Selected seed 195 with value = 0.8272
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=90: Selected seed 195 with value = 0.9780
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=141--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=141--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 141
+# successes: 91 (64.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4764
+t=10: Selected seed 195 with value = 0.4764
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5610
+t=26: Selected seed 195 with value = 0.5610
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=42: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=58: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 0.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8305
+t=74: Selected seed 195 with value = 0.8305
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9624
+t=90: Selected seed 195 with value = 0.9624
+Query 1/1: Action query time = 0.948 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=106: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=266: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=282: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 0.960 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=298: Selected seed 195 with value = 0.9450
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=142--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=142--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 142
+# successes: 91 (64.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4888
+t=10: Selected seed 195 with value = 0.4888
+Query 1/1: Action query time = 0.948 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5616
+t=26: Selected seed 195 with value = 0.5616
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7182
+t=42: Selected seed 195 with value = 0.7182
+Query 1/1: Action query time = 1.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6710
+t=58: Selected seed 195 with value = 0.6710
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7246
+t=74: Selected seed 195 with value = 0.7246
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=90: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=106: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=143--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=143--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 143
+# successes: 92 (64.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4453
+t=10: Selected seed 195 with value = 0.4453
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5258
+t=26: Selected seed 195 with value = 0.5258
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6137
+t=42: Selected seed 195 with value = 0.6137
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7943
+t=58: Selected seed 195 with value = 0.7943
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=74: Selected seed 195 with value = 0.9076
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6574
+t=90: Selected seed 195 with value = 0.6574
+Query 1/1: Action query time = 0.946 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7843
+t=106: Selected seed 195 with value = 0.7843
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=122: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7679
+t=138: Selected seed 195 with value = 0.7679
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9106
+t=154: Selected seed 195 with value = 0.9106
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=170: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=144--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=144--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 144
+# successes: 92 (63.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4922
+t=10: Selected seed 195 with value = 0.4922
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5974
+t=26: Selected seed 195 with value = 0.5974
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6441
+t=42: Selected seed 195 with value = 0.6441
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7032
+t=58: Selected seed 195 with value = 0.7032
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8641
+t=74: Selected seed 195 with value = 0.8641
+Query 1/1: Action query time = 0.946 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=90: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 0.950 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=106: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.943 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.954 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=282: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=298: Selected seed 195 with value = 0.9559
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=145--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=145--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 145
+# successes: 92 (63.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5230
+t=10: Selected seed 195 with value = 0.5230
+Query 1/1: Action query time = 0.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6066
+t=26: Selected seed 195 with value = 0.6066
+Query 1/1: Action query time = 0.946 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7237
+t=42: Selected seed 195 with value = 0.7237
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7014
+t=58: Selected seed 195 with value = 0.7014
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=74: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=90: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.947 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.025 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=298: Selected seed 195 with value = 0.9837
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=146--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=146--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 146
+# successes: 92 (63.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4959
+t=10: Selected seed 195 with value = 0.4959
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=26: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7049
+t=42: Selected seed 195 with value = 0.7049
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7781
+t=58: Selected seed 195 with value = 0.7781
+Query 1/1: Action query time = 0.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=74: Selected seed 195 with value = 0.9550
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=147--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=147--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 147
+# successes: 93 (63.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4962
+t=10: Selected seed 195 with value = 0.4962
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5863
+t=26: Selected seed 195 with value = 0.5863
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7540
+t=42: Selected seed 195 with value = 0.7540
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8065
+t=58: Selected seed 195 with value = 0.8065
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8905
+t=74: Selected seed 195 with value = 0.8905
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=90: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 0.951 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.945 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=234: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=250: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 0.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=266: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 0.946 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9323
+t=282: Selected seed 195 with value = 0.9323
+Query 1/1: Action query time = 0.961 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=298: Selected seed 195 with value = 0.8775
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=148--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=148--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 148
+# successes: 93 (62.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=10: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5313
+t=26: Selected seed 195 with value = 0.5313
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6050
+t=42: Selected seed 195 with value = 0.6050
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7550
+t=58: Selected seed 195 with value = 0.7550
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7875
+t=74: Selected seed 195 with value = 0.7875
+Query 1/1: Action query time = 0.954 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8630
+t=90: Selected seed 195 with value = 0.8630
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=106: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 0.947 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=266: Selected seed 195 with value = 0.9480
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9330
+t=282: Selected seed 195 with value = 0.9330
+Query 1/1: Action query time = 0.952 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=298: Selected seed 195 with value = 0.8914
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=149--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=149--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 149
+# successes: 93 (62.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4922
+t=10: Selected seed 195 with value = 0.4922
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5501
+t=26: Selected seed 195 with value = 0.5501
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5872
+t=42: Selected seed 195 with value = 0.5872
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7053
+t=58: Selected seed 195 with value = 0.7053
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7763
+t=74: Selected seed 195 with value = 0.7763
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8653
+t=90: Selected seed 195 with value = 0.8653
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9721
+t=106: Selected seed 195 with value = 0.9721
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=122: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.001 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.996 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=282: Selected seed 195 with value = 0.9499
+Query 1/1: Action query time = 0.954 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9385
+t=298: Selected seed 195 with value = 0.9385
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=150--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=150--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 150
+# successes: 93 (62.0%)
+Current task success rate: 0.2
+Current total success rate: 0.62
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 0.959 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4125
+t=10: Selected seed 195 with value = 0.4125
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=26: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6091
+t=42: Selected seed 195 with value = 0.6091
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=58: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6349
+t=74: Selected seed 195 with value = 0.6349
+Query 1/1: Action query time = 0.954 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6414
+t=90: Selected seed 195 with value = 0.6414
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6480
+t=106: Selected seed 195 with value = 0.6480
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6554
+t=122: Selected seed 195 with value = 0.6554
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6632
+t=138: Selected seed 195 with value = 0.6632
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6746
+t=154: Selected seed 195 with value = 0.6746
+Query 1/1: Action query time = 0.948 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6851
+t=170: Selected seed 195 with value = 0.6851
+Query 1/1: Action query time = 0.955 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6969
+t=186: Selected seed 195 with value = 0.6969
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7048
+t=202: Selected seed 195 with value = 0.7048
+Query 1/1: Action query time = 0.947 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=218: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7710
+t=234: Selected seed 195 with value = 0.7710
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8216
+t=250: Selected seed 195 with value = 0.8216
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8591
+t=266: Selected seed 195 with value = 0.8591
+Query 1/1: Action query time = 0.953 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8781
+t=282: Selected seed 195 with value = 0.8781
+Query 1/1: Action query time = 0.954 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8796
+t=298: Selected seed 195 with value = 0.8796
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=151--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=151--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 151
+# successes: 93 (61.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4003
+t=10: Selected seed 195 with value = 0.4003
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4905
+t=26: Selected seed 195 with value = 0.4905
+Query 1/1: Action query time = 0.941 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6319
+t=42: Selected seed 195 with value = 0.6319
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8705
+t=58: Selected seed 195 with value = 0.8705
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=74: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=90: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=106: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=122: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 0.954 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=138: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 0.947 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=154: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=170: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 0.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=186: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=202: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9336
+t=218: Selected seed 195 with value = 0.9336
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9405
+t=234: Selected seed 195 with value = 0.9405
+Query 1/1: Action query time = 0.962 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=250: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 0.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9423
+t=266: Selected seed 195 with value = 0.9423
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=282: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=298: Selected seed 195 with value = 0.9680
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=152--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=152--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 152
+# successes: 93 (61.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3815
+t=10: Selected seed 195 with value = 0.3815
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5077
+t=26: Selected seed 195 with value = 0.5077
+Query 1/1: Action query time = 0.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6329
+t=42: Selected seed 195 with value = 0.6329
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7200
+t=58: Selected seed 195 with value = 0.7200
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8773
+t=74: Selected seed 195 with value = 0.8773
+Query 1/1: Action query time = 0.951 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=90: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 0.944 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9456
+t=106: Selected seed 195 with value = 0.9456
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=122: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=138: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.950 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=154: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.991 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=170: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=186: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=202: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=218: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.953 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=234: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 0.955 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=250: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=266: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 0.942 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=282: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=298: Selected seed 195 with value = 0.9516
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=153--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=153--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 153
+# successes: 93 (60.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3710
+t=10: Selected seed 195 with value = 0.3710
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4872
+t=26: Selected seed 195 with value = 0.4872
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6500
+t=42: Selected seed 195 with value = 0.6500
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=58: Selected seed 195 with value = 0.9387
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=74: Selected seed 195 with value = 0.9751
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=90: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9171
+t=106: Selected seed 195 with value = 0.9171
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7739
+t=122: Selected seed 195 with value = 0.7739
+Query 1/1: Action query time = 0.948 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=138: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8985
+t=154: Selected seed 195 with value = 0.8985
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=170: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 0.959 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=186: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=202: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9553
+t=218: Selected seed 195 with value = 0.9553
+Query 1/1: Action query time = 0.952 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=234: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.950 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9423
+t=250: Selected seed 195 with value = 0.9423
+Query 1/1: Action query time = 0.948 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=266: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 0.955 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=282: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 0.956 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=298: Selected seed 195 with value = 0.9530
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=154--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=154--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 154
+# successes: 93 (60.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4011
+t=10: Selected seed 195 with value = 0.4011
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4655
+t=26: Selected seed 195 with value = 0.4655
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5832
+t=42: Selected seed 195 with value = 0.5832
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6155
+t=58: Selected seed 195 with value = 0.6155
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6616
+t=74: Selected seed 195 with value = 0.6616
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6711
+t=90: Selected seed 195 with value = 0.6711
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=106: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 0.941 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7912
+t=122: Selected seed 195 with value = 0.7912
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9209
+t=138: Selected seed 195 with value = 0.9209
+Query 1/1: Action query time = 0.959 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=154: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=170: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.952 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=186: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=202: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=218: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=234: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=250: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=266: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=298: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=155--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=155--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 155
+# successes: 93 (60.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 0.959 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3483
+t=10: Selected seed 195 with value = 0.3483
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4570
+t=26: Selected seed 195 with value = 0.4570
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5943
+t=42: Selected seed 195 with value = 0.5943
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6422
+t=58: Selected seed 195 with value = 0.6422
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6751
+t=74: Selected seed 195 with value = 0.6751
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8660
+t=90: Selected seed 195 with value = 0.8660
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7123
+t=106: Selected seed 195 with value = 0.7123
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=122: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=138: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=154: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=170: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=186: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 0.992 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9540
+t=202: Selected seed 195 with value = 0.9540
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9588
+t=218: Selected seed 195 with value = 0.9588
+Query 1/1: Action query time = 0.956 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9485
+t=234: Selected seed 195 with value = 0.9485
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=250: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8872
+t=266: Selected seed 195 with value = 0.8872
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=282: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9310
+t=298: Selected seed 195 with value = 0.9310
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=156--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=156--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 156
+# successes: 93 (59.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 0.955 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4106
+t=10: Selected seed 195 with value = 0.4106
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8150
+t=26: Selected seed 195 with value = 0.8150
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6452
+t=42: Selected seed 195 with value = 0.6452
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9462
+t=58: Selected seed 195 with value = 0.9462
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=74: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 0.954 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6927
+t=90: Selected seed 195 with value = 0.6927
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9510
+t=106: Selected seed 195 with value = 0.9510
+Query 1/1: Action query time = 0.942 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9150
+t=122: Selected seed 195 with value = 0.9150
+Query 1/1: Action query time = 0.944 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8286
+t=138: Selected seed 195 with value = 0.8286
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=154: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=170: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 0.948 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7219
+t=186: Selected seed 195 with value = 0.7219
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=202: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 0.950 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=218: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 0.961 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=234: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=250: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8314
+t=266: Selected seed 195 with value = 0.8314
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=282: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.962 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=298: Selected seed 195 with value = 0.9555
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=157--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=157--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 157
+# successes: 93 (59.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3910
+t=10: Selected seed 195 with value = 0.3910
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4885
+t=26: Selected seed 195 with value = 0.4885
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6556
+t=42: Selected seed 195 with value = 0.6556
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=58: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=74: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 0.947 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9649
+t=90: Selected seed 195 with value = 0.9649
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7640
+t=106: Selected seed 195 with value = 0.7640
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=122: Selected seed 195 with value = 0.9681
+Query 1/1: Action query time = 0.954 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7050
+t=138: Selected seed 195 with value = 0.7050
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=154: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7417
+t=170: Selected seed 195 with value = 0.7417
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=186: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=202: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=218: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=234: Selected seed 195 with value = 0.9037
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=250: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=266: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=282: Selected seed 195 with value = 0.8779
+Query 1/1: Action query time = 0.958 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=298: Selected seed 195 with value = 0.9946
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=158--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=158--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 158
+# successes: 93 (58.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3939
+t=10: Selected seed 195 with value = 0.3939
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5395
+t=26: Selected seed 195 with value = 0.5395
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6619
+t=42: Selected seed 195 with value = 0.6619
+Query 1/1: Action query time = 0.953 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8137
+t=58: Selected seed 195 with value = 0.8137
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=74: Selected seed 195 with value = 0.9661
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9452
+t=90: Selected seed 195 with value = 0.9452
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=106: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=122: Selected seed 195 with value = 0.9229
+Query 1/1: Action query time = 0.957 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7408
+t=138: Selected seed 195 with value = 0.7408
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8267
+t=154: Selected seed 195 with value = 0.8267
+Query 1/1: Action query time = 0.942 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8966
+t=170: Selected seed 195 with value = 0.8966
+Query 1/1: Action query time = 0.954 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8120
+t=186: Selected seed 195 with value = 0.8120
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=202: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 0.952 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7797
+t=218: Selected seed 195 with value = 0.7797
+Query 1/1: Action query time = 0.962 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=234: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=250: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=266: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=282: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.950 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=159--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=159--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 159
+# successes: 93 (58.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3835
+t=10: Selected seed 195 with value = 0.3835
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4902
+t=26: Selected seed 195 with value = 0.4902
+Query 1/1: Action query time = 0.937 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5884
+t=42: Selected seed 195 with value = 0.5884
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6560
+t=58: Selected seed 195 with value = 0.6560
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8645
+t=74: Selected seed 195 with value = 0.8645
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7606
+t=90: Selected seed 195 with value = 0.7606
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=106: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=122: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9344
+t=138: Selected seed 195 with value = 0.9344
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9113
+t=154: Selected seed 195 with value = 0.9113
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=170: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9177
+t=186: Selected seed 195 with value = 0.9177
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7251
+t=202: Selected seed 195 with value = 0.7251
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=218: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=234: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=250: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 0.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=266: Selected seed 195 with value = 0.9233
+Query 1/1: Action query time = 0.946 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6960
+t=282: Selected seed 195 with value = 0.6960
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=298: Selected seed 195 with value = 0.9730
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=160--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=160--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 160
+# successes: 93 (58.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 0.963 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4157
+t=10: Selected seed 195 with value = 0.4157
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7965
+t=26: Selected seed 195 with value = 0.7965
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6432
+t=42: Selected seed 195 with value = 0.6432
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9409
+t=58: Selected seed 195 with value = 0.9409
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9525
+t=74: Selected seed 195 with value = 0.9525
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8195
+t=90: Selected seed 195 with value = 0.8195
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8483
+t=106: Selected seed 195 with value = 0.8483
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9702
+t=122: Selected seed 195 with value = 0.9702
+Query 1/1: Action query time = 0.945 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7430
+t=138: Selected seed 195 with value = 0.7430
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=154: Selected seed 195 with value = 0.9480
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6396
+t=170: Selected seed 195 with value = 0.6396
+Query 1/1: Action query time = 0.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=186: Selected seed 195 with value = 0.9489
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=202: Selected seed 195 with value = 0.8142
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9407
+t=218: Selected seed 195 with value = 0.9407
+Query 1/1: Action query time = 0.942 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8252
+t=234: Selected seed 195 with value = 0.8252
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=250: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.962 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=266: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=282: Selected seed 195 with value = 0.9917
+Query 1/1: Action query time = 0.955 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7938
+t=298: Selected seed 195 with value = 0.7938
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=161--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=161--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 161
+# successes: 93 (57.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3936
+t=10: Selected seed 195 with value = 0.3936
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4891
+t=26: Selected seed 195 with value = 0.4891
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=42: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 0.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6852
+t=58: Selected seed 195 with value = 0.6852
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7665
+t=74: Selected seed 195 with value = 0.7665
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=90: Selected seed 195 with value = 0.9666
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9649
+t=106: Selected seed 195 with value = 0.9649
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=122: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=154: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8551
+t=170: Selected seed 195 with value = 0.8551
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=186: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=202: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8586
+t=218: Selected seed 195 with value = 0.8586
+Query 1/1: Action query time = 0.957 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=234: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=250: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9198
+t=266: Selected seed 195 with value = 0.9198
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=298: Selected seed 195 with value = 0.9690
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=162--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=162--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 162
+# successes: 93 (57.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3953
+t=10: Selected seed 195 with value = 0.3953
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5068
+t=26: Selected seed 195 with value = 0.5068
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6227
+t=42: Selected seed 195 with value = 0.6227
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=58: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8981
+t=74: Selected seed 195 with value = 0.8981
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6541
+t=90: Selected seed 195 with value = 0.6541
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7182
+t=106: Selected seed 195 with value = 0.7182
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=122: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=138: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9597
+t=154: Selected seed 195 with value = 0.9597
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6198
+t=170: Selected seed 195 with value = 0.6198
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9409
+t=186: Selected seed 195 with value = 0.9409
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6737
+t=202: Selected seed 195 with value = 0.6737
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=218: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9081
+t=234: Selected seed 195 with value = 0.9081
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6742
+t=250: Selected seed 195 with value = 0.6742
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=266: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=282: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8061
+t=298: Selected seed 195 with value = 0.8061
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=163--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=163--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 163
+# successes: 93 (57.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 14...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3814
+t=10: Selected seed 195 with value = 0.3814
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4579
+t=26: Selected seed 195 with value = 0.4579
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5986
+t=42: Selected seed 195 with value = 0.5986
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=58: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=74: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7362
+t=90: Selected seed 195 with value = 0.7362
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=106: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=122: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 0.957 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=138: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=154: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 1.033 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=170: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.019 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8005
+t=186: Selected seed 195 with value = 0.8005
+Query 1/1: Action query time = 1.008 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=202: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7758
+t=218: Selected seed 195 with value = 0.7758
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=234: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7789
+t=250: Selected seed 195 with value = 0.7789
+Query 1/1: Action query time = 1.000 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.001 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=282: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 1.001 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=298: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=164--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=164--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 164
+# successes: 93 (56.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 15...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3978
+t=10: Selected seed 195 with value = 0.3978
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7380
+t=26: Selected seed 195 with value = 0.7380
+Query 1/1: Action query time = 1.289 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6300
+t=42: Selected seed 195 with value = 0.6300
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=58: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8414
+t=74: Selected seed 195 with value = 0.8414
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6795
+t=90: Selected seed 195 with value = 0.6795
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7706
+t=106: Selected seed 195 with value = 0.7706
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9485
+t=122: Selected seed 195 with value = 0.9485
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6067
+t=138: Selected seed 195 with value = 0.6067
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=154: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6311
+t=170: Selected seed 195 with value = 0.6311
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=186: Selected seed 195 with value = 0.9629
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=202: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 0.960 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9486
+t=218: Selected seed 195 with value = 0.9486
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=234: Selected seed 195 with value = 0.9752
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=250: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=266: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=282: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=298: Selected seed 195 with value = 0.9801
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=165--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=165--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 165
+# successes: 93 (56.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 16...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4131
+t=10: Selected seed 195 with value = 0.4131
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4437
+t=26: Selected seed 195 with value = 0.4437
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5916
+t=42: Selected seed 195 with value = 0.5916
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7933
+t=58: Selected seed 195 with value = 0.7933
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8993
+t=74: Selected seed 195 with value = 0.8993
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7365
+t=90: Selected seed 195 with value = 0.7365
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7857
+t=106: Selected seed 195 with value = 0.7857
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6849
+t=122: Selected seed 195 with value = 0.6849
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9263
+t=138: Selected seed 195 with value = 0.9263
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6755
+t=154: Selected seed 195 with value = 0.6755
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=170: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=186: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7633
+t=202: Selected seed 195 with value = 0.7633
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=218: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=234: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 1.037 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=250: Selected seed 195 with value = 0.8142
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=266: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=282: Selected seed 195 with value = 0.9499
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=298: Selected seed 195 with value = 0.8779
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=166--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=166--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 166
+# successes: 93 (56.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 17...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3816
+t=10: Selected seed 195 with value = 0.3816
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4813
+t=26: Selected seed 195 with value = 0.4813
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6317
+t=42: Selected seed 195 with value = 0.6317
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7242
+t=58: Selected seed 195 with value = 0.7242
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8688
+t=74: Selected seed 195 with value = 0.8688
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9568
+t=90: Selected seed 195 with value = 0.9568
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=106: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=122: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=138: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=154: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=266: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.987 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=282: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=167--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=167--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 167
+# successes: 93 (55.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 18...
+Query 1/1: Action query time = 1.354 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4232
+t=10: Selected seed 195 with value = 0.4232
+Query 1/1: Action query time = 1.239 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9109
+t=26: Selected seed 195 with value = 0.9109
+Query 1/1: Action query time = 1.151 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6063
+t=42: Selected seed 195 with value = 0.6063
+Query 1/1: Action query time = 1.186 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=58: Selected seed 195 with value = 0.9451
+Query 1/1: Action query time = 1.212 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=74: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=90: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.998 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=106: Selected seed 195 with value = 0.9722
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=122: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=138: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=154: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7939
+t=170: Selected seed 195 with value = 0.7939
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=186: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.990 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=202: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9029
+t=218: Selected seed 195 with value = 0.9029
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9778
+t=250: Selected seed 195 with value = 0.9778
+Query 1/1: Action query time = 1.161 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=266: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 1.127 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=282: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 1.107 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=298: Selected seed 195 with value = 0.9262
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=168--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=168--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 168
+# successes: 93 (55.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 19...
+Query 1/1: Action query time = 1.417 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3965
+t=10: Selected seed 195 with value = 0.3965
+Query 1/1: Action query time = 1.367 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4574
+t=26: Selected seed 195 with value = 0.4574
+Query 1/1: Action query time = 1.329 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6103
+t=42: Selected seed 195 with value = 0.6103
+Query 1/1: Action query time = 1.126 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7181
+t=58: Selected seed 195 with value = 0.7181
+Query 1/1: Action query time = 1.101 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8946
+t=74: Selected seed 195 with value = 0.8946
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9650
+t=90: Selected seed 195 with value = 0.9650
+Query 1/1: Action query time = 1.044 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=106: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 1.018 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=122: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 1.018 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=138: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 1.030 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=154: Selected seed 195 with value = 0.9860
+Query 1/1: Action query time = 1.098 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=170: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 1.128 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=186: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 1.192 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=202: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 1.232 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=218: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=234: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 1.009 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=250: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 0.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=266: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 1.042 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=282: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 1.000 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9317
+t=298: Selected seed 195 with value = 0.9317
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=169--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=169--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 169
+# successes: 93 (55.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 20...
+Query 1/1: Action query time = 1.262 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3734
+t=10: Selected seed 195 with value = 0.3734
+Query 1/1: Action query time = 1.239 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4674
+t=26: Selected seed 195 with value = 0.4674
+Query 1/1: Action query time = 1.312 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6429
+t=42: Selected seed 195 with value = 0.6429
+Query 1/1: Action query time = 1.422 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8237
+t=58: Selected seed 195 with value = 0.8237
+Query 1/1: Action query time = 1.175 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=74: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 1.094 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=90: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 1.148 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=106: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 1.147 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9391
+t=122: Selected seed 195 with value = 0.9391
+Query 1/1: Action query time = 1.047 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=138: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 0.997 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=154: Selected seed 195 with value = 0.9384
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8649
+t=170: Selected seed 195 with value = 0.8649
+Query 1/1: Action query time = 0.994 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=186: Selected seed 195 with value = 0.8755
+Query 1/1: Action query time = 0.996 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8546
+t=202: Selected seed 195 with value = 0.8546
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=218: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 1.134 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=234: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 1.073 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7075
+t=250: Selected seed 195 with value = 0.7075
+Query 1/1: Action query time = 1.099 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=266: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 1.107 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8613
+t=282: Selected seed 195 with value = 0.8613
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=298: Selected seed 195 with value = 0.9773
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=170--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=170--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 170
+# successes: 93 (54.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 21...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4022
+t=10: Selected seed 195 with value = 0.4022
+Query 1/1: Action query time = 1.004 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4803
+t=26: Selected seed 195 with value = 0.4803
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5694
+t=42: Selected seed 195 with value = 0.5694
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6236
+t=58: Selected seed 195 with value = 0.6236
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6388
+t=74: Selected seed 195 with value = 0.6388
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6588
+t=90: Selected seed 195 with value = 0.6588
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6832
+t=106: Selected seed 195 with value = 0.6832
+Query 1/1: Action query time = 1.009 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7353
+t=122: Selected seed 195 with value = 0.7353
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7748
+t=138: Selected seed 195 with value = 0.7748
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9326
+t=154: Selected seed 195 with value = 0.9326
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=170: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 1.032 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=186: Selected seed 195 with value = 0.9612
+Query 1/1: Action query time = 1.107 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=202: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 1.012 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=218: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 1.059 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=234: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.992 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=250: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=266: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=171--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=171--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 171
+# successes: 93 (54.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 22...
+Query 1/1: Action query time = 1.412 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3947
+t=10: Selected seed 195 with value = 0.3947
+Query 1/1: Action query time = 1.393 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6430
+t=26: Selected seed 195 with value = 0.6430
+Query 1/1: Action query time = 1.232 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6368
+t=42: Selected seed 195 with value = 0.6368
+Query 1/1: Action query time = 1.178 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=58: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 1.200 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9130
+t=74: Selected seed 195 with value = 0.9130
+Query 1/1: Action query time = 1.157 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7899
+t=90: Selected seed 195 with value = 0.7899
+Query 1/1: Action query time = 1.070 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7208
+t=106: Selected seed 195 with value = 0.7208
+Query 1/1: Action query time = 1.087 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9422
+t=122: Selected seed 195 with value = 0.9422
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5613
+t=138: Selected seed 195 with value = 0.5613
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=154: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 0.955 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6485
+t=170: Selected seed 195 with value = 0.6485
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=186: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8361
+t=202: Selected seed 195 with value = 0.8361
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9494
+t=218: Selected seed 195 with value = 0.9494
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=234: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 0.999 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=250: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 1.018 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7576
+t=266: Selected seed 195 with value = 0.7576
+Query 1/1: Action query time = 1.008 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=282: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=298: Selected seed 195 with value = 0.9882
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=172--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=172--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 172
+# successes: 93 (54.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 23...
+Query 1/1: Action query time = 1.317 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3803
+t=10: Selected seed 195 with value = 0.3803
+Query 1/1: Action query time = 1.375 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5411
+t=26: Selected seed 195 with value = 0.5411
+Query 1/1: Action query time = 1.296 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6333
+t=42: Selected seed 195 with value = 0.6333
+Query 1/1: Action query time = 1.161 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9547
+t=58: Selected seed 195 with value = 0.9547
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8842
+t=74: Selected seed 195 with value = 0.8842
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=90: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=106: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 1.003 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=122: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 1.021 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7356
+t=138: Selected seed 195 with value = 0.7356
+Query 1/1: Action query time = 0.997 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8111
+t=154: Selected seed 195 with value = 0.8111
+Query 1/1: Action query time = 1.011 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9413
+t=170: Selected seed 195 with value = 0.9413
+Query 1/1: Action query time = 1.009 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7731
+t=186: Selected seed 195 with value = 0.7731
+Query 1/1: Action query time = 1.037 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9254
+t=202: Selected seed 195 with value = 0.9254
+Query 1/1: Action query time = 1.098 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7795
+t=218: Selected seed 195 with value = 0.7795
+Query 1/1: Action query time = 1.092 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9593
+t=234: Selected seed 195 with value = 0.9593
+Query 1/1: Action query time = 1.322 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8068
+t=250: Selected seed 195 with value = 0.8068
+Query 1/1: Action query time = 1.260 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=266: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 1.080 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9746
+t=282: Selected seed 195 with value = 0.9746
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7825
+t=298: Selected seed 195 with value = 0.7825
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=173--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=173--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 173
+# successes: 93 (53.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 24...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3747
+t=10: Selected seed 195 with value = 0.3747
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=26: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6362
+t=42: Selected seed 195 with value = 0.6362
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9390
+t=58: Selected seed 195 with value = 0.9390
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=74: Selected seed 195 with value = 0.9712
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=90: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=106: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6982
+t=122: Selected seed 195 with value = 0.6982
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=138: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8650
+t=154: Selected seed 195 with value = 0.8650
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9613
+t=170: Selected seed 195 with value = 0.9613
+Query 1/1: Action query time = 0.998 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9002
+t=186: Selected seed 195 with value = 0.9002
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8915
+t=202: Selected seed 195 with value = 0.8915
+Query 1/1: Action query time = 1.003 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=218: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 0.988 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9469
+t=234: Selected seed 195 with value = 0.9469
+Query 1/1: Action query time = 1.007 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=250: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 0.994 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=266: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 0.992 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=282: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 0.994 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=298: Selected seed 195 with value = 0.9875
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=174--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=174--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 174
+# successes: 93 (53.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 25...
+Query 1/1: Action query time = 1.284 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3792
+t=10: Selected seed 195 with value = 0.3792
+Query 1/1: Action query time = 1.212 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4569
+t=26: Selected seed 195 with value = 0.4569
+Query 1/1: Action query time = 1.182 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6480
+t=42: Selected seed 195 with value = 0.6480
+Query 1/1: Action query time = 1.192 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=58: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 1.103 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=74: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=90: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=106: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 1.145 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8705
+t=122: Selected seed 195 with value = 0.8705
+Query 1/1: Action query time = 1.186 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=138: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 1.307 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9119
+t=154: Selected seed 195 with value = 0.9119
+Query 1/1: Action query time = 1.185 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=170: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 1.214 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8989
+t=186: Selected seed 195 with value = 0.8989
+Query 1/1: Action query time = 1.182 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=202: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 1.126 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9349
+t=218: Selected seed 195 with value = 0.9349
+Query 1/1: Action query time = 1.078 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=234: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 1.012 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9472
+t=250: Selected seed 195 with value = 0.9472
+Query 1/1: Action query time = 1.103 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=266: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 1.031 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.022 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=175--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=175--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 175
+# successes: 93 (53.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 26...
+Query 1/1: Action query time = 1.087 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3803
+t=10: Selected seed 195 with value = 0.3803
+Query 1/1: Action query time = 1.025 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=26: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 0.997 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=42: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 1.035 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6999
+t=58: Selected seed 195 with value = 0.6999
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8888
+t=74: Selected seed 195 with value = 0.8888
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=90: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=106: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 0.994 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9766
+t=122: Selected seed 195 with value = 0.9766
+Query 1/1: Action query time = 0.993 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=138: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=154: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 1.131 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=170: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.144 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=186: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.998 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=202: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 1.018 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=218: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=234: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=250: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 1.033 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=266: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 1.007 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=282: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.999 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=298: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=176--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=176--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 176
+# successes: 93 (52.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 27...
+Query 1/1: Action query time = 1.140 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4089
+t=10: Selected seed 195 with value = 0.4089
+Query 1/1: Action query time = 1.130 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=26: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 1.104 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6527
+t=42: Selected seed 195 with value = 0.6527
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9348
+t=58: Selected seed 195 with value = 0.9348
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9304
+t=74: Selected seed 195 with value = 0.9304
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6790
+t=90: Selected seed 195 with value = 0.6790
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9062
+t=106: Selected seed 195 with value = 0.9062
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6634
+t=122: Selected seed 195 with value = 0.6634
+Query 1/1: Action query time = 1.011 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=138: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6966
+t=154: Selected seed 195 with value = 0.6966
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=170: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 0.999 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=186: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9707
+t=202: Selected seed 195 with value = 0.9707
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7933
+t=218: Selected seed 195 with value = 0.7933
+Query 1/1: Action query time = 1.008 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=234: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=250: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7951
+t=266: Selected seed 195 with value = 0.7951
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=282: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8282
+t=298: Selected seed 195 with value = 0.8282
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=177--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=177--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 177
+# successes: 93 (52.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 28...
+Query 1/1: Action query time = 1.075 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3824
+t=10: Selected seed 195 with value = 0.3824
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4845
+t=26: Selected seed 195 with value = 0.4845
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=42: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=58: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9435
+t=74: Selected seed 195 with value = 0.9435
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=90: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 1.006 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=106: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 1.219 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=122: Selected seed 195 with value = 0.9149
+Query 1/1: Action query time = 1.188 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=138: Selected seed 195 with value = 0.8884
+Query 1/1: Action query time = 1.192 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6660
+t=154: Selected seed 195 with value = 0.6660
+Query 1/1: Action query time = 1.179 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9331
+t=170: Selected seed 195 with value = 0.9331
+Query 1/1: Action query time = 1.201 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=186: Selected seed 195 with value = 0.7025
+Query 1/1: Action query time = 1.299 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8835
+t=202: Selected seed 195 with value = 0.8835
+Query 1/1: Action query time = 1.104 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8087
+t=218: Selected seed 195 with value = 0.8087
+Query 1/1: Action query time = 1.062 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=234: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 1.012 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8031
+t=250: Selected seed 195 with value = 0.8031
+Query 1/1: Action query time = 1.017 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=266: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=282: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6610
+t=298: Selected seed 195 with value = 0.6610
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=178--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=178--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 178
+# successes: 93 (52.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 29...
+Query 1/1: Action query time = 1.069 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3902
+t=10: Selected seed 195 with value = 0.3902
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5128
+t=26: Selected seed 195 with value = 0.5128
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6450
+t=42: Selected seed 195 with value = 0.6450
+Query 1/1: Action query time = 1.050 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=58: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 1.063 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=74: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 0.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=90: Selected seed 195 with value = 0.9693
+Query 1/1: Action query time = 0.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=106: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=122: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 1.267 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8880
+t=138: Selected seed 195 with value = 0.8880
+Query 1/1: Action query time = 1.317 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=154: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 1.152 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=170: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 1.152 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=186: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 1.133 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=202: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 1.179 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=218: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 1.209 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=234: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 1.174 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=250: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=266: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 0.985 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=282: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 0.999 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=179--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=179--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 179
+# successes: 93 (52.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 30...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3920
+t=10: Selected seed 195 with value = 0.3920
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4849
+t=26: Selected seed 195 with value = 0.4849
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6270
+t=42: Selected seed 195 with value = 0.6270
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8617
+t=58: Selected seed 195 with value = 0.8617
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9732
+t=74: Selected seed 195 with value = 0.9732
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.036 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8830
+t=106: Selected seed 195 with value = 0.8830
+Query 1/1: Action query time = 1.064 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9195
+t=122: Selected seed 195 with value = 0.9195
+Query 1/1: Action query time = 1.019 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9416
+t=138: Selected seed 195 with value = 0.9416
+Query 1/1: Action query time = 1.018 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=154: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 1.089 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9602
+t=170: Selected seed 195 with value = 0.9602
+Query 1/1: Action query time = 1.085 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=186: Selected seed 195 with value = 0.9314
+Query 1/1: Action query time = 1.127 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=202: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 1.004 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=218: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 0.991 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=234: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 1.019 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=250: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 1.007 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=266: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 0.996 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=282: Selected seed 195 with value = 0.8142
+Query 1/1: Action query time = 0.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9344
+t=298: Selected seed 195 with value = 0.9344
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=180--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=180--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 180
+# successes: 93 (51.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 31...
+Query 1/1: Action query time = 1.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4046
+t=10: Selected seed 195 with value = 0.4046
+Query 1/1: Action query time = 1.265 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4748
+t=26: Selected seed 195 with value = 0.4748
+Query 1/1: Action query time = 0.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6168
+t=42: Selected seed 195 with value = 0.6168
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7955
+t=58: Selected seed 195 with value = 0.7955
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=74: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 1.065 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9568
+t=90: Selected seed 195 with value = 0.9568
+Query 1/1: Action query time = 1.106 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7433
+t=106: Selected seed 195 with value = 0.7433
+Query 1/1: Action query time = 1.088 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=122: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 1.032 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9336
+t=138: Selected seed 195 with value = 0.9336
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=154: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=170: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 1.047 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7590
+t=186: Selected seed 195 with value = 0.7590
+Query 1/1: Action query time = 1.057 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=202: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7035
+t=218: Selected seed 195 with value = 0.7035
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=234: Selected seed 195 with value = 0.9618
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=250: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 1.001 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7543
+t=266: Selected seed 195 with value = 0.7543
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=282: Selected seed 195 with value = 0.9372
+Query 1/1: Action query time = 1.000 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=298: Selected seed 195 with value = 0.9241
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=181--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=181--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 181
+# successes: 93 (51.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 32...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3936
+t=10: Selected seed 195 with value = 0.3936
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4898
+t=26: Selected seed 195 with value = 0.4898
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6421
+t=42: Selected seed 195 with value = 0.6421
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7321
+t=58: Selected seed 195 with value = 0.7321
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=74: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=90: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=122: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=138: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=154: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=170: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.994 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=186: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 1.030 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=202: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.082 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=218: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=234: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=250: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 1.138 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=266: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 1.094 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=282: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 1.213 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=298: Selected seed 195 with value = 0.9962
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=182--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=182--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 182
+# successes: 93 (51.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 33...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3837
+t=10: Selected seed 195 with value = 0.3837
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=26: Selected seed 195 with value = 0.4838
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6370
+t=42: Selected seed 195 with value = 0.6370
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8591
+t=58: Selected seed 195 with value = 0.8591
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9696
+t=74: Selected seed 195 with value = 0.9696
+Query 1/1: Action query time = 1.091 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=90: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 1.048 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7137
+t=106: Selected seed 195 with value = 0.7137
+Query 1/1: Action query time = 1.008 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=122: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 1.096 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9234
+t=138: Selected seed 195 with value = 0.9234
+Query 1/1: Action query time = 1.205 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=154: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 1.179 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=170: Selected seed 195 with value = 0.9427
+Query 1/1: Action query time = 1.173 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=186: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 1.069 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8955
+t=202: Selected seed 195 with value = 0.8955
+Query 1/1: Action query time = 1.032 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=218: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=234: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=282: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 1.013 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=298: Selected seed 195 with value = 0.9865
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=183--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=183--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 183
+# successes: 93 (50.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 34...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3761
+t=10: Selected seed 195 with value = 0.3761
+Query 1/1: Action query time = 1.070 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4627
+t=26: Selected seed 195 with value = 0.4627
+Query 1/1: Action query time = 1.070 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6436
+t=42: Selected seed 195 with value = 0.6436
+Query 1/1: Action query time = 1.010 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8038
+t=58: Selected seed 195 with value = 0.8038
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9710
+t=74: Selected seed 195 with value = 0.9710
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=90: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9619
+t=106: Selected seed 195 with value = 0.9619
+Query 1/1: Action query time = 1.026 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6514
+t=122: Selected seed 195 with value = 0.6514
+Query 1/1: Action query time = 0.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=138: Selected seed 195 with value = 0.8893
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9266
+t=154: Selected seed 195 with value = 0.9266
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=170: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=186: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=202: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=218: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=234: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 0.997 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=250: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 1.171 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=266: Selected seed 195 with value = 0.9564
+Query 1/1: Action query time = 1.298 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8756
+t=282: Selected seed 195 with value = 0.8756
+Query 1/1: Action query time = 1.297 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=298: Selected seed 195 with value = 0.9690
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=184--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=184--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 184
+# successes: 93 (50.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 35...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4097
+t=10: Selected seed 195 with value = 0.4097
+Query 1/1: Action query time = 1.014 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=26: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 1.046 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6385
+t=42: Selected seed 195 with value = 0.6385
+Query 1/1: Action query time = 1.126 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=58: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 1.160 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7864
+t=74: Selected seed 195 with value = 0.7864
+Query 1/1: Action query time = 1.091 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7881
+t=90: Selected seed 195 with value = 0.7881
+Query 1/1: Action query time = 1.142 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=106: Selected seed 195 with value = 0.9712
+Query 1/1: Action query time = 1.090 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6657
+t=122: Selected seed 195 with value = 0.6657
+Query 1/1: Action query time = 1.082 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=138: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 1.099 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7826
+t=154: Selected seed 195 with value = 0.7826
+Query 1/1: Action query time = 1.091 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8841
+t=170: Selected seed 195 with value = 0.8841
+Query 1/1: Action query time = 1.068 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7266
+t=186: Selected seed 195 with value = 0.7266
+Query 1/1: Action query time = 1.092 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=202: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 1.040 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7554
+t=218: Selected seed 195 with value = 0.7554
+Query 1/1: Action query time = 1.081 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=234: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=250: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 0.992 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9153
+t=266: Selected seed 195 with value = 0.9153
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=282: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.998 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=185--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=185--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 185
+# successes: 93 (50.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 36...
+Query 1/1: Action query time = 1.159 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4018
+t=10: Selected seed 195 with value = 0.4018
+Query 1/1: Action query time = 1.343 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=26: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 1.330 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=42: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 1.326 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6300
+t=58: Selected seed 195 with value = 0.6300
+Query 1/1: Action query time = 1.238 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6702
+t=74: Selected seed 195 with value = 0.6702
+Query 1/1: Action query time = 1.198 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8993
+t=90: Selected seed 195 with value = 0.8993
+Query 1/1: Action query time = 1.204 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7203
+t=106: Selected seed 195 with value = 0.7203
+Query 1/1: Action query time = 1.171 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8312
+t=122: Selected seed 195 with value = 0.8312
+Query 1/1: Action query time = 1.159 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=138: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 1.192 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=154: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 1.336 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=170: Selected seed 195 with value = 0.9576
+Query 1/1: Action query time = 1.360 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8180
+t=186: Selected seed 195 with value = 0.8180
+Query 1/1: Action query time = 1.215 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8065
+t=202: Selected seed 195 with value = 0.8065
+Query 1/1: Action query time = 0.988 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7891
+t=218: Selected seed 195 with value = 0.7891
+Query 1/1: Action query time = 0.996 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7764
+t=234: Selected seed 195 with value = 0.7764
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7857
+t=250: Selected seed 195 with value = 0.7857
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7540
+t=266: Selected seed 195 with value = 0.7540
+Query 1/1: Action query time = 1.180 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7256
+t=282: Selected seed 195 with value = 0.7256
+Query 1/1: Action query time = 1.274 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7296
+t=298: Selected seed 195 with value = 0.7296
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=186--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=186--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 186
+# successes: 93 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 37...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3904
+t=10: Selected seed 195 with value = 0.3904
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6191
+t=26: Selected seed 195 with value = 0.6191
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=42: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7899
+t=58: Selected seed 195 with value = 0.7899
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=74: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=90: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 1.150 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=106: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 1.193 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=122: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 1.075 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=138: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 1.004 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=154: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 1.165 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9223
+t=170: Selected seed 195 with value = 0.9223
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7551
+t=186: Selected seed 195 with value = 0.7551
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=202: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7350
+t=218: Selected seed 195 with value = 0.7350
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=234: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=250: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=266: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=282: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=298: Selected seed 195 with value = 0.9693
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=187--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=187--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 187
+# successes: 93 (49.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 38...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3525
+t=10: Selected seed 195 with value = 0.3525
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4601
+t=26: Selected seed 195 with value = 0.4601
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5931
+t=42: Selected seed 195 with value = 0.5931
+Query 1/1: Action query time = 1.001 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6364
+t=58: Selected seed 195 with value = 0.6364
+Query 1/1: Action query time = 0.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7990
+t=74: Selected seed 195 with value = 0.7990
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6774
+t=90: Selected seed 195 with value = 0.6774
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7732
+t=106: Selected seed 195 with value = 0.7732
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=122: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 1.004 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=138: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.009 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=170: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=186: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 0.986 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.991 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=218: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=234: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 0.962 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=250: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=266: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=282: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=298: Selected seed 195 with value = 0.9789
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=188--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=188--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 188
+# successes: 93 (49.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 39...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3946
+t=10: Selected seed 195 with value = 0.3946
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6162
+t=26: Selected seed 195 with value = 0.6162
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6351
+t=42: Selected seed 195 with value = 0.6351
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=58: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=74: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 0.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8419
+t=90: Selected seed 195 with value = 0.8419
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=106: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8829
+t=122: Selected seed 195 with value = 0.8829
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7649
+t=138: Selected seed 195 with value = 0.7649
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8579
+t=154: Selected seed 195 with value = 0.8579
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=170: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=186: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 0.986 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7952
+t=202: Selected seed 195 with value = 0.7952
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=218: Selected seed 195 with value = 0.9640
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9167
+t=234: Selected seed 195 with value = 0.9167
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=250: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=266: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=282: Selected seed 195 with value = 0.9297
+Query 1/1: Action query time = 0.989 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=298: Selected seed 195 with value = 0.9757
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=189--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=189--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 189
+# successes: 93 (49.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 40...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3924
+t=10: Selected seed 195 with value = 0.3924
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4756
+t=26: Selected seed 195 with value = 0.4756
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5910
+t=42: Selected seed 195 with value = 0.5910
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=58: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6481
+t=74: Selected seed 195 with value = 0.6481
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6693
+t=90: Selected seed 195 with value = 0.6693
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6803
+t=106: Selected seed 195 with value = 0.6803
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8929
+t=122: Selected seed 195 with value = 0.8929
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=138: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=154: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=170: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=186: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 1.012 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=202: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.988 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=218: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.994 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.051 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.997 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.058 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.001 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=190--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=190--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 190
+# successes: 93 (48.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 41...
+Query 1/1: Action query time = 1.242 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4003
+t=10: Selected seed 195 with value = 0.4003
+Query 1/1: Action query time = 1.201 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6102
+t=26: Selected seed 195 with value = 0.6102
+Query 1/1: Action query time = 1.251 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6164
+t=42: Selected seed 195 with value = 0.6164
+Query 1/1: Action query time = 1.258 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7454
+t=58: Selected seed 195 with value = 0.7454
+Query 1/1: Action query time = 1.190 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=74: Selected seed 195 with value = 0.9301
+Query 1/1: Action query time = 1.076 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7482
+t=90: Selected seed 195 with value = 0.7482
+Query 1/1: Action query time = 1.019 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=106: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7164
+t=122: Selected seed 195 with value = 0.7164
+Query 1/1: Action query time = 1.004 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=138: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=154: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9732
+t=170: Selected seed 195 with value = 0.9732
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9118
+t=186: Selected seed 195 with value = 0.9118
+Query 1/1: Action query time = 0.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=202: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8366
+t=218: Selected seed 195 with value = 0.8366
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=234: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.956 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=250: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 0.995 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=266: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=282: Selected seed 195 with value = 0.9017
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=298: Selected seed 195 with value = 0.9860
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=191--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=191--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 191
+# successes: 93 (48.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 42...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3967
+t=10: Selected seed 195 with value = 0.3967
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6144
+t=26: Selected seed 195 with value = 0.6144
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6383
+t=42: Selected seed 195 with value = 0.6383
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=58: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=74: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8335
+t=90: Selected seed 195 with value = 0.8335
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9160
+t=106: Selected seed 195 with value = 0.9160
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=122: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9652
+t=138: Selected seed 195 with value = 0.9652
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=154: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9533
+t=170: Selected seed 195 with value = 0.9533
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7897
+t=186: Selected seed 195 with value = 0.7897
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9424
+t=202: Selected seed 195 with value = 0.9424
+Query 1/1: Action query time = 1.046 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9413
+t=218: Selected seed 195 with value = 0.9413
+Query 1/1: Action query time = 1.081 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=234: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 1.098 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7778
+t=250: Selected seed 195 with value = 0.7778
+Query 1/1: Action query time = 1.072 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=266: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 1.005 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=282: Selected seed 195 with value = 0.9612
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=298: Selected seed 195 with value = 0.8142
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=192--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=192--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 192
+# successes: 93 (48.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 43...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3910
+t=10: Selected seed 195 with value = 0.3910
+Query 1/1: Action query time = 1.205 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5153
+t=26: Selected seed 195 with value = 0.5153
+Query 1/1: Action query time = 1.455 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6336
+t=42: Selected seed 195 with value = 0.6336
+Query 1/1: Action query time = 1.468 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9204
+t=58: Selected seed 195 with value = 0.9204
+Query 1/1: Action query time = 1.204 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=74: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 1.212 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=90: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 1.219 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7904
+t=106: Selected seed 195 with value = 0.7904
+Query 1/1: Action query time = 1.230 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=122: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6797
+t=138: Selected seed 195 with value = 0.6797
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=154: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=170: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7646
+t=186: Selected seed 195 with value = 0.7646
+Query 1/1: Action query time = 1.006 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=202: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 1.016 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=218: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=234: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.963 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=250: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.964 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=266: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=282: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9491
+t=298: Selected seed 195 with value = 0.9491
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=193--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=193--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 193
+# successes: 93 (48.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 44...
+Query 1/1: Action query time = 1.208 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3880
+t=10: Selected seed 195 with value = 0.3880
+Query 1/1: Action query time = 1.037 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4681
+t=26: Selected seed 195 with value = 0.4681
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6156
+t=42: Selected seed 195 with value = 0.6156
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7371
+t=58: Selected seed 195 with value = 0.7371
+Query 1/1: Action query time = 1.273 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=74: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 1.129 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=90: Selected seed 195 with value = 0.9728
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=106: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=122: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 0.995 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9339
+t=138: Selected seed 195 with value = 0.9339
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=154: Selected seed 195 with value = 0.9561
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=170: Selected seed 195 with value = 0.9136
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=186: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9336
+t=202: Selected seed 195 with value = 0.9336
+Query 1/1: Action query time = 1.189 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=218: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 1.189 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=234: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 1.211 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.210 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=266: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 1.074 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=282: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 1.002 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=298: Selected seed 195 with value = 0.9815
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=194--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=194--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 194
+# successes: 93 (47.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 45...
+Query 1/1: Action query time = 1.399 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4012
+t=10: Selected seed 195 with value = 0.4012
+Query 1/1: Action query time = 1.452 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=26: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 1.392 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6120
+t=42: Selected seed 195 with value = 0.6120
+Query 1/1: Action query time = 1.462 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=58: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 1.170 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5990
+t=74: Selected seed 195 with value = 0.5990
+Query 1/1: Action query time = 1.131 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5782
+t=90: Selected seed 195 with value = 0.5782
+Query 1/1: Action query time = 1.050 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6130
+t=106: Selected seed 195 with value = 0.6130
+Query 1/1: Action query time = 0.999 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=122: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 0.991 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=138: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 1.008 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5897
+t=154: Selected seed 195 with value = 0.5897
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6030
+t=170: Selected seed 195 with value = 0.6030
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6241
+t=186: Selected seed 195 with value = 0.6241
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6130
+t=202: Selected seed 195 with value = 0.6130
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6342
+t=218: Selected seed 195 with value = 0.6342
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8115
+t=234: Selected seed 195 with value = 0.8115
+Query 1/1: Action query time = 1.243 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8045
+t=250: Selected seed 195 with value = 0.8045
+Query 1/1: Action query time = 1.292 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8325
+t=266: Selected seed 195 with value = 0.8325
+Query 1/1: Action query time = 1.351 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8465
+t=282: Selected seed 195 with value = 0.8465
+Query 1/1: Action query time = 1.169 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7859
+t=298: Selected seed 195 with value = 0.7859
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=195--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=195--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 195
+# successes: 93 (47.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 46...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3809
+t=10: Selected seed 195 with value = 0.3809
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4528
+t=26: Selected seed 195 with value = 0.4528
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5778
+t=42: Selected seed 195 with value = 0.5778
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=58: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8071
+t=74: Selected seed 195 with value = 0.8071
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6736
+t=90: Selected seed 195 with value = 0.6736
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8077
+t=106: Selected seed 195 with value = 0.8077
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=122: Selected seed 195 with value = 0.9604
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=138: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 1.144 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=154: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 1.264 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9012
+t=170: Selected seed 195 with value = 0.9012
+Query 1/1: Action query time = 1.257 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=186: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 1.204 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=202: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=218: Selected seed 195 with value = 0.9620
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=234: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=250: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9370
+t=266: Selected seed 195 with value = 0.9370
+Query 1/1: Action query time = 1.093 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=282: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 1.068 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=298: Selected seed 195 with value = 0.9112
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=196--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=196--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 196
+# successes: 93 (47.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 47...
+Query 1/1: Action query time = 1.025 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3853
+t=10: Selected seed 195 with value = 0.3853
+Query 1/1: Action query time = 1.002 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5060
+t=26: Selected seed 195 with value = 0.5060
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6612
+t=42: Selected seed 195 with value = 0.6612
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=58: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=74: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=90: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=106: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 0.950 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=122: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 1.206 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8634
+t=138: Selected seed 195 with value = 0.8634
+Query 1/1: Action query time = 1.223 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=154: Selected seed 195 with value = 0.9430
+Query 1/1: Action query time = 1.360 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8599
+t=170: Selected seed 195 with value = 0.8599
+Query 1/1: Action query time = 1.264 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=186: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 1.247 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9491
+t=202: Selected seed 195 with value = 0.9491
+Query 1/1: Action query time = 1.175 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=218: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 1.217 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.199 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=250: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 0.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=266: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=282: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.991 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=298: Selected seed 195 with value = 0.9954
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=197--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=197--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 197
+# successes: 93 (47.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 48...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3879
+t=10: Selected seed 195 with value = 0.3879
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4828
+t=26: Selected seed 195 with value = 0.4828
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6060
+t=42: Selected seed 195 with value = 0.6060
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9121
+t=58: Selected seed 195 with value = 0.9121
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=74: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7049
+t=90: Selected seed 195 with value = 0.7049
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=106: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6949
+t=122: Selected seed 195 with value = 0.6949
+Query 1/1: Action query time = 1.005 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=138: Selected seed 195 with value = 0.9706
+Query 1/1: Action query time = 0.993 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8982
+t=154: Selected seed 195 with value = 0.8982
+Query 1/1: Action query time = 1.018 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=170: Selected seed 195 with value = 0.9450
+Query 1/1: Action query time = 1.066 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=186: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 1.313 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7764
+t=202: Selected seed 195 with value = 0.7764
+Query 1/1: Action query time = 1.405 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=218: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 1.193 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8159
+t=234: Selected seed 195 with value = 0.8159
+Query 1/1: Action query time = 1.172 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=250: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 1.133 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8119
+t=266: Selected seed 195 with value = 0.8119
+Query 1/1: Action query time = 1.122 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=282: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=298: Selected seed 195 with value = 0.9598
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=198--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=198--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 198
+# successes: 93 (47.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 49...
+Query 1/1: Action query time = 1.031 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4070
+t=10: Selected seed 195 with value = 0.4070
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4934
+t=26: Selected seed 195 with value = 0.4934
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6176
+t=42: Selected seed 195 with value = 0.6176
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6317
+t=58: Selected seed 195 with value = 0.6317
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6438
+t=74: Selected seed 195 with value = 0.6438
+Query 1/1: Action query time = 1.019 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8194
+t=90: Selected seed 195 with value = 0.8194
+Query 1/1: Action query time = 1.017 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8125
+t=106: Selected seed 195 with value = 0.8125
+Query 1/1: Action query time = 1.032 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7316
+t=122: Selected seed 195 with value = 0.7316
+Query 1/1: Action query time = 1.127 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=138: Selected seed 195 with value = 0.9629
+Query 1/1: Action query time = 1.118 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=154: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 1.177 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=170: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 1.190 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=186: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 1.178 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=202: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=218: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=234: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=250: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.027 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.228 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=199--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=199--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 199
+# successes: 93 (46.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 50...
+Query 1/1: Action query time = 1.130 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4064
+t=10: Selected seed 195 with value = 0.4064
+Query 1/1: Action query time = 1.090 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6151
+t=26: Selected seed 195 with value = 0.6151
+Query 1/1: Action query time = 1.083 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6568
+t=42: Selected seed 195 with value = 0.6568
+Query 1/1: Action query time = 1.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9115
+t=58: Selected seed 195 with value = 0.9115
+Query 1/1: Action query time = 1.004 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=74: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 1.033 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7919
+t=90: Selected seed 195 with value = 0.7919
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9541
+t=106: Selected seed 195 with value = 0.9541
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8668
+t=122: Selected seed 195 with value = 0.8668
+Query 1/1: Action query time = 1.311 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6464
+t=138: Selected seed 195 with value = 0.6464
+Query 1/1: Action query time = 1.219 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7735
+t=154: Selected seed 195 with value = 0.7735
+Query 1/1: Action query time = 1.304 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8937
+t=170: Selected seed 195 with value = 0.8937
+Query 1/1: Action query time = 1.288 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=186: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 1.349 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9025
+t=202: Selected seed 195 with value = 0.9025
+Query 1/1: Action query time = 1.179 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7564
+t=218: Selected seed 195 with value = 0.7564
+Query 1/1: Action query time = 0.988 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9336
+t=234: Selected seed 195 with value = 0.9336
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=250: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7987
+t=266: Selected seed 195 with value = 0.7987
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=282: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.959 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=298: Selected seed 195 with value = 0.9865
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--episode=200--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t0123/2026_08_01-18_14_59--with_future_img--episode=200--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 200
+# successes: 93 (46.5%)
+Current task success rate: 0.0
+Current total success rate: 0.465
+Final results:
+Total episodes: 200
+Total successes: 93
+Overall success rate: 0.4650 (46.5%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-19_14_18--fc2_iter350_t0123.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-19_14_18--fc2_iter350_t0123.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d660b1cd63884971caf8bf69fefee970e48f1b9f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-19_14_18--fc2_iter350_t0123.txt
@@ -0,0 +1,9065 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0,1,2,3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc2_iter350_t0123', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0, 1, 2, 3]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.564 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3644
+t=10: Selected seed 195 with value = 0.3644
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4320
+t=26: Selected seed 195 with value = 0.4320
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5109
+t=42: Selected seed 195 with value = 0.5109
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=58: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6493
+t=74: Selected seed 195 with value = 0.6493
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6845
+t=90: Selected seed 195 with value = 0.6845
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=106: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=1--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3725
+t=10: Selected seed 195 with value = 0.3725
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4320
+t=26: Selected seed 195 with value = 0.4320
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=42: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5965
+t=58: Selected seed 195 with value = 0.5965
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7110
+t=74: Selected seed 195 with value = 0.7110
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7602
+t=90: Selected seed 195 with value = 0.7602
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9013
+t=106: Selected seed 195 with value = 0.9013
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=2--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4084
+t=10: Selected seed 195 with value = 0.4084
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4345
+t=26: Selected seed 195 with value = 0.4345
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4884
+t=42: Selected seed 195 with value = 0.4884
+Query 1/1: Action query time = 1.277 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5944
+t=58: Selected seed 195 with value = 0.5944
+Query 1/1: Action query time = 1.202 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6838
+t=74: Selected seed 195 with value = 0.6838
+Query 1/1: Action query time = 1.114 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7765
+t=90: Selected seed 195 with value = 0.7765
+Query 1/1: Action query time = 1.151 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9191
+t=106: Selected seed 195 with value = 0.9191
+Query 1/1: Action query time = 1.185 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=3--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3407
+t=10: Selected seed 195 with value = 0.3407
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3828
+t=26: Selected seed 195 with value = 0.3828
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5018
+t=42: Selected seed 195 with value = 0.5018
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5167
+t=58: Selected seed 195 with value = 0.5167
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6260
+t=74: Selected seed 195 with value = 0.6260
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7798
+t=90: Selected seed 195 with value = 0.7798
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7775
+t=106: Selected seed 195 with value = 0.7775
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=122: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 1.074 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=4--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3843
+t=10: Selected seed 195 with value = 0.3843
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4465
+t=26: Selected seed 195 with value = 0.4465
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5216
+t=42: Selected seed 195 with value = 0.5216
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5956
+t=58: Selected seed 195 with value = 0.5956
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6884
+t=74: Selected seed 195 with value = 0.6884
+Query 1/1: Action query time = 1.393 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=90: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 1.382 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=106: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 1.359 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=5--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 1.047 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3510
+t=10: Selected seed 195 with value = 0.3510
+Query 1/1: Action query time = 1.054 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4288
+t=26: Selected seed 195 with value = 0.4288
+Query 1/1: Action query time = 1.042 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4978
+t=42: Selected seed 195 with value = 0.4978
+Query 1/1: Action query time = 1.004 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5855
+t=58: Selected seed 195 with value = 0.5855
+Query 1/1: Action query time = 1.087 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=74: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 1.131 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7890
+t=90: Selected seed 195 with value = 0.7890
+Query 1/1: Action query time = 1.137 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9405
+t=106: Selected seed 195 with value = 0.9405
+Query 1/1: Action query time = 1.217 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=6--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 1.068 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3349
+t=10: Selected seed 195 with value = 0.3349
+Query 1/1: Action query time = 1.028 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2965
+t=26: Selected seed 195 with value = 0.2965
+Query 1/1: Action query time = 0.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3948
+t=42: Selected seed 195 with value = 0.3948
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3709
+t=58: Selected seed 195 with value = 0.3709
+Query 1/1: Action query time = 1.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6719
+t=74: Selected seed 195 with value = 0.6719
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6013
+t=90: Selected seed 195 with value = 0.6013
+Query 1/1: Action query time = 1.004 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7032
+t=106: Selected seed 195 with value = 0.7032
+Query 1/1: Action query time = 1.235 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7663
+t=122: Selected seed 195 with value = 0.7663
+Query 1/1: Action query time = 1.249 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7415
+t=138: Selected seed 195 with value = 0.7415
+Query 1/1: Action query time = 1.286 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7148
+t=154: Selected seed 195 with value = 0.7148
+Query 1/1: Action query time = 1.338 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6309
+t=170: Selected seed 195 with value = 0.6309
+Query 1/1: Action query time = 1.152 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7047
+t=186: Selected seed 195 with value = 0.7047
+Query 1/1: Action query time = 1.085 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7924
+t=202: Selected seed 195 with value = 0.7924
+Query 1/1: Action query time = 1.145 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=218: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 1.039 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=234: Selected seed 195 with value = 0.9576
+Query 1/1: Action query time = 1.083 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=7--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3453
+t=10: Selected seed 195 with value = 0.3453
+Query 1/1: Action query time = 1.187 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4105
+t=26: Selected seed 195 with value = 0.4105
+Query 1/1: Action query time = 1.172 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4835
+t=42: Selected seed 195 with value = 0.4835
+Query 1/1: Action query time = 1.166 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5519
+t=58: Selected seed 195 with value = 0.5519
+Query 1/1: Action query time = 1.140 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6705
+t=74: Selected seed 195 with value = 0.6705
+Query 1/1: Action query time = 1.023 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8041
+t=90: Selected seed 195 with value = 0.8041
+Query 1/1: Action query time = 1.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9180
+t=106: Selected seed 195 with value = 0.9180
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=8--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 1.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3530
+t=10: Selected seed 195 with value = 0.3530
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4431
+t=26: Selected seed 195 with value = 0.4431
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5009
+t=42: Selected seed 195 with value = 0.5009
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6138
+t=58: Selected seed 195 with value = 0.6138
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7185
+t=74: Selected seed 195 with value = 0.7185
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8412
+t=90: Selected seed 195 with value = 0.8412
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=106: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 1.121 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=9--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 1.134 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4191
+t=10: Selected seed 195 with value = 0.4191
+Query 1/1: Action query time = 1.097 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=26: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5536
+t=42: Selected seed 195 with value = 0.5536
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6387
+t=58: Selected seed 195 with value = 0.6387
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7503
+t=74: Selected seed 195 with value = 0.7503
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=90: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=10--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3631
+t=10: Selected seed 195 with value = 0.3631
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3714
+t=26: Selected seed 195 with value = 0.3714
+Query 1/1: Action query time = 1.413 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4466
+t=42: Selected seed 195 with value = 0.4466
+Query 1/1: Action query time = 1.376 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5034
+t=58: Selected seed 195 with value = 0.5034
+Query 1/1: Action query time = 1.254 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5246
+t=74: Selected seed 195 with value = 0.5246
+Query 1/1: Action query time = 1.175 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6248
+t=90: Selected seed 195 with value = 0.6248
+Query 1/1: Action query time = 1.212 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7688
+t=106: Selected seed 195 with value = 0.7688
+Query 1/1: Action query time = 1.170 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8862
+t=122: Selected seed 195 with value = 0.8862
+Query 1/1: Action query time = 1.076 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=138: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 1.098 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=11--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3640
+t=10: Selected seed 195 with value = 0.3640
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4135
+t=26: Selected seed 195 with value = 0.4135
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4870
+t=42: Selected seed 195 with value = 0.4870
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5613
+t=58: Selected seed 195 with value = 0.5613
+Query 1/1: Action query time = 1.034 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=74: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 1.042 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8172
+t=90: Selected seed 195 with value = 0.8172
+Query 1/1: Action query time = 1.026 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=106: Selected seed 195 with value = 0.9314
+Query 1/1: Action query time = 0.998 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=12--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3722
+t=10: Selected seed 195 with value = 0.3722
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4066
+t=26: Selected seed 195 with value = 0.4066
+Query 1/1: Action query time = 1.206 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=42: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 1.378 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5432
+t=58: Selected seed 195 with value = 0.5432
+Query 1/1: Action query time = 1.355 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6430
+t=74: Selected seed 195 with value = 0.6430
+Query 1/1: Action query time = 1.321 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7590
+t=90: Selected seed 195 with value = 0.7590
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=106: Selected seed 195 with value = 0.9152
+Query 1/1: Action query time = 1.007 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=13--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3717
+t=10: Selected seed 195 with value = 0.3717
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4099
+t=26: Selected seed 195 with value = 0.4099
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4773
+t=42: Selected seed 195 with value = 0.4773
+Query 1/1: Action query time = 1.036 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5569
+t=58: Selected seed 195 with value = 0.5569
+Query 1/1: Action query time = 1.096 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6533
+t=74: Selected seed 195 with value = 0.6533
+Query 1/1: Action query time = 1.077 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=90: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 1.332 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9066
+t=106: Selected seed 195 with value = 0.9066
+Query 1/1: Action query time = 1.332 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=122: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 1.232 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=14--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=14--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3274
+t=10: Selected seed 195 with value = 0.3274
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4359
+t=26: Selected seed 195 with value = 0.4359
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4896
+t=42: Selected seed 195 with value = 0.4896
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5718
+t=58: Selected seed 195 with value = 0.5718
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6441
+t=74: Selected seed 195 with value = 0.6441
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=90: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=106: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 0.996 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=122: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=15--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=15--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.071 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3492
+t=10: Selected seed 195 with value = 0.3492
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4173
+t=26: Selected seed 195 with value = 0.4173
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4911
+t=42: Selected seed 195 with value = 0.4911
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5605
+t=58: Selected seed 195 with value = 0.5605
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6904
+t=74: Selected seed 195 with value = 0.6904
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7613
+t=90: Selected seed 195 with value = 0.7613
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9067
+t=106: Selected seed 195 with value = 0.9067
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=122: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=16--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=16--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3756
+t=10: Selected seed 195 with value = 0.3756
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4366
+t=26: Selected seed 195 with value = 0.4366
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5223
+t=42: Selected seed 195 with value = 0.5223
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6019
+t=58: Selected seed 195 with value = 0.6019
+Query 1/1: Action query time = 1.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6787
+t=74: Selected seed 195 with value = 0.6787
+Query 1/1: Action query time = 1.145 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8499
+t=90: Selected seed 195 with value = 0.8499
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=106: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 0.999 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=122: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=17--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=17--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3559
+t=10: Selected seed 195 with value = 0.3559
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4193
+t=26: Selected seed 195 with value = 0.4193
+Query 1/1: Action query time = 1.119 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5166
+t=42: Selected seed 195 with value = 0.5166
+Query 1/1: Action query time = 1.209 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5237
+t=58: Selected seed 195 with value = 0.5237
+Query 1/1: Action query time = 1.211 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=74: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 1.017 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6206
+t=90: Selected seed 195 with value = 0.6206
+Query 1/1: Action query time = 1.150 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7686
+t=106: Selected seed 195 with value = 0.7686
+Query 1/1: Action query time = 1.033 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=122: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 1.024 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=18--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=18--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3456
+t=10: Selected seed 195 with value = 0.3456
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4654
+t=26: Selected seed 195 with value = 0.4654
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5192
+t=42: Selected seed 195 with value = 0.5192
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6083
+t=58: Selected seed 195 with value = 0.6083
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7245
+t=74: Selected seed 195 with value = 0.7245
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=90: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7782
+t=106: Selected seed 195 with value = 0.7782
+Query 1/1: Action query time = 0.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8522
+t=122: Selected seed 195 with value = 0.8522
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=138: Selected seed 195 with value = 0.8775
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=154: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 0.990 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8638
+t=170: Selected seed 195 with value = 0.8638
+Query 1/1: Action query time = 0.993 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8704
+t=186: Selected seed 195 with value = 0.8704
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9235
+t=202: Selected seed 195 with value = 0.9235
+Query 1/1: Action query time = 0.994 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=19--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=19--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 1.127 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4177
+t=10: Selected seed 195 with value = 0.4177
+Query 1/1: Action query time = 1.044 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=26: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 1.004 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5586
+t=42: Selected seed 195 with value = 0.5586
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6385
+t=58: Selected seed 195 with value = 0.6385
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=74: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 1.204 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8479
+t=90: Selected seed 195 with value = 0.8479
+Query 1/1: Action query time = 1.167 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.079 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=20--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=20--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3415
+t=10: Selected seed 195 with value = 0.3415
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3017
+t=26: Selected seed 195 with value = 0.3017
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4814
+t=42: Selected seed 195 with value = 0.4814
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5579
+t=58: Selected seed 195 with value = 0.5579
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6424
+t=74: Selected seed 195 with value = 0.6424
+Query 1/1: Action query time = 1.062 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=90: Selected seed 195 with value = 0.8535
+Query 1/1: Action query time = 1.124 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.097 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=21--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=21--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3521
+t=10: Selected seed 195 with value = 0.3521
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3557
+t=26: Selected seed 195 with value = 0.3557
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4763
+t=42: Selected seed 195 with value = 0.4763
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5861
+t=58: Selected seed 195 with value = 0.5861
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6736
+t=74: Selected seed 195 with value = 0.6736
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8288
+t=90: Selected seed 195 with value = 0.8288
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=106: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6976
+t=122: Selected seed 195 with value = 0.6976
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=138: Selected seed 195 with value = 0.6819
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6482
+t=154: Selected seed 195 with value = 0.6482
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6256
+t=170: Selected seed 195 with value = 0.6256
+Query 1/1: Action query time = 1.013 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6042
+t=186: Selected seed 195 with value = 0.6042
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6410
+t=202: Selected seed 195 with value = 0.6410
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6794
+t=218: Selected seed 195 with value = 0.6794
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6703
+t=234: Selected seed 195 with value = 0.6703
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7044
+t=250: Selected seed 195 with value = 0.7044
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6623
+t=266: Selected seed 195 with value = 0.6623
+Query 1/1: Action query time = 0.999 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6834
+t=282: Selected seed 195 with value = 0.6834
+Query 1/1: Action query time = 0.989 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7064
+t=298: Selected seed 195 with value = 0.7064
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=22--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=22--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 1.219 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3941
+t=10: Selected seed 195 with value = 0.3941
+Query 1/1: Action query time = 1.254 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4449
+t=26: Selected seed 195 with value = 0.4449
+Query 1/1: Action query time = 1.194 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=42: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 1.200 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6154
+t=58: Selected seed 195 with value = 0.6154
+Query 1/1: Action query time = 1.208 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7065
+t=74: Selected seed 195 with value = 0.7065
+Query 1/1: Action query time = 1.325 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8271
+t=90: Selected seed 195 with value = 0.8271
+Query 1/1: Action query time = 1.164 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8966
+t=106: Selected seed 195 with value = 0.8966
+Query 1/1: Action query time = 1.102 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9139
+t=122: Selected seed 195 with value = 0.9139
+Query 1/1: Action query time = 1.000 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=138: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 1.047 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=154: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=23--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=23--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 1.211 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3341
+t=10: Selected seed 195 with value = 0.3341
+Query 1/1: Action query time = 1.173 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3566
+t=26: Selected seed 195 with value = 0.3566
+Query 1/1: Action query time = 1.174 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4357
+t=42: Selected seed 195 with value = 0.4357
+Query 1/1: Action query time = 1.186 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5469
+t=58: Selected seed 195 with value = 0.5469
+Query 1/1: Action query time = 1.166 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6713
+t=74: Selected seed 195 with value = 0.6713
+Query 1/1: Action query time = 1.162 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8178
+t=90: Selected seed 195 with value = 0.8178
+Query 1/1: Action query time = 1.179 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9588
+t=106: Selected seed 195 with value = 0.9588
+Query 1/1: Action query time = 1.064 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=24--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=24--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 1.291 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=10: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 1.386 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3936
+t=26: Selected seed 195 with value = 0.3936
+Query 1/1: Action query time = 1.201 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4428
+t=42: Selected seed 195 with value = 0.4428
+Query 1/1: Action query time = 1.193 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5286
+t=58: Selected seed 195 with value = 0.5286
+Query 1/1: Action query time = 1.151 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6061
+t=74: Selected seed 195 with value = 0.6061
+Query 1/1: Action query time = 1.150 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7865
+t=90: Selected seed 195 with value = 0.7865
+Query 1/1: Action query time = 1.181 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9185
+t=106: Selected seed 195 with value = 0.9185
+Query 1/1: Action query time = 1.181 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=25--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=25--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3645
+t=10: Selected seed 195 with value = 0.3645
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4345
+t=26: Selected seed 195 with value = 0.4345
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5018
+t=42: Selected seed 195 with value = 0.5018
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5637
+t=58: Selected seed 195 with value = 0.5637
+Query 1/1: Action query time = 1.006 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7031
+t=74: Selected seed 195 with value = 0.7031
+Query 1/1: Action query time = 1.009 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8399
+t=90: Selected seed 195 with value = 0.8399
+Query 1/1: Action query time = 1.001 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9349
+t=106: Selected seed 195 with value = 0.9349
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=26--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=26--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 25 (96.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 1.079 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3353
+t=10: Selected seed 195 with value = 0.3353
+Query 1/1: Action query time = 1.172 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3884
+t=26: Selected seed 195 with value = 0.3884
+Query 1/1: Action query time = 1.127 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4499
+t=42: Selected seed 195 with value = 0.4499
+Query 1/1: Action query time = 1.109 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5206
+t=58: Selected seed 195 with value = 0.5206
+Query 1/1: Action query time = 1.041 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6224
+t=74: Selected seed 195 with value = 0.6224
+Query 1/1: Action query time = 1.050 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=90: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 1.069 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8475
+t=106: Selected seed 195 with value = 0.8475
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=122: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=27--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=27--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 26 (96.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=10: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4363
+t=26: Selected seed 195 with value = 0.4363
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5024
+t=42: Selected seed 195 with value = 0.5024
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5916
+t=58: Selected seed 195 with value = 0.5916
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6846
+t=74: Selected seed 195 with value = 0.6846
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6834
+t=90: Selected seed 195 with value = 0.6834
+Query 1/1: Action query time = 0.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8514
+t=106: Selected seed 195 with value = 0.8514
+Query 1/1: Action query time = 1.148 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=122: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 1.208 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=28--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=28--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 27 (96.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 1.117 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3650
+t=10: Selected seed 195 with value = 0.3650
+Query 1/1: Action query time = 1.114 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3962
+t=26: Selected seed 195 with value = 0.3962
+Query 1/1: Action query time = 1.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4344
+t=42: Selected seed 195 with value = 0.4344
+Query 1/1: Action query time = 1.088 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5109
+t=58: Selected seed 195 with value = 0.5109
+Query 1/1: Action query time = 1.023 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5887
+t=74: Selected seed 195 with value = 0.5887
+Query 1/1: Action query time = 1.002 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7704
+t=90: Selected seed 195 with value = 0.7704
+Query 1/1: Action query time = 1.057 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9239
+t=106: Selected seed 195 with value = 0.9239
+Query 1/1: Action query time = 1.098 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=29--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=29--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 28 (96.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 1.122 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3586
+t=10: Selected seed 195 with value = 0.3586
+Query 1/1: Action query time = 1.132 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3951
+t=26: Selected seed 195 with value = 0.3951
+Query 1/1: Action query time = 1.109 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4361
+t=42: Selected seed 195 with value = 0.4361
+Query 1/1: Action query time = 1.064 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5065
+t=58: Selected seed 195 with value = 0.5065
+Query 1/1: Action query time = 1.075 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5737
+t=74: Selected seed 195 with value = 0.5737
+Query 1/1: Action query time = 1.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8003
+t=90: Selected seed 195 with value = 0.8003
+Query 1/1: Action query time = 1.124 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=106: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 1.105 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=30--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=30--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 29 (96.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 1.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3604
+t=10: Selected seed 195 with value = 0.3604
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4331
+t=26: Selected seed 195 with value = 0.4331
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4994
+t=42: Selected seed 195 with value = 0.4994
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5885
+t=58: Selected seed 195 with value = 0.5885
+Query 1/1: Action query time = 1.092 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7015
+t=74: Selected seed 195 with value = 0.7015
+Query 1/1: Action query time = 1.050 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=90: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 1.043 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8306
+t=106: Selected seed 195 with value = 0.8306
+Query 1/1: Action query time = 1.041 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=122: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 1.018 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=31--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=31--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 30 (96.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 1.171 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2995
+t=10: Selected seed 195 with value = 0.2995
+Query 1/1: Action query time = 1.152 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3641
+t=26: Selected seed 195 with value = 0.3641
+Query 1/1: Action query time = 1.240 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4017
+t=42: Selected seed 195 with value = 0.4017
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4952
+t=58: Selected seed 195 with value = 0.4952
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=74: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7559
+t=90: Selected seed 195 with value = 0.7559
+Query 1/1: Action query time = 0.999 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9202
+t=106: Selected seed 195 with value = 0.9202
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=32--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=32--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 31 (96.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 1.008 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3508
+t=10: Selected seed 195 with value = 0.3508
+Query 1/1: Action query time = 0.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4297
+t=26: Selected seed 195 with value = 0.4297
+Query 1/1: Action query time = 1.216 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5045
+t=42: Selected seed 195 with value = 0.5045
+Query 1/1: Action query time = 1.071 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=58: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 1.013 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5475
+t=74: Selected seed 195 with value = 0.5475
+Query 1/1: Action query time = 1.051 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6118
+t=90: Selected seed 195 with value = 0.6118
+Query 1/1: Action query time = 1.198 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8096
+t=106: Selected seed 195 with value = 0.8096
+Query 1/1: Action query time = 1.170 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=122: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 1.146 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=33--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=33--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 32 (97.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3662
+t=10: Selected seed 195 with value = 0.3662
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3981
+t=26: Selected seed 195 with value = 0.3981
+Query 1/1: Action query time = 1.125 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=42: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 1.193 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5574
+t=58: Selected seed 195 with value = 0.5574
+Query 1/1: Action query time = 1.146 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7092
+t=74: Selected seed 195 with value = 0.7092
+Query 1/1: Action query time = 1.201 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8162
+t=90: Selected seed 195 with value = 0.8162
+Query 1/1: Action query time = 1.134 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8997
+t=106: Selected seed 195 with value = 0.8997
+Query 1/1: Action query time = 0.996 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=122: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=138: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=34--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=34--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 33 (97.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 1.013 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3636
+t=10: Selected seed 195 with value = 0.3636
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3942
+t=26: Selected seed 195 with value = 0.3942
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4392
+t=42: Selected seed 195 with value = 0.4392
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=58: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6892
+t=74: Selected seed 195 with value = 0.6892
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7964
+t=90: Selected seed 195 with value = 0.7964
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9490
+t=106: Selected seed 195 with value = 0.9490
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=35--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=35--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 34 (97.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 1.058 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3654
+t=10: Selected seed 195 with value = 0.3654
+Query 1/1: Action query time = 0.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3790
+t=26: Selected seed 195 with value = 0.3790
+Query 1/1: Action query time = 0.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4220
+t=42: Selected seed 195 with value = 0.4220
+Query 1/1: Action query time = 1.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5136
+t=58: Selected seed 195 with value = 0.5136
+Query 1/1: Action query time = 1.257 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5538
+t=74: Selected seed 195 with value = 0.5538
+Query 1/1: Action query time = 1.274 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7261
+t=90: Selected seed 195 with value = 0.7261
+Query 1/1: Action query time = 1.197 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8988
+t=106: Selected seed 195 with value = 0.8988
+Query 1/1: Action query time = 1.217 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=122: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=36--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=36--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 35 (97.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3451
+t=10: Selected seed 195 with value = 0.3451
+Query 1/1: Action query time = 1.004 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2958
+t=26: Selected seed 195 with value = 0.2958
+Query 1/1: Action query time = 1.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3840
+t=42: Selected seed 195 with value = 0.3840
+Query 1/1: Action query time = 1.115 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3730
+t=58: Selected seed 195 with value = 0.3730
+Query 1/1: Action query time = 1.244 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4410
+t=74: Selected seed 195 with value = 0.4410
+Query 1/1: Action query time = 1.124 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5841
+t=90: Selected seed 195 with value = 0.5841
+Query 1/1: Action query time = 1.128 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7859
+t=106: Selected seed 195 with value = 0.7859
+Query 1/1: Action query time = 1.105 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7870
+t=122: Selected seed 195 with value = 0.7870
+Query 1/1: Action query time = 1.074 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7788
+t=138: Selected seed 195 with value = 0.7788
+Query 1/1: Action query time = 1.107 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5948
+t=154: Selected seed 195 with value = 0.5948
+Query 1/1: Action query time = 1.101 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6546
+t=170: Selected seed 195 with value = 0.6546
+Query 1/1: Action query time = 1.060 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7531
+t=186: Selected seed 195 with value = 0.7531
+Query 1/1: Action query time = 1.108 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8247
+t=202: Selected seed 195 with value = 0.8247
+Query 1/1: Action query time = 1.066 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=218: Selected seed 195 with value = 0.9333
+Query 1/1: Action query time = 1.117 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=234: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=37--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=37--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 36 (97.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 1.253 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3547
+t=10: Selected seed 195 with value = 0.3547
+Query 1/1: Action query time = 1.198 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3776
+t=26: Selected seed 195 with value = 0.3776
+Query 1/1: Action query time = 1.002 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4131
+t=42: Selected seed 195 with value = 0.4131
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4971
+t=58: Selected seed 195 with value = 0.4971
+Query 1/1: Action query time = 0.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5491
+t=74: Selected seed 195 with value = 0.5491
+Query 1/1: Action query time = 1.107 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=90: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 1.272 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8869
+t=106: Selected seed 195 with value = 0.8869
+Query 1/1: Action query time = 1.280 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=122: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 1.184 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=38--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=38--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 37 (97.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 1.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3686
+t=10: Selected seed 195 with value = 0.3686
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4371
+t=26: Selected seed 195 with value = 0.4371
+Query 1/1: Action query time = 1.001 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5205
+t=42: Selected seed 195 with value = 0.5205
+Query 1/1: Action query time = 1.030 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5792
+t=58: Selected seed 195 with value = 0.5792
+Query 1/1: Action query time = 1.239 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=74: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 1.373 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8777
+t=90: Selected seed 195 with value = 0.8777
+Query 1/1: Action query time = 1.322 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=106: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6791
+t=122: Selected seed 195 with value = 0.6791
+Query 1/1: Action query time = 1.013 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6807
+t=138: Selected seed 195 with value = 0.6807
+Query 1/1: Action query time = 0.998 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6562
+t=154: Selected seed 195 with value = 0.6562
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6317
+t=170: Selected seed 195 with value = 0.6317
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6210
+t=186: Selected seed 195 with value = 0.6210
+Query 1/1: Action query time = 1.102 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6137
+t=202: Selected seed 195 with value = 0.6137
+Query 1/1: Action query time = 0.988 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6144
+t=218: Selected seed 195 with value = 0.6144
+Query 1/1: Action query time = 0.998 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6338
+t=234: Selected seed 195 with value = 0.6338
+Query 1/1: Action query time = 0.992 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6866
+t=250: Selected seed 195 with value = 0.6866
+Query 1/1: Action query time = 0.993 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=266: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=282: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 0.996 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7001
+t=298: Selected seed 195 with value = 0.7001
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=39--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=39--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 39
+# successes: 37 (94.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 1.211 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3685
+t=10: Selected seed 195 with value = 0.3685
+Query 1/1: Action query time = 1.282 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4230
+t=26: Selected seed 195 with value = 0.4230
+Query 1/1: Action query time = 1.309 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4830
+t=42: Selected seed 195 with value = 0.4830
+Query 1/1: Action query time = 1.224 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5545
+t=58: Selected seed 195 with value = 0.5545
+Query 1/1: Action query time = 1.187 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6544
+t=74: Selected seed 195 with value = 0.6544
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8003
+t=90: Selected seed 195 with value = 0.8003
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9319
+t=106: Selected seed 195 with value = 0.9319
+Query 1/1: Action query time = 1.001 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=40--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=40--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 38 (95.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 1.121 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3772
+t=10: Selected seed 195 with value = 0.3772
+Query 1/1: Action query time = 1.131 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4287
+t=26: Selected seed 195 with value = 0.4287
+Query 1/1: Action query time = 1.136 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4806
+t=42: Selected seed 195 with value = 0.4806
+Query 1/1: Action query time = 1.057 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5781
+t=58: Selected seed 195 with value = 0.5781
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6807
+t=74: Selected seed 195 with value = 0.6807
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7798
+t=90: Selected seed 195 with value = 0.7798
+Query 1/1: Action query time = 1.000 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=106: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 1.020 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=41--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=41--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 39 (95.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3566
+t=10: Selected seed 195 with value = 0.3566
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4363
+t=26: Selected seed 195 with value = 0.4363
+Query 1/1: Action query time = 0.999 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5062
+t=42: Selected seed 195 with value = 0.5062
+Query 1/1: Action query time = 1.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5810
+t=58: Selected seed 195 with value = 0.5810
+Query 1/1: Action query time = 1.014 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6736
+t=74: Selected seed 195 with value = 0.6736
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=90: Selected seed 195 with value = 0.8603
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=106: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=122: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=42--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=42--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 40 (95.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 1.025 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3929
+t=10: Selected seed 195 with value = 0.3929
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4526
+t=26: Selected seed 195 with value = 0.4526
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5210
+t=42: Selected seed 195 with value = 0.5210
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6109
+t=58: Selected seed 195 with value = 0.6109
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6932
+t=74: Selected seed 195 with value = 0.6932
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8499
+t=90: Selected seed 195 with value = 0.8499
+Query 1/1: Action query time = 0.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=106: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 0.996 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=43--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=43--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 41 (95.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 1.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3425
+t=10: Selected seed 195 with value = 0.3425
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3346
+t=26: Selected seed 195 with value = 0.3346
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=42: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5786
+t=58: Selected seed 195 with value = 0.5786
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6594
+t=74: Selected seed 195 with value = 0.6594
+Query 1/1: Action query time = 0.998 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7792
+t=90: Selected seed 195 with value = 0.7792
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=106: Selected seed 195 with value = 0.9047
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=122: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=44--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=44--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 42 (95.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3469
+t=10: Selected seed 195 with value = 0.3469
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4169
+t=26: Selected seed 195 with value = 0.4169
+Query 1/1: Action query time = 0.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4979
+t=42: Selected seed 195 with value = 0.4979
+Query 1/1: Action query time = 1.006 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5745
+t=58: Selected seed 195 with value = 0.5745
+Query 1/1: Action query time = 1.008 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6543
+t=74: Selected seed 195 with value = 0.6543
+Query 1/1: Action query time = 0.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7682
+t=90: Selected seed 195 with value = 0.7682
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8824
+t=106: Selected seed 195 with value = 0.8824
+Query 1/1: Action query time = 1.008 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=122: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.995 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=45--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=45--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 43 (95.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3615
+t=10: Selected seed 195 with value = 0.3615
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4124
+t=26: Selected seed 195 with value = 0.4124
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4469
+t=42: Selected seed 195 with value = 0.4469
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5282
+t=58: Selected seed 195 with value = 0.5282
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5817
+t=74: Selected seed 195 with value = 0.5817
+Query 1/1: Action query time = 1.003 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7612
+t=90: Selected seed 195 with value = 0.7612
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9264
+t=106: Selected seed 195 with value = 0.9264
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=46--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=46--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 44 (95.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3757
+t=10: Selected seed 195 with value = 0.3757
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4408
+t=26: Selected seed 195 with value = 0.4408
+Query 1/1: Action query time = 1.002 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5018
+t=42: Selected seed 195 with value = 0.5018
+Query 1/1: Action query time = 1.015 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5730
+t=58: Selected seed 195 with value = 0.5730
+Query 1/1: Action query time = 1.022 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6883
+t=74: Selected seed 195 with value = 0.6883
+Query 1/1: Action query time = 1.042 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8108
+t=90: Selected seed 195 with value = 0.8108
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9579
+t=106: Selected seed 195 with value = 0.9579
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=47--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=47--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 45 (95.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4004
+t=10: Selected seed 195 with value = 0.4004
+Query 1/1: Action query time = 1.161 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4525
+t=26: Selected seed 195 with value = 0.4525
+Query 1/1: Action query time = 1.216 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5274
+t=42: Selected seed 195 with value = 0.5274
+Query 1/1: Action query time = 1.326 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6203
+t=58: Selected seed 195 with value = 0.6203
+Query 1/1: Action query time = 1.337 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6654
+t=74: Selected seed 195 with value = 0.6654
+Query 1/1: Action query time = 1.296 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7793
+t=90: Selected seed 195 with value = 0.7793
+Query 1/1: Action query time = 1.236 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9189
+t=106: Selected seed 195 with value = 0.9189
+Query 1/1: Action query time = 1.171 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=122: Selected seed 195 with value = 0.9905
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=48--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=48--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 46 (95.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3796
+t=10: Selected seed 195 with value = 0.3796
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4147
+t=26: Selected seed 195 with value = 0.4147
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4724
+t=42: Selected seed 195 with value = 0.4724
+Query 1/1: Action query time = 1.024 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5997
+t=58: Selected seed 195 with value = 0.5997
+Query 1/1: Action query time = 1.020 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6792
+t=74: Selected seed 195 with value = 0.6792
+Query 1/1: Action query time = 1.027 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7886
+t=90: Selected seed 195 with value = 0.7886
+Query 1/1: Action query time = 1.001 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=106: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 1.033 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=49--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=49--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 47 (95.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3724
+t=10: Selected seed 195 with value = 0.3724
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4149
+t=26: Selected seed 195 with value = 0.4149
+Query 1/1: Action query time = 0.997 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=42: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 1.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6079
+t=58: Selected seed 195 with value = 0.6079
+Query 1/1: Action query time = 1.041 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7192
+t=74: Selected seed 195 with value = 0.7192
+Query 1/1: Action query time = 1.035 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8713
+t=90: Selected seed 195 with value = 0.8713
+Query 1/1: Action query time = 1.066 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.070 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=122: Selected seed 195 with value = 0.9975
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=50--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=50--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 48 (96.0%)
+Current task success rate: 0.96
+Current total success rate: 0.96
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 0.963 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4943
+t=10: Selected seed 195 with value = 0.4943
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=26: Selected seed 195 with value = 0.6121
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7321
+t=42: Selected seed 195 with value = 0.7321
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8425
+t=58: Selected seed 195 with value = 0.8425
+Query 1/1: Action query time = 1.020 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=74: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 1.021 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=90: Selected seed 195 with value = 0.9953
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=51--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=51--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 51
+# successes: 49 (96.1%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4942
+t=10: Selected seed 195 with value = 0.4942
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5865
+t=26: Selected seed 195 with value = 0.5865
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7099
+t=42: Selected seed 195 with value = 0.7099
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7946
+t=58: Selected seed 195 with value = 0.7946
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=74: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=52--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=52--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 52
+# successes: 50 (96.2%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.487 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5141
+t=10: Selected seed 195 with value = 0.5141
+Query 1/1: Action query time = 1.394 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6249
+t=26: Selected seed 195 with value = 0.6249
+Query 1/1: Action query time = 1.286 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7193
+t=42: Selected seed 195 with value = 0.7193
+Query 1/1: Action query time = 1.197 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=58: Selected seed 195 with value = 0.8281
+Query 1/1: Action query time = 1.208 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9280
+t=74: Selected seed 195 with value = 0.9280
+Query 1/1: Action query time = 1.249 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=90: Selected seed 195 with value = 0.9953
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=53--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=53--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 53
+# successes: 51 (96.2%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.051 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5092
+t=10: Selected seed 195 with value = 0.5092
+Query 1/1: Action query time = 1.019 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6095
+t=26: Selected seed 195 with value = 0.6095
+Query 1/1: Action query time = 1.009 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7024
+t=42: Selected seed 195 with value = 0.7024
+Query 1/1: Action query time = 1.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8493
+t=58: Selected seed 195 with value = 0.8493
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=74: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=54--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=54--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 54
+# successes: 52 (96.3%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 1.149 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4965
+t=10: Selected seed 195 with value = 0.4965
+Query 1/1: Action query time = 1.111 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5824
+t=26: Selected seed 195 with value = 0.5824
+Query 1/1: Action query time = 1.063 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6949
+t=42: Selected seed 195 with value = 0.6949
+Query 1/1: Action query time = 1.071 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8104
+t=58: Selected seed 195 with value = 0.8104
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=74: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 1.120 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=90: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=55--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=55--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 55
+# successes: 53 (96.4%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 1.342 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5008
+t=10: Selected seed 195 with value = 0.5008
+Query 1/1: Action query time = 1.256 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5837
+t=26: Selected seed 195 with value = 0.5837
+Query 1/1: Action query time = 1.074 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7222
+t=42: Selected seed 195 with value = 0.7222
+Query 1/1: Action query time = 1.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7875
+t=58: Selected seed 195 with value = 0.7875
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=74: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=90: Selected seed 195 with value = 0.9969
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=56--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=56--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 56
+# successes: 54 (96.4%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 1.213 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4674
+t=10: Selected seed 195 with value = 0.4674
+Query 1/1: Action query time = 1.148 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5445
+t=26: Selected seed 195 with value = 0.5445
+Query 1/1: Action query time = 1.244 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6931
+t=42: Selected seed 195 with value = 0.6931
+Query 1/1: Action query time = 1.262 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7839
+t=58: Selected seed 195 with value = 0.7839
+Query 1/1: Action query time = 1.200 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=74: Selected seed 195 with value = 0.8921
+Query 1/1: Action query time = 1.103 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=90: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=57--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=57--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 57
+# successes: 55 (96.5%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4946
+t=10: Selected seed 195 with value = 0.4946
+Query 1/1: Action query time = 1.092 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5956
+t=26: Selected seed 195 with value = 0.5956
+Query 1/1: Action query time = 1.357 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7249
+t=42: Selected seed 195 with value = 0.7249
+Query 1/1: Action query time = 1.431 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=58: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 1.356 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=74: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 1.449 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=90: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=58--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=58--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 58
+# successes: 56 (96.6%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 1.013 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4946
+t=10: Selected seed 195 with value = 0.4946
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5776
+t=26: Selected seed 195 with value = 0.5776
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6960
+t=42: Selected seed 195 with value = 0.6960
+Query 1/1: Action query time = 0.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7721
+t=58: Selected seed 195 with value = 0.7721
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9276
+t=74: Selected seed 195 with value = 0.9276
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=59--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=59--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 59
+# successes: 57 (96.6%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 1.280 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5159
+t=10: Selected seed 195 with value = 0.5159
+Query 1/1: Action query time = 1.280 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6017
+t=26: Selected seed 195 with value = 0.6017
+Query 1/1: Action query time = 1.340 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7348
+t=42: Selected seed 195 with value = 0.7348
+Query 1/1: Action query time = 1.147 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8235
+t=58: Selected seed 195 with value = 0.8235
+Query 1/1: Action query time = 1.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=74: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 0.999 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=90: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=60--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=60--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 60
+# successes: 58 (96.7%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4720
+t=10: Selected seed 195 with value = 0.4720
+Query 1/1: Action query time = 0.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5895
+t=26: Selected seed 195 with value = 0.5895
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=42: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7863
+t=58: Selected seed 195 with value = 0.7863
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9036
+t=74: Selected seed 195 with value = 0.9036
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=90: Selected seed 195 with value = 0.9881
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=61--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=61--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 61
+# successes: 59 (96.7%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5144
+t=10: Selected seed 195 with value = 0.5144
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5861
+t=26: Selected seed 195 with value = 0.5861
+Query 1/1: Action query time = 1.105 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7376
+t=42: Selected seed 195 with value = 0.7376
+Query 1/1: Action query time = 1.178 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8069
+t=58: Selected seed 195 with value = 0.8069
+Query 1/1: Action query time = 1.276 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9469
+t=74: Selected seed 195 with value = 0.9469
+Query 1/1: Action query time = 1.174 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=90: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=62--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=62--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 62
+# successes: 60 (96.8%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5163
+t=10: Selected seed 195 with value = 0.5163
+Query 1/1: Action query time = 1.092 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5740
+t=26: Selected seed 195 with value = 0.5740
+Query 1/1: Action query time = 1.030 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7189
+t=42: Selected seed 195 with value = 0.7189
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7996
+t=58: Selected seed 195 with value = 0.7996
+Query 1/1: Action query time = 1.052 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=74: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 1.069 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=63--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=63--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 63
+# successes: 61 (96.8%)
+
+Task: put the bowl on the stove
+Starting episode 14...
+Query 1/1: Action query time = 1.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4964
+t=10: Selected seed 195 with value = 0.4964
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5854
+t=26: Selected seed 195 with value = 0.5854
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6963
+t=42: Selected seed 195 with value = 0.6963
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8080
+t=58: Selected seed 195 with value = 0.8080
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=74: Selected seed 195 with value = 0.9450
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=90: Selected seed 195 with value = 0.9943
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=64--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=64--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 64
+# successes: 62 (96.9%)
+
+Task: put the bowl on the stove
+Starting episode 15...
+Query 1/1: Action query time = 1.379 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5295
+t=10: Selected seed 195 with value = 0.5295
+Query 1/1: Action query time = 1.360 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6281
+t=26: Selected seed 195 with value = 0.6281
+Query 1/1: Action query time = 1.257 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7488
+t=42: Selected seed 195 with value = 0.7488
+Query 1/1: Action query time = 1.155 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8570
+t=58: Selected seed 195 with value = 0.8570
+Query 1/1: Action query time = 1.209 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=74: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 1.220 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=65--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=65--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 65
+# successes: 63 (96.9%)
+
+Task: put the bowl on the stove
+Starting episode 16...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4400
+t=10: Selected seed 195 with value = 0.4400
+Query 1/1: Action query time = 1.126 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5497
+t=26: Selected seed 195 with value = 0.5497
+Query 1/1: Action query time = 1.109 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6716
+t=42: Selected seed 195 with value = 0.6716
+Query 1/1: Action query time = 1.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7806
+t=58: Selected seed 195 with value = 0.7806
+Query 1/1: Action query time = 1.194 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9419
+t=74: Selected seed 195 with value = 0.9419
+Query 1/1: Action query time = 1.173 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=66--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=66--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 66
+# successes: 64 (97.0%)
+
+Task: put the bowl on the stove
+Starting episode 17...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4937
+t=10: Selected seed 195 with value = 0.4937
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6157
+t=26: Selected seed 195 with value = 0.6157
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7226
+t=42: Selected seed 195 with value = 0.7226
+Query 1/1: Action query time = 1.004 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8299
+t=58: Selected seed 195 with value = 0.8299
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=74: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 1.000 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=67--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=67--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 67
+# successes: 65 (97.0%)
+
+Task: put the bowl on the stove
+Starting episode 18...
+Query 1/1: Action query time = 1.346 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4937
+t=10: Selected seed 195 with value = 0.4937
+Query 1/1: Action query time = 1.393 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5924
+t=26: Selected seed 195 with value = 0.5924
+Query 1/1: Action query time = 1.290 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6986
+t=42: Selected seed 195 with value = 0.6986
+Query 1/1: Action query time = 1.167 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=58: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 1.155 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=74: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 1.207 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=68--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=68--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 68
+# successes: 66 (97.1%)
+
+Task: put the bowl on the stove
+Starting episode 19...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4930
+t=10: Selected seed 195 with value = 0.4930
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6013
+t=26: Selected seed 195 with value = 0.6013
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6978
+t=42: Selected seed 195 with value = 0.6978
+Query 1/1: Action query time = 1.023 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8028
+t=58: Selected seed 195 with value = 0.8028
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9214
+t=74: Selected seed 195 with value = 0.9214
+Query 1/1: Action query time = 1.000 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=90: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=106: Selected seed 195 with value = 0.9963
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=69--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=69--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 69
+# successes: 67 (97.1%)
+
+Task: put the bowl on the stove
+Starting episode 20...
+Query 1/1: Action query time = 1.042 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5023
+t=10: Selected seed 195 with value = 0.5023
+Query 1/1: Action query time = 1.024 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5930
+t=26: Selected seed 195 with value = 0.5930
+Query 1/1: Action query time = 1.009 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6981
+t=42: Selected seed 195 with value = 0.6981
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8362
+t=58: Selected seed 195 with value = 0.8362
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=74: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=90: Selected seed 195 with value = 0.9943
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=70--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=70--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 70
+# successes: 68 (97.1%)
+
+Task: put the bowl on the stove
+Starting episode 21...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4960
+t=10: Selected seed 195 with value = 0.4960
+Query 1/1: Action query time = 1.025 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=26: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 1.040 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=42: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 1.141 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7892
+t=58: Selected seed 195 with value = 0.7892
+Query 1/1: Action query time = 1.030 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9560
+t=74: Selected seed 195 with value = 0.9560
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=71--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=71--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 71
+# successes: 69 (97.2%)
+
+Task: put the bowl on the stove
+Starting episode 22...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=10: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 1.132 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5610
+t=26: Selected seed 195 with value = 0.5610
+Query 1/1: Action query time = 1.104 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6563
+t=42: Selected seed 195 with value = 0.6563
+Query 1/1: Action query time = 1.090 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7464
+t=58: Selected seed 195 with value = 0.7464
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9078
+t=74: Selected seed 195 with value = 0.9078
+Query 1/1: Action query time = 1.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=90: Selected seed 195 with value = 0.9927
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=72--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=72--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 72
+# successes: 70 (97.2%)
+
+Task: put the bowl on the stove
+Starting episode 23...
+Query 1/1: Action query time = 1.378 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4744
+t=10: Selected seed 195 with value = 0.4744
+Query 1/1: Action query time = 1.280 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=26: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 1.300 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6983
+t=42: Selected seed 195 with value = 0.6983
+Query 1/1: Action query time = 1.237 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7970
+t=58: Selected seed 195 with value = 0.7970
+Query 1/1: Action query time = 1.317 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=74: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 1.151 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=73--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=73--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 73
+# successes: 71 (97.3%)
+
+Task: put the bowl on the stove
+Starting episode 24...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5100
+t=10: Selected seed 195 with value = 0.5100
+Query 1/1: Action query time = 1.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5951
+t=26: Selected seed 195 with value = 0.5951
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7010
+t=42: Selected seed 195 with value = 0.7010
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8003
+t=58: Selected seed 195 with value = 0.8003
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9092
+t=74: Selected seed 195 with value = 0.9092
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=74--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=74--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 74
+# successes: 72 (97.3%)
+
+Task: put the bowl on the stove
+Starting episode 25...
+Query 1/1: Action query time = 1.036 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4888
+t=10: Selected seed 195 with value = 0.4888
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5719
+t=26: Selected seed 195 with value = 0.5719
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6874
+t=42: Selected seed 195 with value = 0.6874
+Query 1/1: Action query time = 1.161 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=58: Selected seed 195 with value = 0.7992
+Query 1/1: Action query time = 1.180 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9083
+t=74: Selected seed 195 with value = 0.9083
+Query 1/1: Action query time = 1.179 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=75--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=75--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 75
+# successes: 73 (97.3%)
+
+Task: put the bowl on the stove
+Starting episode 26...
+Query 1/1: Action query time = 1.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5023
+t=10: Selected seed 195 with value = 0.5023
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5782
+t=26: Selected seed 195 with value = 0.5782
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7128
+t=42: Selected seed 195 with value = 0.7128
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8117
+t=58: Selected seed 195 with value = 0.8117
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=74: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=76--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=76--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 76
+# successes: 74 (97.4%)
+
+Task: put the bowl on the stove
+Starting episode 27...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5087
+t=10: Selected seed 195 with value = 0.5087
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6111
+t=26: Selected seed 195 with value = 0.6111
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7267
+t=42: Selected seed 195 with value = 0.7267
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8468
+t=58: Selected seed 195 with value = 0.8468
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=74: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=90: Selected seed 195 with value = 0.9999
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=77--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=77--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 77
+# successes: 75 (97.4%)
+
+Task: put the bowl on the stove
+Starting episode 28...
+Query 1/1: Action query time = 1.078 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4916
+t=10: Selected seed 195 with value = 0.4916
+Query 1/1: Action query time = 1.034 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6156
+t=26: Selected seed 195 with value = 0.6156
+Query 1/1: Action query time = 1.004 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=42: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 1.013 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8488
+t=58: Selected seed 195 with value = 0.8488
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=74: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=90: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=78--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=78--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 78
+# successes: 76 (97.4%)
+
+Task: put the bowl on the stove
+Starting episode 29...
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4923
+t=10: Selected seed 195 with value = 0.4923
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5962
+t=26: Selected seed 195 with value = 0.5962
+Query 1/1: Action query time = 1.029 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7257
+t=42: Selected seed 195 with value = 0.7257
+Query 1/1: Action query time = 1.086 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8013
+t=58: Selected seed 195 with value = 0.8013
+Query 1/1: Action query time = 1.202 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=74: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 1.123 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=79--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=79--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 79
+# successes: 77 (97.5%)
+
+Task: put the bowl on the stove
+Starting episode 30...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5527
+t=10: Selected seed 195 with value = 0.5527
+Query 1/1: Action query time = 1.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6127
+t=26: Selected seed 195 with value = 0.6127
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7048
+t=42: Selected seed 195 with value = 0.7048
+Query 1/1: Action query time = 0.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7683
+t=58: Selected seed 195 with value = 0.7683
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9124
+t=74: Selected seed 195 with value = 0.9124
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=90: Selected seed 195 with value = 0.9917
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=80--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=80--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 80
+# successes: 78 (97.5%)
+
+Task: put the bowl on the stove
+Starting episode 31...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4726
+t=10: Selected seed 195 with value = 0.4726
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5857
+t=26: Selected seed 195 with value = 0.5857
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6914
+t=42: Selected seed 195 with value = 0.6914
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7991
+t=58: Selected seed 195 with value = 0.7991
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9345
+t=74: Selected seed 195 with value = 0.9345
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=90: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.994 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.997 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=298: Selected seed 195 with value = 0.9909
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=81--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=81--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 81
+# successes: 78 (96.3%)
+
+Task: put the bowl on the stove
+Starting episode 32...
+Query 1/1: Action query time = 1.070 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=10: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 1.031 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5801
+t=26: Selected seed 195 with value = 0.5801
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6955
+t=42: Selected seed 195 with value = 0.6955
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7804
+t=58: Selected seed 195 with value = 0.7804
+Query 1/1: Action query time = 0.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=74: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 0.999 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=82--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=82--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 82
+# successes: 79 (96.3%)
+
+Task: put the bowl on the stove
+Starting episode 33...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5139
+t=10: Selected seed 195 with value = 0.5139
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6005
+t=26: Selected seed 195 with value = 0.6005
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6977
+t=42: Selected seed 195 with value = 0.6977
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8095
+t=58: Selected seed 195 with value = 0.8095
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=74: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=90: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=83--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=83--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 83
+# successes: 80 (96.4%)
+
+Task: put the bowl on the stove
+Starting episode 34...
+Query 1/1: Action query time = 1.193 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4801
+t=10: Selected seed 195 with value = 0.4801
+Query 1/1: Action query time = 1.178 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5868
+t=26: Selected seed 195 with value = 0.5868
+Query 1/1: Action query time = 1.166 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7172
+t=42: Selected seed 195 with value = 0.7172
+Query 1/1: Action query time = 1.198 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7993
+t=58: Selected seed 195 with value = 0.7993
+Query 1/1: Action query time = 1.183 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9134
+t=74: Selected seed 195 with value = 0.9134
+Query 1/1: Action query time = 1.139 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=84--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=84--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 84
+# successes: 81 (96.4%)
+
+Task: put the bowl on the stove
+Starting episode 35...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4993
+t=10: Selected seed 195 with value = 0.4993
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6017
+t=26: Selected seed 195 with value = 0.6017
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7215
+t=42: Selected seed 195 with value = 0.7215
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8384
+t=58: Selected seed 195 with value = 0.8384
+Query 1/1: Action query time = 1.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9597
+t=74: Selected seed 195 with value = 0.9597
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=90: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=85--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=85--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 85
+# successes: 82 (96.5%)
+
+Task: put the bowl on the stove
+Starting episode 36...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5120
+t=10: Selected seed 195 with value = 0.5120
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6109
+t=26: Selected seed 195 with value = 0.6109
+Query 1/1: Action query time = 1.001 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6963
+t=42: Selected seed 195 with value = 0.6963
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8446
+t=58: Selected seed 195 with value = 0.8446
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=74: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=86--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=86--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 86
+# successes: 83 (96.5%)
+
+Task: put the bowl on the stove
+Starting episode 37...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5164
+t=10: Selected seed 195 with value = 0.5164
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6235
+t=26: Selected seed 195 with value = 0.6235
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7423
+t=42: Selected seed 195 with value = 0.7423
+Query 1/1: Action query time = 1.005 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8604
+t=58: Selected seed 195 with value = 0.8604
+Query 1/1: Action query time = 1.022 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=74: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 1.042 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=87--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=87--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 87
+# successes: 84 (96.6%)
+
+Task: put the bowl on the stove
+Starting episode 38...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5205
+t=10: Selected seed 195 with value = 0.5205
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6058
+t=26: Selected seed 195 with value = 0.6058
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6995
+t=42: Selected seed 195 with value = 0.6995
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=58: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=74: Selected seed 195 with value = 0.9586
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=88--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=88--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 88
+# successes: 85 (96.6%)
+
+Task: put the bowl on the stove
+Starting episode 39...
+Query 1/1: Action query time = 1.060 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4952
+t=10: Selected seed 195 with value = 0.4952
+Query 1/1: Action query time = 1.000 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=26: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7112
+t=42: Selected seed 195 with value = 0.7112
+Query 1/1: Action query time = 1.025 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7983
+t=58: Selected seed 195 with value = 0.7983
+Query 1/1: Action query time = 1.099 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9102
+t=74: Selected seed 195 with value = 0.9102
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=90: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=89--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=89--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 89
+# successes: 86 (96.6%)
+
+Task: put the bowl on the stove
+Starting episode 40...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5358
+t=10: Selected seed 195 with value = 0.5358
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5932
+t=26: Selected seed 195 with value = 0.5932
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7154
+t=42: Selected seed 195 with value = 0.7154
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7923
+t=58: Selected seed 195 with value = 0.7923
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9213
+t=74: Selected seed 195 with value = 0.9213
+Query 1/1: Action query time = 1.001 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=90--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=90--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 90
+# successes: 87 (96.7%)
+
+Task: put the bowl on the stove
+Starting episode 41...
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4967
+t=10: Selected seed 195 with value = 0.4967
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5650
+t=26: Selected seed 195 with value = 0.5650
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6584
+t=42: Selected seed 195 with value = 0.6584
+Query 1/1: Action query time = 1.202 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7508
+t=58: Selected seed 195 with value = 0.7508
+Query 1/1: Action query time = 1.151 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8959
+t=74: Selected seed 195 with value = 0.8959
+Query 1/1: Action query time = 1.043 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=90: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 1.050 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=106: Selected seed 195 with value = 0.9965
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=91--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=91--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 91
+# successes: 88 (96.7%)
+
+Task: put the bowl on the stove
+Starting episode 42...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4740
+t=10: Selected seed 195 with value = 0.4740
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5914
+t=26: Selected seed 195 with value = 0.5914
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6943
+t=42: Selected seed 195 with value = 0.6943
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7909
+t=58: Selected seed 195 with value = 0.7909
+Query 1/1: Action query time = 1.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8509
+t=74: Selected seed 195 with value = 0.8509
+Query 1/1: Action query time = 0.992 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=90: Selected seed 195 with value = 0.9518
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=92--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=92--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 92
+# successes: 89 (96.7%)
+
+Task: put the bowl on the stove
+Starting episode 43...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4929
+t=10: Selected seed 195 with value = 0.4929
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5979
+t=26: Selected seed 195 with value = 0.5979
+Query 1/1: Action query time = 1.012 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7106
+t=42: Selected seed 195 with value = 0.7106
+Query 1/1: Action query time = 1.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8379
+t=58: Selected seed 195 with value = 0.8379
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=74: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 0.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=93--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=93--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 93
+# successes: 90 (96.8%)
+
+Task: put the bowl on the stove
+Starting episode 44...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5132
+t=10: Selected seed 195 with value = 0.5132
+Query 1/1: Action query time = 0.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5922
+t=26: Selected seed 195 with value = 0.5922
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7146
+t=42: Selected seed 195 with value = 0.7146
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7903
+t=58: Selected seed 195 with value = 0.7903
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9532
+t=74: Selected seed 195 with value = 0.9532
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=90: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=94--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=94--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 94
+# successes: 91 (96.8%)
+
+Task: put the bowl on the stove
+Starting episode 45...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4995
+t=10: Selected seed 195 with value = 0.4995
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5848
+t=26: Selected seed 195 with value = 0.5848
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7066
+t=42: Selected seed 195 with value = 0.7066
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7495
+t=58: Selected seed 195 with value = 0.7495
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8628
+t=74: Selected seed 195 with value = 0.8628
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=90: Selected seed 195 with value = 0.9640
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=95--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=95--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 95
+# successes: 92 (96.8%)
+
+Task: put the bowl on the stove
+Starting episode 46...
+Query 1/1: Action query time = 1.223 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4863
+t=10: Selected seed 195 with value = 0.4863
+Query 1/1: Action query time = 1.223 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5675
+t=26: Selected seed 195 with value = 0.5675
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6921
+t=42: Selected seed 195 with value = 0.6921
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7292
+t=58: Selected seed 195 with value = 0.7292
+Query 1/1: Action query time = 1.013 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8762
+t=74: Selected seed 195 with value = 0.8762
+Query 1/1: Action query time = 1.135 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=96--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=96--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 96
+# successes: 93 (96.9%)
+
+Task: put the bowl on the stove
+Starting episode 47...
+Query 1/1: Action query time = 1.083 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4743
+t=10: Selected seed 195 with value = 0.4743
+Query 1/1: Action query time = 1.047 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5889
+t=26: Selected seed 195 with value = 0.5889
+Query 1/1: Action query time = 1.026 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6853
+t=42: Selected seed 195 with value = 0.6853
+Query 1/1: Action query time = 1.058 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8021
+t=58: Selected seed 195 with value = 0.8021
+Query 1/1: Action query time = 1.194 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9125
+t=74: Selected seed 195 with value = 0.9125
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=90: Selected seed 195 with value = 0.9944
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=97--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=97--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 97
+# successes: 94 (96.9%)
+
+Task: put the bowl on the stove
+Starting episode 48...
+Query 1/1: Action query time = 1.013 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5136
+t=10: Selected seed 195 with value = 0.5136
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6243
+t=26: Selected seed 195 with value = 0.6243
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7248
+t=42: Selected seed 195 with value = 0.7248
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8426
+t=58: Selected seed 195 with value = 0.8426
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=74: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.995 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.992 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.992 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.001 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=98--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=98--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 98
+# successes: 94 (95.9%)
+
+Task: put the bowl on the stove
+Starting episode 49...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5031
+t=10: Selected seed 195 with value = 0.5031
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5857
+t=26: Selected seed 195 with value = 0.5857
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6947
+t=42: Selected seed 195 with value = 0.6947
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8045
+t=58: Selected seed 195 with value = 0.8045
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=74: Selected seed 195 with value = 0.9431
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=99--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=99--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 99
+# successes: 95 (96.0%)
+
+Task: put the bowl on the stove
+Starting episode 50...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5475
+t=10: Selected seed 195 with value = 0.5475
+Query 1/1: Action query time = 1.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6394
+t=26: Selected seed 195 with value = 0.6394
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7224
+t=42: Selected seed 195 with value = 0.7224
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=58: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=74: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=90: Selected seed 195 with value = 0.9951
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=100--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=100--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 100
+# successes: 96 (96.0%)
+Current task success rate: 0.96
+Current total success rate: 0.96
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=10: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6644
+t=26: Selected seed 195 with value = 0.6644
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=42: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 1.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8157
+t=58: Selected seed 195 with value = 0.8157
+Query 1/1: Action query time = 1.048 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9466
+t=74: Selected seed 195 with value = 0.9466
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=101--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=101--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 101
+# successes: 97 (96.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4699
+t=10: Selected seed 195 with value = 0.4699
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4338
+t=26: Selected seed 195 with value = 0.4338
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6218
+t=42: Selected seed 195 with value = 0.6218
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=58: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 1.004 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=74: Selected seed 195 with value = 0.9141
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=102--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=102--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 102
+# successes: 98 (96.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4701
+t=10: Selected seed 195 with value = 0.4701
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5391
+t=26: Selected seed 195 with value = 0.5391
+Query 1/1: Action query time = 1.091 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6814
+t=42: Selected seed 195 with value = 0.6814
+Query 1/1: Action query time = 1.058 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8099
+t=58: Selected seed 195 with value = 0.8099
+Query 1/1: Action query time = 1.014 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=74: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 1.005 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=103--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=103--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 103
+# successes: 99 (96.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4893
+t=10: Selected seed 195 with value = 0.4893
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5261
+t=26: Selected seed 195 with value = 0.5261
+Query 1/1: Action query time = 1.004 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7076
+t=42: Selected seed 195 with value = 0.7076
+Query 1/1: Action query time = 1.045 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7911
+t=58: Selected seed 195 with value = 0.7911
+Query 1/1: Action query time = 1.090 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=74: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 1.109 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=104--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=104--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 104
+# successes: 100 (96.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5338
+t=10: Selected seed 195 with value = 0.5338
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6501
+t=26: Selected seed 195 with value = 0.6501
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7162
+t=42: Selected seed 195 with value = 0.7162
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8529
+t=58: Selected seed 195 with value = 0.8529
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=74: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=105--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=105--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 105
+# successes: 101 (96.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 1.128 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4961
+t=10: Selected seed 195 with value = 0.4961
+Query 1/1: Action query time = 1.046 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5877
+t=26: Selected seed 195 with value = 0.5877
+Query 1/1: Action query time = 1.015 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=42: Selected seed 195 with value = 0.6663
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7895
+t=58: Selected seed 195 with value = 0.7895
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9220
+t=74: Selected seed 195 with value = 0.9220
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=90: Selected seed 195 with value = 0.9968
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=106--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=106--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 106
+# successes: 102 (96.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3804
+t=10: Selected seed 195 with value = 0.3804
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4402
+t=26: Selected seed 195 with value = 0.4402
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5604
+t=42: Selected seed 195 with value = 0.5604
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6886
+t=58: Selected seed 195 with value = 0.6886
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8696
+t=74: Selected seed 195 with value = 0.8696
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=90: Selected seed 195 with value = 0.9974
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=107--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=107--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 107
+# successes: 103 (96.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 1.045 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=10: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 1.090 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5503
+t=26: Selected seed 195 with value = 0.5503
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6609
+t=42: Selected seed 195 with value = 0.6609
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8035
+t=58: Selected seed 195 with value = 0.8035
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=74: Selected seed 195 with value = 0.9361
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=108--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=108--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 108
+# successes: 104 (96.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5052
+t=10: Selected seed 195 with value = 0.5052
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5882
+t=26: Selected seed 195 with value = 0.5882
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7083
+t=42: Selected seed 195 with value = 0.7083
+Query 1/1: Action query time = 0.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8234
+t=58: Selected seed 195 with value = 0.8234
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9626
+t=74: Selected seed 195 with value = 0.9626
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=109--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=109--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 109
+# successes: 105 (96.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5053
+t=10: Selected seed 195 with value = 0.5053
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5851
+t=26: Selected seed 195 with value = 0.5851
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6900
+t=42: Selected seed 195 with value = 0.6900
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8230
+t=58: Selected seed 195 with value = 0.8230
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=74: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=110--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=110--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 110
+# successes: 106 (96.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4703
+t=10: Selected seed 195 with value = 0.4703
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5298
+t=26: Selected seed 195 with value = 0.5298
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6479
+t=42: Selected seed 195 with value = 0.6479
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7529
+t=58: Selected seed 195 with value = 0.7529
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8838
+t=74: Selected seed 195 with value = 0.8838
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=90: Selected seed 195 with value = 0.9938
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=111--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=111--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 111
+# successes: 107 (96.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=10: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6336
+t=26: Selected seed 195 with value = 0.6336
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7372
+t=42: Selected seed 195 with value = 0.7372
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8951
+t=58: Selected seed 195 with value = 0.8951
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=74: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=112--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=112--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 112
+# successes: 108 (96.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5201
+t=10: Selected seed 195 with value = 0.5201
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6196
+t=26: Selected seed 195 with value = 0.6196
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7203
+t=42: Selected seed 195 with value = 0.7203
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8179
+t=58: Selected seed 195 with value = 0.8179
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=74: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=113--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=113--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 113
+# successes: 109 (96.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4958
+t=10: Selected seed 195 with value = 0.4958
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=26: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6295
+t=42: Selected seed 195 with value = 0.6295
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6867
+t=58: Selected seed 195 with value = 0.6867
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8567
+t=74: Selected seed 195 with value = 0.8567
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=90: Selected seed 195 with value = 0.9361
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=114--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=114--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 114
+# successes: 110 (96.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 1.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4823
+t=10: Selected seed 195 with value = 0.4823
+Query 1/1: Action query time = 1.001 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5855
+t=26: Selected seed 195 with value = 0.5855
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6863
+t=42: Selected seed 195 with value = 0.6863
+Query 1/1: Action query time = 1.004 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=58: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=74: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=115--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=115--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 115
+# successes: 111 (96.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4930
+t=10: Selected seed 195 with value = 0.4930
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5885
+t=26: Selected seed 195 with value = 0.5885
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6616
+t=42: Selected seed 195 with value = 0.6616
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=58: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9532
+t=74: Selected seed 195 with value = 0.9532
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=90: Selected seed 195 with value = 0.9974
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=116--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=116--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 116
+# successes: 112 (96.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 1.147 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4522
+t=10: Selected seed 195 with value = 0.4522
+Query 1/1: Action query time = 1.161 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5024
+t=26: Selected seed 195 with value = 0.5024
+Query 1/1: Action query time = 1.103 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5849
+t=42: Selected seed 195 with value = 0.5849
+Query 1/1: Action query time = 1.138 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6983
+t=58: Selected seed 195 with value = 0.6983
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=74: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=90: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=106: Selected seed 195 with value = 0.9933
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=117--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=117--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 117
+# successes: 113 (96.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 1.249 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4832
+t=10: Selected seed 195 with value = 0.4832
+Query 1/1: Action query time = 1.148 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5367
+t=26: Selected seed 195 with value = 0.5367
+Query 1/1: Action query time = 1.101 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7077
+t=42: Selected seed 195 with value = 0.7077
+Query 1/1: Action query time = 1.080 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8222
+t=58: Selected seed 195 with value = 0.8222
+Query 1/1: Action query time = 1.052 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=74: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=118--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=118--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 118
+# successes: 114 (96.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4892
+t=10: Selected seed 195 with value = 0.4892
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5960
+t=26: Selected seed 195 with value = 0.5960
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7176
+t=42: Selected seed 195 with value = 0.7176
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8454
+t=58: Selected seed 195 with value = 0.8454
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=74: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=119--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=119--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 119
+# successes: 115 (96.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4828
+t=10: Selected seed 195 with value = 0.4828
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5871
+t=26: Selected seed 195 with value = 0.5871
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7041
+t=42: Selected seed 195 with value = 0.7041
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=58: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 1.035 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=74: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 1.000 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=120--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=120--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 120
+# successes: 116 (96.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 1.019 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5475
+t=10: Selected seed 195 with value = 0.5475
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6449
+t=26: Selected seed 195 with value = 0.6449
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7640
+t=42: Selected seed 195 with value = 0.7640
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8573
+t=58: Selected seed 195 with value = 0.8573
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=74: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=121--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=121--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 121
+# successes: 117 (96.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5047
+t=10: Selected seed 195 with value = 0.5047
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6352
+t=26: Selected seed 195 with value = 0.6352
+Query 1/1: Action query time = 0.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7505
+t=42: Selected seed 195 with value = 0.7505
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8407
+t=58: Selected seed 195 with value = 0.8407
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=74: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 1.034 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=90: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=122--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=122--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 122
+# successes: 118 (96.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4788
+t=10: Selected seed 195 with value = 0.4788
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5831
+t=26: Selected seed 195 with value = 0.5831
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6255
+t=42: Selected seed 195 with value = 0.6255
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7745
+t=58: Selected seed 195 with value = 0.7745
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9539
+t=74: Selected seed 195 with value = 0.9539
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=123--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=123--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 123
+# successes: 119 (96.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4976
+t=10: Selected seed 195 with value = 0.4976
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6501
+t=26: Selected seed 195 with value = 0.6501
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7449
+t=42: Selected seed 195 with value = 0.7449
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=58: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=74: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=124--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=124--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 124
+# successes: 120 (96.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3766
+t=10: Selected seed 195 with value = 0.3766
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4948
+t=26: Selected seed 195 with value = 0.4948
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5857
+t=42: Selected seed 195 with value = 0.5857
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7131
+t=58: Selected seed 195 with value = 0.7131
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8463
+t=74: Selected seed 195 with value = 0.8463
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=90: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=106: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=125--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=125--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 125
+# successes: 121 (96.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 1.019 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5153
+t=10: Selected seed 195 with value = 0.5153
+Query 1/1: Action query time = 1.061 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5894
+t=26: Selected seed 195 with value = 0.5894
+Query 1/1: Action query time = 1.134 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7055
+t=42: Selected seed 195 with value = 0.7055
+Query 1/1: Action query time = 1.195 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8215
+t=58: Selected seed 195 with value = 0.8215
+Query 1/1: Action query time = 1.186 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=74: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 1.080 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=126--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=126--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 126
+# successes: 122 (96.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3456
+t=10: Selected seed 195 with value = 0.3456
+Query 1/1: Action query time = 1.006 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4210
+t=26: Selected seed 195 with value = 0.4210
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6188
+t=42: Selected seed 195 with value = 0.6188
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7315
+t=58: Selected seed 195 with value = 0.7315
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8874
+t=74: Selected seed 195 with value = 0.8874
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=127--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=127--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 127
+# successes: 123 (96.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4767
+t=10: Selected seed 195 with value = 0.4767
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=26: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7252
+t=42: Selected seed 195 with value = 0.7252
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8205
+t=58: Selected seed 195 with value = 0.8205
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=74: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=128--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=128--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 128
+# successes: 124 (96.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3823
+t=10: Selected seed 195 with value = 0.3823
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4014
+t=26: Selected seed 195 with value = 0.4014
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6038
+t=42: Selected seed 195 with value = 0.6038
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7567
+t=58: Selected seed 195 with value = 0.7567
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8120
+t=74: Selected seed 195 with value = 0.8120
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9014
+t=90: Selected seed 195 with value = 0.9014
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9274
+t=106: Selected seed 195 with value = 0.9274
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.112 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.095 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.077 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=282: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 1.024 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7560
+t=298: Selected seed 195 with value = 0.7560
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=129--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=129--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 129
+# successes: 124 (96.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=10: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6128
+t=26: Selected seed 195 with value = 0.6128
+Query 1/1: Action query time = 0.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7188
+t=42: Selected seed 195 with value = 0.7188
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8526
+t=58: Selected seed 195 with value = 0.8526
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=74: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=90: Selected seed 195 with value = 0.9934
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=130--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=130--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 130
+# successes: 125 (96.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 1.192 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4929
+t=10: Selected seed 195 with value = 0.4929
+Query 1/1: Action query time = 1.202 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5812
+t=26: Selected seed 195 with value = 0.5812
+Query 1/1: Action query time = 1.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6472
+t=42: Selected seed 195 with value = 0.6472
+Query 1/1: Action query time = 1.100 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8310
+t=58: Selected seed 195 with value = 0.8310
+Query 1/1: Action query time = 1.007 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=74: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=90: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=131--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=131--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 131
+# successes: 126 (96.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=10: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5933
+t=26: Selected seed 195 with value = 0.5933
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6814
+t=42: Selected seed 195 with value = 0.6814
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8010
+t=58: Selected seed 195 with value = 0.8010
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=74: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=132--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=132--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 132
+# successes: 127 (96.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4750
+t=10: Selected seed 195 with value = 0.4750
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5557
+t=26: Selected seed 195 with value = 0.5557
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5795
+t=42: Selected seed 195 with value = 0.5795
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6647
+t=58: Selected seed 195 with value = 0.6647
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7891
+t=74: Selected seed 195 with value = 0.7891
+Query 1/1: Action query time = 1.077 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9290
+t=90: Selected seed 195 with value = 0.9290
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=133--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=133--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 133
+# successes: 128 (96.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=10: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6118
+t=26: Selected seed 195 with value = 0.6118
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6552
+t=42: Selected seed 195 with value = 0.6552
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8245
+t=58: Selected seed 195 with value = 0.8245
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=74: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=134--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=134--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 134
+# successes: 129 (96.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3942
+t=10: Selected seed 195 with value = 0.3942
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5352
+t=26: Selected seed 195 with value = 0.5352
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6234
+t=42: Selected seed 195 with value = 0.6234
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7781
+t=58: Selected seed 195 with value = 0.7781
+Query 1/1: Action query time = 1.045 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=74: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=135--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=135--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 135
+# successes: 130 (96.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 1.019 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=10: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5375
+t=26: Selected seed 195 with value = 0.5375
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6446
+t=42: Selected seed 195 with value = 0.6446
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7664
+t=58: Selected seed 195 with value = 0.7664
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9050
+t=74: Selected seed 195 with value = 0.9050
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=136--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=136--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 136
+# successes: 131 (96.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4382
+t=10: Selected seed 195 with value = 0.4382
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5146
+t=26: Selected seed 195 with value = 0.5146
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6069
+t=42: Selected seed 195 with value = 0.6069
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6966
+t=58: Selected seed 195 with value = 0.6966
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8244
+t=74: Selected seed 195 with value = 0.8244
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=90: Selected seed 195 with value = 0.9625
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=137--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=137--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 137
+# successes: 132 (96.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3262
+t=10: Selected seed 195 with value = 0.3262
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3908
+t=26: Selected seed 195 with value = 0.3908
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4797
+t=42: Selected seed 195 with value = 0.4797
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6465
+t=58: Selected seed 195 with value = 0.6465
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=74: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6858
+t=90: Selected seed 195 with value = 0.6858
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=106: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 0.994 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8340
+t=122: Selected seed 195 with value = 0.8340
+Query 1/1: Action query time = 1.000 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=138: Selected seed 195 with value = 0.9855
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=138--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=138--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 138
+# successes: 133 (96.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4984
+t=10: Selected seed 195 with value = 0.4984
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5709
+t=26: Selected seed 195 with value = 0.5709
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=42: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 0.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7856
+t=58: Selected seed 195 with value = 0.7856
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9214
+t=74: Selected seed 195 with value = 0.9214
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=90: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=106: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.005 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9286
+t=266: Selected seed 195 with value = 0.9286
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8182
+t=282: Selected seed 195 with value = 0.8182
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7334
+t=298: Selected seed 195 with value = 0.7334
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=139--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=139--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 139
+# successes: 133 (95.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3843
+t=10: Selected seed 195 with value = 0.3843
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4974
+t=26: Selected seed 195 with value = 0.4974
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5396
+t=42: Selected seed 195 with value = 0.5396
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7203
+t=58: Selected seed 195 with value = 0.7203
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=74: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=90: Selected seed 195 with value = 0.9875
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=140--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=140--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 140
+# successes: 134 (95.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4636
+t=10: Selected seed 195 with value = 0.4636
+Query 1/1: Action query time = 0.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4751
+t=26: Selected seed 195 with value = 0.4751
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5827
+t=42: Selected seed 195 with value = 0.5827
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6946
+t=58: Selected seed 195 with value = 0.6946
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=74: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=90: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=141--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=141--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 141
+# successes: 135 (95.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 1.014 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4773
+t=10: Selected seed 195 with value = 0.4773
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6182
+t=26: Selected seed 195 with value = 0.6182
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7107
+t=42: Selected seed 195 with value = 0.7107
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7477
+t=58: Selected seed 195 with value = 0.7477
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8895
+t=74: Selected seed 195 with value = 0.8895
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=142--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=142--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 142
+# successes: 136 (95.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4623
+t=10: Selected seed 195 with value = 0.4623
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5470
+t=26: Selected seed 195 with value = 0.5470
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6117
+t=42: Selected seed 195 with value = 0.6117
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7574
+t=58: Selected seed 195 with value = 0.7574
+Query 1/1: Action query time = 1.002 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8493
+t=74: Selected seed 195 with value = 0.8493
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=90: Selected seed 195 with value = 0.9823
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=143--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=143--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 143
+# successes: 137 (95.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 1.133 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3727
+t=10: Selected seed 195 with value = 0.3727
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4026
+t=26: Selected seed 195 with value = 0.4026
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5531
+t=42: Selected seed 195 with value = 0.5531
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7537
+t=58: Selected seed 195 with value = 0.7537
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9067
+t=74: Selected seed 195 with value = 0.9067
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=144--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=144--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 144
+# successes: 138 (95.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3819
+t=10: Selected seed 195 with value = 0.3819
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4901
+t=26: Selected seed 195 with value = 0.4901
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=42: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=58: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=74: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=145--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=145--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 145
+# successes: 139 (95.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5283
+t=10: Selected seed 195 with value = 0.5283
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6283
+t=26: Selected seed 195 with value = 0.6283
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7149
+t=42: Selected seed 195 with value = 0.7149
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=58: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=74: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=146--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=146--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 146
+# successes: 140 (95.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 1.016 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4865
+t=10: Selected seed 195 with value = 0.4865
+Query 1/1: Action query time = 1.010 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6101
+t=26: Selected seed 195 with value = 0.6101
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6869
+t=42: Selected seed 195 with value = 0.6869
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8205
+t=58: Selected seed 195 with value = 0.8205
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=74: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=147--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=147--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 147
+# successes: 141 (95.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=10: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6083
+t=26: Selected seed 195 with value = 0.6083
+Query 1/1: Action query time = 1.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7038
+t=42: Selected seed 195 with value = 0.7038
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8177
+t=58: Selected seed 195 with value = 0.8177
+Query 1/1: Action query time = 1.011 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9603
+t=74: Selected seed 195 with value = 0.9603
+Query 1/1: Action query time = 1.076 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=148--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=148--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 148
+# successes: 142 (95.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 1.022 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4601
+t=10: Selected seed 195 with value = 0.4601
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4697
+t=26: Selected seed 195 with value = 0.4697
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6648
+t=42: Selected seed 195 with value = 0.6648
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8094
+t=58: Selected seed 195 with value = 0.8094
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9635
+t=74: Selected seed 195 with value = 0.9635
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=90: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=149--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=149--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 149
+# successes: 143 (96.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 1.121 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4935
+t=10: Selected seed 195 with value = 0.4935
+Query 1/1: Action query time = 1.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5580
+t=26: Selected seed 195 with value = 0.5580
+Query 1/1: Action query time = 1.150 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6897
+t=42: Selected seed 195 with value = 0.6897
+Query 1/1: Action query time = 1.074 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7905
+t=58: Selected seed 195 with value = 0.7905
+Query 1/1: Action query time = 1.073 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9163
+t=74: Selected seed 195 with value = 0.9163
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=90: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=150--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=150--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 150
+# successes: 144 (96.0%)
+Current task success rate: 0.96
+Current total success rate: 0.96
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 1.093 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4338
+t=10: Selected seed 195 with value = 0.4338
+Query 1/1: Action query time = 1.038 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4860
+t=26: Selected seed 195 with value = 0.4860
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5455
+t=42: Selected seed 195 with value = 0.5455
+Query 1/1: Action query time = 0.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6644
+t=58: Selected seed 195 with value = 0.6644
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7797
+t=74: Selected seed 195 with value = 0.7797
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=90: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=106: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6884
+t=122: Selected seed 195 with value = 0.6884
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6196
+t=138: Selected seed 195 with value = 0.6196
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6765
+t=154: Selected seed 195 with value = 0.6765
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7434
+t=170: Selected seed 195 with value = 0.7434
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8530
+t=186: Selected seed 195 with value = 0.8530
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9410
+t=202: Selected seed 195 with value = 0.9410
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=151--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=151--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 151
+# successes: 145 (96.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 1.091 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4070
+t=10: Selected seed 195 with value = 0.4070
+Query 1/1: Action query time = 1.072 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4775
+t=26: Selected seed 195 with value = 0.4775
+Query 1/1: Action query time = 1.019 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5530
+t=42: Selected seed 195 with value = 0.5530
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6859
+t=58: Selected seed 195 with value = 0.6859
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7912
+t=74: Selected seed 195 with value = 0.7912
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=90: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=106: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 1.033 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6478
+t=122: Selected seed 195 with value = 0.6478
+Query 1/1: Action query time = 1.059 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7841
+t=138: Selected seed 195 with value = 0.7841
+Query 1/1: Action query time = 1.055 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=154: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 1.051 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9319
+t=170: Selected seed 195 with value = 0.9319
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=186: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8113
+t=202: Selected seed 195 with value = 0.8113
+Query 1/1: Action query time = 0.988 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9358
+t=218: Selected seed 195 with value = 0.9358
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9213
+t=234: Selected seed 195 with value = 0.9213
+Query 1/1: Action query time = 1.013 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=250: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=266: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 1.009 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=282: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=298: Selected seed 195 with value = 0.9884
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=152--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=152--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 152
+# successes: 145 (95.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 1.124 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3890
+t=10: Selected seed 195 with value = 0.3890
+Query 1/1: Action query time = 1.010 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4660
+t=26: Selected seed 195 with value = 0.4660
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5466
+t=42: Selected seed 195 with value = 0.5466
+Query 1/1: Action query time = 1.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6678
+t=58: Selected seed 195 with value = 0.6678
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8062
+t=74: Selected seed 195 with value = 0.8062
+Query 1/1: Action query time = 1.012 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=90: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 1.042 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=106: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6742
+t=122: Selected seed 195 with value = 0.6742
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7023
+t=138: Selected seed 195 with value = 0.7023
+Query 1/1: Action query time = 0.991 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8298
+t=154: Selected seed 195 with value = 0.8298
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=170: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=186: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=153--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=153--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 153
+# successes: 146 (95.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 1.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3725
+t=10: Selected seed 195 with value = 0.3725
+Query 1/1: Action query time = 1.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4632
+t=26: Selected seed 195 with value = 0.4632
+Query 1/1: Action query time = 1.082 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5439
+t=42: Selected seed 195 with value = 0.5439
+Query 1/1: Action query time = 1.020 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6633
+t=58: Selected seed 195 with value = 0.6633
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7811
+t=74: Selected seed 195 with value = 0.7811
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9211
+t=90: Selected seed 195 with value = 0.9211
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=106: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6277
+t=122: Selected seed 195 with value = 0.6277
+Query 1/1: Action query time = 1.095 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6003
+t=138: Selected seed 195 with value = 0.6003
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6310
+t=154: Selected seed 195 with value = 0.6310
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7304
+t=170: Selected seed 195 with value = 0.7304
+Query 1/1: Action query time = 0.996 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=186: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 1.029 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=202: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 1.007 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=154--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=154--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 154
+# successes: 147 (95.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4466
+t=10: Selected seed 195 with value = 0.4466
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4847
+t=26: Selected seed 195 with value = 0.4847
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5182
+t=42: Selected seed 195 with value = 0.5182
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6415
+t=58: Selected seed 195 with value = 0.6415
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7294
+t=74: Selected seed 195 with value = 0.7294
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8632
+t=90: Selected seed 195 with value = 0.8632
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=106: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6081
+t=122: Selected seed 195 with value = 0.6081
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6619
+t=138: Selected seed 195 with value = 0.6619
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=154: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9137
+t=170: Selected seed 195 with value = 0.9137
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=186: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 1.028 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=202: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 1.137 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=218: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 1.149 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.213 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.251 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=155--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=155--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 155
+# successes: 147 (94.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 1.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3175
+t=10: Selected seed 195 with value = 0.3175
+Query 1/1: Action query time = 1.087 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4761
+t=26: Selected seed 195 with value = 0.4761
+Query 1/1: Action query time = 1.009 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5454
+t=42: Selected seed 195 with value = 0.5454
+Query 1/1: Action query time = 1.040 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5375
+t=58: Selected seed 195 with value = 0.5375
+Query 1/1: Action query time = 1.127 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5319
+t=74: Selected seed 195 with value = 0.5319
+Query 1/1: Action query time = 1.105 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6771
+t=90: Selected seed 195 with value = 0.6771
+Query 1/1: Action query time = 1.181 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6958
+t=106: Selected seed 195 with value = 0.6958
+Query 1/1: Action query time = 1.183 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=122: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 1.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=138: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5984
+t=154: Selected seed 195 with value = 0.5984
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7568
+t=170: Selected seed 195 with value = 0.7568
+Query 1/1: Action query time = 0.991 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8424
+t=186: Selected seed 195 with value = 0.8424
+Query 1/1: Action query time = 0.995 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=202: Selected seed 195 with value = 0.9928
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=156--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=156--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 156
+# successes: 148 (94.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3914
+t=10: Selected seed 195 with value = 0.3914
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4659
+t=26: Selected seed 195 with value = 0.4659
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5419
+t=42: Selected seed 195 with value = 0.5419
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6786
+t=58: Selected seed 195 with value = 0.6786
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7244
+t=74: Selected seed 195 with value = 0.7244
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9405
+t=90: Selected seed 195 with value = 0.9405
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=106: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7355
+t=122: Selected seed 195 with value = 0.7355
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=138: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 0.989 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=154: Selected seed 195 with value = 0.9749
+Query 1/1: Action query time = 1.002 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=170: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 0.993 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9410
+t=186: Selected seed 195 with value = 0.9410
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6906
+t=202: Selected seed 195 with value = 0.6906
+Query 1/1: Action query time = 1.211 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1468
+t=218: Selected seed 195 with value = 0.1468
+Query 1/1: Action query time = 1.180 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1988
+t=234: Selected seed 195 with value = 0.1988
+Query 1/1: Action query time = 1.140 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3332
+t=250: Selected seed 195 with value = 0.3332
+Query 1/1: Action query time = 1.078 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9032
+t=266: Selected seed 195 with value = 0.9032
+Query 1/1: Action query time = 1.072 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=282: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 1.006 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6647
+t=298: Selected seed 195 with value = 0.6647
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=157--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=157--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 157
+# successes: 148 (94.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3593
+t=10: Selected seed 195 with value = 0.3593
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4683
+t=26: Selected seed 195 with value = 0.4683
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5710
+t=42: Selected seed 195 with value = 0.5710
+Query 1/1: Action query time = 0.997 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6600
+t=58: Selected seed 195 with value = 0.6600
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=74: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8835
+t=90: Selected seed 195 with value = 0.8835
+Query 1/1: Action query time = 0.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8802
+t=122: Selected seed 195 with value = 0.8802
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7258
+t=138: Selected seed 195 with value = 0.7258
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8153
+t=154: Selected seed 195 with value = 0.8153
+Query 1/1: Action query time = 0.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=170: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=158--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=158--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 158
+# successes: 149 (94.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 1.023 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3818
+t=10: Selected seed 195 with value = 0.3818
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4669
+t=26: Selected seed 195 with value = 0.4669
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5398
+t=42: Selected seed 195 with value = 0.5398
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6128
+t=58: Selected seed 195 with value = 0.6128
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=74: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 1.036 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9164
+t=90: Selected seed 195 with value = 0.9164
+Query 1/1: Action query time = 1.059 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.096 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7031
+t=122: Selected seed 195 with value = 0.7031
+Query 1/1: Action query time = 1.209 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7774
+t=138: Selected seed 195 with value = 0.7774
+Query 1/1: Action query time = 1.207 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8405
+t=154: Selected seed 195 with value = 0.8405
+Query 1/1: Action query time = 1.166 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=170: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.991 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9202
+t=186: Selected seed 195 with value = 0.9202
+Query 1/1: Action query time = 0.990 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7393
+t=202: Selected seed 195 with value = 0.7393
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=218: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=234: Selected seed 195 with value = 0.9273
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5777
+t=266: Selected seed 195 with value = 0.5777
+Query 1/1: Action query time = 0.995 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6959
+t=282: Selected seed 195 with value = 0.6959
+Query 1/1: Action query time = 0.991 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8595
+t=298: Selected seed 195 with value = 0.8595
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=159--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=159--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 159
+# successes: 149 (93.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4059
+t=10: Selected seed 195 with value = 0.4059
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4944
+t=26: Selected seed 195 with value = 0.4944
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5555
+t=42: Selected seed 195 with value = 0.5555
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5315
+t=58: Selected seed 195 with value = 0.5315
+Query 1/1: Action query time = 0.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6815
+t=74: Selected seed 195 with value = 0.6815
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6880
+t=90: Selected seed 195 with value = 0.6880
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8680
+t=106: Selected seed 195 with value = 0.8680
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=122: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 0.996 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5964
+t=138: Selected seed 195 with value = 0.5964
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7894
+t=154: Selected seed 195 with value = 0.7894
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=170: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=186: Selected seed 195 with value = 0.9807
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=160--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=160--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 160
+# successes: 150 (93.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 1.062 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4347
+t=10: Selected seed 195 with value = 0.4347
+Query 1/1: Action query time = 1.081 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4746
+t=26: Selected seed 195 with value = 0.4746
+Query 1/1: Action query time = 1.142 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5722
+t=42: Selected seed 195 with value = 0.5722
+Query 1/1: Action query time = 1.145 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=58: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7959
+t=74: Selected seed 195 with value = 0.7959
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9362
+t=90: Selected seed 195 with value = 0.9362
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=122: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7510
+t=138: Selected seed 195 with value = 0.7510
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8708
+t=154: Selected seed 195 with value = 0.8708
+Query 1/1: Action query time = 0.988 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=170: Selected seed 195 with value = 0.9872
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=161--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=161--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 161
+# successes: 151 (93.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 1.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3862
+t=10: Selected seed 195 with value = 0.3862
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4659
+t=26: Selected seed 195 with value = 0.4659
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5543
+t=42: Selected seed 195 with value = 0.5543
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6611
+t=58: Selected seed 195 with value = 0.6611
+Query 1/1: Action query time = 1.046 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=74: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8776
+t=90: Selected seed 195 with value = 0.8776
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7236
+t=122: Selected seed 195 with value = 0.7236
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=138: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 1.002 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6959
+t=154: Selected seed 195 with value = 0.6959
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7458
+t=170: Selected seed 195 with value = 0.7458
+Query 1/1: Action query time = 0.993 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9244
+t=186: Selected seed 195 with value = 0.9244
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=202: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=162--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=162--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 162
+# successes: 152 (93.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3705
+t=10: Selected seed 195 with value = 0.3705
+Query 1/1: Action query time = 0.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4535
+t=26: Selected seed 195 with value = 0.4535
+Query 1/1: Action query time = 0.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5267
+t=42: Selected seed 195 with value = 0.5267
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6459
+t=58: Selected seed 195 with value = 0.6459
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=74: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=90: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6823
+t=122: Selected seed 195 with value = 0.6823
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7551
+t=138: Selected seed 195 with value = 0.7551
+Query 1/1: Action query time = 1.002 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8757
+t=154: Selected seed 195 with value = 0.8757
+Query 1/1: Action query time = 0.992 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9458
+t=170: Selected seed 195 with value = 0.9458
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=163--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=163--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 163
+# successes: 153 (93.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 14...
+Query 1/1: Action query time = 1.016 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3812
+t=10: Selected seed 195 with value = 0.3812
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4830
+t=26: Selected seed 195 with value = 0.4830
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5346
+t=42: Selected seed 195 with value = 0.5346
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6477
+t=58: Selected seed 195 with value = 0.6477
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7202
+t=74: Selected seed 195 with value = 0.7202
+Query 1/1: Action query time = 1.005 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8410
+t=90: Selected seed 195 with value = 0.8410
+Query 1/1: Action query time = 1.001 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6375
+t=122: Selected seed 195 with value = 0.6375
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7350
+t=138: Selected seed 195 with value = 0.7350
+Query 1/1: Action query time = 0.994 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8586
+t=154: Selected seed 195 with value = 0.8586
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=186: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=164--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=164--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 164
+# successes: 154 (93.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 15...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4037
+t=10: Selected seed 195 with value = 0.4037
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4735
+t=26: Selected seed 195 with value = 0.4735
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5543
+t=42: Selected seed 195 with value = 0.5543
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7090
+t=58: Selected seed 195 with value = 0.7090
+Query 1/1: Action query time = 1.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7226
+t=74: Selected seed 195 with value = 0.7226
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=90: Selected seed 195 with value = 0.9333
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=106: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6707
+t=122: Selected seed 195 with value = 0.6707
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6194
+t=138: Selected seed 195 with value = 0.6194
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7488
+t=154: Selected seed 195 with value = 0.7488
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9359
+t=170: Selected seed 195 with value = 0.9359
+Query 1/1: Action query time = 0.999 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=186: Selected seed 195 with value = 0.9777
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=165--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=165--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 165
+# successes: 155 (93.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 16...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3562
+t=10: Selected seed 195 with value = 0.3562
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4234
+t=26: Selected seed 195 with value = 0.4234
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5165
+t=42: Selected seed 195 with value = 0.5165
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6340
+t=58: Selected seed 195 with value = 0.6340
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6921
+t=74: Selected seed 195 with value = 0.6921
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8831
+t=90: Selected seed 195 with value = 0.8831
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=106: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6240
+t=122: Selected seed 195 with value = 0.6240
+Query 1/1: Action query time = 0.998 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7240
+t=138: Selected seed 195 with value = 0.7240
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8591
+t=154: Selected seed 195 with value = 0.8591
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=170: Selected seed 195 with value = 0.9933
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=166--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=166--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 166
+# successes: 156 (94.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 17...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3712
+t=10: Selected seed 195 with value = 0.3712
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4631
+t=26: Selected seed 195 with value = 0.4631
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5530
+t=42: Selected seed 195 with value = 0.5530
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=58: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7990
+t=74: Selected seed 195 with value = 0.7990
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=90: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=106: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6659
+t=122: Selected seed 195 with value = 0.6659
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5116
+t=138: Selected seed 195 with value = 0.5116
+Query 1/1: Action query time = 1.000 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7309
+t=154: Selected seed 195 with value = 0.7309
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7073
+t=170: Selected seed 195 with value = 0.7073
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7528
+t=186: Selected seed 195 with value = 0.7528
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9386
+t=202: Selected seed 195 with value = 0.9386
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=218: Selected seed 195 with value = 0.9909
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=167--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=167--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 167
+# successes: 157 (94.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 18...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3408
+t=10: Selected seed 195 with value = 0.3408
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3775
+t=26: Selected seed 195 with value = 0.3775
+Query 1/1: Action query time = 0.946 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5817
+t=42: Selected seed 195 with value = 0.5817
+Query 1/1: Action query time = 0.946 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6896
+t=58: Selected seed 195 with value = 0.6896
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7260
+t=74: Selected seed 195 with value = 0.7260
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8807
+t=90: Selected seed 195 with value = 0.8807
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7029
+t=122: Selected seed 195 with value = 0.7029
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5368
+t=138: Selected seed 195 with value = 0.5368
+Query 1/1: Action query time = 0.956 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=154: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6983
+t=170: Selected seed 195 with value = 0.6983
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7907
+t=186: Selected seed 195 with value = 0.7907
+Query 1/1: Action query time = 0.959 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=202: Selected seed 195 with value = 0.9570
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=168--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=168--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 168
+# successes: 158 (94.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 19...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3871
+t=10: Selected seed 195 with value = 0.3871
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4537
+t=26: Selected seed 195 with value = 0.4537
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5486
+t=42: Selected seed 195 with value = 0.5486
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6320
+t=58: Selected seed 195 with value = 0.6320
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7390
+t=74: Selected seed 195 with value = 0.7390
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8588
+t=90: Selected seed 195 with value = 0.8588
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=106: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 0.950 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8875
+t=122: Selected seed 195 with value = 0.8875
+Query 1/1: Action query time = 0.947 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6697
+t=138: Selected seed 195 with value = 0.6697
+Query 1/1: Action query time = 0.950 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=154: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 0.950 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8390
+t=170: Selected seed 195 with value = 0.8390
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=186: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=202: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=218: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 0.968 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=234: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 0.959 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=250: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=169--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=169--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 169
+# successes: 158 (93.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 20...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3679
+t=10: Selected seed 195 with value = 0.3679
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4560
+t=26: Selected seed 195 with value = 0.4560
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=42: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6167
+t=58: Selected seed 195 with value = 0.6167
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=74: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 0.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8654
+t=90: Selected seed 195 with value = 0.8654
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=106: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=122: Selected seed 195 with value = 0.9844
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=138: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5205
+t=154: Selected seed 195 with value = 0.5205
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7266
+t=170: Selected seed 195 with value = 0.7266
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=186: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 0.951 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=202: Selected seed 195 with value = 0.9941
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=170--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=170--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 170
+# successes: 159 (93.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 21...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4278
+t=10: Selected seed 195 with value = 0.4278
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5014
+t=26: Selected seed 195 with value = 0.5014
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5387
+t=42: Selected seed 195 with value = 0.5387
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5056
+t=58: Selected seed 195 with value = 0.5056
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4741
+t=74: Selected seed 195 with value = 0.4741
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4522
+t=90: Selected seed 195 with value = 0.4522
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4395
+t=106: Selected seed 195 with value = 0.4395
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4328
+t=122: Selected seed 195 with value = 0.4328
+Query 1/1: Action query time = 1.001 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4309
+t=138: Selected seed 195 with value = 0.4309
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4408
+t=154: Selected seed 195 with value = 0.4408
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4537
+t=170: Selected seed 195 with value = 0.4537
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4630
+t=186: Selected seed 195 with value = 0.4630
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4790
+t=202: Selected seed 195 with value = 0.4790
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4967
+t=218: Selected seed 195 with value = 0.4967
+Query 1/1: Action query time = 0.992 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4970
+t=234: Selected seed 195 with value = 0.4970
+Query 1/1: Action query time = 0.982 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=250: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 1.015 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4883
+t=266: Selected seed 195 with value = 0.4883
+Query 1/1: Action query time = 0.988 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4823
+t=282: Selected seed 195 with value = 0.4823
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4694
+t=298: Selected seed 195 with value = 0.4694
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=171--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=171--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 171
+# successes: 159 (93.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 22...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3503
+t=10: Selected seed 195 with value = 0.3503
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4586
+t=26: Selected seed 195 with value = 0.4586
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5638
+t=42: Selected seed 195 with value = 0.5638
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6593
+t=58: Selected seed 195 with value = 0.6593
+Query 1/1: Action query time = 1.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7179
+t=74: Selected seed 195 with value = 0.7179
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8629
+t=90: Selected seed 195 with value = 0.8629
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=106: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6433
+t=122: Selected seed 195 with value = 0.6433
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7708
+t=138: Selected seed 195 with value = 0.7708
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=154: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=170: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 0.993 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9420
+t=186: Selected seed 195 with value = 0.9420
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=202: Selected seed 195 with value = 0.9094
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6726
+t=218: Selected seed 195 with value = 0.6726
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7203
+t=234: Selected seed 195 with value = 0.7203
+Query 1/1: Action query time = 0.982 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7847
+t=250: Selected seed 195 with value = 0.7847
+Query 1/1: Action query time = 0.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8272
+t=266: Selected seed 195 with value = 0.8272
+Query 1/1: Action query time = 0.988 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8464
+t=282: Selected seed 195 with value = 0.8464
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8624
+t=298: Selected seed 195 with value = 0.8624
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=172--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=172--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 172
+# successes: 159 (92.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 23...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3594
+t=10: Selected seed 195 with value = 0.3594
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4696
+t=26: Selected seed 195 with value = 0.4696
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5610
+t=42: Selected seed 195 with value = 0.5610
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6690
+t=58: Selected seed 195 with value = 0.6690
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7445
+t=74: Selected seed 195 with value = 0.7445
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8929
+t=90: Selected seed 195 with value = 0.8929
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=106: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6337
+t=122: Selected seed 195 with value = 0.6337
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7463
+t=138: Selected seed 195 with value = 0.7463
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8421
+t=154: Selected seed 195 with value = 0.8421
+Query 1/1: Action query time = 0.996 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=170: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 0.995 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=186: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=173--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=173--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 173
+# successes: 160 (92.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 24...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3796
+t=10: Selected seed 195 with value = 0.3796
+Query 1/1: Action query time = 0.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4717
+t=26: Selected seed 195 with value = 0.4717
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=42: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6476
+t=58: Selected seed 195 with value = 0.6476
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7166
+t=74: Selected seed 195 with value = 0.7166
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8811
+t=90: Selected seed 195 with value = 0.8811
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.994 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6412
+t=122: Selected seed 195 with value = 0.6412
+Query 1/1: Action query time = 0.987 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5409
+t=138: Selected seed 195 with value = 0.5409
+Query 1/1: Action query time = 0.997 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6914
+t=154: Selected seed 195 with value = 0.6914
+Query 1/1: Action query time = 0.992 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6967
+t=170: Selected seed 195 with value = 0.6967
+Query 1/1: Action query time = 0.984 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8317
+t=186: Selected seed 195 with value = 0.8317
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9161
+t=202: Selected seed 195 with value = 0.9161
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=218: Selected seed 195 with value = 0.9901
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=174--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=174--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 174
+# successes: 161 (92.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 25...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3464
+t=10: Selected seed 195 with value = 0.3464
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4694
+t=26: Selected seed 195 with value = 0.4694
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5534
+t=42: Selected seed 195 with value = 0.5534
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6353
+t=58: Selected seed 195 with value = 0.6353
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7565
+t=74: Selected seed 195 with value = 0.7565
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8756
+t=90: Selected seed 195 with value = 0.8756
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=106: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=122: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6450
+t=138: Selected seed 195 with value = 0.6450
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7719
+t=154: Selected seed 195 with value = 0.7719
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8257
+t=170: Selected seed 195 with value = 0.8257
+Query 1/1: Action query time = 0.997 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9545
+t=186: Selected seed 195 with value = 0.9545
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=202: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=175--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=175--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 175
+# successes: 162 (92.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 26...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3793
+t=10: Selected seed 195 with value = 0.3793
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4820
+t=26: Selected seed 195 with value = 0.4820
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=42: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6310
+t=58: Selected seed 195 with value = 0.6310
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7251
+t=74: Selected seed 195 with value = 0.7251
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8776
+t=90: Selected seed 195 with value = 0.8776
+Query 1/1: Action query time = 0.998 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=106: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6321
+t=122: Selected seed 195 with value = 0.6321
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7885
+t=138: Selected seed 195 with value = 0.7885
+Query 1/1: Action query time = 0.999 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8541
+t=154: Selected seed 195 with value = 0.8541
+Query 1/1: Action query time = 0.988 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=186: Selected seed 195 with value = 0.9360
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9216
+t=202: Selected seed 195 with value = 0.9216
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6502
+t=218: Selected seed 195 with value = 0.6502
+Query 1/1: Action query time = 0.996 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6887
+t=234: Selected seed 195 with value = 0.6887
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7304
+t=250: Selected seed 195 with value = 0.7304
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9281
+t=266: Selected seed 195 with value = 0.9281
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=282: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6383
+t=298: Selected seed 195 with value = 0.6383
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=176--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=176--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 176
+# successes: 162 (92.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 27...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3492
+t=10: Selected seed 195 with value = 0.3492
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4479
+t=26: Selected seed 195 with value = 0.4479
+Query 1/1: Action query time = 0.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4947
+t=42: Selected seed 195 with value = 0.4947
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6376
+t=58: Selected seed 195 with value = 0.6376
+Query 1/1: Action query time = 1.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7104
+t=74: Selected seed 195 with value = 0.7104
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8254
+t=90: Selected seed 195 with value = 0.8254
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=106: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6120
+t=122: Selected seed 195 with value = 0.6120
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=138: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 0.991 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7973
+t=154: Selected seed 195 with value = 0.7973
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=170: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=186: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9441
+t=202: Selected seed 195 with value = 0.9441
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8567
+t=218: Selected seed 195 with value = 0.8567
+Query 1/1: Action query time = 0.996 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8997
+t=234: Selected seed 195 with value = 0.8997
+Query 1/1: Action query time = 0.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=250: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=266: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 0.990 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=282: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=298: Selected seed 195 with value = 0.9864
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=177--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=177--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 177
+# successes: 162 (91.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 28...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3583
+t=10: Selected seed 195 with value = 0.3583
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=26: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 1.002 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5304
+t=42: Selected seed 195 with value = 0.5304
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5984
+t=58: Selected seed 195 with value = 0.5984
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6854
+t=74: Selected seed 195 with value = 0.6854
+Query 1/1: Action query time = 0.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8483
+t=90: Selected seed 195 with value = 0.8483
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=106: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6285
+t=122: Selected seed 195 with value = 0.6285
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8046
+t=138: Selected seed 195 with value = 0.8046
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6761
+t=154: Selected seed 195 with value = 0.6761
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7174
+t=170: Selected seed 195 with value = 0.7174
+Query 1/1: Action query time = 0.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7997
+t=186: Selected seed 195 with value = 0.7997
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9406
+t=202: Selected seed 195 with value = 0.9406
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=218: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 1.003 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=178--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=178--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 178
+# successes: 163 (91.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 29...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3183
+t=10: Selected seed 195 with value = 0.3183
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4241
+t=26: Selected seed 195 with value = 0.4241
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5888
+t=42: Selected seed 195 with value = 0.5888
+Query 1/1: Action query time = 0.997 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6817
+t=58: Selected seed 195 with value = 0.6817
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=74: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 1.030 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9269
+t=90: Selected seed 195 with value = 0.9269
+Query 1/1: Action query time = 0.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7022
+t=122: Selected seed 195 with value = 0.7022
+Query 1/1: Action query time = 0.998 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6719
+t=138: Selected seed 195 with value = 0.6719
+Query 1/1: Action query time = 0.993 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8393
+t=154: Selected seed 195 with value = 0.8393
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9056
+t=170: Selected seed 195 with value = 0.9056
+Query 1/1: Action query time = 1.004 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=186: Selected seed 195 with value = 0.9894
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=179--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=179--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 179
+# successes: 164 (91.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 30...
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3953
+t=10: Selected seed 195 with value = 0.3953
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4715
+t=26: Selected seed 195 with value = 0.4715
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5441
+t=42: Selected seed 195 with value = 0.5441
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6318
+t=58: Selected seed 195 with value = 0.6318
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7077
+t=74: Selected seed 195 with value = 0.7077
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=90: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=106: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8838
+t=122: Selected seed 195 with value = 0.8838
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6814
+t=138: Selected seed 195 with value = 0.6814
+Query 1/1: Action query time = 0.993 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7479
+t=154: Selected seed 195 with value = 0.7479
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8452
+t=170: Selected seed 195 with value = 0.8452
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8102
+t=186: Selected seed 195 with value = 0.8102
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7761
+t=202: Selected seed 195 with value = 0.7761
+Query 1/1: Action query time = 0.995 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8896
+t=218: Selected seed 195 with value = 0.8896
+Query 1/1: Action query time = 0.991 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=234: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=180--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=180--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 180
+# successes: 165 (91.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 31...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3916
+t=10: Selected seed 195 with value = 0.3916
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4631
+t=26: Selected seed 195 with value = 0.4631
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5701
+t=42: Selected seed 195 with value = 0.5701
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6611
+t=58: Selected seed 195 with value = 0.6611
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=74: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8458
+t=90: Selected seed 195 with value = 0.8458
+Query 1/1: Action query time = 1.031 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=106: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.994 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6586
+t=122: Selected seed 195 with value = 0.6586
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8035
+t=138: Selected seed 195 with value = 0.8035
+Query 1/1: Action query time = 0.995 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6617
+t=154: Selected seed 195 with value = 0.6617
+Query 1/1: Action query time = 1.015 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7271
+t=170: Selected seed 195 with value = 0.7271
+Query 1/1: Action query time = 1.004 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6646
+t=186: Selected seed 195 with value = 0.6646
+Query 1/1: Action query time = 1.019 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7679
+t=202: Selected seed 195 with value = 0.7679
+Query 1/1: Action query time = 0.988 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=218: Selected seed 195 with value = 0.8801
+Query 1/1: Action query time = 1.011 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=234: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8074
+t=250: Selected seed 195 with value = 0.8074
+Query 1/1: Action query time = 0.996 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8201
+t=266: Selected seed 195 with value = 0.8201
+Query 1/1: Action query time = 1.003 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9040
+t=282: Selected seed 195 with value = 0.9040
+Query 1/1: Action query time = 1.000 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=298: Selected seed 195 with value = 0.9648
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=181--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=181--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 181
+# successes: 165 (91.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 32...
+Query 1/1: Action query time = 1.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3991
+t=10: Selected seed 195 with value = 0.3991
+Query 1/1: Action query time = 1.015 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=26: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 1.030 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5517
+t=42: Selected seed 195 with value = 0.5517
+Query 1/1: Action query time = 0.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6732
+t=58: Selected seed 195 with value = 0.6732
+Query 1/1: Action query time = 1.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7803
+t=74: Selected seed 195 with value = 0.7803
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=90: Selected seed 195 with value = 0.9037
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7540
+t=122: Selected seed 195 with value = 0.7540
+Query 1/1: Action query time = 1.011 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=138: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=154: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=170: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=182--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=182--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 182
+# successes: 166 (91.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 33...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3841
+t=10: Selected seed 195 with value = 0.3841
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4629
+t=26: Selected seed 195 with value = 0.4629
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5346
+t=42: Selected seed 195 with value = 0.5346
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6079
+t=58: Selected seed 195 with value = 0.6079
+Query 1/1: Action query time = 1.014 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7318
+t=74: Selected seed 195 with value = 0.7318
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8705
+t=90: Selected seed 195 with value = 0.8705
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=106: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=122: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 1.002 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7212
+t=138: Selected seed 195 with value = 0.7212
+Query 1/1: Action query time = 1.004 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=154: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 0.999 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8689
+t=170: Selected seed 195 with value = 0.8689
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=186: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8671
+t=202: Selected seed 195 with value = 0.8671
+Query 1/1: Action query time = 0.999 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=218: Selected seed 195 with value = 0.9843
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=183--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=183--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 183
+# successes: 167 (91.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 34...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3604
+t=10: Selected seed 195 with value = 0.3604
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4592
+t=26: Selected seed 195 with value = 0.4592
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5559
+t=42: Selected seed 195 with value = 0.5559
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6329
+t=58: Selected seed 195 with value = 0.6329
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7578
+t=74: Selected seed 195 with value = 0.7578
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=90: Selected seed 195 with value = 0.8907
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=106: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9180
+t=122: Selected seed 195 with value = 0.9180
+Query 1/1: Action query time = 1.004 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6815
+t=138: Selected seed 195 with value = 0.6815
+Query 1/1: Action query time = 1.026 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7208
+t=154: Selected seed 195 with value = 0.7208
+Query 1/1: Action query time = 0.992 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8838
+t=170: Selected seed 195 with value = 0.8838
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=186: Selected seed 195 with value = 0.9379
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=184--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=184--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 184
+# successes: 168 (91.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 35...
+Query 1/1: Action query time = 1.026 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4157
+t=10: Selected seed 195 with value = 0.4157
+Query 1/1: Action query time = 1.021 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4631
+t=26: Selected seed 195 with value = 0.4631
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=42: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6797
+t=58: Selected seed 195 with value = 0.6797
+Query 1/1: Action query time = 0.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7114
+t=74: Selected seed 195 with value = 0.7114
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=90: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=106: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 1.006 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6742
+t=122: Selected seed 195 with value = 0.6742
+Query 1/1: Action query time = 0.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7640
+t=138: Selected seed 195 with value = 0.7640
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8707
+t=154: Selected seed 195 with value = 0.8707
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=170: Selected seed 195 with value = 0.9799
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=185--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=185--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 185
+# successes: 169 (91.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 36...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4359
+t=10: Selected seed 195 with value = 0.4359
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5056
+t=26: Selected seed 195 with value = 0.5056
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5312
+t=42: Selected seed 195 with value = 0.5312
+Query 1/1: Action query time = 1.006 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6462
+t=58: Selected seed 195 with value = 0.6462
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7275
+t=74: Selected seed 195 with value = 0.7275
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9018
+t=90: Selected seed 195 with value = 0.9018
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9526
+t=106: Selected seed 195 with value = 0.9526
+Query 1/1: Action query time = 1.001 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6582
+t=122: Selected seed 195 with value = 0.6582
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7463
+t=138: Selected seed 195 with value = 0.7463
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8632
+t=154: Selected seed 195 with value = 0.8632
+Query 1/1: Action query time = 1.016 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=170: Selected seed 195 with value = 0.9906
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=186--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=186--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 186
+# successes: 170 (91.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 37...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3591
+t=10: Selected seed 195 with value = 0.3591
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4573
+t=26: Selected seed 195 with value = 0.4573
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5118
+t=42: Selected seed 195 with value = 0.5118
+Query 1/1: Action query time = 1.031 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6418
+t=58: Selected seed 195 with value = 0.6418
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7534
+t=74: Selected seed 195 with value = 0.7534
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8910
+t=90: Selected seed 195 with value = 0.8910
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=106: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 1.025 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6320
+t=122: Selected seed 195 with value = 0.6320
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7734
+t=138: Selected seed 195 with value = 0.7734
+Query 1/1: Action query time = 0.991 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=154: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 0.994 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=186: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=202: Selected seed 195 with value = 0.9241
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=218: Selected seed 195 with value = 0.8602
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=234: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=250: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8815
+t=266: Selected seed 195 with value = 0.8815
+Query 1/1: Action query time = 1.011 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8716
+t=282: Selected seed 195 with value = 0.8716
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8745
+t=298: Selected seed 195 with value = 0.8745
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=187--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=187--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 187
+# successes: 170 (90.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 38...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3328
+t=10: Selected seed 195 with value = 0.3328
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4755
+t=26: Selected seed 195 with value = 0.4755
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5600
+t=42: Selected seed 195 with value = 0.5600
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5177
+t=58: Selected seed 195 with value = 0.5177
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6815
+t=74: Selected seed 195 with value = 0.6815
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6978
+t=90: Selected seed 195 with value = 0.6978
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9003
+t=106: Selected seed 195 with value = 0.9003
+Query 1/1: Action query time = 1.003 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9580
+t=122: Selected seed 195 with value = 0.9580
+Query 1/1: Action query time = 0.995 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6723
+t=138: Selected seed 195 with value = 0.6723
+Query 1/1: Action query time = 1.019 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7815
+t=154: Selected seed 195 with value = 0.7815
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9218
+t=170: Selected seed 195 with value = 0.9218
+Query 1/1: Action query time = 0.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=186: Selected seed 195 with value = 0.9722
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=202: Selected seed 195 with value = 0.9607
+Query 1/1: Action query time = 0.993 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9652
+t=218: Selected seed 195 with value = 0.9652
+Query 1/1: Action query time = 0.954 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6213
+t=234: Selected seed 195 with value = 0.6213
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8403
+t=250: Selected seed 195 with value = 0.8403
+Query 1/1: Action query time = 0.992 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9353
+t=266: Selected seed 195 with value = 0.9353
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7127
+t=282: Selected seed 195 with value = 0.7127
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7353
+t=298: Selected seed 195 with value = 0.7353
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=188--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=188--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 188
+# successes: 170 (90.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 39...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3590
+t=10: Selected seed 195 with value = 0.3590
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4587
+t=26: Selected seed 195 with value = 0.4587
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5668
+t=42: Selected seed 195 with value = 0.5668
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6455
+t=58: Selected seed 195 with value = 0.6455
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7358
+t=74: Selected seed 195 with value = 0.7358
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=90: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=106: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 1.000 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6313
+t=122: Selected seed 195 with value = 0.6313
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8365
+t=138: Selected seed 195 with value = 0.8365
+Query 1/1: Action query time = 1.003 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=154: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9109
+t=170: Selected seed 195 with value = 0.9109
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=186: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=189--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=189--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 189
+# successes: 171 (90.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 40...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4139
+t=10: Selected seed 195 with value = 0.4139
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4903
+t=26: Selected seed 195 with value = 0.4903
+Query 1/1: Action query time = 0.999 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5422
+t=42: Selected seed 195 with value = 0.5422
+Query 1/1: Action query time = 0.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=58: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7770
+t=74: Selected seed 195 with value = 0.7770
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9288
+t=90: Selected seed 195 with value = 0.9288
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=106: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.998 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6885
+t=122: Selected seed 195 with value = 0.6885
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7559
+t=138: Selected seed 195 with value = 0.7559
+Query 1/1: Action query time = 1.000 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8955
+t=154: Selected seed 195 with value = 0.8955
+Query 1/1: Action query time = 0.994 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9144
+t=170: Selected seed 195 with value = 0.9144
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=190--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=190--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 190
+# successes: 172 (90.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 41...
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3746
+t=10: Selected seed 195 with value = 0.3746
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4465
+t=26: Selected seed 195 with value = 0.4465
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4769
+t=42: Selected seed 195 with value = 0.4769
+Query 1/1: Action query time = 0.997 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6013
+t=58: Selected seed 195 with value = 0.6013
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6912
+t=74: Selected seed 195 with value = 0.6912
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8777
+t=90: Selected seed 195 with value = 0.8777
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=106: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 1.042 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=122: Selected seed 195 with value = 0.9132
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6506
+t=138: Selected seed 195 with value = 0.6506
+Query 1/1: Action query time = 0.989 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=154: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9390
+t=170: Selected seed 195 with value = 0.9390
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=186: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=191--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=191--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 191
+# successes: 173 (90.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 42...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3963
+t=10: Selected seed 195 with value = 0.3963
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4657
+t=26: Selected seed 195 with value = 0.4657
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=42: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6521
+t=58: Selected seed 195 with value = 0.6521
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7127
+t=74: Selected seed 195 with value = 0.7127
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=90: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6736
+t=122: Selected seed 195 with value = 0.6736
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6959
+t=138: Selected seed 195 with value = 0.6959
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8089
+t=154: Selected seed 195 with value = 0.8089
+Query 1/1: Action query time = 0.991 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=170: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=186: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9240
+t=202: Selected seed 195 with value = 0.9240
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=218: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=234: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=250: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=266: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=282: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=298: Selected seed 195 with value = 0.9676
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=192--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=192--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 192
+# successes: 173 (90.1%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 43...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3723
+t=10: Selected seed 195 with value = 0.3723
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4690
+t=26: Selected seed 195 with value = 0.4690
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5584
+t=42: Selected seed 195 with value = 0.5584
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6913
+t=58: Selected seed 195 with value = 0.6913
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7811
+t=74: Selected seed 195 with value = 0.7811
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9402
+t=90: Selected seed 195 with value = 0.9402
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=106: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6030
+t=122: Selected seed 195 with value = 0.6030
+Query 1/1: Action query time = 0.957 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7556
+t=138: Selected seed 195 with value = 0.7556
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9252
+t=154: Selected seed 195 with value = 0.9252
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=170: Selected seed 195 with value = 0.9879
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=193--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=193--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 193
+# successes: 174 (90.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 44...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4022
+t=10: Selected seed 195 with value = 0.4022
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4849
+t=26: Selected seed 195 with value = 0.4849
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5337
+t=42: Selected seed 195 with value = 0.5337
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6220
+t=58: Selected seed 195 with value = 0.6220
+Query 1/1: Action query time = 1.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6745
+t=74: Selected seed 195 with value = 0.6745
+Query 1/1: Action query time = 0.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=90: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=122: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5613
+t=138: Selected seed 195 with value = 0.5613
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=154: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=170: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 0.955 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=186: Selected seed 195 with value = 0.9847
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=194--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=194--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 194
+# successes: 175 (90.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 45...
+Query 1/1: Action query time = 1.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3573
+t=10: Selected seed 195 with value = 0.3573
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4480
+t=26: Selected seed 195 with value = 0.4480
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5470
+t=42: Selected seed 195 with value = 0.5470
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6485
+t=58: Selected seed 195 with value = 0.6485
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=74: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8712
+t=90: Selected seed 195 with value = 0.8712
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=106: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6577
+t=122: Selected seed 195 with value = 0.6577
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7757
+t=138: Selected seed 195 with value = 0.7757
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7901
+t=154: Selected seed 195 with value = 0.7901
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=170: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=186: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9458
+t=202: Selected seed 195 with value = 0.9458
+Query 1/1: Action query time = 1.007 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=218: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 1.005 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=234: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=250: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=195--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=195--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 195
+# successes: 175 (89.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 46...
+Query 1/1: Action query time = 1.016 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3760
+t=10: Selected seed 195 with value = 0.3760
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4737
+t=26: Selected seed 195 with value = 0.4737
+Query 1/1: Action query time = 1.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5493
+t=42: Selected seed 195 with value = 0.5493
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6189
+t=58: Selected seed 195 with value = 0.6189
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7198
+t=74: Selected seed 195 with value = 0.7198
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8632
+t=90: Selected seed 195 with value = 0.8632
+Query 1/1: Action query time = 0.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=106: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6566
+t=122: Selected seed 195 with value = 0.6566
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=138: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7904
+t=154: Selected seed 195 with value = 0.7904
+Query 1/1: Action query time = 0.997 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8410
+t=170: Selected seed 195 with value = 0.8410
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8634
+t=186: Selected seed 195 with value = 0.8634
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8430
+t=202: Selected seed 195 with value = 0.8430
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8647
+t=218: Selected seed 195 with value = 0.8647
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=234: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=250: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9549
+t=266: Selected seed 195 with value = 0.9549
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=196--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=196--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 196
+# successes: 175 (89.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 47...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3826
+t=10: Selected seed 195 with value = 0.3826
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4806
+t=26: Selected seed 195 with value = 0.4806
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5435
+t=42: Selected seed 195 with value = 0.5435
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6580
+t=58: Selected seed 195 with value = 0.6580
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6888
+t=74: Selected seed 195 with value = 0.6888
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8811
+t=90: Selected seed 195 with value = 0.8811
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=106: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6100
+t=122: Selected seed 195 with value = 0.6100
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7358
+t=138: Selected seed 195 with value = 0.7358
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8244
+t=154: Selected seed 195 with value = 0.8244
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9172
+t=170: Selected seed 195 with value = 0.9172
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=186: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=197--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=197--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 197
+# successes: 176 (89.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 48...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3324
+t=10: Selected seed 195 with value = 0.3324
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4531
+t=26: Selected seed 195 with value = 0.4531
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=42: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6877
+t=58: Selected seed 195 with value = 0.6877
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7889
+t=74: Selected seed 195 with value = 0.7889
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9492
+t=90: Selected seed 195 with value = 0.9492
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=106: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6838
+t=122: Selected seed 195 with value = 0.6838
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=138: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8822
+t=154: Selected seed 195 with value = 0.8822
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8731
+t=170: Selected seed 195 with value = 0.8731
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8674
+t=186: Selected seed 195 with value = 0.8674
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8622
+t=202: Selected seed 195 with value = 0.8622
+Query 1/1: Action query time = 0.960 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=198--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=198--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 198
+# successes: 176 (88.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 49...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4091
+t=10: Selected seed 195 with value = 0.4091
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4752
+t=26: Selected seed 195 with value = 0.4752
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5579
+t=42: Selected seed 195 with value = 0.5579
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6618
+t=58: Selected seed 195 with value = 0.6618
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7617
+t=74: Selected seed 195 with value = 0.7617
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=90: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6768
+t=122: Selected seed 195 with value = 0.6768
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7817
+t=138: Selected seed 195 with value = 0.7817
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=154: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=170: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9293
+t=186: Selected seed 195 with value = 0.9293
+Query 1/1: Action query time = 0.959 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9400
+t=202: Selected seed 195 with value = 0.9400
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7576
+t=218: Selected seed 195 with value = 0.7576
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=234: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 1.014 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6680
+t=250: Selected seed 195 with value = 0.6680
+Query 1/1: Action query time = 1.014 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7219
+t=266: Selected seed 195 with value = 0.7219
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7911
+t=282: Selected seed 195 with value = 0.7911
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8304
+t=298: Selected seed 195 with value = 0.8304
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=199--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=199--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 199
+# successes: 176 (88.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 50...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3890
+t=10: Selected seed 195 with value = 0.3890
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4543
+t=26: Selected seed 195 with value = 0.4543
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5594
+t=42: Selected seed 195 with value = 0.5594
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6879
+t=58: Selected seed 195 with value = 0.6879
+Query 1/1: Action query time = 1.004 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7618
+t=74: Selected seed 195 with value = 0.7618
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8918
+t=90: Selected seed 195 with value = 0.8918
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6639
+t=122: Selected seed 195 with value = 0.6639
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7817
+t=138: Selected seed 195 with value = 0.7817
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8254
+t=154: Selected seed 195 with value = 0.8254
+Query 1/1: Action query time = 0.955 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=170: Selected seed 195 with value = 0.9722
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9473
+t=186: Selected seed 195 with value = 0.9473
+Query 1/1: Action query time = 0.999 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=202: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 0.992 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6436
+t=218: Selected seed 195 with value = 0.6436
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7758
+t=234: Selected seed 195 with value = 0.7758
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8989
+t=250: Selected seed 195 with value = 0.8989
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7625
+t=266: Selected seed 195 with value = 0.7625
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8903
+t=282: Selected seed 195 with value = 0.8903
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8312
+t=298: Selected seed 195 with value = 0.8312
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--episode=200--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/fc2_iter350_t0123/2026_08_01-19_14_18--with_future_img--episode=200--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 200
+# successes: 176 (88.0%)
+Current task success rate: 0.64
+Current total success rate: 0.88
+Final results:
+Total episodes: 200
+Total successes: 176
+Overall success rate: 0.8800 (88.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b05f07c4912c974ed4aebf28009bd62b848fefe7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s01.txt
@@ -0,0 +1,264 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t0_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.643 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3722
+t=10: Selected seed 195 with value = 0.3722
+Query 1/1: Action query time = 4.285 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4153
+t=26: Selected seed 195 with value = 0.4153
+Query 1/1: Action query time = 5.295 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4585
+t=42: Selected seed 195 with value = 0.4585
+Query 1/1: Action query time = 4.725 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5664
+t=58: Selected seed 195 with value = 0.5664
+Query 1/1: Action query time = 5.116 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6779
+t=74: Selected seed 195 with value = 0.6779
+Query 1/1: Action query time = 5.399 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8788
+t=90: Selected seed 195 with value = 0.8788
+Query 1/1: Action query time = 2.819 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=106: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 5.181 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=122: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 5.072 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s01/2026_08_02-02_15_28--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.231 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3284
+t=10: Selected seed 195 with value = 0.3284
+Query 1/1: Action query time = 3.642 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4189
+t=26: Selected seed 195 with value = 0.4189
+Query 1/1: Action query time = 3.378 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4870
+t=42: Selected seed 195 with value = 0.4870
+Query 1/1: Action query time = 3.872 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5645
+t=58: Selected seed 195 with value = 0.5645
+Query 1/1: Action query time = 5.275 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6784
+t=74: Selected seed 195 with value = 0.6784
+Query 1/1: Action query time = 3.488 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7802
+t=90: Selected seed 195 with value = 0.7802
+Query 1/1: Action query time = 4.928 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8569
+t=106: Selected seed 195 with value = 0.8569
+Query 1/1: Action query time = 4.846 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=122: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 5.010 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=138: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 5.069 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=154: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 4.055 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=170: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 4.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9721
+t=186: Selected seed 195 with value = 0.9721
+Query 1/1: Action query time = 2.858 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=202: Selected seed 195 with value = 0.9706
+Query 1/1: Action query time = 4.811 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=218: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 3.888 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=234: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 2.754 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=250: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 4.886 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=266: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 4.803 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=282: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 5.198 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=298: Selected seed 195 with value = 0.9679
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s01/2026_08_02-02_15_28--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.287 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3748
+t=10: Selected seed 195 with value = 0.3748
+Query 1/1: Action query time = 4.420 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4134
+t=26: Selected seed 195 with value = 0.4134
+Query 1/1: Action query time = 3.918 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4832
+t=42: Selected seed 195 with value = 0.4832
+Query 1/1: Action query time = 4.525 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5382
+t=58: Selected seed 195 with value = 0.5382
+Query 1/1: Action query time = 4.488 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6430
+t=74: Selected seed 195 with value = 0.6430
+Query 1/1: Action query time = 3.457 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7445
+t=90: Selected seed 195 with value = 0.7445
+Query 1/1: Action query time = 3.264 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9441
+t=106: Selected seed 195 with value = 0.9441
+Query 1/1: Action query time = 3.689 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=122: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 5.221 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s01/2026_08_02-02_15_28--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3816
+t=10: Selected seed 195 with value = 0.3816
+Query 1/1: Action query time = 3.672 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4341
+t=26: Selected seed 195 with value = 0.4341
+Query 1/1: Action query time = 5.644 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5007
+t=42: Selected seed 195 with value = 0.5007
+Query 1/1: Action query time = 4.871 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5621
+t=58: Selected seed 195 with value = 0.5621
+Query 1/1: Action query time = 5.894 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6245
+t=74: Selected seed 195 with value = 0.6245
+Query 1/1: Action query time = 4.016 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7567
+t=90: Selected seed 195 with value = 0.7567
+Query 1/1: Action query time = 3.930 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7841
+t=106: Selected seed 195 with value = 0.7841
+Query 1/1: Action query time = 1.871 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7269
+t=122: Selected seed 195 with value = 0.7269
+Query 1/1: Action query time = 3.522 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7455
+t=138: Selected seed 195 with value = 0.7455
+Query 1/1: Action query time = 4.053 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7433
+t=154: Selected seed 195 with value = 0.7433
+Query 1/1: Action query time = 3.790 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=170: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 4.046 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7176
+t=186: Selected seed 195 with value = 0.7176
+Query 1/1: Action query time = 3.878 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7296
+t=202: Selected seed 195 with value = 0.7296
+Query 1/1: Action query time = 3.122 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7316
+t=218: Selected seed 195 with value = 0.7316
+Query 1/1: Action query time = 3.127 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6954
+t=234: Selected seed 195 with value = 0.6954
+Query 1/1: Action query time = 3.074 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6751
+t=250: Selected seed 195 with value = 0.6751
+Query 1/1: Action query time = 3.252 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6842
+t=266: Selected seed 195 with value = 0.6842
+Query 1/1: Action query time = 2.030 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6923
+t=282: Selected seed 195 with value = 0.6923
+Query 1/1: Action query time = 1.751 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7460
+t=298: Selected seed 195 with value = 0.7460
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s01/2026_08_02-02_15_28--with_future_img--episode=4--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+Current task success rate: 0.5
+Current total success rate: 0.5
+Final results:
+Total episodes: 4
+Total successes: 2
+Overall success rate: 0.5000 (50.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c8949d47988d08e5ccc68ee0a757403add34988
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s04.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t0_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.650 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3746
+t=10: Selected seed 195 with value = 0.3746
+Query 1/1: Action query time = 4.009 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4244
+t=26: Selected seed 195 with value = 0.4244
+Query 1/1: Action query time = 4.072 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4895
+t=42: Selected seed 195 with value = 0.4895
+Query 1/1: Action query time = 4.630 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5776
+t=58: Selected seed 195 with value = 0.5776
+Query 1/1: Action query time = 4.566 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7005
+t=74: Selected seed 195 with value = 0.7005
+Query 1/1: Action query time = 5.323 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=90: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 5.419 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=106: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 4.057 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=122: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 4.349 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7043
+t=138: Selected seed 195 with value = 0.7043
+Query 1/1: Action query time = 3.492 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7462
+t=154: Selected seed 195 with value = 0.7462
+Query 1/1: Action query time = 5.292 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7400
+t=170: Selected seed 195 with value = 0.7400
+Query 1/1: Action query time = 2.235 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7384
+t=186: Selected seed 195 with value = 0.7384
+Query 1/1: Action query time = 4.447 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7361
+t=202: Selected seed 195 with value = 0.7361
+Query 1/1: Action query time = 1.808 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7342
+t=218: Selected seed 195 with value = 0.7342
+Query 1/1: Action query time = 4.808 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=234: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 4.697 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7342
+t=250: Selected seed 195 with value = 0.7342
+Query 1/1: Action query time = 4.817 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=266: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 4.705 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7367
+t=282: Selected seed 195 with value = 0.7367
+Query 1/1: Action query time = 3.543 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=298: Selected seed 195 with value = 0.7419
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s04/2026_08_02-02_15_28--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.717 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3313
+t=10: Selected seed 195 with value = 0.3313
+Query 1/1: Action query time = 3.393 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4010
+t=26: Selected seed 195 with value = 0.4010
+Query 1/1: Action query time = 5.247 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4467
+t=42: Selected seed 195 with value = 0.4467
+Query 1/1: Action query time = 3.201 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5687
+t=58: Selected seed 195 with value = 0.5687
+Query 1/1: Action query time = 3.426 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6618
+t=74: Selected seed 195 with value = 0.6618
+Query 1/1: Action query time = 4.281 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8946
+t=90: Selected seed 195 with value = 0.8946
+Query 1/1: Action query time = 5.386 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7212
+t=106: Selected seed 195 with value = 0.7212
+Query 1/1: Action query time = 4.566 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6905
+t=122: Selected seed 195 with value = 0.6905
+Query 1/1: Action query time = 4.207 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6936
+t=138: Selected seed 195 with value = 0.6936
+Query 1/1: Action query time = 4.579 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6789
+t=154: Selected seed 195 with value = 0.6789
+Query 1/1: Action query time = 4.585 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6787
+t=170: Selected seed 195 with value = 0.6787
+Query 1/1: Action query time = 3.181 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6826
+t=186: Selected seed 195 with value = 0.6826
+Query 1/1: Action query time = 4.413 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6978
+t=202: Selected seed 195 with value = 0.6978
+Query 1/1: Action query time = 4.538 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7046
+t=218: Selected seed 195 with value = 0.7046
+Query 1/1: Action query time = 4.286 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7079
+t=234: Selected seed 195 with value = 0.7079
+Query 1/1: Action query time = 4.048 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7111
+t=250: Selected seed 195 with value = 0.7111
+Query 1/1: Action query time = 4.027 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=266: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 5.408 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7143
+t=282: Selected seed 195 with value = 0.7143
+Query 1/1: Action query time = 4.589 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7153
+t=298: Selected seed 195 with value = 0.7153
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s04/2026_08_02-02_15_28--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.685 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3628
+t=10: Selected seed 195 with value = 0.3628
+Query 1/1: Action query time = 4.431 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4111
+t=26: Selected seed 195 with value = 0.4111
+Query 1/1: Action query time = 6.004 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4661
+t=42: Selected seed 195 with value = 0.4661
+Query 1/1: Action query time = 3.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5605
+t=58: Selected seed 195 with value = 0.5605
+Query 1/1: Action query time = 3.316 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6834
+t=74: Selected seed 195 with value = 0.6834
+Query 1/1: Action query time = 2.142 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8204
+t=90: Selected seed 195 with value = 0.8204
+Query 1/1: Action query time = 3.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8104
+t=106: Selected seed 195 with value = 0.8104
+Query 1/1: Action query time = 3.821 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7170
+t=122: Selected seed 195 with value = 0.7170
+Query 1/1: Action query time = 3.623 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=138: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 3.614 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7069
+t=154: Selected seed 195 with value = 0.7069
+Query 1/1: Action query time = 3.627 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7078
+t=170: Selected seed 195 with value = 0.7078
+Query 1/1: Action query time = 3.401 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6988
+t=186: Selected seed 195 with value = 0.6988
+Query 1/1: Action query time = 3.076 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7294
+t=202: Selected seed 195 with value = 0.7294
+Query 1/1: Action query time = 3.046 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7175
+t=218: Selected seed 195 with value = 0.7175
+Query 1/1: Action query time = 2.936 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=234: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 2.492 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6718
+t=250: Selected seed 195 with value = 0.6718
+Query 1/1: Action query time = 1.525 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6875
+t=266: Selected seed 195 with value = 0.6875
+Query 1/1: Action query time = 1.322 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6805
+t=282: Selected seed 195 with value = 0.6805
+Query 1/1: Action query time = 1.218 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6735
+t=298: Selected seed 195 with value = 0.6735
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s04/2026_08_02-02_15_28--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..051b75dc89f489624e77b5fe246c3f58a58cd019
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s10.txt
@@ -0,0 +1,189 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t0_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.070 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3575
+t=10: Selected seed 195 with value = 0.3575
+Query 1/1: Action query time = 5.190 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4369
+t=26: Selected seed 195 with value = 0.4369
+Query 1/1: Action query time = 3.926 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4980
+t=42: Selected seed 195 with value = 0.4980
+Query 1/1: Action query time = 4.326 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5661
+t=58: Selected seed 195 with value = 0.5661
+Query 1/1: Action query time = 5.226 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6468
+t=74: Selected seed 195 with value = 0.6468
+Query 1/1: Action query time = 4.559 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7831
+t=90: Selected seed 195 with value = 0.7831
+Query 1/1: Action query time = 5.428 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7830
+t=106: Selected seed 195 with value = 0.7830
+Query 1/1: Action query time = 5.643 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=122: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 3.208 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.309 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.077 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s10/2026_08_02-02_15_28--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.648 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3219
+t=10: Selected seed 195 with value = 0.3219
+Query 1/1: Action query time = 4.288 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3992
+t=26: Selected seed 195 with value = 0.3992
+Query 1/1: Action query time = 5.675 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4714
+t=42: Selected seed 195 with value = 0.4714
+Query 1/1: Action query time = 5.619 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5573
+t=58: Selected seed 195 with value = 0.5573
+Query 1/1: Action query time = 5.172 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6515
+t=74: Selected seed 195 with value = 0.6515
+Query 1/1: Action query time = 4.897 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7318
+t=90: Selected seed 195 with value = 0.7318
+Query 1/1: Action query time = 4.450 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8164
+t=106: Selected seed 195 with value = 0.8164
+Query 1/1: Action query time = 4.075 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=122: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 3.482 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8339
+t=138: Selected seed 195 with value = 0.8339
+Query 1/1: Action query time = 3.040 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9204
+t=154: Selected seed 195 with value = 0.9204
+Query 1/1: Action query time = 3.043 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9264
+t=170: Selected seed 195 with value = 0.9264
+Query 1/1: Action query time = 3.703 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9206
+t=186: Selected seed 195 with value = 0.9206
+Query 1/1: Action query time = 5.721 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=202: Selected seed 195 with value = 0.8778
+Query 1/1: Action query time = 5.340 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8677
+t=218: Selected seed 195 with value = 0.8677
+Query 1/1: Action query time = 5.052 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8462
+t=234: Selected seed 195 with value = 0.8462
+Query 1/1: Action query time = 4.254 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8477
+t=250: Selected seed 195 with value = 0.8477
+Query 1/1: Action query time = 3.962 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=266: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 4.455 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8624
+t=282: Selected seed 195 with value = 0.8624
+Query 1/1: Action query time = 3.013 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8596
+t=298: Selected seed 195 with value = 0.8596
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s10/2026_08_02-02_15_28--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.846 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3830
+t=10: Selected seed 195 with value = 0.3830
+Query 1/1: Action query time = 3.739 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4309
+t=26: Selected seed 195 with value = 0.4309
+Query 1/1: Action query time = 3.038 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4837
+t=42: Selected seed 195 with value = 0.4837
+Query 1/1: Action query time = 2.595 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6031
+t=58: Selected seed 195 with value = 0.6031
+Query 1/1: Action query time = 4.201 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6862
+t=74: Selected seed 195 with value = 0.6862
+Query 1/1: Action query time = 4.849 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8988
+t=90: Selected seed 195 with value = 0.8988
+Query 1/1: Action query time = 4.569 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=106: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 4.030 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=122: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 4.882 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s10/2026_08_02-02_15_28--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_30--demochan400_t0_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_30--demochan400_t0_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a481608d72bc012a00dc8ea5e5bc1cd3d271e077
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_30--demochan400_t0_s14.txt
@@ -0,0 +1,221 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t0_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.850 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3293
+t=10: Selected seed 195 with value = 0.3293
+Query 1/1: Action query time = 5.084 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4160
+t=26: Selected seed 195 with value = 0.4160
+Query 1/1: Action query time = 5.289 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4769
+t=42: Selected seed 195 with value = 0.4769
+Query 1/1: Action query time = 4.299 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5756
+t=58: Selected seed 195 with value = 0.5756
+Query 1/1: Action query time = 4.289 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6827
+t=74: Selected seed 195 with value = 0.6827
+Query 1/1: Action query time = 4.841 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8353
+t=90: Selected seed 195 with value = 0.8353
+Query 1/1: Action query time = 4.713 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8550
+t=106: Selected seed 195 with value = 0.8550
+Query 1/1: Action query time = 5.881 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=122: Selected seed 195 with value = 0.9728
+Query 1/1: Action query time = 4.292 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=138: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 4.234 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=154: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 3.805 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=170: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 2.107 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=186: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 3.685 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=202: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 4.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=218: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 2.860 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9287
+t=234: Selected seed 195 with value = 0.9287
+Query 1/1: Action query time = 4.299 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9066
+t=250: Selected seed 195 with value = 0.9066
+Query 1/1: Action query time = 5.271 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9203
+t=266: Selected seed 195 with value = 0.9203
+Query 1/1: Action query time = 5.203 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9221
+t=282: Selected seed 195 with value = 0.9221
+Query 1/1: Action query time = 4.928 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=298: Selected seed 195 with value = 0.9149
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s14/2026_08_02-02_15_30--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.955 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3584
+t=10: Selected seed 195 with value = 0.3584
+Query 1/1: Action query time = 3.755 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4222
+t=26: Selected seed 195 with value = 0.4222
+Query 1/1: Action query time = 5.335 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4839
+t=42: Selected seed 195 with value = 0.4839
+Query 1/1: Action query time = 4.104 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5852
+t=58: Selected seed 195 with value = 0.5852
+Query 1/1: Action query time = 4.436 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6934
+t=74: Selected seed 195 with value = 0.6934
+Query 1/1: Action query time = 5.072 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8954
+t=90: Selected seed 195 with value = 0.8954
+Query 1/1: Action query time = 5.170 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=106: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 5.587 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=122: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 3.382 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s14/2026_08_02-02_15_30--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.778 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3737
+t=10: Selected seed 195 with value = 0.3737
+Query 1/1: Action query time = 4.389 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4268
+t=26: Selected seed 195 with value = 0.4268
+Query 1/1: Action query time = 3.385 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=42: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 3.443 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5856
+t=58: Selected seed 195 with value = 0.5856
+Query 1/1: Action query time = 3.822 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6828
+t=74: Selected seed 195 with value = 0.6828
+Query 1/1: Action query time = 5.312 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8371
+t=90: Selected seed 195 with value = 0.8371
+Query 1/1: Action query time = 4.804 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8484
+t=106: Selected seed 195 with value = 0.8484
+Query 1/1: Action query time = 3.829 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=122: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 3.925 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=138: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 3.654 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=154: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 3.708 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=170: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 3.204 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9611
+t=186: Selected seed 195 with value = 0.9611
+Query 1/1: Action query time = 4.587 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9498
+t=202: Selected seed 195 with value = 0.9498
+Query 1/1: Action query time = 3.059 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=218: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 2.951 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8911
+t=234: Selected seed 195 with value = 0.8911
+Query 1/1: Action query time = 2.736 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8649
+t=250: Selected seed 195 with value = 0.8649
+Query 1/1: Action query time = 2.140 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8634
+t=266: Selected seed 195 with value = 0.8634
+Query 1/1: Action query time = 2.237 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8604
+t=282: Selected seed 195 with value = 0.8604
+Query 1/1: Action query time = 1.926 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=298: Selected seed 195 with value = 0.8605
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s14/2026_08_02-02_15_30--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..04609705dfe90ed7b43cac7e385f4d3aea6599c8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s02.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t1_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.748 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5116
+t=10: Selected seed 195 with value = 0.5116
+Query 1/1: Action query time = 4.245 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5960
+t=26: Selected seed 195 with value = 0.5960
+Query 1/1: Action query time = 6.037 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7210
+t=42: Selected seed 195 with value = 0.7210
+Query 1/1: Action query time = 3.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8252
+t=58: Selected seed 195 with value = 0.8252
+Query 1/1: Action query time = 4.920 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9338
+t=74: Selected seed 195 with value = 0.9338
+Query 1/1: Action query time = 4.873 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s02/2026_08_02-02_21_24--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.712 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5210
+t=10: Selected seed 195 with value = 0.5210
+Query 1/1: Action query time = 4.360 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=26: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 4.409 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7147
+t=42: Selected seed 195 with value = 0.7147
+Query 1/1: Action query time = 4.900 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7196
+t=58: Selected seed 195 with value = 0.7196
+Query 1/1: Action query time = 5.077 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8488
+t=74: Selected seed 195 with value = 0.8488
+Query 1/1: Action query time = 4.185 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=90: Selected seed 195 with value = 0.9939
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s02/2026_08_02-02_21_24--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5069
+t=10: Selected seed 195 with value = 0.5069
+Query 1/1: Action query time = 5.645 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=26: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 4.171 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7144
+t=42: Selected seed 195 with value = 0.7144
+Query 1/1: Action query time = 4.891 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7976
+t=58: Selected seed 195 with value = 0.7976
+Query 1/1: Action query time = 4.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8959
+t=74: Selected seed 195 with value = 0.8959
+Query 1/1: Action query time = 4.857 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=90: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s02/2026_08_02-02_21_24--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d811de89735b0c9bd612aa1538156c2b4278e4ee
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s05.txt
@@ -0,0 +1,117 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t1_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.464 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=10: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 5.407 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5655
+t=26: Selected seed 195 with value = 0.5655
+Query 1/1: Action query time = 4.368 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=42: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 5.639 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7606
+t=58: Selected seed 195 with value = 0.7606
+Query 1/1: Action query time = 4.945 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8994
+t=74: Selected seed 195 with value = 0.8994
+Query 1/1: Action query time = 2.945 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=90: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 4.732 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s05/2026_08_02-02_21_24--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.413 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4986
+t=10: Selected seed 195 with value = 0.4986
+Query 1/1: Action query time = 4.930 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5669
+t=26: Selected seed 195 with value = 0.5669
+Query 1/1: Action query time = 5.307 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6734
+t=42: Selected seed 195 with value = 0.6734
+Query 1/1: Action query time = 3.495 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7148
+t=58: Selected seed 195 with value = 0.7148
+Query 1/1: Action query time = 3.542 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8218
+t=74: Selected seed 195 with value = 0.8218
+Query 1/1: Action query time = 2.169 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=90: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 5.522 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=106: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s05/2026_08_02-02_21_24--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.734 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5115
+t=10: Selected seed 195 with value = 0.5115
+Query 1/1: Action query time = 5.152 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5655
+t=26: Selected seed 195 with value = 0.5655
+Query 1/1: Action query time = 5.153 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6870
+t=42: Selected seed 195 with value = 0.6870
+Query 1/1: Action query time = 4.115 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7637
+t=58: Selected seed 195 with value = 0.7637
+Query 1/1: Action query time = 2.860 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8512
+t=74: Selected seed 195 with value = 0.8512
+Query 1/1: Action query time = 2.527 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=90: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 2.558 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=106: Selected seed 195 with value = 0.9865
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s05/2026_08_02-02_21_24--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_25--demochan400_t1_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_25--demochan400_t1_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c2a4a4e44269d2805ce663a4d2b4dbe614393c3d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_25--demochan400_t1_s08.txt
@@ -0,0 +1,113 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t1_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.231 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=10: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 6.306 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5492
+t=26: Selected seed 195 with value = 0.5492
+Query 1/1: Action query time = 4.913 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=42: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 5.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7175
+t=58: Selected seed 195 with value = 0.7175
+Query 1/1: Action query time = 4.149 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8309
+t=74: Selected seed 195 with value = 0.8309
+Query 1/1: Action query time = 4.113 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=90: Selected seed 195 with value = 0.9898
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s08/2026_08_02-02_21_25--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.149 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4891
+t=10: Selected seed 195 with value = 0.4891
+Query 1/1: Action query time = 5.396 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5624
+t=26: Selected seed 195 with value = 0.5624
+Query 1/1: Action query time = 4.865 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6782
+t=42: Selected seed 195 with value = 0.6782
+Query 1/1: Action query time = 5.256 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=58: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 3.848 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=74: Selected seed 195 with value = 0.8775
+Query 1/1: Action query time = 4.683 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 4.741 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=106: Selected seed 195 with value = 0.9974
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s08/2026_08_02-02_21_25--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.887 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5117
+t=10: Selected seed 195 with value = 0.5117
+Query 1/1: Action query time = 4.328 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5665
+t=26: Selected seed 195 with value = 0.5665
+Query 1/1: Action query time = 4.522 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6789
+t=42: Selected seed 195 with value = 0.6789
+Query 1/1: Action query time = 5.070 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7065
+t=58: Selected seed 195 with value = 0.7065
+Query 1/1: Action query time = 4.775 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8461
+t=74: Selected seed 195 with value = 0.8461
+Query 1/1: Action query time = 4.470 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=90: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 2.952 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s08/2026_08_02-02_21_25--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..68cf69777694360834cdf32b4b2571d58c966946
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s00.txt
@@ -0,0 +1,288 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t2_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.226 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5349
+t=10: Selected seed 195 with value = 0.5349
+Query 1/1: Action query time = 3.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6466
+t=26: Selected seed 195 with value = 0.6466
+Query 1/1: Action query time = 4.739 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7844
+t=42: Selected seed 195 with value = 0.7844
+Query 1/1: Action query time = 5.363 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=58: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 4.862 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s00/2026_08_02-02_24_30--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.949 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4853
+t=10: Selected seed 195 with value = 0.4853
+Query 1/1: Action query time = 4.728 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5705
+t=26: Selected seed 195 with value = 0.5705
+Query 1/1: Action query time = 4.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8049
+t=42: Selected seed 195 with value = 0.8049
+Query 1/1: Action query time = 4.909 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7332
+t=58: Selected seed 195 with value = 0.7332
+Query 1/1: Action query time = 4.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=74: Selected seed 195 with value = 0.8535
+Query 1/1: Action query time = 4.852 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=90: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 3.770 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.312 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.312 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.912 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.170 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.088 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.661 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.779 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.528 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.575 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.068 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.816 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.285 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s00/2026_08_02-02_24_30--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.838 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5098
+t=10: Selected seed 195 with value = 0.5098
+Query 1/1: Action query time = 5.157 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5748
+t=26: Selected seed 195 with value = 0.5748
+Query 1/1: Action query time = 5.420 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6566
+t=42: Selected seed 195 with value = 0.6566
+Query 1/1: Action query time = 4.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7633
+t=58: Selected seed 195 with value = 0.7633
+Query 1/1: Action query time = 5.113 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8979
+t=74: Selected seed 195 with value = 0.8979
+Query 1/1: Action query time = 5.109 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 5.377 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.147 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.661 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.811 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.688 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.831 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.097 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.920 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.463 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.241 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.562 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s00/2026_08_02-02_24_30--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.770 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=10: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 3.652 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5474
+t=26: Selected seed 195 with value = 0.5474
+Query 1/1: Action query time = 4.480 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6847
+t=42: Selected seed 195 with value = 0.6847
+Query 1/1: Action query time = 4.689 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7909
+t=58: Selected seed 195 with value = 0.7909
+Query 1/1: Action query time = 4.739 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7804
+t=74: Selected seed 195 with value = 0.7804
+Query 1/1: Action query time = 4.689 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=90: Selected seed 195 with value = 0.9148
+Query 1/1: Action query time = 4.676 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=106: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 4.619 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.593 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.701 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.706 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.609 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.604 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.623 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.207 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.562 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=250: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 2.197 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=266: Selected seed 195 with value = 0.9564
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=282: Selected seed 195 with value = 0.9372
+Query 1/1: Action query time = 0.953 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8547
+t=298: Selected seed 195 with value = 0.8547
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s00/2026_08_02-02_24_30--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+Current task success rate: 0.25
+Current total success rate: 0.25
+Final results:
+Total episodes: 4
+Total successes: 1
+Overall success rate: 0.2500 (25.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3b3b939f1399b5bd5f56a6371904dea8fd020a3
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s05.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t2_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.727 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5129
+t=10: Selected seed 195 with value = 0.5129
+Query 1/1: Action query time = 5.720 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5888
+t=26: Selected seed 195 with value = 0.5888
+Query 1/1: Action query time = 5.744 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7142
+t=42: Selected seed 195 with value = 0.7142
+Query 1/1: Action query time = 5.046 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7671
+t=58: Selected seed 195 with value = 0.7671
+Query 1/1: Action query time = 4.726 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9251
+t=74: Selected seed 195 with value = 0.9251
+Query 1/1: Action query time = 5.188 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=90: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 5.068 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.117 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.503 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.958 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.675 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.678 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.546 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.098 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.777 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.610 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.027 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.441 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s05/2026_08_02-02_24_30--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.872 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5196
+t=10: Selected seed 195 with value = 0.5196
+Query 1/1: Action query time = 5.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6086
+t=26: Selected seed 195 with value = 0.6086
+Query 1/1: Action query time = 4.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7440
+t=42: Selected seed 195 with value = 0.7440
+Query 1/1: Action query time = 4.889 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8307
+t=58: Selected seed 195 with value = 0.8307
+Query 1/1: Action query time = 4.760 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=74: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 5.385 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.155 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.266 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.304 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.107 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.093 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.666 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.411 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.028 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.263 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.176 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.868 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.434 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.845 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s05/2026_08_02-02_24_30--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.108 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3924
+t=10: Selected seed 195 with value = 0.3924
+Query 1/1: Action query time = 5.014 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5065
+t=26: Selected seed 195 with value = 0.5065
+Query 1/1: Action query time = 4.931 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6016
+t=42: Selected seed 195 with value = 0.6016
+Query 1/1: Action query time = 4.653 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6927
+t=58: Selected seed 195 with value = 0.6927
+Query 1/1: Action query time = 4.256 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7671
+t=74: Selected seed 195 with value = 0.7671
+Query 1/1: Action query time = 4.365 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8987
+t=90: Selected seed 195 with value = 0.8987
+Query 1/1: Action query time = 4.364 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=106: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 4.454 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.495 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.452 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.427 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.384 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.381 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.387 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.340 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.366 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.602 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.825 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.067 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s05/2026_08_02-02_24_30--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..db26ea3563bec06e96e411a5a53cb7be19862d1d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s09.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t2_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5202
+t=10: Selected seed 195 with value = 0.5202
+Query 1/1: Action query time = 5.564 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5819
+t=26: Selected seed 195 with value = 0.5819
+Query 1/1: Action query time = 5.485 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7618
+t=42: Selected seed 195 with value = 0.7618
+Query 1/1: Action query time = 4.643 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8287
+t=58: Selected seed 195 with value = 0.8287
+Query 1/1: Action query time = 4.332 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9732
+t=74: Selected seed 195 with value = 0.9732
+Query 1/1: Action query time = 3.355 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.479 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.307 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.883 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.879 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.093 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.863 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.839 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.564 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.522 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.029 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.616 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.612 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.866 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s09/2026_08_02-02_24_31--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.603 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4993
+t=10: Selected seed 195 with value = 0.4993
+Query 1/1: Action query time = 3.910 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5650
+t=26: Selected seed 195 with value = 0.5650
+Query 1/1: Action query time = 4.157 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7380
+t=42: Selected seed 195 with value = 0.7380
+Query 1/1: Action query time = 5.507 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8514
+t=58: Selected seed 195 with value = 0.8514
+Query 1/1: Action query time = 3.877 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.609 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=90: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s09/2026_08_02-02_24_31--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.549 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=10: Selected seed 195 with value = 0.4838
+Query 1/1: Action query time = 4.807 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=26: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 4.782 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7352
+t=42: Selected seed 195 with value = 0.7352
+Query 1/1: Action query time = 4.633 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8167
+t=58: Selected seed 195 with value = 0.8167
+Query 1/1: Action query time = 4.432 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9217
+t=74: Selected seed 195 with value = 0.9217
+Query 1/1: Action query time = 4.907 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=90: Selected seed 195 with value = 0.9819
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s09/2026_08_02-02_24_31--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21d631b699dba50d45787f35cab66269eb1cfb95
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s10.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t2_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.934 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5133
+t=10: Selected seed 195 with value = 0.5133
+Query 1/1: Action query time = 4.711 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=26: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 5.649 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6957
+t=42: Selected seed 195 with value = 0.6957
+Query 1/1: Action query time = 5.587 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7822
+t=58: Selected seed 195 with value = 0.7822
+Query 1/1: Action query time = 5.219 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=74: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 4.462 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.067 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.924 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.009 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.856 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.160 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.887 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.257 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.125 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.393 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.104 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.167 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.471 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.507 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=298: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s10/2026_08_02-02_24_31--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.615 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4470
+t=10: Selected seed 195 with value = 0.4470
+Query 1/1: Action query time = 4.580 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5631
+t=26: Selected seed 195 with value = 0.5631
+Query 1/1: Action query time = 4.509 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6528
+t=42: Selected seed 195 with value = 0.6528
+Query 1/1: Action query time = 4.944 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=58: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 4.266 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=74: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 4.872 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=90: Selected seed 195 with value = 0.9901
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s10/2026_08_02-02_24_31--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.627 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5017
+t=10: Selected seed 195 with value = 0.5017
+Query 1/1: Action query time = 4.924 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5790
+t=26: Selected seed 195 with value = 0.5790
+Query 1/1: Action query time = 5.026 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=42: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 4.470 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7774
+t=58: Selected seed 195 with value = 0.7774
+Query 1/1: Action query time = 4.940 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7683
+t=74: Selected seed 195 with value = 0.7683
+Query 1/1: Action query time = 3.658 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.816 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.886 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.993 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.097 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.998 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.138 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.350 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.007 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.480 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=234: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 1.628 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=250: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 1.301 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=266: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 1.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=282: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 3.084 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=298: Selected seed 195 with value = 0.9507
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s10/2026_08_02-02_24_31--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24e0a1535975e18505e4b7ce63c1b71318277111
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s13.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t2_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.828 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5193
+t=10: Selected seed 195 with value = 0.5193
+Query 1/1: Action query time = 4.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5793
+t=26: Selected seed 195 with value = 0.5793
+Query 1/1: Action query time = 5.094 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8088
+t=42: Selected seed 195 with value = 0.8088
+Query 1/1: Action query time = 5.451 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6786
+t=58: Selected seed 195 with value = 0.6786
+Query 1/1: Action query time = 4.803 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7956
+t=74: Selected seed 195 with value = 0.7956
+Query 1/1: Action query time = 3.741 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8256
+t=90: Selected seed 195 with value = 0.8256
+Query 1/1: Action query time = 5.415 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=106: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 5.056 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.054 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.309 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.553 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.470 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.955 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.951 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.300 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.478 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=282: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 3.148 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9721
+t=298: Selected seed 195 with value = 0.9721
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s13/2026_08_02-02_24_31--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.653 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5093
+t=10: Selected seed 195 with value = 0.5093
+Query 1/1: Action query time = 5.117 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6132
+t=26: Selected seed 195 with value = 0.6132
+Query 1/1: Action query time = 3.904 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7292
+t=42: Selected seed 195 with value = 0.7292
+Query 1/1: Action query time = 5.357 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8049
+t=58: Selected seed 195 with value = 0.8049
+Query 1/1: Action query time = 4.754 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=74: Selected seed 195 with value = 0.9443
+Query 1/1: Action query time = 3.406 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=90: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 4.653 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.610 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.212 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.677 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.688 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.171 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.425 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.157 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.126 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.210 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.067 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=282: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 2.239 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9702
+t=298: Selected seed 195 with value = 0.9702
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s13/2026_08_02-02_24_31--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.695 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5315
+t=10: Selected seed 195 with value = 0.5315
+Query 1/1: Action query time = 2.134 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6077
+t=26: Selected seed 195 with value = 0.6077
+Query 1/1: Action query time = 1.552 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7128
+t=42: Selected seed 195 with value = 0.7128
+Query 1/1: Action query time = 1.776 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8150
+t=58: Selected seed 195 with value = 0.8150
+Query 1/1: Action query time = 2.158 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9523
+t=74: Selected seed 195 with value = 0.9523
+Query 1/1: Action query time = 1.207 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.039 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.340 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.246 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.042 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.406 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.034 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.217 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.398 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=266: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 1.029 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=282: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 1.474 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9181
+t=298: Selected seed 195 with value = 0.9181
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s13/2026_08_02-02_24_31--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_32--demochan400_t2_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_32--demochan400_t2_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7656e116b3344edc93deec280494d9d74603f729
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_32--demochan400_t2_s12.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t2_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.770 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4987
+t=10: Selected seed 195 with value = 0.4987
+Query 1/1: Action query time = 5.551 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5906
+t=26: Selected seed 195 with value = 0.5906
+Query 1/1: Action query time = 5.203 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6200
+t=42: Selected seed 195 with value = 0.6200
+Query 1/1: Action query time = 5.384 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7557
+t=58: Selected seed 195 with value = 0.7557
+Query 1/1: Action query time = 5.448 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8827
+t=74: Selected seed 195 with value = 0.8827
+Query 1/1: Action query time = 4.325 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=90: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 4.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.766 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.997 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.206 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.347 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.273 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.530 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.554 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.276 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.769 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.648 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.551 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.338 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s12/2026_08_02-02_24_32--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.655 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4498
+t=10: Selected seed 195 with value = 0.4498
+Query 1/1: Action query time = 5.559 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5103
+t=26: Selected seed 195 with value = 0.5103
+Query 1/1: Action query time = 3.887 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7295
+t=42: Selected seed 195 with value = 0.7295
+Query 1/1: Action query time = 5.265 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6401
+t=58: Selected seed 195 with value = 0.6401
+Query 1/1: Action query time = 5.010 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7832
+t=74: Selected seed 195 with value = 0.7832
+Query 1/1: Action query time = 3.924 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8210
+t=90: Selected seed 195 with value = 0.8210
+Query 1/1: Action query time = 5.142 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=106: Selected seed 195 with value = 0.9576
+Query 1/1: Action query time = 5.173 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=122: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 4.503 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=138: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 4.015 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.121 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.465 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.700 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.396 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.238 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.826 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.095 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.110 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.927 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s12/2026_08_02-02_24_32--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.835 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4964
+t=10: Selected seed 195 with value = 0.4964
+Query 1/1: Action query time = 3.016 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6127
+t=26: Selected seed 195 with value = 0.6127
+Query 1/1: Action query time = 2.171 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7089
+t=42: Selected seed 195 with value = 0.7089
+Query 1/1: Action query time = 1.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7470
+t=58: Selected seed 195 with value = 0.7470
+Query 1/1: Action query time = 1.621 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=74: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 1.695 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=90: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s12/2026_08_02-02_24_32--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..48637eef548f78226984b9d9df5a946b582fc708
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s07.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t3_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.950 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4007
+t=10: Selected seed 195 with value = 0.4007
+Query 1/1: Action query time = 5.514 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4644
+t=26: Selected seed 195 with value = 0.4644
+Query 1/1: Action query time = 4.547 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6414
+t=42: Selected seed 195 with value = 0.6414
+Query 1/1: Action query time = 4.596 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6465
+t=58: Selected seed 195 with value = 0.6465
+Query 1/1: Action query time = 5.517 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6588
+t=74: Selected seed 195 with value = 0.6588
+Query 1/1: Action query time = 5.073 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8722
+t=90: Selected seed 195 with value = 0.8722
+Query 1/1: Action query time = 5.554 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8689
+t=106: Selected seed 195 with value = 0.8689
+Query 1/1: Action query time = 5.691 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8688
+t=122: Selected seed 195 with value = 0.8688
+Query 1/1: Action query time = 4.262 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=138: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 4.021 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=154: Selected seed 195 with value = 0.9284
+Query 1/1: Action query time = 5.301 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9214
+t=170: Selected seed 195 with value = 0.9214
+Query 1/1: Action query time = 5.395 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9526
+t=186: Selected seed 195 with value = 0.9526
+Query 1/1: Action query time = 4.646 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9485
+t=202: Selected seed 195 with value = 0.9485
+Query 1/1: Action query time = 5.569 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=218: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 5.256 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=234: Selected seed 195 with value = 0.9599
+Query 1/1: Action query time = 4.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=250: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 5.461 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=266: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 3.759 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=282: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 1.037 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s07/2026_08_02-02_31_00--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.946 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4048
+t=10: Selected seed 195 with value = 0.4048
+Query 1/1: Action query time = 4.809 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5682
+t=26: Selected seed 195 with value = 0.5682
+Query 1/1: Action query time = 3.764 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=42: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 4.773 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6454
+t=58: Selected seed 195 with value = 0.6454
+Query 1/1: Action query time = 4.504 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6620
+t=74: Selected seed 195 with value = 0.6620
+Query 1/1: Action query time = 5.307 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=90: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 4.890 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=106: Selected seed 195 with value = 0.9595
+Query 1/1: Action query time = 5.317 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=122: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 4.578 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9423
+t=138: Selected seed 195 with value = 0.9423
+Query 1/1: Action query time = 4.691 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=154: Selected seed 195 with value = 0.9387
+Query 1/1: Action query time = 5.263 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9593
+t=170: Selected seed 195 with value = 0.9593
+Query 1/1: Action query time = 5.046 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=186: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 4.690 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=202: Selected seed 195 with value = 0.9372
+Query 1/1: Action query time = 4.912 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=218: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 5.181 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=234: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 5.047 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.900 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.758 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.578 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s07/2026_08_02-02_31_00--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.713 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3930
+t=10: Selected seed 195 with value = 0.3930
+Query 1/1: Action query time = 4.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5093
+t=26: Selected seed 195 with value = 0.5093
+Query 1/1: Action query time = 5.334 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6034
+t=42: Selected seed 195 with value = 0.6034
+Query 1/1: Action query time = 5.391 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6540
+t=58: Selected seed 195 with value = 0.6540
+Query 1/1: Action query time = 5.118 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7653
+t=74: Selected seed 195 with value = 0.7653
+Query 1/1: Action query time = 5.452 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6803
+t=90: Selected seed 195 with value = 0.6803
+Query 1/1: Action query time = 4.625 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8581
+t=106: Selected seed 195 with value = 0.8581
+Query 1/1: Action query time = 4.814 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=122: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 5.193 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=138: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 5.493 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=154: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 4.946 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=170: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 5.086 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=186: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 5.072 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.465 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.622 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.951 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.281 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.231 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.483 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s07/2026_08_02-02_31_00--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aa16cc35bf49cda851f337e82f7580e237713d1b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s09.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t3_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.686 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3727
+t=10: Selected seed 195 with value = 0.3727
+Query 1/1: Action query time = 4.694 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4851
+t=26: Selected seed 195 with value = 0.4851
+Query 1/1: Action query time = 5.091 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6205
+t=42: Selected seed 195 with value = 0.6205
+Query 1/1: Action query time = 5.072 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6816
+t=58: Selected seed 195 with value = 0.6816
+Query 1/1: Action query time = 3.890 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8148
+t=74: Selected seed 195 with value = 0.8148
+Query 1/1: Action query time = 4.717 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6541
+t=90: Selected seed 195 with value = 0.6541
+Query 1/1: Action query time = 4.823 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1567
+t=106: Selected seed 195 with value = 0.1567
+Query 1/1: Action query time = 4.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6618
+t=122: Selected seed 195 with value = 0.6618
+Query 1/1: Action query time = 5.071 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7876
+t=138: Selected seed 195 with value = 0.7876
+Query 1/1: Action query time = 4.203 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6172
+t=154: Selected seed 195 with value = 0.6172
+Query 1/1: Action query time = 4.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5893
+t=170: Selected seed 195 with value = 0.5893
+Query 1/1: Action query time = 5.886 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7199
+t=186: Selected seed 195 with value = 0.7199
+Query 1/1: Action query time = 4.673 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=202: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 4.499 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6417
+t=218: Selected seed 195 with value = 0.6417
+Query 1/1: Action query time = 4.809 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7131
+t=234: Selected seed 195 with value = 0.7131
+Query 1/1: Action query time = 4.922 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8288
+t=250: Selected seed 195 with value = 0.8288
+Query 1/1: Action query time = 5.536 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7374
+t=266: Selected seed 195 with value = 0.7374
+Query 1/1: Action query time = 5.334 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5980
+t=282: Selected seed 195 with value = 0.5980
+Query 1/1: Action query time = 4.121 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6364
+t=298: Selected seed 195 with value = 0.6364
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s09/2026_08_02-02_31_00--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 1.866 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3870
+t=10: Selected seed 195 with value = 0.3870
+Query 1/1: Action query time = 3.701 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5227
+t=26: Selected seed 195 with value = 0.5227
+Query 1/1: Action query time = 5.259 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6477
+t=42: Selected seed 195 with value = 0.6477
+Query 1/1: Action query time = 5.107 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=58: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 4.883 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7467
+t=74: Selected seed 195 with value = 0.7467
+Query 1/1: Action query time = 5.028 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6783
+t=90: Selected seed 195 with value = 0.6783
+Query 1/1: Action query time = 4.800 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7102
+t=106: Selected seed 195 with value = 0.7102
+Query 1/1: Action query time = 5.553 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8213
+t=122: Selected seed 195 with value = 0.8213
+Query 1/1: Action query time = 4.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=138: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 4.945 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7318
+t=154: Selected seed 195 with value = 0.7318
+Query 1/1: Action query time = 4.755 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8107
+t=170: Selected seed 195 with value = 0.8107
+Query 1/1: Action query time = 4.947 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8135
+t=186: Selected seed 195 with value = 0.8135
+Query 1/1: Action query time = 5.282 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8795
+t=202: Selected seed 195 with value = 0.8795
+Query 1/1: Action query time = 5.025 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7408
+t=218: Selected seed 195 with value = 0.7408
+Query 1/1: Action query time = 5.108 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9195
+t=234: Selected seed 195 with value = 0.9195
+Query 1/1: Action query time = 4.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9441
+t=250: Selected seed 195 with value = 0.9441
+Query 1/1: Action query time = 4.814 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=266: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 4.560 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=282: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 3.477 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=298: Selected seed 195 with value = 0.9807
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s09/2026_08_02-02_31_00--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 2.788 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4085
+t=10: Selected seed 195 with value = 0.4085
+Query 1/1: Action query time = 1.663 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6816
+t=26: Selected seed 195 with value = 0.6816
+Query 1/1: Action query time = 2.314 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6665
+t=42: Selected seed 195 with value = 0.6665
+Query 1/1: Action query time = 2.777 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6302
+t=58: Selected seed 195 with value = 0.6302
+Query 1/1: Action query time = 3.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6141
+t=74: Selected seed 195 with value = 0.6141
+Query 1/1: Action query time = 5.460 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5841
+t=90: Selected seed 195 with value = 0.5841
+Query 1/1: Action query time = 5.386 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6098
+t=106: Selected seed 195 with value = 0.6098
+Query 1/1: Action query time = 4.685 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5782
+t=122: Selected seed 195 with value = 0.5782
+Query 1/1: Action query time = 4.490 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7046
+t=138: Selected seed 195 with value = 0.7046
+Query 1/1: Action query time = 5.357 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6308
+t=154: Selected seed 195 with value = 0.6308
+Query 1/1: Action query time = 4.860 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6480
+t=170: Selected seed 195 with value = 0.6480
+Query 1/1: Action query time = 4.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=186: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 4.915 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=202: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 4.543 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8092
+t=218: Selected seed 195 with value = 0.8092
+Query 1/1: Action query time = 5.384 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7484
+t=234: Selected seed 195 with value = 0.7484
+Query 1/1: Action query time = 4.940 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8232
+t=250: Selected seed 195 with value = 0.8232
+Query 1/1: Action query time = 4.582 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9212
+t=266: Selected seed 195 with value = 0.9212
+Query 1/1: Action query time = 4.716 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=282: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 5.353 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=298: Selected seed 195 with value = 0.9815
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s09/2026_08_02-02_31_00--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e4fd0f5e7862f1928b6232fab33e50dd6290d5a8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s10.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t3_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.237 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4424
+t=10: Selected seed 195 with value = 0.4424
+Query 1/1: Action query time = 5.108 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6223
+t=26: Selected seed 195 with value = 0.6223
+Query 1/1: Action query time = 4.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=42: Selected seed 195 with value = 0.6627
+Query 1/1: Action query time = 3.740 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=58: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 4.436 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6205
+t=74: Selected seed 195 with value = 0.6205
+Query 1/1: Action query time = 4.703 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5813
+t=90: Selected seed 195 with value = 0.5813
+Query 1/1: Action query time = 5.762 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=106: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 5.270 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8825
+t=122: Selected seed 195 with value = 0.8825
+Query 1/1: Action query time = 4.932 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7855
+t=138: Selected seed 195 with value = 0.7855
+Query 1/1: Action query time = 4.796 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9235
+t=154: Selected seed 195 with value = 0.9235
+Query 1/1: Action query time = 5.401 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7557
+t=170: Selected seed 195 with value = 0.7557
+Query 1/1: Action query time = 4.088 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=186: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 4.940 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8304
+t=202: Selected seed 195 with value = 0.8304
+Query 1/1: Action query time = 5.351 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9702
+t=218: Selected seed 195 with value = 0.9702
+Query 1/1: Action query time = 5.433 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=234: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 5.614 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=250: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 5.478 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=266: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 4.557 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8347
+t=282: Selected seed 195 with value = 0.8347
+Query 1/1: Action query time = 2.019 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9220
+t=298: Selected seed 195 with value = 0.9220
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s10/2026_08_02-02_31_00--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.466 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4177
+t=10: Selected seed 195 with value = 0.4177
+Query 1/1: Action query time = 4.750 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5007
+t=26: Selected seed 195 with value = 0.5007
+Query 1/1: Action query time = 4.208 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6127
+t=42: Selected seed 195 with value = 0.6127
+Query 1/1: Action query time = 4.587 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6460
+t=58: Selected seed 195 with value = 0.6460
+Query 1/1: Action query time = 5.411 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6379
+t=74: Selected seed 195 with value = 0.6379
+Query 1/1: Action query time = 4.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7751
+t=90: Selected seed 195 with value = 0.7751
+Query 1/1: Action query time = 4.650 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9025
+t=106: Selected seed 195 with value = 0.9025
+Query 1/1: Action query time = 4.677 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8597
+t=122: Selected seed 195 with value = 0.8597
+Query 1/1: Action query time = 4.944 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7831
+t=138: Selected seed 195 with value = 0.7831
+Query 1/1: Action query time = 5.034 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8213
+t=154: Selected seed 195 with value = 0.8213
+Query 1/1: Action query time = 4.763 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8762
+t=170: Selected seed 195 with value = 0.8762
+Query 1/1: Action query time = 4.561 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9029
+t=186: Selected seed 195 with value = 0.9029
+Query 1/1: Action query time = 4.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8947
+t=202: Selected seed 195 with value = 0.8947
+Query 1/1: Action query time = 5.046 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8864
+t=218: Selected seed 195 with value = 0.8864
+Query 1/1: Action query time = 5.027 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=234: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 4.848 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9583
+t=250: Selected seed 195 with value = 0.9583
+Query 1/1: Action query time = 4.247 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=266: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 3.675 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=282: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 3.946 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9678
+t=298: Selected seed 195 with value = 0.9678
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s10/2026_08_02-02_31_00--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.380 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3909
+t=10: Selected seed 195 with value = 0.3909
+Query 1/1: Action query time = 5.520 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=26: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 5.640 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6556
+t=42: Selected seed 195 with value = 0.6556
+Query 1/1: Action query time = 5.338 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=58: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 4.859 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7147
+t=74: Selected seed 195 with value = 0.7147
+Query 1/1: Action query time = 5.426 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6649
+t=90: Selected seed 195 with value = 0.6649
+Query 1/1: Action query time = 5.333 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6961
+t=106: Selected seed 195 with value = 0.6961
+Query 1/1: Action query time = 5.403 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6961
+t=122: Selected seed 195 with value = 0.6961
+Query 1/1: Action query time = 5.156 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9059
+t=138: Selected seed 195 with value = 0.9059
+Query 1/1: Action query time = 4.922 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=154: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 5.098 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=170: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 5.254 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=186: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 5.308 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=202: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 4.600 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=218: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 4.147 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=234: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 3.881 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=250: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 3.233 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=266: Selected seed 195 with value = 0.9749
+Query 1/1: Action query time = 2.777 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=282: Selected seed 195 with value = 0.9576
+Query 1/1: Action query time = 2.373 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8082
+t=298: Selected seed 195 with value = 0.8082
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s10/2026_08_02-02_31_00--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..075c3a62722ec741d1a6259366d070ae2069dd8b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s12.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t3_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.157 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3995
+t=10: Selected seed 195 with value = 0.3995
+Query 1/1: Action query time = 4.617 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6295
+t=26: Selected seed 195 with value = 0.6295
+Query 1/1: Action query time = 5.080 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6095
+t=42: Selected seed 195 with value = 0.6095
+Query 1/1: Action query time = 5.360 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6410
+t=58: Selected seed 195 with value = 0.6410
+Query 1/1: Action query time = 5.478 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6065
+t=74: Selected seed 195 with value = 0.6065
+Query 1/1: Action query time = 5.009 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5356
+t=90: Selected seed 195 with value = 0.5356
+Query 1/1: Action query time = 4.730 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5838
+t=106: Selected seed 195 with value = 0.5838
+Query 1/1: Action query time = 4.606 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6369
+t=122: Selected seed 195 with value = 0.6369
+Query 1/1: Action query time = 5.141 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6195
+t=138: Selected seed 195 with value = 0.6195
+Query 1/1: Action query time = 5.329 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7808
+t=154: Selected seed 195 with value = 0.7808
+Query 1/1: Action query time = 3.295 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7981
+t=170: Selected seed 195 with value = 0.7981
+Query 1/1: Action query time = 4.946 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9472
+t=186: Selected seed 195 with value = 0.9472
+Query 1/1: Action query time = 5.468 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=202: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 4.990 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=218: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 4.901 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=234: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 5.112 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=250: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 4.323 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=266: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 4.585 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=282: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 4.248 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=298: Selected seed 195 with value = 0.9886
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s12/2026_08_02-02_31_00--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.484 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3947
+t=10: Selected seed 195 with value = 0.3947
+Query 1/1: Action query time = 5.391 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4763
+t=26: Selected seed 195 with value = 0.4763
+Query 1/1: Action query time = 4.705 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6320
+t=42: Selected seed 195 with value = 0.6320
+Query 1/1: Action query time = 4.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6601
+t=58: Selected seed 195 with value = 0.6601
+Query 1/1: Action query time = 5.518 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6524
+t=74: Selected seed 195 with value = 0.6524
+Query 1/1: Action query time = 5.150 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7966
+t=90: Selected seed 195 with value = 0.7966
+Query 1/1: Action query time = 5.013 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=106: Selected seed 195 with value = 0.9136
+Query 1/1: Action query time = 4.657 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8831
+t=122: Selected seed 195 with value = 0.8831
+Query 1/1: Action query time = 4.892 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9441
+t=138: Selected seed 195 with value = 0.9441
+Query 1/1: Action query time = 5.214 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=154: Selected seed 195 with value = 0.9666
+Query 1/1: Action query time = 5.502 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=170: Selected seed 195 with value = 0.9459
+Query 1/1: Action query time = 4.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=186: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 5.132 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=202: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 5.234 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=218: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 5.321 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=234: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 4.953 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=250: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 5.035 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7433
+t=266: Selected seed 195 with value = 0.7433
+Query 1/1: Action query time = 4.653 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8042
+t=282: Selected seed 195 with value = 0.8042
+Query 1/1: Action query time = 3.177 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8957
+t=298: Selected seed 195 with value = 0.8957
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s12/2026_08_02-02_31_00--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.609 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3987
+t=10: Selected seed 195 with value = 0.3987
+Query 1/1: Action query time = 4.740 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4841
+t=26: Selected seed 195 with value = 0.4841
+Query 1/1: Action query time = 5.065 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6242
+t=42: Selected seed 195 with value = 0.6242
+Query 1/1: Action query time = 5.134 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6359
+t=58: Selected seed 195 with value = 0.6359
+Query 1/1: Action query time = 5.450 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=74: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 5.059 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7254
+t=90: Selected seed 195 with value = 0.7254
+Query 1/1: Action query time = 5.434 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=106: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 5.217 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6596
+t=122: Selected seed 195 with value = 0.6596
+Query 1/1: Action query time = 4.855 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8261
+t=138: Selected seed 195 with value = 0.8261
+Query 1/1: Action query time = 4.919 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8651
+t=154: Selected seed 195 with value = 0.8651
+Query 1/1: Action query time = 5.515 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=170: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 5.204 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9368
+t=186: Selected seed 195 with value = 0.9368
+Query 1/1: Action query time = 4.519 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=202: Selected seed 195 with value = 0.9301
+Query 1/1: Action query time = 4.381 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9579
+t=218: Selected seed 195 with value = 0.9579
+Query 1/1: Action query time = 3.565 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=234: Selected seed 195 with value = 0.9620
+Query 1/1: Action query time = 3.512 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=250: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 3.091 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=266: Selected seed 195 with value = 0.9518
+Query 1/1: Action query time = 3.012 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=282: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 1.248 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=298: Selected seed 195 with value = 0.9686
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s12/2026_08_02-02_31_00--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_01--demochan400_t3_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_01--demochan400_t3_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d4369f27df724396e9f448803967dffaf565fa7f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_01--demochan400_t3_s14.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t3_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.114 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4196
+t=10: Selected seed 195 with value = 0.4196
+Query 1/1: Action query time = 4.641 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6928
+t=26: Selected seed 195 with value = 0.6928
+Query 1/1: Action query time = 4.798 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6620
+t=42: Selected seed 195 with value = 0.6620
+Query 1/1: Action query time = 5.391 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6270
+t=58: Selected seed 195 with value = 0.6270
+Query 1/1: Action query time = 5.650 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6893
+t=74: Selected seed 195 with value = 0.6893
+Query 1/1: Action query time = 5.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6159
+t=90: Selected seed 195 with value = 0.6159
+Query 1/1: Action query time = 4.823 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5851
+t=106: Selected seed 195 with value = 0.5851
+Query 1/1: Action query time = 4.915 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7503
+t=122: Selected seed 195 with value = 0.7503
+Query 1/1: Action query time = 5.265 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=138: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 5.521 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9279
+t=154: Selected seed 195 with value = 0.9279
+Query 1/1: Action query time = 4.335 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7682
+t=170: Selected seed 195 with value = 0.7682
+Query 1/1: Action query time = 4.084 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7627
+t=186: Selected seed 195 with value = 0.7627
+Query 1/1: Action query time = 5.226 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9171
+t=202: Selected seed 195 with value = 0.9171
+Query 1/1: Action query time = 4.753 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9213
+t=218: Selected seed 195 with value = 0.9213
+Query 1/1: Action query time = 4.779 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7743
+t=234: Selected seed 195 with value = 0.7743
+Query 1/1: Action query time = 4.899 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=250: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 4.451 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9015
+t=266: Selected seed 195 with value = 0.9015
+Query 1/1: Action query time = 4.996 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9224
+t=282: Selected seed 195 with value = 0.9224
+Query 1/1: Action query time = 4.421 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8007
+t=298: Selected seed 195 with value = 0.8007
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s14/2026_08_02-02_31_01--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.630 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4073
+t=10: Selected seed 195 with value = 0.4073
+Query 1/1: Action query time = 5.255 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5418
+t=26: Selected seed 195 with value = 0.5418
+Query 1/1: Action query time = 4.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6576
+t=42: Selected seed 195 with value = 0.6576
+Query 1/1: Action query time = 5.487 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6469
+t=58: Selected seed 195 with value = 0.6469
+Query 1/1: Action query time = 4.836 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6033
+t=74: Selected seed 195 with value = 0.6033
+Query 1/1: Action query time = 4.643 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6177
+t=90: Selected seed 195 with value = 0.6177
+Query 1/1: Action query time = 5.367 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6694
+t=106: Selected seed 195 with value = 0.6694
+Query 1/1: Action query time = 4.662 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6861
+t=122: Selected seed 195 with value = 0.6861
+Query 1/1: Action query time = 5.130 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9299
+t=138: Selected seed 195 with value = 0.9299
+Query 1/1: Action query time = 4.854 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9084
+t=154: Selected seed 195 with value = 0.9084
+Query 1/1: Action query time = 5.025 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9261
+t=170: Selected seed 195 with value = 0.9261
+Query 1/1: Action query time = 5.420 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=186: Selected seed 195 with value = 0.9297
+Query 1/1: Action query time = 5.390 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=202: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 4.927 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=218: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 4.868 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=234: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 5.106 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=250: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 4.832 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=266: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 4.907 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=282: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 3.526 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=298: Selected seed 195 with value = 0.9835
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s14/2026_08_02-02_31_01--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 1.933 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3829
+t=10: Selected seed 195 with value = 0.3829
+Query 1/1: Action query time = 2.885 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=26: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 2.889 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=42: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 5.270 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8108
+t=58: Selected seed 195 with value = 0.8108
+Query 1/1: Action query time = 5.622 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8839
+t=74: Selected seed 195 with value = 0.8839
+Query 1/1: Action query time = 5.102 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6412
+t=90: Selected seed 195 with value = 0.6412
+Query 1/1: Action query time = 4.820 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7518
+t=106: Selected seed 195 with value = 0.7518
+Query 1/1: Action query time = 5.339 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6923
+t=122: Selected seed 195 with value = 0.6923
+Query 1/1: Action query time = 5.202 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8579
+t=138: Selected seed 195 with value = 0.8579
+Query 1/1: Action query time = 5.328 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8176
+t=154: Selected seed 195 with value = 0.8176
+Query 1/1: Action query time = 5.112 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8947
+t=170: Selected seed 195 with value = 0.8947
+Query 1/1: Action query time = 4.951 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9408
+t=186: Selected seed 195 with value = 0.9408
+Query 1/1: Action query time = 4.862 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=202: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 5.545 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=218: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 5.217 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.240 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.606 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.043 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.764 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s14/2026_08_02-02_31_01--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_50--demochan400_t4_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_50--demochan400_t4_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..945f5608d4681dd80802b0af1e137d7491f54597
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_50--demochan400_t4_s00.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t4_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.684 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5038
+t=10: Selected seed 195 with value = 0.5038
+Query 1/1: Action query time = 2.159 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6252
+t=26: Selected seed 195 with value = 0.6252
+Query 1/1: Action query time = 4.687 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7074
+t=42: Selected seed 195 with value = 0.7074
+Query 1/1: Action query time = 4.833 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8131
+t=58: Selected seed 195 with value = 0.8131
+Query 1/1: Action query time = 5.333 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=74: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 5.066 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=90: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s00/2026_08_02-02_37_50--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.495 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5299
+t=10: Selected seed 195 with value = 0.5299
+Query 1/1: Action query time = 4.554 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5904
+t=26: Selected seed 195 with value = 0.5904
+Query 1/1: Action query time = 4.187 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6987
+t=42: Selected seed 195 with value = 0.6987
+Query 1/1: Action query time = 4.078 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7908
+t=58: Selected seed 195 with value = 0.7908
+Query 1/1: Action query time = 4.517 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9245
+t=74: Selected seed 195 with value = 0.9245
+Query 1/1: Action query time = 5.333 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=90: Selected seed 195 with value = 0.9639
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s00/2026_08_02-02_37_50--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.658 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5295
+t=10: Selected seed 195 with value = 0.5295
+Query 1/1: Action query time = 3.505 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6053
+t=26: Selected seed 195 with value = 0.6053
+Query 1/1: Action query time = 3.912 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6520
+t=42: Selected seed 195 with value = 0.6520
+Query 1/1: Action query time = 3.388 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7903
+t=58: Selected seed 195 with value = 0.7903
+Query 1/1: Action query time = 4.649 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9432
+t=74: Selected seed 195 with value = 0.9432
+Query 1/1: Action query time = 5.160 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=90: Selected seed 195 with value = 0.9789
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s00/2026_08_02-02_37_50--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.279 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4868
+t=10: Selected seed 195 with value = 0.4868
+Query 1/1: Action query time = 3.338 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5821
+t=26: Selected seed 195 with value = 0.5821
+Query 1/1: Action query time = 2.919 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6587
+t=42: Selected seed 195 with value = 0.6587
+Query 1/1: Action query time = 2.503 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7604
+t=58: Selected seed 195 with value = 0.7604
+Query 1/1: Action query time = 1.884 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9404
+t=74: Selected seed 195 with value = 0.9404
+Query 1/1: Action query time = 1.920 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=90: Selected seed 195 with value = 0.9950
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s00/2026_08_02-02_37_50--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_51--demochan400_t4_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_51--demochan400_t4_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc6668b961fda7a12a9b153267b725902ab4ee1c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_51--demochan400_t4_s08.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t4_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.076 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5310
+t=10: Selected seed 195 with value = 0.5310
+Query 1/1: Action query time = 3.625 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5865
+t=26: Selected seed 195 with value = 0.5865
+Query 1/1: Action query time = 4.382 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6776
+t=42: Selected seed 195 with value = 0.6776
+Query 1/1: Action query time = 4.788 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=58: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 4.524 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=74: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 4.800 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=90: Selected seed 195 with value = 0.9857
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s08/2026_08_02-02_37_51--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.357 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5253
+t=10: Selected seed 195 with value = 0.5253
+Query 1/1: Action query time = 2.278 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6157
+t=26: Selected seed 195 with value = 0.6157
+Query 1/1: Action query time = 3.484 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6894
+t=42: Selected seed 195 with value = 0.6894
+Query 1/1: Action query time = 6.174 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7927
+t=58: Selected seed 195 with value = 0.7927
+Query 1/1: Action query time = 4.155 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9442
+t=74: Selected seed 195 with value = 0.9442
+Query 1/1: Action query time = 4.369 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=90: Selected seed 195 with value = 0.9848
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s08/2026_08_02-02_37_51--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.782 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4979
+t=10: Selected seed 195 with value = 0.4979
+Query 1/1: Action query time = 4.741 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5759
+t=26: Selected seed 195 with value = 0.5759
+Query 1/1: Action query time = 2.310 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6699
+t=42: Selected seed 195 with value = 0.6699
+Query 1/1: Action query time = 3.513 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8200
+t=58: Selected seed 195 with value = 0.8200
+Query 1/1: Action query time = 4.936 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=74: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 4.734 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s08/2026_08_02-02_37_51--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_51--demochan400_t4_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_51--demochan400_t4_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a260d63b60ef49421266c7b44ec598b56d1174ae
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_51--demochan400_t4_s09.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t4_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.051 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4988
+t=10: Selected seed 195 with value = 0.4988
+Query 1/1: Action query time = 5.043 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5744
+t=26: Selected seed 195 with value = 0.5744
+Query 1/1: Action query time = 5.819 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7137
+t=42: Selected seed 195 with value = 0.7137
+Query 1/1: Action query time = 5.245 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7909
+t=58: Selected seed 195 with value = 0.7909
+Query 1/1: Action query time = 4.560 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9540
+t=74: Selected seed 195 with value = 0.9540
+Query 1/1: Action query time = 4.420 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=90: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s09/2026_08_02-02_37_51--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.587 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4861
+t=10: Selected seed 195 with value = 0.4861
+Query 1/1: Action query time = 6.457 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5959
+t=26: Selected seed 195 with value = 0.5959
+Query 1/1: Action query time = 5.004 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=42: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 4.234 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8005
+t=58: Selected seed 195 with value = 0.8005
+Query 1/1: Action query time = 3.812 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=74: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 4.690 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s09/2026_08_02-02_37_51--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.430 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5249
+t=10: Selected seed 195 with value = 0.5249
+Query 1/1: Action query time = 3.823 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5908
+t=26: Selected seed 195 with value = 0.5908
+Query 1/1: Action query time = 4.914 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6546
+t=42: Selected seed 195 with value = 0.6546
+Query 1/1: Action query time = 4.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7698
+t=58: Selected seed 195 with value = 0.7698
+Query 1/1: Action query time = 3.723 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9348
+t=74: Selected seed 195 with value = 0.9348
+Query 1/1: Action query time = 3.322 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=90: Selected seed 195 with value = 0.9713
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s09/2026_08_02-02_37_51--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ec46e4c859a7d69ca1c89f710de6b6e0af284e5a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s02.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t4_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.288 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5172
+t=10: Selected seed 195 with value = 0.5172
+Query 1/1: Action query time = 5.249 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5923
+t=26: Selected seed 195 with value = 0.5923
+Query 1/1: Action query time = 4.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6658
+t=42: Selected seed 195 with value = 0.6658
+Query 1/1: Action query time = 4.688 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=58: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 4.490 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9481
+t=74: Selected seed 195 with value = 0.9481
+Query 1/1: Action query time = 4.591 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=90: Selected seed 195 with value = 0.9962
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s02/2026_08_02-02_37_52--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.453 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4847
+t=10: Selected seed 195 with value = 0.4847
+Query 1/1: Action query time = 4.690 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5547
+t=26: Selected seed 195 with value = 0.5547
+Query 1/1: Action query time = 5.095 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6490
+t=42: Selected seed 195 with value = 0.6490
+Query 1/1: Action query time = 4.508 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7417
+t=58: Selected seed 195 with value = 0.7417
+Query 1/1: Action query time = 3.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9214
+t=74: Selected seed 195 with value = 0.9214
+Query 1/1: Action query time = 4.255 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s02/2026_08_02-02_37_52--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.540 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=10: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 5.158 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=26: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 4.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6944
+t=42: Selected seed 195 with value = 0.6944
+Query 1/1: Action query time = 4.306 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7862
+t=58: Selected seed 195 with value = 0.7862
+Query 1/1: Action query time = 4.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9175
+t=74: Selected seed 195 with value = 0.9175
+Query 1/1: Action query time = 2.737 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s02/2026_08_02-02_37_52--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..637fb5032b4e8ca7ea94f559f5eb322093a57875
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s11.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t4_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.090 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4921
+t=10: Selected seed 195 with value = 0.4921
+Query 1/1: Action query time = 4.826 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5855
+t=26: Selected seed 195 with value = 0.5855
+Query 1/1: Action query time = 4.349 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6605
+t=42: Selected seed 195 with value = 0.6605
+Query 1/1: Action query time = 5.123 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7687
+t=58: Selected seed 195 with value = 0.7687
+Query 1/1: Action query time = 3.942 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=74: Selected seed 195 with value = 0.9258
+Query 1/1: Action query time = 3.790 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s11/2026_08_02-02_37_52--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.106 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5204
+t=10: Selected seed 195 with value = 0.5204
+Query 1/1: Action query time = 3.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=26: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 4.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6703
+t=42: Selected seed 195 with value = 0.6703
+Query 1/1: Action query time = 4.609 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7890
+t=58: Selected seed 195 with value = 0.7890
+Query 1/1: Action query time = 4.529 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=74: Selected seed 195 with value = 0.9576
+Query 1/1: Action query time = 4.338 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=90: Selected seed 195 with value = 0.9975
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s11/2026_08_02-02_37_52--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.853 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4807
+t=10: Selected seed 195 with value = 0.4807
+Query 1/1: Action query time = 5.466 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5866
+t=26: Selected seed 195 with value = 0.5866
+Query 1/1: Action query time = 4.697 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6588
+t=42: Selected seed 195 with value = 0.6588
+Query 1/1: Action query time = 4.014 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7709
+t=58: Selected seed 195 with value = 0.7709
+Query 1/1: Action query time = 3.402 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9294
+t=74: Selected seed 195 with value = 0.9294
+Query 1/1: Action query time = 2.495 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s11/2026_08_02-02_37_52--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_38--demochan400_t5_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_38--demochan400_t5_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d63061f96c6025c073cdbbb502449e3e7ed9154
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_38--demochan400_t5_s01.txt
@@ -0,0 +1,220 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t5_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.097 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3257
+t=10: Selected seed 195 with value = 0.3257
+Query 1/1: Action query time = 5.384 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3794
+t=26: Selected seed 195 with value = 0.3794
+Query 1/1: Action query time = 5.312 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4664
+t=42: Selected seed 195 with value = 0.4664
+Query 1/1: Action query time = 5.217 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5259
+t=58: Selected seed 195 with value = 0.5259
+Query 1/1: Action query time = 4.756 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5983
+t=74: Selected seed 195 with value = 0.5983
+Query 1/1: Action query time = 5.284 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6738
+t=90: Selected seed 195 with value = 0.6738
+Query 1/1: Action query time = 4.881 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8398
+t=106: Selected seed 195 with value = 0.8398
+Query 1/1: Action query time = 4.492 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=122: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 3.677 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7790
+t=138: Selected seed 195 with value = 0.7790
+Query 1/1: Action query time = 4.093 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=154: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 5.305 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=170: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 4.898 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.742 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.022 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.360 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.834 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=250: Selected seed 195 with value = 0.9722
+Query 1/1: Action query time = 3.800 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=266: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 3.859 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8560
+t=282: Selected seed 195 with value = 0.8560
+Query 1/1: Action query time = 2.407 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7567
+t=298: Selected seed 195 with value = 0.7567
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s01/2026_08_02-02_40_38--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.525 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3231
+t=10: Selected seed 195 with value = 0.3231
+Query 1/1: Action query time = 4.486 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3926
+t=26: Selected seed 195 with value = 0.3926
+Query 1/1: Action query time = 4.482 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4915
+t=42: Selected seed 195 with value = 0.4915
+Query 1/1: Action query time = 4.761 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5263
+t=58: Selected seed 195 with value = 0.5263
+Query 1/1: Action query time = 5.105 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6089
+t=74: Selected seed 195 with value = 0.6089
+Query 1/1: Action query time = 5.751 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7038
+t=90: Selected seed 195 with value = 0.7038
+Query 1/1: Action query time = 4.797 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8718
+t=106: Selected seed 195 with value = 0.8718
+Query 1/1: Action query time = 1.689 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=122: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 1.809 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=138: Selected seed 195 with value = 0.9963
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s01/2026_08_02-02_40_38--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.116 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2928
+t=10: Selected seed 195 with value = 0.2928
+Query 1/1: Action query time = 2.583 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3857
+t=26: Selected seed 195 with value = 0.3857
+Query 1/1: Action query time = 2.911 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4563
+t=42: Selected seed 195 with value = 0.4563
+Query 1/1: Action query time = 3.170 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5203
+t=58: Selected seed 195 with value = 0.5203
+Query 1/1: Action query time = 2.860 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6224
+t=74: Selected seed 195 with value = 0.6224
+Query 1/1: Action query time = 2.595 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7644
+t=90: Selected seed 195 with value = 0.7644
+Query 1/1: Action query time = 2.451 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=106: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 2.427 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=122: Selected seed 195 with value = 0.9876
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s01/2026_08_02-02_40_38--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.949 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3347
+t=10: Selected seed 195 with value = 0.3347
+Query 1/1: Action query time = 2.340 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3857
+t=26: Selected seed 195 with value = 0.3857
+Query 1/1: Action query time = 2.343 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4635
+t=42: Selected seed 195 with value = 0.4635
+Query 1/1: Action query time = 2.403 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5315
+t=58: Selected seed 195 with value = 0.5315
+Query 1/1: Action query time = 2.419 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6443
+t=74: Selected seed 195 with value = 0.6443
+Query 1/1: Action query time = 2.381 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=90: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 2.212 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7780
+t=106: Selected seed 195 with value = 0.7780
+Query 1/1: Action query time = 1.870 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=122: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 1.187 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=138: Selected seed 195 with value = 0.9756
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s01/2026_08_02-02_40_38--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..939d10797f3cb33eb791a2e0c44118891ea65945
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s08.txt
@@ -0,0 +1,181 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t5_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.743 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3594
+t=10: Selected seed 195 with value = 0.3594
+Query 1/1: Action query time = 4.836 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3818
+t=26: Selected seed 195 with value = 0.3818
+Query 1/1: Action query time = 4.938 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4572
+t=42: Selected seed 195 with value = 0.4572
+Query 1/1: Action query time = 4.928 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5080
+t=58: Selected seed 195 with value = 0.5080
+Query 1/1: Action query time = 4.446 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6151
+t=74: Selected seed 195 with value = 0.6151
+Query 1/1: Action query time = 4.589 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6870
+t=90: Selected seed 195 with value = 0.6870
+Query 1/1: Action query time = 4.401 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8957
+t=106: Selected seed 195 with value = 0.8957
+Query 1/1: Action query time = 5.364 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=122: Selected seed 195 with value = 0.9504
+Query 1/1: Action query time = 5.608 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7669
+t=138: Selected seed 195 with value = 0.7669
+Query 1/1: Action query time = 2.723 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7350
+t=154: Selected seed 195 with value = 0.7350
+Query 1/1: Action query time = 3.550 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7562
+t=170: Selected seed 195 with value = 0.7562
+Query 1/1: Action query time = 5.510 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7404
+t=186: Selected seed 195 with value = 0.7404
+Query 1/1: Action query time = 5.174 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9213
+t=202: Selected seed 195 with value = 0.9213
+Query 1/1: Action query time = 4.803 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8118
+t=218: Selected seed 195 with value = 0.8118
+Query 1/1: Action query time = 5.184 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8655
+t=234: Selected seed 195 with value = 0.8655
+Query 1/1: Action query time = 5.038 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7430
+t=250: Selected seed 195 with value = 0.7430
+Query 1/1: Action query time = 4.783 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8353
+t=266: Selected seed 195 with value = 0.8353
+Query 1/1: Action query time = 4.701 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8304
+t=282: Selected seed 195 with value = 0.8304
+Query 1/1: Action query time = 4.822 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8003
+t=298: Selected seed 195 with value = 0.8003
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s08/2026_08_02-02_40_39--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.663 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3587
+t=10: Selected seed 195 with value = 0.3587
+Query 1/1: Action query time = 4.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4011
+t=26: Selected seed 195 with value = 0.4011
+Query 1/1: Action query time = 5.067 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4885
+t=42: Selected seed 195 with value = 0.4885
+Query 1/1: Action query time = 4.273 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5705
+t=58: Selected seed 195 with value = 0.5705
+Query 1/1: Action query time = 4.578 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6569
+t=74: Selected seed 195 with value = 0.6569
+Query 1/1: Action query time = 3.678 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7618
+t=90: Selected seed 195 with value = 0.7618
+Query 1/1: Action query time = 5.105 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8414
+t=106: Selected seed 195 with value = 0.8414
+Query 1/1: Action query time = 4.890 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=122: Selected seed 195 with value = 0.9693
+Query 1/1: Action query time = 4.669 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=138: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s08/2026_08_02-02_40_39--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.279 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3237
+t=10: Selected seed 195 with value = 0.3237
+Query 1/1: Action query time = 2.488 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3969
+t=26: Selected seed 195 with value = 0.3969
+Query 1/1: Action query time = 2.318 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4886
+t=42: Selected seed 195 with value = 0.4886
+Query 1/1: Action query time = 1.920 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5296
+t=58: Selected seed 195 with value = 0.5296
+Query 1/1: Action query time = 1.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6214
+t=74: Selected seed 195 with value = 0.6214
+Query 1/1: Action query time = 1.262 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7135
+t=90: Selected seed 195 with value = 0.7135
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8982
+t=106: Selected seed 195 with value = 0.8982
+Query 1/1: Action query time = 1.205 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9747
+t=122: Selected seed 195 with value = 0.9747
+Query 1/1: Action query time = 1.282 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=138: Selected seed 195 with value = 0.9816
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s08/2026_08_02-02_40_39--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..feab3defc79964eecc58bb5b2896ece30eafa41e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s11.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t5_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.266 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3463
+t=10: Selected seed 195 with value = 0.3463
+Query 1/1: Action query time = 5.142 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3983
+t=26: Selected seed 195 with value = 0.3983
+Query 1/1: Action query time = 3.827 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4922
+t=42: Selected seed 195 with value = 0.4922
+Query 1/1: Action query time = 5.078 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5614
+t=58: Selected seed 195 with value = 0.5614
+Query 1/1: Action query time = 5.248 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6261
+t=74: Selected seed 195 with value = 0.6261
+Query 1/1: Action query time = 5.101 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6670
+t=90: Selected seed 195 with value = 0.6670
+Query 1/1: Action query time = 4.322 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=106: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 4.246 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=122: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 4.935 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=138: Selected seed 195 with value = 0.9853
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s11/2026_08_02-02_40_39--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.506 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3389
+t=10: Selected seed 195 with value = 0.3389
+Query 1/1: Action query time = 5.175 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3905
+t=26: Selected seed 195 with value = 0.3905
+Query 1/1: Action query time = 4.747 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4712
+t=42: Selected seed 195 with value = 0.4712
+Query 1/1: Action query time = 5.208 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5337
+t=58: Selected seed 195 with value = 0.5337
+Query 1/1: Action query time = 5.080 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=74: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 4.718 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7792
+t=90: Selected seed 195 with value = 0.7792
+Query 1/1: Action query time = 4.249 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8736
+t=106: Selected seed 195 with value = 0.8736
+Query 1/1: Action query time = 4.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=122: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 3.358 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=138: Selected seed 195 with value = 0.9749
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s11/2026_08_02-02_40_39--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.475 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3449
+t=10: Selected seed 195 with value = 0.3449
+Query 1/1: Action query time = 4.222 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3861
+t=26: Selected seed 195 with value = 0.3861
+Query 1/1: Action query time = 4.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4863
+t=42: Selected seed 195 with value = 0.4863
+Query 1/1: Action query time = 4.707 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5020
+t=58: Selected seed 195 with value = 0.5020
+Query 1/1: Action query time = 5.217 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=74: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 4.157 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6642
+t=90: Selected seed 195 with value = 0.6642
+Query 1/1: Action query time = 3.926 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7600
+t=106: Selected seed 195 with value = 0.7600
+Query 1/1: Action query time = 4.490 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8774
+t=122: Selected seed 195 with value = 0.8774
+Query 1/1: Action query time = 4.248 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s11/2026_08_02-02_40_39--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_26--demochan400_t6_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_26--demochan400_t6_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..570c92443166c10e06c9ca4f8296505d6c1c71e8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_26--demochan400_t6_s01.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t6_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 3.379 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4452
+t=10: Selected seed 195 with value = 0.4452
+Query 1/1: Action query time = 4.421 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4818
+t=26: Selected seed 195 with value = 0.4818
+Query 1/1: Action query time = 4.089 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5902
+t=42: Selected seed 195 with value = 0.5902
+Query 1/1: Action query time = 4.717 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6948
+t=58: Selected seed 195 with value = 0.6948
+Query 1/1: Action query time = 4.665 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=74: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 5.002 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=90: Selected seed 195 with value = 0.9845
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s01/2026_08_02-02_45_26--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.361 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4515
+t=10: Selected seed 195 with value = 0.4515
+Query 1/1: Action query time = 4.748 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4989
+t=26: Selected seed 195 with value = 0.4989
+Query 1/1: Action query time = 3.755 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6158
+t=42: Selected seed 195 with value = 0.6158
+Query 1/1: Action query time = 5.326 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7186
+t=58: Selected seed 195 with value = 0.7186
+Query 1/1: Action query time = 5.641 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8688
+t=74: Selected seed 195 with value = 0.8688
+Query 1/1: Action query time = 5.620 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=90: Selected seed 195 with value = 0.9689
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s01/2026_08_02-02_45_26--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.767 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4400
+t=10: Selected seed 195 with value = 0.4400
+Query 1/1: Action query time = 4.066 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=26: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 5.506 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6127
+t=42: Selected seed 195 with value = 0.6127
+Query 1/1: Action query time = 4.775 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7261
+t=58: Selected seed 195 with value = 0.7261
+Query 1/1: Action query time = 5.355 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8245
+t=74: Selected seed 195 with value = 0.8245
+Query 1/1: Action query time = 5.308 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=90: Selected seed 195 with value = 0.9821
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s01/2026_08_02-02_45_26--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 3.780 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4221
+t=10: Selected seed 195 with value = 0.4221
+Query 1/1: Action query time = 3.245 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4869
+t=26: Selected seed 195 with value = 0.4869
+Query 1/1: Action query time = 2.284 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5654
+t=42: Selected seed 195 with value = 0.5654
+Query 1/1: Action query time = 2.524 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=58: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 2.189 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8109
+t=74: Selected seed 195 with value = 0.8109
+Query 1/1: Action query time = 2.300 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9402
+t=90: Selected seed 195 with value = 0.9402
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s01/2026_08_02-02_45_26--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_26--demochan400_t6_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_26--demochan400_t6_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95d9d375ed70075ac30a16e5eea7b7158f51d00e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_26--demochan400_t6_s03.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t6_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.731 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4020
+t=10: Selected seed 195 with value = 0.4020
+Query 1/1: Action query time = 5.115 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=26: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 4.723 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6173
+t=42: Selected seed 195 with value = 0.6173
+Query 1/1: Action query time = 4.058 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7017
+t=58: Selected seed 195 with value = 0.7017
+Query 1/1: Action query time = 5.225 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8349
+t=74: Selected seed 195 with value = 0.8349
+Query 1/1: Action query time = 3.029 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=90: Selected seed 195 with value = 0.9921
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s03/2026_08_02-02_45_26--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 6.093 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=10: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 5.008 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4953
+t=26: Selected seed 195 with value = 0.4953
+Query 1/1: Action query time = 3.878 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5856
+t=42: Selected seed 195 with value = 0.5856
+Query 1/1: Action query time = 4.532 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7086
+t=58: Selected seed 195 with value = 0.7086
+Query 1/1: Action query time = 5.859 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8218
+t=74: Selected seed 195 with value = 0.8218
+Query 1/1: Action query time = 4.791 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9541
+t=90: Selected seed 195 with value = 0.9541
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s03/2026_08_02-02_45_26--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.414 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4226
+t=10: Selected seed 195 with value = 0.4226
+Query 1/1: Action query time = 5.081 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5221
+t=26: Selected seed 195 with value = 0.5221
+Query 1/1: Action query time = 4.605 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6604
+t=42: Selected seed 195 with value = 0.6604
+Query 1/1: Action query time = 5.138 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7415
+t=58: Selected seed 195 with value = 0.7415
+Query 1/1: Action query time = 5.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8465
+t=74: Selected seed 195 with value = 0.8465
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s03/2026_08_02-02_45_26--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_26--demochan400_t6_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_26--demochan400_t6_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9eb427c24175b3f36d9db4ea085497f4f80f13a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_26--demochan400_t6_s10.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t6_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 2.050 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4697
+t=10: Selected seed 195 with value = 0.4697
+Query 1/1: Action query time = 2.181 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4748
+t=26: Selected seed 195 with value = 0.4748
+Query 1/1: Action query time = 4.567 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6244
+t=42: Selected seed 195 with value = 0.6244
+Query 1/1: Action query time = 5.232 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6913
+t=58: Selected seed 195 with value = 0.6913
+Query 1/1: Action query time = 4.827 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8192
+t=74: Selected seed 195 with value = 0.8192
+Query 1/1: Action query time = 4.575 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=90: Selected seed 195 with value = 0.9559
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s10/2026_08_02-02_45_26--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.249 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4302
+t=10: Selected seed 195 with value = 0.4302
+Query 1/1: Action query time = 3.384 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5113
+t=26: Selected seed 195 with value = 0.5113
+Query 1/1: Action query time = 5.578 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6034
+t=42: Selected seed 195 with value = 0.6034
+Query 1/1: Action query time = 4.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=58: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 4.330 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7954
+t=74: Selected seed 195 with value = 0.7954
+Query 1/1: Action query time = 5.436 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=90: Selected seed 195 with value = 0.9256
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s10/2026_08_02-02_45_26--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.030 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4050
+t=10: Selected seed 195 with value = 0.4050
+Query 1/1: Action query time = 5.069 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4955
+t=26: Selected seed 195 with value = 0.4955
+Query 1/1: Action query time = 2.363 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5935
+t=42: Selected seed 195 with value = 0.5935
+Query 1/1: Action query time = 3.778 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=58: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 4.761 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7792
+t=74: Selected seed 195 with value = 0.7792
+Query 1/1: Action query time = 5.008 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9013
+t=90: Selected seed 195 with value = 0.9013
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s10/2026_08_02-02_45_26--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c645c78eed7df50f416940cebec45ef7b535fe97
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s04.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t6_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 3.953 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4194
+t=10: Selected seed 195 with value = 0.4194
+Query 1/1: Action query time = 5.250 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5163
+t=26: Selected seed 195 with value = 0.5163
+Query 1/1: Action query time = 5.363 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5609
+t=42: Selected seed 195 with value = 0.5609
+Query 1/1: Action query time = 4.946 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6804
+t=58: Selected seed 195 with value = 0.6804
+Query 1/1: Action query time = 4.378 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7964
+t=74: Selected seed 195 with value = 0.7964
+Query 1/1: Action query time = 4.277 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=90: Selected seed 195 with value = 0.9484
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s04/2026_08_02-02_45_27--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 2.523 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4656
+t=10: Selected seed 195 with value = 0.4656
+Query 1/1: Action query time = 5.266 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4381
+t=26: Selected seed 195 with value = 0.4381
+Query 1/1: Action query time = 6.154 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6375
+t=42: Selected seed 195 with value = 0.6375
+Query 1/1: Action query time = 5.188 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7092
+t=58: Selected seed 195 with value = 0.7092
+Query 1/1: Action query time = 4.946 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=74: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 3.577 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=90: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 5.542 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=106: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s04/2026_08_02-02_45_27--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.506 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4430
+t=10: Selected seed 195 with value = 0.4430
+Query 1/1: Action query time = 4.877 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5045
+t=26: Selected seed 195 with value = 0.5045
+Query 1/1: Action query time = 5.124 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6483
+t=42: Selected seed 195 with value = 0.6483
+Query 1/1: Action query time = 4.377 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=58: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 3.294 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8738
+t=74: Selected seed 195 with value = 0.8738
+Query 1/1: Action query time = 3.827 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=90: Selected seed 195 with value = 0.9824
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s04/2026_08_02-02_45_27--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6cc8f1d45df06acc2c29de6f1736597fc4ed818d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s11.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t6_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.307 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4742
+t=10: Selected seed 195 with value = 0.4742
+Query 1/1: Action query time = 5.266 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4989
+t=26: Selected seed 195 with value = 0.4989
+Query 1/1: Action query time = 4.867 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6440
+t=42: Selected seed 195 with value = 0.6440
+Query 1/1: Action query time = 4.584 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7006
+t=58: Selected seed 195 with value = 0.7006
+Query 1/1: Action query time = 4.527 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8434
+t=74: Selected seed 195 with value = 0.8434
+Query 1/1: Action query time = 3.361 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=90: Selected seed 195 with value = 0.9808
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s11/2026_08_02-02_45_27--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.137 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4293
+t=10: Selected seed 195 with value = 0.4293
+Query 1/1: Action query time = 6.086 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5308
+t=26: Selected seed 195 with value = 0.5308
+Query 1/1: Action query time = 3.672 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6262
+t=42: Selected seed 195 with value = 0.6262
+Query 1/1: Action query time = 4.618 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6867
+t=58: Selected seed 195 with value = 0.6867
+Query 1/1: Action query time = 4.279 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8481
+t=74: Selected seed 195 with value = 0.8481
+Query 1/1: Action query time = 4.647 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=90: Selected seed 195 with value = 0.9821
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s11/2026_08_02-02_45_27--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.872 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4527
+t=10: Selected seed 195 with value = 0.4527
+Query 1/1: Action query time = 5.027 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3979
+t=26: Selected seed 195 with value = 0.3979
+Query 1/1: Action query time = 5.304 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6011
+t=42: Selected seed 195 with value = 0.6011
+Query 1/1: Action query time = 4.612 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=58: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 3.755 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8387
+t=74: Selected seed 195 with value = 0.8387
+Query 1/1: Action query time = 4.497 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=90: Selected seed 195 with value = 0.9899
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s11/2026_08_02-02_45_27--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..649552a174bacc806e0f497cf8fc3502df960d1a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s13.txt
@@ -0,0 +1,153 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t6_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 3.196 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4435
+t=10: Selected seed 195 with value = 0.4435
+Query 1/1: Action query time = 4.852 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4895
+t=26: Selected seed 195 with value = 0.4895
+Query 1/1: Action query time = 5.113 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6479
+t=42: Selected seed 195 with value = 0.6479
+Query 1/1: Action query time = 4.682 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7193
+t=58: Selected seed 195 with value = 0.7193
+Query 1/1: Action query time = 4.294 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8597
+t=74: Selected seed 195 with value = 0.8597
+Query 1/1: Action query time = 4.362 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=90: Selected seed 195 with value = 0.9925
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s13/2026_08_02-02_45_27--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 2.373 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4644
+t=10: Selected seed 195 with value = 0.4644
+Query 1/1: Action query time = 5.516 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5556
+t=26: Selected seed 195 with value = 0.5556
+Query 1/1: Action query time = 6.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6659
+t=42: Selected seed 195 with value = 0.6659
+Query 1/1: Action query time = 4.106 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7351
+t=58: Selected seed 195 with value = 0.7351
+Query 1/1: Action query time = 4.609 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8781
+t=74: Selected seed 195 with value = 0.8781
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s13/2026_08_02-02_45_27--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.038 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4687
+t=10: Selected seed 195 with value = 0.4687
+Query 1/1: Action query time = 4.847 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5541
+t=26: Selected seed 195 with value = 0.5541
+Query 1/1: Action query time = 3.623 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6484
+t=42: Selected seed 195 with value = 0.6484
+Query 1/1: Action query time = 4.876 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5073
+t=58: Selected seed 195 with value = 0.5073
+Query 1/1: Action query time = 4.869 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7601
+t=74: Selected seed 195 with value = 0.7601
+Query 1/1: Action query time = 4.427 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=90: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 4.309 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=106: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 4.422 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9212
+t=122: Selected seed 195 with value = 0.9212
+Query 1/1: Action query time = 3.362 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=138: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 2.284 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=154: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 1.549 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=170: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 1.828 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=186: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 1.753 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8939
+t=202: Selected seed 195 with value = 0.8939
+Query 1/1: Action query time = 1.889 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=218: Selected seed 195 with value = 0.7992
+Query 1/1: Action query time = 1.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9151
+t=234: Selected seed 195 with value = 0.9151
+Query 1/1: Action query time = 1.869 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=250: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 2.059 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.843 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.870 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s13/2026_08_02-02_45_27--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..37fc776c74ceb7ae057a42b22e5e08deceb5a916
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s15.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t6_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.950 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4484
+t=10: Selected seed 195 with value = 0.4484
+Query 1/1: Action query time = 4.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=26: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 5.020 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=42: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 4.268 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6991
+t=58: Selected seed 195 with value = 0.6991
+Query 1/1: Action query time = 4.160 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8038
+t=74: Selected seed 195 with value = 0.8038
+Query 1/1: Action query time = 3.091 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9411
+t=90: Selected seed 195 with value = 0.9411
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s15/2026_08_02-02_45_27--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.593 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4483
+t=10: Selected seed 195 with value = 0.4483
+Query 1/1: Action query time = 5.755 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4709
+t=26: Selected seed 195 with value = 0.4709
+Query 1/1: Action query time = 5.513 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5693
+t=42: Selected seed 195 with value = 0.5693
+Query 1/1: Action query time = 4.533 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6898
+t=58: Selected seed 195 with value = 0.6898
+Query 1/1: Action query time = 3.458 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8220
+t=74: Selected seed 195 with value = 0.8220
+Query 1/1: Action query time = 4.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=90: Selected seed 195 with value = 0.9733
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s15/2026_08_02-02_45_27--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.359 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4371
+t=10: Selected seed 195 with value = 0.4371
+Query 1/1: Action query time = 4.804 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5036
+t=26: Selected seed 195 with value = 0.5036
+Query 1/1: Action query time = 4.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5844
+t=42: Selected seed 195 with value = 0.5844
+Query 1/1: Action query time = 4.291 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7247
+t=58: Selected seed 195 with value = 0.7247
+Query 1/1: Action query time = 4.482 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8426
+t=74: Selected seed 195 with value = 0.8426
+Query 1/1: Action query time = 3.619 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=90: Selected seed 195 with value = 0.9900
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s15/2026_08_02-02_45_27--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1fa82b8e33cc357597481707b4d181358b0f0ad1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s00.txt
@@ -0,0 +1,172 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t0_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.673 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2619
+t=10: Selected seed 195 with value = 0.2619
+Query 1/1: Action query time = 5.207 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3591
+t=26: Selected seed 195 with value = 0.3591
+Query 1/1: Action query time = 4.921 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4302
+t=42: Selected seed 195 with value = 0.4302
+Query 1/1: Action query time = 4.801 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5394
+t=58: Selected seed 195 with value = 0.5394
+Query 1/1: Action query time = 4.798 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=74: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 3.830 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7385
+t=90: Selected seed 195 with value = 0.7385
+Query 1/1: Action query time = 4.842 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8477
+t=106: Selected seed 195 with value = 0.8477
+Query 1/1: Action query time = 3.157 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=122: Selected seed 195 with value = 0.9888
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s00/2026_08_02-03_34_48--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.774 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3209
+t=10: Selected seed 195 with value = 0.3209
+Query 1/1: Action query time = 4.420 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3682
+t=26: Selected seed 195 with value = 0.3682
+Query 1/1: Action query time = 4.870 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4543
+t=42: Selected seed 195 with value = 0.4543
+Query 1/1: Action query time = 5.242 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=58: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 5.566 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6408
+t=74: Selected seed 195 with value = 0.6408
+Query 1/1: Action query time = 4.708 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7368
+t=90: Selected seed 195 with value = 0.7368
+Query 1/1: Action query time = 4.891 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8589
+t=106: Selected seed 195 with value = 0.8589
+Query 1/1: Action query time = 5.186 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=122: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s00/2026_08_02-03_34_48--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.692 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2999
+t=10: Selected seed 195 with value = 0.2999
+Query 1/1: Action query time = 5.277 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2762
+t=26: Selected seed 195 with value = 0.2762
+Query 1/1: Action query time = 4.584 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4266
+t=42: Selected seed 195 with value = 0.4266
+Query 1/1: Action query time = 4.841 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4615
+t=58: Selected seed 195 with value = 0.4615
+Query 1/1: Action query time = 4.169 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5475
+t=74: Selected seed 195 with value = 0.5475
+Query 1/1: Action query time = 5.330 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6832
+t=90: Selected seed 195 with value = 0.6832
+Query 1/1: Action query time = 4.477 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8408
+t=106: Selected seed 195 with value = 0.8408
+Query 1/1: Action query time = 4.161 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=122: Selected seed 195 with value = 0.9861
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s00/2026_08_02-03_34_48--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 2.645 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3300
+t=10: Selected seed 195 with value = 0.3300
+Query 1/1: Action query time = 2.210 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3443
+t=26: Selected seed 195 with value = 0.3443
+Query 1/1: Action query time = 1.462 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4001
+t=42: Selected seed 195 with value = 0.4001
+Query 1/1: Action query time = 1.255 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5096
+t=58: Selected seed 195 with value = 0.5096
+Query 1/1: Action query time = 1.241 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5604
+t=74: Selected seed 195 with value = 0.5604
+Query 1/1: Action query time = 1.272 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6538
+t=90: Selected seed 195 with value = 0.6538
+Query 1/1: Action query time = 1.193 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7553
+t=106: Selected seed 195 with value = 0.7553
+Query 1/1: Action query time = 1.207 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8904
+t=122: Selected seed 195 with value = 0.8904
+Query 1/1: Action query time = 1.192 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=138: Selected seed 195 with value = 0.9941
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s00/2026_08_02-03_34_48--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f8d941d29953473720c88d774c3bc07827f35f4b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s08.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t0_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2904
+t=10: Selected seed 195 with value = 0.2904
+Query 1/1: Action query time = 4.942 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3807
+t=26: Selected seed 195 with value = 0.3807
+Query 1/1: Action query time = 5.368 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4316
+t=42: Selected seed 195 with value = 0.4316
+Query 1/1: Action query time = 4.944 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5380
+t=58: Selected seed 195 with value = 0.5380
+Query 1/1: Action query time = 4.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6142
+t=74: Selected seed 195 with value = 0.6142
+Query 1/1: Action query time = 4.443 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7189
+t=90: Selected seed 195 with value = 0.7189
+Query 1/1: Action query time = 5.770 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8509
+t=106: Selected seed 195 with value = 0.8509
+Query 1/1: Action query time = 5.502 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=122: Selected seed 195 with value = 0.9891
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s08/2026_08_02-03_34_49--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.628 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3356
+t=10: Selected seed 195 with value = 0.3356
+Query 1/1: Action query time = 3.745 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3558
+t=26: Selected seed 195 with value = 0.3558
+Query 1/1: Action query time = 5.497 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4251
+t=42: Selected seed 195 with value = 0.4251
+Query 1/1: Action query time = 5.207 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5068
+t=58: Selected seed 195 with value = 0.5068
+Query 1/1: Action query time = 5.156 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5827
+t=74: Selected seed 195 with value = 0.5827
+Query 1/1: Action query time = 4.345 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7096
+t=90: Selected seed 195 with value = 0.7096
+Query 1/1: Action query time = 4.765 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8012
+t=106: Selected seed 195 with value = 0.8012
+Query 1/1: Action query time = 5.361 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=122: Selected seed 195 with value = 0.9689
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s08/2026_08_02-03_34_49--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.022 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3293
+t=10: Selected seed 195 with value = 0.3293
+Query 1/1: Action query time = 4.030 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3577
+t=26: Selected seed 195 with value = 0.3577
+Query 1/1: Action query time = 3.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4262
+t=42: Selected seed 195 with value = 0.4262
+Query 1/1: Action query time = 5.355 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5108
+t=58: Selected seed 195 with value = 0.5108
+Query 1/1: Action query time = 4.915 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6024
+t=74: Selected seed 195 with value = 0.6024
+Query 1/1: Action query time = 4.653 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7102
+t=90: Selected seed 195 with value = 0.7102
+Query 1/1: Action query time = 4.702 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8089
+t=106: Selected seed 195 with value = 0.8089
+Query 1/1: Action query time = 4.292 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9589
+t=122: Selected seed 195 with value = 0.9589
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s08/2026_08_02-03_34_49--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d31b452f4000462c4dce5f1f8b0a43e73ac01a40
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s05.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t1_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4368
+t=10: Selected seed 195 with value = 0.4368
+Query 1/1: Action query time = 5.299 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4912
+t=26: Selected seed 195 with value = 0.4912
+Query 1/1: Action query time = 4.622 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6183
+t=42: Selected seed 195 with value = 0.6183
+Query 1/1: Action query time = 4.916 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6949
+t=58: Selected seed 195 with value = 0.6949
+Query 1/1: Action query time = 3.606 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8270
+t=74: Selected seed 195 with value = 0.8270
+Query 1/1: Action query time = 3.057 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=90: Selected seed 195 with value = 0.9856
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s05/2026_08_02-03_38_04--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.918 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3747
+t=10: Selected seed 195 with value = 0.3747
+Query 1/1: Action query time = 5.119 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4442
+t=26: Selected seed 195 with value = 0.4442
+Query 1/1: Action query time = 5.436 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=42: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 5.543 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6230
+t=58: Selected seed 195 with value = 0.6230
+Query 1/1: Action query time = 3.262 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7591
+t=74: Selected seed 195 with value = 0.7591
+Query 1/1: Action query time = 3.020 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=90: Selected seed 195 with value = 0.8893
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s05/2026_08_02-03_38_04--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.798 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=10: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 5.202 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5323
+t=26: Selected seed 195 with value = 0.5323
+Query 1/1: Action query time = 5.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5941
+t=42: Selected seed 195 with value = 0.5941
+Query 1/1: Action query time = 4.907 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6805
+t=58: Selected seed 195 with value = 0.6805
+Query 1/1: Action query time = 3.381 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7938
+t=74: Selected seed 195 with value = 0.7938
+Query 1/1: Action query time = 2.191 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=90: Selected seed 195 with value = 0.9788
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s05/2026_08_02-03_38_04--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5be723e7120396bf2e10fb37c77e86bd7f91cfe8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s09.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t1_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.812 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4565
+t=10: Selected seed 195 with value = 0.4565
+Query 1/1: Action query time = 4.574 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5416
+t=26: Selected seed 195 with value = 0.5416
+Query 1/1: Action query time = 4.945 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6312
+t=42: Selected seed 195 with value = 0.6312
+Query 1/1: Action query time = 5.213 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7071
+t=58: Selected seed 195 with value = 0.7071
+Query 1/1: Action query time = 5.381 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8201
+t=74: Selected seed 195 with value = 0.8201
+Query 1/1: Action query time = 4.758 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=90: Selected seed 195 with value = 0.9609
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s09/2026_08_02-03_38_04--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.046 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4569
+t=10: Selected seed 195 with value = 0.4569
+Query 1/1: Action query time = 4.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5372
+t=26: Selected seed 195 with value = 0.5372
+Query 1/1: Action query time = 5.341 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6295
+t=42: Selected seed 195 with value = 0.6295
+Query 1/1: Action query time = 5.425 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7327
+t=58: Selected seed 195 with value = 0.7327
+Query 1/1: Action query time = 3.953 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8536
+t=74: Selected seed 195 with value = 0.8536
+Query 1/1: Action query time = 4.540 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=90: Selected seed 195 with value = 0.9929
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s09/2026_08_02-03_38_04--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.038 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4040
+t=10: Selected seed 195 with value = 0.4040
+Query 1/1: Action query time = 4.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4574
+t=26: Selected seed 195 with value = 0.4574
+Query 1/1: Action query time = 5.108 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6044
+t=42: Selected seed 195 with value = 0.6044
+Query 1/1: Action query time = 5.214 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7066
+t=58: Selected seed 195 with value = 0.7066
+Query 1/1: Action query time = 4.404 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8080
+t=74: Selected seed 195 with value = 0.8080
+Query 1/1: Action query time = 3.620 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=90: Selected seed 195 with value = 0.9670
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s09/2026_08_02-03_38_04--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..951f4279e4e5a86c9584468503fea3b082fa8d1b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s12.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t1_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.808 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4714
+t=10: Selected seed 195 with value = 0.4714
+Query 1/1: Action query time = 4.941 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5256
+t=26: Selected seed 195 with value = 0.5256
+Query 1/1: Action query time = 4.697 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6463
+t=42: Selected seed 195 with value = 0.6463
+Query 1/1: Action query time = 4.699 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7240
+t=58: Selected seed 195 with value = 0.7240
+Query 1/1: Action query time = 5.133 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8732
+t=74: Selected seed 195 with value = 0.8732
+Query 1/1: Action query time = 3.088 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=90: Selected seed 195 with value = 0.9941
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s12/2026_08_02-03_38_04--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.367 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4312
+t=10: Selected seed 195 with value = 0.4312
+Query 1/1: Action query time = 4.236 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5393
+t=26: Selected seed 195 with value = 0.5393
+Query 1/1: Action query time = 4.822 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6150
+t=42: Selected seed 195 with value = 0.6150
+Query 1/1: Action query time = 5.053 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6962
+t=58: Selected seed 195 with value = 0.6962
+Query 1/1: Action query time = 3.724 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8018
+t=74: Selected seed 195 with value = 0.8018
+Query 1/1: Action query time = 4.487 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9317
+t=90: Selected seed 195 with value = 0.9317
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s12/2026_08_02-03_38_04--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.412 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4242
+t=10: Selected seed 195 with value = 0.4242
+Query 1/1: Action query time = 4.889 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5108
+t=26: Selected seed 195 with value = 0.5108
+Query 1/1: Action query time = 5.116 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=42: Selected seed 195 with value = 0.6076
+Query 1/1: Action query time = 5.077 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=58: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 4.485 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7388
+t=74: Selected seed 195 with value = 0.7388
+Query 1/1: Action query time = 4.056 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8756
+t=90: Selected seed 195 with value = 0.8756
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s12/2026_08_02-03_38_04--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_05--realcl800_t1_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_05--realcl800_t1_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e92e15dfbc6d1571fd2a901e6f5ccc562e56477
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_05--realcl800_t1_s15.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t1_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.729 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3687
+t=10: Selected seed 195 with value = 0.3687
+Query 1/1: Action query time = 5.096 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4353
+t=26: Selected seed 195 with value = 0.4353
+Query 1/1: Action query time = 4.432 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5627
+t=42: Selected seed 195 with value = 0.5627
+Query 1/1: Action query time = 4.517 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6000
+t=58: Selected seed 195 with value = 0.6000
+Query 1/1: Action query time = 4.889 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7485
+t=74: Selected seed 195 with value = 0.7485
+Query 1/1: Action query time = 4.549 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8650
+t=90: Selected seed 195 with value = 0.8650
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s15/2026_08_02-03_38_05--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.869 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4551
+t=10: Selected seed 195 with value = 0.4551
+Query 1/1: Action query time = 5.474 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=26: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 4.655 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6085
+t=42: Selected seed 195 with value = 0.6085
+Query 1/1: Action query time = 4.293 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6779
+t=58: Selected seed 195 with value = 0.6779
+Query 1/1: Action query time = 5.383 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7997
+t=74: Selected seed 195 with value = 0.7997
+Query 1/1: Action query time = 2.540 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=90: Selected seed 195 with value = 0.9643
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s15/2026_08_02-03_38_05--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.583 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4469
+t=10: Selected seed 195 with value = 0.4469
+Query 1/1: Action query time = 4.743 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5454
+t=26: Selected seed 195 with value = 0.5454
+Query 1/1: Action query time = 4.928 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6245
+t=42: Selected seed 195 with value = 0.6245
+Query 1/1: Action query time = 4.361 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7115
+t=58: Selected seed 195 with value = 0.7115
+Query 1/1: Action query time = 4.312 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8250
+t=74: Selected seed 195 with value = 0.8250
+Query 1/1: Action query time = 3.585 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=90: Selected seed 195 with value = 0.9844
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s15/2026_08_02-03_38_05--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..702ec148232db1b34f8e8e42e80809dcebea10fe
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s09.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.159 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4144
+t=10: Selected seed 195 with value = 0.4144
+Query 1/1: Action query time = 5.133 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4782
+t=26: Selected seed 195 with value = 0.4782
+Query 1/1: Action query time = 4.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5254
+t=42: Selected seed 195 with value = 0.5254
+Query 1/1: Action query time = 5.049 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7221
+t=58: Selected seed 195 with value = 0.7221
+Query 1/1: Action query time = 5.112 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8481
+t=74: Selected seed 195 with value = 0.8481
+Query 1/1: Action query time = 4.290 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=90: Selected seed 195 with value = 0.9910
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s09/2026_08_02-03_40_31--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.022 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4497
+t=10: Selected seed 195 with value = 0.4497
+Query 1/1: Action query time = 4.470 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5169
+t=26: Selected seed 195 with value = 0.5169
+Query 1/1: Action query time = 5.535 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6128
+t=42: Selected seed 195 with value = 0.6128
+Query 1/1: Action query time = 5.645 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7162
+t=58: Selected seed 195 with value = 0.7162
+Query 1/1: Action query time = 5.074 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8505
+t=74: Selected seed 195 with value = 0.8505
+Query 1/1: Action query time = 4.444 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=90: Selected seed 195 with value = 0.9908
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s09/2026_08_02-03_40_31--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.514 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4271
+t=10: Selected seed 195 with value = 0.4271
+Query 1/1: Action query time = 5.335 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4948
+t=26: Selected seed 195 with value = 0.4948
+Query 1/1: Action query time = 5.253 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5578
+t=42: Selected seed 195 with value = 0.5578
+Query 1/1: Action query time = 5.142 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=58: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 4.661 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=74: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 3.895 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=90: Selected seed 195 with value = 0.9951
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s09/2026_08_02-03_40_31--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..86dd0cc5746f607c18056dd3d64fbebe969f1ece
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s10.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.098 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4117
+t=10: Selected seed 195 with value = 0.4117
+Query 1/1: Action query time = 4.765 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4717
+t=26: Selected seed 195 with value = 0.4717
+Query 1/1: Action query time = 4.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6178
+t=42: Selected seed 195 with value = 0.6178
+Query 1/1: Action query time = 4.862 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7037
+t=58: Selected seed 195 with value = 0.7037
+Query 1/1: Action query time = 4.663 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8340
+t=74: Selected seed 195 with value = 0.8340
+Query 1/1: Action query time = 3.526 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=90: Selected seed 195 with value = 0.9892
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s10/2026_08_02-03_40_31--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.747 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3152
+t=10: Selected seed 195 with value = 0.3152
+Query 1/1: Action query time = 4.937 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4087
+t=26: Selected seed 195 with value = 0.4087
+Query 1/1: Action query time = 5.447 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5602
+t=42: Selected seed 195 with value = 0.5602
+Query 1/1: Action query time = 5.502 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6545
+t=58: Selected seed 195 with value = 0.6545
+Query 1/1: Action query time = 4.419 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8205
+t=74: Selected seed 195 with value = 0.8205
+Query 1/1: Action query time = 3.456 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=90: Selected seed 195 with value = 0.9763
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s10/2026_08_02-03_40_31--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4144
+t=10: Selected seed 195 with value = 0.4144
+Query 1/1: Action query time = 5.577 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4735
+t=26: Selected seed 195 with value = 0.4735
+Query 1/1: Action query time = 5.167 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5203
+t=42: Selected seed 195 with value = 0.5203
+Query 1/1: Action query time = 3.870 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=58: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 3.226 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6678
+t=74: Selected seed 195 with value = 0.6678
+Query 1/1: Action query time = 2.927 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7790
+t=90: Selected seed 195 with value = 0.7790
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s10/2026_08_02-03_40_31--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f776682f5d50fe6cfafc07848aabd83785de662
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s11.txt
@@ -0,0 +1,97 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.591 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4471
+t=10: Selected seed 195 with value = 0.4471
+Query 1/1: Action query time = 4.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5435
+t=26: Selected seed 195 with value = 0.5435
+Query 1/1: Action query time = 5.061 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6530
+t=42: Selected seed 195 with value = 0.6530
+Query 1/1: Action query time = 5.037 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7688
+t=58: Selected seed 195 with value = 0.7688
+Query 1/1: Action query time = 4.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=74: Selected seed 195 with value = 0.9094
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s11/2026_08_02-03_40_31--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.775 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4267
+t=10: Selected seed 195 with value = 0.4267
+Query 1/1: Action query time = 5.318 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5104
+t=26: Selected seed 195 with value = 0.5104
+Query 1/1: Action query time = 4.632 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5957
+t=42: Selected seed 195 with value = 0.5957
+Query 1/1: Action query time = 4.629 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7480
+t=58: Selected seed 195 with value = 0.7480
+Query 1/1: Action query time = 4.741 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8806
+t=74: Selected seed 195 with value = 0.8806
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s11/2026_08_02-03_40_31--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.197 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4295
+t=10: Selected seed 195 with value = 0.4295
+Query 1/1: Action query time = 5.837 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=26: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 5.735 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5569
+t=42: Selected seed 195 with value = 0.5569
+Query 1/1: Action query time = 5.164 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6602
+t=58: Selected seed 195 with value = 0.6602
+Query 1/1: Action query time = 4.413 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8518
+t=74: Selected seed 195 with value = 0.8518
+Query 1/1: Action query time = 3.510 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=90: Selected seed 195 with value = 0.9819
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s11/2026_08_02-03_40_31--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a7465e395f0b0b78fd7fab499d12215d2c7af6e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s12.txt
@@ -0,0 +1,161 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4774
+t=10: Selected seed 195 with value = 0.4774
+Query 1/1: Action query time = 5.052 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5439
+t=26: Selected seed 195 with value = 0.5439
+Query 1/1: Action query time = 5.211 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6394
+t=42: Selected seed 195 with value = 0.6394
+Query 1/1: Action query time = 5.150 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7414
+t=58: Selected seed 195 with value = 0.7414
+Query 1/1: Action query time = 5.234 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8861
+t=74: Selected seed 195 with value = 0.8861
+Query 1/1: Action query time = 5.084 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s12/2026_08_02-03_40_31--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.925 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3641
+t=10: Selected seed 195 with value = 0.3641
+Query 1/1: Action query time = 5.659 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3666
+t=26: Selected seed 195 with value = 0.3666
+Query 1/1: Action query time = 5.300 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5295
+t=42: Selected seed 195 with value = 0.5295
+Query 1/1: Action query time = 4.781 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=58: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 4.796 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5337
+t=74: Selected seed 195 with value = 0.5337
+Query 1/1: Action query time = 2.111 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5259
+t=90: Selected seed 195 with value = 0.5259
+Query 1/1: Action query time = 4.646 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=106: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 5.170 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7956
+t=122: Selected seed 195 with value = 0.7956
+Query 1/1: Action query time = 4.201 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=138: Selected seed 195 with value = 0.9273
+Query 1/1: Action query time = 4.895 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=154: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 4.642 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=170: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 3.775 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=186: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 3.878 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=202: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 2.435 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=218: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 2.370 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=234: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 2.444 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=250: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 2.675 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=266: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 2.212 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=282: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 1.604 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=298: Selected seed 195 with value = 0.9711
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s12/2026_08_02-03_40_31--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.618 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3129
+t=10: Selected seed 195 with value = 0.3129
+Query 1/1: Action query time = 1.769 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3644
+t=26: Selected seed 195 with value = 0.3644
+Query 1/1: Action query time = 1.780 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4621
+t=42: Selected seed 195 with value = 0.4621
+Query 1/1: Action query time = 1.229 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=58: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 1.207 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6351
+t=74: Selected seed 195 with value = 0.6351
+Query 1/1: Action query time = 1.150 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7604
+t=90: Selected seed 195 with value = 0.7604
+Query 1/1: Action query time = 1.166 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9005
+t=106: Selected seed 195 with value = 0.9005
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s12/2026_08_02-03_40_31--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1f66ecaf5623e532d154fa5f054c77d0f16ce29
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s15.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.042 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4177
+t=10: Selected seed 195 with value = 0.4177
+Query 1/1: Action query time = 4.811 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=26: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 5.208 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5524
+t=42: Selected seed 195 with value = 0.5524
+Query 1/1: Action query time = 4.838 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6747
+t=58: Selected seed 195 with value = 0.6747
+Query 1/1: Action query time = 4.634 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7822
+t=74: Selected seed 195 with value = 0.7822
+Query 1/1: Action query time = 3.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=90: Selected seed 195 with value = 0.9427
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s15/2026_08_02-03_40_31--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.781 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4150
+t=10: Selected seed 195 with value = 0.4150
+Query 1/1: Action query time = 5.178 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4711
+t=26: Selected seed 195 with value = 0.4711
+Query 1/1: Action query time = 5.099 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5484
+t=42: Selected seed 195 with value = 0.5484
+Query 1/1: Action query time = 4.767 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6377
+t=58: Selected seed 195 with value = 0.6377
+Query 1/1: Action query time = 3.146 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7958
+t=74: Selected seed 195 with value = 0.7958
+Query 1/1: Action query time = 3.811 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=90: Selected seed 195 with value = 0.9136
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s15/2026_08_02-03_40_31--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.054 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4670
+t=10: Selected seed 195 with value = 0.4670
+Query 1/1: Action query time = 5.172 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5491
+t=26: Selected seed 195 with value = 0.5491
+Query 1/1: Action query time = 5.098 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6316
+t=42: Selected seed 195 with value = 0.6316
+Query 1/1: Action query time = 4.626 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7202
+t=58: Selected seed 195 with value = 0.7202
+Query 1/1: Action query time = 4.105 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=74: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 2.126 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9766
+t=90: Selected seed 195 with value = 0.9766
+Query 1/1: Action query time = 1.862 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=106: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 1.625 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=122: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 2.052 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=138: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 2.738 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=154: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 2.500 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=170: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 2.113 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=186: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 1.001 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9252
+t=202: Selected seed 195 with value = 0.9252
+Query 1/1: Action query time = 1.007 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=218: Selected seed 195 with value = 0.8768
+Query 1/1: Action query time = 1.027 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8108
+t=234: Selected seed 195 with value = 0.8108
+Query 1/1: Action query time = 1.012 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7631
+t=250: Selected seed 195 with value = 0.7631
+Query 1/1: Action query time = 1.373 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7300
+t=266: Selected seed 195 with value = 0.7300
+Query 1/1: Action query time = 1.789 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7037
+t=282: Selected seed 195 with value = 0.7037
+Query 1/1: Action query time = 1.757 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7073
+t=298: Selected seed 195 with value = 0.7073
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s15/2026_08_02-03_40_31--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7e8fbc09cfc85328d659824210bfd7d58f0bc0d0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s02.txt
@@ -0,0 +1,201 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t3_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.740 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1773
+t=10: Selected seed 195 with value = 0.1773
+Query 1/1: Action query time = 3.631 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2222
+t=26: Selected seed 195 with value = 0.2222
+Query 1/1: Action query time = 4.738 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2230
+t=42: Selected seed 195 with value = 0.2230
+Query 1/1: Action query time = 5.283 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2576
+t=58: Selected seed 195 with value = 0.2576
+Query 1/1: Action query time = 4.785 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2908
+t=74: Selected seed 195 with value = 0.2908
+Query 1/1: Action query time = 5.106 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1973
+t=90: Selected seed 195 with value = 0.1973
+Query 1/1: Action query time = 5.348 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4405
+t=106: Selected seed 195 with value = 0.4405
+Query 1/1: Action query time = 4.668 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5467
+t=122: Selected seed 195 with value = 0.5467
+Query 1/1: Action query time = 4.477 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=138: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 5.009 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6885
+t=154: Selected seed 195 with value = 0.6885
+Query 1/1: Action query time = 4.607 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8741
+t=170: Selected seed 195 with value = 0.8741
+Query 1/1: Action query time = 4.074 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=186: Selected seed 195 with value = 0.9902
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s02/2026_08_02-03_43_25--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.491 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1865
+t=10: Selected seed 195 with value = 0.1865
+Query 1/1: Action query time = 4.795 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2162
+t=26: Selected seed 195 with value = 0.2162
+Query 1/1: Action query time = 5.679 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2537
+t=42: Selected seed 195 with value = 0.2537
+Query 1/1: Action query time = 5.389 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2928
+t=58: Selected seed 195 with value = 0.2928
+Query 1/1: Action query time = 3.805 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3406
+t=74: Selected seed 195 with value = 0.3406
+Query 1/1: Action query time = 4.929 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4042
+t=90: Selected seed 195 with value = 0.4042
+Query 1/1: Action query time = 5.227 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4623
+t=106: Selected seed 195 with value = 0.4623
+Query 1/1: Action query time = 4.790 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=122: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 4.644 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5934
+t=138: Selected seed 195 with value = 0.5934
+Query 1/1: Action query time = 3.056 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7467
+t=154: Selected seed 195 with value = 0.7467
+Query 1/1: Action query time = 4.016 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8782
+t=170: Selected seed 195 with value = 0.8782
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s02/2026_08_02-03_43_25--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 2.822 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1721
+t=10: Selected seed 195 with value = 0.1721
+Query 1/1: Action query time = 4.298 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2221
+t=26: Selected seed 195 with value = 0.2221
+Query 1/1: Action query time = 6.339 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2325
+t=42: Selected seed 195 with value = 0.2325
+Query 1/1: Action query time = 4.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2956
+t=58: Selected seed 195 with value = 0.2956
+Query 1/1: Action query time = 4.878 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3482
+t=74: Selected seed 195 with value = 0.3482
+Query 1/1: Action query time = 4.432 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2566
+t=90: Selected seed 195 with value = 0.2566
+Query 1/1: Action query time = 5.186 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4990
+t=106: Selected seed 195 with value = 0.4990
+Query 1/1: Action query time = 5.038 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5864
+t=122: Selected seed 195 with value = 0.5864
+Query 1/1: Action query time = 4.844 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6812
+t=138: Selected seed 195 with value = 0.6812
+Query 1/1: Action query time = 4.889 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8196
+t=154: Selected seed 195 with value = 0.8196
+Query 1/1: Action query time = 3.715 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=170: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 5.016 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2553
+t=186: Selected seed 195 with value = 0.2553
+Query 1/1: Action query time = 4.023 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2650
+t=202: Selected seed 195 with value = 0.2650
+Query 1/1: Action query time = 2.456 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2376
+t=218: Selected seed 195 with value = 0.2376
+Query 1/1: Action query time = 2.352 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2551
+t=234: Selected seed 195 with value = 0.2551
+Query 1/1: Action query time = 2.078 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2529
+t=250: Selected seed 195 with value = 0.2529
+Query 1/1: Action query time = 2.318 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2516
+t=266: Selected seed 195 with value = 0.2516
+Query 1/1: Action query time = 1.872 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2514
+t=282: Selected seed 195 with value = 0.2514
+Query 1/1: Action query time = 1.784 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2512
+t=298: Selected seed 195 with value = 0.2512
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s02/2026_08_02-03_43_25--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a063252bb59af455d539bb346fe6b1f6f078aba9
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s03.txt
@@ -0,0 +1,169 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t3_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.713 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1689
+t=10: Selected seed 195 with value = 0.1689
+Query 1/1: Action query time = 5.311 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2153
+t=26: Selected seed 195 with value = 0.2153
+Query 1/1: Action query time = 5.860 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2330
+t=42: Selected seed 195 with value = 0.2330
+Query 1/1: Action query time = 4.744 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2771
+t=58: Selected seed 195 with value = 0.2771
+Query 1/1: Action query time = 4.596 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3442
+t=74: Selected seed 195 with value = 0.3442
+Query 1/1: Action query time = 4.866 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4120
+t=90: Selected seed 195 with value = 0.4120
+Query 1/1: Action query time = 4.790 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4992
+t=106: Selected seed 195 with value = 0.4992
+Query 1/1: Action query time = 5.188 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5990
+t=122: Selected seed 195 with value = 0.5990
+Query 1/1: Action query time = 5.445 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6998
+t=138: Selected seed 195 with value = 0.6998
+Query 1/1: Action query time = 5.396 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7985
+t=154: Selected seed 195 with value = 0.7985
+Query 1/1: Action query time = 4.178 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9198
+t=170: Selected seed 195 with value = 0.9198
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s03/2026_08_02-03_43_25--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.129 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1829
+t=10: Selected seed 195 with value = 0.1829
+Query 1/1: Action query time = 2.239 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2134
+t=26: Selected seed 195 with value = 0.2134
+Query 1/1: Action query time = 3.226 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2274
+t=42: Selected seed 195 with value = 0.2274
+Query 1/1: Action query time = 4.866 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2494
+t=58: Selected seed 195 with value = 0.2494
+Query 1/1: Action query time = 4.829 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3006
+t=74: Selected seed 195 with value = 0.3006
+Query 1/1: Action query time = 4.631 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4107
+t=90: Selected seed 195 with value = 0.4107
+Query 1/1: Action query time = 4.850 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4987
+t=106: Selected seed 195 with value = 0.4987
+Query 1/1: Action query time = 4.580 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5428
+t=122: Selected seed 195 with value = 0.5428
+Query 1/1: Action query time = 4.463 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4983
+t=138: Selected seed 195 with value = 0.4983
+Query 1/1: Action query time = 4.761 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7502
+t=154: Selected seed 195 with value = 0.7502
+Query 1/1: Action query time = 5.196 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9560
+t=170: Selected seed 195 with value = 0.9560
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s03/2026_08_02-03_43_25--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.664 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1847
+t=10: Selected seed 195 with value = 0.1847
+Query 1/1: Action query time = 4.855 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2057
+t=26: Selected seed 195 with value = 0.2057
+Query 1/1: Action query time = 3.633 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2479
+t=42: Selected seed 195 with value = 0.2479
+Query 1/1: Action query time = 4.318 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2775
+t=58: Selected seed 195 with value = 0.2775
+Query 1/1: Action query time = 5.403 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3326
+t=74: Selected seed 195 with value = 0.3326
+Query 1/1: Action query time = 4.550 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3929
+t=90: Selected seed 195 with value = 0.3929
+Query 1/1: Action query time = 4.801 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4697
+t=106: Selected seed 195 with value = 0.4697
+Query 1/1: Action query time = 5.308 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5478
+t=122: Selected seed 195 with value = 0.5478
+Query 1/1: Action query time = 5.431 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4214
+t=138: Selected seed 195 with value = 0.4214
+Query 1/1: Action query time = 5.271 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7406
+t=154: Selected seed 195 with value = 0.7406
+Query 1/1: Action query time = 3.641 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8635
+t=170: Selected seed 195 with value = 0.8635
+Query 1/1: Action query time = 4.645 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=186: Selected seed 195 with value = 0.9951
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s03/2026_08_02-03_43_25--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba8b78b40b1c319161229a02b1d41c8c55dcc459
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s04.txt
@@ -0,0 +1,177 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t3_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 7.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1886
+t=10: Selected seed 195 with value = 0.1886
+Query 1/1: Action query time = 4.840 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2069
+t=26: Selected seed 195 with value = 0.2069
+Query 1/1: Action query time = 3.554 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2572
+t=42: Selected seed 195 with value = 0.2572
+Query 1/1: Action query time = 5.140 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2849
+t=58: Selected seed 195 with value = 0.2849
+Query 1/1: Action query time = 5.208 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3484
+t=74: Selected seed 195 with value = 0.3484
+Query 1/1: Action query time = 5.121 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4181
+t=90: Selected seed 195 with value = 0.4181
+Query 1/1: Action query time = 5.375 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5062
+t=106: Selected seed 195 with value = 0.5062
+Query 1/1: Action query time = 5.480 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5349
+t=122: Selected seed 195 with value = 0.5349
+Query 1/1: Action query time = 5.387 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6619
+t=138: Selected seed 195 with value = 0.6619
+Query 1/1: Action query time = 4.126 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7964
+t=154: Selected seed 195 with value = 0.7964
+Query 1/1: Action query time = 4.136 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9102
+t=170: Selected seed 195 with value = 0.9102
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s04/2026_08_02-03_43_25--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.883 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2001
+t=10: Selected seed 195 with value = 0.2001
+Query 1/1: Action query time = 5.182 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2181
+t=26: Selected seed 195 with value = 0.2181
+Query 1/1: Action query time = 4.459 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2510
+t=42: Selected seed 195 with value = 0.2510
+Query 1/1: Action query time = 4.495 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2848
+t=58: Selected seed 195 with value = 0.2848
+Query 1/1: Action query time = 4.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3444
+t=74: Selected seed 195 with value = 0.3444
+Query 1/1: Action query time = 4.422 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3060
+t=90: Selected seed 195 with value = 0.3060
+Query 1/1: Action query time = 4.292 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3521
+t=106: Selected seed 195 with value = 0.3521
+Query 1/1: Action query time = 5.190 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4127
+t=122: Selected seed 195 with value = 0.4127
+Query 1/1: Action query time = 4.893 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4900
+t=138: Selected seed 195 with value = 0.4900
+Query 1/1: Action query time = 4.662 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6376
+t=154: Selected seed 195 with value = 0.6376
+Query 1/1: Action query time = 4.520 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7265
+t=170: Selected seed 195 with value = 0.7265
+Query 1/1: Action query time = 4.377 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8314
+t=186: Selected seed 195 with value = 0.8314
+Query 1/1: Action query time = 3.862 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=202: Selected seed 195 with value = 0.9912
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s04/2026_08_02-03_43_25--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.724 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1655
+t=10: Selected seed 195 with value = 0.1655
+Query 1/1: Action query time = 4.203 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2165
+t=26: Selected seed 195 with value = 0.2165
+Query 1/1: Action query time = 4.812 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2361
+t=42: Selected seed 195 with value = 0.2361
+Query 1/1: Action query time = 5.196 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2978
+t=58: Selected seed 195 with value = 0.2978
+Query 1/1: Action query time = 5.487 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3496
+t=74: Selected seed 195 with value = 0.3496
+Query 1/1: Action query time = 5.299 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4121
+t=90: Selected seed 195 with value = 0.4121
+Query 1/1: Action query time = 3.950 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4684
+t=106: Selected seed 195 with value = 0.4684
+Query 1/1: Action query time = 5.168 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5632
+t=122: Selected seed 195 with value = 0.5632
+Query 1/1: Action query time = 3.896 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6472
+t=138: Selected seed 195 with value = 0.6472
+Query 1/1: Action query time = 2.279 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7630
+t=154: Selected seed 195 with value = 0.7630
+Query 1/1: Action query time = 4.289 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8998
+t=170: Selected seed 195 with value = 0.8998
+Query 1/1: Action query time = 4.340 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=186: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s04/2026_08_02-03_43_25--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df9d006fb2e28c5f0ebc416ba7bbeb6f4f49b84c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s07.txt
@@ -0,0 +1,185 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t3_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1846
+t=10: Selected seed 195 with value = 0.1846
+Query 1/1: Action query time = 5.574 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1949
+t=26: Selected seed 195 with value = 0.1949
+Query 1/1: Action query time = 4.054 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2359
+t=42: Selected seed 195 with value = 0.2359
+Query 1/1: Action query time = 4.870 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2579
+t=58: Selected seed 195 with value = 0.2579
+Query 1/1: Action query time = 5.250 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3206
+t=74: Selected seed 195 with value = 0.3206
+Query 1/1: Action query time = 4.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3968
+t=90: Selected seed 195 with value = 0.3968
+Query 1/1: Action query time = 5.083 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4767
+t=106: Selected seed 195 with value = 0.4767
+Query 1/1: Action query time = 5.159 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5431
+t=122: Selected seed 195 with value = 0.5431
+Query 1/1: Action query time = 4.578 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6648
+t=138: Selected seed 195 with value = 0.6648
+Query 1/1: Action query time = 4.092 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7746
+t=154: Selected seed 195 with value = 0.7746
+Query 1/1: Action query time = 4.283 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8745
+t=170: Selected seed 195 with value = 0.8745
+Query 1/1: Action query time = 4.116 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=186: Selected seed 195 with value = 0.9950
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s07/2026_08_02-03_43_25--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.490 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1775
+t=10: Selected seed 195 with value = 0.1775
+Query 1/1: Action query time = 4.634 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2166
+t=26: Selected seed 195 with value = 0.2166
+Query 1/1: Action query time = 4.526 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2581
+t=42: Selected seed 195 with value = 0.2581
+Query 1/1: Action query time = 4.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2776
+t=58: Selected seed 195 with value = 0.2776
+Query 1/1: Action query time = 4.727 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3557
+t=74: Selected seed 195 with value = 0.3557
+Query 1/1: Action query time = 4.605 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3973
+t=90: Selected seed 195 with value = 0.3973
+Query 1/1: Action query time = 4.632 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4735
+t=106: Selected seed 195 with value = 0.4735
+Query 1/1: Action query time = 5.102 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5471
+t=122: Selected seed 195 with value = 0.5471
+Query 1/1: Action query time = 4.442 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6375
+t=138: Selected seed 195 with value = 0.6375
+Query 1/1: Action query time = 4.252 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7435
+t=154: Selected seed 195 with value = 0.7435
+Query 1/1: Action query time = 4.531 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8637
+t=170: Selected seed 195 with value = 0.8637
+Query 1/1: Action query time = 3.849 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=186: Selected seed 195 with value = 0.9925
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s07/2026_08_02-03_43_25--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.056 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1916
+t=10: Selected seed 195 with value = 0.1916
+Query 1/1: Action query time = 4.723 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2201
+t=26: Selected seed 195 with value = 0.2201
+Query 1/1: Action query time = 5.609 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2566
+t=42: Selected seed 195 with value = 0.2566
+Query 1/1: Action query time = 5.435 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2765
+t=58: Selected seed 195 with value = 0.2765
+Query 1/1: Action query time = 5.320 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3548
+t=74: Selected seed 195 with value = 0.3548
+Query 1/1: Action query time = 4.537 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3994
+t=90: Selected seed 195 with value = 0.3994
+Query 1/1: Action query time = 3.463 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4744
+t=106: Selected seed 195 with value = 0.4744
+Query 1/1: Action query time = 4.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5471
+t=122: Selected seed 195 with value = 0.5471
+Query 1/1: Action query time = 4.488 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5366
+t=138: Selected seed 195 with value = 0.5366
+Query 1/1: Action query time = 3.088 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5711
+t=154: Selected seed 195 with value = 0.5711
+Query 1/1: Action query time = 4.716 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6404
+t=170: Selected seed 195 with value = 0.6404
+Query 1/1: Action query time = 4.719 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7076
+t=186: Selected seed 195 with value = 0.7076
+Query 1/1: Action query time = 2.359 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8217
+t=202: Selected seed 195 with value = 0.8217
+Query 1/1: Action query time = 2.570 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=218: Selected seed 195 with value = 0.9818
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s07/2026_08_02-03_43_25--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_26--realcl800_t3_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_26--realcl800_t3_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..63e9ce3add12e15cbcba8eba741bb0a71f4dff71
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_26--realcl800_t3_s13.txt
@@ -0,0 +1,201 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t3_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.841 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1499
+t=10: Selected seed 195 with value = 0.1499
+Query 1/1: Action query time = 4.715 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2163
+t=26: Selected seed 195 with value = 0.2163
+Query 1/1: Action query time = 4.283 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2464
+t=42: Selected seed 195 with value = 0.2464
+Query 1/1: Action query time = 5.665 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2877
+t=58: Selected seed 195 with value = 0.2877
+Query 1/1: Action query time = 5.158 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3188
+t=74: Selected seed 195 with value = 0.3188
+Query 1/1: Action query time = 4.833 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4226
+t=90: Selected seed 195 with value = 0.4226
+Query 1/1: Action query time = 5.672 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4914
+t=106: Selected seed 195 with value = 0.4914
+Query 1/1: Action query time = 5.330 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5558
+t=122: Selected seed 195 with value = 0.5558
+Query 1/1: Action query time = 4.844 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6574
+t=138: Selected seed 195 with value = 0.6574
+Query 1/1: Action query time = 4.755 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7310
+t=154: Selected seed 195 with value = 0.7310
+Query 1/1: Action query time = 5.100 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8531
+t=170: Selected seed 195 with value = 0.8531
+Query 1/1: Action query time = 3.047 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8977
+t=186: Selected seed 195 with value = 0.8977
+Query 1/1: Action query time = 1.840 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2494
+t=202: Selected seed 195 with value = 0.2494
+Query 1/1: Action query time = 2.460 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2539
+t=218: Selected seed 195 with value = 0.2539
+Query 1/1: Action query time = 4.574 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3170
+t=234: Selected seed 195 with value = 0.3170
+Query 1/1: Action query time = 4.750 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2455
+t=250: Selected seed 195 with value = 0.2455
+Query 1/1: Action query time = 5.359 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2512
+t=266: Selected seed 195 with value = 0.2512
+Query 1/1: Action query time = 5.304 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2515
+t=282: Selected seed 195 with value = 0.2515
+Query 1/1: Action query time = 5.086 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2517
+t=298: Selected seed 195 with value = 0.2517
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s13/2026_08_02-03_43_26--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.958 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1838
+t=10: Selected seed 195 with value = 0.1838
+Query 1/1: Action query time = 4.810 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2293
+t=26: Selected seed 195 with value = 0.2293
+Query 1/1: Action query time = 4.732 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2209
+t=42: Selected seed 195 with value = 0.2209
+Query 1/1: Action query time = 5.100 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2485
+t=58: Selected seed 195 with value = 0.2485
+Query 1/1: Action query time = 4.868 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3011
+t=74: Selected seed 195 with value = 0.3011
+Query 1/1: Action query time = 3.648 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3883
+t=90: Selected seed 195 with value = 0.3883
+Query 1/1: Action query time = 4.064 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4563
+t=106: Selected seed 195 with value = 0.4563
+Query 1/1: Action query time = 5.076 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5380
+t=122: Selected seed 195 with value = 0.5380
+Query 1/1: Action query time = 4.004 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6739
+t=138: Selected seed 195 with value = 0.6739
+Query 1/1: Action query time = 4.646 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8039
+t=154: Selected seed 195 with value = 0.8039
+Query 1/1: Action query time = 4.236 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9488
+t=170: Selected seed 195 with value = 0.9488
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s13/2026_08_02-03_43_26--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1702
+t=10: Selected seed 195 with value = 0.1702
+Query 1/1: Action query time = 4.030 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2238
+t=26: Selected seed 195 with value = 0.2238
+Query 1/1: Action query time = 4.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2464
+t=42: Selected seed 195 with value = 0.2464
+Query 1/1: Action query time = 5.115 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2760
+t=58: Selected seed 195 with value = 0.2760
+Query 1/1: Action query time = 5.998 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3524
+t=74: Selected seed 195 with value = 0.3524
+Query 1/1: Action query time = 4.083 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4055
+t=90: Selected seed 195 with value = 0.4055
+Query 1/1: Action query time = 3.747 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4678
+t=106: Selected seed 195 with value = 0.4678
+Query 1/1: Action query time = 2.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=122: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 2.371 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6351
+t=138: Selected seed 195 with value = 0.6351
+Query 1/1: Action query time = 2.023 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7370
+t=154: Selected seed 195 with value = 0.7370
+Query 1/1: Action query time = 1.300 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7724
+t=170: Selected seed 195 with value = 0.7724
+Query 1/1: Action query time = 1.702 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9432
+t=186: Selected seed 195 with value = 0.9432
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s13/2026_08_02-03_43_26--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_19--realcl800_t4_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_19--realcl800_t4_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..677fb0b3470af446e87437cca76757574de00abf
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_19--realcl800_t4_s02.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t4_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.099 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4405
+t=10: Selected seed 195 with value = 0.4405
+Query 1/1: Action query time = 5.290 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5121
+t=26: Selected seed 195 with value = 0.5121
+Query 1/1: Action query time = 4.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6435
+t=42: Selected seed 195 with value = 0.6435
+Query 1/1: Action query time = 4.503 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7280
+t=58: Selected seed 195 with value = 0.7280
+Query 1/1: Action query time = 4.229 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8832
+t=74: Selected seed 195 with value = 0.8832
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s02/2026_08_02-03_48_19--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.600 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4297
+t=10: Selected seed 195 with value = 0.4297
+Query 1/1: Action query time = 4.913 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4886
+t=26: Selected seed 195 with value = 0.4886
+Query 1/1: Action query time = 5.125 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5605
+t=42: Selected seed 195 with value = 0.5605
+Query 1/1: Action query time = 5.122 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6677
+t=58: Selected seed 195 with value = 0.6677
+Query 1/1: Action query time = 4.726 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7865
+t=74: Selected seed 195 with value = 0.7865
+Query 1/1: Action query time = 3.288 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=90: Selected seed 195 with value = 0.9379
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s02/2026_08_02-03_48_19--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4380
+t=10: Selected seed 195 with value = 0.4380
+Query 1/1: Action query time = 4.838 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5234
+t=26: Selected seed 195 with value = 0.5234
+Query 1/1: Action query time = 4.611 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6099
+t=42: Selected seed 195 with value = 0.6099
+Query 1/1: Action query time = 4.731 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7371
+t=58: Selected seed 195 with value = 0.7371
+Query 1/1: Action query time = 4.685 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=74: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 3.089 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=90: Selected seed 195 with value = 0.9973
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s02/2026_08_02-03_48_19--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..87670dd24816b5ce17af09044d91255eccb6348f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s07.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t4_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.090 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4565
+t=10: Selected seed 195 with value = 0.4565
+Query 1/1: Action query time = 5.115 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5386
+t=26: Selected seed 195 with value = 0.5386
+Query 1/1: Action query time = 5.378 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6093
+t=42: Selected seed 195 with value = 0.6093
+Query 1/1: Action query time = 5.299 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7054
+t=58: Selected seed 195 with value = 0.7054
+Query 1/1: Action query time = 3.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8202
+t=74: Selected seed 195 with value = 0.8202
+Query 1/1: Action query time = 2.077 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=90: Selected seed 195 with value = 0.9904
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s07/2026_08_02-03_48_20--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.298 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4414
+t=10: Selected seed 195 with value = 0.4414
+Query 1/1: Action query time = 5.020 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5202
+t=26: Selected seed 195 with value = 0.5202
+Query 1/1: Action query time = 5.346 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=42: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 4.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7200
+t=58: Selected seed 195 with value = 0.7200
+Query 1/1: Action query time = 3.608 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8467
+t=74: Selected seed 195 with value = 0.8467
+Query 1/1: Action query time = 4.117 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=90: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s07/2026_08_02-03_48_20--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4472
+t=10: Selected seed 195 with value = 0.4472
+Query 1/1: Action query time = 5.286 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5351
+t=26: Selected seed 195 with value = 0.5351
+Query 1/1: Action query time = 4.854 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6018
+t=42: Selected seed 195 with value = 0.6018
+Query 1/1: Action query time = 4.106 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6861
+t=58: Selected seed 195 with value = 0.6861
+Query 1/1: Action query time = 3.899 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8617
+t=74: Selected seed 195 with value = 0.8617
+Query 1/1: Action query time = 3.052 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=90: Selected seed 195 with value = 0.9790
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s07/2026_08_02-03_48_20--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..baf8a248cc9108b4f8a0ece09d38140cf1dc47bf
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s10.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t4_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.875 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4543
+t=10: Selected seed 195 with value = 0.4543
+Query 1/1: Action query time = 5.045 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5263
+t=26: Selected seed 195 with value = 0.5263
+Query 1/1: Action query time = 5.113 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5730
+t=42: Selected seed 195 with value = 0.5730
+Query 1/1: Action query time = 4.878 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7196
+t=58: Selected seed 195 with value = 0.7196
+Query 1/1: Action query time = 4.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=74: Selected seed 195 with value = 0.8603
+Query 1/1: Action query time = 4.382 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=90: Selected seed 195 with value = 0.9736
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s10/2026_08_02-03_48_20--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.742 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4313
+t=10: Selected seed 195 with value = 0.4313
+Query 1/1: Action query time = 4.300 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=26: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 5.123 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5962
+t=42: Selected seed 195 with value = 0.5962
+Query 1/1: Action query time = 4.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6959
+t=58: Selected seed 195 with value = 0.6959
+Query 1/1: Action query time = 5.010 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8355
+t=74: Selected seed 195 with value = 0.8355
+Query 1/1: Action query time = 2.540 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=90: Selected seed 195 with value = 0.9806
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s10/2026_08_02-03_48_20--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.690 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4330
+t=10: Selected seed 195 with value = 0.4330
+Query 1/1: Action query time = 5.377 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5157
+t=26: Selected seed 195 with value = 0.5157
+Query 1/1: Action query time = 5.442 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=42: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 4.921 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7369
+t=58: Selected seed 195 with value = 0.7369
+Query 1/1: Action query time = 4.343 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8389
+t=74: Selected seed 195 with value = 0.8389
+Query 1/1: Action query time = 3.152 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=90: Selected seed 195 with value = 0.9148
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s10/2026_08_02-03_48_20--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d8f47cdc1f9131cfeb2c32c889b850e5a9d48be
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s12.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t4_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.313 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4312
+t=10: Selected seed 195 with value = 0.4312
+Query 1/1: Action query time = 4.140 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5207
+t=26: Selected seed 195 with value = 0.5207
+Query 1/1: Action query time = 4.781 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5976
+t=42: Selected seed 195 with value = 0.5976
+Query 1/1: Action query time = 4.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7055
+t=58: Selected seed 195 with value = 0.7055
+Query 1/1: Action query time = 4.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8523
+t=74: Selected seed 195 with value = 0.8523
+Query 1/1: Action query time = 4.759 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=90: Selected seed 195 with value = 0.9858
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s12/2026_08_02-03_48_20--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.464 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4368
+t=10: Selected seed 195 with value = 0.4368
+Query 1/1: Action query time = 3.632 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5033
+t=26: Selected seed 195 with value = 0.5033
+Query 1/1: Action query time = 4.726 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6108
+t=42: Selected seed 195 with value = 0.6108
+Query 1/1: Action query time = 5.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7080
+t=58: Selected seed 195 with value = 0.7080
+Query 1/1: Action query time = 4.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8156
+t=74: Selected seed 195 with value = 0.8156
+Query 1/1: Action query time = 4.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9180
+t=90: Selected seed 195 with value = 0.9180
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s12/2026_08_02-03_48_20--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.329 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4524
+t=10: Selected seed 195 with value = 0.4524
+Query 1/1: Action query time = 4.265 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5428
+t=26: Selected seed 195 with value = 0.5428
+Query 1/1: Action query time = 5.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6396
+t=42: Selected seed 195 with value = 0.6396
+Query 1/1: Action query time = 5.200 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7361
+t=58: Selected seed 195 with value = 0.7361
+Query 1/1: Action query time = 5.255 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=74: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 3.889 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=90: Selected seed 195 with value = 0.9943
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s12/2026_08_02-03_48_20--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_21--realcl800_t4_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_21--realcl800_t4_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ea9758c17b10c48c194a41c15634ed6c0e83d16
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_21--realcl800_t4_s14.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t4_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.786 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4221
+t=10: Selected seed 195 with value = 0.4221
+Query 1/1: Action query time = 4.877 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5430
+t=26: Selected seed 195 with value = 0.5430
+Query 1/1: Action query time = 4.943 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6249
+t=42: Selected seed 195 with value = 0.6249
+Query 1/1: Action query time = 4.753 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7538
+t=58: Selected seed 195 with value = 0.7538
+Query 1/1: Action query time = 4.787 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8706
+t=74: Selected seed 195 with value = 0.8706
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s14/2026_08_02-03_48_21--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.675 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4481
+t=10: Selected seed 195 with value = 0.4481
+Query 1/1: Action query time = 3.560 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5527
+t=26: Selected seed 195 with value = 0.5527
+Query 1/1: Action query time = 5.035 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6237
+t=42: Selected seed 195 with value = 0.6237
+Query 1/1: Action query time = 5.105 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7322
+t=58: Selected seed 195 with value = 0.7322
+Query 1/1: Action query time = 5.273 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8513
+t=74: Selected seed 195 with value = 0.8513
+Query 1/1: Action query time = 4.562 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=90: Selected seed 195 with value = 0.9784
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s14/2026_08_02-03_48_21--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.604 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4602
+t=10: Selected seed 195 with value = 0.4602
+Query 1/1: Action query time = 4.287 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5379
+t=26: Selected seed 195 with value = 0.5379
+Query 1/1: Action query time = 4.738 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6140
+t=42: Selected seed 195 with value = 0.6140
+Query 1/1: Action query time = 5.202 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6985
+t=58: Selected seed 195 with value = 0.6985
+Query 1/1: Action query time = 5.671 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8414
+t=74: Selected seed 195 with value = 0.8414
+Query 1/1: Action query time = 4.316 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=90: Selected seed 195 with value = 0.9796
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s14/2026_08_02-03_48_21--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1f1dced24953e6e579b811ab321fd13721d345c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s09.txt
@@ -0,0 +1,181 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t5_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.240 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2997
+t=10: Selected seed 195 with value = 0.2997
+Query 1/1: Action query time = 5.713 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4113
+t=26: Selected seed 195 with value = 0.4113
+Query 1/1: Action query time = 3.783 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3155
+t=42: Selected seed 195 with value = 0.3155
+Query 1/1: Action query time = 3.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5534
+t=58: Selected seed 195 with value = 0.5534
+Query 1/1: Action query time = 4.925 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6507
+t=74: Selected seed 195 with value = 0.6507
+Query 1/1: Action query time = 5.474 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6931
+t=90: Selected seed 195 with value = 0.6931
+Query 1/1: Action query time = 3.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7543
+t=106: Selected seed 195 with value = 0.7543
+Query 1/1: Action query time = 4.110 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=122: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 3.118 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=138: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 4.755 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=154: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 4.102 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=170: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 5.398 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=186: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 4.851 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=202: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 4.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=218: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 5.064 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=234: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 4.236 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=250: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 4.087 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=266: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 4.725 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=282: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 3.467 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=298: Selected seed 195 with value = 0.9806
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s09/2026_08_02-03_51_07--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.958 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2262
+t=10: Selected seed 195 with value = 0.2262
+Query 1/1: Action query time = 4.798 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2644
+t=26: Selected seed 195 with value = 0.2644
+Query 1/1: Action query time = 5.081 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3088
+t=42: Selected seed 195 with value = 0.3088
+Query 1/1: Action query time = 5.131 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4358
+t=58: Selected seed 195 with value = 0.4358
+Query 1/1: Action query time = 4.397 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4631
+t=74: Selected seed 195 with value = 0.4631
+Query 1/1: Action query time = 2.231 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5514
+t=90: Selected seed 195 with value = 0.5514
+Query 1/1: Action query time = 3.053 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6582
+t=106: Selected seed 195 with value = 0.6582
+Query 1/1: Action query time = 2.014 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=122: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 1.212 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=138: Selected seed 195 with value = 0.9758
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s09/2026_08_02-03_51_07--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2446
+t=10: Selected seed 195 with value = 0.2446
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2943
+t=26: Selected seed 195 with value = 0.2943
+Query 1/1: Action query time = 1.161 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2731
+t=42: Selected seed 195 with value = 0.2731
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2585
+t=58: Selected seed 195 with value = 0.2585
+Query 1/1: Action query time = 1.004 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2857
+t=74: Selected seed 195 with value = 0.2857
+Query 1/1: Action query time = 1.102 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3259
+t=90: Selected seed 195 with value = 0.3259
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3922
+t=106: Selected seed 195 with value = 0.3922
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4443
+t=122: Selected seed 195 with value = 0.4443
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=138: Selected seed 195 with value = 0.9561
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s09/2026_08_02-03_51_07--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_08--realcl800_t5_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_08--realcl800_t5_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..39a9127bab9ff0a22f95d91b674d5589a3e191f3
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_08--realcl800_t5_s15.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t5_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3544
+t=10: Selected seed 195 with value = 0.3544
+Query 1/1: Action query time = 3.926 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4031
+t=26: Selected seed 195 with value = 0.4031
+Query 1/1: Action query time = 4.729 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4810
+t=42: Selected seed 195 with value = 0.4810
+Query 1/1: Action query time = 5.912 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5515
+t=58: Selected seed 195 with value = 0.5515
+Query 1/1: Action query time = 5.322 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6179
+t=74: Selected seed 195 with value = 0.6179
+Query 1/1: Action query time = 5.095 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6604
+t=90: Selected seed 195 with value = 0.6604
+Query 1/1: Action query time = 4.411 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5636
+t=106: Selected seed 195 with value = 0.5636
+Query 1/1: Action query time = 4.800 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6469
+t=122: Selected seed 195 with value = 0.6469
+Query 1/1: Action query time = 2.930 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7341
+t=138: Selected seed 195 with value = 0.7341
+Query 1/1: Action query time = 4.330 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8413
+t=154: Selected seed 195 with value = 0.8413
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s15/2026_08_02-03_51_08--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.138 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1778
+t=10: Selected seed 195 with value = 0.1778
+Query 1/1: Action query time = 5.354 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2372
+t=26: Selected seed 195 with value = 0.2372
+Query 1/1: Action query time = 4.805 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3280
+t=42: Selected seed 195 with value = 0.3280
+Query 1/1: Action query time = 4.930 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3321
+t=58: Selected seed 195 with value = 0.3321
+Query 1/1: Action query time = 3.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4202
+t=74: Selected seed 195 with value = 0.4202
+Query 1/1: Action query time = 4.419 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5430
+t=90: Selected seed 195 with value = 0.5430
+Query 1/1: Action query time = 4.736 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7580
+t=106: Selected seed 195 with value = 0.7580
+Query 1/1: Action query time = 3.029 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9523
+t=122: Selected seed 195 with value = 0.9523
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s15/2026_08_02-03_51_08--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.848 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3126
+t=10: Selected seed 195 with value = 0.3126
+Query 1/1: Action query time = 4.736 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3723
+t=26: Selected seed 195 with value = 0.3723
+Query 1/1: Action query time = 4.603 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4763
+t=42: Selected seed 195 with value = 0.4763
+Query 1/1: Action query time = 5.062 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5901
+t=58: Selected seed 195 with value = 0.5901
+Query 1/1: Action query time = 4.830 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5092
+t=74: Selected seed 195 with value = 0.5092
+Query 1/1: Action query time = 4.345 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5875
+t=90: Selected seed 195 with value = 0.5875
+Query 1/1: Action query time = 4.636 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6924
+t=106: Selected seed 195 with value = 0.6924
+Query 1/1: Action query time = 4.143 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7943
+t=122: Selected seed 195 with value = 0.7943
+Query 1/1: Action query time = 2.281 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=138: Selected seed 195 with value = 0.9861
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s15/2026_08_02-03_51_08--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b8745671513b5ee8ce0c2a8f4fa2b26e8e42c15
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s00.txt
@@ -0,0 +1,132 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t6_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 2.534 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4327
+t=10: Selected seed 195 with value = 0.4327
+Query 1/1: Action query time = 3.734 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5099
+t=26: Selected seed 195 with value = 0.5099
+Query 1/1: Action query time = 4.944 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6509
+t=42: Selected seed 195 with value = 0.6509
+Query 1/1: Action query time = 5.170 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6901
+t=58: Selected seed 195 with value = 0.6901
+Query 1/1: Action query time = 5.543 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8289
+t=74: Selected seed 195 with value = 0.8289
+Query 1/1: Action query time = 5.504 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=90: Selected seed 195 with value = 0.9934
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s00/2026_08_02-03_54_50--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.430 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4442
+t=10: Selected seed 195 with value = 0.4442
+Query 1/1: Action query time = 4.224 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5303
+t=26: Selected seed 195 with value = 0.5303
+Query 1/1: Action query time = 5.127 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6370
+t=42: Selected seed 195 with value = 0.6370
+Query 1/1: Action query time = 4.397 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5331
+t=58: Selected seed 195 with value = 0.5331
+Query 1/1: Action query time = 4.777 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7768
+t=74: Selected seed 195 with value = 0.7768
+Query 1/1: Action query time = 5.245 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9025
+t=90: Selected seed 195 with value = 0.9025
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s00/2026_08_02-03_54_50--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.682 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4199
+t=10: Selected seed 195 with value = 0.4199
+Query 1/1: Action query time = 5.574 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4992
+t=26: Selected seed 195 with value = 0.4992
+Query 1/1: Action query time = 5.138 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6135
+t=42: Selected seed 195 with value = 0.6135
+Query 1/1: Action query time = 5.132 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6732
+t=58: Selected seed 195 with value = 0.6732
+Query 1/1: Action query time = 5.242 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8277
+t=74: Selected seed 195 with value = 0.8277
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s00/2026_08_02-03_54_50--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 2.626 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4397
+t=10: Selected seed 195 with value = 0.4397
+Query 1/1: Action query time = 2.826 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=26: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 2.890 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6033
+t=42: Selected seed 195 with value = 0.6033
+Query 1/1: Action query time = 4.024 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7311
+t=58: Selected seed 195 with value = 0.7311
+Query 1/1: Action query time = 5.125 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=74: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 5.242 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=90: Selected seed 195 with value = 0.9893
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s00/2026_08_02-03_54_50--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..63278d97b7c22c64c6e5805e4b29f252fce4c82e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s01.txt
@@ -0,0 +1,240 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t6_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.023 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4177
+t=10: Selected seed 195 with value = 0.4177
+Query 1/1: Action query time = 5.205 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4950
+t=26: Selected seed 195 with value = 0.4950
+Query 1/1: Action query time = 5.572 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5589
+t=42: Selected seed 195 with value = 0.5589
+Query 1/1: Action query time = 5.698 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6527
+t=58: Selected seed 195 with value = 0.6527
+Query 1/1: Action query time = 4.526 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7715
+t=74: Selected seed 195 with value = 0.7715
+Query 1/1: Action query time = 4.106 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8583
+t=90: Selected seed 195 with value = 0.8583
+Query 1/1: Action query time = 4.525 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=106: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 5.319 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9474
+t=122: Selected seed 195 with value = 0.9474
+Query 1/1: Action query time = 5.555 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=138: Selected seed 195 with value = 0.9314
+Query 1/1: Action query time = 5.284 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9125
+t=154: Selected seed 195 with value = 0.9125
+Query 1/1: Action query time = 4.730 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=170: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 4.082 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9287
+t=186: Selected seed 195 with value = 0.9287
+Query 1/1: Action query time = 4.508 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9216
+t=202: Selected seed 195 with value = 0.9216
+Query 1/1: Action query time = 4.780 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=218: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 5.206 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9169
+t=234: Selected seed 195 with value = 0.9169
+Query 1/1: Action query time = 5.427 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=250: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 5.060 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=266: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 2.880 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8196
+t=282: Selected seed 195 with value = 0.8196
+Query 1/1: Action query time = 2.776 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8794
+t=298: Selected seed 195 with value = 0.8794
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s01/2026_08_02-03_54_50--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.389 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4114
+t=10: Selected seed 195 with value = 0.4114
+Query 1/1: Action query time = 5.349 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4975
+t=26: Selected seed 195 with value = 0.4975
+Query 1/1: Action query time = 4.357 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6057
+t=42: Selected seed 195 with value = 0.6057
+Query 1/1: Action query time = 3.717 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7030
+t=58: Selected seed 195 with value = 0.7030
+Query 1/1: Action query time = 3.452 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8414
+t=74: Selected seed 195 with value = 0.8414
+Query 1/1: Action query time = 3.169 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=90: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 5.052 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=106: Selected seed 195 with value = 0.9940
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s01/2026_08_02-03_54_50--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.327 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4247
+t=10: Selected seed 195 with value = 0.4247
+Query 1/1: Action query time = 4.264 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4639
+t=26: Selected seed 195 with value = 0.4639
+Query 1/1: Action query time = 2.589 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=42: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 1.900 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7226
+t=58: Selected seed 195 with value = 0.7226
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=74: Selected seed 195 with value = 0.8456
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s01/2026_08_02-03_54_50--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4170
+t=10: Selected seed 195 with value = 0.4170
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5146
+t=26: Selected seed 195 with value = 0.5146
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=42: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5184
+t=58: Selected seed 195 with value = 0.5184
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5765
+t=74: Selected seed 195 with value = 0.5765
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6911
+t=90: Selected seed 195 with value = 0.6911
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7671
+t=106: Selected seed 195 with value = 0.7671
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8438
+t=122: Selected seed 195 with value = 0.8438
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9364
+t=138: Selected seed 195 with value = 0.9364
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=154: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9610
+t=170: Selected seed 195 with value = 0.9610
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=186: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9652
+t=202: Selected seed 195 with value = 0.9652
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=218: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 0.957 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=234: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9326
+t=250: Selected seed 195 with value = 0.9326
+Query 1/1: Action query time = 0.950 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7598
+t=266: Selected seed 195 with value = 0.7598
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=282: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 0.959 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=298: Selected seed 195 with value = 0.8667
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s01/2026_08_02-03_54_50--with_future_img--episode=4--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+Current task success rate: 0.5
+Current total success rate: 0.5
+Final results:
+Total episodes: 4
+Total successes: 2
+Overall success rate: 0.5000 (50.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_51--realcl800_t6_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_51--realcl800_t6_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7abe10229783e4896d6020e69d9c56d27b0a18b5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_51--realcl800_t6_s13.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t6_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.403 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4393
+t=10: Selected seed 195 with value = 0.4393
+Query 1/1: Action query time = 4.810 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=26: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 4.832 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6199
+t=42: Selected seed 195 with value = 0.6199
+Query 1/1: Action query time = 5.096 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7376
+t=58: Selected seed 195 with value = 0.7376
+Query 1/1: Action query time = 4.917 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=74: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 4.524 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=90: Selected seed 195 with value = 0.9866
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s13/2026_08_02-03_54_51--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.096 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4440
+t=10: Selected seed 195 with value = 0.4440
+Query 1/1: Action query time = 5.187 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3757
+t=26: Selected seed 195 with value = 0.3757
+Query 1/1: Action query time = 4.476 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4779
+t=42: Selected seed 195 with value = 0.4779
+Query 1/1: Action query time = 4.890 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5267
+t=58: Selected seed 195 with value = 0.5267
+Query 1/1: Action query time = 4.932 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7887
+t=74: Selected seed 195 with value = 0.7887
+Query 1/1: Action query time = 2.878 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9467
+t=90: Selected seed 195 with value = 0.9467
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s13/2026_08_02-03_54_51--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.519 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4778
+t=10: Selected seed 195 with value = 0.4778
+Query 1/1: Action query time = 4.742 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5587
+t=26: Selected seed 195 with value = 0.5587
+Query 1/1: Action query time = 5.357 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6321
+t=42: Selected seed 195 with value = 0.6321
+Query 1/1: Action query time = 5.302 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=58: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 5.247 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8309
+t=74: Selected seed 195 with value = 0.8309
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s13/2026_08_02-03_54_51--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92ce4aee8cc5b6dd4d0bbff70aca185b41513d30
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s04.txt
@@ -0,0 +1,173 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t0_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.629 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3834
+t=10: Selected seed 195 with value = 0.3834
+Query 1/1: Action query time = 5.189 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4454
+t=26: Selected seed 195 with value = 0.4454
+Query 1/1: Action query time = 4.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5219
+t=42: Selected seed 195 with value = 0.5219
+Query 1/1: Action query time = 5.360 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=58: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 5.444 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6952
+t=74: Selected seed 195 with value = 0.6952
+Query 1/1: Action query time = 4.712 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8325
+t=90: Selected seed 195 with value = 0.8325
+Query 1/1: Action query time = 2.392 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=106: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 3.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s04/2026_08_02-04_44_20--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.660 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3490
+t=10: Selected seed 195 with value = 0.3490
+Query 1/1: Action query time = 4.800 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3268
+t=26: Selected seed 195 with value = 0.3268
+Query 1/1: Action query time = 4.672 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5024
+t=42: Selected seed 195 with value = 0.5024
+Query 1/1: Action query time = 4.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5802
+t=58: Selected seed 195 with value = 0.5802
+Query 1/1: Action query time = 5.220 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6642
+t=74: Selected seed 195 with value = 0.6642
+Query 1/1: Action query time = 4.802 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=90: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 3.540 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9119
+t=106: Selected seed 195 with value = 0.9119
+Query 1/1: Action query time = 3.805 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=122: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s04/2026_08_02-04_44_20--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.439 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3454
+t=10: Selected seed 195 with value = 0.3454
+Query 1/1: Action query time = 5.235 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3015
+t=26: Selected seed 195 with value = 0.3015
+Query 1/1: Action query time = 4.546 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4029
+t=42: Selected seed 195 with value = 0.4029
+Query 1/1: Action query time = 4.720 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4237
+t=58: Selected seed 195 with value = 0.4237
+Query 1/1: Action query time = 5.026 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4557
+t=74: Selected seed 195 with value = 0.4557
+Query 1/1: Action query time = 5.041 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5762
+t=90: Selected seed 195 with value = 0.5762
+Query 1/1: Action query time = 2.779 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6800
+t=106: Selected seed 195 with value = 0.6800
+Query 1/1: Action query time = 3.890 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8153
+t=122: Selected seed 195 with value = 0.8153
+Query 1/1: Action query time = 2.945 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8420
+t=138: Selected seed 195 with value = 0.8420
+Query 1/1: Action query time = 2.730 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6457
+t=154: Selected seed 195 with value = 0.6457
+Query 1/1: Action query time = 2.030 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6676
+t=170: Selected seed 195 with value = 0.6676
+Query 1/1: Action query time = 2.039 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6874
+t=186: Selected seed 195 with value = 0.6874
+Query 1/1: Action query time = 1.926 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7805
+t=202: Selected seed 195 with value = 0.7805
+Query 1/1: Action query time = 1.594 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7966
+t=218: Selected seed 195 with value = 0.7966
+Query 1/1: Action query time = 1.151 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7955
+t=234: Selected seed 195 with value = 0.7955
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6520
+t=250: Selected seed 195 with value = 0.6520
+Query 1/1: Action query time = 0.950 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8234
+t=266: Selected seed 195 with value = 0.8234
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8576
+t=282: Selected seed 195 with value = 0.8576
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=298: Selected seed 195 with value = 0.9726
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s04/2026_08_02-04_44_20--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddb3c2cae4f6d9501b849a171b05923299e71520
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s13.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t0_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.617 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3717
+t=10: Selected seed 195 with value = 0.3717
+Query 1/1: Action query time = 4.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4104
+t=26: Selected seed 195 with value = 0.4104
+Query 1/1: Action query time = 5.072 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4793
+t=42: Selected seed 195 with value = 0.4793
+Query 1/1: Action query time = 5.143 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5592
+t=58: Selected seed 195 with value = 0.5592
+Query 1/1: Action query time = 5.257 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6708
+t=74: Selected seed 195 with value = 0.6708
+Query 1/1: Action query time = 3.855 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7600
+t=90: Selected seed 195 with value = 0.7600
+Query 1/1: Action query time = 4.523 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=106: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 3.534 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=122: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s13/2026_08_02-04_44_20--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.648 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3617
+t=10: Selected seed 195 with value = 0.3617
+Query 1/1: Action query time = 5.501 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3937
+t=26: Selected seed 195 with value = 0.3937
+Query 1/1: Action query time = 4.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4524
+t=42: Selected seed 195 with value = 0.4524
+Query 1/1: Action query time = 4.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5214
+t=58: Selected seed 195 with value = 0.5214
+Query 1/1: Action query time = 4.855 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6514
+t=74: Selected seed 195 with value = 0.6514
+Query 1/1: Action query time = 4.916 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8050
+t=90: Selected seed 195 with value = 0.8050
+Query 1/1: Action query time = 4.114 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9281
+t=106: Selected seed 195 with value = 0.9281
+Query 1/1: Action query time = 3.213 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=122: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s13/2026_08_02-04_44_20--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.930 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3614
+t=10: Selected seed 195 with value = 0.3614
+Query 1/1: Action query time = 4.628 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4091
+t=26: Selected seed 195 with value = 0.4091
+Query 1/1: Action query time = 4.631 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4335
+t=42: Selected seed 195 with value = 0.4335
+Query 1/1: Action query time = 5.016 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5126
+t=58: Selected seed 195 with value = 0.5126
+Query 1/1: Action query time = 5.313 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5487
+t=74: Selected seed 195 with value = 0.5487
+Query 1/1: Action query time = 5.214 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6987
+t=90: Selected seed 195 with value = 0.6987
+Query 1/1: Action query time = 4.702 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8631
+t=106: Selected seed 195 with value = 0.8631
+Query 1/1: Action query time = 4.462 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=122: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 2.642 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=138: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s13/2026_08_02-04_44_20--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_41--fcv2_175_t1_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_41--fcv2_175_t1_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9fe0a4b0006f50ac1048b75b1c912c0df4c5305e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_41--fcv2_175_t1_s10.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t1_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4705
+t=10: Selected seed 195 with value = 0.4705
+Query 1/1: Action query time = 5.174 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5908
+t=26: Selected seed 195 with value = 0.5908
+Query 1/1: Action query time = 4.790 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6696
+t=42: Selected seed 195 with value = 0.6696
+Query 1/1: Action query time = 4.872 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8029
+t=58: Selected seed 195 with value = 0.8029
+Query 1/1: Action query time = 4.418 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=74: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 3.700 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=90: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s10/2026_08_02-04_47_41--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.493 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5096
+t=10: Selected seed 195 with value = 0.5096
+Query 1/1: Action query time = 5.015 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=26: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 4.777 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7206
+t=42: Selected seed 195 with value = 0.7206
+Query 1/1: Action query time = 4.380 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=58: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 4.809 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=74: Selected seed 195 with value = 0.9576
+Query 1/1: Action query time = 3.645 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 2.067 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.602 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.601 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.158 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.358 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.052 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.575 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.728 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.289 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.358 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.718 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.326 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.538 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=298: Selected seed 195 with value = 0.9976
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s10/2026_08_02-04_47_41--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.433 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4936
+t=10: Selected seed 195 with value = 0.4936
+Query 1/1: Action query time = 1.548 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6083
+t=26: Selected seed 195 with value = 0.6083
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7061
+t=42: Selected seed 195 with value = 0.7061
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8254
+t=58: Selected seed 195 with value = 0.8254
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=74: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s10/2026_08_02-04_47_41--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_27--fcv2_175_t2_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_27--fcv2_175_t2_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..507a3b1f8e9f905ce46e7387944e835b9699ed16
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_27--fcv2_175_t2_s12.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t2_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.648 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5244
+t=10: Selected seed 195 with value = 0.5244
+Query 1/1: Action query time = 1.134 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6120
+t=26: Selected seed 195 with value = 0.6120
+Query 1/1: Action query time = 3.704 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7100
+t=42: Selected seed 195 with value = 0.7100
+Query 1/1: Action query time = 4.715 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8233
+t=58: Selected seed 195 with value = 0.8233
+Query 1/1: Action query time = 5.775 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9466
+t=74: Selected seed 195 with value = 0.9466
+Query 1/1: Action query time = 4.460 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s12/2026_08_02-04_50_27--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4121
+t=10: Selected seed 195 with value = 0.4121
+Query 1/1: Action query time = 4.453 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4302
+t=26: Selected seed 195 with value = 0.4302
+Query 1/1: Action query time = 3.079 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6308
+t=42: Selected seed 195 with value = 0.6308
+Query 1/1: Action query time = 4.376 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7587
+t=58: Selected seed 195 with value = 0.7587
+Query 1/1: Action query time = 4.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8691
+t=74: Selected seed 195 with value = 0.8691
+Query 1/1: Action query time = 4.821 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9335
+t=90: Selected seed 195 with value = 0.9335
+Query 1/1: Action query time = 4.493 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9520
+t=106: Selected seed 195 with value = 0.9520
+Query 1/1: Action query time = 4.426 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=122: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 3.651 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.543 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.382 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.292 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.236 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.318 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.375 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=234: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 4.025 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9469
+t=250: Selected seed 195 with value = 0.9469
+Query 1/1: Action query time = 2.513 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=266: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 1.009 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8251
+t=282: Selected seed 195 with value = 0.8251
+Query 1/1: Action query time = 1.248 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7706
+t=298: Selected seed 195 with value = 0.7706
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s12/2026_08_02-04_50_27--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.667 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4006
+t=10: Selected seed 195 with value = 0.4006
+Query 1/1: Action query time = 1.560 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5374
+t=26: Selected seed 195 with value = 0.5374
+Query 1/1: Action query time = 1.609 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7092
+t=42: Selected seed 195 with value = 0.7092
+Query 1/1: Action query time = 1.665 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8650
+t=58: Selected seed 195 with value = 0.8650
+Query 1/1: Action query time = 1.890 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=74: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 1.596 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s12/2026_08_02-04_50_27--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_29--fcv2_175_t3_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_29--fcv2_175_t3_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3f6d08f657b69cfd37d2467d9412b1c1162bd315
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_29--fcv2_175_t3_s00.txt
@@ -0,0 +1,272 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t3_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.753 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4404
+t=10: Selected seed 195 with value = 0.4404
+Query 1/1: Action query time = 4.330 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4961
+t=26: Selected seed 195 with value = 0.4961
+Query 1/1: Action query time = 5.160 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5594
+t=42: Selected seed 195 with value = 0.5594
+Query 1/1: Action query time = 4.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6537
+t=58: Selected seed 195 with value = 0.6537
+Query 1/1: Action query time = 4.490 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7796
+t=74: Selected seed 195 with value = 0.7796
+Query 1/1: Action query time = 4.765 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8927
+t=90: Selected seed 195 with value = 0.8927
+Query 1/1: Action query time = 5.221 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=106: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 5.067 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6720
+t=122: Selected seed 195 with value = 0.6720
+Query 1/1: Action query time = 4.439 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6025
+t=138: Selected seed 195 with value = 0.6025
+Query 1/1: Action query time = 4.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6760
+t=154: Selected seed 195 with value = 0.6760
+Query 1/1: Action query time = 4.864 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7415
+t=170: Selected seed 195 with value = 0.7415
+Query 1/1: Action query time = 4.435 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7319
+t=186: Selected seed 195 with value = 0.7319
+Query 1/1: Action query time = 3.904 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=202: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 3.606 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=218: Selected seed 195 with value = 0.9582
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s00/2026_08_02-04_53_29--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.909 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3875
+t=10: Selected seed 195 with value = 0.3875
+Query 1/1: Action query time = 4.855 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4767
+t=26: Selected seed 195 with value = 0.4767
+Query 1/1: Action query time = 5.175 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5636
+t=42: Selected seed 195 with value = 0.5636
+Query 1/1: Action query time = 5.345 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6445
+t=58: Selected seed 195 with value = 0.6445
+Query 1/1: Action query time = 4.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7829
+t=74: Selected seed 195 with value = 0.7829
+Query 1/1: Action query time = 4.225 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=90: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 4.579 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=106: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 4.451 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6501
+t=122: Selected seed 195 with value = 0.6501
+Query 1/1: Action query time = 4.825 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6761
+t=138: Selected seed 195 with value = 0.6761
+Query 1/1: Action query time = 4.377 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7520
+t=154: Selected seed 195 with value = 0.7520
+Query 1/1: Action query time = 4.634 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9092
+t=170: Selected seed 195 with value = 0.9092
+Query 1/1: Action query time = 3.950 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=186: Selected seed 195 with value = 0.9925
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s00/2026_08_02-04_53_29--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.533 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3854
+t=10: Selected seed 195 with value = 0.3854
+Query 1/1: Action query time = 4.254 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4665
+t=26: Selected seed 195 with value = 0.4665
+Query 1/1: Action query time = 4.855 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5427
+t=42: Selected seed 195 with value = 0.5427
+Query 1/1: Action query time = 4.427 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6061
+t=58: Selected seed 195 with value = 0.6061
+Query 1/1: Action query time = 4.535 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6916
+t=74: Selected seed 195 with value = 0.6916
+Query 1/1: Action query time = 4.608 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7943
+t=90: Selected seed 195 with value = 0.7943
+Query 1/1: Action query time = 5.139 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=106: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 3.657 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=122: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 4.860 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6318
+t=138: Selected seed 195 with value = 0.6318
+Query 1/1: Action query time = 4.689 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6804
+t=154: Selected seed 195 with value = 0.6804
+Query 1/1: Action query time = 4.044 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=170: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 4.935 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9050
+t=186: Selected seed 195 with value = 0.9050
+Query 1/1: Action query time = 4.852 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=202: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s00/2026_08_02-04_53_29--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.496 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4103
+t=10: Selected seed 195 with value = 0.4103
+Query 1/1: Action query time = 4.241 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4848
+t=26: Selected seed 195 with value = 0.4848
+Query 1/1: Action query time = 4.133 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=42: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 4.002 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6498
+t=58: Selected seed 195 with value = 0.6498
+Query 1/1: Action query time = 2.910 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=74: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 2.935 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8760
+t=90: Selected seed 195 with value = 0.8760
+Query 1/1: Action query time = 2.313 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=106: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 2.446 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9024
+t=122: Selected seed 195 with value = 0.9024
+Query 1/1: Action query time = 2.354 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=138: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 2.252 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7963
+t=154: Selected seed 195 with value = 0.7963
+Query 1/1: Action query time = 2.225 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7049
+t=170: Selected seed 195 with value = 0.7049
+Query 1/1: Action query time = 1.763 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7517
+t=186: Selected seed 195 with value = 0.7517
+Query 1/1: Action query time = 1.719 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9202
+t=202: Selected seed 195 with value = 0.9202
+Query 1/1: Action query time = 1.253 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9486
+t=218: Selected seed 195 with value = 0.9486
+Query 1/1: Action query time = 1.231 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=234: Selected seed 195 with value = 0.9530
+Query 1/1: Action query time = 1.249 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=250: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=266: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s00/2026_08_02-04_53_29--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_29--fcv2_175_t3_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_29--fcv2_175_t3_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc844e94169088fa8f0ddbcbc2acb10db47e6a9b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_29--fcv2_175_t3_s04.txt
@@ -0,0 +1,237 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t3_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 2.710 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4500
+t=10: Selected seed 195 with value = 0.4500
+Query 1/1: Action query time = 3.502 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4823
+t=26: Selected seed 195 with value = 0.4823
+Query 1/1: Action query time = 5.174 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5449
+t=42: Selected seed 195 with value = 0.5449
+Query 1/1: Action query time = 4.745 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6439
+t=58: Selected seed 195 with value = 0.6439
+Query 1/1: Action query time = 4.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7267
+t=74: Selected seed 195 with value = 0.7267
+Query 1/1: Action query time = 5.160 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8477
+t=90: Selected seed 195 with value = 0.8477
+Query 1/1: Action query time = 5.184 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=106: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 5.267 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8547
+t=122: Selected seed 195 with value = 0.8547
+Query 1/1: Action query time = 5.527 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7330
+t=138: Selected seed 195 with value = 0.7330
+Query 1/1: Action query time = 5.146 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7005
+t=154: Selected seed 195 with value = 0.7005
+Query 1/1: Action query time = 4.825 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7488
+t=170: Selected seed 195 with value = 0.7488
+Query 1/1: Action query time = 4.778 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9313
+t=186: Selected seed 195 with value = 0.9313
+Query 1/1: Action query time = 3.483 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=202: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s04/2026_08_02-04_53_29--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.770 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4366
+t=10: Selected seed 195 with value = 0.4366
+Query 1/1: Action query time = 3.393 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5064
+t=26: Selected seed 195 with value = 0.5064
+Query 1/1: Action query time = 4.187 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5443
+t=42: Selected seed 195 with value = 0.5443
+Query 1/1: Action query time = 4.162 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5120
+t=58: Selected seed 195 with value = 0.5120
+Query 1/1: Action query time = 4.907 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4960
+t=74: Selected seed 195 with value = 0.4960
+Query 1/1: Action query time = 5.480 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4822
+t=90: Selected seed 195 with value = 0.4822
+Query 1/1: Action query time = 4.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4749
+t=106: Selected seed 195 with value = 0.4749
+Query 1/1: Action query time = 4.927 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4686
+t=122: Selected seed 195 with value = 0.4686
+Query 1/1: Action query time = 5.009 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4764
+t=138: Selected seed 195 with value = 0.4764
+Query 1/1: Action query time = 5.280 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4886
+t=154: Selected seed 195 with value = 0.4886
+Query 1/1: Action query time = 4.335 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5148
+t=170: Selected seed 195 with value = 0.5148
+Query 1/1: Action query time = 4.819 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5332
+t=186: Selected seed 195 with value = 0.5332
+Query 1/1: Action query time = 4.252 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5435
+t=202: Selected seed 195 with value = 0.5435
+Query 1/1: Action query time = 3.691 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5758
+t=218: Selected seed 195 with value = 0.5758
+Query 1/1: Action query time = 4.334 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6111
+t=234: Selected seed 195 with value = 0.6111
+Query 1/1: Action query time = 5.054 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6290
+t=250: Selected seed 195 with value = 0.6290
+Query 1/1: Action query time = 4.087 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7909
+t=266: Selected seed 195 with value = 0.7909
+Query 1/1: Action query time = 4.766 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7629
+t=282: Selected seed 195 with value = 0.7629
+Query 1/1: Action query time = 5.759 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=298: Selected seed 195 with value = 0.8171
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s04/2026_08_02-04_53_29--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.378 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3638
+t=10: Selected seed 195 with value = 0.3638
+Query 1/1: Action query time = 3.440 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4649
+t=26: Selected seed 195 with value = 0.4649
+Query 1/1: Action query time = 4.879 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5153
+t=42: Selected seed 195 with value = 0.5153
+Query 1/1: Action query time = 4.917 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6529
+t=58: Selected seed 195 with value = 0.6529
+Query 1/1: Action query time = 4.371 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7394
+t=74: Selected seed 195 with value = 0.7394
+Query 1/1: Action query time = 4.664 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8649
+t=90: Selected seed 195 with value = 0.8649
+Query 1/1: Action query time = 4.810 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=106: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 3.881 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=122: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 3.419 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6768
+t=138: Selected seed 195 with value = 0.6768
+Query 1/1: Action query time = 4.299 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7978
+t=154: Selected seed 195 with value = 0.7978
+Query 1/1: Action query time = 4.403 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=170: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 4.826 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=186: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 3.316 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=202: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 3.116 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=218: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 2.436 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7115
+t=234: Selected seed 195 with value = 0.7115
+Query 1/1: Action query time = 2.068 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7594
+t=250: Selected seed 195 with value = 0.7594
+Query 1/1: Action query time = 2.381 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8896
+t=266: Selected seed 195 with value = 0.8896
+Query 1/1: Action query time = 2.431 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=282: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 2.585 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s04/2026_08_02-04_53_29--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..37d8bcb16a826390f2acfd2181475e622d2d1215
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s09.txt
@@ -0,0 +1,249 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t3_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.805 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4101
+t=10: Selected seed 195 with value = 0.4101
+Query 1/1: Action query time = 4.864 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5051
+t=26: Selected seed 195 with value = 0.5051
+Query 1/1: Action query time = 5.013 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5613
+t=42: Selected seed 195 with value = 0.5613
+Query 1/1: Action query time = 4.730 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6537
+t=58: Selected seed 195 with value = 0.6537
+Query 1/1: Action query time = 4.780 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7417
+t=74: Selected seed 195 with value = 0.7417
+Query 1/1: Action query time = 4.839 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8751
+t=90: Selected seed 195 with value = 0.8751
+Query 1/1: Action query time = 5.243 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=106: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 5.344 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6039
+t=122: Selected seed 195 with value = 0.6039
+Query 1/1: Action query time = 5.210 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7880
+t=138: Selected seed 195 with value = 0.7880
+Query 1/1: Action query time = 5.190 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7734
+t=154: Selected seed 195 with value = 0.7734
+Query 1/1: Action query time = 3.741 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8889
+t=170: Selected seed 195 with value = 0.8889
+Query 1/1: Action query time = 3.345 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=186: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 3.811 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=202: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 4.878 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=218: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 4.641 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=234: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 4.679 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=250: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 5.168 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=266: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 4.854 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=282: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 4.113 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=298: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s09/2026_08_02-04_53_30--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3862
+t=10: Selected seed 195 with value = 0.3862
+Query 1/1: Action query time = 5.306 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4922
+t=26: Selected seed 195 with value = 0.4922
+Query 1/1: Action query time = 5.061 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5599
+t=42: Selected seed 195 with value = 0.5599
+Query 1/1: Action query time = 5.025 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6463
+t=58: Selected seed 195 with value = 0.6463
+Query 1/1: Action query time = 4.687 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7017
+t=74: Selected seed 195 with value = 0.7017
+Query 1/1: Action query time = 3.723 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=90: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 4.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=106: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 4.480 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6367
+t=122: Selected seed 195 with value = 0.6367
+Query 1/1: Action query time = 3.668 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7673
+t=138: Selected seed 195 with value = 0.7673
+Query 1/1: Action query time = 4.156 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8694
+t=154: Selected seed 195 with value = 0.8694
+Query 1/1: Action query time = 4.112 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=170: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 3.429 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9366
+t=186: Selected seed 195 with value = 0.9366
+Query 1/1: Action query time = 4.031 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=202: Selected seed 195 with value = 0.9451
+Query 1/1: Action query time = 4.683 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9068
+t=218: Selected seed 195 with value = 0.9068
+Query 1/1: Action query time = 4.952 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6234
+t=234: Selected seed 195 with value = 0.6234
+Query 1/1: Action query time = 5.265 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6635
+t=250: Selected seed 195 with value = 0.6635
+Query 1/1: Action query time = 5.046 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8039
+t=266: Selected seed 195 with value = 0.8039
+Query 1/1: Action query time = 5.263 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8407
+t=282: Selected seed 195 with value = 0.8407
+Query 1/1: Action query time = 5.123 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8567
+t=298: Selected seed 195 with value = 0.8567
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s09/2026_08_02-04_53_30--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.629 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4056
+t=10: Selected seed 195 with value = 0.4056
+Query 1/1: Action query time = 4.881 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4802
+t=26: Selected seed 195 with value = 0.4802
+Query 1/1: Action query time = 4.690 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5617
+t=42: Selected seed 195 with value = 0.5617
+Query 1/1: Action query time = 4.331 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6444
+t=58: Selected seed 195 with value = 0.6444
+Query 1/1: Action query time = 3.321 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7107
+t=74: Selected seed 195 with value = 0.7107
+Query 1/1: Action query time = 3.201 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8432
+t=90: Selected seed 195 with value = 0.8432
+Query 1/1: Action query time = 2.437 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=106: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 1.204 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=122: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7651
+t=138: Selected seed 195 with value = 0.7651
+Query 1/1: Action query time = 1.022 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5401
+t=154: Selected seed 195 with value = 0.5401
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6164
+t=170: Selected seed 195 with value = 0.6164
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=186: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 1.046 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6911
+t=202: Selected seed 195 with value = 0.6911
+Query 1/1: Action query time = 1.082 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=218: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 0.959 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9163
+t=234: Selected seed 195 with value = 0.9163
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=250: Selected seed 195 with value = 0.9904
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s09/2026_08_02-04_53_30--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..935a2496a15e03611896edddb89c6feb80f25880
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s10.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t3_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.678 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4406
+t=10: Selected seed 195 with value = 0.4406
+Query 1/1: Action query time = 4.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4820
+t=26: Selected seed 195 with value = 0.4820
+Query 1/1: Action query time = 4.333 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5658
+t=42: Selected seed 195 with value = 0.5658
+Query 1/1: Action query time = 4.722 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=58: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 5.557 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7508
+t=74: Selected seed 195 with value = 0.7508
+Query 1/1: Action query time = 5.714 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=90: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 5.198 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=106: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 4.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6232
+t=122: Selected seed 195 with value = 0.6232
+Query 1/1: Action query time = 4.681 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7676
+t=138: Selected seed 195 with value = 0.7676
+Query 1/1: Action query time = 4.864 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=154: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 4.573 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=170: Selected seed 195 with value = 0.9951
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s10/2026_08_02-04_53_30--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.919 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3671
+t=10: Selected seed 195 with value = 0.3671
+Query 1/1: Action query time = 5.533 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=26: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 5.498 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5317
+t=42: Selected seed 195 with value = 0.5317
+Query 1/1: Action query time = 5.255 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6498
+t=58: Selected seed 195 with value = 0.6498
+Query 1/1: Action query time = 4.389 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7053
+t=74: Selected seed 195 with value = 0.7053
+Query 1/1: Action query time = 4.347 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8455
+t=90: Selected seed 195 with value = 0.8455
+Query 1/1: Action query time = 4.567 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=106: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 3.942 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=122: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 4.210 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6713
+t=138: Selected seed 195 with value = 0.6713
+Query 1/1: Action query time = 4.707 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7862
+t=154: Selected seed 195 with value = 0.7862
+Query 1/1: Action query time = 5.020 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8485
+t=170: Selected seed 195 with value = 0.8485
+Query 1/1: Action query time = 5.325 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9243
+t=186: Selected seed 195 with value = 0.9243
+Query 1/1: Action query time = 5.393 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=202: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 4.861 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.285 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.331 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.772 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.510 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.438 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s10/2026_08_02-04_53_30--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.223 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3852
+t=10: Selected seed 195 with value = 0.3852
+Query 1/1: Action query time = 4.716 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4806
+t=26: Selected seed 195 with value = 0.4806
+Query 1/1: Action query time = 5.157 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5654
+t=42: Selected seed 195 with value = 0.5654
+Query 1/1: Action query time = 5.221 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6862
+t=58: Selected seed 195 with value = 0.6862
+Query 1/1: Action query time = 5.463 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7607
+t=74: Selected seed 195 with value = 0.7607
+Query 1/1: Action query time = 4.894 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9001
+t=90: Selected seed 195 with value = 0.9001
+Query 1/1: Action query time = 4.257 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=106: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 3.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6280
+t=122: Selected seed 195 with value = 0.6280
+Query 1/1: Action query time = 5.721 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5548
+t=138: Selected seed 195 with value = 0.5548
+Query 1/1: Action query time = 4.808 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6410
+t=154: Selected seed 195 with value = 0.6410
+Query 1/1: Action query time = 4.266 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7654
+t=170: Selected seed 195 with value = 0.7654
+Query 1/1: Action query time = 4.402 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8657
+t=186: Selected seed 195 with value = 0.8657
+Query 1/1: Action query time = 3.808 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=202: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 3.258 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s10/2026_08_02-04_53_30--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_45--fcv2_175_t4_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_45--fcv2_175_t4_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..64dfd194269ab270209dc1e1cb2058cf84a47ae6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_45--fcv2_175_t4_s04.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t4_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.411 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4931
+t=10: Selected seed 195 with value = 0.4931
+Query 1/1: Action query time = 3.579 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5885
+t=26: Selected seed 195 with value = 0.5885
+Query 1/1: Action query time = 5.116 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6652
+t=42: Selected seed 195 with value = 0.6652
+Query 1/1: Action query time = 5.664 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8170
+t=58: Selected seed 195 with value = 0.8170
+Query 1/1: Action query time = 5.791 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9294
+t=74: Selected seed 195 with value = 0.9294
+Query 1/1: Action query time = 3.397 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=90: Selected seed 195 with value = 0.9935
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s04/2026_08_02-04_58_45--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.410 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4994
+t=10: Selected seed 195 with value = 0.4994
+Query 1/1: Action query time = 4.898 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5831
+t=26: Selected seed 195 with value = 0.5831
+Query 1/1: Action query time = 5.635 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7130
+t=42: Selected seed 195 with value = 0.7130
+Query 1/1: Action query time = 5.096 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8125
+t=58: Selected seed 195 with value = 0.8125
+Query 1/1: Action query time = 4.785 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9579
+t=74: Selected seed 195 with value = 0.9579
+Query 1/1: Action query time = 3.175 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s04/2026_08_02-04_58_45--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4949
+t=10: Selected seed 195 with value = 0.4949
+Query 1/1: Action query time = 4.446 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6050
+t=26: Selected seed 195 with value = 0.6050
+Query 1/1: Action query time = 5.207 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6835
+t=42: Selected seed 195 with value = 0.6835
+Query 1/1: Action query time = 4.660 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8269
+t=58: Selected seed 195 with value = 0.8269
+Query 1/1: Action query time = 4.796 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=74: Selected seed 195 with value = 0.9616
+Query 1/1: Action query time = 3.864 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s04/2026_08_02-04_58_45--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92107396e863e0a49cf48bf419f20c53808b7341
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s12.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t4_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.528 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4910
+t=10: Selected seed 195 with value = 0.4910
+Query 1/1: Action query time = 4.184 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5825
+t=26: Selected seed 195 with value = 0.5825
+Query 1/1: Action query time = 4.632 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7054
+t=42: Selected seed 195 with value = 0.7054
+Query 1/1: Action query time = 5.551 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7980
+t=58: Selected seed 195 with value = 0.7980
+Query 1/1: Action query time = 5.016 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9472
+t=74: Selected seed 195 with value = 0.9472
+Query 1/1: Action query time = 3.757 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s12/2026_08_02-04_58_46--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.813 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=10: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 5.168 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5688
+t=26: Selected seed 195 with value = 0.5688
+Query 1/1: Action query time = 5.443 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7000
+t=42: Selected seed 195 with value = 0.7000
+Query 1/1: Action query time = 4.487 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7908
+t=58: Selected seed 195 with value = 0.7908
+Query 1/1: Action query time = 4.799 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=74: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 4.411 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s12/2026_08_02-04_58_46--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.292 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5188
+t=10: Selected seed 195 with value = 0.5188
+Query 1/1: Action query time = 5.037 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6319
+t=26: Selected seed 195 with value = 0.6319
+Query 1/1: Action query time = 4.581 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7158
+t=42: Selected seed 195 with value = 0.7158
+Query 1/1: Action query time = 4.459 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8347
+t=58: Selected seed 195 with value = 0.8347
+Query 1/1: Action query time = 3.436 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=74: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 1.924 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s12/2026_08_02-04_58_46--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1c8eeca8e86f39584a9d86356f53f9c48ba25f4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s13.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t4_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.353 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5012
+t=10: Selected seed 195 with value = 0.5012
+Query 1/1: Action query time = 4.947 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5710
+t=26: Selected seed 195 with value = 0.5710
+Query 1/1: Action query time = 5.193 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6764
+t=42: Selected seed 195 with value = 0.6764
+Query 1/1: Action query time = 5.021 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7809
+t=58: Selected seed 195 with value = 0.7809
+Query 1/1: Action query time = 5.087 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9336
+t=74: Selected seed 195 with value = 0.9336
+Query 1/1: Action query time = 3.031 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=90: Selected seed 195 with value = 0.9939
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s13/2026_08_02-04_58_46--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.437 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5001
+t=10: Selected seed 195 with value = 0.5001
+Query 1/1: Action query time = 4.880 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5861
+t=26: Selected seed 195 with value = 0.5861
+Query 1/1: Action query time = 4.393 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6842
+t=42: Selected seed 195 with value = 0.6842
+Query 1/1: Action query time = 5.456 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8005
+t=58: Selected seed 195 with value = 0.8005
+Query 1/1: Action query time = 4.587 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9476
+t=74: Selected seed 195 with value = 0.9476
+Query 1/1: Action query time = 3.288 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s13/2026_08_02-04_58_46--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.256 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5010
+t=10: Selected seed 195 with value = 0.5010
+Query 1/1: Action query time = 5.034 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5907
+t=26: Selected seed 195 with value = 0.5907
+Query 1/1: Action query time = 4.083 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6741
+t=42: Selected seed 195 with value = 0.6741
+Query 1/1: Action query time = 4.225 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=58: Selected seed 195 with value = 0.8161
+Query 1/1: Action query time = 2.571 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=74: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 1.783 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s13/2026_08_02-04_58_46--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eacb633fc423df152a0337f6c551917ebb16fc51
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s15.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t4_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.306 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5425
+t=10: Selected seed 195 with value = 0.5425
+Query 1/1: Action query time = 5.324 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6399
+t=26: Selected seed 195 with value = 0.6399
+Query 1/1: Action query time = 4.740 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7609
+t=42: Selected seed 195 with value = 0.7609
+Query 1/1: Action query time = 4.895 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8698
+t=58: Selected seed 195 with value = 0.8698
+Query 1/1: Action query time = 5.145 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=74: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 3.406 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=90: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s15/2026_08_02-04_58_46--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.789 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4820
+t=10: Selected seed 195 with value = 0.4820
+Query 1/1: Action query time = 5.118 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=26: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 5.098 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6996
+t=42: Selected seed 195 with value = 0.6996
+Query 1/1: Action query time = 4.659 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8257
+t=58: Selected seed 195 with value = 0.8257
+Query 1/1: Action query time = 4.700 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=74: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 3.497 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=90: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s15/2026_08_02-04_58_46--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.703 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=10: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 4.827 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6083
+t=26: Selected seed 195 with value = 0.6083
+Query 1/1: Action query time = 4.788 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=42: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 4.298 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8411
+t=58: Selected seed 195 with value = 0.8411
+Query 1/1: Action query time = 3.689 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=74: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 1.697 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s15/2026_08_02-04_58_46--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0ae86f0041d547273ee78511841ff4d95edaa52d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s00.txt
@@ -0,0 +1,172 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t5_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.716 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2229
+t=10: Selected seed 195 with value = 0.2229
+Query 1/1: Action query time = 5.044 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3327
+t=26: Selected seed 195 with value = 0.3327
+Query 1/1: Action query time = 5.638 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4125
+t=42: Selected seed 195 with value = 0.4125
+Query 1/1: Action query time = 5.211 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5080
+t=58: Selected seed 195 with value = 0.5080
+Query 1/1: Action query time = 4.477 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6020
+t=74: Selected seed 195 with value = 0.6020
+Query 1/1: Action query time = 4.666 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6777
+t=90: Selected seed 195 with value = 0.6777
+Query 1/1: Action query time = 4.800 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7926
+t=106: Selected seed 195 with value = 0.7926
+Query 1/1: Action query time = 5.253 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9626
+t=122: Selected seed 195 with value = 0.9626
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s00/2026_08_02-05_01_14--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 6.369 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3511
+t=10: Selected seed 195 with value = 0.3511
+Query 1/1: Action query time = 5.247 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3899
+t=26: Selected seed 195 with value = 0.3899
+Query 1/1: Action query time = 5.148 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4722
+t=42: Selected seed 195 with value = 0.4722
+Query 1/1: Action query time = 5.014 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4735
+t=58: Selected seed 195 with value = 0.4735
+Query 1/1: Action query time = 4.391 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6085
+t=74: Selected seed 195 with value = 0.6085
+Query 1/1: Action query time = 4.191 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7052
+t=90: Selected seed 195 with value = 0.7052
+Query 1/1: Action query time = 3.859 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8090
+t=106: Selected seed 195 with value = 0.8090
+Query 1/1: Action query time = 4.595 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=122: Selected seed 195 with value = 0.9806
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s00/2026_08_02-05_01_14--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.184 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3935
+t=10: Selected seed 195 with value = 0.3935
+Query 1/1: Action query time = 5.728 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4632
+t=26: Selected seed 195 with value = 0.4632
+Query 1/1: Action query time = 4.411 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5470
+t=42: Selected seed 195 with value = 0.5470
+Query 1/1: Action query time = 4.440 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5553
+t=58: Selected seed 195 with value = 0.5553
+Query 1/1: Action query time = 4.303 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6066
+t=74: Selected seed 195 with value = 0.6066
+Query 1/1: Action query time = 5.422 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7655
+t=90: Selected seed 195 with value = 0.7655
+Query 1/1: Action query time = 4.709 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8683
+t=106: Selected seed 195 with value = 0.8683
+Query 1/1: Action query time = 4.295 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=122: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 3.733 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=138: Selected seed 195 with value = 0.9882
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s00/2026_08_02-05_01_14--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.805 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2969
+t=10: Selected seed 195 with value = 0.2969
+Query 1/1: Action query time = 1.921 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3823
+t=26: Selected seed 195 with value = 0.3823
+Query 1/1: Action query time = 1.764 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4600
+t=42: Selected seed 195 with value = 0.4600
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=58: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6238
+t=74: Selected seed 195 with value = 0.6238
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7714
+t=90: Selected seed 195 with value = 0.7714
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8856
+t=106: Selected seed 195 with value = 0.8856
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=122: Selected seed 195 with value = 0.9827
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s00/2026_08_02-05_01_14--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_35--fcv2_175_t6_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_35--fcv2_175_t6_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ad73befdb2fe93b019a3e0678fae191dbc313962
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_35--fcv2_175_t6_s05.txt
@@ -0,0 +1,117 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t6_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 4.552 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4758
+t=10: Selected seed 195 with value = 0.4758
+Query 1/1: Action query time = 5.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4929
+t=26: Selected seed 195 with value = 0.4929
+Query 1/1: Action query time = 5.647 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5829
+t=42: Selected seed 195 with value = 0.5829
+Query 1/1: Action query time = 3.235 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5886
+t=58: Selected seed 195 with value = 0.5886
+Query 1/1: Action query time = 4.490 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6000
+t=74: Selected seed 195 with value = 0.6000
+Query 1/1: Action query time = 5.232 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7026
+t=90: Selected seed 195 with value = 0.7026
+Query 1/1: Action query time = 3.359 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8224
+t=106: Selected seed 195 with value = 0.8224
+Query 1/1: Action query time = 4.248 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=122: Selected seed 195 with value = 0.9777
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s05/2026_08_02-05_04_35--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 6.098 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4458
+t=10: Selected seed 195 with value = 0.4458
+Query 1/1: Action query time = 4.817 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4574
+t=26: Selected seed 195 with value = 0.4574
+Query 1/1: Action query time = 4.620 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5553
+t=42: Selected seed 195 with value = 0.5553
+Query 1/1: Action query time = 4.454 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6593
+t=58: Selected seed 195 with value = 0.6593
+Query 1/1: Action query time = 3.730 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7756
+t=74: Selected seed 195 with value = 0.7756
+Query 1/1: Action query time = 4.654 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8922
+t=90: Selected seed 195 with value = 0.8922
+Query 1/1: Action query time = 4.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s05/2026_08_02-05_04_35--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.386 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4082
+t=10: Selected seed 195 with value = 0.4082
+Query 1/1: Action query time = 4.331 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5115
+t=26: Selected seed 195 with value = 0.5115
+Query 1/1: Action query time = 3.234 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6050
+t=42: Selected seed 195 with value = 0.6050
+Query 1/1: Action query time = 2.884 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7182
+t=58: Selected seed 195 with value = 0.7182
+Query 1/1: Action query time = 1.857 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8353
+t=74: Selected seed 195 with value = 0.8353
+Query 1/1: Action query time = 3.119 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9574
+t=90: Selected seed 195 with value = 0.9574
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s05/2026_08_02-05_04_35--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_35--fcv2_175_t6_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_35--fcv2_175_t6_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c39ebbeb12be81ecd00dcf931b401049fd4cf16e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_35--fcv2_175_t6_s10.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t6_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 3.180 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4403
+t=10: Selected seed 195 with value = 0.4403
+Query 1/1: Action query time = 5.138 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4854
+t=26: Selected seed 195 with value = 0.4854
+Query 1/1: Action query time = 6.111 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6154
+t=42: Selected seed 195 with value = 0.6154
+Query 1/1: Action query time = 4.945 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6499
+t=58: Selected seed 195 with value = 0.6499
+Query 1/1: Action query time = 4.070 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6168
+t=74: Selected seed 195 with value = 0.6168
+Query 1/1: Action query time = 4.923 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6634
+t=90: Selected seed 195 with value = 0.6634
+Query 1/1: Action query time = 4.383 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6656
+t=106: Selected seed 195 with value = 0.6656
+Query 1/1: Action query time = 5.426 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6884
+t=122: Selected seed 195 with value = 0.6884
+Query 1/1: Action query time = 5.238 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7629
+t=138: Selected seed 195 with value = 0.7629
+Query 1/1: Action query time = 4.784 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7226
+t=154: Selected seed 195 with value = 0.7226
+Query 1/1: Action query time = 5.303 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8589
+t=170: Selected seed 195 with value = 0.8589
+Query 1/1: Action query time = 5.587 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=186: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 4.138 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9039
+t=202: Selected seed 195 with value = 0.9039
+Query 1/1: Action query time = 4.620 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8819
+t=218: Selected seed 195 with value = 0.8819
+Query 1/1: Action query time = 5.242 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=234: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 4.448 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=250: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 4.921 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=266: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 4.509 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.066 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=298: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s10/2026_08_02-05_04_35--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.531 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4287
+t=10: Selected seed 195 with value = 0.4287
+Query 1/1: Action query time = 3.355 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5339
+t=26: Selected seed 195 with value = 0.5339
+Query 1/1: Action query time = 3.146 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6150
+t=42: Selected seed 195 with value = 0.6150
+Query 1/1: Action query time = 3.460 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6998
+t=58: Selected seed 195 with value = 0.6998
+Query 1/1: Action query time = 3.534 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8117
+t=74: Selected seed 195 with value = 0.8117
+Query 1/1: Action query time = 1.726 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=90: Selected seed 195 with value = 0.9499
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s10/2026_08_02-05_04_35--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 2.503 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4135
+t=10: Selected seed 195 with value = 0.4135
+Query 1/1: Action query time = 2.768 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5295
+t=26: Selected seed 195 with value = 0.5295
+Query 1/1: Action query time = 3.068 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6489
+t=42: Selected seed 195 with value = 0.6489
+Query 1/1: Action query time = 2.383 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7450
+t=58: Selected seed 195 with value = 0.7450
+Query 1/1: Action query time = 2.540 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8676
+t=74: Selected seed 195 with value = 0.8676
+Query 1/1: Action query time = 2.107 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=90: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s10/2026_08_02-05_04_35--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..23995e25faa256f5ffb12b4d67054438f3e90d4c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s04.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t6_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.729 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4051
+t=10: Selected seed 195 with value = 0.4051
+Query 1/1: Action query time = 3.306 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5161
+t=26: Selected seed 195 with value = 0.5161
+Query 1/1: Action query time = 5.410 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6087
+t=42: Selected seed 195 with value = 0.6087
+Query 1/1: Action query time = 5.856 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6805
+t=58: Selected seed 195 with value = 0.6805
+Query 1/1: Action query time = 2.026 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8189
+t=74: Selected seed 195 with value = 0.8189
+Query 1/1: Action query time = 5.132 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9498
+t=90: Selected seed 195 with value = 0.9498
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s04/2026_08_02-05_04_36--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.210 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4413
+t=10: Selected seed 195 with value = 0.4413
+Query 1/1: Action query time = 3.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=26: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 5.366 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6472
+t=42: Selected seed 195 with value = 0.6472
+Query 1/1: Action query time = 5.438 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7482
+t=58: Selected seed 195 with value = 0.7482
+Query 1/1: Action query time = 4.455 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8481
+t=74: Selected seed 195 with value = 0.8481
+Query 1/1: Action query time = 4.227 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=90: Selected seed 195 with value = 0.9975
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s04/2026_08_02-05_04_36--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.057 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4250
+t=10: Selected seed 195 with value = 0.4250
+Query 1/1: Action query time = 5.185 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5412
+t=26: Selected seed 195 with value = 0.5412
+Query 1/1: Action query time = 4.681 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6349
+t=42: Selected seed 195 with value = 0.6349
+Query 1/1: Action query time = 5.346 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7334
+t=58: Selected seed 195 with value = 0.7334
+Query 1/1: Action query time = 4.501 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8529
+t=74: Selected seed 195 with value = 0.8529
+Query 1/1: Action query time = 3.332 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=90: Selected seed 195 with value = 0.9655
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s04/2026_08_02-05_04_36--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_13--fcv2_350_t0_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_13--fcv2_350_t0_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..715227819ddced7ecd078b58224cf50e0423a95d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_13--fcv2_350_t0_s06.txt
@@ -0,0 +1,173 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t0_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.084 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3304
+t=10: Selected seed 195 with value = 0.3304
+Query 1/1: Action query time = 4.781 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3019
+t=26: Selected seed 195 with value = 0.3019
+Query 1/1: Action query time = 5.286 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3865
+t=42: Selected seed 195 with value = 0.3865
+Query 1/1: Action query time = 5.256 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4272
+t=58: Selected seed 195 with value = 0.4272
+Query 1/1: Action query time = 5.231 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6905
+t=74: Selected seed 195 with value = 0.6905
+Query 1/1: Action query time = 4.476 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7526
+t=90: Selected seed 195 with value = 0.7526
+Query 1/1: Action query time = 3.781 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9268
+t=106: Selected seed 195 with value = 0.9268
+Query 1/1: Action query time = 4.535 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=122: Selected seed 195 with value = 0.9974
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s06/2026_08_02-08_22_13--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.637 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3879
+t=10: Selected seed 195 with value = 0.3879
+Query 1/1: Action query time = 5.884 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4472
+t=26: Selected seed 195 with value = 0.4472
+Query 1/1: Action query time = 3.923 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5008
+t=42: Selected seed 195 with value = 0.5008
+Query 1/1: Action query time = 5.442 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6162
+t=58: Selected seed 195 with value = 0.6162
+Query 1/1: Action query time = 4.439 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7023
+t=74: Selected seed 195 with value = 0.7023
+Query 1/1: Action query time = 4.401 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8379
+t=90: Selected seed 195 with value = 0.8379
+Query 1/1: Action query time = 4.372 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9243
+t=106: Selected seed 195 with value = 0.9243
+Query 1/1: Action query time = 4.153 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s06/2026_08_02-08_22_13--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.714 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3611
+t=10: Selected seed 195 with value = 0.3611
+Query 1/1: Action query time = 4.024 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4342
+t=26: Selected seed 195 with value = 0.4342
+Query 1/1: Action query time = 6.025 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5225
+t=42: Selected seed 195 with value = 0.5225
+Query 1/1: Action query time = 5.588 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5922
+t=58: Selected seed 195 with value = 0.5922
+Query 1/1: Action query time = 5.214 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6955
+t=74: Selected seed 195 with value = 0.6955
+Query 1/1: Action query time = 4.673 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8282
+t=90: Selected seed 195 with value = 0.8282
+Query 1/1: Action query time = 4.151 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=106: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 3.265 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6568
+t=122: Selected seed 195 with value = 0.6568
+Query 1/1: Action query time = 4.025 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6645
+t=138: Selected seed 195 with value = 0.6645
+Query 1/1: Action query time = 2.190 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6395
+t=154: Selected seed 195 with value = 0.6395
+Query 1/1: Action query time = 1.398 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=170: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 1.819 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6241
+t=186: Selected seed 195 with value = 0.6241
+Query 1/1: Action query time = 1.825 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6389
+t=202: Selected seed 195 with value = 0.6389
+Query 1/1: Action query time = 1.916 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7260
+t=218: Selected seed 195 with value = 0.7260
+Query 1/1: Action query time = 1.685 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6251
+t=234: Selected seed 195 with value = 0.6251
+Query 1/1: Action query time = 1.622 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6366
+t=250: Selected seed 195 with value = 0.6366
+Query 1/1: Action query time = 1.556 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6338
+t=266: Selected seed 195 with value = 0.6338
+Query 1/1: Action query time = 1.304 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6492
+t=282: Selected seed 195 with value = 0.6492
+Query 1/1: Action query time = 1.135 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6310
+t=298: Selected seed 195 with value = 0.6310
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s06/2026_08_02-08_22_13--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_13--fcv2_350_t0_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_13--fcv2_350_t0_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9a9d44a657754e89d1c37718273163405e914a0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_13--fcv2_350_t0_s10.txt
@@ -0,0 +1,137 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t0_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.615 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3545
+t=10: Selected seed 195 with value = 0.3545
+Query 1/1: Action query time = 5.549 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3918
+t=26: Selected seed 195 with value = 0.3918
+Query 1/1: Action query time = 5.524 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=42: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 5.277 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5269
+t=58: Selected seed 195 with value = 0.5269
+Query 1/1: Action query time = 4.484 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5589
+t=74: Selected seed 195 with value = 0.5589
+Query 1/1: Action query time = 5.026 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6319
+t=90: Selected seed 195 with value = 0.6319
+Query 1/1: Action query time = 4.680 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7765
+t=106: Selected seed 195 with value = 0.7765
+Query 1/1: Action query time = 3.642 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=122: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 4.074 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s10/2026_08_02-08_22_13--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.268 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3293
+t=10: Selected seed 195 with value = 0.3293
+Query 1/1: Action query time = 5.029 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3890
+t=26: Selected seed 195 with value = 0.3890
+Query 1/1: Action query time = 4.608 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4477
+t=42: Selected seed 195 with value = 0.4477
+Query 1/1: Action query time = 4.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5205
+t=58: Selected seed 195 with value = 0.5205
+Query 1/1: Action query time = 5.265 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6195
+t=74: Selected seed 195 with value = 0.6195
+Query 1/1: Action query time = 4.454 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7086
+t=90: Selected seed 195 with value = 0.7086
+Query 1/1: Action query time = 3.403 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8023
+t=106: Selected seed 195 with value = 0.8023
+Query 1/1: Action query time = 4.024 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=122: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 3.054 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s10/2026_08_02-08_22_13--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.542 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3871
+t=10: Selected seed 195 with value = 0.3871
+Query 1/1: Action query time = 4.703 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4547
+t=26: Selected seed 195 with value = 0.4547
+Query 1/1: Action query time = 5.077 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5143
+t=42: Selected seed 195 with value = 0.5143
+Query 1/1: Action query time = 5.188 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5949
+t=58: Selected seed 195 with value = 0.5949
+Query 1/1: Action query time = 4.132 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7201
+t=74: Selected seed 195 with value = 0.7201
+Query 1/1: Action query time = 3.050 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8681
+t=90: Selected seed 195 with value = 0.8681
+Query 1/1: Action query time = 2.169 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=106: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 1.290 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s10/2026_08_02-08_22_13--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_14--fcv2_350_t0_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_14--fcv2_350_t0_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ed82fe9f831471dc18a5bea0d8f6ec14df3188f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_14--fcv2_350_t0_s14.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t0_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.688 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3277
+t=10: Selected seed 195 with value = 0.3277
+Query 1/1: Action query time = 4.611 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4028
+t=26: Selected seed 195 with value = 0.4028
+Query 1/1: Action query time = 4.601 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=42: Selected seed 195 with value = 0.4838
+Query 1/1: Action query time = 4.745 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5990
+t=58: Selected seed 195 with value = 0.5990
+Query 1/1: Action query time = 5.059 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7003
+t=74: Selected seed 195 with value = 0.7003
+Query 1/1: Action query time = 5.655 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7571
+t=90: Selected seed 195 with value = 0.7571
+Query 1/1: Action query time = 4.706 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9150
+t=106: Selected seed 195 with value = 0.9150
+Query 1/1: Action query time = 3.321 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s14/2026_08_02-08_22_14--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.478 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3684
+t=10: Selected seed 195 with value = 0.3684
+Query 1/1: Action query time = 4.229 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4426
+t=26: Selected seed 195 with value = 0.4426
+Query 1/1: Action query time = 5.073 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5079
+t=42: Selected seed 195 with value = 0.5079
+Query 1/1: Action query time = 5.609 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5958
+t=58: Selected seed 195 with value = 0.5958
+Query 1/1: Action query time = 5.336 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7107
+t=74: Selected seed 195 with value = 0.7107
+Query 1/1: Action query time = 5.301 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8192
+t=90: Selected seed 195 with value = 0.8192
+Query 1/1: Action query time = 4.733 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=106: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 4.000 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=122: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 4.141 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s14/2026_08_02-08_22_14--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.139 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3805
+t=10: Selected seed 195 with value = 0.3805
+Query 1/1: Action query time = 4.645 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4369
+t=26: Selected seed 195 with value = 0.4369
+Query 1/1: Action query time = 5.316 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4999
+t=42: Selected seed 195 with value = 0.4999
+Query 1/1: Action query time = 5.367 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5783
+t=58: Selected seed 195 with value = 0.5783
+Query 1/1: Action query time = 5.296 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7024
+t=74: Selected seed 195 with value = 0.7024
+Query 1/1: Action query time = 4.471 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=90: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 2.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9710
+t=106: Selected seed 195 with value = 0.9710
+Query 1/1: Action query time = 2.485 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s14/2026_08_02-08_22_14--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_33--fcv2_350_t1_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_33--fcv2_350_t1_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ec98993bf4b7ff09e70976db4a9e0b5be81b1ef
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_33--fcv2_350_t1_s01.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t1_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.667 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5005
+t=10: Selected seed 195 with value = 0.5005
+Query 1/1: Action query time = 4.901 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5920
+t=26: Selected seed 195 with value = 0.5920
+Query 1/1: Action query time = 4.730 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6903
+t=42: Selected seed 195 with value = 0.6903
+Query 1/1: Action query time = 4.665 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=58: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 4.749 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=74: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 3.303 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s01/2026_08_02-08_25_33--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.328 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4959
+t=10: Selected seed 195 with value = 0.4959
+Query 1/1: Action query time = 5.079 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5875
+t=26: Selected seed 195 with value = 0.5875
+Query 1/1: Action query time = 5.049 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6970
+t=42: Selected seed 195 with value = 0.6970
+Query 1/1: Action query time = 4.924 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8164
+t=58: Selected seed 195 with value = 0.8164
+Query 1/1: Action query time = 5.209 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9477
+t=74: Selected seed 195 with value = 0.9477
+Query 1/1: Action query time = 3.254 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=90: Selected seed 195 with value = 0.9947
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s01/2026_08_02-08_25_33--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.549 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4846
+t=10: Selected seed 195 with value = 0.4846
+Query 1/1: Action query time = 4.437 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5942
+t=26: Selected seed 195 with value = 0.5942
+Query 1/1: Action query time = 4.912 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7087
+t=42: Selected seed 195 with value = 0.7087
+Query 1/1: Action query time = 4.386 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8059
+t=58: Selected seed 195 with value = 0.8059
+Query 1/1: Action query time = 4.180 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9419
+t=74: Selected seed 195 with value = 0.9419
+Query 1/1: Action query time = 1.775 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=90: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s01/2026_08_02-08_25_33--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.366 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5412
+t=10: Selected seed 195 with value = 0.5412
+Query 1/1: Action query time = 1.302 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6400
+t=26: Selected seed 195 with value = 0.6400
+Query 1/1: Action query time = 1.267 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7401
+t=42: Selected seed 195 with value = 0.7401
+Query 1/1: Action query time = 1.301 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=58: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=74: Selected seed 195 with value = 0.9752
+Query 1/1: Action query time = 0.946 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s01/2026_08_02-08_25_33--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_33--fcv2_350_t1_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_33--fcv2_350_t1_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0ffeb71bd94aef8de21d80eb2a23a1a85792fe8d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_33--fcv2_350_t1_s03.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t1_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.527 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5111
+t=10: Selected seed 195 with value = 0.5111
+Query 1/1: Action query time = 5.227 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6047
+t=26: Selected seed 195 with value = 0.6047
+Query 1/1: Action query time = 4.457 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6770
+t=42: Selected seed 195 with value = 0.6770
+Query 1/1: Action query time = 4.689 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8433
+t=58: Selected seed 195 with value = 0.8433
+Query 1/1: Action query time = 5.079 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=74: Selected seed 195 with value = 0.9634
+Query 1/1: Action query time = 4.851 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s03/2026_08_02-08_25_33--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=10: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 4.700 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5960
+t=26: Selected seed 195 with value = 0.5960
+Query 1/1: Action query time = 5.223 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6910
+t=42: Selected seed 195 with value = 0.6910
+Query 1/1: Action query time = 4.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8274
+t=58: Selected seed 195 with value = 0.8274
+Query 1/1: Action query time = 5.029 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=74: Selected seed 195 with value = 0.9431
+Query 1/1: Action query time = 4.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=90: Selected seed 195 with value = 0.9797
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s03/2026_08_02-08_25_33--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.403 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5169
+t=10: Selected seed 195 with value = 0.5169
+Query 1/1: Action query time = 4.278 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6151
+t=26: Selected seed 195 with value = 0.6151
+Query 1/1: Action query time = 4.855 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7287
+t=42: Selected seed 195 with value = 0.7287
+Query 1/1: Action query time = 5.314 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8809
+t=58: Selected seed 195 with value = 0.8809
+Query 1/1: Action query time = 4.275 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=74: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 4.414 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s03/2026_08_02-08_25_33--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_33--fcv2_350_t1_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_33--fcv2_350_t1_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f733cebf56a3fde0c75423344f806720f8b42b42
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_33--fcv2_350_t1_s05.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t1_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.751 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5001
+t=10: Selected seed 195 with value = 0.5001
+Query 1/1: Action query time = 2.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5782
+t=26: Selected seed 195 with value = 0.5782
+Query 1/1: Action query time = 4.915 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7144
+t=42: Selected seed 195 with value = 0.7144
+Query 1/1: Action query time = 4.889 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7874
+t=58: Selected seed 195 with value = 0.7874
+Query 1/1: Action query time = 4.371 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9367
+t=74: Selected seed 195 with value = 0.9367
+Query 1/1: Action query time = 5.007 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s05/2026_08_02-08_25_33--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.097 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4517
+t=10: Selected seed 195 with value = 0.4517
+Query 1/1: Action query time = 2.717 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5620
+t=26: Selected seed 195 with value = 0.5620
+Query 1/1: Action query time = 2.752 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6651
+t=42: Selected seed 195 with value = 0.6651
+Query 1/1: Action query time = 5.098 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7386
+t=58: Selected seed 195 with value = 0.7386
+Query 1/1: Action query time = 5.258 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9181
+t=74: Selected seed 195 with value = 0.9181
+Query 1/1: Action query time = 4.425 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s05/2026_08_02-08_25_33--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.228 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5199
+t=10: Selected seed 195 with value = 0.5199
+Query 1/1: Action query time = 3.120 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6025
+t=26: Selected seed 195 with value = 0.6025
+Query 1/1: Action query time = 3.455 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6977
+t=42: Selected seed 195 with value = 0.6977
+Query 1/1: Action query time = 3.875 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8130
+t=58: Selected seed 195 with value = 0.8130
+Query 1/1: Action query time = 4.789 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=74: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 5.456 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s05/2026_08_02-08_25_33--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..edca1562c553217deec626e7ca7e4dde54ebd4cf
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s06.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t1_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4593
+t=10: Selected seed 195 with value = 0.4593
+Query 1/1: Action query time = 5.864 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=26: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 5.258 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6908
+t=42: Selected seed 195 with value = 0.6908
+Query 1/1: Action query time = 4.351 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7782
+t=58: Selected seed 195 with value = 0.7782
+Query 1/1: Action query time = 4.278 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9057
+t=74: Selected seed 195 with value = 0.9057
+Query 1/1: Action query time = 3.262 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s06/2026_08_02-08_25_34--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.897 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4833
+t=10: Selected seed 195 with value = 0.4833
+Query 1/1: Action query time = 4.852 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=26: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 4.624 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7050
+t=42: Selected seed 195 with value = 0.7050
+Query 1/1: Action query time = 4.181 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7851
+t=58: Selected seed 195 with value = 0.7851
+Query 1/1: Action query time = 3.543 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9417
+t=74: Selected seed 195 with value = 0.9417
+Query 1/1: Action query time = 2.649 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s06/2026_08_02-08_25_34--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.846 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4982
+t=10: Selected seed 195 with value = 0.4982
+Query 1/1: Action query time = 5.082 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5658
+t=26: Selected seed 195 with value = 0.5658
+Query 1/1: Action query time = 4.724 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7032
+t=42: Selected seed 195 with value = 0.7032
+Query 1/1: Action query time = 4.145 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7744
+t=58: Selected seed 195 with value = 0.7744
+Query 1/1: Action query time = 3.800 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9043
+t=74: Selected seed 195 with value = 0.9043
+Query 1/1: Action query time = 1.696 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s06/2026_08_02-08_25_34--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..849ccd06ce3c0f52ed588b6e912efdead92a11b0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s10.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t1_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.297 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4711
+t=10: Selected seed 195 with value = 0.4711
+Query 1/1: Action query time = 4.146 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5848
+t=26: Selected seed 195 with value = 0.5848
+Query 1/1: Action query time = 4.699 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6738
+t=42: Selected seed 195 with value = 0.6738
+Query 1/1: Action query time = 5.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8051
+t=58: Selected seed 195 with value = 0.8051
+Query 1/1: Action query time = 5.166 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9509
+t=74: Selected seed 195 with value = 0.9509
+Query 1/1: Action query time = 4.231 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s10/2026_08_02-08_25_34--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.380 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5130
+t=10: Selected seed 195 with value = 0.5130
+Query 1/1: Action query time = 4.701 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6130
+t=26: Selected seed 195 with value = 0.6130
+Query 1/1: Action query time = 4.627 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=42: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 5.082 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=58: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 4.553 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=74: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 3.851 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s10/2026_08_02-08_25_34--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.326 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4987
+t=10: Selected seed 195 with value = 0.4987
+Query 1/1: Action query time = 4.455 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5964
+t=26: Selected seed 195 with value = 0.5964
+Query 1/1: Action query time = 5.030 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7053
+t=42: Selected seed 195 with value = 0.7053
+Query 1/1: Action query time = 5.053 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8378
+t=58: Selected seed 195 with value = 0.8378
+Query 1/1: Action query time = 4.603 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=74: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 2.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s10/2026_08_02-08_25_34--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b0cd0505016d4cf6dddf572dcea8f66d94ca57a2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s05.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t2_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.842 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5074
+t=10: Selected seed 195 with value = 0.5074
+Query 1/1: Action query time = 5.076 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5946
+t=26: Selected seed 195 with value = 0.5946
+Query 1/1: Action query time = 4.808 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6666
+t=42: Selected seed 195 with value = 0.6666
+Query 1/1: Action query time = 3.757 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7691
+t=58: Selected seed 195 with value = 0.7691
+Query 1/1: Action query time = 5.290 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=74: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 3.513 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s05/2026_08_02-08_28_02--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.362 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5129
+t=10: Selected seed 195 with value = 0.5129
+Query 1/1: Action query time = 4.772 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6330
+t=26: Selected seed 195 with value = 0.6330
+Query 1/1: Action query time = 5.422 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7548
+t=42: Selected seed 195 with value = 0.7548
+Query 1/1: Action query time = 2.897 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=58: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 4.887 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s05/2026_08_02-08_28_02--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.163 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3396
+t=10: Selected seed 195 with value = 0.3396
+Query 1/1: Action query time = 4.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4135
+t=26: Selected seed 195 with value = 0.4135
+Query 1/1: Action query time = 5.217 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=42: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 4.906 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7587
+t=58: Selected seed 195 with value = 0.7587
+Query 1/1: Action query time = 4.930 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=74: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 4.471 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s05/2026_08_02-08_28_02--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ef638da8a76240416d45a59357a7cae0cb5ae7d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s06.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t2_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.254 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3922
+t=10: Selected seed 195 with value = 0.3922
+Query 1/1: Action query time = 5.366 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4802
+t=26: Selected seed 195 with value = 0.4802
+Query 1/1: Action query time = 5.376 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6130
+t=42: Selected seed 195 with value = 0.6130
+Query 1/1: Action query time = 4.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7267
+t=58: Selected seed 195 with value = 0.7267
+Query 1/1: Action query time = 4.856 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8791
+t=74: Selected seed 195 with value = 0.8791
+Query 1/1: Action query time = 2.911 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s06/2026_08_02-08_28_02--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4756
+t=10: Selected seed 195 with value = 0.4756
+Query 1/1: Action query time = 4.810 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5771
+t=26: Selected seed 195 with value = 0.5771
+Query 1/1: Action query time = 5.450 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6958
+t=42: Selected seed 195 with value = 0.6958
+Query 1/1: Action query time = 4.732 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8250
+t=58: Selected seed 195 with value = 0.8250
+Query 1/1: Action query time = 5.349 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=74: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 4.232 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s06/2026_08_02-08_28_02--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.701 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5028
+t=10: Selected seed 195 with value = 0.5028
+Query 1/1: Action query time = 5.205 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5769
+t=26: Selected seed 195 with value = 0.5769
+Query 1/1: Action query time = 5.493 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7041
+t=42: Selected seed 195 with value = 0.7041
+Query 1/1: Action query time = 5.471 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8313
+t=58: Selected seed 195 with value = 0.8313
+Query 1/1: Action query time = 2.949 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=74: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 3.289 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s06/2026_08_02-08_28_02--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dd45d8299c98c087ad4b2b2527a22bb63ff77ffc
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s08.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t2_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.639 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=10: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 4.861 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5983
+t=26: Selected seed 195 with value = 0.5983
+Query 1/1: Action query time = 4.810 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7288
+t=42: Selected seed 195 with value = 0.7288
+Query 1/1: Action query time = 4.839 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8218
+t=58: Selected seed 195 with value = 0.8218
+Query 1/1: Action query time = 5.458 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=74: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 4.262 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s08/2026_08_02-08_28_03--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.194 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3895
+t=10: Selected seed 195 with value = 0.3895
+Query 1/1: Action query time = 5.200 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5771
+t=26: Selected seed 195 with value = 0.5771
+Query 1/1: Action query time = 5.831 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=42: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 5.258 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7701
+t=58: Selected seed 195 with value = 0.7701
+Query 1/1: Action query time = 4.473 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9001
+t=74: Selected seed 195 with value = 0.9001
+Query 1/1: Action query time = 3.551 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s08/2026_08_02-08_28_03--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.780 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=10: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 4.670 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4947
+t=26: Selected seed 195 with value = 0.4947
+Query 1/1: Action query time = 5.284 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6079
+t=42: Selected seed 195 with value = 0.6079
+Query 1/1: Action query time = 5.530 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7059
+t=58: Selected seed 195 with value = 0.7059
+Query 1/1: Action query time = 4.360 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8418
+t=74: Selected seed 195 with value = 0.8418
+Query 1/1: Action query time = 3.101 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=90: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 2.457 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s08/2026_08_02-08_28_03--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..58d0f006f2af72d38fbc38867290eb79cd157eec
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s12.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t2_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.829 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5208
+t=10: Selected seed 195 with value = 0.5208
+Query 1/1: Action query time = 3.091 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6166
+t=26: Selected seed 195 with value = 0.6166
+Query 1/1: Action query time = 4.763 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7147
+t=42: Selected seed 195 with value = 0.7147
+Query 1/1: Action query time = 5.627 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8188
+t=58: Selected seed 195 with value = 0.8188
+Query 1/1: Action query time = 5.350 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=74: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 4.872 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s12/2026_08_02-08_28_03--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3986
+t=10: Selected seed 195 with value = 0.3986
+Query 1/1: Action query time = 2.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4186
+t=26: Selected seed 195 with value = 0.4186
+Query 1/1: Action query time = 3.645 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6448
+t=42: Selected seed 195 with value = 0.6448
+Query 1/1: Action query time = 5.945 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7748
+t=58: Selected seed 195 with value = 0.7748
+Query 1/1: Action query time = 5.701 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8612
+t=74: Selected seed 195 with value = 0.8612
+Query 1/1: Action query time = 4.640 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=90: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 4.298 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9551
+t=106: Selected seed 195 with value = 0.9551
+Query 1/1: Action query time = 4.344 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.074 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.956 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.056 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.203 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.747 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.818 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.222 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.123 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9311
+t=266: Selected seed 195 with value = 0.9311
+Query 1/1: Action query time = 1.143 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8098
+t=282: Selected seed 195 with value = 0.8098
+Query 1/1: Action query time = 1.124 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7415
+t=298: Selected seed 195 with value = 0.7415
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s12/2026_08_02-08_28_03--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.212 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3975
+t=10: Selected seed 195 with value = 0.3975
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5562
+t=26: Selected seed 195 with value = 0.5562
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7158
+t=42: Selected seed 195 with value = 0.7158
+Query 1/1: Action query time = 1.105 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8557
+t=58: Selected seed 195 with value = 0.8557
+Query 1/1: Action query time = 1.318 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=74: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s12/2026_08_02-08_28_03--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c2a09d685f3db0b7bc636161e8a37e20889b4232
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s13.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t2_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.937 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4949
+t=10: Selected seed 195 with value = 0.4949
+Query 1/1: Action query time = 5.461 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5722
+t=26: Selected seed 195 with value = 0.5722
+Query 1/1: Action query time = 5.167 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6670
+t=42: Selected seed 195 with value = 0.6670
+Query 1/1: Action query time = 4.403 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7836
+t=58: Selected seed 195 with value = 0.7836
+Query 1/1: Action query time = 4.041 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8959
+t=74: Selected seed 195 with value = 0.8959
+Query 1/1: Action query time = 4.725 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=90: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s13/2026_08_02-08_28_03--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.832 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5127
+t=10: Selected seed 195 with value = 0.5127
+Query 1/1: Action query time = 3.434 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6128
+t=26: Selected seed 195 with value = 0.6128
+Query 1/1: Action query time = 4.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7112
+t=42: Selected seed 195 with value = 0.7112
+Query 1/1: Action query time = 5.113 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8476
+t=58: Selected seed 195 with value = 0.8476
+Query 1/1: Action query time = 4.342 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.340 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s13/2026_08_02-08_28_03--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.773 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5343
+t=10: Selected seed 195 with value = 0.5343
+Query 1/1: Action query time = 4.770 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6140
+t=26: Selected seed 195 with value = 0.6140
+Query 1/1: Action query time = 4.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7129
+t=42: Selected seed 195 with value = 0.7129
+Query 1/1: Action query time = 5.067 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8180
+t=58: Selected seed 195 with value = 0.8180
+Query 1/1: Action query time = 4.365 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=74: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 3.522 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s13/2026_08_02-08_28_03--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_02--fcv2_350_t3_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_02--fcv2_350_t3_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3cac4f4cb83331eb00a6c1dfc03c28b174b06ad4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_02--fcv2_350_t3_s00.txt
@@ -0,0 +1,320 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t3_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 1.871 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4283
+t=10: Selected seed 195 with value = 0.4283
+Query 1/1: Action query time = 3.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4919
+t=26: Selected seed 195 with value = 0.4919
+Query 1/1: Action query time = 5.292 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5395
+t=42: Selected seed 195 with value = 0.5395
+Query 1/1: Action query time = 5.245 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6719
+t=58: Selected seed 195 with value = 0.6719
+Query 1/1: Action query time = 4.817 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7926
+t=74: Selected seed 195 with value = 0.7926
+Query 1/1: Action query time = 4.677 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=90: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 4.891 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=106: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 5.109 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6719
+t=122: Selected seed 195 with value = 0.6719
+Query 1/1: Action query time = 4.947 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=138: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 4.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8167
+t=154: Selected seed 195 with value = 0.8167
+Query 1/1: Action query time = 5.178 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=170: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 5.195 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9234
+t=186: Selected seed 195 with value = 0.9234
+Query 1/1: Action query time = 3.339 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=202: Selected seed 195 with value = 0.9570
+Query 1/1: Action query time = 3.186 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8177
+t=218: Selected seed 195 with value = 0.8177
+Query 1/1: Action query time = 4.824 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8902
+t=234: Selected seed 195 with value = 0.8902
+Query 1/1: Action query time = 5.028 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9279
+t=250: Selected seed 195 with value = 0.9279
+Query 1/1: Action query time = 3.233 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=266: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 4.348 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=282: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 5.247 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=298: Selected seed 195 with value = 0.9845
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s00/2026_08_02-08_31_02--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.669 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3694
+t=10: Selected seed 195 with value = 0.3694
+Query 1/1: Action query time = 4.422 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4754
+t=26: Selected seed 195 with value = 0.4754
+Query 1/1: Action query time = 5.112 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5473
+t=42: Selected seed 195 with value = 0.5473
+Query 1/1: Action query time = 5.271 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6326
+t=58: Selected seed 195 with value = 0.6326
+Query 1/1: Action query time = 5.502 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7788
+t=74: Selected seed 195 with value = 0.7788
+Query 1/1: Action query time = 4.545 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8859
+t=90: Selected seed 195 with value = 0.8859
+Query 1/1: Action query time = 4.186 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.775 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6628
+t=122: Selected seed 195 with value = 0.6628
+Query 1/1: Action query time = 4.292 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5369
+t=138: Selected seed 195 with value = 0.5369
+Query 1/1: Action query time = 4.067 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7709
+t=154: Selected seed 195 with value = 0.7709
+Query 1/1: Action query time = 4.884 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8805
+t=170: Selected seed 195 with value = 0.8805
+Query 1/1: Action query time = 5.325 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=186: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 4.450 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9589
+t=202: Selected seed 195 with value = 0.9589
+Query 1/1: Action query time = 4.033 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=218: Selected seed 195 with value = 0.9693
+Query 1/1: Action query time = 4.609 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.188 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.402 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.537 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.548 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s00/2026_08_02-08_31_02--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.429 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3809
+t=10: Selected seed 195 with value = 0.3809
+Query 1/1: Action query time = 3.756 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4626
+t=26: Selected seed 195 with value = 0.4626
+Query 1/1: Action query time = 4.163 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5482
+t=42: Selected seed 195 with value = 0.5482
+Query 1/1: Action query time = 3.879 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5880
+t=58: Selected seed 195 with value = 0.5880
+Query 1/1: Action query time = 3.656 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6817
+t=74: Selected seed 195 with value = 0.6817
+Query 1/1: Action query time = 3.222 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8330
+t=90: Selected seed 195 with value = 0.8330
+Query 1/1: Action query time = 3.198 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=106: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 2.166 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6402
+t=122: Selected seed 195 with value = 0.6402
+Query 1/1: Action query time = 1.246 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5445
+t=138: Selected seed 195 with value = 0.5445
+Query 1/1: Action query time = 1.461 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7328
+t=154: Selected seed 195 with value = 0.7328
+Query 1/1: Action query time = 1.284 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=170: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 1.463 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9411
+t=186: Selected seed 195 with value = 0.9411
+Query 1/1: Action query time = 1.087 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s00/2026_08_02-08_31_02--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 1.069 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4030
+t=10: Selected seed 195 with value = 0.4030
+Query 1/1: Action query time = 1.154 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4811
+t=26: Selected seed 195 with value = 0.4811
+Query 1/1: Action query time = 1.167 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5538
+t=42: Selected seed 195 with value = 0.5538
+Query 1/1: Action query time = 1.149 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=58: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7871
+t=74: Selected seed 195 with value = 0.7871
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9180
+t=90: Selected seed 195 with value = 0.9180
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6543
+t=122: Selected seed 195 with value = 0.6543
+Query 1/1: Action query time = 0.958 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7550
+t=138: Selected seed 195 with value = 0.7550
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7867
+t=154: Selected seed 195 with value = 0.7867
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=170: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=186: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 0.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=202: Selected seed 195 with value = 0.9660
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=218: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9217
+t=234: Selected seed 195 with value = 0.9217
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9216
+t=250: Selected seed 195 with value = 0.9216
+Query 1/1: Action query time = 0.964 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=266: Selected seed 195 with value = 0.9256
+Query 1/1: Action query time = 0.950 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=282: Selected seed 195 with value = 0.9241
+Query 1/1: Action query time = 0.962 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9201
+t=298: Selected seed 195 with value = 0.9201
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s00/2026_08_02-08_31_02--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+Current task success rate: 0.25
+Current total success rate: 0.25
+Final results:
+Total episodes: 4
+Total successes: 1
+Overall success rate: 0.2500 (25.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_02--fcv2_350_t3_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_02--fcv2_350_t3_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3b3122b5ffa7c1a46f1786859f97aeb24cb43456
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_02--fcv2_350_t3_s01.txt
@@ -0,0 +1,240 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t3_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.311 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3989
+t=10: Selected seed 195 with value = 0.3989
+Query 1/1: Action query time = 4.904 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4795
+t=26: Selected seed 195 with value = 0.4795
+Query 1/1: Action query time = 5.354 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5559
+t=42: Selected seed 195 with value = 0.5559
+Query 1/1: Action query time = 4.643 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6623
+t=58: Selected seed 195 with value = 0.6623
+Query 1/1: Action query time = 4.666 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=74: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 4.526 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9128
+t=90: Selected seed 195 with value = 0.9128
+Query 1/1: Action query time = 4.881 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.062 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6426
+t=122: Selected seed 195 with value = 0.6426
+Query 1/1: Action query time = 5.071 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7755
+t=138: Selected seed 195 with value = 0.7755
+Query 1/1: Action query time = 5.267 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=154: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 5.245 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s01/2026_08_02-08_31_02--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.175 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3413
+t=10: Selected seed 195 with value = 0.3413
+Query 1/1: Action query time = 5.101 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3759
+t=26: Selected seed 195 with value = 0.3759
+Query 1/1: Action query time = 4.276 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=42: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 4.926 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6856
+t=58: Selected seed 195 with value = 0.6856
+Query 1/1: Action query time = 4.861 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7739
+t=74: Selected seed 195 with value = 0.7739
+Query 1/1: Action query time = 4.107 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=90: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 3.889 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.793 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6637
+t=122: Selected seed 195 with value = 0.6637
+Query 1/1: Action query time = 4.226 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7872
+t=138: Selected seed 195 with value = 0.7872
+Query 1/1: Action query time = 5.569 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8077
+t=154: Selected seed 195 with value = 0.8077
+Query 1/1: Action query time = 5.273 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8200
+t=170: Selected seed 195 with value = 0.8200
+Query 1/1: Action query time = 4.914 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8145
+t=186: Selected seed 195 with value = 0.8145
+Query 1/1: Action query time = 4.521 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8621
+t=202: Selected seed 195 with value = 0.8621
+Query 1/1: Action query time = 3.150 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=218: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 4.718 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s01/2026_08_02-08_31_02--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.959 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3302
+t=10: Selected seed 195 with value = 0.3302
+Query 1/1: Action query time = 5.132 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4587
+t=26: Selected seed 195 with value = 0.4587
+Query 1/1: Action query time = 4.809 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5345
+t=42: Selected seed 195 with value = 0.5345
+Query 1/1: Action query time = 4.621 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5996
+t=58: Selected seed 195 with value = 0.5996
+Query 1/1: Action query time = 4.737 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7030
+t=74: Selected seed 195 with value = 0.7030
+Query 1/1: Action query time = 4.343 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8759
+t=90: Selected seed 195 with value = 0.8759
+Query 1/1: Action query time = 4.543 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=106: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 3.484 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6949
+t=122: Selected seed 195 with value = 0.6949
+Query 1/1: Action query time = 4.647 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5358
+t=138: Selected seed 195 with value = 0.5358
+Query 1/1: Action query time = 4.001 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7726
+t=154: Selected seed 195 with value = 0.7726
+Query 1/1: Action query time = 3.954 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=170: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 4.188 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s01/2026_08_02-08_31_02--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.145 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3900
+t=10: Selected seed 195 with value = 0.3900
+Query 1/1: Action query time = 3.909 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4455
+t=26: Selected seed 195 with value = 0.4455
+Query 1/1: Action query time = 3.784 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5316
+t=42: Selected seed 195 with value = 0.5316
+Query 1/1: Action query time = 3.429 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6309
+t=58: Selected seed 195 with value = 0.6309
+Query 1/1: Action query time = 3.586 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7366
+t=74: Selected seed 195 with value = 0.7366
+Query 1/1: Action query time = 2.862 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9108
+t=90: Selected seed 195 with value = 0.9108
+Query 1/1: Action query time = 2.887 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=106: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 1.284 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6477
+t=122: Selected seed 195 with value = 0.6477
+Query 1/1: Action query time = 1.511 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7528
+t=138: Selected seed 195 with value = 0.7528
+Query 1/1: Action query time = 1.534 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8219
+t=154: Selected seed 195 with value = 0.8219
+Query 1/1: Action query time = 1.216 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=170: Selected seed 195 with value = 0.9586
+Query 1/1: Action query time = 1.135 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s01/2026_08_02-08_31_02--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ea41b0c28929bd75437a87fe993422fbeccfb451
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s08.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t3_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3864
+t=10: Selected seed 195 with value = 0.3864
+Query 1/1: Action query time = 3.443 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4548
+t=26: Selected seed 195 with value = 0.4548
+Query 1/1: Action query time = 4.664 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5444
+t=42: Selected seed 195 with value = 0.5444
+Query 1/1: Action query time = 4.884 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5993
+t=58: Selected seed 195 with value = 0.5993
+Query 1/1: Action query time = 5.207 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6879
+t=74: Selected seed 195 with value = 0.6879
+Query 1/1: Action query time = 5.022 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=90: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 4.951 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=106: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 5.004 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6848
+t=122: Selected seed 195 with value = 0.6848
+Query 1/1: Action query time = 5.052 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7769
+t=138: Selected seed 195 with value = 0.7769
+Query 1/1: Action query time = 5.105 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8986
+t=154: Selected seed 195 with value = 0.8986
+Query 1/1: Action query time = 4.269 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=170: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 4.507 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=186: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 3.882 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7344
+t=202: Selected seed 195 with value = 0.7344
+Query 1/1: Action query time = 3.929 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7012
+t=218: Selected seed 195 with value = 0.7012
+Query 1/1: Action query time = 5.019 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7396
+t=234: Selected seed 195 with value = 0.7396
+Query 1/1: Action query time = 5.114 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7664
+t=250: Selected seed 195 with value = 0.7664
+Query 1/1: Action query time = 5.152 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7900
+t=266: Selected seed 195 with value = 0.7900
+Query 1/1: Action query time = 4.642 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7998
+t=282: Selected seed 195 with value = 0.7998
+Query 1/1: Action query time = 5.108 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8090
+t=298: Selected seed 195 with value = 0.8090
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s08/2026_08_02-08_31_03--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.205 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3476
+t=10: Selected seed 195 with value = 0.3476
+Query 1/1: Action query time = 5.045 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4586
+t=26: Selected seed 195 with value = 0.4586
+Query 1/1: Action query time = 4.828 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5319
+t=42: Selected seed 195 with value = 0.5319
+Query 1/1: Action query time = 4.785 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6106
+t=58: Selected seed 195 with value = 0.6106
+Query 1/1: Action query time = 4.430 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=74: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 4.002 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8827
+t=90: Selected seed 195 with value = 0.8827
+Query 1/1: Action query time = 4.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=106: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 4.579 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9392
+t=122: Selected seed 195 with value = 0.9392
+Query 1/1: Action query time = 5.292 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6818
+t=138: Selected seed 195 with value = 0.6818
+Query 1/1: Action query time = 4.609 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=154: Selected seed 195 with value = 0.8161
+Query 1/1: Action query time = 4.529 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9315
+t=170: Selected seed 195 with value = 0.9315
+Query 1/1: Action query time = 4.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=186: Selected seed 195 with value = 0.9499
+Query 1/1: Action query time = 4.088 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=202: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 4.808 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=218: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 4.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=234: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 5.060 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.706 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.850 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.664 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s08/2026_08_02-08_31_03--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.395 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3702
+t=10: Selected seed 195 with value = 0.3702
+Query 1/1: Action query time = 3.425 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4440
+t=26: Selected seed 195 with value = 0.4440
+Query 1/1: Action query time = 2.355 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5048
+t=42: Selected seed 195 with value = 0.5048
+Query 1/1: Action query time = 2.327 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5722
+t=58: Selected seed 195 with value = 0.5722
+Query 1/1: Action query time = 2.498 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6795
+t=74: Selected seed 195 with value = 0.6795
+Query 1/1: Action query time = 2.441 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8957
+t=90: Selected seed 195 with value = 0.8957
+Query 1/1: Action query time = 1.672 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=106: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 2.089 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7043
+t=122: Selected seed 195 with value = 0.7043
+Query 1/1: Action query time = 1.892 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7809
+t=138: Selected seed 195 with value = 0.7809
+Query 1/1: Action query time = 1.875 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8617
+t=154: Selected seed 195 with value = 0.8617
+Query 1/1: Action query time = 1.754 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=170: Selected seed 195 with value = 0.8771
+Query 1/1: Action query time = 2.076 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=186: Selected seed 195 with value = 0.9660
+Query 1/1: Action query time = 1.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9606
+t=202: Selected seed 195 with value = 0.9606
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=218: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=234: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 1.118 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=250: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 1.232 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=266: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 1.181 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=282: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 1.158 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=298: Selected seed 195 with value = 0.9905
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s08/2026_08_02-08_31_03--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..974ac10a72a39129a7fb91417a06643d178ed3f0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s15.txt
@@ -0,0 +1,173 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t3_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 4.856 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3662
+t=10: Selected seed 195 with value = 0.3662
+Query 1/1: Action query time = 4.220 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4194
+t=26: Selected seed 195 with value = 0.4194
+Query 1/1: Action query time = 5.279 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5116
+t=42: Selected seed 195 with value = 0.5116
+Query 1/1: Action query time = 5.126 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6204
+t=58: Selected seed 195 with value = 0.6204
+Query 1/1: Action query time = 4.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=74: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 4.899 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8776
+t=90: Selected seed 195 with value = 0.8776
+Query 1/1: Action query time = 5.335 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=106: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 5.313 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=122: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 5.230 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7387
+t=138: Selected seed 195 with value = 0.7387
+Query 1/1: Action query time = 4.532 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=154: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 4.405 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8872
+t=170: Selected seed 195 with value = 0.8872
+Query 1/1: Action query time = 3.355 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=186: Selected seed 195 with value = 0.9905
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s15/2026_08_02-08_31_03--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.939 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3876
+t=10: Selected seed 195 with value = 0.3876
+Query 1/1: Action query time = 5.081 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4598
+t=26: Selected seed 195 with value = 0.4598
+Query 1/1: Action query time = 5.418 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=42: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 5.120 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6480
+t=58: Selected seed 195 with value = 0.6480
+Query 1/1: Action query time = 4.778 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7995
+t=74: Selected seed 195 with value = 0.7995
+Query 1/1: Action query time = 5.298 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9411
+t=90: Selected seed 195 with value = 0.9411
+Query 1/1: Action query time = 4.236 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.372 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6528
+t=122: Selected seed 195 with value = 0.6528
+Query 1/1: Action query time = 4.179 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7373
+t=138: Selected seed 195 with value = 0.7373
+Query 1/1: Action query time = 4.888 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8332
+t=154: Selected seed 195 with value = 0.8332
+Query 1/1: Action query time = 4.651 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=170: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 5.171 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s15/2026_08_02-08_31_03--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.204 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3407
+t=10: Selected seed 195 with value = 0.3407
+Query 1/1: Action query time = 3.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4472
+t=26: Selected seed 195 with value = 0.4472
+Query 1/1: Action query time = 3.527 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5812
+t=42: Selected seed 195 with value = 0.5812
+Query 1/1: Action query time = 5.064 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6564
+t=58: Selected seed 195 with value = 0.6564
+Query 1/1: Action query time = 5.675 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8170
+t=74: Selected seed 195 with value = 0.8170
+Query 1/1: Action query time = 5.253 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9295
+t=90: Selected seed 195 with value = 0.9295
+Query 1/1: Action query time = 4.584 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.899 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6622
+t=122: Selected seed 195 with value = 0.6622
+Query 1/1: Action query time = 4.350 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7921
+t=138: Selected seed 195 with value = 0.7921
+Query 1/1: Action query time = 5.395 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9321
+t=154: Selected seed 195 with value = 0.9321
+Query 1/1: Action query time = 5.295 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=170: Selected seed 195 with value = 0.9978
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s15/2026_08_02-08_31_03--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_21--fcv2_350_t4_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_21--fcv2_350_t4_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..83e790537ccbf03e18e70ef0d63e22df67d03581
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_21--fcv2_350_t4_s01.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.078 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5042
+t=10: Selected seed 195 with value = 0.5042
+Query 1/1: Action query time = 1.901 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6047
+t=26: Selected seed 195 with value = 0.6047
+Query 1/1: Action query time = 4.661 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=42: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 5.350 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8112
+t=58: Selected seed 195 with value = 0.8112
+Query 1/1: Action query time = 4.501 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.621 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s01/2026_08_02-08_36_21--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.033 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5100
+t=10: Selected seed 195 with value = 0.5100
+Query 1/1: Action query time = 2.709 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5917
+t=26: Selected seed 195 with value = 0.5917
+Query 1/1: Action query time = 3.438 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7033
+t=42: Selected seed 195 with value = 0.7033
+Query 1/1: Action query time = 5.391 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=58: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 5.369 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9624
+t=74: Selected seed 195 with value = 0.9624
+Query 1/1: Action query time = 5.176 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s01/2026_08_02-08_36_21--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.874 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5065
+t=10: Selected seed 195 with value = 0.5065
+Query 1/1: Action query time = 3.859 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5886
+t=26: Selected seed 195 with value = 0.5886
+Query 1/1: Action query time = 2.933 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7077
+t=42: Selected seed 195 with value = 0.7077
+Query 1/1: Action query time = 4.770 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8180
+t=58: Selected seed 195 with value = 0.8180
+Query 1/1: Action query time = 5.380 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=74: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 4.705 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s01/2026_08_02-08_36_21--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 2.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4855
+t=10: Selected seed 195 with value = 0.4855
+Query 1/1: Action query time = 2.412 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=26: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 1.216 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6524
+t=42: Selected seed 195 with value = 0.6524
+Query 1/1: Action query time = 1.244 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7780
+t=58: Selected seed 195 with value = 0.7780
+Query 1/1: Action query time = 1.184 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=74: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 1.244 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s01/2026_08_02-08_36_21--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fc7f69e0760723e9d88b4429468b96864d244122
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s00.txt
@@ -0,0 +1,188 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.093 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4921
+t=10: Selected seed 195 with value = 0.4921
+Query 1/1: Action query time = 4.741 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6113
+t=26: Selected seed 195 with value = 0.6113
+Query 1/1: Action query time = 4.912 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6977
+t=42: Selected seed 195 with value = 0.6977
+Query 1/1: Action query time = 4.468 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8289
+t=58: Selected seed 195 with value = 0.8289
+Query 1/1: Action query time = 4.481 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=74: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 3.161 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s00/2026_08_02-08_36_22--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.312 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5319
+t=10: Selected seed 195 with value = 0.5319
+Query 1/1: Action query time = 5.349 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6078
+t=26: Selected seed 195 with value = 0.6078
+Query 1/1: Action query time = 5.298 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7581
+t=42: Selected seed 195 with value = 0.7581
+Query 1/1: Action query time = 4.401 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8493
+t=58: Selected seed 195 with value = 0.8493
+Query 1/1: Action query time = 4.715 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=74: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 3.665 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=90: Selected seed 195 with value = 0.9939
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s00/2026_08_02-08_36_22--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.778 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5386
+t=10: Selected seed 195 with value = 0.5386
+Query 1/1: Action query time = 5.034 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6179
+t=26: Selected seed 195 with value = 0.6179
+Query 1/1: Action query time = 4.198 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5726
+t=42: Selected seed 195 with value = 0.5726
+Query 1/1: Action query time = 3.438 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=58: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 2.938 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8885
+t=74: Selected seed 195 with value = 0.8885
+Query 1/1: Action query time = 1.221 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=90: Selected seed 195 with value = 0.9634
+Query 1/1: Action query time = 1.120 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=106: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 1.178 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=122: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 1.175 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.202 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.944 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.944 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.929 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=250: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 0.933 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=266: Selected seed 195 with value = 0.9445
+Query 1/1: Action query time = 0.957 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s00/2026_08_02-08_36_22--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.939 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4980
+t=10: Selected seed 195 with value = 0.4980
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6083
+t=26: Selected seed 195 with value = 0.6083
+Query 1/1: Action query time = 0.929 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6952
+t=42: Selected seed 195 with value = 0.6952
+Query 1/1: Action query time = 0.936 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8057
+t=58: Selected seed 195 with value = 0.8057
+Query 1/1: Action query time = 0.938 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=74: Selected seed 195 with value = 0.9443
+Query 1/1: Action query time = 0.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s00/2026_08_02-08_36_22--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5fc7e8262ce3358c76bf6aed68eccaa15611e28b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s02.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.906 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4959
+t=10: Selected seed 195 with value = 0.4959
+Query 1/1: Action query time = 4.737 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6022
+t=26: Selected seed 195 with value = 0.6022
+Query 1/1: Action query time = 4.560 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7061
+t=42: Selected seed 195 with value = 0.7061
+Query 1/1: Action query time = 4.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8686
+t=58: Selected seed 195 with value = 0.8686
+Query 1/1: Action query time = 3.317 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.170 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s02/2026_08_02-08_36_22--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.492 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4603
+t=10: Selected seed 195 with value = 0.4603
+Query 1/1: Action query time = 4.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=26: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 4.853 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6343
+t=42: Selected seed 195 with value = 0.6343
+Query 1/1: Action query time = 4.690 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7263
+t=58: Selected seed 195 with value = 0.7263
+Query 1/1: Action query time = 4.493 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9294
+t=74: Selected seed 195 with value = 0.9294
+Query 1/1: Action query time = 5.150 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s02/2026_08_02-08_36_22--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.635 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4785
+t=10: Selected seed 195 with value = 0.4785
+Query 1/1: Action query time = 4.647 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5956
+t=26: Selected seed 195 with value = 0.5956
+Query 1/1: Action query time = 4.526 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6992
+t=42: Selected seed 195 with value = 0.6992
+Query 1/1: Action query time = 3.704 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8300
+t=58: Selected seed 195 with value = 0.8300
+Query 1/1: Action query time = 3.671 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9707
+t=74: Selected seed 195 with value = 0.9707
+Query 1/1: Action query time = 2.653 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s02/2026_08_02-08_36_22--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..143f455a888ec9d060056ab0ecd5a500b702acde
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s05.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5205
+t=10: Selected seed 195 with value = 0.5205
+Query 1/1: Action query time = 4.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6302
+t=26: Selected seed 195 with value = 0.6302
+Query 1/1: Action query time = 5.275 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7491
+t=42: Selected seed 195 with value = 0.7491
+Query 1/1: Action query time = 4.546 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=58: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 3.870 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s05/2026_08_02-08_36_22--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.456 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5214
+t=10: Selected seed 195 with value = 0.5214
+Query 1/1: Action query time = 4.597 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6161
+t=26: Selected seed 195 with value = 0.6161
+Query 1/1: Action query time = 5.124 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7000
+t=42: Selected seed 195 with value = 0.7000
+Query 1/1: Action query time = 4.769 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8190
+t=58: Selected seed 195 with value = 0.8190
+Query 1/1: Action query time = 4.736 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=74: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 4.411 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s05/2026_08_02-08_36_22--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.914 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=10: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 4.049 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5651
+t=26: Selected seed 195 with value = 0.5651
+Query 1/1: Action query time = 5.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6406
+t=42: Selected seed 195 with value = 0.6406
+Query 1/1: Action query time = 5.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7729
+t=58: Selected seed 195 with value = 0.7729
+Query 1/1: Action query time = 4.492 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=74: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 3.488 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s05/2026_08_02-08_36_22--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53365330454b4ea344820adefd0e04da4727abff
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s06.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.709 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4862
+t=10: Selected seed 195 with value = 0.4862
+Query 1/1: Action query time = 4.806 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5915
+t=26: Selected seed 195 with value = 0.5915
+Query 1/1: Action query time = 5.134 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7072
+t=42: Selected seed 195 with value = 0.7072
+Query 1/1: Action query time = 5.062 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=58: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 4.061 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=74: Selected seed 195 with value = 0.9769
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s06/2026_08_02-08_36_22--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.575 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4742
+t=10: Selected seed 195 with value = 0.4742
+Query 1/1: Action query time = 2.848 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5601
+t=26: Selected seed 195 with value = 0.5601
+Query 1/1: Action query time = 4.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7071
+t=42: Selected seed 195 with value = 0.7071
+Query 1/1: Action query time = 4.781 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8428
+t=58: Selected seed 195 with value = 0.8428
+Query 1/1: Action query time = 4.304 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=74: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 3.839 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s06/2026_08_02-08_36_22--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.057 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4436
+t=10: Selected seed 195 with value = 0.4436
+Query 1/1: Action query time = 3.327 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4089
+t=26: Selected seed 195 with value = 0.4089
+Query 1/1: Action query time = 4.861 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5983
+t=42: Selected seed 195 with value = 0.5983
+Query 1/1: Action query time = 4.678 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7561
+t=58: Selected seed 195 with value = 0.7561
+Query 1/1: Action query time = 4.865 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9225
+t=74: Selected seed 195 with value = 0.9225
+Query 1/1: Action query time = 4.014 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s06/2026_08_02-08_36_22--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a0b45c9f513813fb4321c8a8b08f2f89a493b679
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s08.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.498 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5059
+t=10: Selected seed 195 with value = 0.5059
+Query 1/1: Action query time = 4.508 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6099
+t=26: Selected seed 195 with value = 0.6099
+Query 1/1: Action query time = 3.812 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6601
+t=42: Selected seed 195 with value = 0.6601
+Query 1/1: Action query time = 4.561 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7964
+t=58: Selected seed 195 with value = 0.7964
+Query 1/1: Action query time = 5.014 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=74: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 5.100 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s08/2026_08_02-08_36_22--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.613 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5069
+t=10: Selected seed 195 with value = 0.5069
+Query 1/1: Action query time = 2.489 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6203
+t=26: Selected seed 195 with value = 0.6203
+Query 1/1: Action query time = 4.587 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7015
+t=42: Selected seed 195 with value = 0.7015
+Query 1/1: Action query time = 4.851 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=58: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 4.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s08/2026_08_02-08_36_22--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4976
+t=10: Selected seed 195 with value = 0.4976
+Query 1/1: Action query time = 4.224 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6149
+t=26: Selected seed 195 with value = 0.6149
+Query 1/1: Action query time = 3.464 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6795
+t=42: Selected seed 195 with value = 0.6795
+Query 1/1: Action query time = 5.014 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8002
+t=58: Selected seed 195 with value = 0.8002
+Query 1/1: Action query time = 4.598 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9545
+t=74: Selected seed 195 with value = 0.9545
+Query 1/1: Action query time = 4.805 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s08/2026_08_02-08_36_22--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_23--fcv2_350_t4_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_23--fcv2_350_t4_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0be351152981caf213738c2f1af245dba6bc0010
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_23--fcv2_350_t4_s15.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.855 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=10: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 4.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6351
+t=26: Selected seed 195 with value = 0.6351
+Query 1/1: Action query time = 5.526 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7599
+t=42: Selected seed 195 with value = 0.7599
+Query 1/1: Action query time = 5.386 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=58: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 4.089 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=74: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 2.236 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s15/2026_08_02-08_36_23--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.405 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4780
+t=10: Selected seed 195 with value = 0.4780
+Query 1/1: Action query time = 5.250 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=26: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 4.798 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6921
+t=42: Selected seed 195 with value = 0.6921
+Query 1/1: Action query time = 4.243 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8143
+t=58: Selected seed 195 with value = 0.8143
+Query 1/1: Action query time = 4.403 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=74: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 2.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s15/2026_08_02-08_36_23--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.056 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4932
+t=10: Selected seed 195 with value = 0.4932
+Query 1/1: Action query time = 5.335 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=26: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 4.736 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7027
+t=42: Selected seed 195 with value = 0.7027
+Query 1/1: Action query time = 4.232 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8398
+t=58: Selected seed 195 with value = 0.8398
+Query 1/1: Action query time = 2.383 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=74: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 1.222 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s15/2026_08_02-08_36_23--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_10--fcv2_350_t5_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_10--fcv2_350_t5_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..872d963310ce57349d6466b7a9a2e83a271622a8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_10--fcv2_350_t5_s03.txt
@@ -0,0 +1,137 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t5_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.739 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3134
+t=10: Selected seed 195 with value = 0.3134
+Query 1/1: Action query time = 4.827 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4064
+t=26: Selected seed 195 with value = 0.4064
+Query 1/1: Action query time = 4.324 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4644
+t=42: Selected seed 195 with value = 0.4644
+Query 1/1: Action query time = 4.160 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=58: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 4.871 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6083
+t=74: Selected seed 195 with value = 0.6083
+Query 1/1: Action query time = 5.389 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7104
+t=90: Selected seed 195 with value = 0.7104
+Query 1/1: Action query time = 5.305 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9512
+t=106: Selected seed 195 with value = 0.9512
+Query 1/1: Action query time = 4.170 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s03/2026_08_02-08_39_10--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.027 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3286
+t=10: Selected seed 195 with value = 0.3286
+Query 1/1: Action query time = 3.897 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3903
+t=26: Selected seed 195 with value = 0.3903
+Query 1/1: Action query time = 3.467 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4643
+t=42: Selected seed 195 with value = 0.4643
+Query 1/1: Action query time = 4.470 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5018
+t=58: Selected seed 195 with value = 0.5018
+Query 1/1: Action query time = 4.587 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=74: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 4.822 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6733
+t=90: Selected seed 195 with value = 0.6733
+Query 1/1: Action query time = 4.896 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8396
+t=106: Selected seed 195 with value = 0.8396
+Query 1/1: Action query time = 5.217 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=122: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 4.522 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s03/2026_08_02-08_39_10--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.540 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3626
+t=10: Selected seed 195 with value = 0.3626
+Query 1/1: Action query time = 3.610 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4032
+t=26: Selected seed 195 with value = 0.4032
+Query 1/1: Action query time = 5.171 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4296
+t=42: Selected seed 195 with value = 0.4296
+Query 1/1: Action query time = 4.844 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5170
+t=58: Selected seed 195 with value = 0.5170
+Query 1/1: Action query time = 5.190 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6302
+t=74: Selected seed 195 with value = 0.6302
+Query 1/1: Action query time = 5.522 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7215
+t=90: Selected seed 195 with value = 0.7215
+Query 1/1: Action query time = 5.639 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=106: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 4.996 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=122: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 3.378 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s03/2026_08_02-08_39_10--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_11--fcv2_350_t5_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_11--fcv2_350_t5_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89ce679887de562cc9580a70d289a5a84f5c0840
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_11--fcv2_350_t5_s06.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t5_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.580 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3353
+t=10: Selected seed 195 with value = 0.3353
+Query 1/1: Action query time = 4.603 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3552
+t=26: Selected seed 195 with value = 0.3552
+Query 1/1: Action query time = 4.357 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4368
+t=42: Selected seed 195 with value = 0.4368
+Query 1/1: Action query time = 4.576 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6147
+t=58: Selected seed 195 with value = 0.6147
+Query 1/1: Action query time = 5.331 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6777
+t=74: Selected seed 195 with value = 0.6777
+Query 1/1: Action query time = 5.528 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7756
+t=90: Selected seed 195 with value = 0.7756
+Query 1/1: Action query time = 4.866 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9025
+t=106: Selected seed 195 with value = 0.9025
+Query 1/1: Action query time = 3.599 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s06/2026_08_02-08_39_11--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.917 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3136
+t=10: Selected seed 195 with value = 0.3136
+Query 1/1: Action query time = 4.098 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3898
+t=26: Selected seed 195 with value = 0.3898
+Query 1/1: Action query time = 4.843 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4929
+t=42: Selected seed 195 with value = 0.4929
+Query 1/1: Action query time = 5.264 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5982
+t=58: Selected seed 195 with value = 0.5982
+Query 1/1: Action query time = 5.141 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6673
+t=74: Selected seed 195 with value = 0.6673
+Query 1/1: Action query time = 5.047 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7465
+t=90: Selected seed 195 with value = 0.7465
+Query 1/1: Action query time = 5.045 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8627
+t=106: Selected seed 195 with value = 0.8627
+Query 1/1: Action query time = 3.902 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s06/2026_08_02-08_39_11--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.858 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3033
+t=10: Selected seed 195 with value = 0.3033
+Query 1/1: Action query time = 4.384 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3142
+t=26: Selected seed 195 with value = 0.3142
+Query 1/1: Action query time = 4.390 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4100
+t=42: Selected seed 195 with value = 0.4100
+Query 1/1: Action query time = 4.773 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5157
+t=58: Selected seed 195 with value = 0.5157
+Query 1/1: Action query time = 4.874 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5696
+t=74: Selected seed 195 with value = 0.5696
+Query 1/1: Action query time = 4.812 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6879
+t=90: Selected seed 195 with value = 0.6879
+Query 1/1: Action query time = 4.919 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=106: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 4.503 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=122: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 3.415 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s06/2026_08_02-08_39_11--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_11--fcv2_350_t5_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_11--fcv2_350_t5_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eaab7065070ccbc1284b149704d38b7fb9dd9e9f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_11--fcv2_350_t5_s14.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t5_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.897 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3488
+t=10: Selected seed 195 with value = 0.3488
+Query 1/1: Action query time = 5.281 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3438
+t=26: Selected seed 195 with value = 0.3438
+Query 1/1: Action query time = 5.212 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4889
+t=42: Selected seed 195 with value = 0.4889
+Query 1/1: Action query time = 5.565 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=58: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 5.405 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7017
+t=74: Selected seed 195 with value = 0.7017
+Query 1/1: Action query time = 4.781 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8641
+t=90: Selected seed 195 with value = 0.8641
+Query 1/1: Action query time = 4.649 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=106: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 3.864 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s14/2026_08_02-08_39_11--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.251 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2038
+t=10: Selected seed 195 with value = 0.2038
+Query 1/1: Action query time = 4.799 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2694
+t=26: Selected seed 195 with value = 0.2694
+Query 1/1: Action query time = 4.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5334
+t=42: Selected seed 195 with value = 0.5334
+Query 1/1: Action query time = 4.678 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5794
+t=58: Selected seed 195 with value = 0.5794
+Query 1/1: Action query time = 4.652 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6968
+t=74: Selected seed 195 with value = 0.6968
+Query 1/1: Action query time = 5.031 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8270
+t=90: Selected seed 195 with value = 0.8270
+Query 1/1: Action query time = 5.484 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9326
+t=106: Selected seed 195 with value = 0.9326
+Query 1/1: Action query time = 5.277 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s14/2026_08_02-08_39_11--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.783 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2696
+t=10: Selected seed 195 with value = 0.2696
+Query 1/1: Action query time = 3.249 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3751
+t=26: Selected seed 195 with value = 0.3751
+Query 1/1: Action query time = 4.790 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4645
+t=42: Selected seed 195 with value = 0.4645
+Query 1/1: Action query time = 4.940 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5023
+t=58: Selected seed 195 with value = 0.5023
+Query 1/1: Action query time = 5.177 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6073
+t=74: Selected seed 195 with value = 0.6073
+Query 1/1: Action query time = 5.057 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6554
+t=90: Selected seed 195 with value = 0.6554
+Query 1/1: Action query time = 4.629 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7837
+t=106: Selected seed 195 with value = 0.7837
+Query 1/1: Action query time = 4.670 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=122: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 5.247 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s14/2026_08_02-08_39_11--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_27--fcv2_350_t6_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_27--fcv2_350_t6_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..403d8ffeb2c13381dbfe90ce42396567738e0577
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_27--fcv2_350_t6_s03.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t6_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 3.547 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4043
+t=10: Selected seed 195 with value = 0.4043
+Query 1/1: Action query time = 5.239 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4785
+t=26: Selected seed 195 with value = 0.4785
+Query 1/1: Action query time = 4.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5687
+t=42: Selected seed 195 with value = 0.5687
+Query 1/1: Action query time = 4.809 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6593
+t=58: Selected seed 195 with value = 0.6593
+Query 1/1: Action query time = 5.237 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7891
+t=74: Selected seed 195 with value = 0.7891
+Query 1/1: Action query time = 5.234 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9180
+t=90: Selected seed 195 with value = 0.9180
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s03/2026_08_02-08_42_27--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.839 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4365
+t=10: Selected seed 195 with value = 0.4365
+Query 1/1: Action query time = 5.041 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4875
+t=26: Selected seed 195 with value = 0.4875
+Query 1/1: Action query time = 4.164 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6487
+t=42: Selected seed 195 with value = 0.6487
+Query 1/1: Action query time = 4.911 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7291
+t=58: Selected seed 195 with value = 0.7291
+Query 1/1: Action query time = 5.025 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8320
+t=74: Selected seed 195 with value = 0.8320
+Query 1/1: Action query time = 4.793 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=90: Selected seed 195 with value = 0.9812
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s03/2026_08_02-08_42_27--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.467 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4131
+t=10: Selected seed 195 with value = 0.4131
+Query 1/1: Action query time = 5.159 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4909
+t=26: Selected seed 195 with value = 0.4909
+Query 1/1: Action query time = 4.724 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6060
+t=42: Selected seed 195 with value = 0.6060
+Query 1/1: Action query time = 4.748 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7016
+t=58: Selected seed 195 with value = 0.7016
+Query 1/1: Action query time = 4.307 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8383
+t=74: Selected seed 195 with value = 0.8383
+Query 1/1: Action query time = 3.622 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=90: Selected seed 195 with value = 0.9868
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s03/2026_08_02-08_42_27--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_28--fcv2_350_t6_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_28--fcv2_350_t6_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d6ef0bd49c69dd4d276892d83721d75cba5940f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_28--fcv2_350_t6_s05.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t6_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.819 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4765
+t=10: Selected seed 195 with value = 0.4765
+Query 1/1: Action query time = 4.645 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4879
+t=26: Selected seed 195 with value = 0.4879
+Query 1/1: Action query time = 5.322 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6126
+t=42: Selected seed 195 with value = 0.6126
+Query 1/1: Action query time = 5.365 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5582
+t=58: Selected seed 195 with value = 0.5582
+Query 1/1: Action query time = 5.112 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=74: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 4.233 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6875
+t=90: Selected seed 195 with value = 0.6875
+Query 1/1: Action query time = 4.712 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7111
+t=106: Selected seed 195 with value = 0.7111
+Query 1/1: Action query time = 5.090 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7575
+t=122: Selected seed 195 with value = 0.7575
+Query 1/1: Action query time = 4.810 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7813
+t=138: Selected seed 195 with value = 0.7813
+Query 1/1: Action query time = 5.099 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8935
+t=154: Selected seed 195 with value = 0.8935
+Query 1/1: Action query time = 5.069 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9139
+t=170: Selected seed 195 with value = 0.9139
+Query 1/1: Action query time = 5.133 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=186: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 3.870 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9413
+t=202: Selected seed 195 with value = 0.9413
+Query 1/1: Action query time = 4.357 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.812 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.564 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.122 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.468 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.362 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s05/2026_08_02-08_42_28--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 2.914 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4362
+t=10: Selected seed 195 with value = 0.4362
+Query 1/1: Action query time = 3.632 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4874
+t=26: Selected seed 195 with value = 0.4874
+Query 1/1: Action query time = 3.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6285
+t=42: Selected seed 195 with value = 0.6285
+Query 1/1: Action query time = 3.671 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=58: Selected seed 195 with value = 0.7474
+Query 1/1: Action query time = 3.748 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8267
+t=74: Selected seed 195 with value = 0.8267
+Query 1/1: Action query time = 2.556 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9636
+t=90: Selected seed 195 with value = 0.9636
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s05/2026_08_02-08_42_28--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 2.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4112
+t=10: Selected seed 195 with value = 0.4112
+Query 1/1: Action query time = 2.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5148
+t=26: Selected seed 195 with value = 0.5148
+Query 1/1: Action query time = 2.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6246
+t=42: Selected seed 195 with value = 0.6246
+Query 1/1: Action query time = 2.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6964
+t=58: Selected seed 195 with value = 0.6964
+Query 1/1: Action query time = 2.666 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8110
+t=74: Selected seed 195 with value = 0.8110
+Query 1/1: Action query time = 1.808 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=90: Selected seed 195 with value = 0.9767
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s05/2026_08_02-08_42_28--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_29--fcv2_350_t6_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_29--fcv2_350_t6_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7966e49c424e999a5639339151cef45c868d89b8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_29--fcv2_350_t6_s08.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t6_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.555 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4471
+t=10: Selected seed 195 with value = 0.4471
+Query 1/1: Action query time = 5.777 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5091
+t=26: Selected seed 195 with value = 0.5091
+Query 1/1: Action query time = 4.920 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6174
+t=42: Selected seed 195 with value = 0.6174
+Query 1/1: Action query time = 4.939 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6763
+t=58: Selected seed 195 with value = 0.6763
+Query 1/1: Action query time = 4.244 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8126
+t=74: Selected seed 195 with value = 0.8126
+Query 1/1: Action query time = 4.547 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=90: Selected seed 195 with value = 0.9529
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s08/2026_08_02-08_42_29--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.753 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4131
+t=10: Selected seed 195 with value = 0.4131
+Query 1/1: Action query time = 4.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5485
+t=26: Selected seed 195 with value = 0.5485
+Query 1/1: Action query time = 4.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6306
+t=42: Selected seed 195 with value = 0.6306
+Query 1/1: Action query time = 4.596 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7383
+t=58: Selected seed 195 with value = 0.7383
+Query 1/1: Action query time = 4.515 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8853
+t=74: Selected seed 195 with value = 0.8853
+Query 1/1: Action query time = 4.345 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=90: Selected seed 195 with value = 0.9962
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s08/2026_08_02-08_42_29--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4715
+t=10: Selected seed 195 with value = 0.4715
+Query 1/1: Action query time = 5.055 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5365
+t=26: Selected seed 195 with value = 0.5365
+Query 1/1: Action query time = 5.113 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7019
+t=42: Selected seed 195 with value = 0.7019
+Query 1/1: Action query time = 4.301 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8226
+t=58: Selected seed 195 with value = 0.8226
+Query 1/1: Action query time = 3.802 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=74: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 1.474 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8165
+t=90: Selected seed 195 with value = 0.8165
+Query 1/1: Action query time = 1.257 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8885
+t=106: Selected seed 195 with value = 0.8885
+Query 1/1: Action query time = 1.566 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.869 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=138: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 1.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=154: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 1.828 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=170: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 1.914 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=186: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 1.342 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=202: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 1.123 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=218: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 1.084 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=234: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 1.016 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=250: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 2.085 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=266: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 1.851 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=282: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 1.900 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=298: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s08/2026_08_02-08_42_29--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_29--fcv2_350_t6_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_29--fcv2_350_t6_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..65b58e389c195bf58d156cc657118e862f4dff08
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_29--fcv2_350_t6_s10.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t6_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.768 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4351
+t=10: Selected seed 195 with value = 0.4351
+Query 1/1: Action query time = 3.315 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4879
+t=26: Selected seed 195 with value = 0.4879
+Query 1/1: Action query time = 5.233 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6274
+t=42: Selected seed 195 with value = 0.6274
+Query 1/1: Action query time = 5.366 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=58: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 5.116 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8322
+t=74: Selected seed 195 with value = 0.8322
+Query 1/1: Action query time = 4.203 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9624
+t=90: Selected seed 195 with value = 0.9624
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s10/2026_08_02-08_42_29--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.125 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4374
+t=10: Selected seed 195 with value = 0.4374
+Query 1/1: Action query time = 5.279 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5127
+t=26: Selected seed 195 with value = 0.5127
+Query 1/1: Action query time = 4.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6165
+t=42: Selected seed 195 with value = 0.6165
+Query 1/1: Action query time = 4.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6684
+t=58: Selected seed 195 with value = 0.6684
+Query 1/1: Action query time = 4.511 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7874
+t=74: Selected seed 195 with value = 0.7874
+Query 1/1: Action query time = 4.655 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9328
+t=90: Selected seed 195 with value = 0.9328
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s10/2026_08_02-08_42_29--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.434 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4578
+t=10: Selected seed 195 with value = 0.4578
+Query 1/1: Action query time = 4.810 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5278
+t=26: Selected seed 195 with value = 0.5278
+Query 1/1: Action query time = 4.794 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6710
+t=42: Selected seed 195 with value = 0.6710
+Query 1/1: Action query time = 5.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7471
+t=58: Selected seed 195 with value = 0.7471
+Query 1/1: Action query time = 4.665 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8754
+t=74: Selected seed 195 with value = 0.8754
+Query 1/1: Action query time = 4.118 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=90: Selected seed 195 with value = 0.9680
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s10/2026_08_02-08_42_29--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b61f9d7bc39950c601e3eb74d722e9d1c9d8a24f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s01.txt
@@ -0,0 +1,236 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.105 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3710
+t=10: Selected seed 195 with value = 0.3710
+Query 1/1: Action query time = 4.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3574
+t=26: Selected seed 195 with value = 0.3574
+Query 1/1: Action query time = 5.933 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4571
+t=42: Selected seed 195 with value = 0.4571
+Query 1/1: Action query time = 3.743 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5110
+t=58: Selected seed 195 with value = 0.5110
+Query 1/1: Action query time = 4.452 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6031
+t=74: Selected seed 195 with value = 0.6031
+Query 1/1: Action query time = 5.301 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6297
+t=90: Selected seed 195 with value = 0.6297
+Query 1/1: Action query time = 5.239 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7249
+t=106: Selected seed 195 with value = 0.7249
+Query 1/1: Action query time = 4.879 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7244
+t=122: Selected seed 195 with value = 0.7244
+Query 1/1: Action query time = 4.955 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8913
+t=138: Selected seed 195 with value = 0.8913
+Query 1/1: Action query time = 4.497 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s01/2026_08_02-08_49_15--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.960 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3357
+t=10: Selected seed 195 with value = 0.3357
+Query 1/1: Action query time = 5.119 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3248
+t=26: Selected seed 195 with value = 0.3248
+Query 1/1: Action query time = 5.442 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4389
+t=42: Selected seed 195 with value = 0.4389
+Query 1/1: Action query time = 4.646 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7010
+t=58: Selected seed 195 with value = 0.7010
+Query 1/1: Action query time = 4.837 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7159
+t=74: Selected seed 195 with value = 0.7159
+Query 1/1: Action query time = 5.044 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7314
+t=90: Selected seed 195 with value = 0.7314
+Query 1/1: Action query time = 5.184 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6752
+t=106: Selected seed 195 with value = 0.6752
+Query 1/1: Action query time = 3.892 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5839
+t=122: Selected seed 195 with value = 0.5839
+Query 1/1: Action query time = 3.589 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6737
+t=138: Selected seed 195 with value = 0.6737
+Query 1/1: Action query time = 4.338 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8306
+t=154: Selected seed 195 with value = 0.8306
+Query 1/1: Action query time = 4.267 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9523
+t=170: Selected seed 195 with value = 0.9523
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s01/2026_08_02-08_49_15--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.495 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3212
+t=10: Selected seed 195 with value = 0.3212
+Query 1/1: Action query time = 4.666 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3360
+t=26: Selected seed 195 with value = 0.3360
+Query 1/1: Action query time = 4.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4093
+t=42: Selected seed 195 with value = 0.4093
+Query 1/1: Action query time = 4.430 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=58: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 5.177 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5758
+t=74: Selected seed 195 with value = 0.5758
+Query 1/1: Action query time = 5.121 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6303
+t=90: Selected seed 195 with value = 0.6303
+Query 1/1: Action query time = 4.510 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6551
+t=106: Selected seed 195 with value = 0.6551
+Query 1/1: Action query time = 3.320 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7744
+t=122: Selected seed 195 with value = 0.7744
+Query 1/1: Action query time = 4.248 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=138: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 4.300 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=154: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 4.207 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7698
+t=170: Selected seed 195 with value = 0.7698
+Query 1/1: Action query time = 4.137 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7621
+t=186: Selected seed 195 with value = 0.7621
+Query 1/1: Action query time = 2.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7573
+t=202: Selected seed 195 with value = 0.7573
+Query 1/1: Action query time = 2.221 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7534
+t=218: Selected seed 195 with value = 0.7534
+Query 1/1: Action query time = 2.746 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7480
+t=234: Selected seed 195 with value = 0.7480
+Query 1/1: Action query time = 2.468 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7418
+t=250: Selected seed 195 with value = 0.7418
+Query 1/1: Action query time = 2.396 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7360
+t=266: Selected seed 195 with value = 0.7360
+Query 1/1: Action query time = 1.951 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7344
+t=282: Selected seed 195 with value = 0.7344
+Query 1/1: Action query time = 1.110 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7414
+t=298: Selected seed 195 with value = 0.7414
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s01/2026_08_02-08_49_15--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.731 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3253
+t=10: Selected seed 195 with value = 0.3253
+Query 1/1: Action query time = 1.735 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3174
+t=26: Selected seed 195 with value = 0.3174
+Query 1/1: Action query time = 1.370 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3982
+t=42: Selected seed 195 with value = 0.3982
+Query 1/1: Action query time = 1.813 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5065
+t=58: Selected seed 195 with value = 0.5065
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5962
+t=74: Selected seed 195 with value = 0.5962
+Query 1/1: Action query time = 1.339 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6485
+t=90: Selected seed 195 with value = 0.6485
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7656
+t=106: Selected seed 195 with value = 0.7656
+Query 1/1: Action query time = 1.118 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=122: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s01/2026_08_02-08_49_15--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1a62ad64a26c96ff80aa5eb9452587f376e54ee1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s05.txt
@@ -0,0 +1,153 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.191 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3293
+t=10: Selected seed 195 with value = 0.3293
+Query 1/1: Action query time = 3.700 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2922
+t=26: Selected seed 195 with value = 0.2922
+Query 1/1: Action query time = 5.192 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4030
+t=42: Selected seed 195 with value = 0.4030
+Query 1/1: Action query time = 6.134 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5462
+t=58: Selected seed 195 with value = 0.5462
+Query 1/1: Action query time = 3.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=74: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 5.111 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6054
+t=90: Selected seed 195 with value = 0.6054
+Query 1/1: Action query time = 5.423 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6350
+t=106: Selected seed 195 with value = 0.6350
+Query 1/1: Action query time = 5.108 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7653
+t=122: Selected seed 195 with value = 0.7653
+Query 1/1: Action query time = 5.051 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=138: Selected seed 195 with value = 0.8907
+Query 1/1: Action query time = 3.264 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s05/2026_08_02-08_49_16--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.859 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2822
+t=10: Selected seed 195 with value = 0.2822
+Query 1/1: Action query time = 4.491 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3412
+t=26: Selected seed 195 with value = 0.3412
+Query 1/1: Action query time = 5.413 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4104
+t=42: Selected seed 195 with value = 0.4104
+Query 1/1: Action query time = 5.012 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4972
+t=58: Selected seed 195 with value = 0.4972
+Query 1/1: Action query time = 4.845 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5998
+t=74: Selected seed 195 with value = 0.5998
+Query 1/1: Action query time = 4.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6542
+t=90: Selected seed 195 with value = 0.6542
+Query 1/1: Action query time = 5.337 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7249
+t=106: Selected seed 195 with value = 0.7249
+Query 1/1: Action query time = 4.118 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7051
+t=122: Selected seed 195 with value = 0.7051
+Query 1/1: Action query time = 4.090 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8804
+t=138: Selected seed 195 with value = 0.8804
+Query 1/1: Action query time = 4.922 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s05/2026_08_02-08_49_16--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.164 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3098
+t=10: Selected seed 195 with value = 0.3098
+Query 1/1: Action query time = 5.323 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3828
+t=26: Selected seed 195 with value = 0.3828
+Query 1/1: Action query time = 5.320 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4347
+t=42: Selected seed 195 with value = 0.4347
+Query 1/1: Action query time = 5.054 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4885
+t=58: Selected seed 195 with value = 0.4885
+Query 1/1: Action query time = 4.161 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6109
+t=74: Selected seed 195 with value = 0.6109
+Query 1/1: Action query time = 4.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6139
+t=90: Selected seed 195 with value = 0.6139
+Query 1/1: Action query time = 5.364 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7207
+t=106: Selected seed 195 with value = 0.7207
+Query 1/1: Action query time = 4.311 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7246
+t=122: Selected seed 195 with value = 0.7246
+Query 1/1: Action query time = 4.066 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8519
+t=138: Selected seed 195 with value = 0.8519
+Query 1/1: Action query time = 4.779 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s05/2026_08_02-08_49_16--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..40a26d315ae82b90bec2a32dbac965345141f75a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s06.txt
@@ -0,0 +1,161 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 7.036 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2748
+t=10: Selected seed 195 with value = 0.2748
+Query 1/1: Action query time = 5.538 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3778
+t=26: Selected seed 195 with value = 0.3778
+Query 1/1: Action query time = 3.732 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4464
+t=42: Selected seed 195 with value = 0.4464
+Query 1/1: Action query time = 5.046 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5429
+t=58: Selected seed 195 with value = 0.5429
+Query 1/1: Action query time = 5.699 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5932
+t=74: Selected seed 195 with value = 0.5932
+Query 1/1: Action query time = 4.820 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6185
+t=90: Selected seed 195 with value = 0.6185
+Query 1/1: Action query time = 5.019 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7449
+t=106: Selected seed 195 with value = 0.7449
+Query 1/1: Action query time = 5.198 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=122: Selected seed 195 with value = 0.8755
+Query 1/1: Action query time = 4.702 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s06/2026_08_02-08_49_16--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.630 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3528
+t=10: Selected seed 195 with value = 0.3528
+Query 1/1: Action query time = 5.133 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3584
+t=26: Selected seed 195 with value = 0.3584
+Query 1/1: Action query time = 3.848 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4318
+t=42: Selected seed 195 with value = 0.4318
+Query 1/1: Action query time = 4.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5138
+t=58: Selected seed 195 with value = 0.5138
+Query 1/1: Action query time = 5.458 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6011
+t=74: Selected seed 195 with value = 0.6011
+Query 1/1: Action query time = 5.232 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6528
+t=90: Selected seed 195 with value = 0.6528
+Query 1/1: Action query time = 5.037 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7734
+t=106: Selected seed 195 with value = 0.7734
+Query 1/1: Action query time = 4.511 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8864
+t=122: Selected seed 195 with value = 0.8864
+Query 1/1: Action query time = 3.528 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s06/2026_08_02-08_49_16--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.594 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3089
+t=10: Selected seed 195 with value = 0.3089
+Query 1/1: Action query time = 3.329 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3510
+t=26: Selected seed 195 with value = 0.3510
+Query 1/1: Action query time = 4.496 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3974
+t=42: Selected seed 195 with value = 0.3974
+Query 1/1: Action query time = 5.492 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=58: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 5.714 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5937
+t=74: Selected seed 195 with value = 0.5937
+Query 1/1: Action query time = 5.306 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6583
+t=90: Selected seed 195 with value = 0.6583
+Query 1/1: Action query time = 4.574 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7711
+t=106: Selected seed 195 with value = 0.7711
+Query 1/1: Action query time = 4.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7132
+t=122: Selected seed 195 with value = 0.7132
+Query 1/1: Action query time = 4.873 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7016
+t=138: Selected seed 195 with value = 0.7016
+Query 1/1: Action query time = 3.876 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6812
+t=154: Selected seed 195 with value = 0.6812
+Query 1/1: Action query time = 4.050 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7669
+t=170: Selected seed 195 with value = 0.7669
+Query 1/1: Action query time = 4.643 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7682
+t=186: Selected seed 195 with value = 0.7682
+Query 1/1: Action query time = 4.083 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8362
+t=202: Selected seed 195 with value = 0.8362
+Query 1/1: Action query time = 3.692 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=218: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s06/2026_08_02-08_49_16--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3ce76201fc91b7c6bdcee6192a02d4f045e715a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s09.txt
@@ -0,0 +1,153 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 7.304 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3775
+t=10: Selected seed 195 with value = 0.3775
+Query 1/1: Action query time = 6.487 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3579
+t=26: Selected seed 195 with value = 0.3579
+Query 1/1: Action query time = 3.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4567
+t=42: Selected seed 195 with value = 0.4567
+Query 1/1: Action query time = 4.217 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5327
+t=58: Selected seed 195 with value = 0.5327
+Query 1/1: Action query time = 5.693 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6317
+t=74: Selected seed 195 with value = 0.6317
+Query 1/1: Action query time = 4.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6563
+t=90: Selected seed 195 with value = 0.6563
+Query 1/1: Action query time = 4.759 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7381
+t=106: Selected seed 195 with value = 0.7381
+Query 1/1: Action query time = 4.837 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7001
+t=122: Selected seed 195 with value = 0.7001
+Query 1/1: Action query time = 4.242 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8443
+t=138: Selected seed 195 with value = 0.8443
+Query 1/1: Action query time = 4.103 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=154: Selected seed 195 with value = 0.9715
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s09/2026_08_02-08_49_16--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.121 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3218
+t=10: Selected seed 195 with value = 0.3218
+Query 1/1: Action query time = 4.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3276
+t=26: Selected seed 195 with value = 0.3276
+Query 1/1: Action query time = 4.509 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3933
+t=42: Selected seed 195 with value = 0.3933
+Query 1/1: Action query time = 4.910 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5340
+t=58: Selected seed 195 with value = 0.5340
+Query 1/1: Action query time = 4.836 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=74: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 5.271 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6308
+t=90: Selected seed 195 with value = 0.6308
+Query 1/1: Action query time = 5.425 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7109
+t=106: Selected seed 195 with value = 0.7109
+Query 1/1: Action query time = 4.284 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7531
+t=122: Selected seed 195 with value = 0.7531
+Query 1/1: Action query time = 2.242 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8715
+t=138: Selected seed 195 with value = 0.8715
+Query 1/1: Action query time = 1.354 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s09/2026_08_02-08_49_16--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.090 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2992
+t=10: Selected seed 195 with value = 0.2992
+Query 1/1: Action query time = 5.735 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3341
+t=26: Selected seed 195 with value = 0.3341
+Query 1/1: Action query time = 4.737 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4334
+t=42: Selected seed 195 with value = 0.4334
+Query 1/1: Action query time = 4.763 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5237
+t=58: Selected seed 195 with value = 0.5237
+Query 1/1: Action query time = 4.855 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7049
+t=74: Selected seed 195 with value = 0.7049
+Query 1/1: Action query time = 5.327 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6098
+t=90: Selected seed 195 with value = 0.6098
+Query 1/1: Action query time = 5.114 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6226
+t=106: Selected seed 195 with value = 0.6226
+Query 1/1: Action query time = 4.895 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7265
+t=122: Selected seed 195 with value = 0.7265
+Query 1/1: Action query time = 4.617 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8437
+t=138: Selected seed 195 with value = 0.8437
+Query 1/1: Action query time = 3.730 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=154: Selected seed 195 with value = 0.9451
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s09/2026_08_02-08_49_16--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_53--ft6100_t1_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_53--ft6100_t1_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..496d229bd009d7fcb484a1a257b9e8dc28596632
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_53--ft6100_t1_s01.txt
@@ -0,0 +1,344 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t1_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.470 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=10: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 5.106 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=26: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 5.454 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6406
+t=42: Selected seed 195 with value = 0.6406
+Query 1/1: Action query time = 5.461 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7330
+t=58: Selected seed 195 with value = 0.7330
+Query 1/1: Action query time = 5.103 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7814
+t=74: Selected seed 195 with value = 0.7814
+Query 1/1: Action query time = 4.847 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=90: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 4.761 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=106: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 5.125 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8887
+t=122: Selected seed 195 with value = 0.8887
+Query 1/1: Action query time = 4.602 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=138: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 4.667 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=154: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 5.039 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=170: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 5.202 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=186: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 5.258 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=202: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 5.295 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8804
+t=218: Selected seed 195 with value = 0.8804
+Query 1/1: Action query time = 5.276 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7580
+t=234: Selected seed 195 with value = 0.7580
+Query 1/1: Action query time = 5.156 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=250: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 5.193 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7220
+t=266: Selected seed 195 with value = 0.7220
+Query 1/1: Action query time = 5.272 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=282: Selected seed 195 with value = 0.7025
+Query 1/1: Action query time = 3.890 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7940
+t=298: Selected seed 195 with value = 0.7940
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s01/2026_08_02-08_53_53--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.836 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4936
+t=10: Selected seed 195 with value = 0.4936
+Query 1/1: Action query time = 5.615 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5594
+t=26: Selected seed 195 with value = 0.5594
+Query 1/1: Action query time = 5.427 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=42: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 5.063 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7510
+t=58: Selected seed 195 with value = 0.7510
+Query 1/1: Action query time = 5.290 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8621
+t=74: Selected seed 195 with value = 0.8621
+Query 1/1: Action query time = 5.303 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=90: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 5.274 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.152 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.877 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=138: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 4.525 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=154: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 5.126 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=170: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 5.515 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=186: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 5.397 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=202: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 5.093 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=218: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 4.630 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=234: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 5.207 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=250: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 4.747 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=266: Selected seed 195 with value = 0.9751
+Query 1/1: Action query time = 5.020 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=282: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 4.515 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9356
+t=298: Selected seed 195 with value = 0.9356
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s01/2026_08_02-08_53_53--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.518 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4925
+t=10: Selected seed 195 with value = 0.4925
+Query 1/1: Action query time = 5.589 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=26: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 5.237 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6206
+t=42: Selected seed 195 with value = 0.6206
+Query 1/1: Action query time = 4.885 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=58: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 5.229 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8162
+t=74: Selected seed 195 with value = 0.8162
+Query 1/1: Action query time = 5.479 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9467
+t=90: Selected seed 195 with value = 0.9467
+Query 1/1: Action query time = 5.110 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.920 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.195 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.108 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.163 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.048 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.331 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.239 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.160 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=234: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 4.248 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=250: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 4.102 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9624
+t=266: Selected seed 195 with value = 0.9624
+Query 1/1: Action query time = 3.055 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9061
+t=282: Selected seed 195 with value = 0.9061
+Query 1/1: Action query time = 2.608 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8435
+t=298: Selected seed 195 with value = 0.8435
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s01/2026_08_02-08_53_53--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.296 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=10: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 1.254 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5665
+t=26: Selected seed 195 with value = 0.5665
+Query 1/1: Action query time = 1.206 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6400
+t=42: Selected seed 195 with value = 0.6400
+Query 1/1: Action query time = 1.268 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7444
+t=58: Selected seed 195 with value = 0.7444
+Query 1/1: Action query time = 1.240 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=74: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 1.183 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=90: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 1.224 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.211 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.230 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.193 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.259 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.220 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=186: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.238 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=202: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 1.214 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=218: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9354
+t=234: Selected seed 195 with value = 0.9354
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8248
+t=250: Selected seed 195 with value = 0.8248
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9051
+t=266: Selected seed 195 with value = 0.9051
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s01/2026_08_02-08_53_53--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 4
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_53--ft6100_t1_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_53--ft6100_t1_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46f6131018d637fe346ce897a7a9830bdbcaab4f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_53--ft6100_t1_s07.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t1_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.673 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4643
+t=10: Selected seed 195 with value = 0.4643
+Query 1/1: Action query time = 4.622 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6150
+t=26: Selected seed 195 with value = 0.6150
+Query 1/1: Action query time = 5.237 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6305
+t=42: Selected seed 195 with value = 0.6305
+Query 1/1: Action query time = 5.349 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7505
+t=58: Selected seed 195 with value = 0.7505
+Query 1/1: Action query time = 5.234 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7660
+t=74: Selected seed 195 with value = 0.7660
+Query 1/1: Action query time = 5.111 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7960
+t=90: Selected seed 195 with value = 0.7960
+Query 1/1: Action query time = 4.852 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8952
+t=106: Selected seed 195 with value = 0.8952
+Query 1/1: Action query time = 5.307 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=122: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 5.215 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=138: Selected seed 195 with value = 0.9076
+Query 1/1: Action query time = 5.046 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=154: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 5.063 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9174
+t=170: Selected seed 195 with value = 0.9174
+Query 1/1: Action query time = 5.036 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=186: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 5.280 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=202: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 5.341 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=218: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 5.244 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9678
+t=234: Selected seed 195 with value = 0.9678
+Query 1/1: Action query time = 5.195 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=250: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 5.256 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=266: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 4.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8691
+t=282: Selected seed 195 with value = 0.8691
+Query 1/1: Action query time = 3.326 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8221
+t=298: Selected seed 195 with value = 0.8221
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s07/2026_08_02-08_53_53--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 6.103 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5007
+t=10: Selected seed 195 with value = 0.5007
+Query 1/1: Action query time = 5.410 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5548
+t=26: Selected seed 195 with value = 0.5548
+Query 1/1: Action query time = 5.428 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6361
+t=42: Selected seed 195 with value = 0.6361
+Query 1/1: Action query time = 5.388 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7497
+t=58: Selected seed 195 with value = 0.7497
+Query 1/1: Action query time = 4.883 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8514
+t=74: Selected seed 195 with value = 0.8514
+Query 1/1: Action query time = 4.896 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=90: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 4.906 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.812 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.245 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.634 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=154: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 4.885 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=170: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 4.789 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9754
+t=186: Selected seed 195 with value = 0.9754
+Query 1/1: Action query time = 4.761 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9326
+t=202: Selected seed 195 with value = 0.9326
+Query 1/1: Action query time = 4.505 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=218: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 5.572 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=234: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 5.157 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9312
+t=250: Selected seed 195 with value = 0.9312
+Query 1/1: Action query time = 4.528 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8963
+t=266: Selected seed 195 with value = 0.8963
+Query 1/1: Action query time = 4.866 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8488
+t=282: Selected seed 195 with value = 0.8488
+Query 1/1: Action query time = 3.241 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=298: Selected seed 195 with value = 0.8605
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s07/2026_08_02-08_53_53--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.944 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5090
+t=10: Selected seed 195 with value = 0.5090
+Query 1/1: Action query time = 4.931 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5548
+t=26: Selected seed 195 with value = 0.5548
+Query 1/1: Action query time = 5.064 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6315
+t=42: Selected seed 195 with value = 0.6315
+Query 1/1: Action query time = 5.542 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7503
+t=58: Selected seed 195 with value = 0.7503
+Query 1/1: Action query time = 5.274 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8505
+t=74: Selected seed 195 with value = 0.8505
+Query 1/1: Action query time = 5.045 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=90: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 4.833 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.111 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.222 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.166 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.923 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.849 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=186: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 4.818 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=202: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 4.566 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=218: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 4.134 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=234: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 3.776 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=250: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 2.908 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=266: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 2.916 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9778
+t=282: Selected seed 195 with value = 0.9778
+Query 1/1: Action query time = 1.936 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=298: Selected seed 195 with value = 0.9835
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s07/2026_08_02-08_53_53--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_53--ft6100_t1_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_53--ft6100_t1_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..26f5e1d8e3b0b2d606e061101c1fd08e36ddad2d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_53--ft6100_t1_s10.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t1_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4921
+t=10: Selected seed 195 with value = 0.4921
+Query 1/1: Action query time = 2.765 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5692
+t=26: Selected seed 195 with value = 0.5692
+Query 1/1: Action query time = 5.436 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6248
+t=42: Selected seed 195 with value = 0.6248
+Query 1/1: Action query time = 5.633 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7316
+t=58: Selected seed 195 with value = 0.7316
+Query 1/1: Action query time = 4.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=74: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 4.726 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=90: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 4.733 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.798 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.828 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.659 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.415 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=170: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 5.356 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=186: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 5.079 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=202: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 5.257 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=218: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 4.744 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=234: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 4.802 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=250: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 5.056 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=266: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 5.099 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=282: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 5.215 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=298: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s10/2026_08_02-08_53_53--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.507 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4877
+t=10: Selected seed 195 with value = 0.4877
+Query 1/1: Action query time = 1.093 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=26: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 1.050 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6479
+t=42: Selected seed 195 with value = 0.6479
+Query 1/1: Action query time = 1.772 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7393
+t=58: Selected seed 195 with value = 0.7393
+Query 1/1: Action query time = 3.601 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8621
+t=74: Selected seed 195 with value = 0.8621
+Query 1/1: Action query time = 5.090 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=90: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 5.453 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.199 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.255 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.415 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.516 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=170: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 5.155 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=186: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 4.897 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=202: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 4.932 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=218: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 5.060 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=234: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 5.336 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=250: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 5.573 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=266: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 4.483 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9385
+t=282: Selected seed 195 with value = 0.9385
+Query 1/1: Action query time = 4.930 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8525
+t=298: Selected seed 195 with value = 0.8525
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s10/2026_08_02-08_53_53--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.416 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4791
+t=10: Selected seed 195 with value = 0.4791
+Query 1/1: Action query time = 4.296 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5630
+t=26: Selected seed 195 with value = 0.5630
+Query 1/1: Action query time = 3.553 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6205
+t=42: Selected seed 195 with value = 0.6205
+Query 1/1: Action query time = 1.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7687
+t=58: Selected seed 195 with value = 0.7687
+Query 1/1: Action query time = 1.422 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8120
+t=74: Selected seed 195 with value = 0.8120
+Query 1/1: Action query time = 2.219 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=90: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 5.082 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=106: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 5.424 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.439 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.155 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.799 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=170: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 5.040 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=186: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 5.124 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=202: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 5.405 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=218: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 5.009 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=234: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 4.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=250: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 5.075 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=266: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 5.138 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=282: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 4.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=298: Selected seed 195 with value = 0.9940
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s10/2026_08_02-08_53_53--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7c8cdde92f470492a424e382931a56a46811399f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s08.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t1_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5071
+t=10: Selected seed 195 with value = 0.5071
+Query 1/1: Action query time = 5.897 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5533
+t=26: Selected seed 195 with value = 0.5533
+Query 1/1: Action query time = 5.588 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6472
+t=42: Selected seed 195 with value = 0.6472
+Query 1/1: Action query time = 4.946 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7465
+t=58: Selected seed 195 with value = 0.7465
+Query 1/1: Action query time = 4.879 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8373
+t=74: Selected seed 195 with value = 0.8373
+Query 1/1: Action query time = 5.260 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=90: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 5.371 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.193 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.888 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.011 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=154: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 5.052 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=170: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 5.126 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8989
+t=186: Selected seed 195 with value = 0.8989
+Query 1/1: Action query time = 5.347 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8484
+t=202: Selected seed 195 with value = 0.8484
+Query 1/1: Action query time = 5.443 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=218: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 5.083 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9135
+t=234: Selected seed 195 with value = 0.9135
+Query 1/1: Action query time = 5.069 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.041 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=266: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 4.313 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=282: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 1.648 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=298: Selected seed 195 with value = 0.9704
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s08/2026_08_02-08_53_54--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.144 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4773
+t=10: Selected seed 195 with value = 0.4773
+Query 1/1: Action query time = 5.438 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5594
+t=26: Selected seed 195 with value = 0.5594
+Query 1/1: Action query time = 5.128 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6250
+t=42: Selected seed 195 with value = 0.6250
+Query 1/1: Action query time = 5.225 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8388
+t=58: Selected seed 195 with value = 0.8388
+Query 1/1: Action query time = 5.314 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8338
+t=74: Selected seed 195 with value = 0.8338
+Query 1/1: Action query time = 5.188 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9240
+t=90: Selected seed 195 with value = 0.9240
+Query 1/1: Action query time = 4.915 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=106: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 4.879 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.861 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.155 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.418 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.799 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=186: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 4.721 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=202: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 5.026 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=218: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 3.906 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=234: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 4.409 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=250: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 5.303 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=266: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 4.499 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=282: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 2.718 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=298: Selected seed 195 with value = 0.9658
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s08/2026_08_02-08_53_54--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.673 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4975
+t=10: Selected seed 195 with value = 0.4975
+Query 1/1: Action query time = 4.530 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5373
+t=26: Selected seed 195 with value = 0.5373
+Query 1/1: Action query time = 4.927 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6328
+t=42: Selected seed 195 with value = 0.6328
+Query 1/1: Action query time = 5.632 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8105
+t=58: Selected seed 195 with value = 0.8105
+Query 1/1: Action query time = 5.396 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8527
+t=74: Selected seed 195 with value = 0.8527
+Query 1/1: Action query time = 5.056 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9476
+t=90: Selected seed 195 with value = 0.9476
+Query 1/1: Action query time = 4.611 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.850 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.924 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.893 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=154: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 4.710 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=170: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 5.200 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=186: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 5.083 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=202: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 4.258 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=218: Selected seed 195 with value = 0.9530
+Query 1/1: Action query time = 3.935 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8360
+t=234: Selected seed 195 with value = 0.8360
+Query 1/1: Action query time = 4.078 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=250: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 3.463 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.708 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.522 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=298: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s08/2026_08_02-08_53_54--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4c6a088fe6d574d62bf98030d736a70a60fbe724
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s09.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t1_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.648 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4753
+t=10: Selected seed 195 with value = 0.4753
+Query 1/1: Action query time = 4.699 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5412
+t=26: Selected seed 195 with value = 0.5412
+Query 1/1: Action query time = 4.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6341
+t=42: Selected seed 195 with value = 0.6341
+Query 1/1: Action query time = 5.106 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7442
+t=58: Selected seed 195 with value = 0.7442
+Query 1/1: Action query time = 5.387 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8559
+t=74: Selected seed 195 with value = 0.8559
+Query 1/1: Action query time = 5.345 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=90: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 4.869 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.902 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.436 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.406 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.239 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=170: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 5.245 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=186: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 5.259 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9312
+t=202: Selected seed 195 with value = 0.9312
+Query 1/1: Action query time = 5.129 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=218: Selected seed 195 with value = 0.8907
+Query 1/1: Action query time = 5.263 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8448
+t=234: Selected seed 195 with value = 0.8448
+Query 1/1: Action query time = 5.243 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8807
+t=250: Selected seed 195 with value = 0.8807
+Query 1/1: Action query time = 5.256 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.449 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.218 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=298: Selected seed 195 with value = 0.9953
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s09/2026_08_02-08_53_54--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.938 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5049
+t=10: Selected seed 195 with value = 0.5049
+Query 1/1: Action query time = 4.928 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=26: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 4.835 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6426
+t=42: Selected seed 195 with value = 0.6426
+Query 1/1: Action query time = 5.228 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7471
+t=58: Selected seed 195 with value = 0.7471
+Query 1/1: Action query time = 4.531 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8551
+t=74: Selected seed 195 with value = 0.8551
+Query 1/1: Action query time = 4.520 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=90: Selected seed 195 with value = 0.9660
+Query 1/1: Action query time = 4.806 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.199 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.491 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=154: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 4.737 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.419 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.476 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=202: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 5.231 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=218: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 5.429 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=234: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 4.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8816
+t=250: Selected seed 195 with value = 0.8816
+Query 1/1: Action query time = 4.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8454
+t=266: Selected seed 195 with value = 0.8454
+Query 1/1: Action query time = 4.227 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9133
+t=282: Selected seed 195 with value = 0.9133
+Query 1/1: Action query time = 3.585 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s09/2026_08_02-08_53_54--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.645 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4386
+t=10: Selected seed 195 with value = 0.4386
+Query 1/1: Action query time = 5.254 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6112
+t=26: Selected seed 195 with value = 0.6112
+Query 1/1: Action query time = 5.491 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6316
+t=42: Selected seed 195 with value = 0.6316
+Query 1/1: Action query time = 5.267 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=58: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 4.778 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8523
+t=74: Selected seed 195 with value = 0.8523
+Query 1/1: Action query time = 5.088 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9580
+t=90: Selected seed 195 with value = 0.9580
+Query 1/1: Action query time = 5.098 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.348 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.141 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=138: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 5.117 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=154: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 5.131 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=170: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 5.247 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=186: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 5.256 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=202: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 4.526 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=218: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 4.143 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=234: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 4.448 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=250: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 3.599 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=266: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 3.847 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=282: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 2.800 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=298: Selected seed 195 with value = 0.9881
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s09/2026_08_02-08_53_54--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..022d00385944301007d2dc72c9222afd4595af91
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s11.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t1_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.623 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4914
+t=10: Selected seed 195 with value = 0.4914
+Query 1/1: Action query time = 4.629 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5323
+t=26: Selected seed 195 with value = 0.5323
+Query 1/1: Action query time = 4.630 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6332
+t=42: Selected seed 195 with value = 0.6332
+Query 1/1: Action query time = 4.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7293
+t=58: Selected seed 195 with value = 0.7293
+Query 1/1: Action query time = 5.149 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7538
+t=74: Selected seed 195 with value = 0.7538
+Query 1/1: Action query time = 5.344 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7724
+t=90: Selected seed 195 with value = 0.7724
+Query 1/1: Action query time = 4.796 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8609
+t=106: Selected seed 195 with value = 0.8609
+Query 1/1: Action query time = 4.921 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9158
+t=122: Selected seed 195 with value = 0.9158
+Query 1/1: Action query time = 5.375 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=138: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 5.209 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=154: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 5.171 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=170: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 5.185 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9150
+t=186: Selected seed 195 with value = 0.9150
+Query 1/1: Action query time = 5.168 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=202: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 5.064 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8534
+t=218: Selected seed 195 with value = 0.8534
+Query 1/1: Action query time = 5.171 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7771
+t=234: Selected seed 195 with value = 0.7771
+Query 1/1: Action query time = 5.126 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=250: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 5.008 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9254
+t=266: Selected seed 195 with value = 0.9254
+Query 1/1: Action query time = 4.137 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=282: Selected seed 195 with value = 0.9668
+Query 1/1: Action query time = 3.563 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=298: Selected seed 195 with value = 0.9629
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s11/2026_08_02-08_53_54--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.875 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4850
+t=10: Selected seed 195 with value = 0.4850
+Query 1/1: Action query time = 5.416 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5978
+t=26: Selected seed 195 with value = 0.5978
+Query 1/1: Action query time = 5.121 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6237
+t=42: Selected seed 195 with value = 0.6237
+Query 1/1: Action query time = 5.162 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7380
+t=58: Selected seed 195 with value = 0.7380
+Query 1/1: Action query time = 4.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8529
+t=74: Selected seed 195 with value = 0.8529
+Query 1/1: Action query time = 5.028 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=90: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 5.186 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.129 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.076 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.143 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=154: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 5.200 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=170: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 4.628 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=186: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 4.671 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=202: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 5.018 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=218: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 4.148 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=234: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 4.500 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=250: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 5.474 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=266: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 4.443 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=282: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 3.218 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=298: Selected seed 195 with value = 0.9916
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s11/2026_08_02-08_53_54--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.683 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=10: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 4.391 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5725
+t=26: Selected seed 195 with value = 0.5725
+Query 1/1: Action query time = 5.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6383
+t=42: Selected seed 195 with value = 0.6383
+Query 1/1: Action query time = 5.677 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7446
+t=58: Selected seed 195 with value = 0.7446
+Query 1/1: Action query time = 5.501 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8546
+t=74: Selected seed 195 with value = 0.8546
+Query 1/1: Action query time = 5.238 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=90: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 4.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.281 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.195 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.318 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=154: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 5.236 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=170: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 5.002 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=186: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 4.567 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=202: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 4.531 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=218: Selected seed 195 with value = 0.9497
+Query 1/1: Action query time = 4.914 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8262
+t=234: Selected seed 195 with value = 0.8262
+Query 1/1: Action query time = 4.008 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=250: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 3.756 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.452 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.205 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=298: Selected seed 195 with value = 0.9927
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s11/2026_08_02-08_53_54--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_34--ft6100_t2_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_34--ft6100_t2_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..94a4baf72a5e7541f0da8f23b20f19c0bd7d7b35
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_34--ft6100_t2_s06.txt
@@ -0,0 +1,161 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t2_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.030 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3573
+t=10: Selected seed 195 with value = 0.3573
+Query 1/1: Action query time = 4.760 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4172
+t=26: Selected seed 195 with value = 0.4172
+Query 1/1: Action query time = 4.939 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8763
+t=42: Selected seed 195 with value = 0.8763
+Query 1/1: Action query time = 5.169 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6719
+t=58: Selected seed 195 with value = 0.6719
+Query 1/1: Action query time = 4.870 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7473
+t=74: Selected seed 195 with value = 0.7473
+Query 1/1: Action query time = 5.075 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8466
+t=90: Selected seed 195 with value = 0.8466
+Query 1/1: Action query time = 4.476 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=106: Selected seed 195 with value = 0.9940
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s06/2026_08_02-09_00_34--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.842 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4385
+t=10: Selected seed 195 with value = 0.4385
+Query 1/1: Action query time = 4.819 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4372
+t=26: Selected seed 195 with value = 0.4372
+Query 1/1: Action query time = 4.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=42: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 5.185 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8072
+t=58: Selected seed 195 with value = 0.8072
+Query 1/1: Action query time = 5.127 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7527
+t=74: Selected seed 195 with value = 0.7527
+Query 1/1: Action query time = 4.574 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8340
+t=90: Selected seed 195 with value = 0.8340
+Query 1/1: Action query time = 5.332 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=106: Selected seed 195 with value = 0.9451
+Query 1/1: Action query time = 5.217 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.946 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.390 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.807 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.578 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.910 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.949 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.566 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.460 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.846 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.457 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=298: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s06/2026_08_02-09_00_34--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.341 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4548
+t=10: Selected seed 195 with value = 0.4548
+Query 1/1: Action query time = 3.885 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5111
+t=26: Selected seed 195 with value = 0.5111
+Query 1/1: Action query time = 3.614 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=42: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 3.672 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7166
+t=58: Selected seed 195 with value = 0.7166
+Query 1/1: Action query time = 3.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8155
+t=74: Selected seed 195 with value = 0.8155
+Query 1/1: Action query time = 4.306 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=90: Selected seed 195 with value = 0.9314
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s06/2026_08_02-09_00_34--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_35--ft6100_t2_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_35--ft6100_t2_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e5bbeceb7d3e6d281c04c43974ba73a8fa1208f6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_35--ft6100_t2_s11.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t2_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.065 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5024
+t=10: Selected seed 195 with value = 0.5024
+Query 1/1: Action query time = 4.766 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5378
+t=26: Selected seed 195 with value = 0.5378
+Query 1/1: Action query time = 4.837 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=42: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 5.061 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7160
+t=58: Selected seed 195 with value = 0.7160
+Query 1/1: Action query time = 4.877 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=74: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 5.088 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7501
+t=90: Selected seed 195 with value = 0.7501
+Query 1/1: Action query time = 3.687 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7536
+t=106: Selected seed 195 with value = 0.7536
+Query 1/1: Action query time = 4.898 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7300
+t=122: Selected seed 195 with value = 0.7300
+Query 1/1: Action query time = 5.319 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5490
+t=138: Selected seed 195 with value = 0.5490
+Query 1/1: Action query time = 4.881 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7187
+t=154: Selected seed 195 with value = 0.7187
+Query 1/1: Action query time = 4.592 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8082
+t=170: Selected seed 195 with value = 0.8082
+Query 1/1: Action query time = 4.602 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8373
+t=186: Selected seed 195 with value = 0.8373
+Query 1/1: Action query time = 4.823 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7974
+t=202: Selected seed 195 with value = 0.7974
+Query 1/1: Action query time = 4.894 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8432
+t=218: Selected seed 195 with value = 0.8432
+Query 1/1: Action query time = 4.224 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8177
+t=234: Selected seed 195 with value = 0.8177
+Query 1/1: Action query time = 5.103 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7849
+t=250: Selected seed 195 with value = 0.7849
+Query 1/1: Action query time = 5.091 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7826
+t=266: Selected seed 195 with value = 0.7826
+Query 1/1: Action query time = 4.826 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6969
+t=282: Selected seed 195 with value = 0.6969
+Query 1/1: Action query time = 4.686 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6721
+t=298: Selected seed 195 with value = 0.6721
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s11/2026_08_02-09_00_35--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.255 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4519
+t=10: Selected seed 195 with value = 0.4519
+Query 1/1: Action query time = 4.687 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5230
+t=26: Selected seed 195 with value = 0.5230
+Query 1/1: Action query time = 4.796 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6604
+t=42: Selected seed 195 with value = 0.6604
+Query 1/1: Action query time = 5.181 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6510
+t=58: Selected seed 195 with value = 0.6510
+Query 1/1: Action query time = 4.466 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7287
+t=74: Selected seed 195 with value = 0.7287
+Query 1/1: Action query time = 2.679 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=90: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 2.434 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6634
+t=106: Selected seed 195 with value = 0.6634
+Query 1/1: Action query time = 3.159 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6983
+t=122: Selected seed 195 with value = 0.6983
+Query 1/1: Action query time = 4.475 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7919
+t=138: Selected seed 195 with value = 0.7919
+Query 1/1: Action query time = 4.391 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7826
+t=154: Selected seed 195 with value = 0.7826
+Query 1/1: Action query time = 4.233 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6850
+t=170: Selected seed 195 with value = 0.6850
+Query 1/1: Action query time = 4.533 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7628
+t=186: Selected seed 195 with value = 0.7628
+Query 1/1: Action query time = 4.657 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8071
+t=202: Selected seed 195 with value = 0.8071
+Query 1/1: Action query time = 4.467 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7952
+t=218: Selected seed 195 with value = 0.7952
+Query 1/1: Action query time = 1.938 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8261
+t=234: Selected seed 195 with value = 0.8261
+Query 1/1: Action query time = 1.998 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=250: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 2.695 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8327
+t=266: Selected seed 195 with value = 0.8327
+Query 1/1: Action query time = 2.552 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7818
+t=282: Selected seed 195 with value = 0.7818
+Query 1/1: Action query time = 2.403 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8407
+t=298: Selected seed 195 with value = 0.8407
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s11/2026_08_02-09_00_35--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3524
+t=10: Selected seed 195 with value = 0.3524
+Query 1/1: Action query time = 2.707 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3957
+t=26: Selected seed 195 with value = 0.3957
+Query 1/1: Action query time = 2.027 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5178
+t=42: Selected seed 195 with value = 0.5178
+Query 1/1: Action query time = 1.604 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7626
+t=58: Selected seed 195 with value = 0.7626
+Query 1/1: Action query time = 1.387 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7983
+t=74: Selected seed 195 with value = 0.7983
+Query 1/1: Action query time = 1.251 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7091
+t=90: Selected seed 195 with value = 0.7091
+Query 1/1: Action query time = 1.243 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7963
+t=106: Selected seed 195 with value = 0.7963
+Query 1/1: Action query time = 1.596 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7783
+t=122: Selected seed 195 with value = 0.7783
+Query 1/1: Action query time = 1.334 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8189
+t=138: Selected seed 195 with value = 0.8189
+Query 1/1: Action query time = 1.249 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7367
+t=154: Selected seed 195 with value = 0.7367
+Query 1/1: Action query time = 1.386 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8379
+t=170: Selected seed 195 with value = 0.8379
+Query 1/1: Action query time = 1.454 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8067
+t=186: Selected seed 195 with value = 0.8067
+Query 1/1: Action query time = 1.744 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8670
+t=202: Selected seed 195 with value = 0.8670
+Query 1/1: Action query time = 1.539 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8655
+t=218: Selected seed 195 with value = 0.8655
+Query 1/1: Action query time = 1.358 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8427
+t=234: Selected seed 195 with value = 0.8427
+Query 1/1: Action query time = 1.428 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8521
+t=250: Selected seed 195 with value = 0.8521
+Query 1/1: Action query time = 1.467 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8202
+t=266: Selected seed 195 with value = 0.8202
+Query 1/1: Action query time = 1.451 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8217
+t=282: Selected seed 195 with value = 0.8217
+Query 1/1: Action query time = 1.414 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8104
+t=298: Selected seed 195 with value = 0.8104
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s11/2026_08_02-09_00_35--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_11--ft6100_t3_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_11--ft6100_t3_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..442c46e9c4870dc150812f8db521361366fd3231
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_11--ft6100_t3_s02.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t3_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 4.355 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2079
+t=10: Selected seed 195 with value = 0.2079
+Query 1/1: Action query time = 5.158 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2790
+t=26: Selected seed 195 with value = 0.2790
+Query 1/1: Action query time = 3.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2319
+t=42: Selected seed 195 with value = 0.2319
+Query 1/1: Action query time = 3.844 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3183
+t=58: Selected seed 195 with value = 0.3183
+Query 1/1: Action query time = 5.156 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4144
+t=74: Selected seed 195 with value = 0.4144
+Query 1/1: Action query time = 5.339 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5221
+t=90: Selected seed 195 with value = 0.5221
+Query 1/1: Action query time = 4.949 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5416
+t=106: Selected seed 195 with value = 0.5416
+Query 1/1: Action query time = 4.446 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2426
+t=122: Selected seed 195 with value = 0.2426
+Query 1/1: Action query time = 5.173 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6884
+t=138: Selected seed 195 with value = 0.6884
+Query 1/1: Action query time = 5.420 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6073
+t=154: Selected seed 195 with value = 0.6073
+Query 1/1: Action query time = 5.302 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7524
+t=170: Selected seed 195 with value = 0.7524
+Query 1/1: Action query time = 5.261 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7593
+t=186: Selected seed 195 with value = 0.7593
+Query 1/1: Action query time = 5.227 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8813
+t=202: Selected seed 195 with value = 0.8813
+Query 1/1: Action query time = 5.138 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.181 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.283 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=250: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 5.625 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=266: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 5.455 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=282: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 4.923 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=298: Selected seed 195 with value = 0.9505
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s02/2026_08_02-09_05_11--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.789 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2234
+t=10: Selected seed 195 with value = 0.2234
+Query 1/1: Action query time = 5.192 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2733
+t=26: Selected seed 195 with value = 0.2733
+Query 1/1: Action query time = 5.015 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2431
+t=42: Selected seed 195 with value = 0.2431
+Query 1/1: Action query time = 4.375 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3336
+t=58: Selected seed 195 with value = 0.3336
+Query 1/1: Action query time = 5.047 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4220
+t=74: Selected seed 195 with value = 0.4220
+Query 1/1: Action query time = 5.184 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5214
+t=90: Selected seed 195 with value = 0.5214
+Query 1/1: Action query time = 5.182 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3955
+t=106: Selected seed 195 with value = 0.3955
+Query 1/1: Action query time = 5.417 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5359
+t=122: Selected seed 195 with value = 0.5359
+Query 1/1: Action query time = 5.650 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6591
+t=138: Selected seed 195 with value = 0.6591
+Query 1/1: Action query time = 5.238 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7249
+t=154: Selected seed 195 with value = 0.7249
+Query 1/1: Action query time = 5.209 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8544
+t=170: Selected seed 195 with value = 0.8544
+Query 1/1: Action query time = 5.134 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8293
+t=186: Selected seed 195 with value = 0.8293
+Query 1/1: Action query time = 5.044 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9350
+t=202: Selected seed 195 with value = 0.9350
+Query 1/1: Action query time = 5.118 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=218: Selected seed 195 with value = 0.9291
+Query 1/1: Action query time = 4.855 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9580
+t=234: Selected seed 195 with value = 0.9580
+Query 1/1: Action query time = 5.084 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=250: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 4.845 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=266: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 4.699 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=282: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 5.078 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9512
+t=298: Selected seed 195 with value = 0.9512
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s02/2026_08_02-09_05_11--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.478 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1979
+t=10: Selected seed 195 with value = 0.1979
+Query 1/1: Action query time = 5.302 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2382
+t=26: Selected seed 195 with value = 0.2382
+Query 1/1: Action query time = 5.315 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2645
+t=42: Selected seed 195 with value = 0.2645
+Query 1/1: Action query time = 5.274 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2543
+t=58: Selected seed 195 with value = 0.2543
+Query 1/1: Action query time = 5.310 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2422
+t=74: Selected seed 195 with value = 0.2422
+Query 1/1: Action query time = 5.327 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2353
+t=90: Selected seed 195 with value = 0.2353
+Query 1/1: Action query time = 5.256 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4046
+t=106: Selected seed 195 with value = 0.4046
+Query 1/1: Action query time = 4.834 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5069
+t=122: Selected seed 195 with value = 0.5069
+Query 1/1: Action query time = 4.827 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4953
+t=138: Selected seed 195 with value = 0.4953
+Query 1/1: Action query time = 4.849 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7382
+t=154: Selected seed 195 with value = 0.7382
+Query 1/1: Action query time = 4.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9259
+t=170: Selected seed 195 with value = 0.9259
+Query 1/1: Action query time = 5.124 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=186: Selected seed 195 with value = 0.9453
+Query 1/1: Action query time = 5.325 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8666
+t=202: Selected seed 195 with value = 0.8666
+Query 1/1: Action query time = 5.014 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6698
+t=218: Selected seed 195 with value = 0.6698
+Query 1/1: Action query time = 4.895 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=234: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 5.055 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6937
+t=250: Selected seed 195 with value = 0.6937
+Query 1/1: Action query time = 3.887 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9029
+t=266: Selected seed 195 with value = 0.9029
+Query 1/1: Action query time = 3.735 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9344
+t=282: Selected seed 195 with value = 0.9344
+Query 1/1: Action query time = 3.873 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7779
+t=298: Selected seed 195 with value = 0.7779
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s02/2026_08_02-09_05_11--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_12--ft6100_t3_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_12--ft6100_t3_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..58fcb26fb94377f94fc7fe700dba5f52fd9c942c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_12--ft6100_t3_s06.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t3_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.170 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2200
+t=10: Selected seed 195 with value = 0.2200
+Query 1/1: Action query time = 5.483 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2313
+t=26: Selected seed 195 with value = 0.2313
+Query 1/1: Action query time = 4.099 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2695
+t=42: Selected seed 195 with value = 0.2695
+Query 1/1: Action query time = 4.591 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2481
+t=58: Selected seed 195 with value = 0.2481
+Query 1/1: Action query time = 5.716 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2542
+t=74: Selected seed 195 with value = 0.2542
+Query 1/1: Action query time = 5.685 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2603
+t=90: Selected seed 195 with value = 0.2603
+Query 1/1: Action query time = 4.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4487
+t=106: Selected seed 195 with value = 0.4487
+Query 1/1: Action query time = 4.930 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5172
+t=122: Selected seed 195 with value = 0.5172
+Query 1/1: Action query time = 5.150 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5361
+t=138: Selected seed 195 with value = 0.5361
+Query 1/1: Action query time = 5.128 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6517
+t=154: Selected seed 195 with value = 0.6517
+Query 1/1: Action query time = 5.285 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8507
+t=170: Selected seed 195 with value = 0.8507
+Query 1/1: Action query time = 5.284 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9422
+t=186: Selected seed 195 with value = 0.9422
+Query 1/1: Action query time = 5.219 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9288
+t=202: Selected seed 195 with value = 0.9288
+Query 1/1: Action query time = 4.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8387
+t=218: Selected seed 195 with value = 0.8387
+Query 1/1: Action query time = 4.921 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8544
+t=234: Selected seed 195 with value = 0.8544
+Query 1/1: Action query time = 5.074 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8611
+t=250: Selected seed 195 with value = 0.8611
+Query 1/1: Action query time = 5.206 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8937
+t=266: Selected seed 195 with value = 0.8937
+Query 1/1: Action query time = 4.703 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7165
+t=282: Selected seed 195 with value = 0.7165
+Query 1/1: Action query time = 2.222 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7217
+t=298: Selected seed 195 with value = 0.7217
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s06/2026_08_02-09_05_12--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2008
+t=10: Selected seed 195 with value = 0.2008
+Query 1/1: Action query time = 4.143 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2567
+t=26: Selected seed 195 with value = 0.2567
+Query 1/1: Action query time = 5.301 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3177
+t=42: Selected seed 195 with value = 0.3177
+Query 1/1: Action query time = 5.596 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3058
+t=58: Selected seed 195 with value = 0.3058
+Query 1/1: Action query time = 5.331 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3569
+t=74: Selected seed 195 with value = 0.3569
+Query 1/1: Action query time = 5.143 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4657
+t=90: Selected seed 195 with value = 0.4657
+Query 1/1: Action query time = 5.016 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5645
+t=106: Selected seed 195 with value = 0.5645
+Query 1/1: Action query time = 5.017 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=122: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 5.044 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7509
+t=138: Selected seed 195 with value = 0.7509
+Query 1/1: Action query time = 5.136 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=154: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 5.145 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=170: Selected seed 195 with value = 0.9479
+Query 1/1: Action query time = 5.204 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7947
+t=186: Selected seed 195 with value = 0.7947
+Query 1/1: Action query time = 5.350 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8257
+t=202: Selected seed 195 with value = 0.8257
+Query 1/1: Action query time = 5.177 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7885
+t=218: Selected seed 195 with value = 0.7885
+Query 1/1: Action query time = 5.510 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8946
+t=234: Selected seed 195 with value = 0.8946
+Query 1/1: Action query time = 5.243 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8627
+t=250: Selected seed 195 with value = 0.8627
+Query 1/1: Action query time = 4.681 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9085
+t=266: Selected seed 195 with value = 0.9085
+Query 1/1: Action query time = 3.764 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9009
+t=282: Selected seed 195 with value = 0.9009
+Query 1/1: Action query time = 4.234 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=298: Selected seed 195 with value = 0.8931
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s06/2026_08_02-09_05_12--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2197
+t=10: Selected seed 195 with value = 0.2197
+Query 1/1: Action query time = 4.834 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3617
+t=26: Selected seed 195 with value = 0.3617
+Query 1/1: Action query time = 4.743 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4161
+t=42: Selected seed 195 with value = 0.4161
+Query 1/1: Action query time = 4.756 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6329
+t=58: Selected seed 195 with value = 0.6329
+Query 1/1: Action query time = 4.945 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5754
+t=74: Selected seed 195 with value = 0.5754
+Query 1/1: Action query time = 5.317 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=90: Selected seed 195 with value = 0.6819
+Query 1/1: Action query time = 5.294 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8353
+t=106: Selected seed 195 with value = 0.8353
+Query 1/1: Action query time = 4.523 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8908
+t=122: Selected seed 195 with value = 0.8908
+Query 1/1: Action query time = 4.728 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9293
+t=138: Selected seed 195 with value = 0.9293
+Query 1/1: Action query time = 5.122 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=154: Selected seed 195 with value = 0.9728
+Query 1/1: Action query time = 5.241 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=170: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 5.346 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=186: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 5.305 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=202: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 4.918 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=218: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 5.227 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=234: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 4.158 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=250: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 3.740 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9046
+t=266: Selected seed 195 with value = 0.9046
+Query 1/1: Action query time = 3.730 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=282: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 2.735 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9113
+t=298: Selected seed 195 with value = 0.9113
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s06/2026_08_02-09_05_12--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dcb49cda80843f49ba1e08d0e5c917acb77b3d36
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s09.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t3_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.864 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2040
+t=10: Selected seed 195 with value = 0.2040
+Query 1/1: Action query time = 3.947 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2791
+t=26: Selected seed 195 with value = 0.2791
+Query 1/1: Action query time = 4.698 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2861
+t=42: Selected seed 195 with value = 0.2861
+Query 1/1: Action query time = 5.755 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3208
+t=58: Selected seed 195 with value = 0.3208
+Query 1/1: Action query time = 4.836 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3975
+t=74: Selected seed 195 with value = 0.3975
+Query 1/1: Action query time = 4.273 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4960
+t=90: Selected seed 195 with value = 0.4960
+Query 1/1: Action query time = 4.829 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2475
+t=106: Selected seed 195 with value = 0.2475
+Query 1/1: Action query time = 5.800 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2641
+t=122: Selected seed 195 with value = 0.2641
+Query 1/1: Action query time = 5.113 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8916
+t=138: Selected seed 195 with value = 0.8916
+Query 1/1: Action query time = 4.955 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=154: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 4.931 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=170: Selected seed 195 with value = 0.9282
+Query 1/1: Action query time = 4.786 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=186: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 5.116 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7136
+t=202: Selected seed 195 with value = 0.7136
+Query 1/1: Action query time = 5.250 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6975
+t=218: Selected seed 195 with value = 0.6975
+Query 1/1: Action query time = 4.840 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7388
+t=234: Selected seed 195 with value = 0.7388
+Query 1/1: Action query time = 4.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8608
+t=250: Selected seed 195 with value = 0.8608
+Query 1/1: Action query time = 4.806 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9046
+t=266: Selected seed 195 with value = 0.9046
+Query 1/1: Action query time = 4.919 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9567
+t=282: Selected seed 195 with value = 0.9567
+Query 1/1: Action query time = 4.569 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=298: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s09/2026_08_02-09_05_13--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.189 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2161
+t=10: Selected seed 195 with value = 0.2161
+Query 1/1: Action query time = 6.130 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2853
+t=26: Selected seed 195 with value = 0.2853
+Query 1/1: Action query time = 4.857 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2044
+t=42: Selected seed 195 with value = 0.2044
+Query 1/1: Action query time = 4.580 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3107
+t=58: Selected seed 195 with value = 0.3107
+Query 1/1: Action query time = 4.872 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3921
+t=74: Selected seed 195 with value = 0.3921
+Query 1/1: Action query time = 5.047 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5096
+t=90: Selected seed 195 with value = 0.5096
+Query 1/1: Action query time = 5.306 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5842
+t=106: Selected seed 195 with value = 0.5842
+Query 1/1: Action query time = 5.417 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5331
+t=122: Selected seed 195 with value = 0.5331
+Query 1/1: Action query time = 5.182 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7620
+t=138: Selected seed 195 with value = 0.7620
+Query 1/1: Action query time = 4.908 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8964
+t=154: Selected seed 195 with value = 0.8964
+Query 1/1: Action query time = 4.847 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=170: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 4.880 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9260
+t=186: Selected seed 195 with value = 0.9260
+Query 1/1: Action query time = 4.820 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6795
+t=202: Selected seed 195 with value = 0.6795
+Query 1/1: Action query time = 4.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7675
+t=218: Selected seed 195 with value = 0.7675
+Query 1/1: Action query time = 4.848 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9219
+t=234: Selected seed 195 with value = 0.9219
+Query 1/1: Action query time = 5.370 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9292
+t=250: Selected seed 195 with value = 0.9292
+Query 1/1: Action query time = 5.000 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=266: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 4.371 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=282: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 3.717 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9521
+t=298: Selected seed 195 with value = 0.9521
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s09/2026_08_02-09_05_13--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 1.579 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2068
+t=10: Selected seed 195 with value = 0.2068
+Query 1/1: Action query time = 1.855 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2205
+t=26: Selected seed 195 with value = 0.2205
+Query 1/1: Action query time = 4.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2464
+t=42: Selected seed 195 with value = 0.2464
+Query 1/1: Action query time = 5.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2427
+t=58: Selected seed 195 with value = 0.2427
+Query 1/1: Action query time = 5.038 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2320
+t=74: Selected seed 195 with value = 0.2320
+Query 1/1: Action query time = 5.035 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2230
+t=90: Selected seed 195 with value = 0.2230
+Query 1/1: Action query time = 5.446 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2592
+t=106: Selected seed 195 with value = 0.2592
+Query 1/1: Action query time = 5.069 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4734
+t=122: Selected seed 195 with value = 0.4734
+Query 1/1: Action query time = 4.553 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3465
+t=138: Selected seed 195 with value = 0.3465
+Query 1/1: Action query time = 4.757 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4058
+t=154: Selected seed 195 with value = 0.4058
+Query 1/1: Action query time = 5.171 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=170: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 5.256 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4802
+t=186: Selected seed 195 with value = 0.4802
+Query 1/1: Action query time = 4.835 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=202: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 4.644 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=218: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 4.518 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=234: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 5.298 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8327
+t=250: Selected seed 195 with value = 0.8327
+Query 1/1: Action query time = 4.051 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6871
+t=266: Selected seed 195 with value = 0.6871
+Query 1/1: Action query time = 4.100 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8487
+t=282: Selected seed 195 with value = 0.8487
+Query 1/1: Action query time = 3.959 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8822
+t=298: Selected seed 195 with value = 0.8822
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s09/2026_08_02-09_05_13--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642d562edd6ca5d1da1fa15fd504d987f1efd8da
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s00.txt
@@ -0,0 +1,344 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t4_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.493 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=10: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 4.505 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5586
+t=26: Selected seed 195 with value = 0.5586
+Query 1/1: Action query time = 4.703 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5957
+t=42: Selected seed 195 with value = 0.5957
+Query 1/1: Action query time = 5.852 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5665
+t=58: Selected seed 195 with value = 0.5665
+Query 1/1: Action query time = 5.636 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6081
+t=74: Selected seed 195 with value = 0.6081
+Query 1/1: Action query time = 5.590 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6547
+t=90: Selected seed 195 with value = 0.6547
+Query 1/1: Action query time = 4.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7222
+t=106: Selected seed 195 with value = 0.7222
+Query 1/1: Action query time = 5.153 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=122: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 5.153 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7574
+t=138: Selected seed 195 with value = 0.7574
+Query 1/1: Action query time = 5.313 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7308
+t=154: Selected seed 195 with value = 0.7308
+Query 1/1: Action query time = 5.287 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8156
+t=170: Selected seed 195 with value = 0.8156
+Query 1/1: Action query time = 4.928 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6775
+t=186: Selected seed 195 with value = 0.6775
+Query 1/1: Action query time = 4.614 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7432
+t=202: Selected seed 195 with value = 0.7432
+Query 1/1: Action query time = 4.845 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6642
+t=218: Selected seed 195 with value = 0.6642
+Query 1/1: Action query time = 4.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6456
+t=234: Selected seed 195 with value = 0.6456
+Query 1/1: Action query time = 5.014 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6757
+t=250: Selected seed 195 with value = 0.6757
+Query 1/1: Action query time = 5.081 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6278
+t=266: Selected seed 195 with value = 0.6278
+Query 1/1: Action query time = 5.209 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6952
+t=282: Selected seed 195 with value = 0.6952
+Query 1/1: Action query time = 4.670 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6203
+t=298: Selected seed 195 with value = 0.6203
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s00/2026_08_02-09_12_01--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.861 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4994
+t=10: Selected seed 195 with value = 0.4994
+Query 1/1: Action query time = 2.845 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5256
+t=26: Selected seed 195 with value = 0.5256
+Query 1/1: Action query time = 6.008 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6325
+t=42: Selected seed 195 with value = 0.6325
+Query 1/1: Action query time = 4.009 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7793
+t=58: Selected seed 195 with value = 0.7793
+Query 1/1: Action query time = 4.870 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9399
+t=74: Selected seed 195 with value = 0.9399
+Query 1/1: Action query time = 5.117 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=90: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 5.118 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=106: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 5.418 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=122: Selected seed 195 with value = 0.9661
+Query 1/1: Action query time = 5.433 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9695
+t=138: Selected seed 195 with value = 0.9695
+Query 1/1: Action query time = 5.395 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=154: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 5.285 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9500
+t=170: Selected seed 195 with value = 0.9500
+Query 1/1: Action query time = 5.867 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=186: Selected seed 195 with value = 0.9372
+Query 1/1: Action query time = 4.540 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9230
+t=202: Selected seed 195 with value = 0.9230
+Query 1/1: Action query time = 4.376 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9109
+t=218: Selected seed 195 with value = 0.9109
+Query 1/1: Action query time = 5.213 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=234: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 5.672 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=250: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 5.860 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=266: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 4.257 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9235
+t=282: Selected seed 195 with value = 0.9235
+Query 1/1: Action query time = 4.263 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9205
+t=298: Selected seed 195 with value = 0.9205
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s00/2026_08_02-09_12_01--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.044 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=10: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 2.211 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5617
+t=26: Selected seed 195 with value = 0.5617
+Query 1/1: Action query time = 2.561 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6569
+t=42: Selected seed 195 with value = 0.6569
+Query 1/1: Action query time = 4.161 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=58: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 4.857 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9068
+t=74: Selected seed 195 with value = 0.9068
+Query 1/1: Action query time = 5.428 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9078
+t=90: Selected seed 195 with value = 0.9078
+Query 1/1: Action query time = 5.500 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9498
+t=106: Selected seed 195 with value = 0.9498
+Query 1/1: Action query time = 5.525 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=122: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 5.049 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=138: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 4.857 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=154: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 4.815 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=170: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 4.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=186: Selected seed 195 with value = 0.9645
+Query 1/1: Action query time = 4.923 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=202: Selected seed 195 with value = 0.9637
+Query 1/1: Action query time = 5.132 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9636
+t=218: Selected seed 195 with value = 0.9636
+Query 1/1: Action query time = 5.465 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=234: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 5.021 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=250: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 5.304 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9488
+t=266: Selected seed 195 with value = 0.9488
+Query 1/1: Action query time = 5.249 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=282: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 4.871 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9520
+t=298: Selected seed 195 with value = 0.9520
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s00/2026_08_02-09_12_01--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.539 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=10: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 4.079 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5362
+t=26: Selected seed 195 with value = 0.5362
+Query 1/1: Action query time = 2.396 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6028
+t=42: Selected seed 195 with value = 0.6028
+Query 1/1: Action query time = 1.189 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5542
+t=58: Selected seed 195 with value = 0.5542
+Query 1/1: Action query time = 1.242 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5936
+t=74: Selected seed 195 with value = 0.5936
+Query 1/1: Action query time = 1.245 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6064
+t=90: Selected seed 195 with value = 0.6064
+Query 1/1: Action query time = 1.234 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6859
+t=106: Selected seed 195 with value = 0.6859
+Query 1/1: Action query time = 1.229 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7253
+t=122: Selected seed 195 with value = 0.7253
+Query 1/1: Action query time = 1.236 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6779
+t=138: Selected seed 195 with value = 0.6779
+Query 1/1: Action query time = 1.239 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5945
+t=154: Selected seed 195 with value = 0.5945
+Query 1/1: Action query time = 1.269 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7846
+t=170: Selected seed 195 with value = 0.7846
+Query 1/1: Action query time = 1.239 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7801
+t=186: Selected seed 195 with value = 0.7801
+Query 1/1: Action query time = 1.212 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6367
+t=202: Selected seed 195 with value = 0.6367
+Query 1/1: Action query time = 1.217 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6501
+t=218: Selected seed 195 with value = 0.6501
+Query 1/1: Action query time = 1.204 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6233
+t=234: Selected seed 195 with value = 0.6233
+Query 1/1: Action query time = 1.219 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6097
+t=250: Selected seed 195 with value = 0.6097
+Query 1/1: Action query time = 1.231 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5750
+t=266: Selected seed 195 with value = 0.5750
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5016
+t=282: Selected seed 195 with value = 0.5016
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5131
+t=298: Selected seed 195 with value = 0.5131
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s00/2026_08_02-09_12_01--with_future_img--episode=4--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 4
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_02--ft6100_t4_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_02--ft6100_t4_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ebfaa2cb73789965cdc5b0580651e6bc3b355711
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_02--ft6100_t4_s08.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t4_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4843
+t=10: Selected seed 195 with value = 0.4843
+Query 1/1: Action query time = 4.190 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5067
+t=26: Selected seed 195 with value = 0.5067
+Query 1/1: Action query time = 5.587 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5938
+t=42: Selected seed 195 with value = 0.5938
+Query 1/1: Action query time = 5.494 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6112
+t=58: Selected seed 195 with value = 0.6112
+Query 1/1: Action query time = 5.200 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6707
+t=74: Selected seed 195 with value = 0.6707
+Query 1/1: Action query time = 4.519 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7908
+t=90: Selected seed 195 with value = 0.7908
+Query 1/1: Action query time = 5.198 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=106: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 5.359 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=122: Selected seed 195 with value = 0.9443
+Query 1/1: Action query time = 5.437 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=138: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 5.352 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=154: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 4.703 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=170: Selected seed 195 with value = 0.9555
+Query 1/1: Action query time = 4.615 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9583
+t=186: Selected seed 195 with value = 0.9583
+Query 1/1: Action query time = 5.356 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=202: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 5.367 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9646
+t=218: Selected seed 195 with value = 0.9646
+Query 1/1: Action query time = 5.125 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=234: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 4.876 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=250: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 5.004 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8912
+t=266: Selected seed 195 with value = 0.8912
+Query 1/1: Action query time = 4.948 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8878
+t=282: Selected seed 195 with value = 0.8878
+Query 1/1: Action query time = 4.361 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8904
+t=298: Selected seed 195 with value = 0.8904
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s08/2026_08_02-09_12_02--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.110 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4741
+t=10: Selected seed 195 with value = 0.4741
+Query 1/1: Action query time = 4.766 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5690
+t=26: Selected seed 195 with value = 0.5690
+Query 1/1: Action query time = 5.296 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=42: Selected seed 195 with value = 0.6076
+Query 1/1: Action query time = 5.075 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6639
+t=58: Selected seed 195 with value = 0.6639
+Query 1/1: Action query time = 5.006 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=74: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 5.291 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8514
+t=90: Selected seed 195 with value = 0.8514
+Query 1/1: Action query time = 5.234 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=106: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 4.782 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=122: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 4.345 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9702
+t=138: Selected seed 195 with value = 0.9702
+Query 1/1: Action query time = 4.798 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=154: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 3.919 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9421
+t=170: Selected seed 195 with value = 0.9421
+Query 1/1: Action query time = 5.554 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=186: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 5.560 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9674
+t=202: Selected seed 195 with value = 0.9674
+Query 1/1: Action query time = 5.319 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9356
+t=218: Selected seed 195 with value = 0.9356
+Query 1/1: Action query time = 3.661 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9085
+t=234: Selected seed 195 with value = 0.9085
+Query 1/1: Action query time = 5.022 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8890
+t=250: Selected seed 195 with value = 0.8890
+Query 1/1: Action query time = 5.081 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=266: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 4.940 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=282: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 4.923 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8521
+t=298: Selected seed 195 with value = 0.8521
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s08/2026_08_02-09_12_02--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.141 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5003
+t=10: Selected seed 195 with value = 0.5003
+Query 1/1: Action query time = 4.814 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5533
+t=26: Selected seed 195 with value = 0.5533
+Query 1/1: Action query time = 5.313 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=42: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 4.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5729
+t=58: Selected seed 195 with value = 0.5729
+Query 1/1: Action query time = 4.430 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6044
+t=74: Selected seed 195 with value = 0.6044
+Query 1/1: Action query time = 4.779 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6961
+t=90: Selected seed 195 with value = 0.6961
+Query 1/1: Action query time = 3.811 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8941
+t=106: Selected seed 195 with value = 0.8941
+Query 1/1: Action query time = 3.227 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7197
+t=122: Selected seed 195 with value = 0.7197
+Query 1/1: Action query time = 3.417 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=138: Selected seed 195 with value = 0.8884
+Query 1/1: Action query time = 4.126 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6526
+t=154: Selected seed 195 with value = 0.6526
+Query 1/1: Action query time = 3.925 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6814
+t=170: Selected seed 195 with value = 0.6814
+Query 1/1: Action query time = 3.550 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6086
+t=186: Selected seed 195 with value = 0.6086
+Query 1/1: Action query time = 3.706 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=202: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 3.886 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6189
+t=218: Selected seed 195 with value = 0.6189
+Query 1/1: Action query time = 3.634 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7697
+t=234: Selected seed 195 with value = 0.7697
+Query 1/1: Action query time = 3.688 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8476
+t=250: Selected seed 195 with value = 0.8476
+Query 1/1: Action query time = 3.302 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=266: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 2.652 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6422
+t=282: Selected seed 195 with value = 0.6422
+Query 1/1: Action query time = 2.933 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6241
+t=298: Selected seed 195 with value = 0.6241
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s08/2026_08_02-09_12_02--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_02--ft6100_t4_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_02--ft6100_t4_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11bf3edff42f7903e763c011c3faa4db7ae8025a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_02--ft6100_t4_s10.txt
@@ -0,0 +1,257 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t4_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.723 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4737
+t=10: Selected seed 195 with value = 0.4737
+Query 1/1: Action query time = 5.241 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5104
+t=26: Selected seed 195 with value = 0.5104
+Query 1/1: Action query time = 4.891 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6020
+t=42: Selected seed 195 with value = 0.6020
+Query 1/1: Action query time = 4.883 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7357
+t=58: Selected seed 195 with value = 0.7357
+Query 1/1: Action query time = 5.319 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=74: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 5.015 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=90: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 5.164 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=106: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 4.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=122: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 4.891 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=138: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 4.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=154: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 5.348 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=170: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 5.002 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=186: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 4.694 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9189
+t=202: Selected seed 195 with value = 0.9189
+Query 1/1: Action query time = 4.584 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=218: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 4.527 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8939
+t=234: Selected seed 195 with value = 0.8939
+Query 1/1: Action query time = 4.369 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7353
+t=250: Selected seed 195 with value = 0.7353
+Query 1/1: Action query time = 4.516 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7801
+t=266: Selected seed 195 with value = 0.7801
+Query 1/1: Action query time = 4.792 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9356
+t=282: Selected seed 195 with value = 0.9356
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s10/2026_08_02-09_12_02--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.047 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4535
+t=10: Selected seed 195 with value = 0.4535
+Query 1/1: Action query time = 1.137 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4907
+t=26: Selected seed 195 with value = 0.4907
+Query 1/1: Action query time = 2.838 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5846
+t=42: Selected seed 195 with value = 0.5846
+Query 1/1: Action query time = 5.392 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5825
+t=58: Selected seed 195 with value = 0.5825
+Query 1/1: Action query time = 4.367 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=74: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 5.197 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=90: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 5.340 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=106: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 5.195 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=122: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 5.263 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=138: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 5.121 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=154: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 5.145 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=170: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 4.625 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=186: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 5.640 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=202: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 4.800 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=218: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 4.586 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=234: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 5.198 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=250: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 5.600 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=266: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 4.890 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9424
+t=282: Selected seed 195 with value = 0.9424
+Query 1/1: Action query time = 4.211 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=298: Selected seed 195 with value = 0.9427
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s10/2026_08_02-09_12_02--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.283 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4669
+t=10: Selected seed 195 with value = 0.4669
+Query 1/1: Action query time = 2.474 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=26: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 1.070 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6172
+t=42: Selected seed 195 with value = 0.6172
+Query 1/1: Action query time = 2.112 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6724
+t=58: Selected seed 195 with value = 0.6724
+Query 1/1: Action query time = 3.037 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=74: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 5.296 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7901
+t=90: Selected seed 195 with value = 0.7901
+Query 1/1: Action query time = 4.615 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=106: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 5.042 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=122: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 4.028 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=138: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 4.417 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9358
+t=154: Selected seed 195 with value = 0.9358
+Query 1/1: Action query time = 4.442 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=170: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 4.419 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9359
+t=186: Selected seed 195 with value = 0.9359
+Query 1/1: Action query time = 4.122 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=202: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 3.031 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=218: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 3.716 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9216
+t=234: Selected seed 195 with value = 0.9216
+Query 1/1: Action query time = 3.717 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8912
+t=250: Selected seed 195 with value = 0.8912
+Query 1/1: Action query time = 3.412 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=266: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 3.699 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=282: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 3.722 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=298: Selected seed 195 with value = 0.9773
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s10/2026_08_02-09_12_02--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_03--ft6100_t4_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_03--ft6100_t4_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a2502e49ef028a5311f47a507defa3684e5cea4b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_03--ft6100_t4_s15.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t4_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.392 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4746
+t=10: Selected seed 195 with value = 0.4746
+Query 1/1: Action query time = 4.542 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=26: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 4.856 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5940
+t=42: Selected seed 195 with value = 0.5940
+Query 1/1: Action query time = 4.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=58: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 4.924 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5922
+t=74: Selected seed 195 with value = 0.5922
+Query 1/1: Action query time = 5.167 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5913
+t=90: Selected seed 195 with value = 0.5913
+Query 1/1: Action query time = 5.650 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6028
+t=106: Selected seed 195 with value = 0.6028
+Query 1/1: Action query time = 5.007 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6727
+t=122: Selected seed 195 with value = 0.6727
+Query 1/1: Action query time = 4.993 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8594
+t=138: Selected seed 195 with value = 0.8594
+Query 1/1: Action query time = 4.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7392
+t=154: Selected seed 195 with value = 0.7392
+Query 1/1: Action query time = 5.029 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9111
+t=170: Selected seed 195 with value = 0.9111
+Query 1/1: Action query time = 5.394 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6875
+t=186: Selected seed 195 with value = 0.6875
+Query 1/1: Action query time = 5.617 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8348
+t=202: Selected seed 195 with value = 0.8348
+Query 1/1: Action query time = 5.370 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6374
+t=218: Selected seed 195 with value = 0.6374
+Query 1/1: Action query time = 5.290 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6953
+t=234: Selected seed 195 with value = 0.6953
+Query 1/1: Action query time = 5.245 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6534
+t=250: Selected seed 195 with value = 0.6534
+Query 1/1: Action query time = 5.063 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6626
+t=266: Selected seed 195 with value = 0.6626
+Query 1/1: Action query time = 5.393 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=282: Selected seed 195 with value = 0.6627
+Query 1/1: Action query time = 4.621 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6293
+t=298: Selected seed 195 with value = 0.6293
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s15/2026_08_02-09_12_03--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.525 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4676
+t=10: Selected seed 195 with value = 0.4676
+Query 1/1: Action query time = 6.623 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5465
+t=26: Selected seed 195 with value = 0.5465
+Query 1/1: Action query time = 4.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5915
+t=42: Selected seed 195 with value = 0.5915
+Query 1/1: Action query time = 4.901 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=58: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 4.840 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5869
+t=74: Selected seed 195 with value = 0.5869
+Query 1/1: Action query time = 4.834 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6133
+t=90: Selected seed 195 with value = 0.6133
+Query 1/1: Action query time = 5.083 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5986
+t=106: Selected seed 195 with value = 0.5986
+Query 1/1: Action query time = 5.145 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6425
+t=122: Selected seed 195 with value = 0.6425
+Query 1/1: Action query time = 5.368 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6119
+t=138: Selected seed 195 with value = 0.6119
+Query 1/1: Action query time = 5.525 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6936
+t=154: Selected seed 195 with value = 0.6936
+Query 1/1: Action query time = 5.008 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8362
+t=170: Selected seed 195 with value = 0.8362
+Query 1/1: Action query time = 5.370 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6530
+t=186: Selected seed 195 with value = 0.6530
+Query 1/1: Action query time = 4.798 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8629
+t=202: Selected seed 195 with value = 0.8629
+Query 1/1: Action query time = 4.920 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7482
+t=218: Selected seed 195 with value = 0.7482
+Query 1/1: Action query time = 4.917 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6743
+t=234: Selected seed 195 with value = 0.6743
+Query 1/1: Action query time = 5.399 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6335
+t=250: Selected seed 195 with value = 0.6335
+Query 1/1: Action query time = 4.874 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6366
+t=266: Selected seed 195 with value = 0.6366
+Query 1/1: Action query time = 3.797 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5751
+t=282: Selected seed 195 with value = 0.5751
+Query 1/1: Action query time = 4.851 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2849
+t=298: Selected seed 195 with value = 0.2849
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s15/2026_08_02-09_12_03--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.855 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=10: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 5.771 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5737
+t=26: Selected seed 195 with value = 0.5737
+Query 1/1: Action query time = 4.455 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5994
+t=42: Selected seed 195 with value = 0.5994
+Query 1/1: Action query time = 4.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5521
+t=58: Selected seed 195 with value = 0.5521
+Query 1/1: Action query time = 4.082 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5919
+t=74: Selected seed 195 with value = 0.5919
+Query 1/1: Action query time = 4.257 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6207
+t=90: Selected seed 195 with value = 0.6207
+Query 1/1: Action query time = 4.451 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7643
+t=106: Selected seed 195 with value = 0.7643
+Query 1/1: Action query time = 4.388 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6735
+t=122: Selected seed 195 with value = 0.6735
+Query 1/1: Action query time = 4.682 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=138: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 4.163 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6183
+t=154: Selected seed 195 with value = 0.6183
+Query 1/1: Action query time = 3.692 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6837
+t=170: Selected seed 195 with value = 0.6837
+Query 1/1: Action query time = 3.696 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6285
+t=186: Selected seed 195 with value = 0.6285
+Query 1/1: Action query time = 4.213 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6105
+t=202: Selected seed 195 with value = 0.6105
+Query 1/1: Action query time = 4.161 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5983
+t=218: Selected seed 195 with value = 0.5983
+Query 1/1: Action query time = 3.484 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=234: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 3.309 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6682
+t=250: Selected seed 195 with value = 0.6682
+Query 1/1: Action query time = 2.296 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6304
+t=266: Selected seed 195 with value = 0.6304
+Query 1/1: Action query time = 3.131 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6195
+t=282: Selected seed 195 with value = 0.6195
+Query 1/1: Action query time = 3.825 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6446
+t=298: Selected seed 195 with value = 0.6446
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s15/2026_08_02-09_12_03--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_46--ft6100_t5_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_46--ft6100_t5_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..760ed74008c9f82906465a2594ecee3f3237e79a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_46--ft6100_t5_s05.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t5_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.338 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3423
+t=10: Selected seed 195 with value = 0.3423
+Query 1/1: Action query time = 4.662 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3967
+t=26: Selected seed 195 with value = 0.3967
+Query 1/1: Action query time = 5.268 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=42: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 4.391 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6410
+t=58: Selected seed 195 with value = 0.6410
+Query 1/1: Action query time = 4.928 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8071
+t=74: Selected seed 195 with value = 0.8071
+Query 1/1: Action query time = 5.306 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4360
+t=90: Selected seed 195 with value = 0.4360
+Query 1/1: Action query time = 5.196 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8509
+t=106: Selected seed 195 with value = 0.8509
+Query 1/1: Action query time = 5.190 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8366
+t=122: Selected seed 195 with value = 0.8366
+Query 1/1: Action query time = 5.181 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6091
+t=138: Selected seed 195 with value = 0.6091
+Query 1/1: Action query time = 5.164 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4911
+t=154: Selected seed 195 with value = 0.4911
+Query 1/1: Action query time = 3.603 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7340
+t=170: Selected seed 195 with value = 0.7340
+Query 1/1: Action query time = 4.842 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5123
+t=186: Selected seed 195 with value = 0.5123
+Query 1/1: Action query time = 5.161 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7492
+t=202: Selected seed 195 with value = 0.7492
+Query 1/1: Action query time = 5.191 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4524
+t=218: Selected seed 195 with value = 0.4524
+Query 1/1: Action query time = 4.543 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8451
+t=234: Selected seed 195 with value = 0.8451
+Query 1/1: Action query time = 3.928 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4446
+t=250: Selected seed 195 with value = 0.4446
+Query 1/1: Action query time = 5.368 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=266: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 4.871 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9113
+t=282: Selected seed 195 with value = 0.9113
+Query 1/1: Action query time = 5.163 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8874
+t=298: Selected seed 195 with value = 0.8874
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s05/2026_08_02-09_18_46--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.352 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3026
+t=10: Selected seed 195 with value = 0.3026
+Query 1/1: Action query time = 4.772 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3660
+t=26: Selected seed 195 with value = 0.3660
+Query 1/1: Action query time = 5.719 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6278
+t=42: Selected seed 195 with value = 0.6278
+Query 1/1: Action query time = 5.412 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2956
+t=58: Selected seed 195 with value = 0.2956
+Query 1/1: Action query time = 5.272 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6981
+t=74: Selected seed 195 with value = 0.6981
+Query 1/1: Action query time = 5.167 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7401
+t=90: Selected seed 195 with value = 0.7401
+Query 1/1: Action query time = 4.898 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5756
+t=106: Selected seed 195 with value = 0.5756
+Query 1/1: Action query time = 5.203 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7093
+t=122: Selected seed 195 with value = 0.7093
+Query 1/1: Action query time = 4.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7457
+t=138: Selected seed 195 with value = 0.7457
+Query 1/1: Action query time = 4.475 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=154: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 4.956 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8607
+t=170: Selected seed 195 with value = 0.8607
+Query 1/1: Action query time = 5.183 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7475
+t=186: Selected seed 195 with value = 0.7475
+Query 1/1: Action query time = 4.830 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3975
+t=202: Selected seed 195 with value = 0.3975
+Query 1/1: Action query time = 4.808 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=218: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 4.179 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=234: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 4.560 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=250: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 5.143 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=266: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 5.421 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=282: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 4.751 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=298: Selected seed 195 with value = 0.9686
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s05/2026_08_02-09_18_46--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.215 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2913
+t=10: Selected seed 195 with value = 0.2913
+Query 1/1: Action query time = 4.542 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3694
+t=26: Selected seed 195 with value = 0.3694
+Query 1/1: Action query time = 4.610 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6514
+t=42: Selected seed 195 with value = 0.6514
+Query 1/1: Action query time = 4.524 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3426
+t=58: Selected seed 195 with value = 0.3426
+Query 1/1: Action query time = 4.505 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7144
+t=74: Selected seed 195 with value = 0.7144
+Query 1/1: Action query time = 4.489 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=90: Selected seed 195 with value = 0.9132
+Query 1/1: Action query time = 4.503 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8802
+t=106: Selected seed 195 with value = 0.8802
+Query 1/1: Action query time = 3.872 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4915
+t=122: Selected seed 195 with value = 0.4915
+Query 1/1: Action query time = 3.084 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8066
+t=138: Selected seed 195 with value = 0.8066
+Query 1/1: Action query time = 3.182 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7062
+t=154: Selected seed 195 with value = 0.7062
+Query 1/1: Action query time = 3.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=170: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 4.005 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4631
+t=186: Selected seed 195 with value = 0.4631
+Query 1/1: Action query time = 3.908 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4990
+t=202: Selected seed 195 with value = 0.4990
+Query 1/1: Action query time = 3.432 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6711
+t=218: Selected seed 195 with value = 0.6711
+Query 1/1: Action query time = 3.417 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4446
+t=234: Selected seed 195 with value = 0.4446
+Query 1/1: Action query time = 3.389 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7767
+t=250: Selected seed 195 with value = 0.7767
+Query 1/1: Action query time = 3.268 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4064
+t=266: Selected seed 195 with value = 0.4064
+Query 1/1: Action query time = 3.210 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=282: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 3.158 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=298: Selected seed 195 with value = 0.8775
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s05/2026_08_02-09_18_46--with_future_img--episode=3--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3fa1d360487b8348adb7b1dfb6dea759d2047d9e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s03.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t5_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.577 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3183
+t=10: Selected seed 195 with value = 0.3183
+Query 1/1: Action query time = 4.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3927
+t=26: Selected seed 195 with value = 0.3927
+Query 1/1: Action query time = 5.266 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6670
+t=42: Selected seed 195 with value = 0.6670
+Query 1/1: Action query time = 5.501 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=58: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 5.017 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7960
+t=74: Selected seed 195 with value = 0.7960
+Query 1/1: Action query time = 4.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6780
+t=90: Selected seed 195 with value = 0.6780
+Query 1/1: Action query time = 5.154 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8578
+t=106: Selected seed 195 with value = 0.8578
+Query 1/1: Action query time = 5.138 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7800
+t=122: Selected seed 195 with value = 0.7800
+Query 1/1: Action query time = 5.286 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4158
+t=138: Selected seed 195 with value = 0.4158
+Query 1/1: Action query time = 4.898 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=154: Selected seed 195 with value = 0.8506
+Query 1/1: Action query time = 3.320 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8722
+t=170: Selected seed 195 with value = 0.8722
+Query 1/1: Action query time = 5.100 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=186: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 5.410 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4453
+t=202: Selected seed 195 with value = 0.4453
+Query 1/1: Action query time = 5.283 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7823
+t=218: Selected seed 195 with value = 0.7823
+Query 1/1: Action query time = 4.700 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4655
+t=234: Selected seed 195 with value = 0.4655
+Query 1/1: Action query time = 4.903 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7666
+t=250: Selected seed 195 with value = 0.7666
+Query 1/1: Action query time = 5.218 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4877
+t=266: Selected seed 195 with value = 0.4877
+Query 1/1: Action query time = 5.208 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7805
+t=282: Selected seed 195 with value = 0.7805
+Query 1/1: Action query time = 4.641 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4727
+t=298: Selected seed 195 with value = 0.4727
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s03/2026_08_02-09_18_47--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.437 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3227
+t=10: Selected seed 195 with value = 0.3227
+Query 1/1: Action query time = 4.674 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3783
+t=26: Selected seed 195 with value = 0.3783
+Query 1/1: Action query time = 5.257 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6769
+t=42: Selected seed 195 with value = 0.6769
+Query 1/1: Action query time = 5.403 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5528
+t=58: Selected seed 195 with value = 0.5528
+Query 1/1: Action query time = 5.356 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8031
+t=74: Selected seed 195 with value = 0.8031
+Query 1/1: Action query time = 5.262 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5104
+t=90: Selected seed 195 with value = 0.5104
+Query 1/1: Action query time = 5.103 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=106: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 4.955 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=122: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 5.096 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4249
+t=138: Selected seed 195 with value = 0.4249
+Query 1/1: Action query time = 4.021 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7855
+t=154: Selected seed 195 with value = 0.7855
+Query 1/1: Action query time = 5.105 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4321
+t=170: Selected seed 195 with value = 0.4321
+Query 1/1: Action query time = 5.060 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8686
+t=186: Selected seed 195 with value = 0.8686
+Query 1/1: Action query time = 5.649 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4122
+t=202: Selected seed 195 with value = 0.4122
+Query 1/1: Action query time = 4.431 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8386
+t=218: Selected seed 195 with value = 0.8386
+Query 1/1: Action query time = 4.784 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9080
+t=234: Selected seed 195 with value = 0.9080
+Query 1/1: Action query time = 5.389 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9412
+t=250: Selected seed 195 with value = 0.9412
+Query 1/1: Action query time = 4.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9305
+t=266: Selected seed 195 with value = 0.9305
+Query 1/1: Action query time = 4.270 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6841
+t=282: Selected seed 195 with value = 0.6841
+Query 1/1: Action query time = 3.729 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5010
+t=298: Selected seed 195 with value = 0.5010
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s03/2026_08_02-09_18_47--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.523 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3684
+t=10: Selected seed 195 with value = 0.3684
+Query 1/1: Action query time = 4.415 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3516
+t=26: Selected seed 195 with value = 0.3516
+Query 1/1: Action query time = 4.434 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6051
+t=42: Selected seed 195 with value = 0.6051
+Query 1/1: Action query time = 4.442 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5572
+t=58: Selected seed 195 with value = 0.5572
+Query 1/1: Action query time = 4.457 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6898
+t=74: Selected seed 195 with value = 0.6898
+Query 1/1: Action query time = 4.453 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7495
+t=90: Selected seed 195 with value = 0.7495
+Query 1/1: Action query time = 4.270 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6476
+t=106: Selected seed 195 with value = 0.6476
+Query 1/1: Action query time = 3.617 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=122: Selected seed 195 with value = 0.7512
+Query 1/1: Action query time = 3.167 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8581
+t=138: Selected seed 195 with value = 0.8581
+Query 1/1: Action query time = 3.623 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9413
+t=154: Selected seed 195 with value = 0.9413
+Query 1/1: Action query time = 3.707 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=170: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 3.740 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=186: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 2.895 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=202: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 2.956 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=218: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 2.939 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=234: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 3.241 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=250: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 3.306 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9652
+t=266: Selected seed 195 with value = 0.9652
+Query 1/1: Action query time = 3.311 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=282: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 3.267 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=298: Selected seed 195 with value = 0.9511
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s03/2026_08_02-09_18_47--with_future_img--episode=3--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c2efbeec1e08126e06929b814b5087d34db5546
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s13.txt
@@ -0,0 +1,201 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t5_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.540 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2803
+t=10: Selected seed 195 with value = 0.2803
+Query 1/1: Action query time = 4.374 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3442
+t=26: Selected seed 195 with value = 0.3442
+Query 1/1: Action query time = 4.677 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4208
+t=42: Selected seed 195 with value = 0.4208
+Query 1/1: Action query time = 5.027 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5984
+t=58: Selected seed 195 with value = 0.5984
+Query 1/1: Action query time = 5.097 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6617
+t=74: Selected seed 195 with value = 0.6617
+Query 1/1: Action query time = 4.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6215
+t=90: Selected seed 195 with value = 0.6215
+Query 1/1: Action query time = 5.108 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8458
+t=106: Selected seed 195 with value = 0.8458
+Query 1/1: Action query time = 4.754 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6224
+t=122: Selected seed 195 with value = 0.6224
+Query 1/1: Action query time = 5.219 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7642
+t=138: Selected seed 195 with value = 0.7642
+Query 1/1: Action query time = 4.526 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7798
+t=154: Selected seed 195 with value = 0.7798
+Query 1/1: Action query time = 5.307 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=170: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 5.172 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9350
+t=186: Selected seed 195 with value = 0.9350
+Query 1/1: Action query time = 4.917 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8555
+t=202: Selected seed 195 with value = 0.8555
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s13/2026_08_02-09_18_47--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.172 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3421
+t=10: Selected seed 195 with value = 0.3421
+Query 1/1: Action query time = 5.282 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3516
+t=26: Selected seed 195 with value = 0.3516
+Query 1/1: Action query time = 5.208 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6004
+t=42: Selected seed 195 with value = 0.6004
+Query 1/1: Action query time = 5.212 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=58: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 3.865 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6922
+t=74: Selected seed 195 with value = 0.6922
+Query 1/1: Action query time = 3.047 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7770
+t=90: Selected seed 195 with value = 0.7770
+Query 1/1: Action query time = 3.446 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6570
+t=106: Selected seed 195 with value = 0.6570
+Query 1/1: Action query time = 4.400 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7620
+t=122: Selected seed 195 with value = 0.7620
+Query 1/1: Action query time = 5.506 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8621
+t=138: Selected seed 195 with value = 0.8621
+Query 1/1: Action query time = 5.185 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=154: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 5.006 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=170: Selected seed 195 with value = 0.9443
+Query 1/1: Action query time = 4.489 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=186: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 3.861 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=202: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 3.469 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=218: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 3.184 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=234: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 3.175 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=250: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 4.216 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=266: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 3.929 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=282: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 3.442 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=298: Selected seed 195 with value = 0.9727
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s13/2026_08_02-09_18_47--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.610 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3016
+t=10: Selected seed 195 with value = 0.3016
+Query 1/1: Action query time = 4.491 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3461
+t=26: Selected seed 195 with value = 0.3461
+Query 1/1: Action query time = 3.758 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6323
+t=42: Selected seed 195 with value = 0.6323
+Query 1/1: Action query time = 3.042 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6274
+t=58: Selected seed 195 with value = 0.6274
+Query 1/1: Action query time = 2.813 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6937
+t=74: Selected seed 195 with value = 0.6937
+Query 1/1: Action query time = 2.143 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7697
+t=90: Selected seed 195 with value = 0.7697
+Query 1/1: Action query time = 2.809 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8574
+t=106: Selected seed 195 with value = 0.8574
+Query 1/1: Action query time = 2.659 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7881
+t=122: Selected seed 195 with value = 0.7881
+Query 1/1: Action query time = 2.932 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=138: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 2.468 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7958
+t=154: Selected seed 195 with value = 0.7958
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s13/2026_08_02-09_18_47--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..120947959638dc5e6bbb3908980075320fe72e62
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s05.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t6_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 4.409 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4741
+t=10: Selected seed 195 with value = 0.4741
+Query 1/1: Action query time = 4.811 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4754
+t=26: Selected seed 195 with value = 0.4754
+Query 1/1: Action query time = 5.570 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5641
+t=42: Selected seed 195 with value = 0.5641
+Query 1/1: Action query time = 5.389 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6751
+t=58: Selected seed 195 with value = 0.6751
+Query 1/1: Action query time = 4.945 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7360
+t=74: Selected seed 195 with value = 0.7360
+Query 1/1: Action query time = 5.126 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8279
+t=90: Selected seed 195 with value = 0.8279
+Query 1/1: Action query time = 3.732 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8689
+t=106: Selected seed 195 with value = 0.8689
+Query 1/1: Action query time = 4.916 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=122: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 4.903 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=138: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 4.953 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=154: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 5.100 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=170: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 3.644 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=186: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 5.494 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=202: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 5.463 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=218: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 4.571 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.119 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.302 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.520 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=282: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 3.383 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=298: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s05/2026_08_02-09_24_41--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.111 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4434
+t=10: Selected seed 195 with value = 0.4434
+Query 1/1: Action query time = 4.648 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4472
+t=26: Selected seed 195 with value = 0.4472
+Query 1/1: Action query time = 4.435 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5568
+t=42: Selected seed 195 with value = 0.5568
+Query 1/1: Action query time = 4.213 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6615
+t=58: Selected seed 195 with value = 0.6615
+Query 1/1: Action query time = 3.829 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8079
+t=74: Selected seed 195 with value = 0.8079
+Query 1/1: Action query time = 2.894 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9143
+t=90: Selected seed 195 with value = 0.9143
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s05/2026_08_02-09_24_41--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.761 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4381
+t=10: Selected seed 195 with value = 0.4381
+Query 1/1: Action query time = 4.169 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5093
+t=26: Selected seed 195 with value = 0.5093
+Query 1/1: Action query time = 4.315 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5605
+t=42: Selected seed 195 with value = 0.5605
+Query 1/1: Action query time = 3.892 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=58: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 4.371 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6461
+t=74: Selected seed 195 with value = 0.6461
+Query 1/1: Action query time = 3.815 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6562
+t=90: Selected seed 195 with value = 0.6562
+Query 1/1: Action query time = 3.419 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6432
+t=106: Selected seed 195 with value = 0.6432
+Query 1/1: Action query time = 2.336 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6465
+t=122: Selected seed 195 with value = 0.6465
+Query 1/1: Action query time = 2.010 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7189
+t=138: Selected seed 195 with value = 0.7189
+Query 1/1: Action query time = 2.042 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7635
+t=154: Selected seed 195 with value = 0.7635
+Query 1/1: Action query time = 2.525 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=170: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 2.657 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=186: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 2.706 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=202: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 2.601 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=218: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 2.594 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=234: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 2.558 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=250: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 1.836 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=266: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 1.830 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=282: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 1.837 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=298: Selected seed 195 with value = 0.9759
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s05/2026_08_02-09_24_41--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0d3f2a07446d47c6b340b1f95789944cd23dc3f3
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s10.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t6_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.059 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4578
+t=10: Selected seed 195 with value = 0.4578
+Query 1/1: Action query time = 5.423 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4972
+t=26: Selected seed 195 with value = 0.4972
+Query 1/1: Action query time = 5.297 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5823
+t=42: Selected seed 195 with value = 0.5823
+Query 1/1: Action query time = 5.063 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6921
+t=58: Selected seed 195 with value = 0.6921
+Query 1/1: Action query time = 4.281 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7340
+t=74: Selected seed 195 with value = 0.7340
+Query 1/1: Action query time = 4.065 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9551
+t=90: Selected seed 195 with value = 0.9551
+Query 1/1: Action query time = 4.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.018 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.019 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=138: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 4.825 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=154: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 4.445 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=170: Selected seed 195 with value = 0.9685
+Query 1/1: Action query time = 4.616 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9390
+t=186: Selected seed 195 with value = 0.9390
+Query 1/1: Action query time = 4.066 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8321
+t=202: Selected seed 195 with value = 0.8321
+Query 1/1: Action query time = 4.868 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9142
+t=218: Selected seed 195 with value = 0.9142
+Query 1/1: Action query time = 5.201 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=234: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 4.897 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=250: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 4.775 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.003 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=282: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 4.702 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=298: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s10/2026_08_02-09_24_42--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.081 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4428
+t=10: Selected seed 195 with value = 0.4428
+Query 1/1: Action query time = 4.122 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4919
+t=26: Selected seed 195 with value = 0.4919
+Query 1/1: Action query time = 4.045 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5691
+t=42: Selected seed 195 with value = 0.5691
+Query 1/1: Action query time = 4.042 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6987
+t=58: Selected seed 195 with value = 0.6987
+Query 1/1: Action query time = 3.235 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8092
+t=74: Selected seed 195 with value = 0.8092
+Query 1/1: Action query time = 2.895 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9477
+t=90: Selected seed 195 with value = 0.9477
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s10/2026_08_02-09_24_42--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.750 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4508
+t=10: Selected seed 195 with value = 0.4508
+Query 1/1: Action query time = 3.885 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5209
+t=26: Selected seed 195 with value = 0.5209
+Query 1/1: Action query time = 3.002 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5805
+t=42: Selected seed 195 with value = 0.5805
+Query 1/1: Action query time = 3.289 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7289
+t=58: Selected seed 195 with value = 0.7289
+Query 1/1: Action query time = 3.087 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8318
+t=74: Selected seed 195 with value = 0.8318
+Query 1/1: Action query time = 2.485 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=90: Selected seed 195 with value = 0.9715
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s10/2026_08_02-09_24_42--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..701cc172685ab7ba87e76951dbc0887e1c383a3f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s11.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t6_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 4.514 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4563
+t=10: Selected seed 195 with value = 0.4563
+Query 1/1: Action query time = 4.404 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4800
+t=26: Selected seed 195 with value = 0.4800
+Query 1/1: Action query time = 5.591 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=42: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 5.246 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6897
+t=58: Selected seed 195 with value = 0.6897
+Query 1/1: Action query time = 4.953 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8036
+t=74: Selected seed 195 with value = 0.8036
+Query 1/1: Action query time = 4.159 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=90: Selected seed 195 with value = 0.9346
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s11/2026_08_02-09_24_42--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.594 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4539
+t=10: Selected seed 195 with value = 0.4539
+Query 1/1: Action query time = 5.162 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4820
+t=26: Selected seed 195 with value = 0.4820
+Query 1/1: Action query time = 5.140 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5713
+t=42: Selected seed 195 with value = 0.5713
+Query 1/1: Action query time = 4.813 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6815
+t=58: Selected seed 195 with value = 0.6815
+Query 1/1: Action query time = 3.950 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8313
+t=74: Selected seed 195 with value = 0.8313
+Query 1/1: Action query time = 4.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9401
+t=90: Selected seed 195 with value = 0.9401
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s11/2026_08_02-09_24_42--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.081 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4287
+t=10: Selected seed 195 with value = 0.4287
+Query 1/1: Action query time = 4.064 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4588
+t=26: Selected seed 195 with value = 0.4588
+Query 1/1: Action query time = 4.343 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5669
+t=42: Selected seed 195 with value = 0.5669
+Query 1/1: Action query time = 5.286 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6721
+t=58: Selected seed 195 with value = 0.6721
+Query 1/1: Action query time = 5.307 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8135
+t=74: Selected seed 195 with value = 0.8135
+Query 1/1: Action query time = 5.056 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9261
+t=90: Selected seed 195 with value = 0.9261
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s11/2026_08_02-09_24_42--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0871887ed9db78790bb325e7d62e6ac8bc1ce63c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s15.txt
@@ -0,0 +1,205 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t6_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.177 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4570
+t=10: Selected seed 195 with value = 0.4570
+Query 1/1: Action query time = 5.268 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4869
+t=26: Selected seed 195 with value = 0.4869
+Query 1/1: Action query time = 4.860 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5838
+t=42: Selected seed 195 with value = 0.5838
+Query 1/1: Action query time = 4.912 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6834
+t=58: Selected seed 195 with value = 0.6834
+Query 1/1: Action query time = 4.243 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6743
+t=74: Selected seed 195 with value = 0.6743
+Query 1/1: Action query time = 3.818 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6766
+t=90: Selected seed 195 with value = 0.6766
+Query 1/1: Action query time = 4.270 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6506
+t=106: Selected seed 195 with value = 0.6506
+Query 1/1: Action query time = 5.140 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6910
+t=122: Selected seed 195 with value = 0.6910
+Query 1/1: Action query time = 5.011 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6712
+t=138: Selected seed 195 with value = 0.6712
+Query 1/1: Action query time = 4.393 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9589
+t=154: Selected seed 195 with value = 0.9589
+Query 1/1: Action query time = 4.728 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=170: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 4.850 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=186: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 4.728 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=202: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 5.161 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=218: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 5.428 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=234: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 4.614 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=250: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 4.587 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=266: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 5.147 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=282: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 4.795 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=298: Selected seed 195 with value = 0.9927
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s15/2026_08_02-09_24_42--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.910 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4623
+t=10: Selected seed 195 with value = 0.4623
+Query 1/1: Action query time = 3.623 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4539
+t=26: Selected seed 195 with value = 0.4539
+Query 1/1: Action query time = 1.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5646
+t=42: Selected seed 195 with value = 0.5646
+Query 1/1: Action query time = 3.184 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6682
+t=58: Selected seed 195 with value = 0.6682
+Query 1/1: Action query time = 3.693 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6785
+t=74: Selected seed 195 with value = 0.6785
+Query 1/1: Action query time = 3.516 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=90: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 2.653 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6371
+t=106: Selected seed 195 with value = 0.6371
+Query 1/1: Action query time = 2.366 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6280
+t=122: Selected seed 195 with value = 0.6280
+Query 1/1: Action query time = 4.035 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6298
+t=138: Selected seed 195 with value = 0.6298
+Query 1/1: Action query time = 3.897 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6434
+t=154: Selected seed 195 with value = 0.6434
+Query 1/1: Action query time = 3.031 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6149
+t=170: Selected seed 195 with value = 0.6149
+Query 1/1: Action query time = 3.333 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6807
+t=186: Selected seed 195 with value = 0.6807
+Query 1/1: Action query time = 2.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6432
+t=202: Selected seed 195 with value = 0.6432
+Query 1/1: Action query time = 2.417 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7002
+t=218: Selected seed 195 with value = 0.7002
+Query 1/1: Action query time = 1.535 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6834
+t=234: Selected seed 195 with value = 0.6834
+Query 1/1: Action query time = 1.706 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6868
+t=250: Selected seed 195 with value = 0.6868
+Query 1/1: Action query time = 1.739 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6972
+t=266: Selected seed 195 with value = 0.6972
+Query 1/1: Action query time = 1.726 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7591
+t=282: Selected seed 195 with value = 0.7591
+Query 1/1: Action query time = 1.776 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7154
+t=298: Selected seed 195 with value = 0.7154
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s15/2026_08_02-09_24_42--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 1.184 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4779
+t=10: Selected seed 195 with value = 0.4779
+Query 1/1: Action query time = 1.230 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5370
+t=26: Selected seed 195 with value = 0.5370
+Query 1/1: Action query time = 1.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5834
+t=42: Selected seed 195 with value = 0.5834
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7468
+t=58: Selected seed 195 with value = 0.7468
+Query 1/1: Action query time = 1.033 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8586
+t=74: Selected seed 195 with value = 0.8586
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s15/2026_08_02-09_24_42--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36aaf6266a49965133340ed2f0026351b0ff26b1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s00.txt
@@ -0,0 +1,172 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.854 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3003
+t=10: Selected seed 195 with value = 0.3003
+Query 1/1: Action query time = 4.254 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3582
+t=26: Selected seed 195 with value = 0.3582
+Query 1/1: Action query time = 5.195 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4341
+t=42: Selected seed 195 with value = 0.4341
+Query 1/1: Action query time = 5.468 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5352
+t=58: Selected seed 195 with value = 0.5352
+Query 1/1: Action query time = 4.840 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6309
+t=74: Selected seed 195 with value = 0.6309
+Query 1/1: Action query time = 4.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7479
+t=90: Selected seed 195 with value = 0.7479
+Query 1/1: Action query time = 4.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8861
+t=106: Selected seed 195 with value = 0.8861
+Query 1/1: Action query time = 5.042 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s00/2026_08_02-14_32_31--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3227
+t=10: Selected seed 195 with value = 0.3227
+Query 1/1: Action query time = 4.182 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3653
+t=26: Selected seed 195 with value = 0.3653
+Query 1/1: Action query time = 4.507 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4529
+t=42: Selected seed 195 with value = 0.4529
+Query 1/1: Action query time = 5.033 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5217
+t=58: Selected seed 195 with value = 0.5217
+Query 1/1: Action query time = 4.807 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6236
+t=74: Selected seed 195 with value = 0.6236
+Query 1/1: Action query time = 5.027 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7464
+t=90: Selected seed 195 with value = 0.7464
+Query 1/1: Action query time = 5.162 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8609
+t=106: Selected seed 195 with value = 0.8609
+Query 1/1: Action query time = 5.242 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s00/2026_08_02-14_32_31--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.484 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2910
+t=10: Selected seed 195 with value = 0.2910
+Query 1/1: Action query time = 3.648 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2157
+t=26: Selected seed 195 with value = 0.2157
+Query 1/1: Action query time = 3.740 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4331
+t=42: Selected seed 195 with value = 0.4331
+Query 1/1: Action query time = 5.022 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4862
+t=58: Selected seed 195 with value = 0.4862
+Query 1/1: Action query time = 5.039 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5523
+t=74: Selected seed 195 with value = 0.5523
+Query 1/1: Action query time = 5.268 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6890
+t=90: Selected seed 195 with value = 0.6890
+Query 1/1: Action query time = 4.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7923
+t=106: Selected seed 195 with value = 0.7923
+Query 1/1: Action query time = 5.014 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9410
+t=122: Selected seed 195 with value = 0.9410
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s00/2026_08_02-14_32_31--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.318 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3240
+t=10: Selected seed 195 with value = 0.3240
+Query 1/1: Action query time = 2.935 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3273
+t=26: Selected seed 195 with value = 0.3273
+Query 1/1: Action query time = 2.768 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3937
+t=42: Selected seed 195 with value = 0.3937
+Query 1/1: Action query time = 1.909 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5021
+t=58: Selected seed 195 with value = 0.5021
+Query 1/1: Action query time = 1.912 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=74: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 1.788 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6529
+t=90: Selected seed 195 with value = 0.6529
+Query 1/1: Action query time = 1.656 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7576
+t=106: Selected seed 195 with value = 0.7576
+Query 1/1: Action query time = 1.201 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9005
+t=122: Selected seed 195 with value = 0.9005
+Query 1/1: Action query time = 1.305 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s00/2026_08_02-14_32_31--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f46e18c8830cf45f52b257b8ca75427419c4594f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s05.txt
@@ -0,0 +1,137 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2914
+t=10: Selected seed 195 with value = 0.2914
+Query 1/1: Action query time = 5.081 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3225
+t=26: Selected seed 195 with value = 0.3225
+Query 1/1: Action query time = 5.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3856
+t=42: Selected seed 195 with value = 0.3856
+Query 1/1: Action query time = 5.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4616
+t=58: Selected seed 195 with value = 0.4616
+Query 1/1: Action query time = 4.712 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5469
+t=74: Selected seed 195 with value = 0.5469
+Query 1/1: Action query time = 5.206 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6574
+t=90: Selected seed 195 with value = 0.6574
+Query 1/1: Action query time = 5.597 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8034
+t=106: Selected seed 195 with value = 0.8034
+Query 1/1: Action query time = 4.374 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9126
+t=122: Selected seed 195 with value = 0.9126
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s05/2026_08_02-14_32_32--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.023 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2856
+t=10: Selected seed 195 with value = 0.2856
+Query 1/1: Action query time = 3.492 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2526
+t=26: Selected seed 195 with value = 0.2526
+Query 1/1: Action query time = 4.798 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2738
+t=42: Selected seed 195 with value = 0.2738
+Query 1/1: Action query time = 4.847 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3757
+t=58: Selected seed 195 with value = 0.3757
+Query 1/1: Action query time = 4.913 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5982
+t=74: Selected seed 195 with value = 0.5982
+Query 1/1: Action query time = 4.581 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6450
+t=90: Selected seed 195 with value = 0.6450
+Query 1/1: Action query time = 5.058 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7686
+t=106: Selected seed 195 with value = 0.7686
+Query 1/1: Action query time = 4.494 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8867
+t=122: Selected seed 195 with value = 0.8867
+Query 1/1: Action query time = 3.080 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=138: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s05/2026_08_02-14_32_32--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.477 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2694
+t=10: Selected seed 195 with value = 0.2694
+Query 1/1: Action query time = 5.240 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2986
+t=26: Selected seed 195 with value = 0.2986
+Query 1/1: Action query time = 4.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3649
+t=42: Selected seed 195 with value = 0.3649
+Query 1/1: Action query time = 5.246 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4581
+t=58: Selected seed 195 with value = 0.4581
+Query 1/1: Action query time = 4.894 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5481
+t=74: Selected seed 195 with value = 0.5481
+Query 1/1: Action query time = 4.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6501
+t=90: Selected seed 195 with value = 0.6501
+Query 1/1: Action query time = 4.074 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7578
+t=106: Selected seed 195 with value = 0.7578
+Query 1/1: Action query time = 3.874 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8825
+t=122: Selected seed 195 with value = 0.8825
+Query 1/1: Action query time = 2.118 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s05/2026_08_02-14_32_32--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c22ea94eab66ba1bb4d50ce1944ac1bd8b05b2e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s09.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.303 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3689
+t=10: Selected seed 195 with value = 0.3689
+Query 1/1: Action query time = 4.438 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4152
+t=26: Selected seed 195 with value = 0.4152
+Query 1/1: Action query time = 4.913 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=42: Selected seed 195 with value = 0.4838
+Query 1/1: Action query time = 5.274 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5654
+t=58: Selected seed 195 with value = 0.5654
+Query 1/1: Action query time = 5.095 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6744
+t=74: Selected seed 195 with value = 0.6744
+Query 1/1: Action query time = 5.135 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7938
+t=90: Selected seed 195 with value = 0.7938
+Query 1/1: Action query time = 4.853 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=106: Selected seed 195 with value = 0.9303
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s09/2026_08_02-14_32_32--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.868 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3011
+t=10: Selected seed 195 with value = 0.3011
+Query 1/1: Action query time = 1.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3481
+t=26: Selected seed 195 with value = 0.3481
+Query 1/1: Action query time = 4.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4232
+t=42: Selected seed 195 with value = 0.4232
+Query 1/1: Action query time = 5.016 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4780
+t=58: Selected seed 195 with value = 0.4780
+Query 1/1: Action query time = 4.877 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5119
+t=74: Selected seed 195 with value = 0.5119
+Query 1/1: Action query time = 5.160 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6649
+t=90: Selected seed 195 with value = 0.6649
+Query 1/1: Action query time = 5.284 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7644
+t=106: Selected seed 195 with value = 0.7644
+Query 1/1: Action query time = 5.031 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8721
+t=122: Selected seed 195 with value = 0.8721
+Query 1/1: Action query time = 4.951 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=138: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s09/2026_08_02-14_32_32--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.340 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2808
+t=10: Selected seed 195 with value = 0.2808
+Query 1/1: Action query time = 4.404 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3524
+t=26: Selected seed 195 with value = 0.3524
+Query 1/1: Action query time = 3.391 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4108
+t=42: Selected seed 195 with value = 0.4108
+Query 1/1: Action query time = 4.698 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5139
+t=58: Selected seed 195 with value = 0.5139
+Query 1/1: Action query time = 5.218 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5877
+t=74: Selected seed 195 with value = 0.5877
+Query 1/1: Action query time = 5.027 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6648
+t=90: Selected seed 195 with value = 0.6648
+Query 1/1: Action query time = 4.808 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7896
+t=106: Selected seed 195 with value = 0.7896
+Query 1/1: Action query time = 4.483 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=122: Selected seed 195 with value = 0.9258
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s09/2026_08_02-14_32_32--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b32f2c777423b98a04e32223e851776e61a9b120
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s14.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.209 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2670
+t=10: Selected seed 195 with value = 0.2670
+Query 1/1: Action query time = 4.441 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3475
+t=26: Selected seed 195 with value = 0.3475
+Query 1/1: Action query time = 5.689 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3825
+t=42: Selected seed 195 with value = 0.3825
+Query 1/1: Action query time = 4.661 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4267
+t=58: Selected seed 195 with value = 0.4267
+Query 1/1: Action query time = 4.546 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4661
+t=74: Selected seed 195 with value = 0.4661
+Query 1/1: Action query time = 4.907 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5409
+t=90: Selected seed 195 with value = 0.5409
+Query 1/1: Action query time = 4.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8109
+t=106: Selected seed 195 with value = 0.8109
+Query 1/1: Action query time = 4.708 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=122: Selected seed 195 with value = 0.9622
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s14/2026_08_02-14_32_33--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.095 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3156
+t=10: Selected seed 195 with value = 0.3156
+Query 1/1: Action query time = 2.714 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3803
+t=26: Selected seed 195 with value = 0.3803
+Query 1/1: Action query time = 5.209 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4546
+t=42: Selected seed 195 with value = 0.4546
+Query 1/1: Action query time = 5.037 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5130
+t=58: Selected seed 195 with value = 0.5130
+Query 1/1: Action query time = 5.137 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6219
+t=74: Selected seed 195 with value = 0.6219
+Query 1/1: Action query time = 4.791 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7401
+t=90: Selected seed 195 with value = 0.7401
+Query 1/1: Action query time = 5.218 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8300
+t=106: Selected seed 195 with value = 0.8300
+Query 1/1: Action query time = 5.008 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=122: Selected seed 195 with value = 0.9728
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s14/2026_08_02-14_32_33--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.724 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3351
+t=10: Selected seed 195 with value = 0.3351
+Query 1/1: Action query time = 4.821 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3925
+t=26: Selected seed 195 with value = 0.3925
+Query 1/1: Action query time = 3.607 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4460
+t=42: Selected seed 195 with value = 0.4460
+Query 1/1: Action query time = 4.441 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5018
+t=58: Selected seed 195 with value = 0.5018
+Query 1/1: Action query time = 5.238 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6054
+t=74: Selected seed 195 with value = 0.6054
+Query 1/1: Action query time = 4.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7554
+t=90: Selected seed 195 with value = 0.7554
+Query 1/1: Action query time = 4.817 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8629
+t=106: Selected seed 195 with value = 0.8629
+Query 1/1: Action query time = 4.671 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s14/2026_08_02-14_32_33--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3ca6c8dcd250d0787dca13a735644b83c503d54
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s13.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t1_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4613
+t=10: Selected seed 195 with value = 0.4613
+Query 1/1: Action query time = 4.163 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5274
+t=26: Selected seed 195 with value = 0.5274
+Query 1/1: Action query time = 4.574 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6086
+t=42: Selected seed 195 with value = 0.6086
+Query 1/1: Action query time = 4.728 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6798
+t=58: Selected seed 195 with value = 0.6798
+Query 1/1: Action query time = 5.142 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8069
+t=74: Selected seed 195 with value = 0.8069
+Query 1/1: Action query time = 4.425 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=90: Selected seed 195 with value = 0.9681
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s13/2026_08_02-14_35_56--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.795 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4704
+t=10: Selected seed 195 with value = 0.4704
+Query 1/1: Action query time = 3.023 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=26: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 5.185 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6078
+t=42: Selected seed 195 with value = 0.6078
+Query 1/1: Action query time = 6.794 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6915
+t=58: Selected seed 195 with value = 0.6915
+Query 1/1: Action query time = 5.791 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8210
+t=74: Selected seed 195 with value = 0.8210
+Query 1/1: Action query time = 3.930 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=90: Selected seed 195 with value = 0.9861
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s13/2026_08_02-14_35_56--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.374 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3699
+t=10: Selected seed 195 with value = 0.3699
+Query 1/1: Action query time = 3.665 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4708
+t=26: Selected seed 195 with value = 0.4708
+Query 1/1: Action query time = 4.613 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5427
+t=42: Selected seed 195 with value = 0.5427
+Query 1/1: Action query time = 5.617 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6317
+t=58: Selected seed 195 with value = 0.6317
+Query 1/1: Action query time = 5.319 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7188
+t=74: Selected seed 195 with value = 0.7188
+Query 1/1: Action query time = 3.569 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9129
+t=90: Selected seed 195 with value = 0.9129
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s13/2026_08_02-14_35_56--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..509d460a28c649c0db0dec9ca2e296156c18a0b1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s01.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t2_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.346 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3896
+t=10: Selected seed 195 with value = 0.3896
+Query 1/1: Action query time = 4.800 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3858
+t=26: Selected seed 195 with value = 0.3858
+Query 1/1: Action query time = 3.861 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5535
+t=42: Selected seed 195 with value = 0.5535
+Query 1/1: Action query time = 4.375 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6724
+t=58: Selected seed 195 with value = 0.6724
+Query 1/1: Action query time = 5.585 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8194
+t=74: Selected seed 195 with value = 0.8194
+Query 1/1: Action query time = 3.244 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9635
+t=90: Selected seed 195 with value = 0.9635
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s01/2026_08_02-14_38_39--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.699 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3922
+t=10: Selected seed 195 with value = 0.3922
+Query 1/1: Action query time = 5.445 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4611
+t=26: Selected seed 195 with value = 0.4611
+Query 1/1: Action query time = 4.366 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5990
+t=42: Selected seed 195 with value = 0.5990
+Query 1/1: Action query time = 4.263 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=58: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 5.053 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8846
+t=74: Selected seed 195 with value = 0.8846
+Query 1/1: Action query time = 4.254 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s01/2026_08_02-14_38_39--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.777 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3823
+t=10: Selected seed 195 with value = 0.3823
+Query 1/1: Action query time = 4.728 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4451
+t=26: Selected seed 195 with value = 0.4451
+Query 1/1: Action query time = 3.818 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=42: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 5.156 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=58: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 3.287 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7444
+t=74: Selected seed 195 with value = 0.7444
+Query 1/1: Action query time = 2.611 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8985
+t=90: Selected seed 195 with value = 0.8985
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s01/2026_08_02-14_38_39--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.170 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4351
+t=10: Selected seed 195 with value = 0.4351
+Query 1/1: Action query time = 2.121 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=26: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 1.577 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6442
+t=42: Selected seed 195 with value = 0.6442
+Query 1/1: Action query time = 1.338 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7390
+t=58: Selected seed 195 with value = 0.7390
+Query 1/1: Action query time = 1.125 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=74: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 1.038 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s01/2026_08_02-14_38_39--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..47bb3851ae47b143fefa59617de48d4cfe5c5aa6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s04.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t2_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.801 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4571
+t=10: Selected seed 195 with value = 0.4571
+Query 1/1: Action query time = 4.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5499
+t=26: Selected seed 195 with value = 0.5499
+Query 1/1: Action query time = 5.076 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6171
+t=42: Selected seed 195 with value = 0.6171
+Query 1/1: Action query time = 5.636 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7135
+t=58: Selected seed 195 with value = 0.7135
+Query 1/1: Action query time = 3.880 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8137
+t=74: Selected seed 195 with value = 0.8137
+Query 1/1: Action query time = 4.318 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=90: Selected seed 195 with value = 0.9634
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s04/2026_08_02-14_38_39--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.084 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4695
+t=10: Selected seed 195 with value = 0.4695
+Query 1/1: Action query time = 4.039 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5613
+t=26: Selected seed 195 with value = 0.5613
+Query 1/1: Action query time = 4.945 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6533
+t=42: Selected seed 195 with value = 0.6533
+Query 1/1: Action query time = 5.056 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7784
+t=58: Selected seed 195 with value = 0.7784
+Query 1/1: Action query time = 4.663 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9111
+t=74: Selected seed 195 with value = 0.9111
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s04/2026_08_02-14_38_39--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.684 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3656
+t=10: Selected seed 195 with value = 0.3656
+Query 1/1: Action query time = 4.100 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4479
+t=26: Selected seed 195 with value = 0.4479
+Query 1/1: Action query time = 3.424 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5163
+t=42: Selected seed 195 with value = 0.5163
+Query 1/1: Action query time = 4.934 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6113
+t=58: Selected seed 195 with value = 0.6113
+Query 1/1: Action query time = 5.002 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7310
+t=74: Selected seed 195 with value = 0.7310
+Query 1/1: Action query time = 4.149 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=90: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 5.438 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s04/2026_08_02-14_38_39--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_40--base40kRE_t2_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_40--base40kRE_t2_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0a7ff5fdf6a6b7eea93b724b2bc439c0395e554
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_40--base40kRE_t2_s15.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t2_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.738 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4319
+t=10: Selected seed 195 with value = 0.4319
+Query 1/1: Action query time = 5.555 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4905
+t=26: Selected seed 195 with value = 0.4905
+Query 1/1: Action query time = 5.688 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5676
+t=42: Selected seed 195 with value = 0.5676
+Query 1/1: Action query time = 5.090 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6818
+t=58: Selected seed 195 with value = 0.6818
+Query 1/1: Action query time = 4.366 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8073
+t=74: Selected seed 195 with value = 0.8073
+Query 1/1: Action query time = 4.040 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=90: Selected seed 195 with value = 0.9659
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s15/2026_08_02-14_38_40--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.584 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4193
+t=10: Selected seed 195 with value = 0.4193
+Query 1/1: Action query time = 4.596 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4912
+t=26: Selected seed 195 with value = 0.4912
+Query 1/1: Action query time = 4.541 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5543
+t=42: Selected seed 195 with value = 0.5543
+Query 1/1: Action query time = 4.383 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6585
+t=58: Selected seed 195 with value = 0.6585
+Query 1/1: Action query time = 4.776 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=74: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 4.160 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9454
+t=90: Selected seed 195 with value = 0.9454
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s15/2026_08_02-14_38_40--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.390 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4596
+t=10: Selected seed 195 with value = 0.4596
+Query 1/1: Action query time = 5.110 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5350
+t=26: Selected seed 195 with value = 0.5350
+Query 1/1: Action query time = 4.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6274
+t=42: Selected seed 195 with value = 0.6274
+Query 1/1: Action query time = 4.030 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=58: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 4.738 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=74: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 3.837 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s15/2026_08_02-14_38_40--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_32--base40kRE_t3_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_32--base40kRE_t3_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2a73054a1eb4335bdf4e34584fabf8016b2b8b04
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_32--base40kRE_t3_s02.txt
@@ -0,0 +1,173 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t3_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 2.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1662
+t=10: Selected seed 195 with value = 0.1662
+Query 1/1: Action query time = 2.947 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2185
+t=26: Selected seed 195 with value = 0.2185
+Query 1/1: Action query time = 5.362 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2263
+t=42: Selected seed 195 with value = 0.2263
+Query 1/1: Action query time = 5.461 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2962
+t=58: Selected seed 195 with value = 0.2962
+Query 1/1: Action query time = 4.371 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3528
+t=74: Selected seed 195 with value = 0.3528
+Query 1/1: Action query time = 4.539 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4254
+t=90: Selected seed 195 with value = 0.4254
+Query 1/1: Action query time = 4.660 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5053
+t=106: Selected seed 195 with value = 0.5053
+Query 1/1: Action query time = 4.906 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5546
+t=122: Selected seed 195 with value = 0.5546
+Query 1/1: Action query time = 4.878 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6984
+t=138: Selected seed 195 with value = 0.6984
+Query 1/1: Action query time = 4.658 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7816
+t=154: Selected seed 195 with value = 0.7816
+Query 1/1: Action query time = 4.688 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=170: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 4.817 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s02/2026_08_02-14_41_32--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.889 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1746
+t=10: Selected seed 195 with value = 0.1746
+Query 1/1: Action query time = 3.941 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2059
+t=26: Selected seed 195 with value = 0.2059
+Query 1/1: Action query time = 5.538 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2363
+t=42: Selected seed 195 with value = 0.2363
+Query 1/1: Action query time = 5.184 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2728
+t=58: Selected seed 195 with value = 0.2728
+Query 1/1: Action query time = 5.588 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3159
+t=74: Selected seed 195 with value = 0.3159
+Query 1/1: Action query time = 5.473 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4088
+t=90: Selected seed 195 with value = 0.4088
+Query 1/1: Action query time = 3.094 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4521
+t=106: Selected seed 195 with value = 0.4521
+Query 1/1: Action query time = 3.105 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=122: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 4.613 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6211
+t=138: Selected seed 195 with value = 0.6211
+Query 1/1: Action query time = 5.212 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7346
+t=154: Selected seed 195 with value = 0.7346
+Query 1/1: Action query time = 4.444 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8611
+t=170: Selected seed 195 with value = 0.8611
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s02/2026_08_02-14_41_32--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.193 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1534
+t=10: Selected seed 195 with value = 0.1534
+Query 1/1: Action query time = 3.814 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1701
+t=26: Selected seed 195 with value = 0.1701
+Query 1/1: Action query time = 3.206 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1903
+t=42: Selected seed 195 with value = 0.1903
+Query 1/1: Action query time = 5.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2276
+t=58: Selected seed 195 with value = 0.2276
+Query 1/1: Action query time = 4.914 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2834
+t=74: Selected seed 195 with value = 0.2834
+Query 1/1: Action query time = 5.219 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3699
+t=90: Selected seed 195 with value = 0.3699
+Query 1/1: Action query time = 5.389 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3129
+t=106: Selected seed 195 with value = 0.3129
+Query 1/1: Action query time = 4.367 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4799
+t=122: Selected seed 195 with value = 0.4799
+Query 1/1: Action query time = 3.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6306
+t=138: Selected seed 195 with value = 0.6306
+Query 1/1: Action query time = 3.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=154: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 4.376 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7996
+t=170: Selected seed 195 with value = 0.7996
+Query 1/1: Action query time = 5.363 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9458
+t=186: Selected seed 195 with value = 0.9458
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s02/2026_08_02-14_41_32--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..49f2d1467422bac2af3d1f59969304cf7917c739
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s11.txt
@@ -0,0 +1,177 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t3_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 1.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1648
+t=10: Selected seed 195 with value = 0.1648
+Query 1/1: Action query time = 2.930 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1980
+t=26: Selected seed 195 with value = 0.1980
+Query 1/1: Action query time = 5.631 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1483
+t=42: Selected seed 195 with value = 0.1483
+Query 1/1: Action query time = 5.660 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1397
+t=58: Selected seed 195 with value = 0.1397
+Query 1/1: Action query time = 4.578 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2234
+t=74: Selected seed 195 with value = 0.2234
+Query 1/1: Action query time = 4.641 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3562
+t=90: Selected seed 195 with value = 0.3562
+Query 1/1: Action query time = 5.057 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4386
+t=106: Selected seed 195 with value = 0.4386
+Query 1/1: Action query time = 5.251 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5246
+t=122: Selected seed 195 with value = 0.5246
+Query 1/1: Action query time = 5.348 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6124
+t=138: Selected seed 195 with value = 0.6124
+Query 1/1: Action query time = 5.337 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=154: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 5.064 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9056
+t=170: Selected seed 195 with value = 0.9056
+Query 1/1: Action query time = 4.583 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s11/2026_08_02-14_41_33--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.428 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1772
+t=10: Selected seed 195 with value = 0.1772
+Query 1/1: Action query time = 2.539 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1937
+t=26: Selected seed 195 with value = 0.1937
+Query 1/1: Action query time = 4.174 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1894
+t=42: Selected seed 195 with value = 0.1894
+Query 1/1: Action query time = 4.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2650
+t=58: Selected seed 195 with value = 0.2650
+Query 1/1: Action query time = 5.459 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2769
+t=74: Selected seed 195 with value = 0.2769
+Query 1/1: Action query time = 5.463 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3686
+t=90: Selected seed 195 with value = 0.3686
+Query 1/1: Action query time = 3.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4218
+t=106: Selected seed 195 with value = 0.4218
+Query 1/1: Action query time = 3.798 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5445
+t=122: Selected seed 195 with value = 0.5445
+Query 1/1: Action query time = 5.073 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6458
+t=138: Selected seed 195 with value = 0.6458
+Query 1/1: Action query time = 4.943 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7244
+t=154: Selected seed 195 with value = 0.7244
+Query 1/1: Action query time = 4.790 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8610
+t=170: Selected seed 195 with value = 0.8610
+Query 1/1: Action query time = 4.440 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=186: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s11/2026_08_02-14_41_33--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.133 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1701
+t=10: Selected seed 195 with value = 0.1701
+Query 1/1: Action query time = 4.595 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2110
+t=26: Selected seed 195 with value = 0.2110
+Query 1/1: Action query time = 4.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2255
+t=42: Selected seed 195 with value = 0.2255
+Query 1/1: Action query time = 4.197 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2437
+t=58: Selected seed 195 with value = 0.2437
+Query 1/1: Action query time = 5.107 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3309
+t=74: Selected seed 195 with value = 0.3309
+Query 1/1: Action query time = 5.143 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3977
+t=90: Selected seed 195 with value = 0.3977
+Query 1/1: Action query time = 4.902 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4779
+t=106: Selected seed 195 with value = 0.4779
+Query 1/1: Action query time = 3.770 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5489
+t=122: Selected seed 195 with value = 0.5489
+Query 1/1: Action query time = 4.882 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6497
+t=138: Selected seed 195 with value = 0.6497
+Query 1/1: Action query time = 4.353 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7457
+t=154: Selected seed 195 with value = 0.7457
+Query 1/1: Action query time = 4.251 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8684
+t=170: Selected seed 195 with value = 0.8684
+Query 1/1: Action query time = 4.330 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s11/2026_08_02-14_41_33--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_34--base40kRE_t3_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_34--base40kRE_t3_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..389f11d18f05d55fb5def1892e537266d1720d66
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_34--base40kRE_t3_s14.txt
@@ -0,0 +1,165 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t3_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.291 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1784
+t=10: Selected seed 195 with value = 0.1784
+Query 1/1: Action query time = 5.550 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2061
+t=26: Selected seed 195 with value = 0.2061
+Query 1/1: Action query time = 4.087 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2237
+t=42: Selected seed 195 with value = 0.2237
+Query 1/1: Action query time = 4.700 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2429
+t=58: Selected seed 195 with value = 0.2429
+Query 1/1: Action query time = 5.043 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3197
+t=74: Selected seed 195 with value = 0.3197
+Query 1/1: Action query time = 5.243 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3684
+t=90: Selected seed 195 with value = 0.3684
+Query 1/1: Action query time = 4.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4690
+t=106: Selected seed 195 with value = 0.4690
+Query 1/1: Action query time = 5.217 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5943
+t=122: Selected seed 195 with value = 0.5943
+Query 1/1: Action query time = 5.009 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6782
+t=138: Selected seed 195 with value = 0.6782
+Query 1/1: Action query time = 4.636 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8049
+t=154: Selected seed 195 with value = 0.8049
+Query 1/1: Action query time = 4.853 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9524
+t=170: Selected seed 195 with value = 0.9524
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s14/2026_08_02-14_41_34--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.858 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1783
+t=10: Selected seed 195 with value = 0.1783
+Query 1/1: Action query time = 3.658 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2101
+t=26: Selected seed 195 with value = 0.2101
+Query 1/1: Action query time = 4.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2619
+t=42: Selected seed 195 with value = 0.2619
+Query 1/1: Action query time = 5.280 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2366
+t=58: Selected seed 195 with value = 0.2366
+Query 1/1: Action query time = 4.677 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2514
+t=74: Selected seed 195 with value = 0.2514
+Query 1/1: Action query time = 4.543 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2816
+t=90: Selected seed 195 with value = 0.2816
+Query 1/1: Action query time = 4.861 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4622
+t=106: Selected seed 195 with value = 0.4622
+Query 1/1: Action query time = 4.273 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=122: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 4.649 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6476
+t=138: Selected seed 195 with value = 0.6476
+Query 1/1: Action query time = 5.044 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7328
+t=154: Selected seed 195 with value = 0.7328
+Query 1/1: Action query time = 4.669 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3862
+t=170: Selected seed 195 with value = 0.3862
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s14/2026_08_02-14_41_34--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.339 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1628
+t=10: Selected seed 195 with value = 0.1628
+Query 1/1: Action query time = 4.110 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2019
+t=26: Selected seed 195 with value = 0.2019
+Query 1/1: Action query time = 5.083 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2460
+t=42: Selected seed 195 with value = 0.2460
+Query 1/1: Action query time = 5.516 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2161
+t=58: Selected seed 195 with value = 0.2161
+Query 1/1: Action query time = 4.420 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2715
+t=74: Selected seed 195 with value = 0.2715
+Query 1/1: Action query time = 5.059 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3309
+t=90: Selected seed 195 with value = 0.3309
+Query 1/1: Action query time = 5.194 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3670
+t=106: Selected seed 195 with value = 0.3670
+Query 1/1: Action query time = 4.768 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5209
+t=122: Selected seed 195 with value = 0.5209
+Query 1/1: Action query time = 3.894 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6328
+t=138: Selected seed 195 with value = 0.6328
+Query 1/1: Action query time = 5.007 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7661
+t=154: Selected seed 195 with value = 0.7661
+Query 1/1: Action query time = 4.209 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9020
+t=170: Selected seed 195 with value = 0.9020
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s14/2026_08_02-14_41_34--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_42--base40kRE_t4_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_42--base40kRE_t4_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eac93e2a543f5d8da7c4da149aef5ef4f2b13b6b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_42--base40kRE_t4_s03.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t4_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.402 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4268
+t=10: Selected seed 195 with value = 0.4268
+Query 1/1: Action query time = 3.884 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5262
+t=26: Selected seed 195 with value = 0.5262
+Query 1/1: Action query time = 5.171 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6023
+t=42: Selected seed 195 with value = 0.6023
+Query 1/1: Action query time = 3.905 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7039
+t=58: Selected seed 195 with value = 0.7039
+Query 1/1: Action query time = 3.887 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8455
+t=74: Selected seed 195 with value = 0.8455
+Query 1/1: Action query time = 5.697 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=90: Selected seed 195 with value = 0.9795
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s03/2026_08_02-14_46_42--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.210 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4227
+t=10: Selected seed 195 with value = 0.4227
+Query 1/1: Action query time = 2.787 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5141
+t=26: Selected seed 195 with value = 0.5141
+Query 1/1: Action query time = 4.252 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5926
+t=42: Selected seed 195 with value = 0.5926
+Query 1/1: Action query time = 5.502 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7244
+t=58: Selected seed 195 with value = 0.7244
+Query 1/1: Action query time = 4.573 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8362
+t=74: Selected seed 195 with value = 0.8362
+Query 1/1: Action query time = 4.412 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=90: Selected seed 195 with value = 0.9301
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s03/2026_08_02-14_46_42--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.790 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4516
+t=10: Selected seed 195 with value = 0.4516
+Query 1/1: Action query time = 4.101 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5090
+t=26: Selected seed 195 with value = 0.5090
+Query 1/1: Action query time = 4.133 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6024
+t=42: Selected seed 195 with value = 0.6024
+Query 1/1: Action query time = 4.574 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7154
+t=58: Selected seed 195 with value = 0.7154
+Query 1/1: Action query time = 5.719 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8460
+t=74: Selected seed 195 with value = 0.8460
+Query 1/1: Action query time = 4.915 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=90: Selected seed 195 with value = 0.9853
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s03/2026_08_02-14_46_42--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4aab2f8a3365b6ddafc0225c02f7d28f2a48ba51
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s05.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t4_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.886 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4458
+t=10: Selected seed 195 with value = 0.4458
+Query 1/1: Action query time = 4.929 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5432
+t=26: Selected seed 195 with value = 0.5432
+Query 1/1: Action query time = 4.158 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6645
+t=42: Selected seed 195 with value = 0.6645
+Query 1/1: Action query time = 5.292 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7696
+t=58: Selected seed 195 with value = 0.7696
+Query 1/1: Action query time = 5.715 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9335
+t=74: Selected seed 195 with value = 0.9335
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s05/2026_08_02-14_46_43--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.693 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4613
+t=10: Selected seed 195 with value = 0.4613
+Query 1/1: Action query time = 3.116 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5297
+t=26: Selected seed 195 with value = 0.5297
+Query 1/1: Action query time = 4.820 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=42: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 5.032 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6978
+t=58: Selected seed 195 with value = 0.6978
+Query 1/1: Action query time = 3.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8420
+t=74: Selected seed 195 with value = 0.8420
+Query 1/1: Action query time = 4.717 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=90: Selected seed 195 with value = 0.9969
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s05/2026_08_02-14_46_43--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4420
+t=10: Selected seed 195 with value = 0.4420
+Query 1/1: Action query time = 4.247 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5110
+t=26: Selected seed 195 with value = 0.5110
+Query 1/1: Action query time = 4.275 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5786
+t=42: Selected seed 195 with value = 0.5786
+Query 1/1: Action query time = 5.093 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6882
+t=58: Selected seed 195 with value = 0.6882
+Query 1/1: Action query time = 3.718 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8159
+t=74: Selected seed 195 with value = 0.8159
+Query 1/1: Action query time = 4.818 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9395
+t=90: Selected seed 195 with value = 0.9395
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s05/2026_08_02-14_46_43--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..88bf30832084d100e67b21f0caf258e010d2697f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s06.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t4_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.351 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3740
+t=10: Selected seed 195 with value = 0.3740
+Query 1/1: Action query time = 4.674 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3898
+t=26: Selected seed 195 with value = 0.3898
+Query 1/1: Action query time = 3.935 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5938
+t=42: Selected seed 195 with value = 0.5938
+Query 1/1: Action query time = 5.653 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7215
+t=58: Selected seed 195 with value = 0.7215
+Query 1/1: Action query time = 5.640 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8800
+t=74: Selected seed 195 with value = 0.8800
+Query 1/1: Action query time = 3.124 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=90: Selected seed 195 with value = 0.9999
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s06/2026_08_02-14_46_43--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.133 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3561
+t=10: Selected seed 195 with value = 0.3561
+Query 1/1: Action query time = 4.110 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4386
+t=26: Selected seed 195 with value = 0.4386
+Query 1/1: Action query time = 5.003 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5954
+t=42: Selected seed 195 with value = 0.5954
+Query 1/1: Action query time = 4.683 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6628
+t=58: Selected seed 195 with value = 0.6628
+Query 1/1: Action query time = 5.063 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8433
+t=74: Selected seed 195 with value = 0.8433
+Query 1/1: Action query time = 4.407 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8774
+t=90: Selected seed 195 with value = 0.8774
+Query 1/1: Action query time = 5.113 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8179
+t=106: Selected seed 195 with value = 0.8179
+Query 1/1: Action query time = 4.029 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8641
+t=122: Selected seed 195 with value = 0.8641
+Query 1/1: Action query time = 4.396 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8988
+t=138: Selected seed 195 with value = 0.8988
+Query 1/1: Action query time = 4.196 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9172
+t=154: Selected seed 195 with value = 0.9172
+Query 1/1: Action query time = 5.574 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9239
+t=170: Selected seed 195 with value = 0.9239
+Query 1/1: Action query time = 4.706 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=186: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 3.228 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=202: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 2.305 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=218: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 2.109 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=234: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 1.591 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=250: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 1.300 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=266: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 1.306 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=282: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 1.300 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=298: Selected seed 195 with value = 0.9681
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s06/2026_08_02-14_46_43--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.959 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3317
+t=10: Selected seed 195 with value = 0.3317
+Query 1/1: Action query time = 0.954 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3330
+t=26: Selected seed 195 with value = 0.3330
+Query 1/1: Action query time = 0.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4089
+t=42: Selected seed 195 with value = 0.4089
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4826
+t=58: Selected seed 195 with value = 0.4826
+Query 1/1: Action query time = 0.945 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5563
+t=74: Selected seed 195 with value = 0.5563
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=90: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6309
+t=106: Selected seed 195 with value = 0.6309
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7871
+t=122: Selected seed 195 with value = 0.7871
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9281
+t=138: Selected seed 195 with value = 0.9281
+Query 1/1: Action query time = 0.951 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7550
+t=154: Selected seed 195 with value = 0.7550
+Query 1/1: Action query time = 0.956 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8375
+t=170: Selected seed 195 with value = 0.8375
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=186: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 0.956 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=202: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 0.960 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9159
+t=218: Selected seed 195 with value = 0.9159
+Query 1/1: Action query time = 0.948 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9220
+t=234: Selected seed 195 with value = 0.9220
+Query 1/1: Action query time = 0.942 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9214
+t=250: Selected seed 195 with value = 0.9214
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=266: Selected seed 195 with value = 0.9196
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9200
+t=282: Selected seed 195 with value = 0.9200
+Query 1/1: Action query time = 0.961 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9206
+t=298: Selected seed 195 with value = 0.9206
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s06/2026_08_02-14_46_43--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..799771ed1d9913d655d03375d081a33cedc3aef0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s07.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t4_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.778 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4402
+t=10: Selected seed 195 with value = 0.4402
+Query 1/1: Action query time = 4.587 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5258
+t=26: Selected seed 195 with value = 0.5258
+Query 1/1: Action query time = 6.174 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6024
+t=42: Selected seed 195 with value = 0.6024
+Query 1/1: Action query time = 5.139 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7028
+t=58: Selected seed 195 with value = 0.7028
+Query 1/1: Action query time = 3.404 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8318
+t=74: Selected seed 195 with value = 0.8318
+Query 1/1: Action query time = 3.808 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=90: Selected seed 195 with value = 0.9923
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s07/2026_08_02-14_46_44--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.468 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4265
+t=10: Selected seed 195 with value = 0.4265
+Query 1/1: Action query time = 5.196 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5129
+t=26: Selected seed 195 with value = 0.5129
+Query 1/1: Action query time = 4.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6299
+t=42: Selected seed 195 with value = 0.6299
+Query 1/1: Action query time = 4.839 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7135
+t=58: Selected seed 195 with value = 0.7135
+Query 1/1: Action query time = 4.191 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=74: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 4.647 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=90: Selected seed 195 with value = 0.9837
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s07/2026_08_02-14_46_44--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.236 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4323
+t=10: Selected seed 195 with value = 0.4323
+Query 1/1: Action query time = 5.192 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5120
+t=26: Selected seed 195 with value = 0.5120
+Query 1/1: Action query time = 4.697 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5634
+t=42: Selected seed 195 with value = 0.5634
+Query 1/1: Action query time = 4.656 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6575
+t=58: Selected seed 195 with value = 0.6575
+Query 1/1: Action query time = 3.655 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7885
+t=74: Selected seed 195 with value = 0.7885
+Query 1/1: Action query time = 3.066 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=90: Selected seed 195 with value = 0.9459
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s07/2026_08_02-14_46_44--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4c0cee5e9cbc9f18b9b094c680f6d415844e749
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s12.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t4_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.173 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4286
+t=10: Selected seed 195 with value = 0.4286
+Query 1/1: Action query time = 3.314 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=26: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 4.769 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6180
+t=42: Selected seed 195 with value = 0.6180
+Query 1/1: Action query time = 5.177 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7242
+t=58: Selected seed 195 with value = 0.7242
+Query 1/1: Action query time = 3.807 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8629
+t=74: Selected seed 195 with value = 0.8629
+Query 1/1: Action query time = 4.252 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s12/2026_08_02-14_46_44--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.472 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4302
+t=10: Selected seed 195 with value = 0.4302
+Query 1/1: Action query time = 5.123 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4965
+t=26: Selected seed 195 with value = 0.4965
+Query 1/1: Action query time = 5.555 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6171
+t=42: Selected seed 195 with value = 0.6171
+Query 1/1: Action query time = 4.589 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7105
+t=58: Selected seed 195 with value = 0.7105
+Query 1/1: Action query time = 3.389 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8241
+t=74: Selected seed 195 with value = 0.8241
+Query 1/1: Action query time = 3.748 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9335
+t=90: Selected seed 195 with value = 0.9335
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s12/2026_08_02-14_46_44--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.791 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4541
+t=10: Selected seed 195 with value = 0.4541
+Query 1/1: Action query time = 4.873 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5441
+t=26: Selected seed 195 with value = 0.5441
+Query 1/1: Action query time = 5.106 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6269
+t=42: Selected seed 195 with value = 0.6269
+Query 1/1: Action query time = 4.399 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7244
+t=58: Selected seed 195 with value = 0.7244
+Query 1/1: Action query time = 3.281 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8573
+t=74: Selected seed 195 with value = 0.8573
+Query 1/1: Action query time = 2.420 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=90: Selected seed 195 with value = 0.9845
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s12/2026_08_02-14_46_44--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..474951fa9305653675af39fc82b8c877091d598d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s14.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t4_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.031 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4095
+t=10: Selected seed 195 with value = 0.4095
+Query 1/1: Action query time = 4.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=26: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 4.474 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5792
+t=42: Selected seed 195 with value = 0.5792
+Query 1/1: Action query time = 5.332 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6784
+t=58: Selected seed 195 with value = 0.6784
+Query 1/1: Action query time = 3.621 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8450
+t=74: Selected seed 195 with value = 0.8450
+Query 1/1: Action query time = 3.847 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=90: Selected seed 195 with value = 0.9911
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s14/2026_08_02-14_46_44--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.234 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4335
+t=10: Selected seed 195 with value = 0.4335
+Query 1/1: Action query time = 4.781 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5412
+t=26: Selected seed 195 with value = 0.5412
+Query 1/1: Action query time = 5.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6166
+t=42: Selected seed 195 with value = 0.6166
+Query 1/1: Action query time = 5.613 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7248
+t=58: Selected seed 195 with value = 0.7248
+Query 1/1: Action query time = 3.347 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8583
+t=74: Selected seed 195 with value = 0.8583
+Query 1/1: Action query time = 3.878 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=90: Selected seed 195 with value = 0.9969
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s14/2026_08_02-14_46_44--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.906 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4515
+t=10: Selected seed 195 with value = 0.4515
+Query 1/1: Action query time = 4.413 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5325
+t=26: Selected seed 195 with value = 0.5325
+Query 1/1: Action query time = 4.941 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6021
+t=42: Selected seed 195 with value = 0.6021
+Query 1/1: Action query time = 4.281 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7046
+t=58: Selected seed 195 with value = 0.7046
+Query 1/1: Action query time = 2.556 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8450
+t=74: Selected seed 195 with value = 0.8450
+Query 1/1: Action query time = 2.292 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=90: Selected seed 195 with value = 0.9806
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s14/2026_08_02-14_46_44--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f19422f9d5ad4a2fb18df1a0e271e09025a40b0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s15.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t5_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.816 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3380
+t=10: Selected seed 195 with value = 0.3380
+Query 1/1: Action query time = 4.344 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3982
+t=26: Selected seed 195 with value = 0.3982
+Query 1/1: Action query time = 5.470 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4793
+t=42: Selected seed 195 with value = 0.4793
+Query 1/1: Action query time = 5.185 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5438
+t=58: Selected seed 195 with value = 0.5438
+Query 1/1: Action query time = 4.842 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5997
+t=74: Selected seed 195 with value = 0.5997
+Query 1/1: Action query time = 4.736 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7225
+t=90: Selected seed 195 with value = 0.7225
+Query 1/1: Action query time = 5.111 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7750
+t=106: Selected seed 195 with value = 0.7750
+Query 1/1: Action query time = 5.307 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=122: Selected seed 195 with value = 0.9969
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s15/2026_08_02-14_49_44--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.343 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2031
+t=10: Selected seed 195 with value = 0.2031
+Query 1/1: Action query time = 5.196 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3556
+t=26: Selected seed 195 with value = 0.3556
+Query 1/1: Action query time = 4.036 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=42: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 4.127 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5241
+t=58: Selected seed 195 with value = 0.5241
+Query 1/1: Action query time = 4.647 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6016
+t=74: Selected seed 195 with value = 0.6016
+Query 1/1: Action query time = 4.782 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7000
+t=90: Selected seed 195 with value = 0.7000
+Query 1/1: Action query time = 4.914 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8353
+t=106: Selected seed 195 with value = 0.8353
+Query 1/1: Action query time = 4.874 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=122: Selected seed 195 with value = 0.9906
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s15/2026_08_02-14_49_44--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.903 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3042
+t=10: Selected seed 195 with value = 0.3042
+Query 1/1: Action query time = 4.124 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3217
+t=26: Selected seed 195 with value = 0.3217
+Query 1/1: Action query time = 5.294 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=42: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 5.398 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=58: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 5.340 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5281
+t=74: Selected seed 195 with value = 0.5281
+Query 1/1: Action query time = 4.133 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6251
+t=90: Selected seed 195 with value = 0.6251
+Query 1/1: Action query time = 4.567 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7374
+t=106: Selected seed 195 with value = 0.7374
+Query 1/1: Action query time = 5.184 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=122: Selected seed 195 with value = 0.8600
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s15/2026_08_02-14_49_44--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7demochan800_t2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7demochan800_t2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f71d2c533f6b830bfe486a7317d51118b96fedd1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7demochan800_t2.txt
@@ -0,0 +1,842 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7demochan800_t2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.385 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=10: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 2.508 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6834
+t=26: Selected seed 195 with value = 0.6834
+Query 1/1: Action query time = 3.245 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=42: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 3.133 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7987
+t=58: Selected seed 195 with value = 0.7987
+Query 1/1: Action query time = 2.816 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=74: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 2.223 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=90: Selected seed 195 with value = 0.9666
+Query 1/1: Action query time = 2.530 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9401
+t=106: Selected seed 195 with value = 0.9401
+Query 1/1: Action query time = 2.785 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8930
+t=122: Selected seed 195 with value = 0.8930
+Query 1/1: Action query time = 3.052 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9227
+t=138: Selected seed 195 with value = 0.9227
+Query 1/1: Action query time = 2.599 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8769
+t=154: Selected seed 195 with value = 0.8769
+Query 1/1: Action query time = 2.551 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9024
+t=170: Selected seed 195 with value = 0.9024
+Query 1/1: Action query time = 3.360 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9064
+t=186: Selected seed 195 with value = 0.9064
+Query 1/1: Action query time = 3.937 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=202: Selected seed 195 with value = 0.9037
+Query 1/1: Action query time = 3.154 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8976
+t=218: Selected seed 195 with value = 0.8976
+Query 1/1: Action query time = 2.046 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8986
+t=234: Selected seed 195 with value = 0.8986
+Query 1/1: Action query time = 2.824 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9110
+t=250: Selected seed 195 with value = 0.9110
+Query 1/1: Action query time = 3.317 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9163
+t=266: Selected seed 195 with value = 0.9163
+Query 1/1: Action query time = 2.084 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9159
+t=282: Selected seed 195 with value = 0.9159
+Query 1/1: Action query time = 2.618 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9050
+t=298: Selected seed 195 with value = 0.9050
+Saved rollout MP4 at path ./rollouts/t7demochan800_t2/2026_08_03-00_48_00--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.278 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5574
+t=10: Selected seed 195 with value = 0.5574
+Query 1/1: Action query time = 2.409 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6654
+t=26: Selected seed 195 with value = 0.6654
+Query 1/1: Action query time = 3.107 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8201
+t=42: Selected seed 195 with value = 0.8201
+Query 1/1: Action query time = 3.224 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9109
+t=58: Selected seed 195 with value = 0.9109
+Query 1/1: Action query time = 2.333 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=74: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 2.946 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.577 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.791 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.183 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.693 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.714 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.021 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=186: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 3.999 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=202: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 3.184 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=218: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 3.558 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=234: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 3.905 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=250: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 2.761 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=266: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 2.432 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=282: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 2.853 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9278
+t=298: Selected seed 195 with value = 0.9278
+Saved rollout MP4 at path ./rollouts/t7demochan800_t2/2026_08_03-00_48_00--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.442 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5859
+t=10: Selected seed 195 with value = 0.5859
+Query 1/1: Action query time = 2.521 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7321
+t=26: Selected seed 195 with value = 0.7321
+Query 1/1: Action query time = 3.354 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7498
+t=42: Selected seed 195 with value = 0.7498
+Query 1/1: Action query time = 2.652 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8880
+t=58: Selected seed 195 with value = 0.8880
+Query 1/1: Action query time = 2.603 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9068
+t=74: Selected seed 195 with value = 0.9068
+Query 1/1: Action query time = 3.196 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8882
+t=90: Selected seed 195 with value = 0.8882
+Query 1/1: Action query time = 3.348 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=106: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 3.294 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=122: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 2.524 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9080
+t=138: Selected seed 195 with value = 0.9080
+Query 1/1: Action query time = 2.391 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9091
+t=154: Selected seed 195 with value = 0.9091
+Query 1/1: Action query time = 3.037 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=170: Selected seed 195 with value = 0.8975
+Query 1/1: Action query time = 3.163 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=186: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 2.608 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8483
+t=202: Selected seed 195 with value = 0.8483
+Query 1/1: Action query time = 2.739 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8405
+t=218: Selected seed 195 with value = 0.8405
+Query 1/1: Action query time = 2.522 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8585
+t=234: Selected seed 195 with value = 0.8585
+Query 1/1: Action query time = 2.623 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8808
+t=250: Selected seed 195 with value = 0.8808
+Query 1/1: Action query time = 2.703 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9204
+t=266: Selected seed 195 with value = 0.9204
+Query 1/1: Action query time = 3.584 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8822
+t=282: Selected seed 195 with value = 0.8822
+Query 1/1: Action query time = 2.818 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8703
+t=298: Selected seed 195 with value = 0.8703
+Saved rollout MP4 at path ./rollouts/t7demochan800_t2/2026_08_03-00_48_00--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.322 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5691
+t=10: Selected seed 195 with value = 0.5691
+Query 1/1: Action query time = 3.180 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=26: Selected seed 195 with value = 0.6819
+Query 1/1: Action query time = 3.140 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7306
+t=42: Selected seed 195 with value = 0.7306
+Query 1/1: Action query time = 2.322 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8843
+t=58: Selected seed 195 with value = 0.8843
+Query 1/1: Action query time = 2.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8780
+t=74: Selected seed 195 with value = 0.8780
+Query 1/1: Action query time = 2.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8824
+t=90: Selected seed 195 with value = 0.8824
+Query 1/1: Action query time = 3.278 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=106: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 2.884 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9176
+t=122: Selected seed 195 with value = 0.9176
+Query 1/1: Action query time = 2.913 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=138: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 2.246 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9399
+t=154: Selected seed 195 with value = 0.9399
+Query 1/1: Action query time = 2.455 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9326
+t=170: Selected seed 195 with value = 0.9326
+Query 1/1: Action query time = 2.919 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=186: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 3.819 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9429
+t=202: Selected seed 195 with value = 0.9429
+Query 1/1: Action query time = 3.867 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9462
+t=218: Selected seed 195 with value = 0.9462
+Query 1/1: Action query time = 3.736 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8795
+t=234: Selected seed 195 with value = 0.8795
+Query 1/1: Action query time = 2.730 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8183
+t=250: Selected seed 195 with value = 0.8183
+Query 1/1: Action query time = 2.347 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8057
+t=266: Selected seed 195 with value = 0.8057
+Query 1/1: Action query time = 3.780 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8066
+t=282: Selected seed 195 with value = 0.8066
+Query 1/1: Action query time = 3.804 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8012
+t=298: Selected seed 195 with value = 0.8012
+Saved rollout MP4 at path ./rollouts/t7demochan800_t2/2026_08_03-00_48_00--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 2.027 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5610
+t=10: Selected seed 195 with value = 0.5610
+Query 1/1: Action query time = 2.443 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6380
+t=26: Selected seed 195 with value = 0.6380
+Query 1/1: Action query time = 1.771 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6982
+t=42: Selected seed 195 with value = 0.6982
+Query 1/1: Action query time = 2.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8731
+t=58: Selected seed 195 with value = 0.8731
+Query 1/1: Action query time = 3.413 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9563
+t=74: Selected seed 195 with value = 0.9563
+Query 1/1: Action query time = 2.574 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=90: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 2.139 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9613
+t=106: Selected seed 195 with value = 0.9613
+Query 1/1: Action query time = 2.198 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=122: Selected seed 195 with value = 0.9570
+Query 1/1: Action query time = 2.545 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9488
+t=138: Selected seed 195 with value = 0.9488
+Query 1/1: Action query time = 3.220 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9403
+t=154: Selected seed 195 with value = 0.9403
+Query 1/1: Action query time = 3.136 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9327
+t=170: Selected seed 195 with value = 0.9327
+Query 1/1: Action query time = 2.223 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=186: Selected seed 195 with value = 0.9226
+Query 1/1: Action query time = 1.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9040
+t=202: Selected seed 195 with value = 0.9040
+Query 1/1: Action query time = 2.234 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8896
+t=218: Selected seed 195 with value = 0.8896
+Query 1/1: Action query time = 2.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=234: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 2.757 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=250: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 2.443 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8420
+t=266: Selected seed 195 with value = 0.8420
+Query 1/1: Action query time = 3.117 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=282: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 2.730 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8680
+t=298: Selected seed 195 with value = 0.8680
+Saved rollout MP4 at path ./rollouts/t7demochan800_t2/2026_08_03-00_48_00--with_future_img--episode=5--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 1.894 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5849
+t=10: Selected seed 195 with value = 0.5849
+Query 1/1: Action query time = 2.249 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6269
+t=26: Selected seed 195 with value = 0.6269
+Query 1/1: Action query time = 2.445 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7205
+t=42: Selected seed 195 with value = 0.7205
+Query 1/1: Action query time = 3.044 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8282
+t=58: Selected seed 195 with value = 0.8282
+Query 1/1: Action query time = 3.125 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9232
+t=74: Selected seed 195 with value = 0.9232
+Query 1/1: Action query time = 2.632 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=90: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 2.013 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=106: Selected seed 195 with value = 0.8746
+Query 1/1: Action query time = 1.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8919
+t=122: Selected seed 195 with value = 0.8919
+Query 1/1: Action query time = 2.326 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9046
+t=138: Selected seed 195 with value = 0.9046
+Query 1/1: Action query time = 2.378 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=154: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 2.769 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=170: Selected seed 195 with value = 0.9183
+Query 1/1: Action query time = 2.746 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=186: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 3.018 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=202: Selected seed 195 with value = 0.9256
+Query 1/1: Action query time = 2.651 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9218
+t=218: Selected seed 195 with value = 0.9218
+Query 1/1: Action query time = 2.254 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9344
+t=234: Selected seed 195 with value = 0.9344
+Query 1/1: Action query time = 3.166 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=250: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 2.014 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=266: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 2.195 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8124
+t=282: Selected seed 195 with value = 0.8124
+Query 1/1: Action query time = 2.261 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7999
+t=298: Selected seed 195 with value = 0.7999
+Saved rollout MP4 at path ./rollouts/t7demochan800_t2/2026_08_03-00_48_00--with_future_img--episode=6--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 3.315 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5647
+t=10: Selected seed 195 with value = 0.5647
+Query 1/1: Action query time = 2.855 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6494
+t=26: Selected seed 195 with value = 0.6494
+Query 1/1: Action query time = 2.670 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8196
+t=42: Selected seed 195 with value = 0.8196
+Query 1/1: Action query time = 2.673 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8809
+t=58: Selected seed 195 with value = 0.8809
+Query 1/1: Action query time = 3.222 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9014
+t=74: Selected seed 195 with value = 0.9014
+Query 1/1: Action query time = 2.437 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=90: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 3.291 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=106: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 3.355 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=122: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 3.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9367
+t=138: Selected seed 195 with value = 0.9367
+Query 1/1: Action query time = 2.393 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9170
+t=154: Selected seed 195 with value = 0.9170
+Query 1/1: Action query time = 2.361 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8875
+t=170: Selected seed 195 with value = 0.8875
+Query 1/1: Action query time = 3.028 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8384
+t=186: Selected seed 195 with value = 0.8384
+Query 1/1: Action query time = 3.013 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8320
+t=202: Selected seed 195 with value = 0.8320
+Query 1/1: Action query time = 2.011 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8263
+t=218: Selected seed 195 with value = 0.8263
+Query 1/1: Action query time = 2.332 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8219
+t=234: Selected seed 195 with value = 0.8219
+Query 1/1: Action query time = 1.962 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8181
+t=250: Selected seed 195 with value = 0.8181
+Query 1/1: Action query time = 2.693 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8223
+t=266: Selected seed 195 with value = 0.8223
+Query 1/1: Action query time = 3.077 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8452
+t=282: Selected seed 195 with value = 0.8452
+Query 1/1: Action query time = 2.919 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8518
+t=298: Selected seed 195 with value = 0.8518
+Saved rollout MP4 at path ./rollouts/t7demochan800_t2/2026_08_03-00_48_00--with_future_img--episode=7--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 1.861 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5769
+t=10: Selected seed 195 with value = 0.5769
+Query 1/1: Action query time = 1.405 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7187
+t=26: Selected seed 195 with value = 0.7187
+Query 1/1: Action query time = 2.249 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=42: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 2.284 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9255
+t=58: Selected seed 195 with value = 0.9255
+Query 1/1: Action query time = 2.150 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8881
+t=74: Selected seed 195 with value = 0.8881
+Query 1/1: Action query time = 2.269 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8830
+t=90: Selected seed 195 with value = 0.8830
+Query 1/1: Action query time = 2.195 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9067
+t=106: Selected seed 195 with value = 0.9067
+Query 1/1: Action query time = 1.929 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=122: Selected seed 195 with value = 0.8921
+Query 1/1: Action query time = 1.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8977
+t=138: Selected seed 195 with value = 0.8977
+Query 1/1: Action query time = 1.487 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9137
+t=154: Selected seed 195 with value = 0.9137
+Query 1/1: Action query time = 1.577 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=170: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 1.797 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9099
+t=186: Selected seed 195 with value = 0.9099
+Query 1/1: Action query time = 1.623 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9124
+t=202: Selected seed 195 with value = 0.9124
+Query 1/1: Action query time = 1.654 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8261
+t=218: Selected seed 195 with value = 0.8261
+Query 1/1: Action query time = 1.680 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8037
+t=234: Selected seed 195 with value = 0.8037
+Query 1/1: Action query time = 1.713 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7991
+t=250: Selected seed 195 with value = 0.7991
+Query 1/1: Action query time = 2.044 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8409
+t=266: Selected seed 195 with value = 0.8409
+Query 1/1: Action query time = 1.797 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=282: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 1.866 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7514
+t=298: Selected seed 195 with value = 0.7514
+Saved rollout MP4 at path ./rollouts/t7demochan800_t2/2026_08_03-00_48_00--with_future_img--episode=8--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 1.212 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5648
+t=10: Selected seed 195 with value = 0.5648
+Query 1/1: Action query time = 1.554 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6403
+t=26: Selected seed 195 with value = 0.6403
+Query 1/1: Action query time = 1.769 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7123
+t=42: Selected seed 195 with value = 0.7123
+Query 1/1: Action query time = 2.046 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8623
+t=58: Selected seed 195 with value = 0.8623
+Query 1/1: Action query time = 1.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9092
+t=74: Selected seed 195 with value = 0.9092
+Query 1/1: Action query time = 1.606 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=90: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 1.536 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8759
+t=106: Selected seed 195 with value = 0.8759
+Query 1/1: Action query time = 1.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=122: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 2.020 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9203
+t=138: Selected seed 195 with value = 0.9203
+Query 1/1: Action query time = 2.155 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9263
+t=154: Selected seed 195 with value = 0.9263
+Query 1/1: Action query time = 1.939 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=170: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 2.145 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9280
+t=186: Selected seed 195 with value = 0.9280
+Query 1/1: Action query time = 2.152 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=202: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 2.288 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9536
+t=218: Selected seed 195 with value = 0.9536
+Query 1/1: Action query time = 2.180 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=234: Selected seed 195 with value = 0.9445
+Query 1/1: Action query time = 2.847 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8512
+t=250: Selected seed 195 with value = 0.8512
+Query 1/1: Action query time = 2.694 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8553
+t=266: Selected seed 195 with value = 0.8553
+Query 1/1: Action query time = 2.081 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8468
+t=282: Selected seed 195 with value = 0.8468
+Query 1/1: Action query time = 1.657 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=298: Selected seed 195 with value = 0.8128
+Saved rollout MP4 at path ./rollouts/t7demochan800_t2/2026_08_03-00_48_00--with_future_img--episode=9--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 1.709 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5859
+t=10: Selected seed 195 with value = 0.5859
+Query 1/1: Action query time = 1.521 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6147
+t=26: Selected seed 195 with value = 0.6147
+Query 1/1: Action query time = 1.908 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7042
+t=42: Selected seed 195 with value = 0.7042
+Query 1/1: Action query time = 2.152 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7809
+t=58: Selected seed 195 with value = 0.7809
+Query 1/1: Action query time = 2.195 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9119
+t=74: Selected seed 195 with value = 0.9119
+Query 1/1: Action query time = 1.878 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9018
+t=90: Selected seed 195 with value = 0.9018
+Query 1/1: Action query time = 1.805 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9104
+t=106: Selected seed 195 with value = 0.9104
+Query 1/1: Action query time = 1.950 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9161
+t=122: Selected seed 195 with value = 0.9161
+Query 1/1: Action query time = 2.038 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=138: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 1.560 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=154: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 1.652 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9327
+t=170: Selected seed 195 with value = 0.9327
+Query 1/1: Action query time = 1.733 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9252
+t=186: Selected seed 195 with value = 0.9252
+Query 1/1: Action query time = 1.801 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9294
+t=202: Selected seed 195 with value = 0.9294
+Query 1/1: Action query time = 1.816 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=218: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 1.737 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9606
+t=234: Selected seed 195 with value = 0.9606
+Query 1/1: Action query time = 1.678 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8468
+t=250: Selected seed 195 with value = 0.8468
+Query 1/1: Action query time = 1.661 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8138
+t=266: Selected seed 195 with value = 0.8138
+Query 1/1: Action query time = 1.634 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8296
+t=282: Selected seed 195 with value = 0.8296
+Query 1/1: Action query time = 1.631 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8268
+t=298: Selected seed 195 with value = 0.8268
+Saved rollout MP4 at path ./rollouts/t7demochan800_t2/2026_08_03-00_48_00--with_future_img--episode=10--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 10
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7demochan800_t6.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7demochan800_t6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4478311551664fd997113a2abe3bfe4e60145a7c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7demochan800_t6.txt
@@ -0,0 +1,638 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7demochan800_t6', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 3.842 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4584
+t=10: Selected seed 195 with value = 0.4584
+Query 1/1: Action query time = 3.083 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5350
+t=26: Selected seed 195 with value = 0.5350
+Query 1/1: Action query time = 3.679 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6617
+t=42: Selected seed 195 with value = 0.6617
+Query 1/1: Action query time = 3.026 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7824
+t=58: Selected seed 195 with value = 0.7824
+Query 1/1: Action query time = 3.131 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=74: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 2.330 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=90: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 2.092 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=106: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 3.305 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=122: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 3.308 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=138: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 3.686 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=154: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 3.465 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=170: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 1.864 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=186: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 2.867 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=202: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 2.672 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=218: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 2.953 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=234: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 2.854 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=250: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 3.151 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=266: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 2.752 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8883
+t=282: Selected seed 195 with value = 0.8883
+Query 1/1: Action query time = 2.490 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=298: Selected seed 195 with value = 0.8931
+Saved rollout MP4 at path ./rollouts/t7demochan800_t6/2026_08_03-00_48_00--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.445 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4921
+t=10: Selected seed 195 with value = 0.4921
+Query 1/1: Action query time = 2.575 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5449
+t=26: Selected seed 195 with value = 0.5449
+Query 1/1: Action query time = 3.119 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5887
+t=42: Selected seed 195 with value = 0.5887
+Query 1/1: Action query time = 1.650 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6861
+t=58: Selected seed 195 with value = 0.6861
+Query 1/1: Action query time = 2.128 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8702
+t=74: Selected seed 195 with value = 0.8702
+Query 1/1: Action query time = 2.577 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=90: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 3.566 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=106: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/t7demochan800_t6/2026_08_03-00_48_00--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 2.014 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4782
+t=10: Selected seed 195 with value = 0.4782
+Query 1/1: Action query time = 2.089 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5089
+t=26: Selected seed 195 with value = 0.5089
+Query 1/1: Action query time = 2.472 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6213
+t=42: Selected seed 195 with value = 0.6213
+Query 1/1: Action query time = 3.014 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7334
+t=58: Selected seed 195 with value = 0.7334
+Query 1/1: Action query time = 2.613 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8883
+t=74: Selected seed 195 with value = 0.8883
+Query 1/1: Action query time = 3.069 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9525
+t=90: Selected seed 195 with value = 0.9525
+Query 1/1: Action query time = 3.365 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=106: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 3.434 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=122: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 2.481 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=138: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 2.029 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=154: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 1.467 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=170: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 1.433 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=186: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 2.414 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=202: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 2.996 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=218: Selected seed 195 with value = 0.9820
+Saved rollout MP4 at path ./rollouts/t7demochan800_t6/2026_08_03-00_48_00--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 3.363 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4868
+t=10: Selected seed 195 with value = 0.4868
+Query 1/1: Action query time = 2.046 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5383
+t=26: Selected seed 195 with value = 0.5383
+Query 1/1: Action query time = 2.942 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6621
+t=42: Selected seed 195 with value = 0.6621
+Query 1/1: Action query time = 2.858 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8126
+t=58: Selected seed 195 with value = 0.8126
+Query 1/1: Action query time = 3.626 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9491
+t=74: Selected seed 195 with value = 0.9491
+Query 1/1: Action query time = 2.118 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=90: Selected seed 195 with value = 0.9924
+Saved rollout MP4 at path ./rollouts/t7demochan800_t6/2026_08_03-00_48_00--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 2.347 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5135
+t=10: Selected seed 195 with value = 0.5135
+Query 1/1: Action query time = 2.938 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6187
+t=26: Selected seed 195 with value = 0.6187
+Query 1/1: Action query time = 3.644 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7026
+t=42: Selected seed 195 with value = 0.7026
+Query 1/1: Action query time = 2.619 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7719
+t=58: Selected seed 195 with value = 0.7719
+Query 1/1: Action query time = 3.342 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9186
+t=74: Selected seed 195 with value = 0.9186
+Query 1/1: Action query time = 3.373 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=90: Selected seed 195 with value = 0.9939
+Saved rollout MP4 at path ./rollouts/t7demochan800_t6/2026_08_03-00_48_00--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 1.876 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4955
+t=10: Selected seed 195 with value = 0.4955
+Query 1/1: Action query time = 1.124 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6062
+t=26: Selected seed 195 with value = 0.6062
+Query 1/1: Action query time = 3.274 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6447
+t=42: Selected seed 195 with value = 0.6447
+Query 1/1: Action query time = 3.384 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7384
+t=58: Selected seed 195 with value = 0.7384
+Query 1/1: Action query time = 2.928 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6830
+t=74: Selected seed 195 with value = 0.6830
+Query 1/1: Action query time = 2.348 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8119
+t=90: Selected seed 195 with value = 0.8119
+Query 1/1: Action query time = 2.823 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7618
+t=106: Selected seed 195 with value = 0.7618
+Query 1/1: Action query time = 2.862 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7571
+t=122: Selected seed 195 with value = 0.7571
+Query 1/1: Action query time = 1.457 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8462
+t=138: Selected seed 195 with value = 0.8462
+Query 1/1: Action query time = 1.568 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7792
+t=154: Selected seed 195 with value = 0.7792
+Query 1/1: Action query time = 2.433 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8954
+t=170: Selected seed 195 with value = 0.8954
+Query 1/1: Action query time = 2.312 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9056
+t=186: Selected seed 195 with value = 0.9056
+Query 1/1: Action query time = 2.532 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=202: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 3.004 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=218: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 2.612 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=234: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 1.817 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=250: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 1.468 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=266: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 1.909 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=282: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 2.295 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=298: Selected seed 195 with value = 0.9883
+Saved rollout MP4 at path ./rollouts/t7demochan800_t6/2026_08_03-00_48_00--with_future_img--episode=6--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 2.569 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5272
+t=10: Selected seed 195 with value = 0.5272
+Query 1/1: Action query time = 2.148 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6364
+t=26: Selected seed 195 with value = 0.6364
+Query 1/1: Action query time = 3.136 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6879
+t=42: Selected seed 195 with value = 0.6879
+Query 1/1: Action query time = 2.447 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7357
+t=58: Selected seed 195 with value = 0.7357
+Query 1/1: Action query time = 1.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8047
+t=74: Selected seed 195 with value = 0.8047
+Query 1/1: Action query time = 1.632 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=90: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 2.198 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=106: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 2.183 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=122: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 2.418 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.936 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.722 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.034 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.159 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.696 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=218: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 1.733 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.913 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.027 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.624 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.226 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=298: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/t7demochan800_t6/2026_08_03-00_48_00--with_future_img--episode=7--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 2.149 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4415
+t=10: Selected seed 195 with value = 0.4415
+Query 1/1: Action query time = 2.246 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5713
+t=26: Selected seed 195 with value = 0.5713
+Query 1/1: Action query time = 1.490 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6664
+t=42: Selected seed 195 with value = 0.6664
+Query 1/1: Action query time = 2.741 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7804
+t=58: Selected seed 195 with value = 0.7804
+Query 1/1: Action query time = 2.100 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8759
+t=74: Selected seed 195 with value = 0.8759
+Query 1/1: Action query time = 2.223 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=90: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 2.424 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=106: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 1.663 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=122: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 1.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=138: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 3.211 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=154: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 2.743 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=170: Selected seed 195 with value = 0.9777
+Saved rollout MP4 at path ./rollouts/t7demochan800_t6/2026_08_03-00_48_00--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 2.323 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4629
+t=10: Selected seed 195 with value = 0.4629
+Query 1/1: Action query time = 1.042 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5391
+t=26: Selected seed 195 with value = 0.5391
+Query 1/1: Action query time = 2.158 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6580
+t=42: Selected seed 195 with value = 0.6580
+Query 1/1: Action query time = 1.484 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7737
+t=58: Selected seed 195 with value = 0.7737
+Query 1/1: Action query time = 2.672 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8764
+t=74: Selected seed 195 with value = 0.8764
+Query 1/1: Action query time = 2.325 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=90: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 2.074 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=106: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 1.633 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=122: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 2.369 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=138: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 2.553 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=154: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 2.418 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=170: Selected seed 195 with value = 0.9734
+Query 1/1: Action query time = 2.203 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=186: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 2.581 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=202: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 2.344 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=218: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 2.781 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=234: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 2.099 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=250: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 2.028 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=266: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 2.318 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8609
+t=282: Selected seed 195 with value = 0.8609
+Query 1/1: Action query time = 2.171 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=298: Selected seed 195 with value = 0.9564
+Saved rollout MP4 at path ./rollouts/t7demochan800_t6/2026_08_03-00_48_00--with_future_img--episode=9--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 5 (55.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 1.532 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4874
+t=10: Selected seed 195 with value = 0.4874
+Query 1/1: Action query time = 2.423 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5266
+t=26: Selected seed 195 with value = 0.5266
+Query 1/1: Action query time = 1.434 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6481
+t=42: Selected seed 195 with value = 0.6481
+Query 1/1: Action query time = 2.372 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7766
+t=58: Selected seed 195 with value = 0.7766
+Query 1/1: Action query time = 1.918 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=74: Selected seed 195 with value = 0.9183
+Query 1/1: Action query time = 2.240 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=90: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 2.005 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=106: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 2.483 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=122: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 2.376 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=138: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 1.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=154: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 2.388 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=170: Selected seed 195 with value = 0.9728
+Query 1/1: Action query time = 2.498 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=186: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 1.312 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.787 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.831 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=234: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 2.454 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=250: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 1.829 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=266: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 1.813 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9089
+t=282: Selected seed 195 with value = 0.9089
+Query 1/1: Action query time = 1.141 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=298: Selected seed 195 with value = 0.9226
+Saved rollout MP4 at path ./rollouts/t7demochan800_t6/2026_08_03-00_48_00--with_future_img--episode=10--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 5 (50.0%)
+Current task success rate: 0.5
+Current total success rate: 0.5
+Final results:
+Total episodes: 10
+Total successes: 5
+Overall success rate: 0.5000 (50.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..69b0bb9def1ed508e8e310a34028081ab45e649d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t1.txt
@@ -0,0 +1,698 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800_t1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.077 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5221
+t=10: Selected seed 195 with value = 0.5221
+Query 1/1: Action query time = 2.118 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5910
+t=26: Selected seed 195 with value = 0.5910
+Query 1/1: Action query time = 2.937 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7002
+t=42: Selected seed 195 with value = 0.7002
+Query 1/1: Action query time = 2.611 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8048
+t=58: Selected seed 195 with value = 0.8048
+Query 1/1: Action query time = 3.842 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9644
+t=74: Selected seed 195 with value = 0.9644
+Query 1/1: Action query time = 3.050 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=90: Selected seed 195 with value = 0.9794
+Saved rollout MP4 at path ./rollouts/t7realcl800_t1/2026_08_03-00_48_00--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.588 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5255
+t=10: Selected seed 195 with value = 0.5255
+Query 1/1: Action query time = 2.451 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6315
+t=26: Selected seed 195 with value = 0.6315
+Query 1/1: Action query time = 2.437 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7329
+t=42: Selected seed 195 with value = 0.7329
+Query 1/1: Action query time = 3.122 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=58: Selected seed 195 with value = 0.8969
+Query 1/1: Action query time = 2.630 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=74: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 2.401 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=90: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 2.400 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=106: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 2.877 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=122: Selected seed 195 with value = 0.9749
+Query 1/1: Action query time = 2.370 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=138: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 2.719 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=154: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 2.789 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.156 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.813 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.559 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.144 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.898 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.276 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.401 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.556 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t1/2026_08_03-00_48_00--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.672 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5726
+t=10: Selected seed 195 with value = 0.5726
+Query 1/1: Action query time = 2.831 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6383
+t=26: Selected seed 195 with value = 0.6383
+Query 1/1: Action query time = 2.600 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7521
+t=42: Selected seed 195 with value = 0.7521
+Query 1/1: Action query time = 3.362 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=58: Selected seed 195 with value = 0.9086
+Query 1/1: Action query time = 3.305 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9544
+t=74: Selected seed 195 with value = 0.9544
+Query 1/1: Action query time = 3.143 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=90: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 3.102 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=106: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 2.686 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=122: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 2.760 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.273 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.487 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8875
+t=170: Selected seed 195 with value = 0.8875
+Query 1/1: Action query time = 1.769 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9201
+t=186: Selected seed 195 with value = 0.9201
+Query 1/1: Action query time = 1.886 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.342 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=218: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 2.959 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=234: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 3.133 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7744
+t=250: Selected seed 195 with value = 0.7744
+Query 1/1: Action query time = 3.270 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7485
+t=266: Selected seed 195 with value = 0.7485
+Query 1/1: Action query time = 3.077 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9544
+t=282: Selected seed 195 with value = 0.9544
+Query 1/1: Action query time = 2.763 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=298: Selected seed 195 with value = 0.9669
+Saved rollout MP4 at path ./rollouts/t7realcl800_t1/2026_08_03-00_48_00--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.340 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4969
+t=10: Selected seed 195 with value = 0.4969
+Query 1/1: Action query time = 3.125 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6114
+t=26: Selected seed 195 with value = 0.6114
+Query 1/1: Action query time = 3.139 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7296
+t=42: Selected seed 195 with value = 0.7296
+Query 1/1: Action query time = 2.877 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=58: Selected seed 195 with value = 0.9314
+Query 1/1: Action query time = 3.582 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=74: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 3.478 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=90: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 3.774 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=106: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 3.322 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=122: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 2.695 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=138: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 2.060 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=154: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 1.829 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=170: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 1.940 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=186: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 2.380 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=202: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 2.124 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=218: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 3.188 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=234: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 3.335 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=250: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 4.078 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=266: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 3.707 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=282: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 3.147 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=298: Selected seed 195 with value = 0.9891
+Saved rollout MP4 at path ./rollouts/t7realcl800_t1/2026_08_03-00_48_00--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 3.112 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5134
+t=10: Selected seed 195 with value = 0.5134
+Query 1/1: Action query time = 2.800 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5889
+t=26: Selected seed 195 with value = 0.5889
+Query 1/1: Action query time = 3.026 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7362
+t=42: Selected seed 195 with value = 0.7362
+Query 1/1: Action query time = 2.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=58: Selected seed 195 with value = 0.9616
+Query 1/1: Action query time = 3.475 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=74: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 2.857 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.297 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=106: Selected seed 195 with value = 0.9749
+Query 1/1: Action query time = 1.605 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7657
+t=122: Selected seed 195 with value = 0.7657
+Query 1/1: Action query time = 2.170 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7658
+t=138: Selected seed 195 with value = 0.7658
+Query 1/1: Action query time = 2.920 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8525
+t=154: Selected seed 195 with value = 0.8525
+Query 1/1: Action query time = 1.769 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=170: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 1.455 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=186: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 2.070 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=202: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 3.363 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=218: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 2.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=234: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 2.266 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9366
+t=250: Selected seed 195 with value = 0.9366
+Query 1/1: Action query time = 2.500 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9011
+t=266: Selected seed 195 with value = 0.9011
+Query 1/1: Action query time = 3.164 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8830
+t=282: Selected seed 195 with value = 0.8830
+Query 1/1: Action query time = 3.061 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8690
+t=298: Selected seed 195 with value = 0.8690
+Saved rollout MP4 at path ./rollouts/t7realcl800_t1/2026_08_03-00_48_00--with_future_img--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 1 (20.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 1.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5123
+t=10: Selected seed 195 with value = 0.5123
+Query 1/1: Action query time = 3.443 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5805
+t=26: Selected seed 195 with value = 0.5805
+Query 1/1: Action query time = 2.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6641
+t=42: Selected seed 195 with value = 0.6641
+Query 1/1: Action query time = 3.187 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7790
+t=58: Selected seed 195 with value = 0.7790
+Query 1/1: Action query time = 3.087 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=74: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 2.630 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8813
+t=90: Selected seed 195 with value = 0.8813
+Query 1/1: Action query time = 3.086 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8989
+t=106: Selected seed 195 with value = 0.8989
+Query 1/1: Action query time = 2.518 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=122: Selected seed 195 with value = 0.9197
+Query 1/1: Action query time = 1.633 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8176
+t=138: Selected seed 195 with value = 0.8176
+Query 1/1: Action query time = 1.858 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8541
+t=154: Selected seed 195 with value = 0.8541
+Query 1/1: Action query time = 1.652 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8107
+t=170: Selected seed 195 with value = 0.8107
+Query 1/1: Action query time = 2.752 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8094
+t=186: Selected seed 195 with value = 0.8094
+Query 1/1: Action query time = 3.028 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=202: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 3.243 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=218: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 3.050 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8635
+t=234: Selected seed 195 with value = 0.8635
+Query 1/1: Action query time = 3.073 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9277
+t=250: Selected seed 195 with value = 0.9277
+Query 1/1: Action query time = 3.079 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9140
+t=266: Selected seed 195 with value = 0.9140
+Query 1/1: Action query time = 2.218 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=282: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 2.340 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=298: Selected seed 195 with value = 0.9625
+Saved rollout MP4 at path ./rollouts/t7realcl800_t1/2026_08_03-00_48_00--with_future_img--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 1 (16.7%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 1.790 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4964
+t=10: Selected seed 195 with value = 0.4964
+Query 1/1: Action query time = 3.576 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6153
+t=26: Selected seed 195 with value = 0.6153
+Query 1/1: Action query time = 3.471 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7079
+t=42: Selected seed 195 with value = 0.7079
+Query 1/1: Action query time = 2.335 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7946
+t=58: Selected seed 195 with value = 0.7946
+Query 1/1: Action query time = 3.014 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=74: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 3.067 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9074
+t=90: Selected seed 195 with value = 0.9074
+Query 1/1: Action query time = 2.759 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=106: Selected seed 195 with value = 0.9685
+Query 1/1: Action query time = 2.432 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=122: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 2.262 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8994
+t=138: Selected seed 195 with value = 0.8994
+Query 1/1: Action query time = 2.448 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9339
+t=154: Selected seed 195 with value = 0.9339
+Query 1/1: Action query time = 1.566 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8459
+t=170: Selected seed 195 with value = 0.8459
+Query 1/1: Action query time = 1.230 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8497
+t=186: Selected seed 195 with value = 0.8497
+Query 1/1: Action query time = 1.258 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=202: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 1.281 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=218: Selected seed 195 with value = 0.9196
+Query 1/1: Action query time = 1.074 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8688
+t=234: Selected seed 195 with value = 0.8688
+Query 1/1: Action query time = 2.490 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=250: Selected seed 195 with value = 0.9282
+Query 1/1: Action query time = 3.225 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8918
+t=266: Selected seed 195 with value = 0.8918
+Query 1/1: Action query time = 2.788 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9225
+t=282: Selected seed 195 with value = 0.9225
+Query 1/1: Action query time = 2.158 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=298: Selected seed 195 with value = 0.9759
+Saved rollout MP4 at path ./rollouts/t7realcl800_t1/2026_08_03-00_48_00--with_future_img--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 1 (14.3%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 2.716 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5138
+t=10: Selected seed 195 with value = 0.5138
+Query 1/1: Action query time = 1.906 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6202
+t=26: Selected seed 195 with value = 0.6202
+Query 1/1: Action query time = 2.281 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7404
+t=42: Selected seed 195 with value = 0.7404
+Query 1/1: Action query time = 2.034 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8788
+t=58: Selected seed 195 with value = 0.8788
+Query 1/1: Action query time = 2.197 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=74: Selected seed 195 with value = 0.9769
+Saved rollout MP4 at path ./rollouts/t7realcl800_t1/2026_08_03-00_48_00--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 2 (25.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.093 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4594
+t=10: Selected seed 195 with value = 0.4594
+Query 1/1: Action query time = 1.912 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5958
+t=26: Selected seed 195 with value = 0.5958
+Query 1/1: Action query time = 2.378 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6563
+t=42: Selected seed 195 with value = 0.6563
+Query 1/1: Action query time = 2.863 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7849
+t=58: Selected seed 195 with value = 0.7849
+Query 1/1: Action query time = 1.501 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=74: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 2.016 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7517
+t=90: Selected seed 195 with value = 0.7517
+Query 1/1: Action query time = 1.477 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9344
+t=106: Selected seed 195 with value = 0.9344
+Query 1/1: Action query time = 1.618 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8368
+t=122: Selected seed 195 with value = 0.8368
+Query 1/1: Action query time = 1.033 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8642
+t=138: Selected seed 195 with value = 0.8642
+Query 1/1: Action query time = 1.357 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9130
+t=154: Selected seed 195 with value = 0.9130
+Saved rollout MP4 at path ./rollouts/t7realcl800_t1/2026_08_03-00_48_00--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 3 (33.3%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 1.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=10: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 3.027 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5999
+t=26: Selected seed 195 with value = 0.5999
+Query 1/1: Action query time = 2.773 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6756
+t=42: Selected seed 195 with value = 0.6756
+Query 1/1: Action query time = 2.744 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7649
+t=58: Selected seed 195 with value = 0.7649
+Query 1/1: Action query time = 2.118 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8492
+t=74: Selected seed 195 with value = 0.8492
+Query 1/1: Action query time = 1.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=90: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 2.508 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=106: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 2.911 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=122: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 2.330 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9304
+t=138: Selected seed 195 with value = 0.9304
+Query 1/1: Action query time = 2.341 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9462
+t=154: Selected seed 195 with value = 0.9462
+Query 1/1: Action query time = 2.156 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9185
+t=170: Selected seed 195 with value = 0.9185
+Query 1/1: Action query time = 2.391 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9406
+t=186: Selected seed 195 with value = 0.9406
+Query 1/1: Action query time = 2.275 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=202: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 2.525 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9605
+t=218: Selected seed 195 with value = 0.9605
+Query 1/1: Action query time = 2.356 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9062
+t=234: Selected seed 195 with value = 0.9062
+Query 1/1: Action query time = 2.489 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8521
+t=250: Selected seed 195 with value = 0.8521
+Query 1/1: Action query time = 1.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8354
+t=266: Selected seed 195 with value = 0.8354
+Query 1/1: Action query time = 2.188 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9189
+t=282: Selected seed 195 with value = 0.9189
+Query 1/1: Action query time = 1.096 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8706
+t=298: Selected seed 195 with value = 0.8706
+Saved rollout MP4 at path ./rollouts/t7realcl800_t1/2026_08_03-00_48_00--with_future_img--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 3 (30.0%)
+Current task success rate: 0.3
+Current total success rate: 0.3
+Final results:
+Total episodes: 10
+Total successes: 3
+Overall success rate: 0.3000 (30.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t5.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84f72ff667af39ea8a2712dc8b06d820ee36b602
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t5.txt
@@ -0,0 +1,694 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800_t5', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.255 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4445
+t=10: Selected seed 195 with value = 0.4445
+Query 1/1: Action query time = 2.243 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5293
+t=26: Selected seed 195 with value = 0.5293
+Query 1/1: Action query time = 2.727 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6436
+t=42: Selected seed 195 with value = 0.6436
+Query 1/1: Action query time = 2.643 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7446
+t=58: Selected seed 195 with value = 0.7446
+Query 1/1: Action query time = 2.819 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7911
+t=74: Selected seed 195 with value = 0.7911
+Query 1/1: Action query time = 3.205 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8858
+t=90: Selected seed 195 with value = 0.8858
+Query 1/1: Action query time = 3.055 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=106: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 2.382 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.599 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.092 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t5/2026_08_03-00_48_00--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.431 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4546
+t=10: Selected seed 195 with value = 0.4546
+Query 1/1: Action query time = 2.758 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5245
+t=26: Selected seed 195 with value = 0.5245
+Query 1/1: Action query time = 2.829 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6036
+t=42: Selected seed 195 with value = 0.6036
+Query 1/1: Action query time = 1.866 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7198
+t=58: Selected seed 195 with value = 0.7198
+Query 1/1: Action query time = 2.872 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8486
+t=74: Selected seed 195 with value = 0.8486
+Query 1/1: Action query time = 2.684 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=90: Selected seed 195 with value = 0.8779
+Query 1/1: Action query time = 1.939 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9169
+t=106: Selected seed 195 with value = 0.9169
+Query 1/1: Action query time = 2.060 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=122: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 2.741 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=138: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 3.019 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7858
+t=154: Selected seed 195 with value = 0.7858
+Query 1/1: Action query time = 3.364 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8707
+t=170: Selected seed 195 with value = 0.8707
+Query 1/1: Action query time = 3.356 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.022 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.943 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.076 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.071 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.284 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.454 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t5/2026_08_03-00_48_00--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.267 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4500
+t=10: Selected seed 195 with value = 0.4500
+Query 1/1: Action query time = 2.328 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5118
+t=26: Selected seed 195 with value = 0.5118
+Query 1/1: Action query time = 2.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=42: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 3.067 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6903
+t=58: Selected seed 195 with value = 0.6903
+Query 1/1: Action query time = 2.546 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8468
+t=74: Selected seed 195 with value = 0.8468
+Query 1/1: Action query time = 2.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=90: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 2.623 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=106: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 3.084 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.170 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.852 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.316 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.161 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.931 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=202: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 2.447 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9478
+t=218: Selected seed 195 with value = 0.9478
+Query 1/1: Action query time = 3.838 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=234: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 2.890 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=250: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 3.352 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=266: Selected seed 195 with value = 0.9844
+Query 1/1: Action query time = 2.395 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=282: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/t7realcl800_t5/2026_08_03-00_48_00--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.406 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4503
+t=10: Selected seed 195 with value = 0.4503
+Query 1/1: Action query time = 3.622 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5578
+t=26: Selected seed 195 with value = 0.5578
+Query 1/1: Action query time = 3.251 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6592
+t=42: Selected seed 195 with value = 0.6592
+Query 1/1: Action query time = 2.899 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7554
+t=58: Selected seed 195 with value = 0.7554
+Query 1/1: Action query time = 1.858 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7288
+t=74: Selected seed 195 with value = 0.7288
+Query 1/1: Action query time = 2.856 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7674
+t=90: Selected seed 195 with value = 0.7674
+Query 1/1: Action query time = 2.361 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7989
+t=106: Selected seed 195 with value = 0.7989
+Query 1/1: Action query time = 1.904 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7903
+t=122: Selected seed 195 with value = 0.7903
+Query 1/1: Action query time = 2.601 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8259
+t=138: Selected seed 195 with value = 0.8259
+Query 1/1: Action query time = 3.898 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8999
+t=154: Selected seed 195 with value = 0.8999
+Query 1/1: Action query time = 3.190 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9169
+t=170: Selected seed 195 with value = 0.9169
+Query 1/1: Action query time = 3.185 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9332
+t=186: Selected seed 195 with value = 0.9332
+Query 1/1: Action query time = 1.915 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=202: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 1.904 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=218: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 2.882 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=234: Selected seed 195 with value = 0.9693
+Query 1/1: Action query time = 2.569 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=250: Selected seed 195 with value = 0.9576
+Query 1/1: Action query time = 1.626 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9044
+t=266: Selected seed 195 with value = 0.9044
+Query 1/1: Action query time = 1.753 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=282: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 2.338 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t5/2026_08_03-00_48_00--with_future_img--episode=4--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 2.848 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=10: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 2.157 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5130
+t=26: Selected seed 195 with value = 0.5130
+Query 1/1: Action query time = 3.041 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=42: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 2.200 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7064
+t=58: Selected seed 195 with value = 0.7064
+Query 1/1: Action query time = 1.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8499
+t=74: Selected seed 195 with value = 0.8499
+Query 1/1: Action query time = 2.498 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8870
+t=90: Selected seed 195 with value = 0.8870
+Query 1/1: Action query time = 1.836 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9316
+t=106: Selected seed 195 with value = 0.9316
+Query 1/1: Action query time = 3.855 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=122: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 2.772 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=138: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 2.123 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7880
+t=154: Selected seed 195 with value = 0.7880
+Query 1/1: Action query time = 1.881 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8562
+t=170: Selected seed 195 with value = 0.8562
+Query 1/1: Action query time = 1.663 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.716 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t5/2026_08_03-00_48_00--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 1.376 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4595
+t=10: Selected seed 195 with value = 0.4595
+Query 1/1: Action query time = 2.554 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=26: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 1.793 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6486
+t=42: Selected seed 195 with value = 0.6486
+Query 1/1: Action query time = 2.049 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7602
+t=58: Selected seed 195 with value = 0.7602
+Query 1/1: Action query time = 2.406 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9061
+t=74: Selected seed 195 with value = 0.9061
+Query 1/1: Action query time = 1.193 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=90: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 1.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=106: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 2.335 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=122: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 2.298 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=138: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 2.263 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.266 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7697
+t=170: Selected seed 195 with value = 0.7697
+Query 1/1: Action query time = 1.861 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8753
+t=186: Selected seed 195 with value = 0.8753
+Query 1/1: Action query time = 1.682 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=202: Selected seed 195 with value = 0.9576
+Saved rollout MP4 at path ./rollouts/t7realcl800_t5/2026_08_03-00_48_00--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 2.538 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4313
+t=10: Selected seed 195 with value = 0.4313
+Query 1/1: Action query time = 2.578 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5095
+t=26: Selected seed 195 with value = 0.5095
+Query 1/1: Action query time = 1.921 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6093
+t=42: Selected seed 195 with value = 0.6093
+Query 1/1: Action query time = 2.118 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7280
+t=58: Selected seed 195 with value = 0.7280
+Query 1/1: Action query time = 2.567 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8435
+t=74: Selected seed 195 with value = 0.8435
+Query 1/1: Action query time = 1.683 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9042
+t=90: Selected seed 195 with value = 0.9042
+Query 1/1: Action query time = 1.339 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=106: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 2.629 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=122: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 2.246 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7721
+t=138: Selected seed 195 with value = 0.7721
+Query 1/1: Action query time = 1.926 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7866
+t=154: Selected seed 195 with value = 0.7866
+Query 1/1: Action query time = 2.194 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8198
+t=170: Selected seed 195 with value = 0.8198
+Query 1/1: Action query time = 2.441 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9317
+t=186: Selected seed 195 with value = 0.9317
+Query 1/1: Action query time = 2.202 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=202: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 2.121 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9492
+t=218: Selected seed 195 with value = 0.9492
+Query 1/1: Action query time = 2.566 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=234: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 1.412 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9477
+t=250: Selected seed 195 with value = 0.9477
+Query 1/1: Action query time = 1.307 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=266: Selected seed 195 with value = 0.9229
+Query 1/1: Action query time = 1.758 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9472
+t=282: Selected seed 195 with value = 0.9472
+Query 1/1: Action query time = 1.856 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9323
+t=298: Selected seed 195 with value = 0.9323
+Saved rollout MP4 at path ./rollouts/t7realcl800_t5/2026_08_03-00_48_00--with_future_img--episode=7--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 2.431 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4405
+t=10: Selected seed 195 with value = 0.4405
+Query 1/1: Action query time = 2.303 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5012
+t=26: Selected seed 195 with value = 0.5012
+Query 1/1: Action query time = 1.753 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5915
+t=42: Selected seed 195 with value = 0.5915
+Query 1/1: Action query time = 2.694 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6662
+t=58: Selected seed 195 with value = 0.6662
+Query 1/1: Action query time = 1.913 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8524
+t=74: Selected seed 195 with value = 0.8524
+Query 1/1: Action query time = 2.219 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8150
+t=90: Selected seed 195 with value = 0.8150
+Query 1/1: Action query time = 2.019 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9034
+t=106: Selected seed 195 with value = 0.9034
+Query 1/1: Action query time = 1.037 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=122: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 1.420 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=138: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 1.140 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8268
+t=154: Selected seed 195 with value = 0.8268
+Query 1/1: Action query time = 1.477 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=170: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 1.668 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.479 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t5/2026_08_03-00_48_00--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 2.230 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4742
+t=10: Selected seed 195 with value = 0.4742
+Query 1/1: Action query time = 1.709 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5348
+t=26: Selected seed 195 with value = 0.5348
+Query 1/1: Action query time = 2.535 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=42: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 2.180 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6575
+t=58: Selected seed 195 with value = 0.6575
+Query 1/1: Action query time = 1.881 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8223
+t=74: Selected seed 195 with value = 0.8223
+Query 1/1: Action query time = 2.273 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8981
+t=90: Selected seed 195 with value = 0.8981
+Query 1/1: Action query time = 1.794 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=106: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 1.468 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=122: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 2.195 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=138: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 2.168 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8500
+t=154: Selected seed 195 with value = 0.8500
+Query 1/1: Action query time = 2.286 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7635
+t=170: Selected seed 195 with value = 0.7635
+Query 1/1: Action query time = 1.554 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7877
+t=186: Selected seed 195 with value = 0.7877
+Query 1/1: Action query time = 1.888 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=202: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 1.784 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.336 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.599 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.237 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.392 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.190 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t5/2026_08_03-00_48_00--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 1.255 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4523
+t=10: Selected seed 195 with value = 0.4523
+Query 1/1: Action query time = 1.776 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5330
+t=26: Selected seed 195 with value = 0.5330
+Query 1/1: Action query time = 1.443 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6321
+t=42: Selected seed 195 with value = 0.6321
+Query 1/1: Action query time = 1.452 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7226
+t=58: Selected seed 195 with value = 0.7226
+Query 1/1: Action query time = 1.879 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8712
+t=74: Selected seed 195 with value = 0.8712
+Query 1/1: Action query time = 2.142 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9163
+t=90: Selected seed 195 with value = 0.9163
+Query 1/1: Action query time = 1.577 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9702
+t=106: Selected seed 195 with value = 0.9702
+Query 1/1: Action query time = 1.878 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=122: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 1.064 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.406 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t5/2026_08_03-00_48_00--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+Current task success rate: 0.7
+Current total success rate: 0.7
+Final results:
+Total episodes: 10
+Total successes: 7
+Overall success rate: 0.7000 (70.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_09--t7dc800x50_t0_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_09--t7dc800x50_t0_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1208791ab7054c2c383a9f0c4b6f42f5a622bc6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_09--t7dc800x50_t0_s3.txt
@@ -0,0 +1,156 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t0_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,8,13,18,23,28,33,38,43,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.935 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4564
+t=10: Selected seed 195 with value = 0.4564
+Query 1/1: Action query time = 5.538 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5323
+t=26: Selected seed 195 with value = 0.5323
+Query 1/1: Action query time = 6.563 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6336
+t=42: Selected seed 195 with value = 0.6336
+Query 1/1: Action query time = 5.818 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7355
+t=58: Selected seed 195 with value = 0.7355
+Query 1/1: Action query time = 8.136 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8481
+t=74: Selected seed 195 with value = 0.8481
+Query 1/1: Action query time = 9.240 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.325 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 8.542 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 8.313 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.199 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.231 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=186: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 6.906 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=202: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 6.577 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9131
+t=218: Selected seed 195 with value = 0.9131
+Query 1/1: Action query time = 4.625 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=234: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 5.200 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=250: Selected seed 195 with value = 0.8914
+Query 1/1: Action query time = 6.540 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8827
+t=266: Selected seed 195 with value = 0.8827
+Query 1/1: Action query time = 6.245 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8750
+t=282: Selected seed 195 with value = 0.8750
+Query 1/1: Action query time = 4.787 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=298: Selected seed 195 with value = 0.8746
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_09_09--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.951 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4425
+t=10: Selected seed 195 with value = 0.4425
+Query 1/1: Action query time = 4.711 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5113
+t=26: Selected seed 195 with value = 0.5113
+Query 1/1: Action query time = 7.198 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5857
+t=42: Selected seed 195 with value = 0.5857
+Query 1/1: Action query time = 6.261 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6841
+t=58: Selected seed 195 with value = 0.6841
+Query 1/1: Action query time = 5.893 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8250
+t=74: Selected seed 195 with value = 0.8250
+Query 1/1: Action query time = 5.878 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=90: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 6.382 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=106: Selected seed 195 with value = 0.9752
+Query 1/1: Action query time = 6.765 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=122: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 6.167 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=138: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 3.711 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=154: Selected seed 195 with value = 0.9570
+Query 1/1: Action query time = 4.389 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=170: Selected seed 195 with value = 0.9489
+Query 1/1: Action query time = 6.933 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.755 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.104 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.406 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.882 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_10--t7dc800x50_t2_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_10--t7dc800x50_t2_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c8a62eea615a3afc4b88351c158a92c4a1c818
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_10--t7dc800x50_t2_s1.txt
@@ -0,0 +1,168 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t2_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,6,11,16,21,26,31,36,41,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.495 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5573
+t=10: Selected seed 195 with value = 0.5573
+Query 1/1: Action query time = 4.669 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6653
+t=26: Selected seed 195 with value = 0.6653
+Query 1/1: Action query time = 5.863 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8189
+t=42: Selected seed 195 with value = 0.8189
+Query 1/1: Action query time = 7.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9102
+t=58: Selected seed 195 with value = 0.9102
+Query 1/1: Action query time = 6.620 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=74: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 6.024 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.868 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 8.503 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.504 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.826 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.416 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.886 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=202: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 7.647 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=218: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 4.944 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=234: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 7.451 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=250: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 7.025 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9563
+t=266: Selected seed 195 with value = 0.9563
+Query 1/1: Action query time = 7.508 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=282: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 5.168 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9682
+t=298: Selected seed 195 with value = 0.9682
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_09_10--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.198 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5647
+t=10: Selected seed 195 with value = 0.5647
+Query 1/1: Action query time = 3.923 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6494
+t=26: Selected seed 195 with value = 0.6494
+Query 1/1: Action query time = 5.686 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=42: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 6.454 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=58: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 7.238 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8964
+t=74: Selected seed 195 with value = 0.8964
+Query 1/1: Action query time = 5.473 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8854
+t=90: Selected seed 195 with value = 0.8854
+Query 1/1: Action query time = 4.139 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8842
+t=106: Selected seed 195 with value = 0.8842
+Query 1/1: Action query time = 7.678 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=122: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 6.293 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9363
+t=138: Selected seed 195 with value = 0.9363
+Query 1/1: Action query time = 4.915 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=154: Selected seed 195 with value = 0.9291
+Query 1/1: Action query time = 7.180 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9041
+t=170: Selected seed 195 with value = 0.9041
+Query 1/1: Action query time = 6.569 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=186: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 6.148 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8390
+t=202: Selected seed 195 with value = 0.8390
+Query 1/1: Action query time = 6.644 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8301
+t=218: Selected seed 195 with value = 0.8301
+Query 1/1: Action query time = 5.767 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8232
+t=234: Selected seed 195 with value = 0.8232
+Query 1/1: Action query time = 7.825 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8221
+t=250: Selected seed 195 with value = 0.8221
+Query 1/1: Action query time = 6.126 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8177
+t=266: Selected seed 195 with value = 0.8177
+Query 1/1: Action query time = 5.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8312
+t=282: Selected seed 195 with value = 0.8312
+Query 1/1: Action query time = 6.180 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8630
+t=298: Selected seed 195 with value = 0.8630
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7dc800x50_t3_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7dc800x50_t3_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ffbce972107f35aa36b9863b1fc18bfdcb72417
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7dc800x50_t3_s0.txt
@@ -0,0 +1,148 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t3_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,5,10,15,20,25,30,35,40,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 9.019 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6444
+t=10: Selected seed 195 with value = 0.6444
+Query 1/1: Action query time = 6.819 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7337
+t=26: Selected seed 195 with value = 0.7337
+Query 1/1: Action query time = 5.539 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8218
+t=42: Selected seed 195 with value = 0.8218
+Query 1/1: Action query time = 7.082 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8981
+t=58: Selected seed 195 with value = 0.8981
+Query 1/1: Action query time = 5.808 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=74: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 5.867 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=90: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 6.060 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9288
+t=106: Selected seed 195 with value = 0.9288
+Query 1/1: Action query time = 6.889 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=122: Selected seed 195 with value = 0.9522
+Query 1/1: Action query time = 7.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8776
+t=138: Selected seed 195 with value = 0.8776
+Query 1/1: Action query time = 6.601 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9261
+t=154: Selected seed 195 with value = 0.9261
+Query 1/1: Action query time = 6.790 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8821
+t=170: Selected seed 195 with value = 0.8821
+Query 1/1: Action query time = 7.102 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8355
+t=186: Selected seed 195 with value = 0.8355
+Query 1/1: Action query time = 6.316 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=202: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 8.238 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=218: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 7.621 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8238
+t=234: Selected seed 195 with value = 0.8238
+Query 1/1: Action query time = 8.067 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=250: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 7.860 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8565
+t=266: Selected seed 195 with value = 0.8565
+Query 1/1: Action query time = 5.186 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8549
+t=282: Selected seed 195 with value = 0.8549
+Query 1/1: Action query time = 6.053 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8420
+t=298: Selected seed 195 with value = 0.8420
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s0/2026_08_03-01_09_12--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 6.555 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4739
+t=10: Selected seed 195 with value = 0.4739
+Query 1/1: Action query time = 7.063 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6770
+t=26: Selected seed 195 with value = 0.6770
+Query 1/1: Action query time = 6.664 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=42: Selected seed 195 with value = 0.8171
+Query 1/1: Action query time = 7.069 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=58: Selected seed 195 with value = 0.9152
+Query 1/1: Action query time = 6.319 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9280
+t=74: Selected seed 195 with value = 0.9280
+Query 1/1: Action query time = 8.658 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 8.858 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9649
+t=106: Selected seed 195 with value = 0.9649
+Query 1/1: Action query time = 9.308 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=122: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 8.792 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=138: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 7.647 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9613
+t=154: Selected seed 195 with value = 0.9613
+Query 1/1: Action query time = 7.459 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9724
+t=170: Selected seed 195 with value = 0.9724
+Query 1/1: Action query time = 9.370 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=186: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 8.624 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=202: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 7.545 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=218: Selected seed 195 with value = 0.9762
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t2_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t2_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..336abbc1e95182cd014424faaebf86f2f0bc7ff4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t2_s2.txt
@@ -0,0 +1,152 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t2_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,7,12,17,22,27,32,37,42,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 9.060 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5842
+t=10: Selected seed 195 with value = 0.5842
+Query 1/1: Action query time = 6.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7358
+t=26: Selected seed 195 with value = 0.7358
+Query 1/1: Action query time = 6.276 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7343
+t=42: Selected seed 195 with value = 0.7343
+Query 1/1: Action query time = 6.089 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=58: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 6.903 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=74: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 5.432 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.266 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.731 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=122: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 6.655 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=138: Selected seed 195 with value = 0.9360
+Query 1/1: Action query time = 5.414 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9579
+t=154: Selected seed 195 with value = 0.9579
+Query 1/1: Action query time = 7.614 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=170: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 6.302 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=186: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 6.064 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=202: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 8.438 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.826 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=234: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 5.622 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=250: Selected seed 195 with value = 0.8840
+Query 1/1: Action query time = 7.074 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=266: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 6.850 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8404
+t=282: Selected seed 195 with value = 0.8404
+Query 1/1: Action query time = 5.992 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8448
+t=298: Selected seed 195 with value = 0.8448
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s2/2026_08_03-01_09_12--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 7.302 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5767
+t=10: Selected seed 195 with value = 0.5767
+Query 1/1: Action query time = 6.862 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6949
+t=26: Selected seed 195 with value = 0.6949
+Query 1/1: Action query time = 5.856 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=42: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 5.794 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9106
+t=58: Selected seed 195 with value = 0.9106
+Query 1/1: Action query time = 8.456 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7669
+t=74: Selected seed 195 with value = 0.7669
+Query 1/1: Action query time = 6.358 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=90: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 7.854 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8247
+t=106: Selected seed 195 with value = 0.8247
+Query 1/1: Action query time = 8.600 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8552
+t=122: Selected seed 195 with value = 0.8552
+Query 1/1: Action query time = 7.669 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8371
+t=138: Selected seed 195 with value = 0.8371
+Query 1/1: Action query time = 6.421 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=154: Selected seed 195 with value = 0.8171
+Query 1/1: Action query time = 7.624 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8320
+t=170: Selected seed 195 with value = 0.8320
+Query 1/1: Action query time = 6.650 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8376
+t=186: Selected seed 195 with value = 0.8376
+Query 1/1: Action query time = 8.897 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9088
+t=202: Selected seed 195 with value = 0.9088
+Query 1/1: Action query time = 7.159 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9362
+t=218: Selected seed 195 with value = 0.9362
+Query 1/1: Action query time = 6.113 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=234: Selected seed 195 with value = 0.9360
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t1_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t1_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46ed275fb26ca514662f242fff443e6400704d80
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t1_s2.txt
@@ -0,0 +1,119 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t1_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,7,12,17,22,27,32,37,42,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 12.112 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5726
+t=10: Selected seed 195 with value = 0.5726
+Query 1/1: Action query time = 8.501 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=26: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 8.489 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7520
+t=42: Selected seed 195 with value = 0.7520
+Query 1/1: Action query time = 7.730 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=58: Selected seed 195 with value = 0.9298
+Query 1/1: Action query time = 9.002 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=74: Selected seed 195 with value = 0.9504
+Query 1/1: Action query time = 9.186 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=90: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 7.931 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=106: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 8.312 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=122: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 8.206 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=138: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 6.841 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 9.031 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=170: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 8.661 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=186: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 4.578 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9732
+t=202: Selected seed 195 with value = 0.9732
+Query 1/1: Action query time = 6.365 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7446
+t=218: Selected seed 195 with value = 0.7446
+Query 1/1: Action query time = 7.373 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=234: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 8.246 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9635
+t=250: Selected seed 195 with value = 0.9635
+Query 1/1: Action query time = 7.282 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=266: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 5.711 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9488
+t=282: Selected seed 195 with value = 0.9488
+Query 1/1: Action query time = 4.938 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=298: Selected seed 195 with value = 0.9495
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_09_13--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 9.656 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5138
+t=10: Selected seed 195 with value = 0.5138
+Query 1/1: Action query time = 10.039 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6199
+t=26: Selected seed 195 with value = 0.6199
+Query 1/1: Action query time = 6.261 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7415
+t=42: Selected seed 195 with value = 0.7415
+Query 1/1: Action query time = 5.768 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8797
+t=58: Selected seed 195 with value = 0.8797
+Query 1/1: Action query time = 11.221 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=74: Selected seed 195 with value = 0.9776
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_09_13--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t3_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t3_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a21c97a9488a9589ec660e6ab8de307431dd68df
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t3_s3.txt
@@ -0,0 +1,152 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t3_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,8,13,18,23,28,33,38,43,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 7.563 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4803
+t=10: Selected seed 195 with value = 0.4803
+Query 1/1: Action query time = 8.068 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6153
+t=26: Selected seed 195 with value = 0.6153
+Query 1/1: Action query time = 7.466 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8274
+t=42: Selected seed 195 with value = 0.8274
+Query 1/1: Action query time = 9.094 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8955
+t=58: Selected seed 195 with value = 0.8955
+Query 1/1: Action query time = 6.729 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8505
+t=74: Selected seed 195 with value = 0.8505
+Query 1/1: Action query time = 8.112 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=90: Selected seed 195 with value = 0.9258
+Query 1/1: Action query time = 6.405 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8460
+t=106: Selected seed 195 with value = 0.8460
+Query 1/1: Action query time = 6.349 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=122: Selected seed 195 with value = 0.8590
+Query 1/1: Action query time = 8.297 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=138: Selected seed 195 with value = 0.9333
+Query 1/1: Action query time = 8.017 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8383
+t=154: Selected seed 195 with value = 0.8383
+Query 1/1: Action query time = 7.864 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=170: Selected seed 195 with value = 0.9256
+Query 1/1: Action query time = 9.097 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=186: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 8.008 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9044
+t=202: Selected seed 195 with value = 0.9044
+Query 1/1: Action query time = 5.948 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8557
+t=218: Selected seed 195 with value = 0.8557
+Query 1/1: Action query time = 6.752 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8978
+t=234: Selected seed 195 with value = 0.8978
+Query 1/1: Action query time = 5.927 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8432
+t=250: Selected seed 195 with value = 0.8432
+Query 1/1: Action query time = 7.263 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8543
+t=266: Selected seed 195 with value = 0.8543
+Query 1/1: Action query time = 4.609 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8464
+t=282: Selected seed 195 with value = 0.8464
+Query 1/1: Action query time = 3.342 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8357
+t=298: Selected seed 195 with value = 0.8357
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_09_13--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 7.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4765
+t=10: Selected seed 195 with value = 0.4765
+Query 1/1: Action query time = 7.070 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6992
+t=26: Selected seed 195 with value = 0.6992
+Query 1/1: Action query time = 5.179 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8224
+t=42: Selected seed 195 with value = 0.8224
+Query 1/1: Action query time = 5.117 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9018
+t=58: Selected seed 195 with value = 0.9018
+Query 1/1: Action query time = 5.023 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=74: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 4.122 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=90: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 4.542 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8576
+t=106: Selected seed 195 with value = 0.8576
+Query 1/1: Action query time = 6.674 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8742
+t=122: Selected seed 195 with value = 0.8742
+Query 1/1: Action query time = 8.392 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7421
+t=138: Selected seed 195 with value = 0.7421
+Query 1/1: Action query time = 6.717 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9000
+t=154: Selected seed 195 with value = 0.9000
+Query 1/1: Action query time = 7.383 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8354
+t=170: Selected seed 195 with value = 0.8354
+Query 1/1: Action query time = 7.528 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8844
+t=186: Selected seed 195 with value = 0.8844
+Query 1/1: Action query time = 4.996 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7605
+t=202: Selected seed 195 with value = 0.7605
+Query 1/1: Action query time = 6.474 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8928
+t=218: Selected seed 195 with value = 0.8928
+Query 1/1: Action query time = 7.247 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8368
+t=234: Selected seed 195 with value = 0.8368
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_46--t7rc800x50_t0_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_46--t7rc800x50_t0_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b29caa1e9626bb157185c117233a4a747000948
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_46--t7rc800x50_t0_s2.txt
@@ -0,0 +1,972 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t0_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.533 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4574
+t=10: Selected seed 195 with value = 0.4574
+Query 1/1: Action query time = 3.092 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5192
+t=26: Selected seed 195 with value = 0.5192
+Query 1/1: Action query time = 3.360 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5883
+t=42: Selected seed 195 with value = 0.5883
+Query 1/1: Action query time = 5.848 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6918
+t=58: Selected seed 195 with value = 0.6918
+Query 1/1: Action query time = 3.841 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8260
+t=74: Selected seed 195 with value = 0.8260
+Query 1/1: Action query time = 6.488 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9206
+t=90: Selected seed 195 with value = 0.9206
+Query 1/1: Action query time = 5.121 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=106: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 5.487 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=122: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 5.047 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8870
+t=138: Selected seed 195 with value = 0.8870
+Query 1/1: Action query time = 5.920 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=154: Selected seed 195 with value = 0.8778
+Query 1/1: Action query time = 6.575 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=170: Selected seed 195 with value = 0.8801
+Query 1/1: Action query time = 5.080 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8756
+t=186: Selected seed 195 with value = 0.8756
+Query 1/1: Action query time = 4.428 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8693
+t=202: Selected seed 195 with value = 0.8693
+Query 1/1: Action query time = 5.854 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8479
+t=218: Selected seed 195 with value = 0.8479
+Query 1/1: Action query time = 5.381 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8474
+t=234: Selected seed 195 with value = 0.8474
+Query 1/1: Action query time = 7.027 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8550
+t=250: Selected seed 195 with value = 0.8550
+Query 1/1: Action query time = 5.417 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8462
+t=266: Selected seed 195 with value = 0.8462
+Query 1/1: Action query time = 5.333 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=282: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 5.710 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8377
+t=298: Selected seed 195 with value = 0.8377
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4261
+t=10: Selected seed 195 with value = 0.4261
+Query 1/1: Action query time = 4.263 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=26: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 4.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5467
+t=42: Selected seed 195 with value = 0.5467
+Query 1/1: Action query time = 4.771 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6266
+t=58: Selected seed 195 with value = 0.6266
+Query 1/1: Action query time = 5.390 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7410
+t=74: Selected seed 195 with value = 0.7410
+Query 1/1: Action query time = 7.074 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9209
+t=90: Selected seed 195 with value = 0.9209
+Query 1/1: Action query time = 4.748 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=106: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 3.799 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=122: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 4.345 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=138: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 4.743 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.765 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4422
+t=10: Selected seed 195 with value = 0.4422
+Query 1/1: Action query time = 5.860 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5072
+t=26: Selected seed 195 with value = 0.5072
+Query 1/1: Action query time = 6.110 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5814
+t=42: Selected seed 195 with value = 0.5814
+Query 1/1: Action query time = 5.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6590
+t=58: Selected seed 195 with value = 0.6590
+Query 1/1: Action query time = 6.322 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7801
+t=74: Selected seed 195 with value = 0.7801
+Query 1/1: Action query time = 6.584 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=90: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 6.505 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8004
+t=106: Selected seed 195 with value = 0.8004
+Query 1/1: Action query time = 7.260 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7745
+t=122: Selected seed 195 with value = 0.7745
+Query 1/1: Action query time = 5.490 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7687
+t=138: Selected seed 195 with value = 0.7687
+Query 1/1: Action query time = 5.005 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7620
+t=154: Selected seed 195 with value = 0.7620
+Query 1/1: Action query time = 4.460 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=170: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 4.629 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7599
+t=186: Selected seed 195 with value = 0.7599
+Query 1/1: Action query time = 4.673 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7592
+t=202: Selected seed 195 with value = 0.7592
+Query 1/1: Action query time = 5.385 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7638
+t=218: Selected seed 195 with value = 0.7638
+Query 1/1: Action query time = 6.469 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7732
+t=234: Selected seed 195 with value = 0.7732
+Query 1/1: Action query time = 6.129 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7731
+t=250: Selected seed 195 with value = 0.7731
+Query 1/1: Action query time = 5.278 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7773
+t=266: Selected seed 195 with value = 0.7773
+Query 1/1: Action query time = 5.389 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7803
+t=282: Selected seed 195 with value = 0.7803
+Query 1/1: Action query time = 5.829 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7793
+t=298: Selected seed 195 with value = 0.7793
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4343
+t=10: Selected seed 195 with value = 0.4343
+Query 1/1: Action query time = 5.393 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5201
+t=26: Selected seed 195 with value = 0.5201
+Query 1/1: Action query time = 5.546 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5920
+t=42: Selected seed 195 with value = 0.5920
+Query 1/1: Action query time = 6.612 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6866
+t=58: Selected seed 195 with value = 0.6866
+Query 1/1: Action query time = 4.122 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=74: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 5.914 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=90: Selected seed 195 with value = 0.9550
+Query 1/1: Action query time = 4.440 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8792
+t=106: Selected seed 195 with value = 0.8792
+Query 1/1: Action query time = 5.213 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9175
+t=122: Selected seed 195 with value = 0.9175
+Query 1/1: Action query time = 5.477 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8670
+t=138: Selected seed 195 with value = 0.8670
+Query 1/1: Action query time = 5.560 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=154: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 4.671 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=170: Selected seed 195 with value = 0.8907
+Query 1/1: Action query time = 5.027 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=186: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 5.100 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8782
+t=202: Selected seed 195 with value = 0.8782
+Query 1/1: Action query time = 5.543 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8780
+t=218: Selected seed 195 with value = 0.8780
+Query 1/1: Action query time = 5.362 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8710
+t=234: Selected seed 195 with value = 0.8710
+Query 1/1: Action query time = 5.907 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=250: Selected seed 195 with value = 0.8779
+Query 1/1: Action query time = 5.857 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8658
+t=266: Selected seed 195 with value = 0.8658
+Query 1/1: Action query time = 6.063 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8730
+t=282: Selected seed 195 with value = 0.8730
+Query 1/1: Action query time = 5.625 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8722
+t=298: Selected seed 195 with value = 0.8722
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=4--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 6.112 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4359
+t=10: Selected seed 195 with value = 0.4359
+Query 1/1: Action query time = 6.582 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5004
+t=26: Selected seed 195 with value = 0.5004
+Query 1/1: Action query time = 5.213 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5651
+t=42: Selected seed 195 with value = 0.5651
+Query 1/1: Action query time = 5.510 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6589
+t=58: Selected seed 195 with value = 0.6589
+Query 1/1: Action query time = 5.698 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7749
+t=74: Selected seed 195 with value = 0.7749
+Query 1/1: Action query time = 5.257 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=90: Selected seed 195 with value = 0.9661
+Query 1/1: Action query time = 5.035 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8338
+t=106: Selected seed 195 with value = 0.8338
+Query 1/1: Action query time = 4.224 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9409
+t=122: Selected seed 195 with value = 0.9409
+Query 1/1: Action query time = 6.111 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8998
+t=138: Selected seed 195 with value = 0.8998
+Query 1/1: Action query time = 5.284 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8690
+t=154: Selected seed 195 with value = 0.8690
+Query 1/1: Action query time = 3.131 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8694
+t=170: Selected seed 195 with value = 0.8694
+Query 1/1: Action query time = 4.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=186: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 5.259 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8727
+t=202: Selected seed 195 with value = 0.8727
+Query 1/1: Action query time = 5.069 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8520
+t=218: Selected seed 195 with value = 0.8520
+Query 1/1: Action query time = 5.020 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8349
+t=234: Selected seed 195 with value = 0.8349
+Query 1/1: Action query time = 6.072 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=250: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 6.443 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8509
+t=266: Selected seed 195 with value = 0.8509
+Query 1/1: Action query time = 6.238 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8478
+t=282: Selected seed 195 with value = 0.8478
+Query 1/1: Action query time = 5.047 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8472
+t=298: Selected seed 195 with value = 0.8472
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=5--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 1 (20.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 6.170 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4538
+t=10: Selected seed 195 with value = 0.4538
+Query 1/1: Action query time = 7.271 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5131
+t=26: Selected seed 195 with value = 0.5131
+Query 1/1: Action query time = 5.209 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5879
+t=42: Selected seed 195 with value = 0.5879
+Query 1/1: Action query time = 7.253 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6847
+t=58: Selected seed 195 with value = 0.6847
+Query 1/1: Action query time = 5.748 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8089
+t=74: Selected seed 195 with value = 0.8089
+Query 1/1: Action query time = 4.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8765
+t=90: Selected seed 195 with value = 0.8765
+Query 1/1: Action query time = 3.367 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=106: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 4.061 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=122: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 4.548 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=138: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 3.877 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8669
+t=154: Selected seed 195 with value = 0.8669
+Query 1/1: Action query time = 3.376 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8852
+t=170: Selected seed 195 with value = 0.8852
+Query 1/1: Action query time = 5.068 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8598
+t=186: Selected seed 195 with value = 0.8598
+Query 1/1: Action query time = 4.284 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=202: Selected seed 195 with value = 0.8506
+Query 1/1: Action query time = 5.661 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8225
+t=218: Selected seed 195 with value = 0.8225
+Query 1/1: Action query time = 4.414 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8353
+t=234: Selected seed 195 with value = 0.8353
+Query 1/1: Action query time = 6.249 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8428
+t=250: Selected seed 195 with value = 0.8428
+Query 1/1: Action query time = 3.687 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8754
+t=266: Selected seed 195 with value = 0.8754
+Query 1/1: Action query time = 6.898 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=282: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 5.360 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9066
+t=298: Selected seed 195 with value = 0.9066
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=6--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 1 (16.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 7.719 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4511
+t=10: Selected seed 195 with value = 0.4511
+Query 1/1: Action query time = 6.150 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5170
+t=26: Selected seed 195 with value = 0.5170
+Query 1/1: Action query time = 5.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=42: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 4.909 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7435
+t=58: Selected seed 195 with value = 0.7435
+Query 1/1: Action query time = 5.225 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8420
+t=74: Selected seed 195 with value = 0.8420
+Query 1/1: Action query time = 5.482 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=90: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 4.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8231
+t=106: Selected seed 195 with value = 0.8231
+Query 1/1: Action query time = 3.321 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8613
+t=122: Selected seed 195 with value = 0.8613
+Query 1/1: Action query time = 4.072 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=138: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 6.470 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8876
+t=154: Selected seed 195 with value = 0.8876
+Query 1/1: Action query time = 5.637 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8909
+t=170: Selected seed 195 with value = 0.8909
+Query 1/1: Action query time = 5.055 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=186: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 4.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8537
+t=202: Selected seed 195 with value = 0.8537
+Query 1/1: Action query time = 4.129 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8433
+t=218: Selected seed 195 with value = 0.8433
+Query 1/1: Action query time = 6.464 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8326
+t=234: Selected seed 195 with value = 0.8326
+Query 1/1: Action query time = 4.998 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8441
+t=250: Selected seed 195 with value = 0.8441
+Query 1/1: Action query time = 6.364 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=266: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 5.815 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=282: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 4.771 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8357
+t=298: Selected seed 195 with value = 0.8357
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=7--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 1 (14.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.927 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4415
+t=10: Selected seed 195 with value = 0.4415
+Query 1/1: Action query time = 3.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5044
+t=26: Selected seed 195 with value = 0.5044
+Query 1/1: Action query time = 6.326 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5758
+t=42: Selected seed 195 with value = 0.5758
+Query 1/1: Action query time = 5.704 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6812
+t=58: Selected seed 195 with value = 0.6812
+Query 1/1: Action query time = 5.156 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8091
+t=74: Selected seed 195 with value = 0.8091
+Query 1/1: Action query time = 6.613 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9235
+t=90: Selected seed 195 with value = 0.9235
+Query 1/1: Action query time = 5.132 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8319
+t=106: Selected seed 195 with value = 0.8319
+Query 1/1: Action query time = 6.247 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=122: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 6.898 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=138: Selected seed 195 with value = 0.9182
+Query 1/1: Action query time = 6.342 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=154: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 5.777 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8819
+t=170: Selected seed 195 with value = 0.8819
+Query 1/1: Action query time = 7.758 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=186: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 7.782 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8703
+t=202: Selected seed 195 with value = 0.8703
+Query 1/1: Action query time = 5.884 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8609
+t=218: Selected seed 195 with value = 0.8609
+Query 1/1: Action query time = 6.795 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8606
+t=234: Selected seed 195 with value = 0.8606
+Query 1/1: Action query time = 6.688 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=250: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 6.162 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8583
+t=266: Selected seed 195 with value = 0.8583
+Query 1/1: Action query time = 6.490 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=282: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 7.330 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8479
+t=298: Selected seed 195 with value = 0.8479
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=8--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 1 (12.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.304 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4551
+t=10: Selected seed 195 with value = 0.4551
+Query 1/1: Action query time = 4.715 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5271
+t=26: Selected seed 195 with value = 0.5271
+Query 1/1: Action query time = 3.808 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5905
+t=42: Selected seed 195 with value = 0.5905
+Query 1/1: Action query time = 4.937 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6924
+t=58: Selected seed 195 with value = 0.6924
+Query 1/1: Action query time = 4.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8460
+t=74: Selected seed 195 with value = 0.8460
+Query 1/1: Action query time = 4.157 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=90: Selected seed 195 with value = 0.9451
+Query 1/1: Action query time = 4.440 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8756
+t=106: Selected seed 195 with value = 0.8756
+Query 1/1: Action query time = 3.844 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9170
+t=122: Selected seed 195 with value = 0.9170
+Query 1/1: Action query time = 3.570 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9177
+t=138: Selected seed 195 with value = 0.9177
+Query 1/1: Action query time = 5.806 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9174
+t=154: Selected seed 195 with value = 0.9174
+Query 1/1: Action query time = 5.689 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9173
+t=170: Selected seed 195 with value = 0.9173
+Query 1/1: Action query time = 4.580 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9170
+t=186: Selected seed 195 with value = 0.9170
+Query 1/1: Action query time = 5.657 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9168
+t=202: Selected seed 195 with value = 0.9168
+Query 1/1: Action query time = 6.216 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9164
+t=218: Selected seed 195 with value = 0.9164
+Query 1/1: Action query time = 6.015 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9175
+t=234: Selected seed 195 with value = 0.9175
+Query 1/1: Action query time = 5.917 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9175
+t=250: Selected seed 195 with value = 0.9175
+Query 1/1: Action query time = 5.184 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=266: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 6.451 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9187
+t=282: Selected seed 195 with value = 0.9187
+Query 1/1: Action query time = 6.776 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9186
+t=298: Selected seed 195 with value = 0.9186
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=9--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 1 (11.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.284 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4552
+t=10: Selected seed 195 with value = 0.4552
+Query 1/1: Action query time = 2.602 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5038
+t=26: Selected seed 195 with value = 0.5038
+Query 1/1: Action query time = 4.347 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5801
+t=42: Selected seed 195 with value = 0.5801
+Query 1/1: Action query time = 4.270 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6521
+t=58: Selected seed 195 with value = 0.6521
+Query 1/1: Action query time = 4.657 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7947
+t=74: Selected seed 195 with value = 0.7947
+Query 1/1: Action query time = 3.455 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=90: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 5.639 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8792
+t=106: Selected seed 195 with value = 0.8792
+Query 1/1: Action query time = 3.472 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=122: Selected seed 195 with value = 0.8840
+Query 1/1: Action query time = 3.820 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8777
+t=138: Selected seed 195 with value = 0.8777
+Query 1/1: Action query time = 5.033 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8543
+t=154: Selected seed 195 with value = 0.8543
+Query 1/1: Action query time = 4.594 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8482
+t=170: Selected seed 195 with value = 0.8482
+Query 1/1: Action query time = 5.894 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8455
+t=186: Selected seed 195 with value = 0.8455
+Query 1/1: Action query time = 5.166 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8968
+t=202: Selected seed 195 with value = 0.8968
+Query 1/1: Action query time = 5.896 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9054
+t=218: Selected seed 195 with value = 0.9054
+Query 1/1: Action query time = 5.803 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8810
+t=234: Selected seed 195 with value = 0.8810
+Query 1/1: Action query time = 5.118 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9042
+t=250: Selected seed 195 with value = 0.9042
+Query 1/1: Action query time = 5.655 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8656
+t=266: Selected seed 195 with value = 0.8656
+Query 1/1: Action query time = 4.677 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8794
+t=282: Selected seed 195 with value = 0.8794
+Query 1/1: Action query time = 4.301 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8561
+t=298: Selected seed 195 with value = 0.8561
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=10--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 1 (10.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 3.836 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4476
+t=10: Selected seed 195 with value = 0.4476
+Query 1/1: Action query time = 4.536 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5206
+t=26: Selected seed 195 with value = 0.5206
+Query 1/1: Action query time = 4.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5816
+t=42: Selected seed 195 with value = 0.5816
+Query 1/1: Action query time = 4.444 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6940
+t=58: Selected seed 195 with value = 0.6940
+Query 1/1: Action query time = 4.433 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8123
+t=74: Selected seed 195 with value = 0.8123
+Query 1/1: Action query time = 3.672 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=90: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 2.630 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=106: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 3.229 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=122: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 3.472 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8802
+t=138: Selected seed 195 with value = 0.8802
+Query 1/1: Action query time = 3.344 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=154: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 4.203 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8824
+t=170: Selected seed 195 with value = 0.8824
+Query 1/1: Action query time = 3.516 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=186: Selected seed 195 with value = 0.8771
+Query 1/1: Action query time = 3.044 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8599
+t=202: Selected seed 195 with value = 0.8599
+Query 1/1: Action query time = 3.578 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8554
+t=218: Selected seed 195 with value = 0.8554
+Query 1/1: Action query time = 2.688 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8481
+t=234: Selected seed 195 with value = 0.8481
+Query 1/1: Action query time = 2.367 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8394
+t=250: Selected seed 195 with value = 0.8394
+Query 1/1: Action query time = 3.368 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8509
+t=266: Selected seed 195 with value = 0.8509
+Query 1/1: Action query time = 2.942 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8482
+t=282: Selected seed 195 with value = 0.8482
+Query 1/1: Action query time = 3.345 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8719
+t=298: Selected seed 195 with value = 0.8719
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=11--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 1 (9.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.616 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4443
+t=10: Selected seed 195 with value = 0.4443
+Query 1/1: Action query time = 2.516 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5272
+t=26: Selected seed 195 with value = 0.5272
+Query 1/1: Action query time = 3.508 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5907
+t=42: Selected seed 195 with value = 0.5907
+Query 1/1: Action query time = 3.526 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7197
+t=58: Selected seed 195 with value = 0.7197
+Query 1/1: Action query time = 3.239 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8304
+t=74: Selected seed 195 with value = 0.8304
+Query 1/1: Action query time = 3.184 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9344
+t=90: Selected seed 195 with value = 0.9344
+Query 1/1: Action query time = 2.375 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8264
+t=106: Selected seed 195 with value = 0.8264
+Query 1/1: Action query time = 3.455 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=122: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 3.748 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=138: Selected seed 195 with value = 0.9443
+Query 1/1: Action query time = 3.494 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9131
+t=154: Selected seed 195 with value = 0.9131
+Query 1/1: Action query time = 2.696 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=170: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 2.879 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=186: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 2.494 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8661
+t=202: Selected seed 195 with value = 0.8661
+Query 1/1: Action query time = 2.186 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8581
+t=218: Selected seed 195 with value = 0.8581
+Query 1/1: Action query time = 2.079 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8664
+t=234: Selected seed 195 with value = 0.8664
+Query 1/1: Action query time = 1.719 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8649
+t=250: Selected seed 195 with value = 0.8649
+Query 1/1: Action query time = 1.933 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=266: Selected seed 195 with value = 0.8602
+Query 1/1: Action query time = 2.778 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8588
+t=282: Selected seed 195 with value = 0.8588
+Query 1/1: Action query time = 3.083 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8597
+t=298: Selected seed 195 with value = 0.8597
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s2/2026_08_03-01_16_46--with_future_img--episode=12--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 1 (8.3%)
+Current task success rate: 0.08333333333333333
+Current total success rate: 0.08333333333333333
+Final results:
+Total episodes: 12
+Total successes: 1
+Overall success rate: 0.0833 (8.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_46--t7rc800x50_t2_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_46--t7rc800x50_t2_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..767293983528ed13b892501138af75d685ac4948
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_46--t7rc800x50_t2_s1.txt
@@ -0,0 +1,1091 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t2_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 7.385 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5554
+t=10: Selected seed 195 with value = 0.5554
+Query 1/1: Action query time = 5.577 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6370
+t=26: Selected seed 195 with value = 0.6370
+Query 1/1: Action query time = 6.150 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7389
+t=42: Selected seed 195 with value = 0.7389
+Query 1/1: Action query time = 6.765 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=58: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 6.292 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=74: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 4.927 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.165 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.434 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.290 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.025 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.128 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.587 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.639 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.825 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.634 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.337 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.113 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.407 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.222 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.492 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5874
+t=10: Selected seed 195 with value = 0.5874
+Query 1/1: Action query time = 4.200 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6144
+t=26: Selected seed 195 with value = 0.6144
+Query 1/1: Action query time = 5.814 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7126
+t=42: Selected seed 195 with value = 0.7126
+Query 1/1: Action query time = 7.533 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8692
+t=58: Selected seed 195 with value = 0.8692
+Query 1/1: Action query time = 5.780 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7614
+t=74: Selected seed 195 with value = 0.7614
+Query 1/1: Action query time = 6.564 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7799
+t=90: Selected seed 195 with value = 0.7799
+Query 1/1: Action query time = 6.608 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7864
+t=106: Selected seed 195 with value = 0.7864
+Query 1/1: Action query time = 4.908 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9172
+t=122: Selected seed 195 with value = 0.9172
+Query 1/1: Action query time = 5.074 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=138: Selected seed 195 with value = 0.9480
+Query 1/1: Action query time = 6.256 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=154: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 6.185 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=170: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 7.001 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9385
+t=186: Selected seed 195 with value = 0.9385
+Query 1/1: Action query time = 5.236 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=202: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 6.237 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7931
+t=218: Selected seed 195 with value = 0.7931
+Query 1/1: Action query time = 6.240 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8531
+t=234: Selected seed 195 with value = 0.8531
+Query 1/1: Action query time = 6.667 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9108
+t=250: Selected seed 195 with value = 0.9108
+Query 1/1: Action query time = 4.995 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8811
+t=266: Selected seed 195 with value = 0.8811
+Query 1/1: Action query time = 5.874 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8672
+t=282: Selected seed 195 with value = 0.8672
+Query 1/1: Action query time = 5.029 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8586
+t=298: Selected seed 195 with value = 0.8586
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 6.262 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5866
+t=10: Selected seed 195 with value = 0.5866
+Query 1/1: Action query time = 5.732 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6221
+t=26: Selected seed 195 with value = 0.6221
+Query 1/1: Action query time = 6.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6944
+t=42: Selected seed 195 with value = 0.6944
+Query 1/1: Action query time = 6.086 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8068
+t=58: Selected seed 195 with value = 0.8068
+Query 1/1: Action query time = 6.651 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=74: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 5.570 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8461
+t=90: Selected seed 195 with value = 0.8461
+Query 1/1: Action query time = 6.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9088
+t=106: Selected seed 195 with value = 0.9088
+Query 1/1: Action query time = 6.795 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9299
+t=122: Selected seed 195 with value = 0.9299
+Query 1/1: Action query time = 4.709 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9169
+t=138: Selected seed 195 with value = 0.9169
+Query 1/1: Action query time = 5.829 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=154: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 4.475 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9199
+t=170: Selected seed 195 with value = 0.9199
+Query 1/1: Action query time = 5.722 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8627
+t=186: Selected seed 195 with value = 0.8627
+Query 1/1: Action query time = 5.644 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=202: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 4.489 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8853
+t=218: Selected seed 195 with value = 0.8853
+Query 1/1: Action query time = 5.545 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8697
+t=234: Selected seed 195 with value = 0.8697
+Query 1/1: Action query time = 5.664 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8828
+t=250: Selected seed 195 with value = 0.8828
+Query 1/1: Action query time = 5.030 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=266: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 4.673 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8326
+t=282: Selected seed 195 with value = 0.8326
+Query 1/1: Action query time = 3.698 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8278
+t=298: Selected seed 195 with value = 0.8278
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 7.657 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5725
+t=10: Selected seed 195 with value = 0.5725
+Query 1/1: Action query time = 6.054 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6956
+t=26: Selected seed 195 with value = 0.6956
+Query 1/1: Action query time = 6.117 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6857
+t=42: Selected seed 195 with value = 0.6857
+Query 1/1: Action query time = 4.934 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9184
+t=58: Selected seed 195 with value = 0.9184
+Query 1/1: Action query time = 4.443 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7872
+t=74: Selected seed 195 with value = 0.7872
+Query 1/1: Action query time = 4.284 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8615
+t=90: Selected seed 195 with value = 0.8615
+Query 1/1: Action query time = 4.946 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8402
+t=106: Selected seed 195 with value = 0.8402
+Query 1/1: Action query time = 7.049 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8277
+t=122: Selected seed 195 with value = 0.8277
+Query 1/1: Action query time = 5.233 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=138: Selected seed 195 with value = 0.8171
+Query 1/1: Action query time = 5.688 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8445
+t=154: Selected seed 195 with value = 0.8445
+Query 1/1: Action query time = 6.043 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8455
+t=170: Selected seed 195 with value = 0.8455
+Query 1/1: Action query time = 5.265 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8749
+t=186: Selected seed 195 with value = 0.8749
+Query 1/1: Action query time = 5.155 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=202: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 3.535 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9198
+t=218: Selected seed 195 with value = 0.9198
+Query 1/1: Action query time = 3.710 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8860
+t=234: Selected seed 195 with value = 0.8860
+Query 1/1: Action query time = 4.453 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8369
+t=250: Selected seed 195 with value = 0.8369
+Query 1/1: Action query time = 5.198 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8321
+t=266: Selected seed 195 with value = 0.8321
+Query 1/1: Action query time = 6.301 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8829
+t=282: Selected seed 195 with value = 0.8829
+Query 1/1: Action query time = 4.124 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8599
+t=298: Selected seed 195 with value = 0.8599
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 6.562 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5755
+t=10: Selected seed 195 with value = 0.5755
+Query 1/1: Action query time = 5.300 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6730
+t=26: Selected seed 195 with value = 0.6730
+Query 1/1: Action query time = 5.333 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6433
+t=42: Selected seed 195 with value = 0.6433
+Query 1/1: Action query time = 6.330 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8155
+t=58: Selected seed 195 with value = 0.8155
+Query 1/1: Action query time = 5.418 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7475
+t=74: Selected seed 195 with value = 0.7475
+Query 1/1: Action query time = 6.032 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8670
+t=90: Selected seed 195 with value = 0.8670
+Query 1/1: Action query time = 5.454 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9200
+t=106: Selected seed 195 with value = 0.9200
+Query 1/1: Action query time = 5.354 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9302
+t=122: Selected seed 195 with value = 0.9302
+Query 1/1: Action query time = 6.766 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=138: Selected seed 195 with value = 0.9333
+Query 1/1: Action query time = 6.247 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=154: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 7.936 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=170: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 7.016 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9125
+t=186: Selected seed 195 with value = 0.9125
+Query 1/1: Action query time = 6.098 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=202: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 6.461 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8641
+t=218: Selected seed 195 with value = 0.8641
+Query 1/1: Action query time = 6.873 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8926
+t=234: Selected seed 195 with value = 0.8926
+Query 1/1: Action query time = 5.030 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8960
+t=250: Selected seed 195 with value = 0.8960
+Query 1/1: Action query time = 4.650 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8591
+t=266: Selected seed 195 with value = 0.8591
+Query 1/1: Action query time = 3.943 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8298
+t=282: Selected seed 195 with value = 0.8298
+Query 1/1: Action query time = 4.475 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8209
+t=298: Selected seed 195 with value = 0.8209
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=5--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.298 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6002
+t=10: Selected seed 195 with value = 0.6002
+Query 1/1: Action query time = 5.226 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6377
+t=26: Selected seed 195 with value = 0.6377
+Query 1/1: Action query time = 5.251 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7022
+t=42: Selected seed 195 with value = 0.7022
+Query 1/1: Action query time = 6.202 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8919
+t=58: Selected seed 195 with value = 0.8919
+Query 1/1: Action query time = 5.847 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7554
+t=74: Selected seed 195 with value = 0.7554
+Query 1/1: Action query time = 6.845 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7816
+t=90: Selected seed 195 with value = 0.7816
+Query 1/1: Action query time = 6.248 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7666
+t=106: Selected seed 195 with value = 0.7666
+Query 1/1: Action query time = 6.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9042
+t=122: Selected seed 195 with value = 0.9042
+Query 1/1: Action query time = 6.609 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9327
+t=138: Selected seed 195 with value = 0.9327
+Query 1/1: Action query time = 6.265 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9251
+t=154: Selected seed 195 with value = 0.9251
+Query 1/1: Action query time = 7.373 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9107
+t=170: Selected seed 195 with value = 0.9107
+Query 1/1: Action query time = 5.633 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9070
+t=186: Selected seed 195 with value = 0.9070
+Query 1/1: Action query time = 6.902 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8774
+t=202: Selected seed 195 with value = 0.8774
+Query 1/1: Action query time = 6.464 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8044
+t=218: Selected seed 195 with value = 0.8044
+Query 1/1: Action query time = 6.715 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8566
+t=234: Selected seed 195 with value = 0.8566
+Query 1/1: Action query time = 5.135 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=250: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 5.056 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8902
+t=266: Selected seed 195 with value = 0.8902
+Query 1/1: Action query time = 3.073 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=282: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 3.449 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8655
+t=298: Selected seed 195 with value = 0.8655
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=6--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.224 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5775
+t=10: Selected seed 195 with value = 0.5775
+Query 1/1: Action query time = 5.364 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6890
+t=26: Selected seed 195 with value = 0.6890
+Query 1/1: Action query time = 6.047 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8220
+t=42: Selected seed 195 with value = 0.8220
+Query 1/1: Action query time = 5.118 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9064
+t=58: Selected seed 195 with value = 0.9064
+Query 1/1: Action query time = 4.580 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9053
+t=74: Selected seed 195 with value = 0.9053
+Query 1/1: Action query time = 7.604 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=90: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 7.842 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=106: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 6.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9102
+t=122: Selected seed 195 with value = 0.9102
+Query 1/1: Action query time = 6.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=138: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 6.686 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9610
+t=154: Selected seed 195 with value = 0.9610
+Query 1/1: Action query time = 6.999 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=170: Selected seed 195 with value = 0.9550
+Query 1/1: Action query time = 5.665 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=186: Selected seed 195 with value = 0.9301
+Query 1/1: Action query time = 4.430 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8873
+t=202: Selected seed 195 with value = 0.8873
+Query 1/1: Action query time = 5.689 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=218: Selected seed 195 with value = 0.8801
+Query 1/1: Action query time = 6.912 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8741
+t=234: Selected seed 195 with value = 0.8741
+Query 1/1: Action query time = 4.084 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=250: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 5.925 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8261
+t=266: Selected seed 195 with value = 0.8261
+Query 1/1: Action query time = 6.245 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8386
+t=282: Selected seed 195 with value = 0.8386
+Query 1/1: Action query time = 6.789 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8511
+t=298: Selected seed 195 with value = 0.8511
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=7--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.886 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5912
+t=10: Selected seed 195 with value = 0.5912
+Query 1/1: Action query time = 4.697 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7239
+t=26: Selected seed 195 with value = 0.7239
+Query 1/1: Action query time = 5.636 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7532
+t=42: Selected seed 195 with value = 0.7532
+Query 1/1: Action query time = 6.936 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7726
+t=58: Selected seed 195 with value = 0.7726
+Query 1/1: Action query time = 7.533 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=74: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 5.507 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9423
+t=90: Selected seed 195 with value = 0.9423
+Query 1/1: Action query time = 6.032 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=106: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 6.065 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=122: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 7.363 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=138: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 6.328 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=154: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 7.702 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=170: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 5.792 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9204
+t=186: Selected seed 195 with value = 0.9204
+Query 1/1: Action query time = 4.448 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=202: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 5.416 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8442
+t=218: Selected seed 195 with value = 0.8442
+Query 1/1: Action query time = 3.905 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8277
+t=234: Selected seed 195 with value = 0.8277
+Query 1/1: Action query time = 4.662 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8330
+t=250: Selected seed 195 with value = 0.8330
+Query 1/1: Action query time = 5.333 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8445
+t=266: Selected seed 195 with value = 0.8445
+Query 1/1: Action query time = 3.835 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8464
+t=282: Selected seed 195 with value = 0.8464
+Query 1/1: Action query time = 4.647 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8408
+t=298: Selected seed 195 with value = 0.8408
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=8--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 6.895 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5422
+t=10: Selected seed 195 with value = 0.5422
+Query 1/1: Action query time = 6.549 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5837
+t=26: Selected seed 195 with value = 0.5837
+Query 1/1: Action query time = 6.629 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7020
+t=42: Selected seed 195 with value = 0.7020
+Query 1/1: Action query time = 6.665 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7890
+t=58: Selected seed 195 with value = 0.7890
+Query 1/1: Action query time = 6.364 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7510
+t=74: Selected seed 195 with value = 0.7510
+Query 1/1: Action query time = 6.697 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7325
+t=90: Selected seed 195 with value = 0.7325
+Query 1/1: Action query time = 6.823 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7968
+t=106: Selected seed 195 with value = 0.7968
+Query 1/1: Action query time = 5.707 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8703
+t=122: Selected seed 195 with value = 0.8703
+Query 1/1: Action query time = 5.101 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9246
+t=138: Selected seed 195 with value = 0.9246
+Query 1/1: Action query time = 6.524 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9399
+t=154: Selected seed 195 with value = 0.9399
+Query 1/1: Action query time = 6.184 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=170: Selected seed 195 with value = 0.9273
+Query 1/1: Action query time = 6.091 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9179
+t=186: Selected seed 195 with value = 0.9179
+Query 1/1: Action query time = 5.339 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9035
+t=202: Selected seed 195 with value = 0.9035
+Query 1/1: Action query time = 4.488 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8875
+t=218: Selected seed 195 with value = 0.8875
+Query 1/1: Action query time = 5.145 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8259
+t=234: Selected seed 195 with value = 0.8259
+Query 1/1: Action query time = 4.579 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8596
+t=250: Selected seed 195 with value = 0.8596
+Query 1/1: Action query time = 4.050 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8928
+t=266: Selected seed 195 with value = 0.8928
+Query 1/1: Action query time = 3.386 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=282: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 4.390 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=298: Selected seed 195 with value = 0.8779
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=9--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 6.328 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5243
+t=10: Selected seed 195 with value = 0.5243
+Query 1/1: Action query time = 5.243 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=26: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 5.179 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7504
+t=42: Selected seed 195 with value = 0.7504
+Query 1/1: Action query time = 5.266 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8565
+t=58: Selected seed 195 with value = 0.8565
+Query 1/1: Action query time = 5.140 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7037
+t=74: Selected seed 195 with value = 0.7037
+Query 1/1: Action query time = 4.656 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7743
+t=90: Selected seed 195 with value = 0.7743
+Query 1/1: Action query time = 5.354 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7594
+t=106: Selected seed 195 with value = 0.7594
+Query 1/1: Action query time = 5.345 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8705
+t=122: Selected seed 195 with value = 0.8705
+Query 1/1: Action query time = 5.187 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9200
+t=138: Selected seed 195 with value = 0.9200
+Query 1/1: Action query time = 5.402 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=154: Selected seed 195 with value = 0.9149
+Query 1/1: Action query time = 4.836 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=170: Selected seed 195 with value = 0.9233
+Query 1/1: Action query time = 5.515 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9100
+t=186: Selected seed 195 with value = 0.9100
+Query 1/1: Action query time = 4.760 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9276
+t=202: Selected seed 195 with value = 0.9276
+Query 1/1: Action query time = 4.039 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=218: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 3.760 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8581
+t=234: Selected seed 195 with value = 0.8581
+Query 1/1: Action query time = 3.039 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8763
+t=250: Selected seed 195 with value = 0.8763
+Query 1/1: Action query time = 3.450 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9088
+t=266: Selected seed 195 with value = 0.9088
+Query 1/1: Action query time = 3.748 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8564
+t=282: Selected seed 195 with value = 0.8564
+Query 1/1: Action query time = 4.077 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8300
+t=298: Selected seed 195 with value = 0.8300
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=10--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.461 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=10: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 5.373 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6947
+t=26: Selected seed 195 with value = 0.6947
+Query 1/1: Action query time = 5.327 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=42: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 4.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7322
+t=58: Selected seed 195 with value = 0.7322
+Query 1/1: Action query time = 4.831 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8359
+t=74: Selected seed 195 with value = 0.8359
+Query 1/1: Action query time = 5.502 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=90: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 4.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8844
+t=106: Selected seed 195 with value = 0.8844
+Query 1/1: Action query time = 4.063 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9309
+t=122: Selected seed 195 with value = 0.9309
+Query 1/1: Action query time = 3.735 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=138: Selected seed 195 with value = 0.9450
+Query 1/1: Action query time = 3.847 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9408
+t=154: Selected seed 195 with value = 0.9408
+Query 1/1: Action query time = 5.127 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9213
+t=170: Selected seed 195 with value = 0.9213
+Query 1/1: Action query time = 5.570 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8816
+t=186: Selected seed 195 with value = 0.8816
+Query 1/1: Action query time = 3.730 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=202: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 3.151 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7962
+t=218: Selected seed 195 with value = 0.7962
+Query 1/1: Action query time = 2.686 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8508
+t=234: Selected seed 195 with value = 0.8508
+Query 1/1: Action query time = 2.904 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=250: Selected seed 195 with value = 0.8755
+Query 1/1: Action query time = 3.824 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8589
+t=266: Selected seed 195 with value = 0.8589
+Query 1/1: Action query time = 3.828 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8501
+t=282: Selected seed 195 with value = 0.8501
+Query 1/1: Action query time = 3.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8392
+t=298: Selected seed 195 with value = 0.8392
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=11--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.240 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5881
+t=10: Selected seed 195 with value = 0.5881
+Query 1/1: Action query time = 3.858 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6971
+t=26: Selected seed 195 with value = 0.6971
+Query 1/1: Action query time = 3.778 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=42: Selected seed 195 with value = 0.8535
+Query 1/1: Action query time = 3.817 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7708
+t=58: Selected seed 195 with value = 0.7708
+Query 1/1: Action query time = 3.802 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8624
+t=74: Selected seed 195 with value = 0.8624
+Query 1/1: Action query time = 3.476 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7242
+t=90: Selected seed 195 with value = 0.7242
+Query 1/1: Action query time = 2.828 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9006
+t=106: Selected seed 195 with value = 0.9006
+Query 1/1: Action query time = 3.711 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=122: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 3.537 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8389
+t=138: Selected seed 195 with value = 0.8389
+Query 1/1: Action query time = 4.133 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8553
+t=154: Selected seed 195 with value = 0.8553
+Query 1/1: Action query time = 3.439 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8499
+t=170: Selected seed 195 with value = 0.8499
+Query 1/1: Action query time = 3.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=186: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 3.561 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8593
+t=202: Selected seed 195 with value = 0.8593
+Query 1/1: Action query time = 1.716 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9087
+t=218: Selected seed 195 with value = 0.9087
+Query 1/1: Action query time = 1.707 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9259
+t=234: Selected seed 195 with value = 0.9259
+Query 1/1: Action query time = 1.591 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=250: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 1.905 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=266: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 2.352 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8995
+t=282: Selected seed 195 with value = 0.8995
+Query 1/1: Action query time = 2.429 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=298: Selected seed 195 with value = 0.9093
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=12--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.736 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5397
+t=10: Selected seed 195 with value = 0.5397
+Query 1/1: Action query time = 1.651 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6407
+t=26: Selected seed 195 with value = 0.6407
+Query 1/1: Action query time = 2.143 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7052
+t=42: Selected seed 195 with value = 0.7052
+Query 1/1: Action query time = 2.349 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7919
+t=58: Selected seed 195 with value = 0.7919
+Query 1/1: Action query time = 2.319 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7625
+t=74: Selected seed 195 with value = 0.7625
+Query 1/1: Action query time = 1.675 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7925
+t=90: Selected seed 195 with value = 0.7925
+Query 1/1: Action query time = 1.712 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8995
+t=106: Selected seed 195 with value = 0.8995
+Query 1/1: Action query time = 1.835 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9316
+t=122: Selected seed 195 with value = 0.9316
+Query 1/1: Action query time = 2.023 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=138: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 1.841 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9477
+t=154: Selected seed 195 with value = 0.9477
+Query 1/1: Action query time = 1.456 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9271
+t=170: Selected seed 195 with value = 0.9271
+Query 1/1: Action query time = 1.533 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9123
+t=186: Selected seed 195 with value = 0.9123
+Query 1/1: Action query time = 1.366 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8977
+t=202: Selected seed 195 with value = 0.8977
+Query 1/1: Action query time = 1.368 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8736
+t=218: Selected seed 195 with value = 0.8736
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=234: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=250: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8880
+t=266: Selected seed 195 with value = 0.8880
+Query 1/1: Action query time = 0.955 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8689
+t=282: Selected seed 195 with value = 0.8689
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8628
+t=298: Selected seed 195 with value = 0.8628
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s1/2026_08_03-01_16_46--with_future_img--episode=13--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 13
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7dc800x50_t3_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7dc800x50_t3_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd7f8c2900b0efd1e246450b7753daf1357ec8e0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7dc800x50_t3_s3.txt
@@ -0,0 +1,1008 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t3_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.022 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4711
+t=10: Selected seed 195 with value = 0.4711
+Query 1/1: Action query time = 5.105 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6095
+t=26: Selected seed 195 with value = 0.6095
+Query 1/1: Action query time = 5.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8133
+t=42: Selected seed 195 with value = 0.8133
+Query 1/1: Action query time = 5.854 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=58: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 5.432 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9122
+t=74: Selected seed 195 with value = 0.9122
+Query 1/1: Action query time = 5.715 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=90: Selected seed 195 with value = 0.9314
+Query 1/1: Action query time = 5.562 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=106: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 5.444 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8758
+t=122: Selected seed 195 with value = 0.8758
+Query 1/1: Action query time = 6.551 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9041
+t=138: Selected seed 195 with value = 0.9041
+Query 1/1: Action query time = 6.764 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=154: Selected seed 195 with value = 0.8775
+Query 1/1: Action query time = 7.109 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=170: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 4.615 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8014
+t=186: Selected seed 195 with value = 0.8014
+Query 1/1: Action query time = 6.361 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8504
+t=202: Selected seed 195 with value = 0.8504
+Query 1/1: Action query time = 4.776 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=218: Selected seed 195 with value = 0.9182
+Query 1/1: Action query time = 4.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=234: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 5.894 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=250: Selected seed 195 with value = 0.9149
+Query 1/1: Action query time = 6.154 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8634
+t=266: Selected seed 195 with value = 0.8634
+Query 1/1: Action query time = 5.802 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8431
+t=282: Selected seed 195 with value = 0.8431
+Query 1/1: Action query time = 5.430 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8511
+t=298: Selected seed 195 with value = 0.8511
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.559 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5138
+t=10: Selected seed 195 with value = 0.5138
+Query 1/1: Action query time = 4.490 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6541
+t=26: Selected seed 195 with value = 0.6541
+Query 1/1: Action query time = 3.934 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8427
+t=42: Selected seed 195 with value = 0.8427
+Query 1/1: Action query time = 6.235 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=58: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 8.613 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9403
+t=74: Selected seed 195 with value = 0.9403
+Query 1/1: Action query time = 6.254 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9170
+t=90: Selected seed 195 with value = 0.9170
+Query 1/1: Action query time = 6.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=106: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 6.128 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=122: Selected seed 195 with value = 0.9037
+Query 1/1: Action query time = 5.273 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9422
+t=138: Selected seed 195 with value = 0.9422
+Query 1/1: Action query time = 6.489 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=154: Selected seed 195 with value = 0.9706
+Query 1/1: Action query time = 7.121 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8902
+t=170: Selected seed 195 with value = 0.8902
+Query 1/1: Action query time = 7.338 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=186: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 6.888 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=202: Selected seed 195 with value = 0.9291
+Query 1/1: Action query time = 6.002 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8851
+t=218: Selected seed 195 with value = 0.8851
+Query 1/1: Action query time = 4.673 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=234: Selected seed 195 with value = 0.8675
+Query 1/1: Action query time = 6.887 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8671
+t=250: Selected seed 195 with value = 0.8671
+Query 1/1: Action query time = 5.606 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8525
+t=266: Selected seed 195 with value = 0.8525
+Query 1/1: Action query time = 6.476 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8609
+t=282: Selected seed 195 with value = 0.8609
+Query 1/1: Action query time = 3.605 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8390
+t=298: Selected seed 195 with value = 0.8390
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.230 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6028
+t=10: Selected seed 195 with value = 0.6028
+Query 1/1: Action query time = 4.148 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7248
+t=26: Selected seed 195 with value = 0.7248
+Query 1/1: Action query time = 4.381 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8244
+t=42: Selected seed 195 with value = 0.8244
+Query 1/1: Action query time = 5.350 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9005
+t=58: Selected seed 195 with value = 0.9005
+Query 1/1: Action query time = 6.733 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=74: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 5.669 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=90: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 6.401 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=106: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 6.503 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=122: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 3.653 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8615
+t=138: Selected seed 195 with value = 0.8615
+Query 1/1: Action query time = 4.120 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8541
+t=154: Selected seed 195 with value = 0.8541
+Query 1/1: Action query time = 5.476 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8855
+t=170: Selected seed 195 with value = 0.8855
+Query 1/1: Action query time = 5.505 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8989
+t=186: Selected seed 195 with value = 0.8989
+Query 1/1: Action query time = 5.700 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8955
+t=202: Selected seed 195 with value = 0.8955
+Query 1/1: Action query time = 4.146 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8849
+t=218: Selected seed 195 with value = 0.8849
+Query 1/1: Action query time = 4.784 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9061
+t=234: Selected seed 195 with value = 0.9061
+Query 1/1: Action query time = 6.589 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8604
+t=250: Selected seed 195 with value = 0.8604
+Query 1/1: Action query time = 6.504 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8782
+t=266: Selected seed 195 with value = 0.8782
+Query 1/1: Action query time = 5.052 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=282: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 4.919 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=298: Selected seed 195 with value = 0.8779
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.354 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5158
+t=10: Selected seed 195 with value = 0.5158
+Query 1/1: Action query time = 3.392 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6053
+t=26: Selected seed 195 with value = 0.6053
+Query 1/1: Action query time = 3.772 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8079
+t=42: Selected seed 195 with value = 0.8079
+Query 1/1: Action query time = 6.546 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9243
+t=58: Selected seed 195 with value = 0.9243
+Query 1/1: Action query time = 5.771 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=74: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 5.874 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=90: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 4.291 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8894
+t=106: Selected seed 195 with value = 0.8894
+Query 1/1: Action query time = 6.278 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=122: Selected seed 195 with value = 0.9479
+Query 1/1: Action query time = 5.617 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8910
+t=138: Selected seed 195 with value = 0.8910
+Query 1/1: Action query time = 6.336 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=154: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 6.586 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8692
+t=170: Selected seed 195 with value = 0.8692
+Query 1/1: Action query time = 5.259 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8706
+t=186: Selected seed 195 with value = 0.8706
+Query 1/1: Action query time = 5.065 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8611
+t=202: Selected seed 195 with value = 0.8611
+Query 1/1: Action query time = 5.861 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8668
+t=218: Selected seed 195 with value = 0.8668
+Query 1/1: Action query time = 6.137 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9024
+t=234: Selected seed 195 with value = 0.9024
+Query 1/1: Action query time = 6.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9032
+t=250: Selected seed 195 with value = 0.9032
+Query 1/1: Action query time = 5.485 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9283
+t=266: Selected seed 195 with value = 0.9283
+Query 1/1: Action query time = 5.640 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=282: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 4.766 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8577
+t=298: Selected seed 195 with value = 0.8577
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 3.565 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5027
+t=10: Selected seed 195 with value = 0.5027
+Query 1/1: Action query time = 3.849 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6539
+t=26: Selected seed 195 with value = 0.6539
+Query 1/1: Action query time = 4.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7967
+t=42: Selected seed 195 with value = 0.7967
+Query 1/1: Action query time = 4.103 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=58: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 5.246 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9199
+t=74: Selected seed 195 with value = 0.9199
+Query 1/1: Action query time = 4.848 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9523
+t=90: Selected seed 195 with value = 0.9523
+Query 1/1: Action query time = 5.561 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=106: Selected seed 195 with value = 0.9094
+Query 1/1: Action query time = 4.893 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=122: Selected seed 195 with value = 0.9197
+Query 1/1: Action query time = 7.139 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8961
+t=138: Selected seed 195 with value = 0.8961
+Query 1/1: Action query time = 6.472 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9029
+t=154: Selected seed 195 with value = 0.9029
+Query 1/1: Action query time = 4.806 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8547
+t=170: Selected seed 195 with value = 0.8547
+Query 1/1: Action query time = 5.280 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=186: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 6.177 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8854
+t=202: Selected seed 195 with value = 0.8854
+Query 1/1: Action query time = 6.259 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=218: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 4.900 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8797
+t=234: Selected seed 195 with value = 0.8797
+Query 1/1: Action query time = 6.490 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9067
+t=250: Selected seed 195 with value = 0.9067
+Query 1/1: Action query time = 6.495 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8690
+t=266: Selected seed 195 with value = 0.8690
+Query 1/1: Action query time = 6.941 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=282: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 5.017 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9061
+t=298: Selected seed 195 with value = 0.9061
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=5--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 4.329 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4839
+t=10: Selected seed 195 with value = 0.4839
+Query 1/1: Action query time = 4.302 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7814
+t=26: Selected seed 195 with value = 0.7814
+Query 1/1: Action query time = 4.499 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8112
+t=42: Selected seed 195 with value = 0.8112
+Query 1/1: Action query time = 4.883 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8858
+t=58: Selected seed 195 with value = 0.8858
+Query 1/1: Action query time = 5.150 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=74: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 5.636 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=90: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 6.951 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9179
+t=106: Selected seed 195 with value = 0.9179
+Query 1/1: Action query time = 5.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9425
+t=122: Selected seed 195 with value = 0.9425
+Query 1/1: Action query time = 5.258 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8994
+t=138: Selected seed 195 with value = 0.8994
+Query 1/1: Action query time = 6.658 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9238
+t=154: Selected seed 195 with value = 0.9238
+Query 1/1: Action query time = 7.558 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9158
+t=170: Selected seed 195 with value = 0.9158
+Query 1/1: Action query time = 5.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8776
+t=186: Selected seed 195 with value = 0.8776
+Query 1/1: Action query time = 4.174 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9027
+t=202: Selected seed 195 with value = 0.9027
+Query 1/1: Action query time = 7.067 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=218: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 5.158 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8741
+t=234: Selected seed 195 with value = 0.8741
+Query 1/1: Action query time = 6.582 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8786
+t=250: Selected seed 195 with value = 0.8786
+Query 1/1: Action query time = 6.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8628
+t=266: Selected seed 195 with value = 0.8628
+Query 1/1: Action query time = 5.187 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8786
+t=282: Selected seed 195 with value = 0.8786
+Query 1/1: Action query time = 3.439 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7881
+t=298: Selected seed 195 with value = 0.7881
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=6--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 3.672 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5336
+t=10: Selected seed 195 with value = 0.5336
+Query 1/1: Action query time = 4.438 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6340
+t=26: Selected seed 195 with value = 0.6340
+Query 1/1: Action query time = 4.685 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8144
+t=42: Selected seed 195 with value = 0.8144
+Query 1/1: Action query time = 3.578 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9129
+t=58: Selected seed 195 with value = 0.9129
+Query 1/1: Action query time = 6.743 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=74: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 5.434 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9194
+t=90: Selected seed 195 with value = 0.9194
+Query 1/1: Action query time = 6.690 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8598
+t=106: Selected seed 195 with value = 0.8598
+Query 1/1: Action query time = 5.689 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8310
+t=122: Selected seed 195 with value = 0.8310
+Query 1/1: Action query time = 6.426 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9137
+t=138: Selected seed 195 with value = 0.9137
+Query 1/1: Action query time = 6.157 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9080
+t=154: Selected seed 195 with value = 0.9080
+Query 1/1: Action query time = 6.620 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9095
+t=170: Selected seed 195 with value = 0.9095
+Query 1/1: Action query time = 6.902 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8923
+t=186: Selected seed 195 with value = 0.8923
+Query 1/1: Action query time = 4.999 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=202: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 6.265 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=218: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 6.202 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8765
+t=234: Selected seed 195 with value = 0.8765
+Query 1/1: Action query time = 6.573 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9000
+t=250: Selected seed 195 with value = 0.9000
+Query 1/1: Action query time = 6.076 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8886
+t=266: Selected seed 195 with value = 0.8886
+Query 1/1: Action query time = 5.436 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8929
+t=282: Selected seed 195 with value = 0.8929
+Query 1/1: Action query time = 5.843 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8697
+t=298: Selected seed 195 with value = 0.8697
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=7--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 6.055 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4903
+t=10: Selected seed 195 with value = 0.4903
+Query 1/1: Action query time = 5.901 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=26: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 4.651 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=42: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 4.853 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9367
+t=58: Selected seed 195 with value = 0.9367
+Query 1/1: Action query time = 5.778 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9074
+t=74: Selected seed 195 with value = 0.9074
+Query 1/1: Action query time = 5.220 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9252
+t=90: Selected seed 195 with value = 0.9252
+Query 1/1: Action query time = 5.838 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9274
+t=106: Selected seed 195 with value = 0.9274
+Query 1/1: Action query time = 6.683 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=122: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 5.574 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=138: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 6.040 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8996
+t=154: Selected seed 195 with value = 0.8996
+Query 1/1: Action query time = 5.488 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=170: Selected seed 195 with value = 0.9480
+Query 1/1: Action query time = 7.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9300
+t=186: Selected seed 195 with value = 0.9300
+Query 1/1: Action query time = 7.663 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9541
+t=202: Selected seed 195 with value = 0.9541
+Query 1/1: Action query time = 5.348 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=218: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 7.257 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=234: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 5.992 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=250: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 5.993 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9265
+t=266: Selected seed 195 with value = 0.9265
+Query 1/1: Action query time = 5.547 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=282: Selected seed 195 with value = 0.8975
+Query 1/1: Action query time = 5.795 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8578
+t=298: Selected seed 195 with value = 0.8578
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=8--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 3.501 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6660
+t=10: Selected seed 195 with value = 0.6660
+Query 1/1: Action query time = 3.906 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7404
+t=26: Selected seed 195 with value = 0.7404
+Query 1/1: Action query time = 6.007 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8312
+t=42: Selected seed 195 with value = 0.8312
+Query 1/1: Action query time = 5.836 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8643
+t=58: Selected seed 195 with value = 0.8643
+Query 1/1: Action query time = 5.947 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=74: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 6.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=90: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 5.289 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=106: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 7.235 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=122: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 7.043 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=138: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 6.188 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=154: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 6.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=170: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 5.007 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=186: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 5.454 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=202: Selected seed 195 with value = 0.8893
+Query 1/1: Action query time = 7.341 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8803
+t=218: Selected seed 195 with value = 0.8803
+Query 1/1: Action query time = 6.788 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=234: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 4.240 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8661
+t=250: Selected seed 195 with value = 0.8661
+Query 1/1: Action query time = 3.873 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8674
+t=266: Selected seed 195 with value = 0.8674
+Query 1/1: Action query time = 5.097 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8438
+t=282: Selected seed 195 with value = 0.8438
+Query 1/1: Action query time = 5.372 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8357
+t=298: Selected seed 195 with value = 0.8357
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 4.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7748
+t=10: Selected seed 195 with value = 0.7748
+Query 1/1: Action query time = 3.800 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6943
+t=26: Selected seed 195 with value = 0.6943
+Query 1/1: Action query time = 5.824 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=42: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 5.093 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9778
+t=58: Selected seed 195 with value = 0.9778
+Query 1/1: Action query time = 5.286 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=74: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 5.095 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 4.264 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=106: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 6.155 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=122: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 5.319 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=138: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 4.595 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=154: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 4.262 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=170: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 4.436 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=186: Selected seed 195 with value = 0.9917
+Query 1/1: Action query time = 4.043 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=202: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 4.716 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=218: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 5.574 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=234: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 3.788 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=250: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 4.951 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=266: Selected seed 195 with value = 0.9599
+Query 1/1: Action query time = 5.277 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=282: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 4.285 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=298: Selected seed 195 with value = 0.9872
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 3.635 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4606
+t=10: Selected seed 195 with value = 0.4606
+Query 1/1: Action query time = 3.944 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6820
+t=26: Selected seed 195 with value = 0.6820
+Query 1/1: Action query time = 3.576 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8077
+t=42: Selected seed 195 with value = 0.8077
+Query 1/1: Action query time = 5.037 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=58: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 3.930 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=74: Selected seed 195 with value = 0.9284
+Query 1/1: Action query time = 3.516 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=90: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 3.918 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=106: Selected seed 195 with value = 0.9183
+Query 1/1: Action query time = 2.953 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=122: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 3.799 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8610
+t=138: Selected seed 195 with value = 0.8610
+Query 1/1: Action query time = 2.474 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8647
+t=154: Selected seed 195 with value = 0.8647
+Query 1/1: Action query time = 2.708 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8672
+t=170: Selected seed 195 with value = 0.8672
+Query 1/1: Action query time = 2.806 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8623
+t=186: Selected seed 195 with value = 0.8623
+Query 1/1: Action query time = 3.430 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8781
+t=202: Selected seed 195 with value = 0.8781
+Query 1/1: Action query time = 3.331 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=218: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 3.833 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=234: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 2.441 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9073
+t=250: Selected seed 195 with value = 0.9073
+Query 1/1: Action query time = 3.432 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=266: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 3.363 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8810
+t=282: Selected seed 195 with value = 0.8810
+Query 1/1: Action query time = 2.469 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8720
+t=298: Selected seed 195 with value = 0.8720
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=11--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 3.940 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4732
+t=10: Selected seed 195 with value = 0.4732
+Query 1/1: Action query time = 2.774 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7825
+t=26: Selected seed 195 with value = 0.7825
+Query 1/1: Action query time = 2.522 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8016
+t=42: Selected seed 195 with value = 0.8016
+Query 1/1: Action query time = 2.368 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=58: Selected seed 195 with value = 0.9318
+Query 1/1: Action query time = 2.623 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9525
+t=74: Selected seed 195 with value = 0.9525
+Query 1/1: Action query time = 2.419 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=90: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 2.192 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8315
+t=106: Selected seed 195 with value = 0.8315
+Query 1/1: Action query time = 3.054 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=122: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 2.920 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9169
+t=138: Selected seed 195 with value = 0.9169
+Query 1/1: Action query time = 2.470 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8849
+t=154: Selected seed 195 with value = 0.8849
+Query 1/1: Action query time = 2.673 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=170: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 1.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=186: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 3.095 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9207
+t=202: Selected seed 195 with value = 0.9207
+Query 1/1: Action query time = 3.365 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9078
+t=218: Selected seed 195 with value = 0.9078
+Query 1/1: Action query time = 3.492 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=234: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 2.442 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9001
+t=250: Selected seed 195 with value = 0.9001
+Query 1/1: Action query time = 3.512 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8723
+t=266: Selected seed 195 with value = 0.8723
+Query 1/1: Action query time = 3.088 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8704
+t=282: Selected seed 195 with value = 0.8704
+Query 1/1: Action query time = 4.072 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7828
+t=298: Selected seed 195 with value = 0.7828
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=12--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 12
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_49--t7rc800x50_t3_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_49--t7rc800x50_t3_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..35e8cd33d668f55965d80d0f83bdf50e013c2ab8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_49--t7rc800x50_t3_s2.txt
@@ -0,0 +1,1008 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t3_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 8.792 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4744
+t=10: Selected seed 195 with value = 0.4744
+Query 1/1: Action query time = 6.611 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6279
+t=26: Selected seed 195 with value = 0.6279
+Query 1/1: Action query time = 6.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8257
+t=42: Selected seed 195 with value = 0.8257
+Query 1/1: Action query time = 6.135 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8570
+t=58: Selected seed 195 with value = 0.8570
+Query 1/1: Action query time = 5.908 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8982
+t=74: Selected seed 195 with value = 0.8982
+Query 1/1: Action query time = 7.218 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=90: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 7.636 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9164
+t=106: Selected seed 195 with value = 0.9164
+Query 1/1: Action query time = 7.240 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=122: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 5.672 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=138: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 6.123 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9525
+t=154: Selected seed 195 with value = 0.9525
+Query 1/1: Action query time = 7.325 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8991
+t=170: Selected seed 195 with value = 0.8991
+Query 1/1: Action query time = 6.844 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9274
+t=186: Selected seed 195 with value = 0.9274
+Query 1/1: Action query time = 5.542 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=202: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 7.442 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=218: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 6.264 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8841
+t=234: Selected seed 195 with value = 0.8841
+Query 1/1: Action query time = 5.230 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8922
+t=250: Selected seed 195 with value = 0.8922
+Query 1/1: Action query time = 4.412 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8523
+t=266: Selected seed 195 with value = 0.8523
+Query 1/1: Action query time = 3.720 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=282: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 2.231 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8060
+t=298: Selected seed 195 with value = 0.8060
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 7.621 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5026
+t=10: Selected seed 195 with value = 0.5026
+Query 1/1: Action query time = 4.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=26: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 6.138 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8072
+t=42: Selected seed 195 with value = 0.8072
+Query 1/1: Action query time = 4.762 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8657
+t=58: Selected seed 195 with value = 0.8657
+Query 1/1: Action query time = 6.511 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8108
+t=74: Selected seed 195 with value = 0.8108
+Query 1/1: Action query time = 6.504 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7783
+t=90: Selected seed 195 with value = 0.7783
+Query 1/1: Action query time = 6.251 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9129
+t=106: Selected seed 195 with value = 0.9129
+Query 1/1: Action query time = 6.367 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=122: Selected seed 195 with value = 0.9361
+Query 1/1: Action query time = 6.177 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8586
+t=138: Selected seed 195 with value = 0.8586
+Query 1/1: Action query time = 5.858 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=154: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 6.180 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=170: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 7.100 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=186: Selected seed 195 with value = 0.8746
+Query 1/1: Action query time = 5.651 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8888
+t=202: Selected seed 195 with value = 0.8888
+Query 1/1: Action query time = 4.885 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9305
+t=218: Selected seed 195 with value = 0.9305
+Query 1/1: Action query time = 5.047 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8724
+t=234: Selected seed 195 with value = 0.8724
+Query 1/1: Action query time = 6.668 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8332
+t=250: Selected seed 195 with value = 0.8332
+Query 1/1: Action query time = 6.164 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8512
+t=266: Selected seed 195 with value = 0.8512
+Query 1/1: Action query time = 4.042 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8550
+t=282: Selected seed 195 with value = 0.8550
+Query 1/1: Action query time = 2.748 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8240
+t=298: Selected seed 195 with value = 0.8240
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 6.573 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4849
+t=10: Selected seed 195 with value = 0.4849
+Query 1/1: Action query time = 6.341 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7104
+t=26: Selected seed 195 with value = 0.7104
+Query 1/1: Action query time = 6.194 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=42: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 6.494 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8470
+t=58: Selected seed 195 with value = 0.8470
+Query 1/1: Action query time = 5.808 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8552
+t=74: Selected seed 195 with value = 0.8552
+Query 1/1: Action query time = 7.192 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7699
+t=90: Selected seed 195 with value = 0.7699
+Query 1/1: Action query time = 6.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9232
+t=106: Selected seed 195 with value = 0.9232
+Query 1/1: Action query time = 5.751 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8885
+t=122: Selected seed 195 with value = 0.8885
+Query 1/1: Action query time = 7.573 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9404
+t=138: Selected seed 195 with value = 0.9404
+Query 1/1: Action query time = 7.130 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=154: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 6.027 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8754
+t=170: Selected seed 195 with value = 0.8754
+Query 1/1: Action query time = 5.146 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=186: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 5.419 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8670
+t=202: Selected seed 195 with value = 0.8670
+Query 1/1: Action query time = 6.232 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8738
+t=218: Selected seed 195 with value = 0.8738
+Query 1/1: Action query time = 6.659 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=234: Selected seed 195 with value = 0.8675
+Query 1/1: Action query time = 5.685 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8721
+t=250: Selected seed 195 with value = 0.8721
+Query 1/1: Action query time = 4.512 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8805
+t=266: Selected seed 195 with value = 0.8805
+Query 1/1: Action query time = 3.066 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=282: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 3.484 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8575
+t=298: Selected seed 195 with value = 0.8575
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 5.669 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4848
+t=10: Selected seed 195 with value = 0.4848
+Query 1/1: Action query time = 4.830 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6978
+t=26: Selected seed 195 with value = 0.6978
+Query 1/1: Action query time = 5.278 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8256
+t=42: Selected seed 195 with value = 0.8256
+Query 1/1: Action query time = 4.947 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8630
+t=58: Selected seed 195 with value = 0.8630
+Query 1/1: Action query time = 5.901 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8499
+t=74: Selected seed 195 with value = 0.8499
+Query 1/1: Action query time = 6.262 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8330
+t=90: Selected seed 195 with value = 0.8330
+Query 1/1: Action query time = 6.671 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8780
+t=106: Selected seed 195 with value = 0.8780
+Query 1/1: Action query time = 6.582 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=122: Selected seed 195 with value = 0.9306
+Query 1/1: Action query time = 5.051 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=138: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 5.884 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8552
+t=154: Selected seed 195 with value = 0.8552
+Query 1/1: Action query time = 5.241 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=170: Selected seed 195 with value = 0.8746
+Query 1/1: Action query time = 6.095 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9009
+t=186: Selected seed 195 with value = 0.9009
+Query 1/1: Action query time = 7.056 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8763
+t=202: Selected seed 195 with value = 0.8763
+Query 1/1: Action query time = 6.320 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8836
+t=218: Selected seed 195 with value = 0.8836
+Query 1/1: Action query time = 5.543 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=234: Selected seed 195 with value = 0.8884
+Query 1/1: Action query time = 5.678 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=250: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 7.288 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8829
+t=266: Selected seed 195 with value = 0.8829
+Query 1/1: Action query time = 3.779 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8196
+t=282: Selected seed 195 with value = 0.8196
+Query 1/1: Action query time = 4.089 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7965
+t=298: Selected seed 195 with value = 0.7965
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 4.909 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4726
+t=10: Selected seed 195 with value = 0.4726
+Query 1/1: Action query time = 5.710 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6560
+t=26: Selected seed 195 with value = 0.6560
+Query 1/1: Action query time = 5.084 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7750
+t=42: Selected seed 195 with value = 0.7750
+Query 1/1: Action query time = 5.658 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8753
+t=58: Selected seed 195 with value = 0.8753
+Query 1/1: Action query time = 5.611 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=74: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 5.174 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8105
+t=90: Selected seed 195 with value = 0.8105
+Query 1/1: Action query time = 5.671 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8954
+t=106: Selected seed 195 with value = 0.8954
+Query 1/1: Action query time = 6.139 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9269
+t=122: Selected seed 195 with value = 0.9269
+Query 1/1: Action query time = 6.506 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9179
+t=138: Selected seed 195 with value = 0.9179
+Query 1/1: Action query time = 5.025 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=154: Selected seed 195 with value = 0.9661
+Query 1/1: Action query time = 6.246 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7845
+t=170: Selected seed 195 with value = 0.7845
+Query 1/1: Action query time = 5.611 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9238
+t=186: Selected seed 195 with value = 0.9238
+Query 1/1: Action query time = 6.284 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8454
+t=202: Selected seed 195 with value = 0.8454
+Query 1/1: Action query time = 6.365 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8476
+t=218: Selected seed 195 with value = 0.8476
+Query 1/1: Action query time = 6.137 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8286
+t=234: Selected seed 195 with value = 0.8286
+Query 1/1: Action query time = 6.069 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7840
+t=250: Selected seed 195 with value = 0.7840
+Query 1/1: Action query time = 5.255 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7817
+t=266: Selected seed 195 with value = 0.7817
+Query 1/1: Action query time = 3.844 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7889
+t=282: Selected seed 195 with value = 0.7889
+Query 1/1: Action query time = 3.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=298: Selected seed 195 with value = 0.8603
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=5--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 6.865 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7092
+t=10: Selected seed 195 with value = 0.7092
+Query 1/1: Action query time = 4.276 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6019
+t=26: Selected seed 195 with value = 0.6019
+Query 1/1: Action query time = 4.552 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7917
+t=42: Selected seed 195 with value = 0.7917
+Query 1/1: Action query time = 5.350 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=58: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 4.903 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=74: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 7.001 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=90: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 5.167 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9040
+t=106: Selected seed 195 with value = 0.9040
+Query 1/1: Action query time = 6.391 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8839
+t=122: Selected seed 195 with value = 0.8839
+Query 1/1: Action query time = 5.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=138: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 5.871 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=154: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 6.215 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8816
+t=170: Selected seed 195 with value = 0.8816
+Query 1/1: Action query time = 7.628 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8663
+t=186: Selected seed 195 with value = 0.8663
+Query 1/1: Action query time = 5.785 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8702
+t=202: Selected seed 195 with value = 0.8702
+Query 1/1: Action query time = 5.339 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9147
+t=218: Selected seed 195 with value = 0.9147
+Query 1/1: Action query time = 6.777 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8956
+t=234: Selected seed 195 with value = 0.8956
+Query 1/1: Action query time = 7.588 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=250: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 5.207 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8578
+t=266: Selected seed 195 with value = 0.8578
+Query 1/1: Action query time = 4.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8031
+t=282: Selected seed 195 with value = 0.8031
+Query 1/1: Action query time = 4.205 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8836
+t=298: Selected seed 195 with value = 0.8836
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=6--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 5.771 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4727
+t=10: Selected seed 195 with value = 0.4727
+Query 1/1: Action query time = 6.809 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6307
+t=26: Selected seed 195 with value = 0.6307
+Query 1/1: Action query time = 7.233 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7796
+t=42: Selected seed 195 with value = 0.7796
+Query 1/1: Action query time = 6.420 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=58: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 5.654 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8021
+t=74: Selected seed 195 with value = 0.8021
+Query 1/1: Action query time = 7.693 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8431
+t=90: Selected seed 195 with value = 0.8431
+Query 1/1: Action query time = 5.129 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8751
+t=106: Selected seed 195 with value = 0.8751
+Query 1/1: Action query time = 7.948 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9420
+t=122: Selected seed 195 with value = 0.9420
+Query 1/1: Action query time = 5.836 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9547
+t=138: Selected seed 195 with value = 0.9547
+Query 1/1: Action query time = 4.545 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8450
+t=154: Selected seed 195 with value = 0.8450
+Query 1/1: Action query time = 5.333 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8919
+t=170: Selected seed 195 with value = 0.8919
+Query 1/1: Action query time = 7.105 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=186: Selected seed 195 with value = 0.9229
+Query 1/1: Action query time = 6.414 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8742
+t=202: Selected seed 195 with value = 0.8742
+Query 1/1: Action query time = 7.126 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8541
+t=218: Selected seed 195 with value = 0.8541
+Query 1/1: Action query time = 6.172 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8948
+t=234: Selected seed 195 with value = 0.8948
+Query 1/1: Action query time = 4.735 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8275
+t=250: Selected seed 195 with value = 0.8275
+Query 1/1: Action query time = 3.704 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8522
+t=266: Selected seed 195 with value = 0.8522
+Query 1/1: Action query time = 4.738 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8412
+t=282: Selected seed 195 with value = 0.8412
+Query 1/1: Action query time = 5.999 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8183
+t=298: Selected seed 195 with value = 0.8183
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=7--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 5.621 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4893
+t=10: Selected seed 195 with value = 0.4893
+Query 1/1: Action query time = 6.143 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5987
+t=26: Selected seed 195 with value = 0.5987
+Query 1/1: Action query time = 6.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7778
+t=42: Selected seed 195 with value = 0.7778
+Query 1/1: Action query time = 5.086 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8698
+t=58: Selected seed 195 with value = 0.8698
+Query 1/1: Action query time = 4.091 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=74: Selected seed 195 with value = 0.8535
+Query 1/1: Action query time = 5.693 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8598
+t=90: Selected seed 195 with value = 0.8598
+Query 1/1: Action query time = 5.719 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=106: Selected seed 195 with value = 0.9273
+Query 1/1: Action query time = 6.584 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8295
+t=122: Selected seed 195 with value = 0.8295
+Query 1/1: Action query time = 5.847 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8926
+t=138: Selected seed 195 with value = 0.8926
+Query 1/1: Action query time = 5.298 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=154: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 7.175 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=170: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 5.347 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8782
+t=186: Selected seed 195 with value = 0.8782
+Query 1/1: Action query time = 5.274 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8769
+t=202: Selected seed 195 with value = 0.8769
+Query 1/1: Action query time = 5.287 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8948
+t=218: Selected seed 195 with value = 0.8948
+Query 1/1: Action query time = 4.632 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=234: Selected seed 195 with value = 0.8755
+Query 1/1: Action query time = 3.395 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9103
+t=250: Selected seed 195 with value = 0.9103
+Query 1/1: Action query time = 4.435 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8956
+t=266: Selected seed 195 with value = 0.8956
+Query 1/1: Action query time = 4.167 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9435
+t=282: Selected seed 195 with value = 0.9435
+Query 1/1: Action query time = 4.225 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9000
+t=298: Selected seed 195 with value = 0.9000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=8--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 2.753 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5707
+t=10: Selected seed 195 with value = 0.5707
+Query 1/1: Action query time = 5.512 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6860
+t=26: Selected seed 195 with value = 0.6860
+Query 1/1: Action query time = 5.631 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7974
+t=42: Selected seed 195 with value = 0.7974
+Query 1/1: Action query time = 5.133 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8148
+t=58: Selected seed 195 with value = 0.8148
+Query 1/1: Action query time = 5.254 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8854
+t=74: Selected seed 195 with value = 0.8854
+Query 1/1: Action query time = 4.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9329
+t=90: Selected seed 195 with value = 0.9329
+Query 1/1: Action query time = 5.359 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9299
+t=106: Selected seed 195 with value = 0.9299
+Query 1/1: Action query time = 5.339 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9363
+t=122: Selected seed 195 with value = 0.9363
+Query 1/1: Action query time = 5.348 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9238
+t=138: Selected seed 195 with value = 0.9238
+Query 1/1: Action query time = 6.047 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=154: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 5.739 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9110
+t=170: Selected seed 195 with value = 0.9110
+Query 1/1: Action query time = 5.291 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8540
+t=186: Selected seed 195 with value = 0.8540
+Query 1/1: Action query time = 5.468 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9027
+t=202: Selected seed 195 with value = 0.9027
+Query 1/1: Action query time = 5.187 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=218: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 4.162 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=234: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 5.326 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=250: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 5.027 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8044
+t=266: Selected seed 195 with value = 0.8044
+Query 1/1: Action query time = 5.362 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7883
+t=282: Selected seed 195 with value = 0.7883
+Query 1/1: Action query time = 5.043 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7042
+t=298: Selected seed 195 with value = 0.7042
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 4.907 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5105
+t=10: Selected seed 195 with value = 0.5105
+Query 1/1: Action query time = 4.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6218
+t=26: Selected seed 195 with value = 0.6218
+Query 1/1: Action query time = 5.320 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8233
+t=42: Selected seed 195 with value = 0.8233
+Query 1/1: Action query time = 5.263 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8704
+t=58: Selected seed 195 with value = 0.8704
+Query 1/1: Action query time = 5.151 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7979
+t=74: Selected seed 195 with value = 0.7979
+Query 1/1: Action query time = 6.230 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7426
+t=90: Selected seed 195 with value = 0.7426
+Query 1/1: Action query time = 5.309 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9190
+t=106: Selected seed 195 with value = 0.9190
+Query 1/1: Action query time = 5.915 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9163
+t=122: Selected seed 195 with value = 0.9163
+Query 1/1: Action query time = 4.715 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=138: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 4.840 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=154: Selected seed 195 with value = 0.9037
+Query 1/1: Action query time = 4.161 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8642
+t=170: Selected seed 195 with value = 0.8642
+Query 1/1: Action query time = 4.093 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9485
+t=186: Selected seed 195 with value = 0.9485
+Query 1/1: Action query time = 4.333 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9230
+t=202: Selected seed 195 with value = 0.9230
+Query 1/1: Action query time = 4.540 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8903
+t=218: Selected seed 195 with value = 0.8903
+Query 1/1: Action query time = 4.035 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=234: Selected seed 195 with value = 0.8801
+Query 1/1: Action query time = 4.008 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=250: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 5.472 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8783
+t=266: Selected seed 195 with value = 0.8783
+Query 1/1: Action query time = 4.892 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8524
+t=282: Selected seed 195 with value = 0.8524
+Query 1/1: Action query time = 5.428 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=298: Selected seed 195 with value = 0.8675
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 5.556 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5157
+t=10: Selected seed 195 with value = 0.5157
+Query 1/1: Action query time = 5.372 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6118
+t=26: Selected seed 195 with value = 0.6118
+Query 1/1: Action query time = 4.550 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8477
+t=42: Selected seed 195 with value = 0.8477
+Query 1/1: Action query time = 4.549 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8855
+t=58: Selected seed 195 with value = 0.8855
+Query 1/1: Action query time = 3.233 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9436
+t=74: Selected seed 195 with value = 0.9436
+Query 1/1: Action query time = 4.273 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8663
+t=90: Selected seed 195 with value = 0.8663
+Query 1/1: Action query time = 5.326 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=106: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 5.102 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=122: Selected seed 195 with value = 0.8778
+Query 1/1: Action query time = 4.876 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=138: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 5.268 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=154: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 5.066 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=170: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 4.154 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9651
+t=186: Selected seed 195 with value = 0.9651
+Query 1/1: Action query time = 3.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8887
+t=202: Selected seed 195 with value = 0.8887
+Query 1/1: Action query time = 4.459 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=218: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 3.872 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=234: Selected seed 195 with value = 0.8801
+Query 1/1: Action query time = 4.849 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8398
+t=250: Selected seed 195 with value = 0.8398
+Query 1/1: Action query time = 4.179 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8805
+t=266: Selected seed 195 with value = 0.8805
+Query 1/1: Action query time = 5.190 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=282: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 2.777 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8402
+t=298: Selected seed 195 with value = 0.8402
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=11--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 3.894 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=10: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 3.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6559
+t=26: Selected seed 195 with value = 0.6559
+Query 1/1: Action query time = 3.664 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=42: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 3.011 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8832
+t=58: Selected seed 195 with value = 0.8832
+Query 1/1: Action query time = 2.716 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9176
+t=74: Selected seed 195 with value = 0.9176
+Query 1/1: Action query time = 2.364 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9214
+t=90: Selected seed 195 with value = 0.9214
+Query 1/1: Action query time = 3.532 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9391
+t=106: Selected seed 195 with value = 0.9391
+Query 1/1: Action query time = 3.302 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9345
+t=122: Selected seed 195 with value = 0.9345
+Query 1/1: Action query time = 4.192 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=138: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 3.262 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8766
+t=154: Selected seed 195 with value = 0.8766
+Query 1/1: Action query time = 3.181 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=170: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 3.668 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8860
+t=186: Selected seed 195 with value = 0.8860
+Query 1/1: Action query time = 3.255 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=202: Selected seed 195 with value = 0.8675
+Query 1/1: Action query time = 3.456 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9053
+t=218: Selected seed 195 with value = 0.9053
+Query 1/1: Action query time = 2.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8644
+t=234: Selected seed 195 with value = 0.8644
+Query 1/1: Action query time = 3.833 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=250: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 3.861 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=266: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 3.885 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7934
+t=282: Selected seed 195 with value = 0.7934
+Query 1/1: Action query time = 3.478 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8132
+t=298: Selected seed 195 with value = 0.8132
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_16_49--with_future_img--episode=12--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 12
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7dc800x50_t6_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7dc800x50_t6_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..05c21cd0b3ecb56135710ad2cb1431614cf1b9cc
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7dc800x50_t6_s3.txt
@@ -0,0 +1,896 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t6_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 3.084 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4868
+t=10: Selected seed 195 with value = 0.4868
+Query 1/1: Action query time = 1.947 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5383
+t=26: Selected seed 195 with value = 0.5383
+Query 1/1: Action query time = 2.510 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6622
+t=42: Selected seed 195 with value = 0.6622
+Query 1/1: Action query time = 4.205 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8110
+t=58: Selected seed 195 with value = 0.8110
+Query 1/1: Action query time = 6.300 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=74: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 6.072 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=90: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.365 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4415
+t=10: Selected seed 195 with value = 0.4415
+Query 1/1: Action query time = 5.650 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5713
+t=26: Selected seed 195 with value = 0.5713
+Query 1/1: Action query time = 7.011 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6664
+t=42: Selected seed 195 with value = 0.6664
+Query 1/1: Action query time = 4.765 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7804
+t=58: Selected seed 195 with value = 0.7804
+Query 1/1: Action query time = 6.486 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8759
+t=74: Selected seed 195 with value = 0.8759
+Query 1/1: Action query time = 4.652 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=90: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 7.179 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=106: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 5.509 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=122: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 4.491 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=138: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 4.588 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=154: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 6.254 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=170: Selected seed 195 with value = 0.9777
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5053
+t=10: Selected seed 195 with value = 0.5053
+Query 1/1: Action query time = 2.572 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5619
+t=26: Selected seed 195 with value = 0.5619
+Query 1/1: Action query time = 5.485 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6404
+t=42: Selected seed 195 with value = 0.6404
+Query 1/1: Action query time = 3.810 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7801
+t=58: Selected seed 195 with value = 0.7801
+Query 1/1: Action query time = 6.483 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8845
+t=74: Selected seed 195 with value = 0.8845
+Query 1/1: Action query time = 6.372 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7752
+t=90: Selected seed 195 with value = 0.7752
+Query 1/1: Action query time = 6.483 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9404
+t=106: Selected seed 195 with value = 0.9404
+Query 1/1: Action query time = 3.906 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=122: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 3.511 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9619
+t=138: Selected seed 195 with value = 0.9619
+Query 1/1: Action query time = 5.311 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=154: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 4.083 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=170: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 6.937 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9221
+t=186: Selected seed 195 with value = 0.9221
+Query 1/1: Action query time = 3.079 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=202: Selected seed 195 with value = 0.9586
+Query 1/1: Action query time = 5.293 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=218: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 5.680 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=234: Selected seed 195 with value = 0.9471
+Query 1/1: Action query time = 6.378 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=250: Selected seed 195 with value = 0.9086
+Query 1/1: Action query time = 4.692 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9003
+t=266: Selected seed 195 with value = 0.9003
+Query 1/1: Action query time = 5.653 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9011
+t=282: Selected seed 195 with value = 0.9011
+Query 1/1: Action query time = 5.413 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9027
+t=298: Selected seed 195 with value = 0.9027
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 5.265 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4664
+t=10: Selected seed 195 with value = 0.4664
+Query 1/1: Action query time = 4.873 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5570
+t=26: Selected seed 195 with value = 0.5570
+Query 1/1: Action query time = 4.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6639
+t=42: Selected seed 195 with value = 0.6639
+Query 1/1: Action query time = 4.481 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7668
+t=58: Selected seed 195 with value = 0.7668
+Query 1/1: Action query time = 4.894 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9127
+t=74: Selected seed 195 with value = 0.9127
+Query 1/1: Action query time = 5.430 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=90: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 6.540 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=106: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 5.479 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8500
+t=122: Selected seed 195 with value = 0.8500
+Query 1/1: Action query time = 5.088 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9041
+t=138: Selected seed 195 with value = 0.9041
+Query 1/1: Action query time = 4.954 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9250
+t=154: Selected seed 195 with value = 0.9250
+Query 1/1: Action query time = 6.743 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=170: Selected seed 195 with value = 0.9284
+Query 1/1: Action query time = 5.284 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9328
+t=186: Selected seed 195 with value = 0.9328
+Query 1/1: Action query time = 4.282 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=202: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 3.934 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=218: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 6.262 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=234: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 5.666 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=250: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 4.247 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=266: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 6.369 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9062
+t=282: Selected seed 195 with value = 0.9062
+Query 1/1: Action query time = 5.692 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=298: Selected seed 195 with value = 0.8907
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=4--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 4.408 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4971
+t=10: Selected seed 195 with value = 0.4971
+Query 1/1: Action query time = 4.937 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5687
+t=26: Selected seed 195 with value = 0.5687
+Query 1/1: Action query time = 6.760 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6907
+t=42: Selected seed 195 with value = 0.6907
+Query 1/1: Action query time = 6.171 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7676
+t=58: Selected seed 195 with value = 0.7676
+Query 1/1: Action query time = 5.459 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9184
+t=74: Selected seed 195 with value = 0.9184
+Query 1/1: Action query time = 4.936 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=90: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 4.370 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.104 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=122: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 3.746 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=138: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 4.557 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=154: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 4.645 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9473
+t=170: Selected seed 195 with value = 0.9473
+Query 1/1: Action query time = 5.333 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=186: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 4.407 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=202: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 5.782 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=218: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 5.492 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9674
+t=234: Selected seed 195 with value = 0.9674
+Query 1/1: Action query time = 5.336 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=250: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 3.453 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=266: Selected seed 195 with value = 0.9318
+Query 1/1: Action query time = 2.810 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.299 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9377
+t=298: Selected seed 195 with value = 0.9377
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=5--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 2 (40.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 4.499 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=10: Selected seed 195 with value = 0.4838
+Query 1/1: Action query time = 3.904 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5387
+t=26: Selected seed 195 with value = 0.5387
+Query 1/1: Action query time = 3.654 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6615
+t=42: Selected seed 195 with value = 0.6615
+Query 1/1: Action query time = 4.114 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7585
+t=58: Selected seed 195 with value = 0.7585
+Query 1/1: Action query time = 4.468 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7134
+t=74: Selected seed 195 with value = 0.7134
+Query 1/1: Action query time = 2.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8170
+t=90: Selected seed 195 with value = 0.8170
+Query 1/1: Action query time = 3.185 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8526
+t=106: Selected seed 195 with value = 0.8526
+Query 1/1: Action query time = 4.482 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=122: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 4.536 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9382
+t=138: Selected seed 195 with value = 0.9382
+Query 1/1: Action query time = 4.346 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9421
+t=154: Selected seed 195 with value = 0.9421
+Query 1/1: Action query time = 5.288 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=170: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 3.583 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=186: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 3.016 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=202: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 2.937 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=218: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 3.603 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=234: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 5.082 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=250: Selected seed 195 with value = 0.9860
+Query 1/1: Action query time = 5.148 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=266: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 3.813 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=282: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 4.222 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9426
+t=298: Selected seed 195 with value = 0.9426
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=6--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 2 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 3.824 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4450
+t=10: Selected seed 195 with value = 0.4450
+Query 1/1: Action query time = 3.088 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=26: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 3.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6315
+t=42: Selected seed 195 with value = 0.6315
+Query 1/1: Action query time = 3.796 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7707
+t=58: Selected seed 195 with value = 0.7707
+Query 1/1: Action query time = 3.581 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8637
+t=74: Selected seed 195 with value = 0.8637
+Query 1/1: Action query time = 3.472 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=90: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 3.591 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=106: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 3.468 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=122: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 4.784 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=138: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 3.765 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=154: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 4.463 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=170: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 4.465 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=186: Selected seed 195 with value = 0.9503
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 3 (42.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 2.738 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4577
+t=10: Selected seed 195 with value = 0.4577
+Query 1/1: Action query time = 2.442 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=26: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 3.450 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=42: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 3.668 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7445
+t=58: Selected seed 195 with value = 0.7445
+Query 1/1: Action query time = 3.351 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6745
+t=74: Selected seed 195 with value = 0.6745
+Query 1/1: Action query time = 3.426 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8552
+t=90: Selected seed 195 with value = 0.8552
+Query 1/1: Action query time = 3.064 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7701
+t=106: Selected seed 195 with value = 0.7701
+Query 1/1: Action query time = 3.000 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8042
+t=122: Selected seed 195 with value = 0.8042
+Query 1/1: Action query time = 2.308 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8422
+t=138: Selected seed 195 with value = 0.8422
+Query 1/1: Action query time = 3.320 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8388
+t=154: Selected seed 195 with value = 0.8388
+Query 1/1: Action query time = 3.643 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8382
+t=170: Selected seed 195 with value = 0.8382
+Query 1/1: Action query time = 4.141 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8432
+t=186: Selected seed 195 with value = 0.8432
+Query 1/1: Action query time = 2.577 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8414
+t=202: Selected seed 195 with value = 0.8414
+Query 1/1: Action query time = 2.526 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8344
+t=218: Selected seed 195 with value = 0.8344
+Query 1/1: Action query time = 2.585 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8246
+t=234: Selected seed 195 with value = 0.8246
+Query 1/1: Action query time = 2.842 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8258
+t=250: Selected seed 195 with value = 0.8258
+Query 1/1: Action query time = 3.541 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8401
+t=266: Selected seed 195 with value = 0.8401
+Query 1/1: Action query time = 3.137 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8385
+t=282: Selected seed 195 with value = 0.8385
+Query 1/1: Action query time = 3.145 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8378
+t=298: Selected seed 195 with value = 0.8378
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=8--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 3 (37.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 3.240 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5319
+t=10: Selected seed 195 with value = 0.5319
+Query 1/1: Action query time = 3.128 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6120
+t=26: Selected seed 195 with value = 0.6120
+Query 1/1: Action query time = 2.559 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6857
+t=42: Selected seed 195 with value = 0.6857
+Query 1/1: Action query time = 2.127 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7850
+t=58: Selected seed 195 with value = 0.7850
+Query 1/1: Action query time = 2.290 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8976
+t=74: Selected seed 195 with value = 0.8976
+Query 1/1: Action query time = 2.627 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=90: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 3.341 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=106: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 2.794 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=122: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 2.414 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=138: Selected seed 195 with value = 0.9844
+Query 1/1: Action query time = 3.005 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8861
+t=154: Selected seed 195 with value = 0.8861
+Query 1/1: Action query time = 1.687 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9390
+t=170: Selected seed 195 with value = 0.9390
+Query 1/1: Action query time = 2.556 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=186: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 3.533 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=202: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 3.856 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=218: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 2.421 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=234: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 2.536 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=250: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 2.303 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.136 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=282: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 2.949 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=298: Selected seed 195 with value = 0.9833
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=9--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 3 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 1.906 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5121
+t=10: Selected seed 195 with value = 0.5121
+Query 1/1: Action query time = 3.170 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6321
+t=26: Selected seed 195 with value = 0.6321
+Query 1/1: Action query time = 2.165 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6673
+t=42: Selected seed 195 with value = 0.6673
+Query 1/1: Action query time = 2.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7945
+t=58: Selected seed 195 with value = 0.7945
+Query 1/1: Action query time = 3.239 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7798
+t=74: Selected seed 195 with value = 0.7798
+Query 1/1: Action query time = 2.240 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8426
+t=90: Selected seed 195 with value = 0.8426
+Query 1/1: Action query time = 3.868 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9082
+t=106: Selected seed 195 with value = 0.9082
+Query 1/1: Action query time = 1.657 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9510
+t=122: Selected seed 195 with value = 0.9510
+Query 1/1: Action query time = 3.860 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=138: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 3.295 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=154: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 2.669 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9721
+t=170: Selected seed 195 with value = 0.9721
+Query 1/1: Action query time = 3.142 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=186: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 3.422 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=202: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 3.559 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=218: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 2.183 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=234: Selected seed 195 with value = 0.9298
+Query 1/1: Action query time = 1.820 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=250: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 1.329 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8845
+t=266: Selected seed 195 with value = 0.8845
+Query 1/1: Action query time = 2.146 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8575
+t=282: Selected seed 195 with value = 0.8575
+Query 1/1: Action query time = 1.779 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=298: Selected seed 195 with value = 0.8491
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=10--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 3 (30.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 3.443 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4859
+t=10: Selected seed 195 with value = 0.4859
+Query 1/1: Action query time = 3.042 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5295
+t=26: Selected seed 195 with value = 0.5295
+Query 1/1: Action query time = 2.350 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6400
+t=42: Selected seed 195 with value = 0.6400
+Query 1/1: Action query time = 2.923 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=58: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 2.076 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8725
+t=74: Selected seed 195 with value = 0.8725
+Query 1/1: Action query time = 2.470 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=90: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 2.819 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=106: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 1.451 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=122: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 2.274 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=138: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 1.719 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=154: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 2.689 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=170: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 2.198 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=186: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 2.545 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=202: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 2.382 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=218: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 2.029 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=234: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 1.250 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9316
+t=250: Selected seed 195 with value = 0.9316
+Query 1/1: Action query time = 1.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9720
+t=266: Selected seed 195 with value = 0.9720
+Query 1/1: Action query time = 2.019 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=282: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 1.745 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9005
+t=298: Selected seed 195 with value = 0.9005
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=11--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 3 (27.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 3.206 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5036
+t=10: Selected seed 195 with value = 0.5036
+Query 1/1: Action query time = 2.863 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6622
+t=26: Selected seed 195 with value = 0.6622
+Query 1/1: Action query time = 2.621 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7713
+t=42: Selected seed 195 with value = 0.7713
+Query 1/1: Action query time = 1.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8434
+t=58: Selected seed 195 with value = 0.8434
+Query 1/1: Action query time = 1.559 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8309
+t=74: Selected seed 195 with value = 0.8309
+Query 1/1: Action query time = 2.490 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8802
+t=90: Selected seed 195 with value = 0.8802
+Query 1/1: Action query time = 1.825 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=106: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 2.518 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=122: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 2.348 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=138: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 2.268 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.660 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=170: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 1.218 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=186: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 1.784 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.833 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.676 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=234: Selected seed 195 with value = 0.9917
+Query 1/1: Action query time = 1.360 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=250: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 1.742 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=266: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 1.920 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=282: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 2.196 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=298: Selected seed 195 with value = 0.9587
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s3/2026_08_03-01_47_44--with_future_img--episode=12--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 3 (25.0%)
+Current task success rate: 0.25
+Current total success rate: 0.25
+Final results:
+Total episodes: 12
+Total successes: 3
+Overall success rate: 0.2500 (25.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7rc800x50_t5_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7rc800x50_t5_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0172b3e3902ff2310ac210bf99e817c04220fb4d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7rc800x50_t5_s1.txt
@@ -0,0 +1,823 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t5_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.452 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4547
+t=10: Selected seed 195 with value = 0.4547
+Query 1/1: Action query time = 3.563 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5243
+t=26: Selected seed 195 with value = 0.5243
+Query 1/1: Action query time = 4.470 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6032
+t=42: Selected seed 195 with value = 0.6032
+Query 1/1: Action query time = 5.313 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7222
+t=58: Selected seed 195 with value = 0.7222
+Query 1/1: Action query time = 5.586 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=74: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 5.115 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=90: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 5.422 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9204
+t=106: Selected seed 195 with value = 0.9204
+Query 1/1: Action query time = 6.208 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=122: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 4.865 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=138: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 4.699 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7872
+t=154: Selected seed 195 with value = 0.7872
+Query 1/1: Action query time = 8.232 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=170: Selected seed 195 with value = 0.8746
+Query 1/1: Action query time = 8.095 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.100 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.384 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.216 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.101 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.763 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.198 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.680 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4588
+t=10: Selected seed 195 with value = 0.4588
+Query 1/1: Action query time = 5.864 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5103
+t=26: Selected seed 195 with value = 0.5103
+Query 1/1: Action query time = 6.161 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6363
+t=42: Selected seed 195 with value = 0.6363
+Query 1/1: Action query time = 5.035 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7394
+t=58: Selected seed 195 with value = 0.7394
+Query 1/1: Action query time = 4.399 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=74: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 4.301 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=90: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 5.423 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=106: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 5.753 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=122: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 5.590 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.059 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.838 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4524
+t=10: Selected seed 195 with value = 0.4524
+Query 1/1: Action query time = 5.741 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5326
+t=26: Selected seed 195 with value = 0.5326
+Query 1/1: Action query time = 5.080 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6304
+t=42: Selected seed 195 with value = 0.6304
+Query 1/1: Action query time = 5.638 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7224
+t=58: Selected seed 195 with value = 0.7224
+Query 1/1: Action query time = 5.628 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=74: Selected seed 195 with value = 0.8775
+Query 1/1: Action query time = 5.210 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=90: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 3.760 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=106: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 5.443 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=122: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 5.163 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.992 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.711 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4462
+t=10: Selected seed 195 with value = 0.4462
+Query 1/1: Action query time = 4.917 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4841
+t=26: Selected seed 195 with value = 0.4841
+Query 1/1: Action query time = 5.031 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=42: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 5.407 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6667
+t=58: Selected seed 195 with value = 0.6667
+Query 1/1: Action query time = 5.480 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8413
+t=74: Selected seed 195 with value = 0.8413
+Query 1/1: Action query time = 5.665 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9045
+t=90: Selected seed 195 with value = 0.9045
+Query 1/1: Action query time = 5.468 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=106: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 5.822 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9553
+t=122: Selected seed 195 with value = 0.9553
+Query 1/1: Action query time = 5.768 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9263
+t=138: Selected seed 195 with value = 0.9263
+Query 1/1: Action query time = 7.032 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7420
+t=154: Selected seed 195 with value = 0.7420
+Query 1/1: Action query time = 5.883 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8006
+t=170: Selected seed 195 with value = 0.8006
+Query 1/1: Action query time = 4.761 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8584
+t=186: Selected seed 195 with value = 0.8584
+Query 1/1: Action query time = 4.636 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8432
+t=202: Selected seed 195 with value = 0.8432
+Query 1/1: Action query time = 5.837 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8800
+t=218: Selected seed 195 with value = 0.8800
+Query 1/1: Action query time = 4.845 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8722
+t=234: Selected seed 195 with value = 0.8722
+Query 1/1: Action query time = 6.134 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8797
+t=250: Selected seed 195 with value = 0.8797
+Query 1/1: Action query time = 4.482 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8718
+t=266: Selected seed 195 with value = 0.8718
+Query 1/1: Action query time = 4.567 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8734
+t=282: Selected seed 195 with value = 0.8734
+Query 1/1: Action query time = 5.231 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8565
+t=298: Selected seed 195 with value = 0.8565
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=4--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 6.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4483
+t=10: Selected seed 195 with value = 0.4483
+Query 1/1: Action query time = 4.791 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5133
+t=26: Selected seed 195 with value = 0.5133
+Query 1/1: Action query time = 5.053 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6075
+t=42: Selected seed 195 with value = 0.6075
+Query 1/1: Action query time = 5.348 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7269
+t=58: Selected seed 195 with value = 0.7269
+Query 1/1: Action query time = 5.864 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8680
+t=74: Selected seed 195 with value = 0.8680
+Query 1/1: Action query time = 6.176 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9027
+t=90: Selected seed 195 with value = 0.9027
+Query 1/1: Action query time = 6.502 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=106: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 5.888 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=122: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 5.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=138: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 5.537 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8427
+t=154: Selected seed 195 with value = 0.8427
+Query 1/1: Action query time = 5.805 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7802
+t=170: Selected seed 195 with value = 0.7802
+Query 1/1: Action query time = 5.691 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8037
+t=186: Selected seed 195 with value = 0.8037
+Query 1/1: Action query time = 4.668 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.016 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.234 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.724 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.481 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7062
+t=266: Selected seed 195 with value = 0.7062
+Query 1/1: Action query time = 4.653 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7154
+t=282: Selected seed 195 with value = 0.7154
+Query 1/1: Action query time = 3.961 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7059
+t=298: Selected seed 195 with value = 0.7059
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=5--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 2 (40.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.611 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4415
+t=10: Selected seed 195 with value = 0.4415
+Query 1/1: Action query time = 5.566 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5093
+t=26: Selected seed 195 with value = 0.5093
+Query 1/1: Action query time = 5.249 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6325
+t=42: Selected seed 195 with value = 0.6325
+Query 1/1: Action query time = 5.595 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6958
+t=58: Selected seed 195 with value = 0.6958
+Query 1/1: Action query time = 4.775 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8047
+t=74: Selected seed 195 with value = 0.8047
+Query 1/1: Action query time = 3.657 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9067
+t=90: Selected seed 195 with value = 0.9067
+Query 1/1: Action query time = 3.028 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=106: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 3.906 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=122: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 3.378 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.471 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 3 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.807 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4486
+t=10: Selected seed 195 with value = 0.4486
+Query 1/1: Action query time = 5.427 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5186
+t=26: Selected seed 195 with value = 0.5186
+Query 1/1: Action query time = 5.494 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6395
+t=42: Selected seed 195 with value = 0.6395
+Query 1/1: Action query time = 5.026 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7233
+t=58: Selected seed 195 with value = 0.7233
+Query 1/1: Action query time = 4.449 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8909
+t=74: Selected seed 195 with value = 0.8909
+Query 1/1: Action query time = 3.785 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=90: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 4.346 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=106: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 4.896 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.770 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.031 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4438
+t=10: Selected seed 195 with value = 0.4438
+Query 1/1: Action query time = 4.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5332
+t=26: Selected seed 195 with value = 0.5332
+Query 1/1: Action query time = 4.900 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6114
+t=42: Selected seed 195 with value = 0.6114
+Query 1/1: Action query time = 5.444 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6808
+t=58: Selected seed 195 with value = 0.6808
+Query 1/1: Action query time = 5.007 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8338
+t=74: Selected seed 195 with value = 0.8338
+Query 1/1: Action query time = 3.894 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=90: Selected seed 195 with value = 0.9318
+Query 1/1: Action query time = 3.586 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=106: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 4.415 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=122: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 3.170 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=138: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 2.491 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=154: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 3.736 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=170: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 4.277 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=186: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 4.733 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=202: Selected seed 195 with value = 0.9625
+Query 1/1: Action query time = 4.858 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=218: Selected seed 195 with value = 0.9586
+Query 1/1: Action query time = 3.146 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=234: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 4.474 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=250: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 4.923 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9540
+t=266: Selected seed 195 with value = 0.9540
+Query 1/1: Action query time = 4.629 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=282: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 3.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=298: Selected seed 195 with value = 0.9527
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=8--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 4 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.697 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4528
+t=10: Selected seed 195 with value = 0.4528
+Query 1/1: Action query time = 3.706 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5257
+t=26: Selected seed 195 with value = 0.5257
+Query 1/1: Action query time = 3.675 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6329
+t=42: Selected seed 195 with value = 0.6329
+Query 1/1: Action query time = 3.920 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7482
+t=58: Selected seed 195 with value = 0.7482
+Query 1/1: Action query time = 2.568 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8751
+t=74: Selected seed 195 with value = 0.8751
+Query 1/1: Action query time = 2.490 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9190
+t=90: Selected seed 195 with value = 0.9190
+Query 1/1: Action query time = 3.009 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=106: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 1.683 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9746
+t=122: Selected seed 195 with value = 0.9746
+Query 1/1: Action query time = 2.991 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7973
+t=138: Selected seed 195 with value = 0.7973
+Query 1/1: Action query time = 3.149 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=154: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 4.110 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=170: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 3.655 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.629 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.350 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.887 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.478 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.147 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 5 (55.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.063 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4412
+t=10: Selected seed 195 with value = 0.4412
+Query 1/1: Action query time = 2.385 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4935
+t=26: Selected seed 195 with value = 0.4935
+Query 1/1: Action query time = 3.712 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=42: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 3.338 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=58: Selected seed 195 with value = 0.6819
+Query 1/1: Action query time = 2.409 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8235
+t=74: Selected seed 195 with value = 0.8235
+Query 1/1: Action query time = 3.049 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9066
+t=90: Selected seed 195 with value = 0.9066
+Query 1/1: Action query time = 2.842 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=106: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 2.049 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=122: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 2.743 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=138: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 2.663 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9551
+t=154: Selected seed 195 with value = 0.9551
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 6 (60.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 2.670 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4553
+t=10: Selected seed 195 with value = 0.4553
+Query 1/1: Action query time = 2.750 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5130
+t=26: Selected seed 195 with value = 0.5130
+Query 1/1: Action query time = 2.659 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6069
+t=42: Selected seed 195 with value = 0.6069
+Query 1/1: Action query time = 2.521 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7437
+t=58: Selected seed 195 with value = 0.7437
+Query 1/1: Action query time = 3.262 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8722
+t=74: Selected seed 195 with value = 0.8722
+Query 1/1: Action query time = 3.202 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=90: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 3.708 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9653
+t=106: Selected seed 195 with value = 0.9653
+Query 1/1: Action query time = 2.355 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=122: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 3.623 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.929 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 7 (63.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 3.359 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4450
+t=10: Selected seed 195 with value = 0.4450
+Query 1/1: Action query time = 2.553 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5321
+t=26: Selected seed 195 with value = 0.5321
+Query 1/1: Action query time = 2.731 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=42: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 2.929 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7895
+t=58: Selected seed 195 with value = 0.7895
+Query 1/1: Action query time = 2.750 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9211
+t=74: Selected seed 195 with value = 0.9211
+Query 1/1: Action query time = 2.571 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=90: Selected seed 195 with value = 0.9555
+Query 1/1: Action query time = 2.058 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=106: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 2.294 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.654 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 8 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 2.895 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4485
+t=10: Selected seed 195 with value = 0.4485
+Query 1/1: Action query time = 2.114 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5283
+t=26: Selected seed 195 with value = 0.5283
+Query 1/1: Action query time = 3.045 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=42: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 2.953 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7783
+t=58: Selected seed 195 with value = 0.7783
+Query 1/1: Action query time = 3.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=74: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 2.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9144
+t=90: Selected seed 195 with value = 0.9144
+Query 1/1: Action query time = 2.623 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=106: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 3.020 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=122: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 2.728 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7889
+t=138: Selected seed 195 with value = 0.7889
+Query 1/1: Action query time = 2.699 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8051
+t=154: Selected seed 195 with value = 0.8051
+Query 1/1: Action query time = 2.560 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8523
+t=170: Selected seed 195 with value = 0.8523
+Query 1/1: Action query time = 2.564 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8927
+t=186: Selected seed 195 with value = 0.8927
+Query 1/1: Action query time = 2.569 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9168
+t=202: Selected seed 195 with value = 0.9168
+Query 1/1: Action query time = 3.246 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=218: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 2.707 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9608
+t=234: Selected seed 195 with value = 0.9608
+Query 1/1: Action query time = 1.917 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=250: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 1.853 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=266: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 1.818 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=282: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 2.371 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=298: Selected seed 195 with value = 0.9769
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s1/2026_08_03-01_47_44--with_future_img--episode=13--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 8 (61.5%)
+Current task success rate: 0.6153846153846154
+Current total success rate: 0.6153846153846154
+Final results:
+Total episodes: 13
+Total successes: 8
+Overall success rate: 0.6154 (61.5%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t4_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t4_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dbc993c325397f1a57556f9816ea7655f9999f64
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t4_s1.txt
@@ -0,0 +1,567 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t4_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.356 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5399
+t=10: Selected seed 195 with value = 0.5399
+Query 1/1: Action query time = 5.913 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6820
+t=26: Selected seed 195 with value = 0.6820
+Query 1/1: Action query time = 6.224 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8451
+t=42: Selected seed 195 with value = 0.8451
+Query 1/1: Action query time = 6.920 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=58: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 7.488 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=74: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 5.698 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=90: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 6.910 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9653
+t=106: Selected seed 195 with value = 0.9653
+Query 1/1: Action query time = 4.897 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=122: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 5.541 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=138: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 6.521 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=154: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 4.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=170: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 4.446 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=186: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 6.001 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=202: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 3.549 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=218: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 4.436 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=234: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 5.211 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=250: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 6.314 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=266: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 6.169 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=282: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 6.360 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=298: Selected seed 195 with value = 0.9840
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 6.785 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5873
+t=10: Selected seed 195 with value = 0.5873
+Query 1/1: Action query time = 7.349 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6693
+t=26: Selected seed 195 with value = 0.6693
+Query 1/1: Action query time = 6.560 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7423
+t=42: Selected seed 195 with value = 0.7423
+Query 1/1: Action query time = 6.158 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=58: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 4.340 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=90: Selected seed 195 with value = 0.9909
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.815 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=10: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 2.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6245
+t=26: Selected seed 195 with value = 0.6245
+Query 1/1: Action query time = 4.512 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7740
+t=42: Selected seed 195 with value = 0.7740
+Query 1/1: Action query time = 5.081 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9265
+t=58: Selected seed 195 with value = 0.9265
+Query 1/1: Action query time = 5.947 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=74: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 4.738 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=90: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 5.320 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=106: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 7.256 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=122: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 7.690 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=138: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 6.744 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=154: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 6.328 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=170: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 6.037 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=186: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 6.985 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=202: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 6.814 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=218: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 4.585 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=234: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 4.869 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=250: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 4.799 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=266: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 5.077 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=282: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 5.179 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 6.366 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5417
+t=10: Selected seed 195 with value = 0.5417
+Query 1/1: Action query time = 4.678 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6618
+t=26: Selected seed 195 with value = 0.6618
+Query 1/1: Action query time = 4.189 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7161
+t=42: Selected seed 195 with value = 0.7161
+Query 1/1: Action query time = 3.288 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9024
+t=58: Selected seed 195 with value = 0.9024
+Query 1/1: Action query time = 4.880 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=74: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 3.884 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 6.723 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5153
+t=10: Selected seed 195 with value = 0.5153
+Query 1/1: Action query time = 6.387 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6351
+t=26: Selected seed 195 with value = 0.6351
+Query 1/1: Action query time = 4.621 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7548
+t=42: Selected seed 195 with value = 0.7548
+Query 1/1: Action query time = 5.837 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9077
+t=58: Selected seed 195 with value = 0.9077
+Query 1/1: Action query time = 6.442 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.330 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=90: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.164 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5644
+t=10: Selected seed 195 with value = 0.5644
+Query 1/1: Action query time = 5.543 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6291
+t=26: Selected seed 195 with value = 0.6291
+Query 1/1: Action query time = 5.433 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=42: Selected seed 195 with value = 0.7419
+Query 1/1: Action query time = 4.932 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8665
+t=58: Selected seed 195 with value = 0.8665
+Query 1/1: Action query time = 6.928 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=74: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 5.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 6.054 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5071
+t=10: Selected seed 195 with value = 0.5071
+Query 1/1: Action query time = 5.209 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6155
+t=26: Selected seed 195 with value = 0.6155
+Query 1/1: Action query time = 4.868 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7669
+t=42: Selected seed 195 with value = 0.7669
+Query 1/1: Action query time = 4.479 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=58: Selected seed 195 with value = 0.9229
+Query 1/1: Action query time = 6.242 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.086 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 6.660 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5159
+t=10: Selected seed 195 with value = 0.5159
+Query 1/1: Action query time = 5.679 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6301
+t=26: Selected seed 195 with value = 0.6301
+Query 1/1: Action query time = 3.905 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7599
+t=42: Selected seed 195 with value = 0.7599
+Query 1/1: Action query time = 4.356 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8410
+t=58: Selected seed 195 with value = 0.8410
+Query 1/1: Action query time = 4.033 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=74: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 4.203 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=90: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.881 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5638
+t=10: Selected seed 195 with value = 0.5638
+Query 1/1: Action query time = 4.589 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6450
+t=26: Selected seed 195 with value = 0.6450
+Query 1/1: Action query time = 4.073 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7435
+t=42: Selected seed 195 with value = 0.7435
+Query 1/1: Action query time = 4.757 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8721
+t=58: Selected seed 195 with value = 0.8721
+Query 1/1: Action query time = 4.765 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.721 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=90: Selected seed 195 with value = 0.9935
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.538 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6011
+t=10: Selected seed 195 with value = 0.6011
+Query 1/1: Action query time = 5.427 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6648
+t=26: Selected seed 195 with value = 0.6648
+Query 1/1: Action query time = 4.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7150
+t=42: Selected seed 195 with value = 0.7150
+Query 1/1: Action query time = 4.367 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8272
+t=58: Selected seed 195 with value = 0.8272
+Query 1/1: Action query time = 5.002 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=74: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 4.198 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.118 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=10: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 4.666 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6370
+t=26: Selected seed 195 with value = 0.6370
+Query 1/1: Action query time = 5.067 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7409
+t=42: Selected seed 195 with value = 0.7409
+Query 1/1: Action query time = 4.286 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=58: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 3.027 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=74: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 4.699 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=90: Selected seed 195 with value = 0.9786
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 4.540 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5552
+t=10: Selected seed 195 with value = 0.5552
+Query 1/1: Action query time = 3.048 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6707
+t=26: Selected seed 195 with value = 0.6707
+Query 1/1: Action query time = 3.834 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7534
+t=42: Selected seed 195 with value = 0.7534
+Query 1/1: Action query time = 4.282 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=58: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 5.751 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=74: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 5.138 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=90: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 5.173 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=106: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 4.593 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9549
+t=122: Selected seed 195 with value = 0.9549
+Query 1/1: Action query time = 5.461 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=138: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 4.909 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=154: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 4.013 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=170: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 3.748 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=186: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 5.720 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=202: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 5.684 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=218: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 4.655 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=234: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 4.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=250: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 5.574 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=266: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 4.842 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=282: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 3.856 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=298: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=12--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 4.141 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5458
+t=10: Selected seed 195 with value = 0.5458
+Query 1/1: Action query time = 4.789 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6503
+t=26: Selected seed 195 with value = 0.6503
+Query 1/1: Action query time = 5.295 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7752
+t=42: Selected seed 195 with value = 0.7752
+Query 1/1: Action query time = 5.599 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=58: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 4.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=74: Selected seed 195 with value = 0.9840
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s1/2026_08_03-01_47_45--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+Current task success rate: 0.7692307692307693
+Current total success rate: 0.7692307692307693
+Final results:
+Total episodes: 13
+Total successes: 10
+Overall success rate: 0.7692 (76.9%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t4_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t4_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..67e5e9515dc9557794250f066ea5f64eb43c31b5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t4_s2.txt
@@ -0,0 +1,604 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t4_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 7.171 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5505
+t=10: Selected seed 195 with value = 0.5505
+Query 1/1: Action query time = 7.457 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6603
+t=26: Selected seed 195 with value = 0.6603
+Query 1/1: Action query time = 7.218 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7700
+t=42: Selected seed 195 with value = 0.7700
+Query 1/1: Action query time = 7.448 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8709
+t=58: Selected seed 195 with value = 0.8709
+Query 1/1: Action query time = 6.462 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=74: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 6.485 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=90: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 6.462 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=106: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 4.435 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=122: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 6.637 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=138: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 5.527 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=154: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 4.497 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=170: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 6.333 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=186: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 3.692 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=202: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 5.937 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=218: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 6.492 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=234: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 6.297 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=250: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 5.879 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.185 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=282: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 4.104 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=298: Selected seed 195 with value = 0.9944
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 7.449 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5421
+t=10: Selected seed 195 with value = 0.5421
+Query 1/1: Action query time = 5.151 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6124
+t=26: Selected seed 195 with value = 0.6124
+Query 1/1: Action query time = 6.221 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7434
+t=42: Selected seed 195 with value = 0.7434
+Query 1/1: Action query time = 4.759 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8264
+t=58: Selected seed 195 with value = 0.8264
+Query 1/1: Action query time = 7.182 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=74: Selected seed 195 with value = 0.9499
+Query 1/1: Action query time = 7.335 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=90: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 5.028 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=106: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 6.106 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5227
+t=10: Selected seed 195 with value = 0.5227
+Query 1/1: Action query time = 3.369 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6482
+t=26: Selected seed 195 with value = 0.6482
+Query 1/1: Action query time = 5.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7649
+t=42: Selected seed 195 with value = 0.7649
+Query 1/1: Action query time = 5.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=58: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 5.648 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=74: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 5.548 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=90: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 7.743 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=106: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 6.156 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=122: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 6.520 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=138: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 5.550 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=154: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 6.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=170: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 6.576 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=186: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 5.304 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=202: Selected seed 195 with value = 0.9734
+Query 1/1: Action query time = 6.321 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=218: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 6.091 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=234: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 5.991 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=250: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 3.822 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=266: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 5.189 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=282: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 5.438 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=298: Selected seed 195 with value = 0.9969
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.555 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5015
+t=10: Selected seed 195 with value = 0.5015
+Query 1/1: Action query time = 5.000 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5797
+t=26: Selected seed 195 with value = 0.5797
+Query 1/1: Action query time = 4.575 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7235
+t=42: Selected seed 195 with value = 0.7235
+Query 1/1: Action query time = 3.822 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8527
+t=58: Selected seed 195 with value = 0.8527
+Query 1/1: Action query time = 4.324 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9724
+t=74: Selected seed 195 with value = 0.9724
+Query 1/1: Action query time = 6.837 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.796 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=106: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.548 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5146
+t=10: Selected seed 195 with value = 0.5146
+Query 1/1: Action query time = 6.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5915
+t=26: Selected seed 195 with value = 0.5915
+Query 1/1: Action query time = 7.015 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7452
+t=42: Selected seed 195 with value = 0.7452
+Query 1/1: Action query time = 5.924 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8653
+t=58: Selected seed 195 with value = 0.8653
+Query 1/1: Action query time = 4.405 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.794 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=90: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 6.260 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5700
+t=10: Selected seed 195 with value = 0.5700
+Query 1/1: Action query time = 5.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6342
+t=26: Selected seed 195 with value = 0.6342
+Query 1/1: Action query time = 4.416 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7498
+t=42: Selected seed 195 with value = 0.7498
+Query 1/1: Action query time = 5.209 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9097
+t=58: Selected seed 195 with value = 0.9097
+Query 1/1: Action query time = 6.351 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=74: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 5.193 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=90: Selected seed 195 with value = 0.9976
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 6.149 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5059
+t=10: Selected seed 195 with value = 0.5059
+Query 1/1: Action query time = 2.939 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=26: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 5.389 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7651
+t=42: Selected seed 195 with value = 0.7651
+Query 1/1: Action query time = 4.599 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8552
+t=58: Selected seed 195 with value = 0.8552
+Query 1/1: Action query time = 4.736 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=74: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 6.411 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=90: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.839 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4542
+t=10: Selected seed 195 with value = 0.4542
+Query 1/1: Action query time = 4.620 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6244
+t=26: Selected seed 195 with value = 0.6244
+Query 1/1: Action query time = 4.684 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7495
+t=42: Selected seed 195 with value = 0.7495
+Query 1/1: Action query time = 3.896 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8916
+t=58: Selected seed 195 with value = 0.8916
+Query 1/1: Action query time = 4.698 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.657 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.426 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5616
+t=10: Selected seed 195 with value = 0.5616
+Query 1/1: Action query time = 5.490 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6391
+t=26: Selected seed 195 with value = 0.6391
+Query 1/1: Action query time = 3.504 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7719
+t=42: Selected seed 195 with value = 0.7719
+Query 1/1: Action query time = 3.904 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9118
+t=58: Selected seed 195 with value = 0.9118
+Query 1/1: Action query time = 4.681 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=74: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 4.880 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.188 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5253
+t=10: Selected seed 195 with value = 0.5253
+Query 1/1: Action query time = 4.402 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6251
+t=26: Selected seed 195 with value = 0.6251
+Query 1/1: Action query time = 4.337 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7160
+t=42: Selected seed 195 with value = 0.7160
+Query 1/1: Action query time = 4.563 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7632
+t=58: Selected seed 195 with value = 0.7632
+Query 1/1: Action query time = 5.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8783
+t=74: Selected seed 195 with value = 0.8783
+Query 1/1: Action query time = 4.578 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=90: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 4.148 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=106: Selected seed 195 with value = 0.9808
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.407 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5536
+t=10: Selected seed 195 with value = 0.5536
+Query 1/1: Action query time = 4.008 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6529
+t=26: Selected seed 195 with value = 0.6529
+Query 1/1: Action query time = 5.458 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=42: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 5.621 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9044
+t=58: Selected seed 195 with value = 0.9044
+Query 1/1: Action query time = 3.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=74: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 5.081 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=90: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 5.028 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=106: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 5.159 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=122: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 5.766 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=138: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 4.705 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=154: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 5.492 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=170: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 4.900 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=186: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 3.528 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=202: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 4.301 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=218: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 5.728 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=234: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 4.854 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=250: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 3.998 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=266: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 5.546 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.099 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=11--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 2.570 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5230
+t=10: Selected seed 195 with value = 0.5230
+Query 1/1: Action query time = 2.185 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6728
+t=26: Selected seed 195 with value = 0.6728
+Query 1/1: Action query time = 4.695 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7506
+t=42: Selected seed 195 with value = 0.7506
+Query 1/1: Action query time = 4.773 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7854
+t=58: Selected seed 195 with value = 0.7854
+Query 1/1: Action query time = 4.678 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=74: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 4.768 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=90: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 4.102 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=106: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 3.847 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=122: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 5.119 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=138: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 4.052 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=154: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 3.953 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=170: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 4.837 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=186: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 2.613 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=202: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 2.485 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=218: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 4.165 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.894 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.013 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.733 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s2/2026_08_03-01_47_45--with_future_img--episode=12--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 8 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 12
+Total successes: 8
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t7_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t7_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95d4b5d18578967e4090c2098e7dc38a2b964aaf
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t7_s1.txt
@@ -0,0 +1,379 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t7_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.232 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4720
+t=10: Selected seed 195 with value = 0.4720
+Query 1/1: Action query time = 4.399 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5417
+t=26: Selected seed 195 with value = 0.5417
+Query 1/1: Action query time = 5.424 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6307
+t=42: Selected seed 195 with value = 0.6307
+Query 1/1: Action query time = 5.584 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7523
+t=58: Selected seed 195 with value = 0.7523
+Query 1/1: Action query time = 4.939 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8824
+t=74: Selected seed 195 with value = 0.8824
+Query 1/1: Action query time = 5.260 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.423 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4483
+t=10: Selected seed 195 with value = 0.4483
+Query 1/1: Action query time = 3.325 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5394
+t=26: Selected seed 195 with value = 0.5394
+Query 1/1: Action query time = 6.204 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6601
+t=42: Selected seed 195 with value = 0.6601
+Query 1/1: Action query time = 5.083 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7374
+t=58: Selected seed 195 with value = 0.7374
+Query 1/1: Action query time = 6.289 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=74: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 5.302 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=90: Selected seed 195 with value = 0.9660
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.956 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5068
+t=10: Selected seed 195 with value = 0.5068
+Query 1/1: Action query time = 5.428 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5870
+t=26: Selected seed 195 with value = 0.5870
+Query 1/1: Action query time = 5.241 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6715
+t=42: Selected seed 195 with value = 0.6715
+Query 1/1: Action query time = 3.743 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7859
+t=58: Selected seed 195 with value = 0.7859
+Query 1/1: Action query time = 5.510 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=74: Selected seed 195 with value = 0.9612
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4891
+t=10: Selected seed 195 with value = 0.4891
+Query 1/1: Action query time = 6.562 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5731
+t=26: Selected seed 195 with value = 0.5731
+Query 1/1: Action query time = 6.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6821
+t=42: Selected seed 195 with value = 0.6821
+Query 1/1: Action query time = 5.153 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7826
+t=58: Selected seed 195 with value = 0.7826
+Query 1/1: Action query time = 6.212 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9129
+t=74: Selected seed 195 with value = 0.9129
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.591 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=10: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 5.228 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6117
+t=26: Selected seed 195 with value = 0.6117
+Query 1/1: Action query time = 5.286 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6771
+t=42: Selected seed 195 with value = 0.6771
+Query 1/1: Action query time = 4.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7960
+t=58: Selected seed 195 with value = 0.7960
+Query 1/1: Action query time = 4.730 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9315
+t=74: Selected seed 195 with value = 0.9315
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.549 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5215
+t=10: Selected seed 195 with value = 0.5215
+Query 1/1: Action query time = 4.728 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5717
+t=26: Selected seed 195 with value = 0.5717
+Query 1/1: Action query time = 6.231 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6686
+t=42: Selected seed 195 with value = 0.6686
+Query 1/1: Action query time = 4.867 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7847
+t=58: Selected seed 195 with value = 0.7847
+Query 1/1: Action query time = 5.514 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=74: Selected seed 195 with value = 0.8971
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 6.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4645
+t=10: Selected seed 195 with value = 0.4645
+Query 1/1: Action query time = 4.510 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5560
+t=26: Selected seed 195 with value = 0.5560
+Query 1/1: Action query time = 6.032 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6299
+t=42: Selected seed 195 with value = 0.6299
+Query 1/1: Action query time = 3.211 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7883
+t=58: Selected seed 195 with value = 0.7883
+Query 1/1: Action query time = 4.142 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9239
+t=74: Selected seed 195 with value = 0.9239
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.051 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=10: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 5.476 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5955
+t=26: Selected seed 195 with value = 0.5955
+Query 1/1: Action query time = 5.444 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6770
+t=42: Selected seed 195 with value = 0.6770
+Query 1/1: Action query time = 5.684 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7987
+t=58: Selected seed 195 with value = 0.7987
+Query 1/1: Action query time = 5.350 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9349
+t=74: Selected seed 195 with value = 0.9349
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 6.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5021
+t=10: Selected seed 195 with value = 0.5021
+Query 1/1: Action query time = 5.897 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5762
+t=26: Selected seed 195 with value = 0.5762
+Query 1/1: Action query time = 5.473 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6841
+t=42: Selected seed 195 with value = 0.6841
+Query 1/1: Action query time = 4.683 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=58: Selected seed 195 with value = 0.7419
+Query 1/1: Action query time = 5.866 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8935
+t=74: Selected seed 195 with value = 0.8935
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 4.412 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4725
+t=10: Selected seed 195 with value = 0.4725
+Query 1/1: Action query time = 4.487 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5615
+t=26: Selected seed 195 with value = 0.5615
+Query 1/1: Action query time = 4.494 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=42: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 4.593 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7939
+t=58: Selected seed 195 with value = 0.7939
+Query 1/1: Action query time = 4.063 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=74: Selected seed 195 with value = 0.9698
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.647 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4679
+t=10: Selected seed 195 with value = 0.4679
+Query 1/1: Action query time = 4.745 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5662
+t=26: Selected seed 195 with value = 0.5662
+Query 1/1: Action query time = 4.928 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6854
+t=42: Selected seed 195 with value = 0.6854
+Query 1/1: Action query time = 5.928 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7660
+t=58: Selected seed 195 with value = 0.7660
+Query 1/1: Action query time = 3.889 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=74: Selected seed 195 with value = 0.9047
+Query 1/1: Action query time = 5.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 4.024 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4788
+t=10: Selected seed 195 with value = 0.4788
+Query 1/1: Action query time = 3.926 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5729
+t=26: Selected seed 195 with value = 0.5729
+Query 1/1: Action query time = 6.125 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6559
+t=42: Selected seed 195 with value = 0.6559
+Query 1/1: Action query time = 5.782 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7591
+t=58: Selected seed 195 with value = 0.7591
+Query 1/1: Action query time = 5.638 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8708
+t=74: Selected seed 195 with value = 0.8708
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: turn on the stove
+Starting episode 13...
+Query 1/1: Action query time = 5.511 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4553
+t=10: Selected seed 195 with value = 0.4553
+Query 1/1: Action query time = 6.014 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5362
+t=26: Selected seed 195 with value = 0.5362
+Query 1/1: Action query time = 4.729 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6264
+t=42: Selected seed 195 with value = 0.6264
+Query 1/1: Action query time = 4.323 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7475
+t=58: Selected seed 195 with value = 0.7475
+Query 1/1: Action query time = 3.750 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8911
+t=74: Selected seed 195 with value = 0.8911
+Query 1/1: Action query time = 3.920 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s1/2026_08_03-01_47_45--with_future_img--episode=13--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7rc800x50_t5_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7rc800x50_t5_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6579d9af8a4bb30721b687fb3217f7d8e8c3e15a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7rc800x50_t5_s3.txt
@@ -0,0 +1,840 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t5_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.709 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4503
+t=10: Selected seed 195 with value = 0.4503
+Query 1/1: Action query time = 3.922 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5577
+t=26: Selected seed 195 with value = 0.5577
+Query 1/1: Action query time = 3.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6590
+t=42: Selected seed 195 with value = 0.6590
+Query 1/1: Action query time = 5.479 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7627
+t=58: Selected seed 195 with value = 0.7627
+Query 1/1: Action query time = 6.898 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7368
+t=74: Selected seed 195 with value = 0.7368
+Query 1/1: Action query time = 4.163 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7698
+t=90: Selected seed 195 with value = 0.7698
+Query 1/1: Action query time = 4.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7866
+t=106: Selected seed 195 with value = 0.7866
+Query 1/1: Action query time = 5.271 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=122: Selected seed 195 with value = 0.7992
+Query 1/1: Action query time = 6.583 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=138: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 7.226 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9099
+t=154: Selected seed 195 with value = 0.9099
+Query 1/1: Action query time = 5.850 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9246
+t=170: Selected seed 195 with value = 0.9246
+Query 1/1: Action query time = 4.370 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=186: Selected seed 195 with value = 0.9445
+Query 1/1: Action query time = 4.256 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9603
+t=202: Selected seed 195 with value = 0.9603
+Query 1/1: Action query time = 3.790 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9626
+t=218: Selected seed 195 with value = 0.9626
+Query 1/1: Action query time = 4.886 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=234: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 5.144 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9653
+t=250: Selected seed 195 with value = 0.9653
+Query 1/1: Action query time = 4.303 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=266: Selected seed 195 with value = 0.9666
+Query 1/1: Action query time = 3.203 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=282: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 4.338 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=298: Selected seed 195 with value = 0.8602
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4406
+t=10: Selected seed 195 with value = 0.4406
+Query 1/1: Action query time = 6.809 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5012
+t=26: Selected seed 195 with value = 0.5012
+Query 1/1: Action query time = 4.866 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5915
+t=42: Selected seed 195 with value = 0.5915
+Query 1/1: Action query time = 4.797 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6652
+t=58: Selected seed 195 with value = 0.6652
+Query 1/1: Action query time = 4.782 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8533
+t=74: Selected seed 195 with value = 0.8533
+Query 1/1: Action query time = 4.576 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8153
+t=90: Selected seed 195 with value = 0.8153
+Query 1/1: Action query time = 4.288 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=106: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 5.733 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9396
+t=122: Selected seed 195 with value = 0.9396
+Query 1/1: Action query time = 6.493 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=138: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 4.498 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8494
+t=154: Selected seed 195 with value = 0.8494
+Query 1/1: Action query time = 3.554 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7675
+t=170: Selected seed 195 with value = 0.7675
+Query 1/1: Action query time = 5.125 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8554
+t=186: Selected seed 195 with value = 0.8554
+Query 1/1: Action query time = 5.404 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.252 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.159 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.755 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.683 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.250 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.386 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.144 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4638
+t=10: Selected seed 195 with value = 0.4638
+Query 1/1: Action query time = 4.657 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5310
+t=26: Selected seed 195 with value = 0.5310
+Query 1/1: Action query time = 4.855 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6358
+t=42: Selected seed 195 with value = 0.6358
+Query 1/1: Action query time = 4.942 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8202
+t=58: Selected seed 195 with value = 0.8202
+Query 1/1: Action query time = 5.331 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9151
+t=74: Selected seed 195 with value = 0.9151
+Query 1/1: Action query time = 3.706 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9345
+t=90: Selected seed 195 with value = 0.9345
+Query 1/1: Action query time = 5.429 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=106: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 5.434 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.912 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 5.752 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4437
+t=10: Selected seed 195 with value = 0.4437
+Query 1/1: Action query time = 5.350 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5269
+t=26: Selected seed 195 with value = 0.5269
+Query 1/1: Action query time = 4.064 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6224
+t=42: Selected seed 195 with value = 0.6224
+Query 1/1: Action query time = 4.322 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6951
+t=58: Selected seed 195 with value = 0.6951
+Query 1/1: Action query time = 5.239 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=74: Selected seed 195 with value = 0.8893
+Query 1/1: Action query time = 4.896 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9143
+t=90: Selected seed 195 with value = 0.9143
+Query 1/1: Action query time = 6.368 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9603
+t=106: Selected seed 195 with value = 0.9603
+Query 1/1: Action query time = 5.238 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=122: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 4.361 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.524 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7733
+t=154: Selected seed 195 with value = 0.7733
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.854 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4526
+t=10: Selected seed 195 with value = 0.4526
+Query 1/1: Action query time = 6.089 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5196
+t=26: Selected seed 195 with value = 0.5196
+Query 1/1: Action query time = 5.768 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6056
+t=42: Selected seed 195 with value = 0.6056
+Query 1/1: Action query time = 4.407 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7390
+t=58: Selected seed 195 with value = 0.7390
+Query 1/1: Action query time = 3.578 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=74: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 5.683 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=90: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 6.320 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=106: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 5.908 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=122: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 5.505 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9187
+t=138: Selected seed 195 with value = 0.9187
+Query 1/1: Action query time = 5.831 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7923
+t=154: Selected seed 195 with value = 0.7923
+Query 1/1: Action query time = 5.675 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8164
+t=170: Selected seed 195 with value = 0.8164
+Query 1/1: Action query time = 4.689 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9477
+t=186: Selected seed 195 with value = 0.9477
+Query 1/1: Action query time = 5.449 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9040
+t=202: Selected seed 195 with value = 0.9040
+Query 1/1: Action query time = 5.368 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9299
+t=218: Selected seed 195 with value = 0.9299
+Query 1/1: Action query time = 5.786 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9410
+t=234: Selected seed 195 with value = 0.9410
+Query 1/1: Action query time = 4.542 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=250: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 4.220 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9257
+t=266: Selected seed 195 with value = 0.9257
+Query 1/1: Action query time = 4.943 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9116
+t=282: Selected seed 195 with value = 0.9116
+Query 1/1: Action query time = 4.255 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8857
+t=298: Selected seed 195 with value = 0.8857
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=5--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 2 (40.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.573 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4498
+t=10: Selected seed 195 with value = 0.4498
+Query 1/1: Action query time = 5.086 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5255
+t=26: Selected seed 195 with value = 0.5255
+Query 1/1: Action query time = 4.518 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6247
+t=42: Selected seed 195 with value = 0.6247
+Query 1/1: Action query time = 4.588 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6922
+t=58: Selected seed 195 with value = 0.6922
+Query 1/1: Action query time = 4.677 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8431
+t=74: Selected seed 195 with value = 0.8431
+Query 1/1: Action query time = 5.345 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8860
+t=90: Selected seed 195 with value = 0.8860
+Query 1/1: Action query time = 3.557 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9335
+t=106: Selected seed 195 with value = 0.9335
+Query 1/1: Action query time = 3.017 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=122: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 4.508 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8575
+t=138: Selected seed 195 with value = 0.8575
+Query 1/1: Action query time = 3.807 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7880
+t=154: Selected seed 195 with value = 0.7880
+Query 1/1: Action query time = 2.839 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9189
+t=170: Selected seed 195 with value = 0.9189
+Query 1/1: Action query time = 3.289 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.854 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=202: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 5.452 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=218: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 4.834 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=234: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 4.660 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.266 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 3 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.805 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4371
+t=10: Selected seed 195 with value = 0.4371
+Query 1/1: Action query time = 3.763 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5234
+t=26: Selected seed 195 with value = 0.5234
+Query 1/1: Action query time = 3.235 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6321
+t=42: Selected seed 195 with value = 0.6321
+Query 1/1: Action query time = 4.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6958
+t=58: Selected seed 195 with value = 0.6958
+Query 1/1: Action query time = 4.389 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8933
+t=74: Selected seed 195 with value = 0.8933
+Query 1/1: Action query time = 4.922 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9234
+t=90: Selected seed 195 with value = 0.9234
+Query 1/1: Action query time = 6.479 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=106: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 4.436 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7229
+t=122: Selected seed 195 with value = 0.7229
+Query 1/1: Action query time = 4.725 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7871
+t=138: Selected seed 195 with value = 0.7871
+Query 1/1: Action query time = 4.528 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.519 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.069 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4560
+t=10: Selected seed 195 with value = 0.4560
+Query 1/1: Action query time = 4.613 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5447
+t=26: Selected seed 195 with value = 0.5447
+Query 1/1: Action query time = 4.796 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6290
+t=42: Selected seed 195 with value = 0.6290
+Query 1/1: Action query time = 3.612 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7484
+t=58: Selected seed 195 with value = 0.7484
+Query 1/1: Action query time = 3.877 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8987
+t=74: Selected seed 195 with value = 0.8987
+Query 1/1: Action query time = 4.079 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9305
+t=90: Selected seed 195 with value = 0.9305
+Query 1/1: Action query time = 4.387 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9608
+t=106: Selected seed 195 with value = 0.9608
+Query 1/1: Action query time = 3.134 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9238
+t=122: Selected seed 195 with value = 0.9238
+Query 1/1: Action query time = 3.045 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7690
+t=138: Selected seed 195 with value = 0.7690
+Query 1/1: Action query time = 2.667 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8301
+t=154: Selected seed 195 with value = 0.8301
+Query 1/1: Action query time = 2.397 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=170: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 2.782 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.821 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.039 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.687 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.448 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.810 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 2.665 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4369
+t=10: Selected seed 195 with value = 0.4369
+Query 1/1: Action query time = 1.894 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5021
+t=26: Selected seed 195 with value = 0.5021
+Query 1/1: Action query time = 3.679 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5987
+t=42: Selected seed 195 with value = 0.5987
+Query 1/1: Action query time = 3.531 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7144
+t=58: Selected seed 195 with value = 0.7144
+Query 1/1: Action query time = 3.908 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=74: Selected seed 195 with value = 0.8128
+Query 1/1: Action query time = 3.163 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=90: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 3.139 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=106: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 2.229 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8902
+t=122: Selected seed 195 with value = 0.8902
+Query 1/1: Action query time = 4.095 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=138: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 3.005 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=154: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 2.861 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=170: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 2.111 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=186: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 2.907 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.674 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.040 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.220 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.394 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.516 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.615 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=9--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 5 (55.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 2.755 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4700
+t=10: Selected seed 195 with value = 0.4700
+Query 1/1: Action query time = 1.860 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5122
+t=26: Selected seed 195 with value = 0.5122
+Query 1/1: Action query time = 2.531 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6361
+t=42: Selected seed 195 with value = 0.6361
+Query 1/1: Action query time = 3.040 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7485
+t=58: Selected seed 195 with value = 0.7485
+Query 1/1: Action query time = 2.592 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=74: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 2.895 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9216
+t=90: Selected seed 195 with value = 0.9216
+Query 1/1: Action query time = 3.320 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=106: Selected seed 195 with value = 0.9645
+Query 1/1: Action query time = 3.206 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=122: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 3.361 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8015
+t=138: Selected seed 195 with value = 0.8015
+Query 1/1: Action query time = 3.885 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7846
+t=154: Selected seed 195 with value = 0.7846
+Query 1/1: Action query time = 3.316 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8106
+t=170: Selected seed 195 with value = 0.8106
+Query 1/1: Action query time = 3.207 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=186: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 3.500 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.265 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.242 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.924 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.898 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.376 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=10--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 5 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 2.523 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4479
+t=10: Selected seed 195 with value = 0.4479
+Query 1/1: Action query time = 2.697 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5316
+t=26: Selected seed 195 with value = 0.5316
+Query 1/1: Action query time = 3.176 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6490
+t=42: Selected seed 195 with value = 0.6490
+Query 1/1: Action query time = 2.787 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7466
+t=58: Selected seed 195 with value = 0.7466
+Query 1/1: Action query time = 2.880 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8649
+t=74: Selected seed 195 with value = 0.8649
+Query 1/1: Action query time = 2.498 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9044
+t=90: Selected seed 195 with value = 0.9044
+Query 1/1: Action query time = 3.504 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=106: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 2.794 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 6 (54.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.888 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4373
+t=10: Selected seed 195 with value = 0.4373
+Query 1/1: Action query time = 3.336 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5198
+t=26: Selected seed 195 with value = 0.5198
+Query 1/1: Action query time = 2.752 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6099
+t=42: Selected seed 195 with value = 0.6099
+Query 1/1: Action query time = 2.677 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7687
+t=58: Selected seed 195 with value = 0.7687
+Query 1/1: Action query time = 2.786 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8706
+t=74: Selected seed 195 with value = 0.8706
+Query 1/1: Action query time = 3.065 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9027
+t=90: Selected seed 195 with value = 0.9027
+Query 1/1: Action query time = 2.489 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=106: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 2.062 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=122: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 1.745 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8432
+t=138: Selected seed 195 with value = 0.8432
+Query 1/1: Action query time = 1.886 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8392
+t=154: Selected seed 195 with value = 0.8392
+Query 1/1: Action query time = 2.658 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8262
+t=170: Selected seed 195 with value = 0.8262
+Query 1/1: Action query time = 1.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=186: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 1.441 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9526
+t=202: Selected seed 195 with value = 0.9526
+Query 1/1: Action query time = 1.792 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=218: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 1.375 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=234: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 1.412 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=250: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 2.076 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=266: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 2.131 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=282: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 1.719 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=298: Selected seed 195 with value = 0.9618
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s3/2026_08_03-01_47_45--with_future_img--episode=12--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 6 (50.0%)
+Current task success rate: 0.5
+Current total success rate: 0.5
+Final results:
+Total episodes: 12
+Total successes: 6
+Overall success rate: 0.5000 (50.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7rc800x50_t6_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7rc800x50_t6_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b403c990e3dd9a304e5e32226a8409d961644962
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7rc800x50_t6_s2.txt
@@ -0,0 +1,772 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t6_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 8.035 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=10: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 4.229 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5528
+t=26: Selected seed 195 with value = 0.5528
+Query 1/1: Action query time = 3.833 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=42: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 6.540 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7617
+t=58: Selected seed 195 with value = 0.7617
+Query 1/1: Action query time = 4.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8774
+t=74: Selected seed 195 with value = 0.8774
+Query 1/1: Action query time = 4.082 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=90: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 4.669 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.746 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=122: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 5.886 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=138: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 5.287 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=154: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 5.236 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=170: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 5.313 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=186: Selected seed 195 with value = 0.9693
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.247 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5151
+t=10: Selected seed 195 with value = 0.5151
+Query 1/1: Action query time = 6.335 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6460
+t=26: Selected seed 195 with value = 0.6460
+Query 1/1: Action query time = 5.495 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6677
+t=42: Selected seed 195 with value = 0.6677
+Query 1/1: Action query time = 4.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7597
+t=58: Selected seed 195 with value = 0.7597
+Query 1/1: Action query time = 3.459 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=74: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 4.219 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8935
+t=90: Selected seed 195 with value = 0.8935
+Query 1/1: Action query time = 4.024 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8593
+t=106: Selected seed 195 with value = 0.8593
+Query 1/1: Action query time = 4.548 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=122: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 5.385 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=138: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 4.598 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=154: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 3.554 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=170: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 5.924 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=186: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 5.243 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9416
+t=202: Selected seed 195 with value = 0.9416
+Query 1/1: Action query time = 5.346 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8995
+t=218: Selected seed 195 with value = 0.8995
+Query 1/1: Action query time = 4.787 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=234: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 6.417 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9353
+t=250: Selected seed 195 with value = 0.9353
+Query 1/1: Action query time = 4.878 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=266: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 3.659 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=282: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 3.618 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=298: Selected seed 195 with value = 0.9527
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 6.819 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4994
+t=10: Selected seed 195 with value = 0.4994
+Query 1/1: Action query time = 5.189 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5806
+t=26: Selected seed 195 with value = 0.5806
+Query 1/1: Action query time = 4.274 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6805
+t=42: Selected seed 195 with value = 0.6805
+Query 1/1: Action query time = 5.071 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7921
+t=58: Selected seed 195 with value = 0.7921
+Query 1/1: Action query time = 6.439 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8905
+t=74: Selected seed 195 with value = 0.8905
+Query 1/1: Action query time = 5.866 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=90: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 6.202 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.600 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=122: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 5.527 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=138: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 3.430 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9004
+t=154: Selected seed 195 with value = 0.9004
+Query 1/1: Action query time = 5.198 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=170: Selected seed 195 with value = 0.9734
+Query 1/1: Action query time = 4.757 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.411 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=202: Selected seed 195 with value = 0.9152
+Query 1/1: Action query time = 6.367 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=218: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 6.112 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=234: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 2.752 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9328
+t=250: Selected seed 195 with value = 0.9328
+Query 1/1: Action query time = 4.110 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.506 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9137
+t=282: Selected seed 195 with value = 0.9137
+Query 1/1: Action query time = 5.622 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 4.724 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4830
+t=10: Selected seed 195 with value = 0.4830
+Query 1/1: Action query time = 4.452 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5594
+t=26: Selected seed 195 with value = 0.5594
+Query 1/1: Action query time = 4.701 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6845
+t=42: Selected seed 195 with value = 0.6845
+Query 1/1: Action query time = 5.127 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7798
+t=58: Selected seed 195 with value = 0.7798
+Query 1/1: Action query time = 5.145 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8688
+t=74: Selected seed 195 with value = 0.8688
+Query 1/1: Action query time = 3.509 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=90: Selected seed 195 with value = 0.9950
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 4.723 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5229
+t=10: Selected seed 195 with value = 0.5229
+Query 1/1: Action query time = 6.453 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6543
+t=26: Selected seed 195 with value = 0.6543
+Query 1/1: Action query time = 5.519 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7135
+t=42: Selected seed 195 with value = 0.7135
+Query 1/1: Action query time = 5.333 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8168
+t=58: Selected seed 195 with value = 0.8168
+Query 1/1: Action query time = 4.551 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9287
+t=74: Selected seed 195 with value = 0.9287
+Query 1/1: Action query time = 5.283 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=90: Selected seed 195 with value = 0.9893
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 6.647 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4949
+t=10: Selected seed 195 with value = 0.4949
+Query 1/1: Action query time = 7.148 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5770
+t=26: Selected seed 195 with value = 0.5770
+Query 1/1: Action query time = 4.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6943
+t=42: Selected seed 195 with value = 0.6943
+Query 1/1: Action query time = 2.604 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7581
+t=58: Selected seed 195 with value = 0.7581
+Query 1/1: Action query time = 5.058 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8917
+t=74: Selected seed 195 with value = 0.8917
+Query 1/1: Action query time = 5.570 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=90: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 5.069 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4583
+t=10: Selected seed 195 with value = 0.4583
+Query 1/1: Action query time = 4.217 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5673
+t=26: Selected seed 195 with value = 0.5673
+Query 1/1: Action query time = 3.267 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6673
+t=42: Selected seed 195 with value = 0.6673
+Query 1/1: Action query time = 3.617 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7828
+t=58: Selected seed 195 with value = 0.7828
+Query 1/1: Action query time = 4.076 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7541
+t=74: Selected seed 195 with value = 0.7541
+Query 1/1: Action query time = 3.376 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7764
+t=90: Selected seed 195 with value = 0.7764
+Query 1/1: Action query time = 3.066 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8827
+t=106: Selected seed 195 with value = 0.8827
+Query 1/1: Action query time = 3.738 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=122: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 2.792 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=138: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 3.516 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=154: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 3.839 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9143
+t=170: Selected seed 195 with value = 0.9143
+Query 1/1: Action query time = 4.918 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=186: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 5.119 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9159
+t=202: Selected seed 195 with value = 0.9159
+Query 1/1: Action query time = 4.502 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=218: Selected seed 195 with value = 0.9427
+Query 1/1: Action query time = 3.172 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9490
+t=234: Selected seed 195 with value = 0.9490
+Query 1/1: Action query time = 3.852 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=250: Selected seed 195 with value = 0.9379
+Query 1/1: Action query time = 2.997 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9377
+t=266: Selected seed 195 with value = 0.9377
+Query 1/1: Action query time = 3.915 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9368
+t=282: Selected seed 195 with value = 0.9368
+Query 1/1: Action query time = 4.727 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=298: Selected seed 195 with value = 0.9570
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=7--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 2.081 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4914
+t=10: Selected seed 195 with value = 0.4914
+Query 1/1: Action query time = 2.757 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5512
+t=26: Selected seed 195 with value = 0.5512
+Query 1/1: Action query time = 2.152 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6803
+t=42: Selected seed 195 with value = 0.6803
+Query 1/1: Action query time = 3.566 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7650
+t=58: Selected seed 195 with value = 0.7650
+Query 1/1: Action query time = 3.394 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8976
+t=74: Selected seed 195 with value = 0.8976
+Query 1/1: Action query time = 5.370 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=90: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 3.731 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=106: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 3.307 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=122: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 4.371 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=138: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 3.399 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=154: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 3.661 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=170: Selected seed 195 with value = 0.9463
+Query 1/1: Action query time = 4.366 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=186: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 4.712 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=202: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 3.440 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=218: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 3.213 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=234: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 3.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.401 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=266: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 4.104 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.366 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9621
+t=298: Selected seed 195 with value = 0.9621
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=8--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 4 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 3.818 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4533
+t=10: Selected seed 195 with value = 0.4533
+Query 1/1: Action query time = 2.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=26: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 2.611 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6520
+t=42: Selected seed 195 with value = 0.6520
+Query 1/1: Action query time = 3.032 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7309
+t=58: Selected seed 195 with value = 0.7309
+Query 1/1: Action query time = 1.906 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9185
+t=74: Selected seed 195 with value = 0.9185
+Query 1/1: Action query time = 3.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=90: Selected seed 195 with value = 0.9839
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 5 (55.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 4.706 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4515
+t=10: Selected seed 195 with value = 0.4515
+Query 1/1: Action query time = 2.179 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5667
+t=26: Selected seed 195 with value = 0.5667
+Query 1/1: Action query time = 4.161 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6689
+t=42: Selected seed 195 with value = 0.6689
+Query 1/1: Action query time = 3.478 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7936
+t=58: Selected seed 195 with value = 0.7936
+Query 1/1: Action query time = 3.491 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8973
+t=74: Selected seed 195 with value = 0.8973
+Query 1/1: Action query time = 4.057 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=90: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 3.161 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=106: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 4.710 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=122: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 3.259 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=138: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 2.921 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=154: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 2.025 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=170: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 2.306 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=186: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 2.759 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=202: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 2.407 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=218: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 3.217 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.575 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=250: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 3.296 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.794 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=282: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 3.383 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=10--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 5 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 3.729 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5108
+t=10: Selected seed 195 with value = 0.5108
+Query 1/1: Action query time = 3.585 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5945
+t=26: Selected seed 195 with value = 0.5945
+Query 1/1: Action query time = 2.071 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7212
+t=42: Selected seed 195 with value = 0.7212
+Query 1/1: Action query time = 2.383 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9068
+t=58: Selected seed 195 with value = 0.9068
+Query 1/1: Action query time = 2.790 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=74: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 3.015 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=90: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 3.076 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.630 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=122: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 2.520 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=138: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 2.417 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9462
+t=154: Selected seed 195 with value = 0.9462
+Query 1/1: Action query time = 2.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=170: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 2.278 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=186: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 3.571 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=202: Selected seed 195 with value = 0.9427
+Query 1/1: Action query time = 3.562 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.582 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.581 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=250: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 2.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=266: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 2.639 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=282: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 3.403 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9050
+t=298: Selected seed 195 with value = 0.9050
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=11--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 5 (45.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 2.622 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4697
+t=10: Selected seed 195 with value = 0.4697
+Query 1/1: Action query time = 2.326 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5411
+t=26: Selected seed 195 with value = 0.5411
+Query 1/1: Action query time = 3.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6780
+t=42: Selected seed 195 with value = 0.6780
+Query 1/1: Action query time = 2.590 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7447
+t=58: Selected seed 195 with value = 0.7447
+Query 1/1: Action query time = 3.408 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7250
+t=74: Selected seed 195 with value = 0.7250
+Query 1/1: Action query time = 3.866 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7803
+t=90: Selected seed 195 with value = 0.7803
+Query 1/1: Action query time = 2.459 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=106: Selected seed 195 with value = 0.9565
+Query 1/1: Action query time = 2.639 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.701 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.915 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=154: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 2.206 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=170: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 2.793 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=186: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 2.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7995
+t=202: Selected seed 195 with value = 0.7995
+Query 1/1: Action query time = 2.680 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=218: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 2.751 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=234: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 3.123 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9540
+t=250: Selected seed 195 with value = 0.9540
+Query 1/1: Action query time = 2.912 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=266: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 2.468 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=282: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 3.722 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s2/2026_08_03-01_47_45--with_future_img--episode=12--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 5 (41.7%)
+Current task success rate: 0.4166666666666667
+Current total success rate: 0.4166666666666667
+Final results:
+Total episodes: 12
+Total successes: 5
+Overall success rate: 0.4167 (41.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7rc800x50_t6_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7rc800x50_t6_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bf44f7dace8ef297cceb09d35e517572138d261
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7rc800x50_t6_s3.txt
@@ -0,0 +1,832 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t6_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 2.798 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=10: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 1.886 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5397
+t=26: Selected seed 195 with value = 0.5397
+Query 1/1: Action query time = 3.352 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6967
+t=42: Selected seed 195 with value = 0.6967
+Query 1/1: Action query time = 4.646 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=58: Selected seed 195 with value = 0.8075
+Query 1/1: Action query time = 6.419 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8879
+t=74: Selected seed 195 with value = 0.8879
+Query 1/1: Action query time = 6.033 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=90: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 3.939 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=106: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 5.935 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=122: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 6.044 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=138: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 4.561 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=154: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 6.266 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9036
+t=170: Selected seed 195 with value = 0.9036
+Query 1/1: Action query time = 3.503 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9589
+t=186: Selected seed 195 with value = 0.9589
+Query 1/1: Action query time = 5.380 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=202: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 5.187 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=218: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 5.179 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=234: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 4.917 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=250: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 3.566 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8018
+t=266: Selected seed 195 with value = 0.8018
+Query 1/1: Action query time = 4.397 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=282: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 6.616 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8706
+t=298: Selected seed 195 with value = 0.8706
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4598
+t=10: Selected seed 195 with value = 0.4598
+Query 1/1: Action query time = 4.231 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=26: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 4.413 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6693
+t=42: Selected seed 195 with value = 0.6693
+Query 1/1: Action query time = 6.259 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7851
+t=58: Selected seed 195 with value = 0.7851
+Query 1/1: Action query time = 4.295 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=74: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 6.024 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=90: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 5.024 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=122: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 4.282 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=138: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 5.576 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=154: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 6.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9447
+t=170: Selected seed 195 with value = 0.9447
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.766 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4718
+t=10: Selected seed 195 with value = 0.4718
+Query 1/1: Action query time = 5.398 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=26: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 5.300 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6511
+t=42: Selected seed 195 with value = 0.6511
+Query 1/1: Action query time = 6.381 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7508
+t=58: Selected seed 195 with value = 0.7508
+Query 1/1: Action query time = 4.998 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7520
+t=74: Selected seed 195 with value = 0.7520
+Query 1/1: Action query time = 5.000 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8066
+t=90: Selected seed 195 with value = 0.8066
+Query 1/1: Action query time = 5.638 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8241
+t=106: Selected seed 195 with value = 0.8241
+Query 1/1: Action query time = 6.740 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8788
+t=122: Selected seed 195 with value = 0.8788
+Query 1/1: Action query time = 6.057 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8608
+t=138: Selected seed 195 with value = 0.8608
+Query 1/1: Action query time = 5.423 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=154: Selected seed 195 with value = 0.9306
+Query 1/1: Action query time = 4.623 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=170: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 3.711 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=186: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 5.055 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=202: Selected seed 195 with value = 0.9637
+Query 1/1: Action query time = 4.472 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=218: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 4.174 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9287
+t=234: Selected seed 195 with value = 0.9287
+Query 1/1: Action query time = 4.871 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9062
+t=250: Selected seed 195 with value = 0.9062
+Query 1/1: Action query time = 6.034 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9029
+t=266: Selected seed 195 with value = 0.9029
+Query 1/1: Action query time = 6.298 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8987
+t=282: Selected seed 195 with value = 0.8987
+Query 1/1: Action query time = 5.378 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=298: Selected seed 195 with value = 0.9165
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 5.143 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5009
+t=10: Selected seed 195 with value = 0.5009
+Query 1/1: Action query time = 4.783 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=26: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 4.023 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6897
+t=42: Selected seed 195 with value = 0.6897
+Query 1/1: Action query time = 5.252 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7855
+t=58: Selected seed 195 with value = 0.7855
+Query 1/1: Action query time = 5.527 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8785
+t=74: Selected seed 195 with value = 0.8785
+Query 1/1: Action query time = 6.753 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=90: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 5.357 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=10: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 3.138 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5828
+t=26: Selected seed 195 with value = 0.5828
+Query 1/1: Action query time = 2.652 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7053
+t=42: Selected seed 195 with value = 0.7053
+Query 1/1: Action query time = 4.156 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8473
+t=58: Selected seed 195 with value = 0.8473
+Query 1/1: Action query time = 6.176 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9190
+t=74: Selected seed 195 with value = 0.9190
+Query 1/1: Action query time = 5.393 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=90: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 5.814 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.778 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9474
+t=122: Selected seed 195 with value = 0.9474
+Query 1/1: Action query time = 4.093 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=138: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 3.636 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.716 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9253
+t=170: Selected seed 195 with value = 0.9253
+Query 1/1: Action query time = 3.480 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.306 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=202: Selected seed 195 with value = 0.9565
+Query 1/1: Action query time = 5.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.617 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9223
+t=234: Selected seed 195 with value = 0.9223
+Query 1/1: Action query time = 5.513 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=250: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 4.391 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8444
+t=266: Selected seed 195 with value = 0.8444
+Query 1/1: Action query time = 4.474 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=282: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 5.106 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=298: Selected seed 195 with value = 0.9017
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=5--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 2 (40.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 3.863 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4663
+t=10: Selected seed 195 with value = 0.4663
+Query 1/1: Action query time = 3.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5560
+t=26: Selected seed 195 with value = 0.5560
+Query 1/1: Action query time = 3.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6812
+t=42: Selected seed 195 with value = 0.6812
+Query 1/1: Action query time = 2.865 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7808
+t=58: Selected seed 195 with value = 0.7808
+Query 1/1: Action query time = 3.306 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7304
+t=74: Selected seed 195 with value = 0.7304
+Query 1/1: Action query time = 3.254 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8284
+t=90: Selected seed 195 with value = 0.8284
+Query 1/1: Action query time = 2.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8848
+t=106: Selected seed 195 with value = 0.8848
+Query 1/1: Action query time = 3.948 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8808
+t=122: Selected seed 195 with value = 0.8808
+Query 1/1: Action query time = 4.690 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9636
+t=138: Selected seed 195 with value = 0.9636
+Query 1/1: Action query time = 4.236 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=154: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 4.031 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=170: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 3.413 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9393
+t=186: Selected seed 195 with value = 0.9393
+Query 1/1: Action query time = 4.072 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9605
+t=202: Selected seed 195 with value = 0.9605
+Query 1/1: Action query time = 3.841 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9490
+t=218: Selected seed 195 with value = 0.9490
+Query 1/1: Action query time = 3.596 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=234: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 3.661 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9580
+t=250: Selected seed 195 with value = 0.9580
+Query 1/1: Action query time = 2.931 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9724
+t=266: Selected seed 195 with value = 0.9724
+Query 1/1: Action query time = 3.175 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.240 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=298: Selected seed 195 with value = 0.9379
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=6--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 2 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 4.120 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4596
+t=10: Selected seed 195 with value = 0.4596
+Query 1/1: Action query time = 2.706 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=26: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 4.042 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6885
+t=42: Selected seed 195 with value = 0.6885
+Query 1/1: Action query time = 4.716 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7754
+t=58: Selected seed 195 with value = 0.7754
+Query 1/1: Action query time = 3.338 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7014
+t=74: Selected seed 195 with value = 0.7014
+Query 1/1: Action query time = 3.685 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7649
+t=90: Selected seed 195 with value = 0.7649
+Query 1/1: Action query time = 3.863 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8132
+t=106: Selected seed 195 with value = 0.8132
+Query 1/1: Action query time = 2.533 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8007
+t=122: Selected seed 195 with value = 0.8007
+Query 1/1: Action query time = 3.542 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8434
+t=138: Selected seed 195 with value = 0.8434
+Query 1/1: Action query time = 4.403 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=154: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 3.353 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9322
+t=170: Selected seed 195 with value = 0.9322
+Query 1/1: Action query time = 3.913 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=186: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 2.570 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9286
+t=202: Selected seed 195 with value = 0.9286
+Query 1/1: Action query time = 3.642 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=218: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 4.635 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=234: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 3.959 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=250: Selected seed 195 with value = 0.9620
+Query 1/1: Action query time = 4.120 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=266: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 2.883 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9421
+t=282: Selected seed 195 with value = 0.9421
+Query 1/1: Action query time = 5.503 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9274
+t=298: Selected seed 195 with value = 0.9274
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=7--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 2 (28.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 3.471 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4549
+t=10: Selected seed 195 with value = 0.4549
+Query 1/1: Action query time = 3.187 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5738
+t=26: Selected seed 195 with value = 0.5738
+Query 1/1: Action query time = 1.874 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6686
+t=42: Selected seed 195 with value = 0.6686
+Query 1/1: Action query time = 3.485 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7539
+t=58: Selected seed 195 with value = 0.7539
+Query 1/1: Action query time = 3.721 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9227
+t=74: Selected seed 195 with value = 0.9227
+Query 1/1: Action query time = 4.787 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=90: Selected seed 195 with value = 0.9898
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 3 (37.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 3.439 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5252
+t=10: Selected seed 195 with value = 0.5252
+Query 1/1: Action query time = 2.808 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6031
+t=26: Selected seed 195 with value = 0.6031
+Query 1/1: Action query time = 3.918 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6767
+t=42: Selected seed 195 with value = 0.6767
+Query 1/1: Action query time = 2.881 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8201
+t=58: Selected seed 195 with value = 0.8201
+Query 1/1: Action query time = 4.119 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=74: Selected seed 195 with value = 0.9183
+Query 1/1: Action query time = 3.138 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=90: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 2.293 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.193 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=122: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 3.670 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=138: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 2.864 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=154: Selected seed 195 with value = 0.9518
+Query 1/1: Action query time = 2.595 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9778
+t=170: Selected seed 195 with value = 0.9778
+Query 1/1: Action query time = 1.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=186: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 2.007 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=202: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 2.929 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=218: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 2.446 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=234: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 2.477 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8090
+t=250: Selected seed 195 with value = 0.8090
+Query 1/1: Action query time = 2.672 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9732
+t=266: Selected seed 195 with value = 0.9732
+Query 1/1: Action query time = 2.550 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=282: Selected seed 195 with value = 0.8840
+Query 1/1: Action query time = 1.836 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8443
+t=298: Selected seed 195 with value = 0.8443
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=9--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 3 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 3.571 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5124
+t=10: Selected seed 195 with value = 0.5124
+Query 1/1: Action query time = 2.750 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6458
+t=26: Selected seed 195 with value = 0.6458
+Query 1/1: Action query time = 2.189 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6808
+t=42: Selected seed 195 with value = 0.6808
+Query 1/1: Action query time = 2.897 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8346
+t=58: Selected seed 195 with value = 0.8346
+Query 1/1: Action query time = 3.377 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8540
+t=74: Selected seed 195 with value = 0.8540
+Query 1/1: Action query time = 2.639 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8530
+t=90: Selected seed 195 with value = 0.8530
+Query 1/1: Action query time = 2.787 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8762
+t=106: Selected seed 195 with value = 0.8762
+Query 1/1: Action query time = 2.034 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9024
+t=122: Selected seed 195 with value = 0.9024
+Query 1/1: Action query time = 2.711 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=138: Selected seed 195 with value = 0.9430
+Query 1/1: Action query time = 2.820 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=154: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 3.390 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=170: Selected seed 195 with value = 0.9722
+Query 1/1: Action query time = 3.456 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9234
+t=186: Selected seed 195 with value = 0.9234
+Query 1/1: Action query time = 3.167 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=202: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 3.204 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=218: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 3.075 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=234: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 2.666 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=250: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 1.440 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=266: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 1.930 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=282: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 3.236 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=298: Selected seed 195 with value = 0.9908
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=10--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 3 (30.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 3.194 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4734
+t=10: Selected seed 195 with value = 0.4734
+Query 1/1: Action query time = 3.406 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5452
+t=26: Selected seed 195 with value = 0.5452
+Query 1/1: Action query time = 3.740 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6835
+t=42: Selected seed 195 with value = 0.6835
+Query 1/1: Action query time = 1.932 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=58: Selected seed 195 with value = 0.7474
+Query 1/1: Action query time = 2.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=74: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 2.482 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=90: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 2.661 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=106: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 3.584 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=122: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 3.317 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=138: Selected seed 195 with value = 0.9737
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 4 (36.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 3.191 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5034
+t=10: Selected seed 195 with value = 0.5034
+Query 1/1: Action query time = 3.211 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6433
+t=26: Selected seed 195 with value = 0.6433
+Query 1/1: Action query time = 1.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7209
+t=42: Selected seed 195 with value = 0.7209
+Query 1/1: Action query time = 3.452 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7850
+t=58: Selected seed 195 with value = 0.7850
+Query 1/1: Action query time = 3.840 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8666
+t=74: Selected seed 195 with value = 0.8666
+Query 1/1: Action query time = 2.550 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8395
+t=90: Selected seed 195 with value = 0.8395
+Query 1/1: Action query time = 2.489 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9138
+t=106: Selected seed 195 with value = 0.9138
+Query 1/1: Action query time = 2.615 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.197 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.045 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=154: Selected seed 195 with value = 0.9728
+Query 1/1: Action query time = 3.053 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9524
+t=170: Selected seed 195 with value = 0.9524
+Query 1/1: Action query time = 2.646 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=186: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 2.377 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9419
+t=202: Selected seed 195 with value = 0.9419
+Query 1/1: Action query time = 3.062 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9220
+t=218: Selected seed 195 with value = 0.9220
+Query 1/1: Action query time = 3.039 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9563
+t=234: Selected seed 195 with value = 0.9563
+Query 1/1: Action query time = 2.482 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=250: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 2.024 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=266: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 2.282 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.573 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s3/2026_08_03-01_47_45--with_future_img--episode=12--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 4 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 12
+Total successes: 4
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7dc800x50_t7_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7dc800x50_t7_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b22b936e14f73df5c2f0066ac8bd88f6e199a2a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7dc800x50_t7_s0.txt
@@ -0,0 +1,379 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t7_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4693
+t=10: Selected seed 195 with value = 0.4693
+Query 1/1: Action query time = 5.706 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5402
+t=26: Selected seed 195 with value = 0.5402
+Query 1/1: Action query time = 5.681 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=42: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 5.920 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7741
+t=58: Selected seed 195 with value = 0.7741
+Query 1/1: Action query time = 6.109 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8977
+t=74: Selected seed 195 with value = 0.8977
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.433 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4807
+t=10: Selected seed 195 with value = 0.4807
+Query 1/1: Action query time = 5.481 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5605
+t=26: Selected seed 195 with value = 0.5605
+Query 1/1: Action query time = 5.864 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6422
+t=42: Selected seed 195 with value = 0.6422
+Query 1/1: Action query time = 6.595 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7278
+t=58: Selected seed 195 with value = 0.7278
+Query 1/1: Action query time = 5.846 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=74: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 6.503 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=90: Selected seed 195 with value = 0.9935
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.546 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5144
+t=10: Selected seed 195 with value = 0.5144
+Query 1/1: Action query time = 6.231 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6379
+t=26: Selected seed 195 with value = 0.6379
+Query 1/1: Action query time = 5.281 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=42: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 6.688 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8471
+t=58: Selected seed 195 with value = 0.8471
+Query 1/1: Action query time = 4.718 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=74: Selected seed 195 with value = 0.9706
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 6.620 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4636
+t=10: Selected seed 195 with value = 0.4636
+Query 1/1: Action query time = 5.863 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5821
+t=26: Selected seed 195 with value = 0.5821
+Query 1/1: Action query time = 8.110 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6543
+t=42: Selected seed 195 with value = 0.6543
+Query 1/1: Action query time = 6.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7647
+t=58: Selected seed 195 with value = 0.7647
+Query 1/1: Action query time = 5.719 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8987
+t=74: Selected seed 195 with value = 0.8987
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 3.618 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4676
+t=10: Selected seed 195 with value = 0.4676
+Query 1/1: Action query time = 5.725 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5382
+t=26: Selected seed 195 with value = 0.5382
+Query 1/1: Action query time = 5.897 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6338
+t=42: Selected seed 195 with value = 0.6338
+Query 1/1: Action query time = 6.681 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7186
+t=58: Selected seed 195 with value = 0.7186
+Query 1/1: Action query time = 6.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8410
+t=74: Selected seed 195 with value = 0.8410
+Query 1/1: Action query time = 6.713 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=90: Selected seed 195 with value = 0.9950
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 6.293 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5292
+t=10: Selected seed 195 with value = 0.5292
+Query 1/1: Action query time = 5.662 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6022
+t=26: Selected seed 195 with value = 0.6022
+Query 1/1: Action query time = 4.254 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6710
+t=42: Selected seed 195 with value = 0.6710
+Query 1/1: Action query time = 6.567 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7750
+t=58: Selected seed 195 with value = 0.7750
+Query 1/1: Action query time = 5.655 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9147
+t=74: Selected seed 195 with value = 0.9147
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.744 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4696
+t=10: Selected seed 195 with value = 0.4696
+Query 1/1: Action query time = 6.604 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5205
+t=26: Selected seed 195 with value = 0.5205
+Query 1/1: Action query time = 3.666 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6111
+t=42: Selected seed 195 with value = 0.6111
+Query 1/1: Action query time = 5.660 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7376
+t=58: Selected seed 195 with value = 0.7376
+Query 1/1: Action query time = 6.859 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7961
+t=74: Selected seed 195 with value = 0.7961
+Query 1/1: Action query time = 6.832 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=90: Selected seed 195 with value = 0.9430
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 6.077 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5191
+t=10: Selected seed 195 with value = 0.5191
+Query 1/1: Action query time = 6.434 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5755
+t=26: Selected seed 195 with value = 0.5755
+Query 1/1: Action query time = 4.474 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=42: Selected seed 195 with value = 0.6819
+Query 1/1: Action query time = 5.173 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8426
+t=58: Selected seed 195 with value = 0.8426
+Query 1/1: Action query time = 6.555 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=74: Selected seed 195 with value = 0.9805
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.111 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4800
+t=10: Selected seed 195 with value = 0.4800
+Query 1/1: Action query time = 4.211 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5544
+t=26: Selected seed 195 with value = 0.5544
+Query 1/1: Action query time = 5.233 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6458
+t=42: Selected seed 195 with value = 0.6458
+Query 1/1: Action query time = 4.774 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7600
+t=58: Selected seed 195 with value = 0.7600
+Query 1/1: Action query time = 5.640 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=74: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 6.753 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 6.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5077
+t=10: Selected seed 195 with value = 0.5077
+Query 1/1: Action query time = 5.311 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5711
+t=26: Selected seed 195 with value = 0.5711
+Query 1/1: Action query time = 4.474 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6380
+t=42: Selected seed 195 with value = 0.6380
+Query 1/1: Action query time = 6.907 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7752
+t=58: Selected seed 195 with value = 0.7752
+Query 1/1: Action query time = 5.886 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=74: Selected seed 195 with value = 0.9047
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 5.640 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4737
+t=10: Selected seed 195 with value = 0.4737
+Query 1/1: Action query time = 5.495 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5727
+t=26: Selected seed 195 with value = 0.5727
+Query 1/1: Action query time = 4.884 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=42: Selected seed 195 with value = 0.6819
+Query 1/1: Action query time = 5.675 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7978
+t=58: Selected seed 195 with value = 0.7978
+Query 1/1: Action query time = 4.932 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=74: Selected seed 195 with value = 0.9318
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 5.296 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5010
+t=10: Selected seed 195 with value = 0.5010
+Query 1/1: Action query time = 4.754 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5504
+t=26: Selected seed 195 with value = 0.5504
+Query 1/1: Action query time = 5.672 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=42: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 5.504 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7572
+t=58: Selected seed 195 with value = 0.7572
+Query 1/1: Action query time = 4.198 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=74: Selected seed 195 with value = 0.9226
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: turn on the stove
+Starting episode 13...
+Query 1/1: Action query time = 5.647 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5061
+t=10: Selected seed 195 with value = 0.5061
+Query 1/1: Action query time = 5.000 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5872
+t=26: Selected seed 195 with value = 0.5872
+Query 1/1: Action query time = 4.865 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6751
+t=42: Selected seed 195 with value = 0.6751
+Query 1/1: Action query time = 3.812 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8683
+t=58: Selected seed 195 with value = 0.8683
+Query 1/1: Action query time = 5.793 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=74: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s0/2026_08_03-01_47_46--with_future_img--episode=13--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7rc800x50_t7_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7rc800x50_t7_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9070673fdc859d717916652d130c97793a266338
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7rc800x50_t7_s1.txt
@@ -0,0 +1,375 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t7_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.951 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4668
+t=10: Selected seed 195 with value = 0.4668
+Query 1/1: Action query time = 5.340 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5406
+t=26: Selected seed 195 with value = 0.5406
+Query 1/1: Action query time = 5.938 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6262
+t=42: Selected seed 195 with value = 0.6262
+Query 1/1: Action query time = 4.761 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7404
+t=58: Selected seed 195 with value = 0.7404
+Query 1/1: Action query time = 4.649 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8623
+t=74: Selected seed 195 with value = 0.8623
+Query 1/1: Action query time = 5.478 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=90: Selected seed 195 with value = 0.9789
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 7.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4520
+t=10: Selected seed 195 with value = 0.4520
+Query 1/1: Action query time = 4.508 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5426
+t=26: Selected seed 195 with value = 0.5426
+Query 1/1: Action query time = 6.150 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6440
+t=42: Selected seed 195 with value = 0.6440
+Query 1/1: Action query time = 5.610 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7130
+t=58: Selected seed 195 with value = 0.7130
+Query 1/1: Action query time = 5.716 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8253
+t=74: Selected seed 195 with value = 0.8253
+Query 1/1: Action query time = 4.539 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=90: Selected seed 195 with value = 0.9681
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5143
+t=10: Selected seed 195 with value = 0.5143
+Query 1/1: Action query time = 5.703 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5798
+t=26: Selected seed 195 with value = 0.5798
+Query 1/1: Action query time = 4.826 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6726
+t=42: Selected seed 195 with value = 0.6726
+Query 1/1: Action query time = 4.563 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7782
+t=58: Selected seed 195 with value = 0.7782
+Query 1/1: Action query time = 4.396 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9070
+t=74: Selected seed 195 with value = 0.9070
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.448 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5181
+t=10: Selected seed 195 with value = 0.5181
+Query 1/1: Action query time = 5.147 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6091
+t=26: Selected seed 195 with value = 0.6091
+Query 1/1: Action query time = 6.389 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7178
+t=42: Selected seed 195 with value = 0.7178
+Query 1/1: Action query time = 5.280 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8501
+t=58: Selected seed 195 with value = 0.8501
+Query 1/1: Action query time = 4.748 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=74: Selected seed 195 with value = 0.9950
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.250 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4929
+t=10: Selected seed 195 with value = 0.4929
+Query 1/1: Action query time = 5.585 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5790
+t=26: Selected seed 195 with value = 0.5790
+Query 1/1: Action query time = 4.013 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6697
+t=42: Selected seed 195 with value = 0.6697
+Query 1/1: Action query time = 3.645 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=58: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 5.353 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=74: Selected seed 195 with value = 0.9824
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.318 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5125
+t=10: Selected seed 195 with value = 0.5125
+Query 1/1: Action query time = 6.532 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=26: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 5.692 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6949
+t=42: Selected seed 195 with value = 0.6949
+Query 1/1: Action query time = 4.740 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8705
+t=58: Selected seed 195 with value = 0.8705
+Query 1/1: Action query time = 4.544 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=74: Selected seed 195 with value = 0.9866
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 3.731 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4687
+t=10: Selected seed 195 with value = 0.4687
+Query 1/1: Action query time = 5.384 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5837
+t=26: Selected seed 195 with value = 0.5837
+Query 1/1: Action query time = 4.446 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7102
+t=42: Selected seed 195 with value = 0.7102
+Query 1/1: Action query time = 6.022 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=58: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 5.121 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.502 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5156
+t=10: Selected seed 195 with value = 0.5156
+Query 1/1: Action query time = 5.867 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=26: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 5.415 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6865
+t=42: Selected seed 195 with value = 0.6865
+Query 1/1: Action query time = 4.087 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8052
+t=58: Selected seed 195 with value = 0.8052
+Query 1/1: Action query time = 4.414 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=74: Selected seed 195 with value = 0.9685
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.435 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=10: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 5.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5934
+t=26: Selected seed 195 with value = 0.5934
+Query 1/1: Action query time = 5.828 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6884
+t=42: Selected seed 195 with value = 0.6884
+Query 1/1: Action query time = 5.495 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=58: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 5.530 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9115
+t=74: Selected seed 195 with value = 0.9115
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 6.016 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4593
+t=10: Selected seed 195 with value = 0.4593
+Query 1/1: Action query time = 4.481 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5696
+t=26: Selected seed 195 with value = 0.5696
+Query 1/1: Action query time = 4.704 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6666
+t=42: Selected seed 195 with value = 0.6666
+Query 1/1: Action query time = 5.273 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8131
+t=58: Selected seed 195 with value = 0.8131
+Query 1/1: Action query time = 4.241 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=74: Selected seed 195 with value = 0.9842
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.231 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4656
+t=10: Selected seed 195 with value = 0.4656
+Query 1/1: Action query time = 5.939 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5625
+t=26: Selected seed 195 with value = 0.5625
+Query 1/1: Action query time = 6.297 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6470
+t=42: Selected seed 195 with value = 0.6470
+Query 1/1: Action query time = 5.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7337
+t=58: Selected seed 195 with value = 0.7337
+Query 1/1: Action query time = 5.758 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=74: Selected seed 195 with value = 0.9037
+Query 1/1: Action query time = 4.692 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 5.678 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4768
+t=10: Selected seed 195 with value = 0.4768
+Query 1/1: Action query time = 6.040 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5784
+t=26: Selected seed 195 with value = 0.5784
+Query 1/1: Action query time = 6.721 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6749
+t=42: Selected seed 195 with value = 0.6749
+Query 1/1: Action query time = 6.710 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8337
+t=58: Selected seed 195 with value = 0.8337
+Query 1/1: Action query time = 6.405 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=74: Selected seed 195 with value = 0.9807
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: turn on the stove
+Starting episode 13...
+Query 1/1: Action query time = 5.315 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4597
+t=10: Selected seed 195 with value = 0.4597
+Query 1/1: Action query time = 4.053 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5461
+t=26: Selected seed 195 with value = 0.5461
+Query 1/1: Action query time = 3.756 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6294
+t=42: Selected seed 195 with value = 0.6294
+Query 1/1: Action query time = 4.916 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7440
+t=58: Selected seed 195 with value = 0.7440
+Query 1/1: Action query time = 4.654 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9095
+t=74: Selected seed 195 with value = 0.9095
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s1/2026_08_03-01_47_46--with_future_img--episode=13--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7dc800x50_t7_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7dc800x50_t7_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c04b8d385694ff4c4ffea8e19cc4d01638fc304
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7dc800x50_t7_s2.txt
@@ -0,0 +1,348 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t7_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 8.625 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4922
+t=10: Selected seed 195 with value = 0.4922
+Query 1/1: Action query time = 5.483 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5652
+t=26: Selected seed 195 with value = 0.5652
+Query 1/1: Action query time = 6.584 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6832
+t=42: Selected seed 195 with value = 0.6832
+Query 1/1: Action query time = 7.537 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=58: Selected seed 195 with value = 0.7992
+Query 1/1: Action query time = 5.196 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=74: Selected seed 195 with value = 0.9360
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 6.341 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4774
+t=10: Selected seed 195 with value = 0.4774
+Query 1/1: Action query time = 4.262 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5710
+t=26: Selected seed 195 with value = 0.5710
+Query 1/1: Action query time = 5.934 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6713
+t=42: Selected seed 195 with value = 0.6713
+Query 1/1: Action query time = 6.277 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7478
+t=58: Selected seed 195 with value = 0.7478
+Query 1/1: Action query time = 4.614 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8459
+t=74: Selected seed 195 with value = 0.8459
+Query 1/1: Action query time = 6.565 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=90: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 6.431 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4833
+t=10: Selected seed 195 with value = 0.4833
+Query 1/1: Action query time = 5.410 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5465
+t=26: Selected seed 195 with value = 0.5465
+Query 1/1: Action query time = 4.121 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6516
+t=42: Selected seed 195 with value = 0.6516
+Query 1/1: Action query time = 6.259 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7509
+t=58: Selected seed 195 with value = 0.7509
+Query 1/1: Action query time = 4.760 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8897
+t=74: Selected seed 195 with value = 0.8897
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 6.758 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4984
+t=10: Selected seed 195 with value = 0.4984
+Query 1/1: Action query time = 5.412 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5679
+t=26: Selected seed 195 with value = 0.5679
+Query 1/1: Action query time = 7.593 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6358
+t=42: Selected seed 195 with value = 0.6358
+Query 1/1: Action query time = 6.273 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7485
+t=58: Selected seed 195 with value = 0.7485
+Query 1/1: Action query time = 6.513 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8819
+t=74: Selected seed 195 with value = 0.8819
+Query 1/1: Action query time = 4.707 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.137 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4839
+t=10: Selected seed 195 with value = 0.4839
+Query 1/1: Action query time = 5.177 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5527
+t=26: Selected seed 195 with value = 0.5527
+Query 1/1: Action query time = 6.750 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6508
+t=42: Selected seed 195 with value = 0.6508
+Query 1/1: Action query time = 6.905 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7690
+t=58: Selected seed 195 with value = 0.7690
+Query 1/1: Action query time = 6.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=74: Selected seed 195 with value = 0.9037
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.519 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5263
+t=10: Selected seed 195 with value = 0.5263
+Query 1/1: Action query time = 5.317 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6699
+t=26: Selected seed 195 with value = 0.6699
+Query 1/1: Action query time = 6.274 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6927
+t=42: Selected seed 195 with value = 0.6927
+Query 1/1: Action query time = 5.762 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8697
+t=58: Selected seed 195 with value = 0.8697
+Query 1/1: Action query time = 6.123 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 6.368 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5272
+t=10: Selected seed 195 with value = 0.5272
+Query 1/1: Action query time = 5.887 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6152
+t=26: Selected seed 195 with value = 0.6152
+Query 1/1: Action query time = 5.916 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6758
+t=42: Selected seed 195 with value = 0.6758
+Query 1/1: Action query time = 6.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7746
+t=58: Selected seed 195 with value = 0.7746
+Query 1/1: Action query time = 5.324 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9127
+t=74: Selected seed 195 with value = 0.9127
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 6.816 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4894
+t=10: Selected seed 195 with value = 0.4894
+Query 1/1: Action query time = 6.346 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=26: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 5.740 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6112
+t=42: Selected seed 195 with value = 0.6112
+Query 1/1: Action query time = 4.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7230
+t=58: Selected seed 195 with value = 0.7230
+Query 1/1: Action query time = 6.048 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8679
+t=74: Selected seed 195 with value = 0.8679
+Query 1/1: Action query time = 5.312 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=90: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.245 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=10: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 4.469 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6489
+t=26: Selected seed 195 with value = 0.6489
+Query 1/1: Action query time = 5.260 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7177
+t=42: Selected seed 195 with value = 0.7177
+Query 1/1: Action query time = 6.418 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8002
+t=58: Selected seed 195 with value = 0.8002
+Query 1/1: Action query time = 7.187 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=74: Selected seed 195 with value = 0.9558
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 4.138 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5221
+t=10: Selected seed 195 with value = 0.5221
+Query 1/1: Action query time = 6.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=26: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 6.066 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7236
+t=42: Selected seed 195 with value = 0.7236
+Query 1/1: Action query time = 5.559 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8481
+t=58: Selected seed 195 with value = 0.8481
+Query 1/1: Action query time = 7.133 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9793
+t=74: Selected seed 195 with value = 0.9793
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.844 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=10: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 4.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6288
+t=26: Selected seed 195 with value = 0.6288
+Query 1/1: Action query time = 6.034 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7217
+t=42: Selected seed 195 with value = 0.7217
+Query 1/1: Action query time = 4.229 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8892
+t=58: Selected seed 195 with value = 0.8892
+Query 1/1: Action query time = 4.070 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 5.078 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4724
+t=10: Selected seed 195 with value = 0.4724
+Query 1/1: Action query time = 5.198 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=26: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 5.449 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6419
+t=42: Selected seed 195 with value = 0.6419
+Query 1/1: Action query time = 4.424 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7538
+t=58: Selected seed 195 with value = 0.7538
+Query 1/1: Action query time = 5.401 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=74: Selected seed 195 with value = 0.9049
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7rc800x50_t7_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7rc800x50_t7_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf17ccc463fd2289d067fea2ebd3cd5dcd9b5e36
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7rc800x50_t7_s0.txt
@@ -0,0 +1,371 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t7_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.741 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4773
+t=10: Selected seed 195 with value = 0.4773
+Query 1/1: Action query time = 6.781 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=26: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 7.611 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6631
+t=42: Selected seed 195 with value = 0.6631
+Query 1/1: Action query time = 7.500 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7399
+t=58: Selected seed 195 with value = 0.7399
+Query 1/1: Action query time = 5.325 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=74: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 6.118 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.846 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=10: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 5.386 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5695
+t=26: Selected seed 195 with value = 0.5695
+Query 1/1: Action query time = 3.943 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6629
+t=42: Selected seed 195 with value = 0.6629
+Query 1/1: Action query time = 5.679 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7884
+t=58: Selected seed 195 with value = 0.7884
+Query 1/1: Action query time = 4.720 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=74: Selected seed 195 with value = 0.8969
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.613 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5022
+t=10: Selected seed 195 with value = 0.5022
+Query 1/1: Action query time = 6.444 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6341
+t=26: Selected seed 195 with value = 0.6341
+Query 1/1: Action query time = 6.010 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7271
+t=42: Selected seed 195 with value = 0.7271
+Query 1/1: Action query time = 4.539 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8155
+t=58: Selected seed 195 with value = 0.8155
+Query 1/1: Action query time = 5.097 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=74: Selected seed 195 with value = 0.9394
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.949 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4877
+t=10: Selected seed 195 with value = 0.4877
+Query 1/1: Action query time = 4.473 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5692
+t=26: Selected seed 195 with value = 0.5692
+Query 1/1: Action query time = 3.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=42: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 6.681 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7786
+t=58: Selected seed 195 with value = 0.7786
+Query 1/1: Action query time = 6.295 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9084
+t=74: Selected seed 195 with value = 0.9084
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 6.260 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4624
+t=10: Selected seed 195 with value = 0.4624
+Query 1/1: Action query time = 4.665 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5307
+t=26: Selected seed 195 with value = 0.5307
+Query 1/1: Action query time = 4.413 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6212
+t=42: Selected seed 195 with value = 0.6212
+Query 1/1: Action query time = 5.852 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7446
+t=58: Selected seed 195 with value = 0.7446
+Query 1/1: Action query time = 6.034 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8984
+t=74: Selected seed 195 with value = 0.8984
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 6.734 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5236
+t=10: Selected seed 195 with value = 0.5236
+Query 1/1: Action query time = 6.862 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6147
+t=26: Selected seed 195 with value = 0.6147
+Query 1/1: Action query time = 6.577 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6573
+t=42: Selected seed 195 with value = 0.6573
+Query 1/1: Action query time = 4.408 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8467
+t=58: Selected seed 195 with value = 0.8467
+Query 1/1: Action query time = 5.807 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=74: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.054 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4496
+t=10: Selected seed 195 with value = 0.4496
+Query 1/1: Action query time = 5.824 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5223
+t=26: Selected seed 195 with value = 0.5223
+Query 1/1: Action query time = 5.206 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6087
+t=42: Selected seed 195 with value = 0.6087
+Query 1/1: Action query time = 3.033 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7290
+t=58: Selected seed 195 with value = 0.7290
+Query 1/1: Action query time = 5.088 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8188
+t=74: Selected seed 195 with value = 0.8188
+Query 1/1: Action query time = 5.604 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=90: Selected seed 195 with value = 0.9839
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.781 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=10: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 3.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5994
+t=26: Selected seed 195 with value = 0.5994
+Query 1/1: Action query time = 5.530 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6992
+t=42: Selected seed 195 with value = 0.6992
+Query 1/1: Action query time = 5.219 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8382
+t=58: Selected seed 195 with value = 0.8382
+Query 1/1: Action query time = 4.169 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=74: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.148 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4877
+t=10: Selected seed 195 with value = 0.4877
+Query 1/1: Action query time = 5.023 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5724
+t=26: Selected seed 195 with value = 0.5724
+Query 1/1: Action query time = 4.616 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6714
+t=42: Selected seed 195 with value = 0.6714
+Query 1/1: Action query time = 5.147 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7660
+t=58: Selected seed 195 with value = 0.7660
+Query 1/1: Action query time = 5.359 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9201
+t=74: Selected seed 195 with value = 0.9201
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 4.532 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4728
+t=10: Selected seed 195 with value = 0.4728
+Query 1/1: Action query time = 5.582 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5614
+t=26: Selected seed 195 with value = 0.5614
+Query 1/1: Action query time = 2.386 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6479
+t=42: Selected seed 195 with value = 0.6479
+Query 1/1: Action query time = 4.814 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7819
+t=58: Selected seed 195 with value = 0.7819
+Query 1/1: Action query time = 5.178 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=74: Selected seed 195 with value = 0.9192
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 5.629 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4645
+t=10: Selected seed 195 with value = 0.4645
+Query 1/1: Action query time = 5.139 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=26: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 4.823 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=42: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 4.579 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7716
+t=58: Selected seed 195 with value = 0.7716
+Query 1/1: Action query time = 6.232 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=74: Selected seed 195 with value = 0.9291
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 6.423 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4921
+t=10: Selected seed 195 with value = 0.4921
+Query 1/1: Action query time = 5.859 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5697
+t=26: Selected seed 195 with value = 0.5697
+Query 1/1: Action query time = 4.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6586
+t=42: Selected seed 195 with value = 0.6586
+Query 1/1: Action query time = 3.658 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7670
+t=58: Selected seed 195 with value = 0.7670
+Query 1/1: Action query time = 4.761 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9207
+t=74: Selected seed 195 with value = 0.9207
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: turn on the stove
+Starting episode 13...
+Query 1/1: Action query time = 4.539 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5053
+t=10: Selected seed 195 with value = 0.5053
+Query 1/1: Action query time = 5.205 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5926
+t=26: Selected seed 195 with value = 0.5926
+Query 1/1: Action query time = 3.939 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=42: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 4.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8487
+t=58: Selected seed 195 with value = 0.8487
+Query 1/1: Action query time = 3.466 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=74: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s0/2026_08_03-01_47_47--with_future_img--episode=13--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-04_13_06--t3merged_g2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-04_13_06--t3merged_g2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..904ffbf2b59810391e5b9b931a9a782c3a4e7b39
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-04_13_06--t3merged_g2.txt
@@ -0,0 +1,348 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task6/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task3_merged_ft_from40k_2gpu/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t3merged_g2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,1,2,3,4', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 1.568 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2166
+t=10: Selected seed 195 with value = 0.2166
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2624
+t=26: Selected seed 195 with value = 0.2624
+Query 1/1: Action query time = 0.946 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3052
+t=42: Selected seed 195 with value = 0.3052
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3524
+t=58: Selected seed 195 with value = 0.3524
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4055
+t=74: Selected seed 195 with value = 0.4055
+Query 1/1: Action query time = 0.951 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5044
+t=90: Selected seed 195 with value = 0.5044
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5924
+t=106: Selected seed 195 with value = 0.5924
+Query 1/1: Action query time = 0.948 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6616
+t=122: Selected seed 195 with value = 0.6616
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7078
+t=138: Selected seed 195 with value = 0.7078
+Query 1/1: Action query time = 0.958 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8333
+t=154: Selected seed 195 with value = 0.8333
+Query 1/1: Action query time = 0.948 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=170: Selected seed 195 with value = 0.9629
+Query 1/1: Action query time = 0.942 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3merged_g2/2026_08_03-04_13_06--episode=1--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3merged_g2/2026_08_03-04_13_06--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 1.136 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2124
+t=10: Selected seed 195 with value = 0.2124
+Query 1/1: Action query time = 1.147 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2459
+t=26: Selected seed 195 with value = 0.2459
+Query 1/1: Action query time = 1.142 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3149
+t=42: Selected seed 195 with value = 0.3149
+Query 1/1: Action query time = 1.163 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3714
+t=58: Selected seed 195 with value = 0.3714
+Query 1/1: Action query time = 1.166 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4195
+t=74: Selected seed 195 with value = 0.4195
+Query 1/1: Action query time = 1.148 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=90: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 1.131 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4979
+t=106: Selected seed 195 with value = 0.4979
+Query 1/1: Action query time = 1.050 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5368
+t=122: Selected seed 195 with value = 0.5368
+Query 1/1: Action query time = 1.208 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5644
+t=138: Selected seed 195 with value = 0.5644
+Query 1/1: Action query time = 1.174 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6012
+t=154: Selected seed 195 with value = 0.6012
+Query 1/1: Action query time = 1.190 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7539
+t=170: Selected seed 195 with value = 0.7539
+Query 1/1: Action query time = 1.169 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9056
+t=186: Selected seed 195 with value = 0.9056
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=202: Selected seed 195 with value = 0.9479
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8912
+t=218: Selected seed 195 with value = 0.8912
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=234: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 0.961 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=250: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 0.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3483
+t=266: Selected seed 195 with value = 0.3483
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3512
+t=282: Selected seed 195 with value = 0.3512
+Query 1/1: Action query time = 0.988 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3476
+t=298: Selected seed 195 with value = 0.3476
+Saved rollout MP4 at path ./rollouts/t3merged_g2/2026_08_03-04_13_06--episode=2--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3merged_g2/2026_08_03-04_13_06--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 1.071 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1908
+t=10: Selected seed 195 with value = 0.1908
+Query 1/1: Action query time = 1.185 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2464
+t=26: Selected seed 195 with value = 0.2464
+Query 1/1: Action query time = 1.160 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2832
+t=42: Selected seed 195 with value = 0.2832
+Query 1/1: Action query time = 1.170 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3134
+t=58: Selected seed 195 with value = 0.3134
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4075
+t=74: Selected seed 195 with value = 0.4075
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4886
+t=90: Selected seed 195 with value = 0.4886
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5586
+t=106: Selected seed 195 with value = 0.5586
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6367
+t=122: Selected seed 195 with value = 0.6367
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7387
+t=138: Selected seed 195 with value = 0.7387
+Query 1/1: Action query time = 0.959 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8322
+t=154: Selected seed 195 with value = 0.8322
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9107
+t=170: Selected seed 195 with value = 0.9107
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3merged_g2/2026_08_03-04_13_06--episode=3--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3merged_g2/2026_08_03-04_13_06--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 1.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1895
+t=10: Selected seed 195 with value = 0.1895
+Query 1/1: Action query time = 1.123 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2426
+t=26: Selected seed 195 with value = 0.2426
+Query 1/1: Action query time = 1.181 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2816
+t=42: Selected seed 195 with value = 0.2816
+Query 1/1: Action query time = 0.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3176
+t=58: Selected seed 195 with value = 0.3176
+Query 1/1: Action query time = 0.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3961
+t=74: Selected seed 195 with value = 0.3961
+Query 1/1: Action query time = 0.954 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4859
+t=90: Selected seed 195 with value = 0.4859
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5666
+t=106: Selected seed 195 with value = 0.5666
+Query 1/1: Action query time = 1.044 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6437
+t=122: Selected seed 195 with value = 0.6437
+Query 1/1: Action query time = 0.955 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7325
+t=138: Selected seed 195 with value = 0.7325
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6072
+t=154: Selected seed 195 with value = 0.6072
+Query 1/1: Action query time = 0.988 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5532
+t=170: Selected seed 195 with value = 0.5532
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6823
+t=186: Selected seed 195 with value = 0.6823
+Query 1/1: Action query time = 0.952 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7676
+t=202: Selected seed 195 with value = 0.7676
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9156
+t=218: Selected seed 195 with value = 0.9156
+Query 1/1: Action query time = 1.027 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9533
+t=234: Selected seed 195 with value = 0.9533
+Query 1/1: Action query time = 1.176 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9036
+t=250: Selected seed 195 with value = 0.9036
+Query 1/1: Action query time = 1.087 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=266: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 1.054 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=282: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=298: Selected seed 195 with value = 0.9807
+Saved rollout MP4 at path ./rollouts/t3merged_g2/2026_08_03-04_13_06--episode=4--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3merged_g2/2026_08_03-04_13_06--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2221
+t=10: Selected seed 195 with value = 0.2221
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2402
+t=26: Selected seed 195 with value = 0.2402
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2707
+t=42: Selected seed 195 with value = 0.2707
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3299
+t=58: Selected seed 195 with value = 0.3299
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3769
+t=74: Selected seed 195 with value = 0.3769
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4668
+t=90: Selected seed 195 with value = 0.4668
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5226
+t=106: Selected seed 195 with value = 0.5226
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6023
+t=122: Selected seed 195 with value = 0.6023
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6375
+t=138: Selected seed 195 with value = 0.6375
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7682
+t=154: Selected seed 195 with value = 0.7682
+Query 1/1: Action query time = 0.958 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9170
+t=170: Selected seed 195 with value = 0.9170
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=186: Selected seed 195 with value = 0.9372
+Saved rollout MP4 at path ./rollouts/t3merged_g2/2026_08_03-04_13_06--episode=5--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3merged_g2/2026_08_03-04_13_06--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+Current task success rate: 0.6
+Current total success rate: 0.6
+Final results:
+Total episodes: 5
+Total successes: 3
+Overall success rate: 0.6000 (60.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_19--t7realcl800x50_t0_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_19--t7realcl800x50_t0_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1200f409eae7b8ccb43fb01aee1771e6a3e3bb6a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_19--t7realcl800x50_t0_s1.txt
@@ -0,0 +1,1059 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_real_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800x50_t0_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,3,5,7,9,11,13,15,17,19,21,23,25,27,29,31,33,35,37,39,41,43,45,47,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.311 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3213
+t=10: Selected seed 195 with value = 0.3213
+Query 1/1: Action query time = 2.280 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3399
+t=26: Selected seed 195 with value = 0.3399
+Query 1/1: Action query time = 2.489 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4085
+t=42: Selected seed 195 with value = 0.4085
+Query 1/1: Action query time = 3.428 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5017
+t=58: Selected seed 195 with value = 0.5017
+Query 1/1: Action query time = 4.777 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6041
+t=74: Selected seed 195 with value = 0.6041
+Query 1/1: Action query time = 5.015 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7043
+t=90: Selected seed 195 with value = 0.7043
+Query 1/1: Action query time = 4.672 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8251
+t=106: Selected seed 195 with value = 0.8251
+Query 1/1: Action query time = 3.709 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=122: Selected seed 195 with value = 0.9647
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.835 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2372
+t=10: Selected seed 195 with value = 0.2372
+Query 1/1: Action query time = 4.673 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3448
+t=26: Selected seed 195 with value = 0.3448
+Query 1/1: Action query time = 4.918 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4159
+t=42: Selected seed 195 with value = 0.4159
+Query 1/1: Action query time = 5.194 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4166
+t=58: Selected seed 195 with value = 0.4166
+Query 1/1: Action query time = 4.277 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=74: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 4.184 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=90: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 5.023 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7392
+t=106: Selected seed 195 with value = 0.7392
+Query 1/1: Action query time = 3.559 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8917
+t=122: Selected seed 195 with value = 0.8917
+Query 1/1: Action query time = 3.766 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.262 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3024
+t=10: Selected seed 195 with value = 0.3024
+Query 1/1: Action query time = 5.655 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3455
+t=26: Selected seed 195 with value = 0.3455
+Query 1/1: Action query time = 4.440 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4032
+t=42: Selected seed 195 with value = 0.4032
+Query 1/1: Action query time = 3.554 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4846
+t=58: Selected seed 195 with value = 0.4846
+Query 1/1: Action query time = 3.633 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5996
+t=74: Selected seed 195 with value = 0.5996
+Query 1/1: Action query time = 5.264 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7060
+t=90: Selected seed 195 with value = 0.7060
+Query 1/1: Action query time = 5.088 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8148
+t=106: Selected seed 195 with value = 0.8148
+Query 1/1: Action query time = 4.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9631
+t=122: Selected seed 195 with value = 0.9631
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.945 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2985
+t=10: Selected seed 195 with value = 0.2985
+Query 1/1: Action query time = 4.769 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3403
+t=26: Selected seed 195 with value = 0.3403
+Query 1/1: Action query time = 4.620 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4143
+t=42: Selected seed 195 with value = 0.4143
+Query 1/1: Action query time = 4.792 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4851
+t=58: Selected seed 195 with value = 0.4851
+Query 1/1: Action query time = 5.329 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5637
+t=74: Selected seed 195 with value = 0.5637
+Query 1/1: Action query time = 5.480 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6775
+t=90: Selected seed 195 with value = 0.6775
+Query 1/1: Action query time = 5.729 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7755
+t=106: Selected seed 195 with value = 0.7755
+Query 1/1: Action query time = 3.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9095
+t=122: Selected seed 195 with value = 0.9095
+Query 1/1: Action query time = 2.531 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.084 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3642
+t=10: Selected seed 195 with value = 0.3642
+Query 1/1: Action query time = 5.591 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4171
+t=26: Selected seed 195 with value = 0.4171
+Query 1/1: Action query time = 4.831 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4808
+t=42: Selected seed 195 with value = 0.4808
+Query 1/1: Action query time = 4.429 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5603
+t=58: Selected seed 195 with value = 0.5603
+Query 1/1: Action query time = 4.776 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6648
+t=74: Selected seed 195 with value = 0.6648
+Query 1/1: Action query time = 2.345 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7779
+t=90: Selected seed 195 with value = 0.7779
+Query 1/1: Action query time = 3.493 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9000
+t=106: Selected seed 195 with value = 0.9000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.586 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3008
+t=10: Selected seed 195 with value = 0.3008
+Query 1/1: Action query time = 5.886 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2849
+t=26: Selected seed 195 with value = 0.2849
+Query 1/1: Action query time = 4.660 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3980
+t=42: Selected seed 195 with value = 0.3980
+Query 1/1: Action query time = 4.650 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4975
+t=58: Selected seed 195 with value = 0.4975
+Query 1/1: Action query time = 4.378 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6396
+t=74: Selected seed 195 with value = 0.6396
+Query 1/1: Action query time = 5.306 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7403
+t=90: Selected seed 195 with value = 0.7403
+Query 1/1: Action query time = 5.009 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9199
+t=106: Selected seed 195 with value = 0.9199
+Query 1/1: Action query time = 4.719 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.813 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3068
+t=10: Selected seed 195 with value = 0.3068
+Query 1/1: Action query time = 4.618 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3379
+t=26: Selected seed 195 with value = 0.3379
+Query 1/1: Action query time = 4.614 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3960
+t=42: Selected seed 195 with value = 0.3960
+Query 1/1: Action query time = 5.002 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4724
+t=58: Selected seed 195 with value = 0.4724
+Query 1/1: Action query time = 6.122 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5527
+t=74: Selected seed 195 with value = 0.5527
+Query 1/1: Action query time = 5.176 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=90: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 2.780 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7956
+t=106: Selected seed 195 with value = 0.7956
+Query 1/1: Action query time = 4.045 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9401
+t=122: Selected seed 195 with value = 0.9401
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.950 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2918
+t=10: Selected seed 195 with value = 0.2918
+Query 1/1: Action query time = 4.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3275
+t=26: Selected seed 195 with value = 0.3275
+Query 1/1: Action query time = 4.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3934
+t=42: Selected seed 195 with value = 0.3934
+Query 1/1: Action query time = 4.498 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4550
+t=58: Selected seed 195 with value = 0.4550
+Query 1/1: Action query time = 4.532 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4843
+t=74: Selected seed 195 with value = 0.4843
+Query 1/1: Action query time = 5.147 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5942
+t=90: Selected seed 195 with value = 0.5942
+Query 1/1: Action query time = 3.846 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7440
+t=106: Selected seed 195 with value = 0.7440
+Query 1/1: Action query time = 3.472 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8302
+t=122: Selected seed 195 with value = 0.8302
+Query 1/1: Action query time = 5.267 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9323
+t=138: Selected seed 195 with value = 0.9323
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.836 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3183
+t=10: Selected seed 195 with value = 0.3183
+Query 1/1: Action query time = 4.816 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3580
+t=26: Selected seed 195 with value = 0.3580
+Query 1/1: Action query time = 5.604 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4417
+t=42: Selected seed 195 with value = 0.4417
+Query 1/1: Action query time = 2.789 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4184
+t=58: Selected seed 195 with value = 0.4184
+Query 1/1: Action query time = 4.481 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4694
+t=74: Selected seed 195 with value = 0.4694
+Query 1/1: Action query time = 4.916 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6003
+t=90: Selected seed 195 with value = 0.6003
+Query 1/1: Action query time = 4.848 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7810
+t=106: Selected seed 195 with value = 0.7810
+Query 1/1: Action query time = 4.745 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8954
+t=122: Selected seed 195 with value = 0.8954
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.687 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3613
+t=10: Selected seed 195 with value = 0.3613
+Query 1/1: Action query time = 4.786 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4123
+t=26: Selected seed 195 with value = 0.4123
+Query 1/1: Action query time = 4.734 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=42: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 5.136 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5513
+t=58: Selected seed 195 with value = 0.5513
+Query 1/1: Action query time = 4.617 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6385
+t=74: Selected seed 195 with value = 0.6385
+Query 1/1: Action query time = 4.447 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7707
+t=90: Selected seed 195 with value = 0.7707
+Query 1/1: Action query time = 4.523 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8962
+t=106: Selected seed 195 with value = 0.8962
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.175 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2847
+t=10: Selected seed 195 with value = 0.2847
+Query 1/1: Action query time = 4.365 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2693
+t=26: Selected seed 195 with value = 0.2693
+Query 1/1: Action query time = 5.054 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3610
+t=42: Selected seed 195 with value = 0.3610
+Query 1/1: Action query time = 5.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5213
+t=58: Selected seed 195 with value = 0.5213
+Query 1/1: Action query time = 4.664 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=74: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 3.875 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7391
+t=90: Selected seed 195 with value = 0.7391
+Query 1/1: Action query time = 3.709 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9108
+t=106: Selected seed 195 with value = 0.9108
+Query 1/1: Action query time = 4.477 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 4.600 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2920
+t=10: Selected seed 195 with value = 0.2920
+Query 1/1: Action query time = 5.365 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3402
+t=26: Selected seed 195 with value = 0.3402
+Query 1/1: Action query time = 5.651 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3921
+t=42: Selected seed 195 with value = 0.3921
+Query 1/1: Action query time = 2.508 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4689
+t=58: Selected seed 195 with value = 0.4689
+Query 1/1: Action query time = 3.880 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5544
+t=74: Selected seed 195 with value = 0.5544
+Query 1/1: Action query time = 4.992 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6528
+t=90: Selected seed 195 with value = 0.6528
+Query 1/1: Action query time = 5.667 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7790
+t=106: Selected seed 195 with value = 0.7790
+Query 1/1: Action query time = 4.249 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=122: Selected seed 195 with value = 0.9270
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 5.168 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2992
+t=10: Selected seed 195 with value = 0.2992
+Query 1/1: Action query time = 4.277 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3543
+t=26: Selected seed 195 with value = 0.3543
+Query 1/1: Action query time = 4.470 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4372
+t=42: Selected seed 195 with value = 0.4372
+Query 1/1: Action query time = 4.543 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5163
+t=58: Selected seed 195 with value = 0.5163
+Query 1/1: Action query time = 4.998 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6254
+t=74: Selected seed 195 with value = 0.6254
+Query 1/1: Action query time = 5.018 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7247
+t=90: Selected seed 195 with value = 0.7247
+Query 1/1: Action query time = 5.129 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9069
+t=106: Selected seed 195 with value = 0.9069
+Query 1/1: Action query time = 4.403 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=122: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 5.419 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3382
+t=10: Selected seed 195 with value = 0.3382
+Query 1/1: Action query time = 4.808 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3743
+t=26: Selected seed 195 with value = 0.3743
+Query 1/1: Action query time = 4.463 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4322
+t=42: Selected seed 195 with value = 0.4322
+Query 1/1: Action query time = 3.173 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5191
+t=58: Selected seed 195 with value = 0.5191
+Query 1/1: Action query time = 4.391 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=74: Selected seed 195 with value = 0.6121
+Query 1/1: Action query time = 5.428 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7003
+t=90: Selected seed 195 with value = 0.7003
+Query 1/1: Action query time = 5.329 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7605
+t=106: Selected seed 195 with value = 0.7605
+Query 1/1: Action query time = 4.026 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6661
+t=122: Selected seed 195 with value = 0.6661
+Query 1/1: Action query time = 3.840 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6579
+t=138: Selected seed 195 with value = 0.6579
+Query 1/1: Action query time = 4.474 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7515
+t=154: Selected seed 195 with value = 0.7515
+Query 1/1: Action query time = 6.270 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6428
+t=170: Selected seed 195 with value = 0.6428
+Query 1/1: Action query time = 5.316 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6034
+t=186: Selected seed 195 with value = 0.6034
+Query 1/1: Action query time = 3.822 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6732
+t=202: Selected seed 195 with value = 0.6732
+Query 1/1: Action query time = 3.210 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6440
+t=218: Selected seed 195 with value = 0.6440
+Query 1/1: Action query time = 4.783 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6506
+t=234: Selected seed 195 with value = 0.6506
+Query 1/1: Action query time = 4.838 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6522
+t=250: Selected seed 195 with value = 0.6522
+Query 1/1: Action query time = 4.846 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6649
+t=266: Selected seed 195 with value = 0.6649
+Query 1/1: Action query time = 4.637 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6772
+t=282: Selected seed 195 with value = 0.6772
+Query 1/1: Action query time = 4.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6974
+t=298: Selected seed 195 with value = 0.6974
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=14--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 5.652 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2903
+t=10: Selected seed 195 with value = 0.2903
+Query 1/1: Action query time = 3.819 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3144
+t=26: Selected seed 195 with value = 0.3144
+Query 1/1: Action query time = 5.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3874
+t=42: Selected seed 195 with value = 0.3874
+Query 1/1: Action query time = 4.782 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4567
+t=58: Selected seed 195 with value = 0.4567
+Query 1/1: Action query time = 3.431 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5602
+t=74: Selected seed 195 with value = 0.5602
+Query 1/1: Action query time = 5.157 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6648
+t=90: Selected seed 195 with value = 0.6648
+Query 1/1: Action query time = 4.856 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7599
+t=106: Selected seed 195 with value = 0.7599
+Query 1/1: Action query time = 4.492 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8981
+t=122: Selected seed 195 with value = 0.8981
+Query 1/1: Action query time = 4.218 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=138: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=15--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 5.361 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1993
+t=10: Selected seed 195 with value = 0.1993
+Query 1/1: Action query time = 5.129 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3270
+t=26: Selected seed 195 with value = 0.3270
+Query 1/1: Action query time = 4.575 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4015
+t=42: Selected seed 195 with value = 0.4015
+Query 1/1: Action query time = 4.466 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4639
+t=58: Selected seed 195 with value = 0.4639
+Query 1/1: Action query time = 4.908 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5880
+t=74: Selected seed 195 with value = 0.5880
+Query 1/1: Action query time = 3.822 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6851
+t=90: Selected seed 195 with value = 0.6851
+Query 1/1: Action query time = 4.217 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8086
+t=106: Selected seed 195 with value = 0.8086
+Query 1/1: Action query time = 4.732 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9491
+t=122: Selected seed 195 with value = 0.9491
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=16--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 15 (93.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 5.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3015
+t=10: Selected seed 195 with value = 0.3015
+Query 1/1: Action query time = 3.660 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2450
+t=26: Selected seed 195 with value = 0.2450
+Query 1/1: Action query time = 3.420 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3223
+t=42: Selected seed 195 with value = 0.3223
+Query 1/1: Action query time = 5.079 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3905
+t=58: Selected seed 195 with value = 0.3905
+Query 1/1: Action query time = 4.332 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5752
+t=74: Selected seed 195 with value = 0.5752
+Query 1/1: Action query time = 5.246 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6547
+t=90: Selected seed 195 with value = 0.6547
+Query 1/1: Action query time = 3.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=106: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 3.376 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8116
+t=122: Selected seed 195 with value = 0.8116
+Query 1/1: Action query time = 3.803 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=138: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=17--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 16 (94.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 4.940 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3000
+t=10: Selected seed 195 with value = 0.3000
+Query 1/1: Action query time = 4.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3018
+t=26: Selected seed 195 with value = 0.3018
+Query 1/1: Action query time = 4.833 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3512
+t=42: Selected seed 195 with value = 0.3512
+Query 1/1: Action query time = 4.382 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4093
+t=58: Selected seed 195 with value = 0.4093
+Query 1/1: Action query time = 4.594 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4710
+t=74: Selected seed 195 with value = 0.4710
+Query 1/1: Action query time = 3.391 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5545
+t=90: Selected seed 195 with value = 0.5545
+Query 1/1: Action query time = 3.753 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6964
+t=106: Selected seed 195 with value = 0.6964
+Query 1/1: Action query time = 5.678 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8069
+t=122: Selected seed 195 with value = 0.8069
+Query 1/1: Action query time = 4.224 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=138: Selected seed 195 with value = 0.9361
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=18--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 17 (94.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 2.547 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2758
+t=10: Selected seed 195 with value = 0.2758
+Query 1/1: Action query time = 3.915 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2927
+t=26: Selected seed 195 with value = 0.2927
+Query 1/1: Action query time = 3.910 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3456
+t=42: Selected seed 195 with value = 0.3456
+Query 1/1: Action query time = 3.488 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4228
+t=58: Selected seed 195 with value = 0.4228
+Query 1/1: Action query time = 3.231 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=74: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 3.762 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6037
+t=90: Selected seed 195 with value = 0.6037
+Query 1/1: Action query time = 2.936 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7531
+t=106: Selected seed 195 with value = 0.7531
+Query 1/1: Action query time = 3.130 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8832
+t=122: Selected seed 195 with value = 0.8832
+Query 1/1: Action query time = 1.846 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=19--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 18 (94.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 4.633 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3370
+t=10: Selected seed 195 with value = 0.3370
+Query 1/1: Action query time = 4.529 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3521
+t=26: Selected seed 195 with value = 0.3521
+Query 1/1: Action query time = 3.151 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4203
+t=42: Selected seed 195 with value = 0.4203
+Query 1/1: Action query time = 3.425 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4928
+t=58: Selected seed 195 with value = 0.4928
+Query 1/1: Action query time = 3.560 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5523
+t=74: Selected seed 195 with value = 0.5523
+Query 1/1: Action query time = 3.290 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6914
+t=90: Selected seed 195 with value = 0.6914
+Query 1/1: Action query time = 3.685 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7768
+t=106: Selected seed 195 with value = 0.7768
+Query 1/1: Action query time = 4.102 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=122: Selected seed 195 with value = 0.8950
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=20--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 19 (95.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 4.140 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2865
+t=10: Selected seed 195 with value = 0.2865
+Query 1/1: Action query time = 3.697 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3676
+t=26: Selected seed 195 with value = 0.3676
+Query 1/1: Action query time = 1.861 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4301
+t=42: Selected seed 195 with value = 0.4301
+Query 1/1: Action query time = 2.222 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5245
+t=58: Selected seed 195 with value = 0.5245
+Query 1/1: Action query time = 2.599 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6179
+t=74: Selected seed 195 with value = 0.6179
+Query 1/1: Action query time = 1.707 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7212
+t=90: Selected seed 195 with value = 0.7212
+Query 1/1: Action query time = 3.106 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=106: Selected seed 195 with value = 0.8535
+Query 1/1: Action query time = 3.132 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=122: Selected seed 195 with value = 0.9980
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=21--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 20 (95.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 2.579 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2757
+t=10: Selected seed 195 with value = 0.2757
+Query 1/1: Action query time = 2.411 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2217
+t=26: Selected seed 195 with value = 0.2217
+Query 1/1: Action query time = 3.325 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2951
+t=42: Selected seed 195 with value = 0.2951
+Query 1/1: Action query time = 3.731 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2934
+t=58: Selected seed 195 with value = 0.2934
+Query 1/1: Action query time = 3.586 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3386
+t=74: Selected seed 195 with value = 0.3386
+Query 1/1: Action query time = 2.450 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7076
+t=90: Selected seed 195 with value = 0.7076
+Query 1/1: Action query time = 2.415 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8455
+t=106: Selected seed 195 with value = 0.8455
+Query 1/1: Action query time = 2.156 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=122: Selected seed 195 with value = 0.9931
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=22--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 2.086 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2873
+t=10: Selected seed 195 with value = 0.2873
+Query 1/1: Action query time = 1.823 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3058
+t=26: Selected seed 195 with value = 0.3058
+Query 1/1: Action query time = 1.543 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3441
+t=42: Selected seed 195 with value = 0.3441
+Query 1/1: Action query time = 2.568 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4026
+t=58: Selected seed 195 with value = 0.4026
+Query 1/1: Action query time = 2.363 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4700
+t=74: Selected seed 195 with value = 0.4700
+Query 1/1: Action query time = 2.224 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=90: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 2.950 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6732
+t=106: Selected seed 195 with value = 0.6732
+Query 1/1: Action query time = 2.409 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8326
+t=122: Selected seed 195 with value = 0.8326
+Query 1/1: Action query time = 2.586 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=138: Selected seed 195 with value = 0.9197
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=23--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 2.619 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3465
+t=10: Selected seed 195 with value = 0.3465
+Query 1/1: Action query time = 2.143 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3810
+t=26: Selected seed 195 with value = 0.3810
+Query 1/1: Action query time = 1.903 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4547
+t=42: Selected seed 195 with value = 0.4547
+Query 1/1: Action query time = 1.020 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5328
+t=58: Selected seed 195 with value = 0.5328
+Query 1/1: Action query time = 1.771 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5685
+t=74: Selected seed 195 with value = 0.5685
+Query 1/1: Action query time = 3.279 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=90: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 2.720 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7624
+t=106: Selected seed 195 with value = 0.7624
+Query 1/1: Action query time = 2.534 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8900
+t=122: Selected seed 195 with value = 0.8900
+Query 1/1: Action query time = 2.052 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=24--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 2.703 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2976
+t=10: Selected seed 195 with value = 0.2976
+Query 1/1: Action query time = 2.716 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3414
+t=26: Selected seed 195 with value = 0.3414
+Query 1/1: Action query time = 2.589 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3993
+t=42: Selected seed 195 with value = 0.3993
+Query 1/1: Action query time = 2.035 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4975
+t=58: Selected seed 195 with value = 0.4975
+Query 1/1: Action query time = 1.743 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5590
+t=74: Selected seed 195 with value = 0.5590
+Query 1/1: Action query time = 1.805 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6992
+t=90: Selected seed 195 with value = 0.6992
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7938
+t=106: Selected seed 195 with value = 0.7938
+Query 1/1: Action query time = 1.009 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=122: Selected seed 195 with value = 0.9314
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s1/2026_08_03-10_52_19--with_future_img--episode=25--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+Current task success rate: 0.96
+Current total success rate: 0.96
+Final results:
+Total episodes: 25
+Total successes: 24
+Overall success rate: 0.9600 (96.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_30--t7realcl800x50_t3_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_30--t7realcl800x50_t3_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..466c17dfe516ea4d49a59a62a847d8e79af58d07
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_30--t7realcl800x50_t3_s1.txt
@@ -0,0 +1,1519 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_real_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800x50_t3_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,3,5,7,9,11,13,15,17,19,21,23,25,27,29,31,33,35,37,39,41,43,45,47,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.025 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1868
+t=10: Selected seed 195 with value = 0.1868
+Query 1/1: Action query time = 4.803 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2069
+t=26: Selected seed 195 with value = 0.2069
+Query 1/1: Action query time = 4.310 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2649
+t=42: Selected seed 195 with value = 0.2649
+Query 1/1: Action query time = 3.656 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3169
+t=58: Selected seed 195 with value = 0.3169
+Query 1/1: Action query time = 4.588 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3644
+t=74: Selected seed 195 with value = 0.3644
+Query 1/1: Action query time = 3.796 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4148
+t=90: Selected seed 195 with value = 0.4148
+Query 1/1: Action query time = 4.856 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4824
+t=106: Selected seed 195 with value = 0.4824
+Query 1/1: Action query time = 5.067 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5455
+t=122: Selected seed 195 with value = 0.5455
+Query 1/1: Action query time = 5.046 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6492
+t=138: Selected seed 195 with value = 0.6492
+Query 1/1: Action query time = 5.184 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7646
+t=154: Selected seed 195 with value = 0.7646
+Query 1/1: Action query time = 4.686 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9237
+t=170: Selected seed 195 with value = 0.9237
+Query 1/1: Action query time = 4.131 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=186: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.878 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1529
+t=10: Selected seed 195 with value = 0.1529
+Query 1/1: Action query time = 5.329 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1861
+t=26: Selected seed 195 with value = 0.1861
+Query 1/1: Action query time = 5.724 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2312
+t=42: Selected seed 195 with value = 0.2312
+Query 1/1: Action query time = 5.037 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2708
+t=58: Selected seed 195 with value = 0.2708
+Query 1/1: Action query time = 3.207 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3420
+t=74: Selected seed 195 with value = 0.3420
+Query 1/1: Action query time = 3.683 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4127
+t=90: Selected seed 195 with value = 0.4127
+Query 1/1: Action query time = 5.331 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4971
+t=106: Selected seed 195 with value = 0.4971
+Query 1/1: Action query time = 4.920 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6223
+t=122: Selected seed 195 with value = 0.6223
+Query 1/1: Action query time = 5.133 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=138: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 3.784 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8210
+t=154: Selected seed 195 with value = 0.8210
+Query 1/1: Action query time = 4.140 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8899
+t=170: Selected seed 195 with value = 0.8899
+Query 1/1: Action query time = 4.668 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=186: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 4.138 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2316
+t=202: Selected seed 195 with value = 0.2316
+Query 1/1: Action query time = 4.824 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4164
+t=218: Selected seed 195 with value = 0.4164
+Query 1/1: Action query time = 5.143 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2851
+t=234: Selected seed 195 with value = 0.2851
+Query 1/1: Action query time = 4.901 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8308
+t=250: Selected seed 195 with value = 0.8308
+Query 1/1: Action query time = 4.635 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2796
+t=266: Selected seed 195 with value = 0.2796
+Query 1/1: Action query time = 3.418 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8222
+t=282: Selected seed 195 with value = 0.8222
+Query 1/1: Action query time = 3.631 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2745
+t=298: Selected seed 195 with value = 0.2745
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.171 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1309
+t=10: Selected seed 195 with value = 0.1309
+Query 1/1: Action query time = 4.948 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1786
+t=26: Selected seed 195 with value = 0.1786
+Query 1/1: Action query time = 5.326 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2583
+t=42: Selected seed 195 with value = 0.2583
+Query 1/1: Action query time = 4.681 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2388
+t=58: Selected seed 195 with value = 0.2388
+Query 1/1: Action query time = 3.719 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3269
+t=74: Selected seed 195 with value = 0.3269
+Query 1/1: Action query time = 4.202 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3991
+t=90: Selected seed 195 with value = 0.3991
+Query 1/1: Action query time = 4.321 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3172
+t=106: Selected seed 195 with value = 0.3172
+Query 1/1: Action query time = 5.557 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=122: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 5.636 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6422
+t=138: Selected seed 195 with value = 0.6422
+Query 1/1: Action query time = 4.206 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7277
+t=154: Selected seed 195 with value = 0.7277
+Query 1/1: Action query time = 2.697 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8846
+t=170: Selected seed 195 with value = 0.8846
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 3.751 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1811
+t=10: Selected seed 195 with value = 0.1811
+Query 1/1: Action query time = 4.633 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1837
+t=26: Selected seed 195 with value = 0.1837
+Query 1/1: Action query time = 5.564 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2373
+t=42: Selected seed 195 with value = 0.2373
+Query 1/1: Action query time = 5.037 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2984
+t=58: Selected seed 195 with value = 0.2984
+Query 1/1: Action query time = 4.184 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3675
+t=74: Selected seed 195 with value = 0.3675
+Query 1/1: Action query time = 2.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4305
+t=90: Selected seed 195 with value = 0.4305
+Query 1/1: Action query time = 4.129 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5033
+t=106: Selected seed 195 with value = 0.5033
+Query 1/1: Action query time = 4.905 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5566
+t=122: Selected seed 195 with value = 0.5566
+Query 1/1: Action query time = 4.249 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6317
+t=138: Selected seed 195 with value = 0.6317
+Query 1/1: Action query time = 5.532 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7303
+t=154: Selected seed 195 with value = 0.7303
+Query 1/1: Action query time = 5.482 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=170: Selected seed 195 with value = 0.9229
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 3.605 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1110
+t=10: Selected seed 195 with value = 0.1110
+Query 1/1: Action query time = 2.816 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2319
+t=26: Selected seed 195 with value = 0.2319
+Query 1/1: Action query time = 4.477 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2578
+t=42: Selected seed 195 with value = 0.2578
+Query 1/1: Action query time = 4.889 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2774
+t=58: Selected seed 195 with value = 0.2774
+Query 1/1: Action query time = 5.085 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4001
+t=74: Selected seed 195 with value = 0.4001
+Query 1/1: Action query time = 4.776 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4324
+t=90: Selected seed 195 with value = 0.4324
+Query 1/1: Action query time = 4.272 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5330
+t=106: Selected seed 195 with value = 0.5330
+Query 1/1: Action query time = 4.798 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5933
+t=122: Selected seed 195 with value = 0.5933
+Query 1/1: Action query time = 3.807 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4705
+t=138: Selected seed 195 with value = 0.4705
+Query 1/1: Action query time = 5.768 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5666
+t=154: Selected seed 195 with value = 0.5666
+Query 1/1: Action query time = 4.699 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6534
+t=170: Selected seed 195 with value = 0.6534
+Query 1/1: Action query time = 4.375 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=186: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 4.650 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9010
+t=202: Selected seed 195 with value = 0.9010
+Query 1/1: Action query time = 3.298 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 4.541 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1630
+t=10: Selected seed 195 with value = 0.1630
+Query 1/1: Action query time = 5.181 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2074
+t=26: Selected seed 195 with value = 0.2074
+Query 1/1: Action query time = 4.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2646
+t=42: Selected seed 195 with value = 0.2646
+Query 1/1: Action query time = 4.399 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2641
+t=58: Selected seed 195 with value = 0.2641
+Query 1/1: Action query time = 4.676 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3234
+t=74: Selected seed 195 with value = 0.3234
+Query 1/1: Action query time = 4.860 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3664
+t=90: Selected seed 195 with value = 0.3664
+Query 1/1: Action query time = 4.827 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4613
+t=106: Selected seed 195 with value = 0.4613
+Query 1/1: Action query time = 4.711 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5534
+t=122: Selected seed 195 with value = 0.5534
+Query 1/1: Action query time = 5.469 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6808
+t=138: Selected seed 195 with value = 0.6808
+Query 1/1: Action query time = 4.818 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7792
+t=154: Selected seed 195 with value = 0.7792
+Query 1/1: Action query time = 4.823 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=170: Selected seed 195 with value = 0.9072
+Query 1/1: Action query time = 4.896 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=186: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 5.236 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1495
+t=10: Selected seed 195 with value = 0.1495
+Query 1/1: Action query time = 4.384 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2267
+t=26: Selected seed 195 with value = 0.2267
+Query 1/1: Action query time = 4.558 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2375
+t=42: Selected seed 195 with value = 0.2375
+Query 1/1: Action query time = 4.372 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2884
+t=58: Selected seed 195 with value = 0.2884
+Query 1/1: Action query time = 4.437 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3546
+t=74: Selected seed 195 with value = 0.3546
+Query 1/1: Action query time = 3.838 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4127
+t=90: Selected seed 195 with value = 0.4127
+Query 1/1: Action query time = 4.306 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4896
+t=106: Selected seed 195 with value = 0.4896
+Query 1/1: Action query time = 4.853 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5558
+t=122: Selected seed 195 with value = 0.5558
+Query 1/1: Action query time = 2.929 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=138: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 5.630 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7156
+t=154: Selected seed 195 with value = 0.7156
+Query 1/1: Action query time = 4.531 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8764
+t=170: Selected seed 195 with value = 0.8764
+Query 1/1: Action query time = 4.695 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=186: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 5.216 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1647
+t=10: Selected seed 195 with value = 0.1647
+Query 1/1: Action query time = 5.561 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1882
+t=26: Selected seed 195 with value = 0.1882
+Query 1/1: Action query time = 3.912 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2405
+t=42: Selected seed 195 with value = 0.2405
+Query 1/1: Action query time = 3.543 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2725
+t=58: Selected seed 195 with value = 0.2725
+Query 1/1: Action query time = 4.709 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3217
+t=74: Selected seed 195 with value = 0.3217
+Query 1/1: Action query time = 4.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3692
+t=90: Selected seed 195 with value = 0.3692
+Query 1/1: Action query time = 4.928 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4352
+t=106: Selected seed 195 with value = 0.4352
+Query 1/1: Action query time = 5.661 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5202
+t=122: Selected seed 195 with value = 0.5202
+Query 1/1: Action query time = 4.935 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6154
+t=138: Selected seed 195 with value = 0.6154
+Query 1/1: Action query time = 4.847 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7096
+t=154: Selected seed 195 with value = 0.7096
+Query 1/1: Action query time = 4.435 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8352
+t=170: Selected seed 195 with value = 0.8352
+Query 1/1: Action query time = 3.603 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=186: Selected seed 195 with value = 0.9645
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 5.569 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1875
+t=10: Selected seed 195 with value = 0.1875
+Query 1/1: Action query time = 5.435 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2000
+t=26: Selected seed 195 with value = 0.2000
+Query 1/1: Action query time = 5.266 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2298
+t=42: Selected seed 195 with value = 0.2298
+Query 1/1: Action query time = 4.617 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2942
+t=58: Selected seed 195 with value = 0.2942
+Query 1/1: Action query time = 4.439 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3175
+t=74: Selected seed 195 with value = 0.3175
+Query 1/1: Action query time = 4.901 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2186
+t=90: Selected seed 195 with value = 0.2186
+Query 1/1: Action query time = 4.862 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3366
+t=106: Selected seed 195 with value = 0.3366
+Query 1/1: Action query time = 3.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3842
+t=122: Selected seed 195 with value = 0.3842
+Query 1/1: Action query time = 3.909 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5900
+t=138: Selected seed 195 with value = 0.5900
+Query 1/1: Action query time = 4.146 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7090
+t=154: Selected seed 195 with value = 0.7090
+Query 1/1: Action query time = 5.943 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8437
+t=170: Selected seed 195 with value = 0.8437
+Query 1/1: Action query time = 5.283 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=186: Selected seed 195 with value = 0.9844
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 4.103 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1743
+t=10: Selected seed 195 with value = 0.1743
+Query 1/1: Action query time = 5.698 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1992
+t=26: Selected seed 195 with value = 0.1992
+Query 1/1: Action query time = 4.623 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2454
+t=42: Selected seed 195 with value = 0.2454
+Query 1/1: Action query time = 5.477 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2937
+t=58: Selected seed 195 with value = 0.2937
+Query 1/1: Action query time = 3.763 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3493
+t=74: Selected seed 195 with value = 0.3493
+Query 1/1: Action query time = 4.829 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4214
+t=90: Selected seed 195 with value = 0.4214
+Query 1/1: Action query time = 3.433 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=106: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 2.419 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5822
+t=122: Selected seed 195 with value = 0.5822
+Query 1/1: Action query time = 5.513 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6770
+t=138: Selected seed 195 with value = 0.6770
+Query 1/1: Action query time = 3.735 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7376
+t=154: Selected seed 195 with value = 0.7376
+Query 1/1: Action query time = 5.307 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=170: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 5.266 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=186: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 4.026 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1914
+t=10: Selected seed 195 with value = 0.1914
+Query 1/1: Action query time = 4.183 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2015
+t=26: Selected seed 195 with value = 0.2015
+Query 1/1: Action query time = 4.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1845
+t=42: Selected seed 195 with value = 0.1845
+Query 1/1: Action query time = 4.425 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2284
+t=58: Selected seed 195 with value = 0.2284
+Query 1/1: Action query time = 3.861 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2455
+t=74: Selected seed 195 with value = 0.2455
+Query 1/1: Action query time = 5.317 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2631
+t=90: Selected seed 195 with value = 0.2631
+Query 1/1: Action query time = 5.223 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3119
+t=106: Selected seed 195 with value = 0.3119
+Query 1/1: Action query time = 4.846 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4862
+t=122: Selected seed 195 with value = 0.4862
+Query 1/1: Action query time = 4.652 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4229
+t=138: Selected seed 195 with value = 0.4229
+Query 1/1: Action query time = 4.835 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7106
+t=154: Selected seed 195 with value = 0.7106
+Query 1/1: Action query time = 4.189 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7808
+t=170: Selected seed 195 with value = 0.7808
+Query 1/1: Action query time = 4.837 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8920
+t=186: Selected seed 195 with value = 0.8920
+Query 1/1: Action query time = 4.501 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8266
+t=202: Selected seed 195 with value = 0.8266
+Query 1/1: Action query time = 3.897 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2958
+t=218: Selected seed 195 with value = 0.2958
+Query 1/1: Action query time = 4.543 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2863
+t=234: Selected seed 195 with value = 0.2863
+Query 1/1: Action query time = 3.782 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2836
+t=250: Selected seed 195 with value = 0.2836
+Query 1/1: Action query time = 5.143 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2862
+t=266: Selected seed 195 with value = 0.2862
+Query 1/1: Action query time = 4.769 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2877
+t=282: Selected seed 195 with value = 0.2877
+Query 1/1: Action query time = 4.912 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2911
+t=298: Selected seed 195 with value = 0.2911
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=11--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 4.535 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1694
+t=10: Selected seed 195 with value = 0.1694
+Query 1/1: Action query time = 3.682 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2157
+t=26: Selected seed 195 with value = 0.2157
+Query 1/1: Action query time = 4.327 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2580
+t=42: Selected seed 195 with value = 0.2580
+Query 1/1: Action query time = 4.372 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2789
+t=58: Selected seed 195 with value = 0.2789
+Query 1/1: Action query time = 5.312 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3492
+t=74: Selected seed 195 with value = 0.3492
+Query 1/1: Action query time = 5.393 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3767
+t=90: Selected seed 195 with value = 0.3767
+Query 1/1: Action query time = 4.029 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4515
+t=106: Selected seed 195 with value = 0.4515
+Query 1/1: Action query time = 4.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5074
+t=122: Selected seed 195 with value = 0.5074
+Query 1/1: Action query time = 4.256 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5507
+t=138: Selected seed 195 with value = 0.5507
+Query 1/1: Action query time = 4.353 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7359
+t=154: Selected seed 195 with value = 0.7359
+Query 1/1: Action query time = 3.521 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6748
+t=170: Selected seed 195 with value = 0.6748
+Query 1/1: Action query time = 3.631 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7277
+t=186: Selected seed 195 with value = 0.7277
+Query 1/1: Action query time = 3.346 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=202: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 2.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=218: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 3.617 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=234: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 4.274 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=250: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 4.429 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=266: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 3.318 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=282: Selected seed 195 with value = 0.9518
+Query 1/1: Action query time = 3.304 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=298: Selected seed 195 with value = 0.9132
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=12--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 3.218 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1493
+t=10: Selected seed 195 with value = 0.1493
+Query 1/1: Action query time = 4.640 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2115
+t=26: Selected seed 195 with value = 0.2115
+Query 1/1: Action query time = 4.786 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2377
+t=42: Selected seed 195 with value = 0.2377
+Query 1/1: Action query time = 4.085 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2527
+t=58: Selected seed 195 with value = 0.2527
+Query 1/1: Action query time = 3.246 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2954
+t=74: Selected seed 195 with value = 0.2954
+Query 1/1: Action query time = 2.635 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3629
+t=90: Selected seed 195 with value = 0.3629
+Query 1/1: Action query time = 3.136 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4478
+t=106: Selected seed 195 with value = 0.4478
+Query 1/1: Action query time = 3.754 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5177
+t=122: Selected seed 195 with value = 0.5177
+Query 1/1: Action query time = 3.853 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=138: Selected seed 195 with value = 0.6094
+Query 1/1: Action query time = 3.055 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7044
+t=154: Selected seed 195 with value = 0.7044
+Query 1/1: Action query time = 3.641 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7860
+t=170: Selected seed 195 with value = 0.7860
+Query 1/1: Action query time = 4.015 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=186: Selected seed 195 with value = 0.9578
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=13--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 14...
+Query 1/1: Action query time = 3.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1824
+t=10: Selected seed 195 with value = 0.1824
+Query 1/1: Action query time = 3.470 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1997
+t=26: Selected seed 195 with value = 0.1997
+Query 1/1: Action query time = 3.324 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2159
+t=42: Selected seed 195 with value = 0.2159
+Query 1/1: Action query time = 2.871 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2518
+t=58: Selected seed 195 with value = 0.2518
+Query 1/1: Action query time = 2.422 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2852
+t=74: Selected seed 195 with value = 0.2852
+Query 1/1: Action query time = 3.692 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2776
+t=90: Selected seed 195 with value = 0.2776
+Query 1/1: Action query time = 3.834 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4129
+t=106: Selected seed 195 with value = 0.4129
+Query 1/1: Action query time = 3.372 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4968
+t=122: Selected seed 195 with value = 0.4968
+Query 1/1: Action query time = 2.620 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6013
+t=138: Selected seed 195 with value = 0.6013
+Query 1/1: Action query time = 2.556 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6807
+t=154: Selected seed 195 with value = 0.6807
+Query 1/1: Action query time = 2.473 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8292
+t=170: Selected seed 195 with value = 0.8292
+Query 1/1: Action query time = 2.238 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=186: Selected seed 195 with value = 0.9815
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=14--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 11 (78.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 15...
+Query 1/1: Action query time = 2.477 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1742
+t=10: Selected seed 195 with value = 0.1742
+Query 1/1: Action query time = 2.135 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2007
+t=26: Selected seed 195 with value = 0.2007
+Query 1/1: Action query time = 2.671 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2488
+t=42: Selected seed 195 with value = 0.2488
+Query 1/1: Action query time = 2.607 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2947
+t=58: Selected seed 195 with value = 0.2947
+Query 1/1: Action query time = 2.219 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3239
+t=74: Selected seed 195 with value = 0.3239
+Query 1/1: Action query time = 1.281 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3625
+t=90: Selected seed 195 with value = 0.3625
+Query 1/1: Action query time = 2.508 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4398
+t=106: Selected seed 195 with value = 0.4398
+Query 1/1: Action query time = 2.627 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5250
+t=122: Selected seed 195 with value = 0.5250
+Query 1/1: Action query time = 2.361 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5984
+t=138: Selected seed 195 with value = 0.5984
+Query 1/1: Action query time = 1.917 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7101
+t=154: Selected seed 195 with value = 0.7101
+Query 1/1: Action query time = 1.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=170: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 2.451 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=15--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 12 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 16...
+Query 1/1: Action query time = 1.828 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1848
+t=10: Selected seed 195 with value = 0.1848
+Query 1/1: Action query time = 3.252 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2078
+t=26: Selected seed 195 with value = 0.2078
+Query 1/1: Action query time = 2.744 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2250
+t=42: Selected seed 195 with value = 0.2250
+Query 1/1: Action query time = 2.129 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2731
+t=58: Selected seed 195 with value = 0.2731
+Query 1/1: Action query time = 2.286 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3379
+t=74: Selected seed 195 with value = 0.3379
+Query 1/1: Action query time = 1.662 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3982
+t=90: Selected seed 195 with value = 0.3982
+Query 1/1: Action query time = 2.040 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4512
+t=106: Selected seed 195 with value = 0.4512
+Query 1/1: Action query time = 2.721 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5366
+t=122: Selected seed 195 with value = 0.5366
+Query 1/1: Action query time = 2.854 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6258
+t=138: Selected seed 195 with value = 0.6258
+Query 1/1: Action query time = 2.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7397
+t=154: Selected seed 195 with value = 0.7397
+Query 1/1: Action query time = 2.442 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=170: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 2.222 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=186: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=16--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 13 (81.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 17...
+Query 1/1: Action query time = 1.308 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1559
+t=10: Selected seed 195 with value = 0.1559
+Query 1/1: Action query time = 1.437 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1765
+t=26: Selected seed 195 with value = 0.1765
+Query 1/1: Action query time = 1.423 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2393
+t=42: Selected seed 195 with value = 0.2393
+Query 1/1: Action query time = 1.348 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2638
+t=58: Selected seed 195 with value = 0.2638
+Query 1/1: Action query time = 1.361 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3401
+t=74: Selected seed 195 with value = 0.3401
+Query 1/1: Action query time = 1.380 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4030
+t=90: Selected seed 195 with value = 0.4030
+Query 1/1: Action query time = 1.287 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=106: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 1.311 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5481
+t=122: Selected seed 195 with value = 0.5481
+Query 1/1: Action query time = 1.330 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5631
+t=138: Selected seed 195 with value = 0.5631
+Query 1/1: Action query time = 1.304 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7358
+t=154: Selected seed 195 with value = 0.7358
+Query 1/1: Action query time = 1.336 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8688
+t=170: Selected seed 195 with value = 0.8688
+Query 1/1: Action query time = 1.326 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=186: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=17--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 14 (82.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 18...
+Query 1/1: Action query time = 1.304 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1824
+t=10: Selected seed 195 with value = 0.1824
+Query 1/1: Action query time = 1.346 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2086
+t=26: Selected seed 195 with value = 0.2086
+Query 1/1: Action query time = 1.345 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2630
+t=42: Selected seed 195 with value = 0.2630
+Query 1/1: Action query time = 1.363 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3003
+t=58: Selected seed 195 with value = 0.3003
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3600
+t=74: Selected seed 195 with value = 0.3600
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4242
+t=90: Selected seed 195 with value = 0.4242
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5036
+t=106: Selected seed 195 with value = 0.5036
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5875
+t=122: Selected seed 195 with value = 0.5875
+Query 1/1: Action query time = 1.026 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6774
+t=138: Selected seed 195 with value = 0.6774
+Query 1/1: Action query time = 1.640 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7946
+t=154: Selected seed 195 with value = 0.7946
+Query 1/1: Action query time = 1.585 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=170: Selected seed 195 with value = 0.9372
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=18--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 15 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 19...
+Query 1/1: Action query time = 1.323 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1604
+t=10: Selected seed 195 with value = 0.1604
+Query 1/1: Action query time = 1.324 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2080
+t=26: Selected seed 195 with value = 0.2080
+Query 1/1: Action query time = 1.256 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2381
+t=42: Selected seed 195 with value = 0.2381
+Query 1/1: Action query time = 1.228 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2744
+t=58: Selected seed 195 with value = 0.2744
+Query 1/1: Action query time = 1.212 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3432
+t=74: Selected seed 195 with value = 0.3432
+Query 1/1: Action query time = 1.177 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3883
+t=90: Selected seed 195 with value = 0.3883
+Query 1/1: Action query time = 1.112 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4872
+t=106: Selected seed 195 with value = 0.4872
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5301
+t=122: Selected seed 195 with value = 0.5301
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6017
+t=138: Selected seed 195 with value = 0.6017
+Query 1/1: Action query time = 1.024 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7559
+t=154: Selected seed 195 with value = 0.7559
+Query 1/1: Action query time = 1.710 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=170: Selected seed 195 with value = 0.8768
+Query 1/1: Action query time = 1.547 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=19--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 16 (84.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 20...
+Query 1/1: Action query time = 1.322 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1882
+t=10: Selected seed 195 with value = 0.1882
+Query 1/1: Action query time = 1.301 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2321
+t=26: Selected seed 195 with value = 0.2321
+Query 1/1: Action query time = 1.205 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2733
+t=42: Selected seed 195 with value = 0.2733
+Query 1/1: Action query time = 1.215 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3130
+t=58: Selected seed 195 with value = 0.3130
+Query 1/1: Action query time = 1.131 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3810
+t=74: Selected seed 195 with value = 0.3810
+Query 1/1: Action query time = 1.180 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4360
+t=90: Selected seed 195 with value = 0.4360
+Query 1/1: Action query time = 1.230 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4809
+t=106: Selected seed 195 with value = 0.4809
+Query 1/1: Action query time = 1.190 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5796
+t=122: Selected seed 195 with value = 0.5796
+Query 1/1: Action query time = 1.106 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6719
+t=138: Selected seed 195 with value = 0.6719
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7845
+t=154: Selected seed 195 with value = 0.7845
+Query 1/1: Action query time = 1.190 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8678
+t=170: Selected seed 195 with value = 0.8678
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=20--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 17 (85.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 21...
+Query 1/1: Action query time = 1.498 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1720
+t=10: Selected seed 195 with value = 0.1720
+Query 1/1: Action query time = 1.914 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2193
+t=26: Selected seed 195 with value = 0.2193
+Query 1/1: Action query time = 1.848 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2601
+t=42: Selected seed 195 with value = 0.2601
+Query 1/1: Action query time = 1.349 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2477
+t=58: Selected seed 195 with value = 0.2477
+Query 1/1: Action query time = 1.478 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3074
+t=74: Selected seed 195 with value = 0.3074
+Query 1/1: Action query time = 1.334 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3765
+t=90: Selected seed 195 with value = 0.3765
+Query 1/1: Action query time = 1.475 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4466
+t=106: Selected seed 195 with value = 0.4466
+Query 1/1: Action query time = 1.512 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5229
+t=122: Selected seed 195 with value = 0.5229
+Query 1/1: Action query time = 1.398 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4655
+t=138: Selected seed 195 with value = 0.4655
+Query 1/1: Action query time = 1.403 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4960
+t=154: Selected seed 195 with value = 0.4960
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6177
+t=170: Selected seed 195 with value = 0.6177
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6250
+t=186: Selected seed 195 with value = 0.6250
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=202: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 1.311 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8141
+t=218: Selected seed 195 with value = 0.8141
+Query 1/1: Action query time = 1.298 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=234: Selected seed 195 with value = 0.9440
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=21--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 18 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 22...
+Query 1/1: Action query time = 1.314 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1772
+t=10: Selected seed 195 with value = 0.1772
+Query 1/1: Action query time = 1.344 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1996
+t=26: Selected seed 195 with value = 0.1996
+Query 1/1: Action query time = 1.387 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1883
+t=42: Selected seed 195 with value = 0.1883
+Query 1/1: Action query time = 1.408 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2879
+t=58: Selected seed 195 with value = 0.2879
+Query 1/1: Action query time = 1.480 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2994
+t=74: Selected seed 195 with value = 0.2994
+Query 1/1: Action query time = 1.519 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3928
+t=90: Selected seed 195 with value = 0.3928
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4560
+t=106: Selected seed 195 with value = 0.4560
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5131
+t=122: Selected seed 195 with value = 0.5131
+Query 1/1: Action query time = 0.994 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=138: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 1.245 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6719
+t=154: Selected seed 195 with value = 0.6719
+Query 1/1: Action query time = 1.260 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7054
+t=170: Selected seed 195 with value = 0.7054
+Query 1/1: Action query time = 1.303 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7183
+t=186: Selected seed 195 with value = 0.7183
+Query 1/1: Action query time = 1.315 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7077
+t=202: Selected seed 195 with value = 0.7077
+Query 1/1: Action query time = 1.323 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8024
+t=218: Selected seed 195 with value = 0.8024
+Query 1/1: Action query time = 1.344 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9224
+t=234: Selected seed 195 with value = 0.9224
+Query 1/1: Action query time = 1.368 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=250: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=22--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 19 (86.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 23...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1704
+t=10: Selected seed 195 with value = 0.1704
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2179
+t=26: Selected seed 195 with value = 0.2179
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2410
+t=42: Selected seed 195 with value = 0.2410
+Query 1/1: Action query time = 1.068 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2816
+t=58: Selected seed 195 with value = 0.2816
+Query 1/1: Action query time = 1.316 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3441
+t=74: Selected seed 195 with value = 0.3441
+Query 1/1: Action query time = 1.321 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3920
+t=90: Selected seed 195 with value = 0.3920
+Query 1/1: Action query time = 1.255 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4782
+t=106: Selected seed 195 with value = 0.4782
+Query 1/1: Action query time = 1.268 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2685
+t=122: Selected seed 195 with value = 0.2685
+Query 1/1: Action query time = 1.270 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6495
+t=138: Selected seed 195 with value = 0.6495
+Query 1/1: Action query time = 1.320 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7907
+t=154: Selected seed 195 with value = 0.7907
+Query 1/1: Action query time = 1.326 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=170: Selected seed 195 with value = 0.9518
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=23--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 20 (87.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 24...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1641
+t=10: Selected seed 195 with value = 0.1641
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1855
+t=26: Selected seed 195 with value = 0.1855
+Query 1/1: Action query time = 0.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2554
+t=42: Selected seed 195 with value = 0.2554
+Query 1/1: Action query time = 1.307 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2771
+t=58: Selected seed 195 with value = 0.2771
+Query 1/1: Action query time = 1.273 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3262
+t=74: Selected seed 195 with value = 0.3262
+Query 1/1: Action query time = 1.258 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3383
+t=90: Selected seed 195 with value = 0.3383
+Query 1/1: Action query time = 1.268 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4051
+t=106: Selected seed 195 with value = 0.4051
+Query 1/1: Action query time = 1.256 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=122: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 1.272 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5648
+t=138: Selected seed 195 with value = 0.5648
+Query 1/1: Action query time = 1.317 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6793
+t=154: Selected seed 195 with value = 0.6793
+Query 1/1: Action query time = 1.311 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8006
+t=170: Selected seed 195 with value = 0.8006
+Query 1/1: Action query time = 1.258 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8939
+t=186: Selected seed 195 with value = 0.8939
+Query 1/1: Action query time = 1.233 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=202: Selected seed 195 with value = 0.9818
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=24--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 21 (87.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 25...
+Query 1/1: Action query time = 1.318 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1803
+t=10: Selected seed 195 with value = 0.1803
+Query 1/1: Action query time = 1.323 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2133
+t=26: Selected seed 195 with value = 0.2133
+Query 1/1: Action query time = 1.360 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2660
+t=42: Selected seed 195 with value = 0.2660
+Query 1/1: Action query time = 1.357 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3192
+t=58: Selected seed 195 with value = 0.3192
+Query 1/1: Action query time = 1.352 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3925
+t=74: Selected seed 195 with value = 0.3925
+Query 1/1: Action query time = 1.364 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=90: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5119
+t=106: Selected seed 195 with value = 0.5119
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5781
+t=122: Selected seed 195 with value = 0.5781
+Query 1/1: Action query time = 0.999 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6717
+t=138: Selected seed 195 with value = 0.6717
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7455
+t=154: Selected seed 195 with value = 0.7455
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8854
+t=170: Selected seed 195 with value = 0.8854
+Query 1/1: Action query time = 0.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=186: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=202: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=218: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=234: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=250: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=266: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.994 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=298: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s1/2026_08_03-10_52_30--with_future_img--episode=25--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 21 (84.0%)
+Current task success rate: 0.84
+Current total success rate: 0.84
+Final results:
+Total episodes: 25
+Total successes: 21
+Overall success rate: 0.8400 (84.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_37--t7realcl800x50_t5_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_37--t7realcl800x50_t5_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..56e6821bfcc4113a665cb67fea33e115cf80b34c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_37--t7realcl800x50_t5_s0.txt
@@ -0,0 +1,1211 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_real_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800x50_t5_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,2,4,6,8,10,12,14,16,18,20,22,24,26,28,30,32,34,36,38,40,42,44,46,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.086 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1625
+t=10: Selected seed 195 with value = 0.1625
+Query 1/1: Action query time = 2.765 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2635
+t=26: Selected seed 195 with value = 0.2635
+Query 1/1: Action query time = 3.796 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3324
+t=42: Selected seed 195 with value = 0.3324
+Query 1/1: Action query time = 4.127 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3296
+t=58: Selected seed 195 with value = 0.3296
+Query 1/1: Action query time = 4.788 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3785
+t=74: Selected seed 195 with value = 0.3785
+Query 1/1: Action query time = 4.747 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4564
+t=90: Selected seed 195 with value = 0.4564
+Query 1/1: Action query time = 5.371 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5340
+t=106: Selected seed 195 with value = 0.5340
+Query 1/1: Action query time = 4.872 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6331
+t=122: Selected seed 195 with value = 0.6331
+Query 1/1: Action query time = 4.149 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7240
+t=138: Selected seed 195 with value = 0.7240
+Query 1/1: Action query time = 4.712 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8500
+t=154: Selected seed 195 with value = 0.8500
+Query 1/1: Action query time = 3.417 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=170: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 3.869 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7279
+t=186: Selected seed 195 with value = 0.7279
+Query 1/1: Action query time = 4.546 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=202: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 5.218 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8630
+t=218: Selected seed 195 with value = 0.8630
+Query 1/1: Action query time = 5.200 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=234: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 4.943 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6792
+t=250: Selected seed 195 with value = 0.6792
+Query 1/1: Action query time = 4.239 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=266: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 4.435 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8990
+t=282: Selected seed 195 with value = 0.8990
+Query 1/1: Action query time = 4.483 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=298: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.499 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2957
+t=10: Selected seed 195 with value = 0.2957
+Query 1/1: Action query time = 3.248 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3131
+t=26: Selected seed 195 with value = 0.3131
+Query 1/1: Action query time = 5.684 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2251
+t=42: Selected seed 195 with value = 0.2251
+Query 1/1: Action query time = 5.012 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2705
+t=58: Selected seed 195 with value = 0.2705
+Query 1/1: Action query time = 6.381 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3162
+t=74: Selected seed 195 with value = 0.3162
+Query 1/1: Action query time = 5.113 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3995
+t=90: Selected seed 195 with value = 0.3995
+Query 1/1: Action query time = 4.032 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4277
+t=106: Selected seed 195 with value = 0.4277
+Query 1/1: Action query time = 4.306 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4939
+t=122: Selected seed 195 with value = 0.4939
+Query 1/1: Action query time = 4.871 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5712
+t=138: Selected seed 195 with value = 0.5712
+Query 1/1: Action query time = 3.708 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6758
+t=154: Selected seed 195 with value = 0.6758
+Query 1/1: Action query time = 3.815 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8058
+t=170: Selected seed 195 with value = 0.8058
+Query 1/1: Action query time = 5.433 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9405
+t=186: Selected seed 195 with value = 0.9405
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.387 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2041
+t=10: Selected seed 195 with value = 0.2041
+Query 1/1: Action query time = 5.048 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1819
+t=26: Selected seed 195 with value = 0.1819
+Query 1/1: Action query time = 5.017 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2007
+t=42: Selected seed 195 with value = 0.2007
+Query 1/1: Action query time = 3.632 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2148
+t=58: Selected seed 195 with value = 0.2148
+Query 1/1: Action query time = 4.617 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2658
+t=74: Selected seed 195 with value = 0.2658
+Query 1/1: Action query time = 3.248 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2754
+t=90: Selected seed 195 with value = 0.2754
+Query 1/1: Action query time = 4.124 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6817
+t=106: Selected seed 195 with value = 0.6817
+Query 1/1: Action query time = 4.508 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4020
+t=122: Selected seed 195 with value = 0.4020
+Query 1/1: Action query time = 4.780 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4554
+t=138: Selected seed 195 with value = 0.4554
+Query 1/1: Action query time = 4.565 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5408
+t=154: Selected seed 195 with value = 0.5408
+Query 1/1: Action query time = 4.816 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5713
+t=170: Selected seed 195 with value = 0.5713
+Query 1/1: Action query time = 4.677 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8028
+t=186: Selected seed 195 with value = 0.8028
+Query 1/1: Action query time = 4.525 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9533
+t=202: Selected seed 195 with value = 0.9533
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2857
+t=10: Selected seed 195 with value = 0.2857
+Query 1/1: Action query time = 3.922 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2974
+t=26: Selected seed 195 with value = 0.2974
+Query 1/1: Action query time = 4.053 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3734
+t=42: Selected seed 195 with value = 0.3734
+Query 1/1: Action query time = 5.638 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5050
+t=58: Selected seed 195 with value = 0.5050
+Query 1/1: Action query time = 6.029 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=74: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 4.460 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6748
+t=90: Selected seed 195 with value = 0.6748
+Query 1/1: Action query time = 3.432 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7789
+t=106: Selected seed 195 with value = 0.7789
+Query 1/1: Action query time = 4.787 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9003
+t=122: Selected seed 195 with value = 0.9003
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.109 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3318
+t=10: Selected seed 195 with value = 0.3318
+Query 1/1: Action query time = 4.531 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2083
+t=26: Selected seed 195 with value = 0.2083
+Query 1/1: Action query time = 4.703 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2169
+t=42: Selected seed 195 with value = 0.2169
+Query 1/1: Action query time = 5.318 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3257
+t=58: Selected seed 195 with value = 0.3257
+Query 1/1: Action query time = 3.282 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3194
+t=74: Selected seed 195 with value = 0.3194
+Query 1/1: Action query time = 4.394 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3473
+t=90: Selected seed 195 with value = 0.3473
+Query 1/1: Action query time = 4.770 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=106: Selected seed 195 with value = 0.6076
+Query 1/1: Action query time = 4.346 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6262
+t=122: Selected seed 195 with value = 0.6262
+Query 1/1: Action query time = 4.676 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6685
+t=138: Selected seed 195 with value = 0.6685
+Query 1/1: Action query time = 4.854 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6307
+t=154: Selected seed 195 with value = 0.6307
+Query 1/1: Action query time = 5.303 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 2.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3200
+t=10: Selected seed 195 with value = 0.3200
+Query 1/1: Action query time = 4.549 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3423
+t=26: Selected seed 195 with value = 0.3423
+Query 1/1: Action query time = 4.471 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4014
+t=42: Selected seed 195 with value = 0.4014
+Query 1/1: Action query time = 5.053 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4457
+t=58: Selected seed 195 with value = 0.4457
+Query 1/1: Action query time = 4.825 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3269
+t=74: Selected seed 195 with value = 0.3269
+Query 1/1: Action query time = 4.456 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5023
+t=90: Selected seed 195 with value = 0.5023
+Query 1/1: Action query time = 3.813 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5878
+t=106: Selected seed 195 with value = 0.5878
+Query 1/1: Action query time = 4.070 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6861
+t=122: Selected seed 195 with value = 0.6861
+Query 1/1: Action query time = 5.154 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7834
+t=138: Selected seed 195 with value = 0.7834
+Query 1/1: Action query time = 3.759 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8988
+t=154: Selected seed 195 with value = 0.8988
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.389 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2996
+t=10: Selected seed 195 with value = 0.2996
+Query 1/1: Action query time = 4.263 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2430
+t=26: Selected seed 195 with value = 0.2430
+Query 1/1: Action query time = 3.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3307
+t=42: Selected seed 195 with value = 0.3307
+Query 1/1: Action query time = 4.347 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4825
+t=58: Selected seed 195 with value = 0.4825
+Query 1/1: Action query time = 4.938 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6009
+t=74: Selected seed 195 with value = 0.6009
+Query 1/1: Action query time = 5.698 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6912
+t=90: Selected seed 195 with value = 0.6912
+Query 1/1: Action query time = 2.416 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8122
+t=106: Selected seed 195 with value = 0.8122
+Query 1/1: Action query time = 5.457 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=122: Selected seed 195 with value = 0.9686
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 3.839 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3008
+t=10: Selected seed 195 with value = 0.3008
+Query 1/1: Action query time = 4.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2301
+t=26: Selected seed 195 with value = 0.2301
+Query 1/1: Action query time = 5.544 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3321
+t=42: Selected seed 195 with value = 0.3321
+Query 1/1: Action query time = 4.574 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5554
+t=58: Selected seed 195 with value = 0.5554
+Query 1/1: Action query time = 4.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5416
+t=74: Selected seed 195 with value = 0.5416
+Query 1/1: Action query time = 4.024 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7212
+t=90: Selected seed 195 with value = 0.7212
+Query 1/1: Action query time = 4.384 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7967
+t=106: Selected seed 195 with value = 0.7967
+Query 1/1: Action query time = 4.735 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9417
+t=122: Selected seed 195 with value = 0.9417
+Query 1/1: Action query time = 4.537 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=138: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.573 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3180
+t=10: Selected seed 195 with value = 0.3180
+Query 1/1: Action query time = 4.319 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3217
+t=26: Selected seed 195 with value = 0.3217
+Query 1/1: Action query time = 4.884 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3015
+t=42: Selected seed 195 with value = 0.3015
+Query 1/1: Action query time = 4.445 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3532
+t=58: Selected seed 195 with value = 0.3532
+Query 1/1: Action query time = 2.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3972
+t=74: Selected seed 195 with value = 0.3972
+Query 1/1: Action query time = 4.313 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6029
+t=90: Selected seed 195 with value = 0.6029
+Query 1/1: Action query time = 4.535 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7503
+t=106: Selected seed 195 with value = 0.7503
+Query 1/1: Action query time = 5.446 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=122: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 6.051 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=138: Selected seed 195 with value = 0.9953
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.572 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2965
+t=10: Selected seed 195 with value = 0.2965
+Query 1/1: Action query time = 4.436 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2098
+t=26: Selected seed 195 with value = 0.2098
+Query 1/1: Action query time = 4.282 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2454
+t=42: Selected seed 195 with value = 0.2454
+Query 1/1: Action query time = 3.676 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3333
+t=58: Selected seed 195 with value = 0.3333
+Query 1/1: Action query time = 3.533 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3465
+t=74: Selected seed 195 with value = 0.3465
+Query 1/1: Action query time = 4.858 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5425
+t=90: Selected seed 195 with value = 0.5425
+Query 1/1: Action query time = 4.279 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6758
+t=106: Selected seed 195 with value = 0.6758
+Query 1/1: Action query time = 4.515 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7678
+t=122: Selected seed 195 with value = 0.7678
+Query 1/1: Action query time = 4.389 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8959
+t=138: Selected seed 195 with value = 0.8959
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.370 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2445
+t=10: Selected seed 195 with value = 0.2445
+Query 1/1: Action query time = 4.244 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2939
+t=26: Selected seed 195 with value = 0.2939
+Query 1/1: Action query time = 5.023 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3932
+t=42: Selected seed 195 with value = 0.3932
+Query 1/1: Action query time = 4.801 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=58: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 4.857 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4226
+t=74: Selected seed 195 with value = 0.4226
+Query 1/1: Action query time = 4.589 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6594
+t=90: Selected seed 195 with value = 0.6594
+Query 1/1: Action query time = 4.401 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=106: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 3.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=122: Selected seed 195 with value = 0.9627
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 5.707 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3193
+t=10: Selected seed 195 with value = 0.3193
+Query 1/1: Action query time = 4.480 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2343
+t=26: Selected seed 195 with value = 0.2343
+Query 1/1: Action query time = 5.198 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2969
+t=42: Selected seed 195 with value = 0.2969
+Query 1/1: Action query time = 4.449 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5156
+t=58: Selected seed 195 with value = 0.5156
+Query 1/1: Action query time = 5.077 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5155
+t=74: Selected seed 195 with value = 0.5155
+Query 1/1: Action query time = 5.497 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6475
+t=90: Selected seed 195 with value = 0.6475
+Query 1/1: Action query time = 4.266 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7750
+t=106: Selected seed 195 with value = 0.7750
+Query 1/1: Action query time = 3.732 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=122: Selected seed 195 with value = 0.9756
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 3.520 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3123
+t=10: Selected seed 195 with value = 0.3123
+Query 1/1: Action query time = 3.446 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3394
+t=26: Selected seed 195 with value = 0.3394
+Query 1/1: Action query time = 3.752 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3217
+t=42: Selected seed 195 with value = 0.3217
+Query 1/1: Action query time = 6.006 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4491
+t=58: Selected seed 195 with value = 0.4491
+Query 1/1: Action query time = 4.653 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3941
+t=74: Selected seed 195 with value = 0.3941
+Query 1/1: Action query time = 5.396 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5092
+t=90: Selected seed 195 with value = 0.5092
+Query 1/1: Action query time = 5.385 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5277
+t=106: Selected seed 195 with value = 0.5277
+Query 1/1: Action query time = 4.214 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=122: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 3.787 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=138: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 5.165 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8514
+t=154: Selected seed 195 with value = 0.8514
+Query 1/1: Action query time = 4.906 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=170: Selected seed 195 with value = 0.9826
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=13--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 14...
+Query 1/1: Action query time = 4.790 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3147
+t=10: Selected seed 195 with value = 0.3147
+Query 1/1: Action query time = 4.616 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3054
+t=26: Selected seed 195 with value = 0.3054
+Query 1/1: Action query time = 4.166 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2877
+t=42: Selected seed 195 with value = 0.2877
+Query 1/1: Action query time = 2.046 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3690
+t=58: Selected seed 195 with value = 0.3690
+Query 1/1: Action query time = 3.153 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4111
+t=74: Selected seed 195 with value = 0.4111
+Query 1/1: Action query time = 3.245 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4982
+t=90: Selected seed 195 with value = 0.4982
+Query 1/1: Action query time = 3.833 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7210
+t=106: Selected seed 195 with value = 0.7210
+Query 1/1: Action query time = 3.358 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8487
+t=122: Selected seed 195 with value = 0.8487
+Query 1/1: Action query time = 2.130 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=138: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=14--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 15...
+Query 1/1: Action query time = 3.957 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2339
+t=10: Selected seed 195 with value = 0.2339
+Query 1/1: Action query time = 3.251 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2884
+t=26: Selected seed 195 with value = 0.2884
+Query 1/1: Action query time = 3.140 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2920
+t=42: Selected seed 195 with value = 0.2920
+Query 1/1: Action query time = 3.161 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4401
+t=58: Selected seed 195 with value = 0.4401
+Query 1/1: Action query time = 3.072 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5041
+t=74: Selected seed 195 with value = 0.5041
+Query 1/1: Action query time = 3.734 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6647
+t=90: Selected seed 195 with value = 0.6647
+Query 1/1: Action query time = 3.035 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7734
+t=106: Selected seed 195 with value = 0.7734
+Query 1/1: Action query time = 3.779 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9125
+t=122: Selected seed 195 with value = 0.9125
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=15--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 16...
+Query 1/1: Action query time = 4.108 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1565
+t=10: Selected seed 195 with value = 0.1565
+Query 1/1: Action query time = 2.478 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2270
+t=26: Selected seed 195 with value = 0.2270
+Query 1/1: Action query time = 2.483 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2770
+t=42: Selected seed 195 with value = 0.2770
+Query 1/1: Action query time = 3.045 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3146
+t=58: Selected seed 195 with value = 0.3146
+Query 1/1: Action query time = 3.242 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3763
+t=74: Selected seed 195 with value = 0.3763
+Query 1/1: Action query time = 3.831 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4490
+t=90: Selected seed 195 with value = 0.4490
+Query 1/1: Action query time = 4.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5208
+t=106: Selected seed 195 with value = 0.5208
+Query 1/1: Action query time = 3.110 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6063
+t=122: Selected seed 195 with value = 0.6063
+Query 1/1: Action query time = 3.216 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7128
+t=138: Selected seed 195 with value = 0.7128
+Query 1/1: Action query time = 3.523 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8423
+t=154: Selected seed 195 with value = 0.8423
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=16--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 15 (93.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 17...
+Query 1/1: Action query time = 2.183 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3422
+t=10: Selected seed 195 with value = 0.3422
+Query 1/1: Action query time = 2.565 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3814
+t=26: Selected seed 195 with value = 0.3814
+Query 1/1: Action query time = 2.799 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3366
+t=42: Selected seed 195 with value = 0.3366
+Query 1/1: Action query time = 2.798 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4747
+t=58: Selected seed 195 with value = 0.4747
+Query 1/1: Action query time = 2.610 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5595
+t=74: Selected seed 195 with value = 0.5595
+Query 1/1: Action query time = 2.477 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6813
+t=90: Selected seed 195 with value = 0.6813
+Query 1/1: Action query time = 2.485 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7724
+t=106: Selected seed 195 with value = 0.7724
+Query 1/1: Action query time = 1.914 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8433
+t=122: Selected seed 195 with value = 0.8433
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=17--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 16 (94.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 18...
+Query 1/1: Action query time = 2.150 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1787
+t=10: Selected seed 195 with value = 0.1787
+Query 1/1: Action query time = 2.290 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1636
+t=26: Selected seed 195 with value = 0.1636
+Query 1/1: Action query time = 3.311 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2529
+t=42: Selected seed 195 with value = 0.2529
+Query 1/1: Action query time = 1.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4128
+t=58: Selected seed 195 with value = 0.4128
+Query 1/1: Action query time = 1.740 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2448
+t=74: Selected seed 195 with value = 0.2448
+Query 1/1: Action query time = 1.331 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3128
+t=90: Selected seed 195 with value = 0.3128
+Query 1/1: Action query time = 2.007 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3428
+t=106: Selected seed 195 with value = 0.3428
+Query 1/1: Action query time = 1.510 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4189
+t=122: Selected seed 195 with value = 0.4189
+Query 1/1: Action query time = 2.143 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4487
+t=138: Selected seed 195 with value = 0.4487
+Query 1/1: Action query time = 1.931 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5366
+t=154: Selected seed 195 with value = 0.5366
+Query 1/1: Action query time = 2.344 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6150
+t=170: Selected seed 195 with value = 0.6150
+Query 1/1: Action query time = 1.445 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7042
+t=186: Selected seed 195 with value = 0.7042
+Query 1/1: Action query time = 1.702 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8213
+t=202: Selected seed 195 with value = 0.8213
+Query 1/1: Action query time = 1.406 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=218: Selected seed 195 with value = 0.9737
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=18--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 17 (94.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 19...
+Query 1/1: Action query time = 1.874 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3399
+t=10: Selected seed 195 with value = 0.3399
+Query 1/1: Action query time = 2.050 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3635
+t=26: Selected seed 195 with value = 0.3635
+Query 1/1: Action query time = 2.683 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2091
+t=42: Selected seed 195 with value = 0.2091
+Query 1/1: Action query time = 2.279 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2583
+t=58: Selected seed 195 with value = 0.2583
+Query 1/1: Action query time = 1.254 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2679
+t=74: Selected seed 195 with value = 0.2679
+Query 1/1: Action query time = 1.273 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3086
+t=90: Selected seed 195 with value = 0.3086
+Query 1/1: Action query time = 1.514 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6787
+t=106: Selected seed 195 with value = 0.6787
+Query 1/1: Action query time = 2.001 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=122: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 2.561 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=138: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 1.391 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=154: Selected seed 195 with value = 0.8675
+Query 1/1: Action query time = 1.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9420
+t=170: Selected seed 195 with value = 0.9420
+Query 1/1: Action query time = 1.913 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=186: Selected seed 195 with value = 0.8779
+Query 1/1: Action query time = 1.582 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8366
+t=202: Selected seed 195 with value = 0.8366
+Query 1/1: Action query time = 1.364 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=218: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 1.291 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=19--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 18 (94.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 20...
+Query 1/1: Action query time = 1.686 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2345
+t=10: Selected seed 195 with value = 0.2345
+Query 1/1: Action query time = 1.825 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2316
+t=26: Selected seed 195 with value = 0.2316
+Query 1/1: Action query time = 1.744 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2690
+t=42: Selected seed 195 with value = 0.2690
+Query 1/1: Action query time = 1.794 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4223
+t=58: Selected seed 195 with value = 0.4223
+Query 1/1: Action query time = 1.947 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4203
+t=74: Selected seed 195 with value = 0.4203
+Query 1/1: Action query time = 1.877 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6122
+t=90: Selected seed 195 with value = 0.6122
+Query 1/1: Action query time = 2.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=106: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 1.899 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9591
+t=122: Selected seed 195 with value = 0.9591
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7165
+t=138: Selected seed 195 with value = 0.7165
+Query 1/1: Action query time = 1.104 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7843
+t=154: Selected seed 195 with value = 0.7843
+Query 1/1: Action query time = 0.996 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8472
+t=170: Selected seed 195 with value = 0.8472
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=20--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 19 (95.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 21...
+Query 1/1: Action query time = 1.399 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2222
+t=10: Selected seed 195 with value = 0.2222
+Query 1/1: Action query time = 1.552 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2347
+t=26: Selected seed 195 with value = 0.2347
+Query 1/1: Action query time = 1.387 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2771
+t=42: Selected seed 195 with value = 0.2771
+Query 1/1: Action query time = 1.621 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3239
+t=58: Selected seed 195 with value = 0.3239
+Query 1/1: Action query time = 1.612 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3834
+t=74: Selected seed 195 with value = 0.3834
+Query 1/1: Action query time = 1.747 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4200
+t=90: Selected seed 195 with value = 0.4200
+Query 1/1: Action query time = 1.184 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5238
+t=106: Selected seed 195 with value = 0.5238
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6284
+t=122: Selected seed 195 with value = 0.6284
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7343
+t=138: Selected seed 195 with value = 0.7343
+Query 1/1: Action query time = 1.218 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8471
+t=154: Selected seed 195 with value = 0.8471
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=21--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 20 (95.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 22...
+Query 1/1: Action query time = 1.270 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2507
+t=10: Selected seed 195 with value = 0.2507
+Query 1/1: Action query time = 1.774 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2593
+t=26: Selected seed 195 with value = 0.2593
+Query 1/1: Action query time = 1.248 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2010
+t=42: Selected seed 195 with value = 0.2010
+Query 1/1: Action query time = 1.676 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4093
+t=58: Selected seed 195 with value = 0.4093
+Query 1/1: Action query time = 1.477 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4804
+t=74: Selected seed 195 with value = 0.4804
+Query 1/1: Action query time = 1.384 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5707
+t=90: Selected seed 195 with value = 0.5707
+Query 1/1: Action query time = 1.452 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6728
+t=106: Selected seed 195 with value = 0.6728
+Query 1/1: Action query time = 1.347 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7871
+t=122: Selected seed 195 with value = 0.7871
+Query 1/1: Action query time = 1.610 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=138: Selected seed 195 with value = 0.9241
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=22--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 23...
+Query 1/1: Action query time = 1.082 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2949
+t=10: Selected seed 195 with value = 0.2949
+Query 1/1: Action query time = 1.348 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1703
+t=26: Selected seed 195 with value = 0.1703
+Query 1/1: Action query time = 1.325 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2015
+t=42: Selected seed 195 with value = 0.2015
+Query 1/1: Action query time = 1.361 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4410
+t=58: Selected seed 195 with value = 0.4410
+Query 1/1: Action query time = 1.342 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5307
+t=74: Selected seed 195 with value = 0.5307
+Query 1/1: Action query time = 1.436 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2881
+t=90: Selected seed 195 with value = 0.2881
+Query 1/1: Action query time = 1.561 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3475
+t=106: Selected seed 195 with value = 0.3475
+Query 1/1: Action query time = 1.277 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=122: Selected seed 195 with value = 0.7474
+Query 1/1: Action query time = 1.364 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8923
+t=138: Selected seed 195 with value = 0.8923
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=23--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 24...
+Query 1/1: Action query time = 1.233 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2193
+t=10: Selected seed 195 with value = 0.2193
+Query 1/1: Action query time = 1.060 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1951
+t=26: Selected seed 195 with value = 0.1951
+Query 1/1: Action query time = 1.721 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4205
+t=42: Selected seed 195 with value = 0.4205
+Query 1/1: Action query time = 1.693 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2456
+t=58: Selected seed 195 with value = 0.2456
+Query 1/1: Action query time = 1.388 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2685
+t=74: Selected seed 195 with value = 0.2685
+Query 1/1: Action query time = 1.636 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3645
+t=90: Selected seed 195 with value = 0.3645
+Query 1/1: Action query time = 1.383 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7065
+t=106: Selected seed 195 with value = 0.7065
+Query 1/1: Action query time = 1.696 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8084
+t=122: Selected seed 195 with value = 0.8084
+Query 1/1: Action query time = 1.255 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9337
+t=138: Selected seed 195 with value = 0.9337
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=24--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 25...
+Query 1/1: Action query time = 1.016 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2477
+t=10: Selected seed 195 with value = 0.2477
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1964
+t=26: Selected seed 195 with value = 0.1964
+Query 1/1: Action query time = 1.224 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2713
+t=42: Selected seed 195 with value = 0.2713
+Query 1/1: Action query time = 1.072 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4597
+t=58: Selected seed 195 with value = 0.4597
+Query 1/1: Action query time = 1.033 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4604
+t=74: Selected seed 195 with value = 0.4604
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5697
+t=90: Selected seed 195 with value = 0.5697
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6858
+t=106: Selected seed 195 with value = 0.6858
+Query 1/1: Action query time = 1.127 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7604
+t=122: Selected seed 195 with value = 0.7604
+Query 1/1: Action query time = 1.195 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8749
+t=138: Selected seed 195 with value = 0.8749
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t5_s0/2026_08_03-10_52_37--with_future_img--episode=25--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+Current task success rate: 0.96
+Current total success rate: 0.96
+Final results:
+Total episodes: 25
+Total successes: 24
+Overall success rate: 0.9600 (96.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s5.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1f30e79925e03e7b084e4f3fa5dcff10da4f9bb
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s5.txt
@@ -0,0 +1,182 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forgetcl_i175_s5', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,13,21,29,37,45', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.722 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4365
+t=10: Selected seed 195 with value = 0.4365
+Query 1/1: Action query time = 2.154 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5582
+t=26: Selected seed 195 with value = 0.5582
+Query 1/1: Action query time = 2.606 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6367
+t=42: Selected seed 195 with value = 0.6367
+Query 1/1: Action query time = 2.644 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7386
+t=58: Selected seed 195 with value = 0.7386
+Query 1/1: Action query time = 2.708 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9172
+t=74: Selected seed 195 with value = 0.9172
+Query 1/1: Action query time = 1.117 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s5/2026_08_03-12_29_07--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.755 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=10: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 2.664 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5778
+t=26: Selected seed 195 with value = 0.5778
+Query 1/1: Action query time = 2.739 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6523
+t=42: Selected seed 195 with value = 0.6523
+Query 1/1: Action query time = 2.456 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7655
+t=58: Selected seed 195 with value = 0.7655
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=74: Selected seed 195 with value = 0.9318
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s5/2026_08_03-12_29_07--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.280 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5311
+t=10: Selected seed 195 with value = 0.5311
+Query 1/1: Action query time = 2.484 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=26: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 2.279 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6673
+t=42: Selected seed 195 with value = 0.6673
+Query 1/1: Action query time = 2.457 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=58: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 1.529 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=74: Selected seed 195 with value = 0.9800
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s5/2026_08_03-12_29_07--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 2.785 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5149
+t=10: Selected seed 195 with value = 0.5149
+Query 1/1: Action query time = 2.685 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5935
+t=26: Selected seed 195 with value = 0.5935
+Query 1/1: Action query time = 2.189 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6594
+t=42: Selected seed 195 with value = 0.6594
+Query 1/1: Action query time = 2.012 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7729
+t=58: Selected seed 195 with value = 0.7729
+Query 1/1: Action query time = 2.488 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=74: Selected seed 195 with value = 0.9489
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s5/2026_08_03-12_29_07--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 2.678 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4623
+t=10: Selected seed 195 with value = 0.4623
+Query 1/1: Action query time = 2.580 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5569
+t=26: Selected seed 195 with value = 0.5569
+Query 1/1: Action query time = 2.266 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6684
+t=42: Selected seed 195 with value = 0.6684
+Query 1/1: Action query time = 2.718 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7619
+t=58: Selected seed 195 with value = 0.7619
+Query 1/1: Action query time = 2.270 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=74: Selected seed 195 with value = 0.9079
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s5/2026_08_03-12_29_07--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 1.359 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4699
+t=10: Selected seed 195 with value = 0.4699
+Query 1/1: Action query time = 1.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5574
+t=26: Selected seed 195 with value = 0.5574
+Query 1/1: Action query time = 2.081 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6558
+t=42: Selected seed 195 with value = 0.6558
+Query 1/1: Action query time = 2.666 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7644
+t=58: Selected seed 195 with value = 0.7644
+Query 1/1: Action query time = 3.081 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8291
+t=74: Selected seed 195 with value = 0.8291
+Query 1/1: Action query time = 2.566 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=90: Selected seed 195 with value = 0.9800
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s5/2026_08_03-12_29_07--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 6
+Total successes: 6
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s7.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9fa323a0546cc417f4b93d0a299810501b54f0a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s7.txt
@@ -0,0 +1,178 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forgetcl_i175_s7', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,15,23,31,39,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.800 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4768
+t=10: Selected seed 195 with value = 0.4768
+Query 1/1: Action query time = 2.377 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5682
+t=26: Selected seed 195 with value = 0.5682
+Query 1/1: Action query time = 3.094 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6428
+t=42: Selected seed 195 with value = 0.6428
+Query 1/1: Action query time = 2.823 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7567
+t=58: Selected seed 195 with value = 0.7567
+Query 1/1: Action query time = 2.517 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8930
+t=74: Selected seed 195 with value = 0.8930
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s7/2026_08_03-12_29_07--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.958 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5106
+t=10: Selected seed 195 with value = 0.5106
+Query 1/1: Action query time = 2.705 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5615
+t=26: Selected seed 195 with value = 0.5615
+Query 1/1: Action query time = 2.527 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6547
+t=42: Selected seed 195 with value = 0.6547
+Query 1/1: Action query time = 2.256 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7793
+t=58: Selected seed 195 with value = 0.7793
+Query 1/1: Action query time = 2.255 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9158
+t=74: Selected seed 195 with value = 0.9158
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s7/2026_08_03-12_29_07--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.370 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4645
+t=10: Selected seed 195 with value = 0.4645
+Query 1/1: Action query time = 2.592 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5573
+t=26: Selected seed 195 with value = 0.5573
+Query 1/1: Action query time = 2.382 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6366
+t=42: Selected seed 195 with value = 0.6366
+Query 1/1: Action query time = 2.347 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=58: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 2.461 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8473
+t=74: Selected seed 195 with value = 0.8473
+Query 1/1: Action query time = 2.409 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=90: Selected seed 195 with value = 0.9812
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s7/2026_08_03-12_29_07--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 2.931 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4955
+t=10: Selected seed 195 with value = 0.4955
+Query 1/1: Action query time = 2.886 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5643
+t=26: Selected seed 195 with value = 0.5643
+Query 1/1: Action query time = 2.688 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7053
+t=42: Selected seed 195 with value = 0.7053
+Query 1/1: Action query time = 2.177 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8387
+t=58: Selected seed 195 with value = 0.8387
+Query 1/1: Action query time = 1.827 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=74: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s7/2026_08_03-12_29_07--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 2.752 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4856
+t=10: Selected seed 195 with value = 0.4856
+Query 1/1: Action query time = 2.640 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5754
+t=26: Selected seed 195 with value = 0.5754
+Query 1/1: Action query time = 2.695 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6713
+t=42: Selected seed 195 with value = 0.6713
+Query 1/1: Action query time = 2.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7862
+t=58: Selected seed 195 with value = 0.7862
+Query 1/1: Action query time = 1.901 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9251
+t=74: Selected seed 195 with value = 0.9251
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s7/2026_08_03-12_29_07--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 1.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4982
+t=10: Selected seed 195 with value = 0.4982
+Query 1/1: Action query time = 2.409 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5896
+t=26: Selected seed 195 with value = 0.5896
+Query 1/1: Action query time = 2.714 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6544
+t=42: Selected seed 195 with value = 0.6544
+Query 1/1: Action query time = 3.005 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7653
+t=58: Selected seed 195 with value = 0.7653
+Query 1/1: Action query time = 2.623 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=74: Selected seed 195 with value = 0.9376
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s7/2026_08_03-12_29_07--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 6
+Total successes: 6
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_08--forgetcl_i175_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_08--forgetcl_i175_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16afc097015ef730777c7d07e397e4784b27001b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_08--forgetcl_i175_s3.txt
@@ -0,0 +1,182 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forgetcl_i175_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,11,19,27,35,43', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.279 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4578
+t=10: Selected seed 195 with value = 0.4578
+Query 1/1: Action query time = 2.071 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5549
+t=26: Selected seed 195 with value = 0.5549
+Query 1/1: Action query time = 2.552 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=42: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 2.432 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7563
+t=58: Selected seed 195 with value = 0.7563
+Query 1/1: Action query time = 2.305 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8987
+t=74: Selected seed 195 with value = 0.8987
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s3/2026_08_03-12_29_08--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.395 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=10: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 2.751 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5761
+t=26: Selected seed 195 with value = 0.5761
+Query 1/1: Action query time = 2.629 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6545
+t=42: Selected seed 195 with value = 0.6545
+Query 1/1: Action query time = 2.586 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7684
+t=58: Selected seed 195 with value = 0.7684
+Query 1/1: Action query time = 2.519 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9302
+t=74: Selected seed 195 with value = 0.9302
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s3/2026_08_03-12_29_08--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.339 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4839
+t=10: Selected seed 195 with value = 0.4839
+Query 1/1: Action query time = 1.710 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5690
+t=26: Selected seed 195 with value = 0.5690
+Query 1/1: Action query time = 2.415 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6389
+t=42: Selected seed 195 with value = 0.6389
+Query 1/1: Action query time = 2.647 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7113
+t=58: Selected seed 195 with value = 0.7113
+Query 1/1: Action query time = 2.116 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8053
+t=74: Selected seed 195 with value = 0.8053
+Query 1/1: Action query time = 1.926 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=90: Selected seed 195 with value = 0.9601
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s3/2026_08_03-12_29_08--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 2.309 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4816
+t=10: Selected seed 195 with value = 0.4816
+Query 1/1: Action query time = 2.452 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=26: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 2.631 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6486
+t=42: Selected seed 195 with value = 0.6486
+Query 1/1: Action query time = 2.504 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7600
+t=58: Selected seed 195 with value = 0.7600
+Query 1/1: Action query time = 2.580 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=74: Selected seed 195 with value = 0.9384
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s3/2026_08_03-12_29_08--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 1.718 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4949
+t=10: Selected seed 195 with value = 0.4949
+Query 1/1: Action query time = 2.623 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5790
+t=26: Selected seed 195 with value = 0.5790
+Query 1/1: Action query time = 2.216 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6844
+t=42: Selected seed 195 with value = 0.6844
+Query 1/1: Action query time = 2.614 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7998
+t=58: Selected seed 195 with value = 0.7998
+Query 1/1: Action query time = 1.779 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=74: Selected seed 195 with value = 0.9298
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s3/2026_08_03-12_29_08--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 1.671 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4708
+t=10: Selected seed 195 with value = 0.4708
+Query 1/1: Action query time = 3.172 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5476
+t=26: Selected seed 195 with value = 0.5476
+Query 1/1: Action query time = 3.171 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6234
+t=42: Selected seed 195 with value = 0.6234
+Query 1/1: Action query time = 2.064 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7249
+t=58: Selected seed 195 with value = 0.7249
+Query 1/1: Action query time = 1.910 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=74: Selected seed 195 with value = 0.9197
+Query 1/1: Action query time = 2.193 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=90: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s3/2026_08_03-12_29_08--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 6
+Total successes: 6
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_46_21--forgetcl_i175_t3_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_46_21--forgetcl_i175_t3_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3291a567cbb225903883ebc8dc587f69bfc96e8b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_46_21--forgetcl_i175_t3_s2.txt
@@ -0,0 +1,358 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forgetcl_i175_t3_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,10,18,26,34,42', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.239 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2299
+t=10: Selected seed 195 with value = 0.2299
+Query 1/1: Action query time = 2.488 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2674
+t=26: Selected seed 195 with value = 0.2674
+Query 1/1: Action query time = 2.116 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3068
+t=42: Selected seed 195 with value = 0.3068
+Query 1/1: Action query time = 2.506 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3456
+t=58: Selected seed 195 with value = 0.3456
+Query 1/1: Action query time = 2.590 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4090
+t=74: Selected seed 195 with value = 0.4090
+Query 1/1: Action query time = 2.637 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4756
+t=90: Selected seed 195 with value = 0.4756
+Query 1/1: Action query time = 2.533 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=106: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 2.070 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6445
+t=122: Selected seed 195 with value = 0.6445
+Query 1/1: Action query time = 2.037 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6985
+t=138: Selected seed 195 with value = 0.6985
+Query 1/1: Action query time = 2.287 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8651
+t=154: Selected seed 195 with value = 0.8651
+Query 1/1: Action query time = 1.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=170: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 1.745 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s2/2026_08_03-12_46_21--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.955 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2277
+t=10: Selected seed 195 with value = 0.2277
+Query 1/1: Action query time = 2.748 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2550
+t=26: Selected seed 195 with value = 0.2550
+Query 1/1: Action query time = 3.123 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3206
+t=42: Selected seed 195 with value = 0.3206
+Query 1/1: Action query time = 2.526 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3415
+t=58: Selected seed 195 with value = 0.3415
+Query 1/1: Action query time = 2.478 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4396
+t=74: Selected seed 195 with value = 0.4396
+Query 1/1: Action query time = 2.366 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5092
+t=90: Selected seed 195 with value = 0.5092
+Query 1/1: Action query time = 2.670 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5948
+t=106: Selected seed 195 with value = 0.5948
+Query 1/1: Action query time = 2.534 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7094
+t=122: Selected seed 195 with value = 0.7094
+Query 1/1: Action query time = 2.200 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7842
+t=138: Selected seed 195 with value = 0.7842
+Query 1/1: Action query time = 2.529 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=154: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 2.186 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=170: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s2/2026_08_03-12_46_21--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2209
+t=10: Selected seed 195 with value = 0.2209
+Query 1/1: Action query time = 2.614 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2667
+t=26: Selected seed 195 with value = 0.2667
+Query 1/1: Action query time = 2.116 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3035
+t=42: Selected seed 195 with value = 0.3035
+Query 1/1: Action query time = 1.438 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3329
+t=58: Selected seed 195 with value = 0.3329
+Query 1/1: Action query time = 1.601 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4074
+t=74: Selected seed 195 with value = 0.4074
+Query 1/1: Action query time = 2.879 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4850
+t=90: Selected seed 195 with value = 0.4850
+Query 1/1: Action query time = 2.754 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5717
+t=106: Selected seed 195 with value = 0.5717
+Query 1/1: Action query time = 3.432 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6936
+t=122: Selected seed 195 with value = 0.6936
+Query 1/1: Action query time = 2.836 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8205
+t=138: Selected seed 195 with value = 0.8205
+Query 1/1: Action query time = 2.751 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9081
+t=154: Selected seed 195 with value = 0.9081
+Query 1/1: Action query time = 2.346 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.467 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s2/2026_08_03-12_46_21--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 2.055 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2147
+t=10: Selected seed 195 with value = 0.2147
+Query 1/1: Action query time = 2.138 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2451
+t=26: Selected seed 195 with value = 0.2451
+Query 1/1: Action query time = 2.017 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3109
+t=42: Selected seed 195 with value = 0.3109
+Query 1/1: Action query time = 2.372 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3316
+t=58: Selected seed 195 with value = 0.3316
+Query 1/1: Action query time = 2.630 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4101
+t=74: Selected seed 195 with value = 0.4101
+Query 1/1: Action query time = 1.936 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5021
+t=90: Selected seed 195 with value = 0.5021
+Query 1/1: Action query time = 1.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5803
+t=106: Selected seed 195 with value = 0.5803
+Query 1/1: Action query time = 2.425 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6948
+t=122: Selected seed 195 with value = 0.6948
+Query 1/1: Action query time = 2.652 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7780
+t=138: Selected seed 195 with value = 0.7780
+Query 1/1: Action query time = 2.749 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8985
+t=154: Selected seed 195 with value = 0.8985
+Query 1/1: Action query time = 2.246 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=170: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 1.822 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=186: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 2.234 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=202: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 1.730 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=218: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 1.897 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=234: Selected seed 195 with value = 0.9711
+Query 1/1: Action query time = 2.596 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=250: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 2.671 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=266: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 3.263 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=282: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 2.256 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7945
+t=298: Selected seed 195 with value = 0.7945
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s2/2026_08_03-12_46_21--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 2.387 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2164
+t=10: Selected seed 195 with value = 0.2164
+Query 1/1: Action query time = 2.293 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2548
+t=26: Selected seed 195 with value = 0.2548
+Query 1/1: Action query time = 2.415 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3211
+t=42: Selected seed 195 with value = 0.3211
+Query 1/1: Action query time = 1.841 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3647
+t=58: Selected seed 195 with value = 0.3647
+Query 1/1: Action query time = 1.526 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4542
+t=74: Selected seed 195 with value = 0.4542
+Query 1/1: Action query time = 2.403 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5389
+t=90: Selected seed 195 with value = 0.5389
+Query 1/1: Action query time = 2.744 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6034
+t=106: Selected seed 195 with value = 0.6034
+Query 1/1: Action query time = 2.730 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8157
+t=122: Selected seed 195 with value = 0.8157
+Query 1/1: Action query time = 2.489 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8237
+t=138: Selected seed 195 with value = 0.8237
+Query 1/1: Action query time = 2.258 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9524
+t=154: Selected seed 195 with value = 0.9524
+Query 1/1: Action query time = 1.817 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=170: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s2/2026_08_03-12_46_21--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 2.401 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2296
+t=10: Selected seed 195 with value = 0.2296
+Query 1/1: Action query time = 2.454 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2615
+t=26: Selected seed 195 with value = 0.2615
+Query 1/1: Action query time = 2.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3167
+t=42: Selected seed 195 with value = 0.3167
+Query 1/1: Action query time = 1.772 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3677
+t=58: Selected seed 195 with value = 0.3677
+Query 1/1: Action query time = 1.793 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4344
+t=74: Selected seed 195 with value = 0.4344
+Query 1/1: Action query time = 1.247 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5013
+t=90: Selected seed 195 with value = 0.5013
+Query 1/1: Action query time = 1.410 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6015
+t=106: Selected seed 195 with value = 0.6015
+Query 1/1: Action query time = 1.578 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7378
+t=122: Selected seed 195 with value = 0.7378
+Query 1/1: Action query time = 2.316 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8633
+t=138: Selected seed 195 with value = 0.8633
+Query 1/1: Action query time = 2.394 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.474 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s2/2026_08_03-12_46_21--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+Current task success rate: 0.8333333333333334
+Current total success rate: 0.8333333333333334
+Final results:
+Total episodes: 6
+Total successes: 5
+Overall success rate: 0.8333 (83.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t0_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t0_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..985fea5789d67a1194bafdbb0e0446b4a1595c4f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t0_s3.txt
@@ -0,0 +1,480 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t0_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.386 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3978
+t=10: Selected seed 195 with value = 0.3978
+Query 1/1: Action query time = 4.515 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4563
+t=26: Selected seed 195 with value = 0.4563
+Query 1/1: Action query time = 5.423 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5537
+t=42: Selected seed 195 with value = 0.5537
+Query 1/1: Action query time = 4.336 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6271
+t=58: Selected seed 195 with value = 0.6271
+Query 1/1: Action query time = 3.670 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7262
+t=74: Selected seed 195 with value = 0.7262
+Query 1/1: Action query time = 5.043 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=90: Selected seed 195 with value = 0.9256
+Query 1/1: Action query time = 4.941 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=106: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 4.823 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.736 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3821
+t=10: Selected seed 195 with value = 0.3821
+Query 1/1: Action query time = 4.919 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4661
+t=26: Selected seed 195 with value = 0.4661
+Query 1/1: Action query time = 5.127 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5445
+t=42: Selected seed 195 with value = 0.5445
+Query 1/1: Action query time = 4.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6562
+t=58: Selected seed 195 with value = 0.6562
+Query 1/1: Action query time = 5.069 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7573
+t=74: Selected seed 195 with value = 0.7573
+Query 1/1: Action query time = 4.247 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8960
+t=90: Selected seed 195 with value = 0.8960
+Query 1/1: Action query time = 5.027 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=106: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 4.155 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=122: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.370 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3789
+t=10: Selected seed 195 with value = 0.3789
+Query 1/1: Action query time = 4.392 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3708
+t=26: Selected seed 195 with value = 0.3708
+Query 1/1: Action query time = 4.144 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5048
+t=42: Selected seed 195 with value = 0.5048
+Query 1/1: Action query time = 5.447 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6178
+t=58: Selected seed 195 with value = 0.6178
+Query 1/1: Action query time = 4.741 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7665
+t=74: Selected seed 195 with value = 0.7665
+Query 1/1: Action query time = 4.454 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=90: Selected seed 195 with value = 0.9132
+Query 1/1: Action query time = 4.534 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.885 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3752
+t=10: Selected seed 195 with value = 0.3752
+Query 1/1: Action query time = 4.855 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=26: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 4.933 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5304
+t=42: Selected seed 195 with value = 0.5304
+Query 1/1: Action query time = 5.016 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6373
+t=58: Selected seed 195 with value = 0.6373
+Query 1/1: Action query time = 4.784 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=74: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 5.081 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9146
+t=90: Selected seed 195 with value = 0.9146
+Query 1/1: Action query time = 4.660 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=106: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 3.557 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=122: Selected seed 195 with value = 0.9976
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 3.842 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4326
+t=10: Selected seed 195 with value = 0.4326
+Query 1/1: Action query time = 4.622 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5107
+t=26: Selected seed 195 with value = 0.5107
+Query 1/1: Action query time = 4.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5744
+t=42: Selected seed 195 with value = 0.5744
+Query 1/1: Action query time = 4.934 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6386
+t=58: Selected seed 195 with value = 0.6386
+Query 1/1: Action query time = 4.571 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7575
+t=74: Selected seed 195 with value = 0.7575
+Query 1/1: Action query time = 4.124 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=90: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 4.422 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=106: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 4.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 3.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4032
+t=10: Selected seed 195 with value = 0.4032
+Query 1/1: Action query time = 3.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4375
+t=26: Selected seed 195 with value = 0.4375
+Query 1/1: Action query time = 5.164 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=42: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 3.666 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6708
+t=58: Selected seed 195 with value = 0.6708
+Query 1/1: Action query time = 4.134 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7497
+t=74: Selected seed 195 with value = 0.7497
+Query 1/1: Action query time = 5.389 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8688
+t=90: Selected seed 195 with value = 0.8688
+Query 1/1: Action query time = 5.301 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=106: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 3.603 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 3.963 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4120
+t=10: Selected seed 195 with value = 0.4120
+Query 1/1: Action query time = 4.469 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4937
+t=26: Selected seed 195 with value = 0.4937
+Query 1/1: Action query time = 3.915 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=42: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 4.460 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6606
+t=58: Selected seed 195 with value = 0.6606
+Query 1/1: Action query time = 4.782 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7595
+t=74: Selected seed 195 with value = 0.7595
+Query 1/1: Action query time = 5.193 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8699
+t=90: Selected seed 195 with value = 0.8699
+Query 1/1: Action query time = 4.761 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=106: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 4.878 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=122: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.320 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3360
+t=10: Selected seed 195 with value = 0.3360
+Query 1/1: Action query time = 4.536 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4578
+t=26: Selected seed 195 with value = 0.4578
+Query 1/1: Action query time = 5.438 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5421
+t=42: Selected seed 195 with value = 0.5421
+Query 1/1: Action query time = 5.092 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6265
+t=58: Selected seed 195 with value = 0.6265
+Query 1/1: Action query time = 4.186 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=74: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 4.759 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8795
+t=90: Selected seed 195 with value = 0.8795
+Query 1/1: Action query time = 4.706 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.193 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.521 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3911
+t=10: Selected seed 195 with value = 0.3911
+Query 1/1: Action query time = 3.008 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=26: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 3.351 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5596
+t=42: Selected seed 195 with value = 0.5596
+Query 1/1: Action query time = 5.669 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6595
+t=58: Selected seed 195 with value = 0.6595
+Query 1/1: Action query time = 4.358 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7674
+t=74: Selected seed 195 with value = 0.7674
+Query 1/1: Action query time = 5.469 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8685
+t=90: Selected seed 195 with value = 0.8685
+Query 1/1: Action query time = 4.326 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=106: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 5.249 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.514 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4272
+t=10: Selected seed 195 with value = 0.4272
+Query 1/1: Action query time = 4.475 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4523
+t=26: Selected seed 195 with value = 0.4523
+Query 1/1: Action query time = 5.335 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5457
+t=42: Selected seed 195 with value = 0.5457
+Query 1/1: Action query time = 5.099 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=58: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 3.750 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7205
+t=74: Selected seed 195 with value = 0.7205
+Query 1/1: Action query time = 4.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8842
+t=90: Selected seed 195 with value = 0.8842
+Query 1/1: Action query time = 5.286 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=106: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 5.329 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.383 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3948
+t=10: Selected seed 195 with value = 0.3948
+Query 1/1: Action query time = 4.733 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4052
+t=26: Selected seed 195 with value = 0.4052
+Query 1/1: Action query time = 3.810 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=42: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 4.342 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6510
+t=58: Selected seed 195 with value = 0.6510
+Query 1/1: Action query time = 4.524 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7530
+t=74: Selected seed 195 with value = 0.7530
+Query 1/1: Action query time = 4.162 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8727
+t=90: Selected seed 195 with value = 0.8727
+Query 1/1: Action query time = 4.210 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=106: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 3.474 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 2.273 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4319
+t=10: Selected seed 195 with value = 0.4319
+Query 1/1: Action query time = 1.511 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4992
+t=26: Selected seed 195 with value = 0.4992
+Query 1/1: Action query time = 2.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5565
+t=42: Selected seed 195 with value = 0.5565
+Query 1/1: Action query time = 3.864 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6673
+t=58: Selected seed 195 with value = 0.6673
+Query 1/1: Action query time = 3.915 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7795
+t=74: Selected seed 195 with value = 0.7795
+Query 1/1: Action query time = 2.823 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=90: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 3.246 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=106: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 3.833 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s3/2026_08_03-14_33_21--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t1_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t1_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d6c5445653d893cf6b9dc438b2f85d35b0276aa3
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t1_s0.txt
@@ -0,0 +1,419 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t1_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.438 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=10: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 4.739 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6880
+t=26: Selected seed 195 with value = 0.6880
+Query 1/1: Action query time = 4.342 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7816
+t=42: Selected seed 195 with value = 0.7816
+Query 1/1: Action query time = 4.727 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8824
+t=58: Selected seed 195 with value = 0.8824
+Query 1/1: Action query time = 5.147 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=74: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 4.839 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.734 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5860
+t=10: Selected seed 195 with value = 0.5860
+Query 1/1: Action query time = 4.591 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6887
+t=26: Selected seed 195 with value = 0.6887
+Query 1/1: Action query time = 4.809 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=42: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 4.676 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9046
+t=58: Selected seed 195 with value = 0.9046
+Query 1/1: Action query time = 4.752 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.381 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.866 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5698
+t=10: Selected seed 195 with value = 0.5698
+Query 1/1: Action query time = 3.858 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6747
+t=26: Selected seed 195 with value = 0.6747
+Query 1/1: Action query time = 4.896 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7948
+t=42: Selected seed 195 with value = 0.7948
+Query 1/1: Action query time = 3.624 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9012
+t=58: Selected seed 195 with value = 0.9012
+Query 1/1: Action query time = 4.275 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.215 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.899 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5883
+t=10: Selected seed 195 with value = 0.5883
+Query 1/1: Action query time = 5.445 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8228
+t=26: Selected seed 195 with value = 0.8228
+Query 1/1: Action query time = 5.653 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8305
+t=42: Selected seed 195 with value = 0.8305
+Query 1/1: Action query time = 4.190 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=58: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 3.123 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.707 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.326 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=10: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 5.154 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6991
+t=26: Selected seed 195 with value = 0.6991
+Query 1/1: Action query time = 5.192 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8177
+t=42: Selected seed 195 with value = 0.8177
+Query 1/1: Action query time = 5.571 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=58: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 4.365 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.185 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.271 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5597
+t=10: Selected seed 195 with value = 0.5597
+Query 1/1: Action query time = 5.399 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7280
+t=26: Selected seed 195 with value = 0.7280
+Query 1/1: Action query time = 5.190 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7790
+t=42: Selected seed 195 with value = 0.7790
+Query 1/1: Action query time = 4.817 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=58: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 4.865 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.947 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.246 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=10: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 4.621 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7307
+t=26: Selected seed 195 with value = 0.7307
+Query 1/1: Action query time = 4.248 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7754
+t=42: Selected seed 195 with value = 0.7754
+Query 1/1: Action query time = 4.840 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8554
+t=58: Selected seed 195 with value = 0.8554
+Query 1/1: Action query time = 5.592 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9125
+t=74: Selected seed 195 with value = 0.9125
+Query 1/1: Action query time = 4.220 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=90: Selected seed 195 with value = 0.9873
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.502 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6132
+t=10: Selected seed 195 with value = 0.6132
+Query 1/1: Action query time = 4.760 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8575
+t=26: Selected seed 195 with value = 0.8575
+Query 1/1: Action query time = 3.716 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7924
+t=42: Selected seed 195 with value = 0.7924
+Query 1/1: Action query time = 4.195 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9276
+t=58: Selected seed 195 with value = 0.9276
+Query 1/1: Action query time = 2.948 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.305 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.559 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=10: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 5.032 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6896
+t=26: Selected seed 195 with value = 0.6896
+Query 1/1: Action query time = 5.004 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7945
+t=42: Selected seed 195 with value = 0.7945
+Query 1/1: Action query time = 4.911 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9005
+t=58: Selected seed 195 with value = 0.9005
+Query 1/1: Action query time = 4.254 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=74: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 4.300 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 4.511 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5421
+t=10: Selected seed 195 with value = 0.5421
+Query 1/1: Action query time = 4.452 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6888
+t=26: Selected seed 195 with value = 0.6888
+Query 1/1: Action query time = 5.070 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8035
+t=42: Selected seed 195 with value = 0.8035
+Query 1/1: Action query time = 4.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9362
+t=58: Selected seed 195 with value = 0.9362
+Query 1/1: Action query time = 5.438 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.067 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.029 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6851
+t=10: Selected seed 195 with value = 0.6851
+Query 1/1: Action query time = 3.844 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7715
+t=26: Selected seed 195 with value = 0.7715
+Query 1/1: Action query time = 4.339 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7585
+t=42: Selected seed 195 with value = 0.7585
+Query 1/1: Action query time = 4.693 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=58: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 5.919 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=74: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 4.280 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=90: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 5.363 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 4.345 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5581
+t=10: Selected seed 195 with value = 0.5581
+Query 1/1: Action query time = 4.218 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8003
+t=26: Selected seed 195 with value = 0.8003
+Query 1/1: Action query time = 4.834 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7895
+t=42: Selected seed 195 with value = 0.7895
+Query 1/1: Action query time = 4.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=58: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 5.305 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.443 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 4.799 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5535
+t=10: Selected seed 195 with value = 0.5535
+Query 1/1: Action query time = 5.308 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6579
+t=26: Selected seed 195 with value = 0.6579
+Query 1/1: Action query time = 5.512 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7718
+t=42: Selected seed 195 with value = 0.7718
+Query 1/1: Action query time = 4.367 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8943
+t=58: Selected seed 195 with value = 0.8943
+Query 1/1: Action query time = 4.916 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=74: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 2.528 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s0/2026_08_03-14_33_21--with_future_img--episode=13--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t2_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t2_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f6f779fdb2121827f5cbde05c44ca5b3daefdd1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t2_s0.txt
@@ -0,0 +1,419 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t2_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.253 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6132
+t=10: Selected seed 195 with value = 0.6132
+Query 1/1: Action query time = 5.458 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=26: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 5.728 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=42: Selected seed 195 with value = 0.9141
+Query 1/1: Action query time = 4.691 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=58: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.688 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.694 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5810
+t=10: Selected seed 195 with value = 0.5810
+Query 1/1: Action query time = 5.011 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7196
+t=26: Selected seed 195 with value = 0.7196
+Query 1/1: Action query time = 4.702 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8225
+t=42: Selected seed 195 with value = 0.8225
+Query 1/1: Action query time = 4.831 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=58: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 5.370 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=74: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 4.072 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.100 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5778
+t=10: Selected seed 195 with value = 0.5778
+Query 1/1: Action query time = 4.528 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6955
+t=26: Selected seed 195 with value = 0.6955
+Query 1/1: Action query time = 5.108 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8298
+t=42: Selected seed 195 with value = 0.8298
+Query 1/1: Action query time = 4.507 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=58: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 5.188 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.672 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.183 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5437
+t=10: Selected seed 195 with value = 0.5437
+Query 1/1: Action query time = 6.153 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6413
+t=26: Selected seed 195 with value = 0.6413
+Query 1/1: Action query time = 5.239 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7925
+t=42: Selected seed 195 with value = 0.7925
+Query 1/1: Action query time = 5.452 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9310
+t=58: Selected seed 195 with value = 0.9310
+Query 1/1: Action query time = 4.569 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9425
+t=74: Selected seed 195 with value = 0.9425
+Query 1/1: Action query time = 4.572 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=90: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 5.197 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.351 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5629
+t=10: Selected seed 195 with value = 0.5629
+Query 1/1: Action query time = 5.206 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6322
+t=26: Selected seed 195 with value = 0.6322
+Query 1/1: Action query time = 4.386 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7334
+t=42: Selected seed 195 with value = 0.7334
+Query 1/1: Action query time = 5.025 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8966
+t=58: Selected seed 195 with value = 0.8966
+Query 1/1: Action query time = 5.425 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.563 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.707 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6296
+t=10: Selected seed 195 with value = 0.6296
+Query 1/1: Action query time = 3.561 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7368
+t=26: Selected seed 195 with value = 0.7368
+Query 1/1: Action query time = 4.635 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8417
+t=42: Selected seed 195 with value = 0.8417
+Query 1/1: Action query time = 4.420 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=58: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 4.438 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.474 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.869 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4709
+t=10: Selected seed 195 with value = 0.4709
+Query 1/1: Action query time = 5.704 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6986
+t=26: Selected seed 195 with value = 0.6986
+Query 1/1: Action query time = 4.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7889
+t=42: Selected seed 195 with value = 0.7889
+Query 1/1: Action query time = 2.860 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=58: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 4.732 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=74: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 5.221 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 3.645 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5514
+t=10: Selected seed 195 with value = 0.5514
+Query 1/1: Action query time = 5.816 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4928
+t=26: Selected seed 195 with value = 0.4928
+Query 1/1: Action query time = 3.821 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6904
+t=42: Selected seed 195 with value = 0.6904
+Query 1/1: Action query time = 4.390 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8666
+t=58: Selected seed 195 with value = 0.8666
+Query 1/1: Action query time = 4.326 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=74: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 5.193 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.663 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.182 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5496
+t=10: Selected seed 195 with value = 0.5496
+Query 1/1: Action query time = 4.616 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6574
+t=26: Selected seed 195 with value = 0.6574
+Query 1/1: Action query time = 4.747 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7402
+t=42: Selected seed 195 with value = 0.7402
+Query 1/1: Action query time = 3.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8769
+t=58: Selected seed 195 with value = 0.8769
+Query 1/1: Action query time = 4.038 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=74: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 3.366 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.412 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5125
+t=10: Selected seed 195 with value = 0.5125
+Query 1/1: Action query time = 4.645 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6506
+t=26: Selected seed 195 with value = 0.6506
+Query 1/1: Action query time = 4.714 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7506
+t=42: Selected seed 195 with value = 0.7506
+Query 1/1: Action query time = 4.940 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=58: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 4.505 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=74: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 4.146 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 3.612 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5679
+t=10: Selected seed 195 with value = 0.5679
+Query 1/1: Action query time = 3.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6930
+t=26: Selected seed 195 with value = 0.6930
+Query 1/1: Action query time = 4.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8254
+t=42: Selected seed 195 with value = 0.8254
+Query 1/1: Action query time = 6.074 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=58: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 5.362 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.082 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 5.580 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5440
+t=10: Selected seed 195 with value = 0.5440
+Query 1/1: Action query time = 5.340 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7117
+t=26: Selected seed 195 with value = 0.7117
+Query 1/1: Action query time = 5.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=42: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 3.857 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=58: Selected seed 195 with value = 0.9152
+Query 1/1: Action query time = 4.193 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=74: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 4.503 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 3.807 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5530
+t=10: Selected seed 195 with value = 0.5530
+Query 1/1: Action query time = 5.234 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6028
+t=26: Selected seed 195 with value = 0.6028
+Query 1/1: Action query time = 4.754 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7321
+t=42: Selected seed 195 with value = 0.7321
+Query 1/1: Action query time = 3.559 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=58: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 4.915 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.095 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s0/2026_08_03-14_33_21--with_future_img--episode=13--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t2_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t2_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..133efe7f0b8d39a1813f0258393165e9ad14e602
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t2_s3.txt
@@ -0,0 +1,588 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t2_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.143 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5814
+t=10: Selected seed 195 with value = 0.5814
+Query 1/1: Action query time = 4.328 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6070
+t=26: Selected seed 195 with value = 0.6070
+Query 1/1: Action query time = 4.892 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7612
+t=42: Selected seed 195 with value = 0.7612
+Query 1/1: Action query time = 4.931 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=58: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 5.044 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=74: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 3.299 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.824 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5708
+t=10: Selected seed 195 with value = 0.5708
+Query 1/1: Action query time = 5.313 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6621
+t=26: Selected seed 195 with value = 0.6621
+Query 1/1: Action query time = 5.283 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7409
+t=42: Selected seed 195 with value = 0.7409
+Query 1/1: Action query time = 4.519 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9209
+t=58: Selected seed 195 with value = 0.9209
+Query 1/1: Action query time = 2.945 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=74: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 3.147 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.175 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5999
+t=10: Selected seed 195 with value = 0.5999
+Query 1/1: Action query time = 5.477 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7262
+t=26: Selected seed 195 with value = 0.7262
+Query 1/1: Action query time = 4.948 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8533
+t=42: Selected seed 195 with value = 0.8533
+Query 1/1: Action query time = 4.805 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=58: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 4.687 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.116 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=10: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 5.698 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6666
+t=26: Selected seed 195 with value = 0.6666
+Query 1/1: Action query time = 5.476 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7704
+t=42: Selected seed 195 with value = 0.7704
+Query 1/1: Action query time = 4.779 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9082
+t=58: Selected seed 195 with value = 0.9082
+Query 1/1: Action query time = 4.008 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=74: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 4.788 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.118 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.472 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.383 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.675 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.239 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.415 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.389 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=202: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 4.407 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=218: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 3.945 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=234: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 4.622 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=250: Selected seed 195 with value = 0.9298
+Query 1/1: Action query time = 4.120 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=266: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 4.129 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8091
+t=282: Selected seed 195 with value = 0.8091
+Query 1/1: Action query time = 4.684 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8236
+t=298: Selected seed 195 with value = 0.8236
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 3.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=10: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 3.604 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7100
+t=26: Selected seed 195 with value = 0.7100
+Query 1/1: Action query time = 4.727 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8230
+t=42: Selected seed 195 with value = 0.8230
+Query 1/1: Action query time = 5.210 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9448
+t=58: Selected seed 195 with value = 0.9448
+Query 1/1: Action query time = 5.119 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.666 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.814 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=106: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 5.126 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.916 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.879 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.080 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.227 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.075 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.315 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.030 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=234: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 4.002 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=250: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 5.437 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9133
+t=266: Selected seed 195 with value = 0.9133
+Query 1/1: Action query time = 5.139 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8811
+t=282: Selected seed 195 with value = 0.8811
+Query 1/1: Action query time = 4.560 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8864
+t=298: Selected seed 195 with value = 0.8864
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=5--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 3.640 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=10: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 4.024 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7245
+t=26: Selected seed 195 with value = 0.7245
+Query 1/1: Action query time = 4.872 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8376
+t=42: Selected seed 195 with value = 0.8376
+Query 1/1: Action query time = 4.600 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=58: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 4.725 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.366 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.808 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5649
+t=10: Selected seed 195 with value = 0.5649
+Query 1/1: Action query time = 3.415 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=26: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 3.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7613
+t=42: Selected seed 195 with value = 0.7613
+Query 1/1: Action query time = 5.080 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=58: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 5.729 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9068
+t=74: Selected seed 195 with value = 0.9068
+Query 1/1: Action query time = 6.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9793
+t=90: Selected seed 195 with value = 0.9793
+Query 1/1: Action query time = 4.356 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=106: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 4.821 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=122: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 1.555 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.786 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.179 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.517 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.188 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.215 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=218: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 4.600 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=234: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 4.096 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=250: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 4.663 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9597
+t=266: Selected seed 195 with value = 0.9597
+Query 1/1: Action query time = 3.887 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=282: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 5.069 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=298: Selected seed 195 with value = 0.9298
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=7--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.709 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=10: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 4.346 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6783
+t=26: Selected seed 195 with value = 0.6783
+Query 1/1: Action query time = 4.843 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7600
+t=42: Selected seed 195 with value = 0.7600
+Query 1/1: Action query time = 4.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9321
+t=58: Selected seed 195 with value = 0.9321
+Query 1/1: Action query time = 4.475 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.331 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 2.897 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5338
+t=10: Selected seed 195 with value = 0.5338
+Query 1/1: Action query time = 3.727 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7131
+t=26: Selected seed 195 with value = 0.7131
+Query 1/1: Action query time = 4.687 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8004
+t=42: Selected seed 195 with value = 0.8004
+Query 1/1: Action query time = 3.873 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=58: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 4.568 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=74: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 3.636 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 2.460 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5175
+t=10: Selected seed 195 with value = 0.5175
+Query 1/1: Action query time = 3.582 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6028
+t=26: Selected seed 195 with value = 0.6028
+Query 1/1: Action query time = 3.822 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7192
+t=42: Selected seed 195 with value = 0.7192
+Query 1/1: Action query time = 4.241 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8757
+t=58: Selected seed 195 with value = 0.8757
+Query 1/1: Action query time = 3.444 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=74: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 3.312 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 3.543 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5459
+t=10: Selected seed 195 with value = 0.5459
+Query 1/1: Action query time = 3.546 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=26: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 3.092 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7026
+t=42: Selected seed 195 with value = 0.7026
+Query 1/1: Action query time = 2.269 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=58: Selected seed 195 with value = 0.7992
+Query 1/1: Action query time = 2.475 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=74: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 2.046 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=90: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 2.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.799 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=138: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 3.325 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.744 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.920 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.098 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.162 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.027 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.025 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.005 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.043 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=298: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=11--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 7 (63.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.481 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5824
+t=10: Selected seed 195 with value = 0.5824
+Query 1/1: Action query time = 3.453 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6480
+t=26: Selected seed 195 with value = 0.6480
+Query 1/1: Action query time = 3.373 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7697
+t=42: Selected seed 195 with value = 0.7697
+Query 1/1: Action query time = 3.295 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9447
+t=58: Selected seed 195 with value = 0.9447
+Query 1/1: Action query time = 3.144 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.104 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s3/2026_08_03-14_33_22--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 8 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 12
+Total successes: 8
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_56--fc350full_t5_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_56--fc350full_t5_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5035dc68e1a6da632c5bd95ef7400d08dd45a2a8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_56--fc350full_t5_s3.txt
@@ -0,0 +1,548 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t5_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.612 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3824
+t=10: Selected seed 195 with value = 0.3824
+Query 1/1: Action query time = 4.769 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4147
+t=26: Selected seed 195 with value = 0.4147
+Query 1/1: Action query time = 5.142 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5661
+t=42: Selected seed 195 with value = 0.5661
+Query 1/1: Action query time = 5.299 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6959
+t=58: Selected seed 195 with value = 0.6959
+Query 1/1: Action query time = 4.433 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7603
+t=74: Selected seed 195 with value = 0.7603
+Query 1/1: Action query time = 4.671 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8949
+t=90: Selected seed 195 with value = 0.8949
+Query 1/1: Action query time = 5.738 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.849 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.087 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.236 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3983
+t=10: Selected seed 195 with value = 0.3983
+Query 1/1: Action query time = 4.698 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4421
+t=26: Selected seed 195 with value = 0.4421
+Query 1/1: Action query time = 5.112 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5363
+t=42: Selected seed 195 with value = 0.5363
+Query 1/1: Action query time = 4.638 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5575
+t=58: Selected seed 195 with value = 0.5575
+Query 1/1: Action query time = 5.511 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6436
+t=74: Selected seed 195 with value = 0.6436
+Query 1/1: Action query time = 4.912 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7208
+t=90: Selected seed 195 with value = 0.7208
+Query 1/1: Action query time = 4.545 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8303
+t=106: Selected seed 195 with value = 0.8303
+Query 1/1: Action query time = 4.914 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8894
+t=122: Selected seed 195 with value = 0.8894
+Query 1/1: Action query time = 4.133 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=138: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 5.045 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.539 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4048
+t=10: Selected seed 195 with value = 0.4048
+Query 1/1: Action query time = 4.806 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4530
+t=26: Selected seed 195 with value = 0.4530
+Query 1/1: Action query time = 5.210 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5651
+t=42: Selected seed 195 with value = 0.5651
+Query 1/1: Action query time = 4.947 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=58: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 3.289 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6908
+t=74: Selected seed 195 with value = 0.6908
+Query 1/1: Action query time = 3.742 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8012
+t=90: Selected seed 195 with value = 0.8012
+Query 1/1: Action query time = 5.219 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9481
+t=106: Selected seed 195 with value = 0.9481
+Query 1/1: Action query time = 5.399 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.146 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.478 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4150
+t=10: Selected seed 195 with value = 0.4150
+Query 1/1: Action query time = 4.262 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4784
+t=26: Selected seed 195 with value = 0.4784
+Query 1/1: Action query time = 4.098 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5632
+t=42: Selected seed 195 with value = 0.5632
+Query 1/1: Action query time = 5.321 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5742
+t=58: Selected seed 195 with value = 0.5742
+Query 1/1: Action query time = 4.769 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7169
+t=74: Selected seed 195 with value = 0.7169
+Query 1/1: Action query time = 5.767 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7665
+t=90: Selected seed 195 with value = 0.7665
+Query 1/1: Action query time = 4.937 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8399
+t=106: Selected seed 195 with value = 0.8399
+Query 1/1: Action query time = 4.785 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.244 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.530 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3887
+t=10: Selected seed 195 with value = 0.3887
+Query 1/1: Action query time = 4.725 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=26: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 4.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5312
+t=42: Selected seed 195 with value = 0.5312
+Query 1/1: Action query time = 4.660 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5977
+t=58: Selected seed 195 with value = 0.5977
+Query 1/1: Action query time = 5.150 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6592
+t=74: Selected seed 195 with value = 0.6592
+Query 1/1: Action query time = 3.412 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7839
+t=90: Selected seed 195 with value = 0.7839
+Query 1/1: Action query time = 4.515 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9485
+t=106: Selected seed 195 with value = 0.9485
+Query 1/1: Action query time = 3.382 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.386 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3876
+t=10: Selected seed 195 with value = 0.3876
+Query 1/1: Action query time = 4.631 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4767
+t=26: Selected seed 195 with value = 0.4767
+Query 1/1: Action query time = 4.301 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=42: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 4.789 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5658
+t=58: Selected seed 195 with value = 0.5658
+Query 1/1: Action query time = 5.563 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=74: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 4.673 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8123
+t=90: Selected seed 195 with value = 0.8123
+Query 1/1: Action query time = 5.191 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=106: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 4.364 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.851 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 3.258 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3659
+t=10: Selected seed 195 with value = 0.3659
+Query 1/1: Action query time = 3.477 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4238
+t=26: Selected seed 195 with value = 0.4238
+Query 1/1: Action query time = 4.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4931
+t=42: Selected seed 195 with value = 0.4931
+Query 1/1: Action query time = 4.352 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6042
+t=58: Selected seed 195 with value = 0.6042
+Query 1/1: Action query time = 4.495 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=74: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 4.897 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6842
+t=90: Selected seed 195 with value = 0.6842
+Query 1/1: Action query time = 3.739 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7444
+t=106: Selected seed 195 with value = 0.7444
+Query 1/1: Action query time = 3.731 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8648
+t=122: Selected seed 195 with value = 0.8648
+Query 1/1: Action query time = 5.203 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=138: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 4.458 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.629 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.204 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3879
+t=10: Selected seed 195 with value = 0.3879
+Query 1/1: Action query time = 2.672 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4235
+t=26: Selected seed 195 with value = 0.4235
+Query 1/1: Action query time = 4.139 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5090
+t=42: Selected seed 195 with value = 0.5090
+Query 1/1: Action query time = 5.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=58: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 5.248 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7365
+t=74: Selected seed 195 with value = 0.7365
+Query 1/1: Action query time = 5.630 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8633
+t=90: Selected seed 195 with value = 0.8633
+Query 1/1: Action query time = 4.264 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=106: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 3.820 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.392 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.689 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3730
+t=10: Selected seed 195 with value = 0.3730
+Query 1/1: Action query time = 3.798 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4265
+t=26: Selected seed 195 with value = 0.4265
+Query 1/1: Action query time = 3.283 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5265
+t=42: Selected seed 195 with value = 0.5265
+Query 1/1: Action query time = 3.694 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5979
+t=58: Selected seed 195 with value = 0.5979
+Query 1/1: Action query time = 3.636 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6485
+t=74: Selected seed 195 with value = 0.6485
+Query 1/1: Action query time = 4.297 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7451
+t=90: Selected seed 195 with value = 0.7451
+Query 1/1: Action query time = 2.929 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=106: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 3.605 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9433
+t=122: Selected seed 195 with value = 0.9433
+Query 1/1: Action query time = 3.941 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.420 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 1.699 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3943
+t=10: Selected seed 195 with value = 0.3943
+Query 1/1: Action query time = 2.113 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4355
+t=26: Selected seed 195 with value = 0.4355
+Query 1/1: Action query time = 2.700 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5450
+t=42: Selected seed 195 with value = 0.5450
+Query 1/1: Action query time = 2.733 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5624
+t=58: Selected seed 195 with value = 0.5624
+Query 1/1: Action query time = 2.238 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6653
+t=74: Selected seed 195 with value = 0.6653
+Query 1/1: Action query time = 2.244 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8092
+t=90: Selected seed 195 with value = 0.8092
+Query 1/1: Action query time = 3.354 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9063
+t=106: Selected seed 195 with value = 0.9063
+Query 1/1: Action query time = 3.282 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.328 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 1.599 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3996
+t=10: Selected seed 195 with value = 0.3996
+Query 1/1: Action query time = 1.495 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4593
+t=26: Selected seed 195 with value = 0.4593
+Query 1/1: Action query time = 2.700 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5649
+t=42: Selected seed 195 with value = 0.5649
+Query 1/1: Action query time = 2.684 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6632
+t=58: Selected seed 195 with value = 0.6632
+Query 1/1: Action query time = 1.859 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7647
+t=74: Selected seed 195 with value = 0.7647
+Query 1/1: Action query time = 1.820 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8929
+t=90: Selected seed 195 with value = 0.8929
+Query 1/1: Action query time = 2.636 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.358 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.322 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 1.786 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3575
+t=10: Selected seed 195 with value = 0.3575
+Query 1/1: Action query time = 1.746 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4478
+t=26: Selected seed 195 with value = 0.4478
+Query 1/1: Action query time = 2.304 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5509
+t=42: Selected seed 195 with value = 0.5509
+Query 1/1: Action query time = 2.480 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5960
+t=58: Selected seed 195 with value = 0.5960
+Query 1/1: Action query time = 1.800 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6846
+t=74: Selected seed 195 with value = 0.6846
+Query 1/1: Action query time = 1.836 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7427
+t=90: Selected seed 195 with value = 0.7427
+Query 1/1: Action query time = 2.037 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=106: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 1.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9367
+t=122: Selected seed 195 with value = 0.9367
+Query 1/1: Action query time = 2.114 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=138: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 1.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s3/2026_08_03-14_46_56--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_57--fc350full_t6_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_57--fc350full_t6_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b7783fa0794ef74edac1bf0ab6bfa903ac5d1431
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_57--fc350full_t6_s2.txt
@@ -0,0 +1,508 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t6_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.236 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4722
+t=10: Selected seed 195 with value = 0.4722
+Query 1/1: Action query time = 5.023 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5848
+t=26: Selected seed 195 with value = 0.5848
+Query 1/1: Action query time = 5.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6754
+t=42: Selected seed 195 with value = 0.6754
+Query 1/1: Action query time = 5.203 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7541
+t=58: Selected seed 195 with value = 0.7541
+Query 1/1: Action query time = 4.425 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8919
+t=74: Selected seed 195 with value = 0.8919
+Query 1/1: Action query time = 3.380 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=90: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 4.446 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.419 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=122: Selected seed 195 with value = 0.9836
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.558 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5329
+t=10: Selected seed 195 with value = 0.5329
+Query 1/1: Action query time = 5.291 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6403
+t=26: Selected seed 195 with value = 0.6403
+Query 1/1: Action query time = 2.677 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7409
+t=42: Selected seed 195 with value = 0.7409
+Query 1/1: Action query time = 3.449 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8331
+t=58: Selected seed 195 with value = 0.8331
+Query 1/1: Action query time = 5.400 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=74: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 5.008 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.110 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5128
+t=10: Selected seed 195 with value = 0.5128
+Query 1/1: Action query time = 4.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6035
+t=26: Selected seed 195 with value = 0.6035
+Query 1/1: Action query time = 2.225 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7150
+t=42: Selected seed 195 with value = 0.7150
+Query 1/1: Action query time = 4.216 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6586
+t=58: Selected seed 195 with value = 0.6586
+Query 1/1: Action query time = 5.103 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7650
+t=74: Selected seed 195 with value = 0.7650
+Query 1/1: Action query time = 5.051 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8719
+t=90: Selected seed 195 with value = 0.8719
+Query 1/1: Action query time = 5.017 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8997
+t=106: Selected seed 195 with value = 0.8997
+Query 1/1: Action query time = 4.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.416 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=138: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 1.884 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.007 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.941 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.218 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=202: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 5.402 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=218: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 4.448 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=234: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 4.901 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=250: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 4.701 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=266: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 3.829 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=282: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 4.854 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=298: Selected seed 195 with value = 0.9903
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 4.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=10: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 5.047 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6006
+t=26: Selected seed 195 with value = 0.6006
+Query 1/1: Action query time = 4.418 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=42: Selected seed 195 with value = 0.7025
+Query 1/1: Action query time = 4.579 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8498
+t=58: Selected seed 195 with value = 0.8498
+Query 1/1: Action query time = 5.141 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=74: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 5.126 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 5.326 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5172
+t=10: Selected seed 195 with value = 0.5172
+Query 1/1: Action query time = 4.123 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=26: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 5.128 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7420
+t=42: Selected seed 195 with value = 0.7420
+Query 1/1: Action query time = 4.835 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=58: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 3.943 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=74: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 3.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 4.560 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5195
+t=10: Selected seed 195 with value = 0.5195
+Query 1/1: Action query time = 3.619 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5899
+t=26: Selected seed 195 with value = 0.5899
+Query 1/1: Action query time = 4.847 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6926
+t=42: Selected seed 195 with value = 0.6926
+Query 1/1: Action query time = 4.701 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8350
+t=58: Selected seed 195 with value = 0.8350
+Query 1/1: Action query time = 5.332 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9436
+t=74: Selected seed 195 with value = 0.9436
+Query 1/1: Action query time = 3.279 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=90: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 3.338 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=10: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 3.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5811
+t=26: Selected seed 195 with value = 0.5811
+Query 1/1: Action query time = 4.909 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6496
+t=42: Selected seed 195 with value = 0.6496
+Query 1/1: Action query time = 4.449 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=58: Selected seed 195 with value = 0.7512
+Query 1/1: Action query time = 5.206 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8979
+t=74: Selected seed 195 with value = 0.8979
+Query 1/1: Action query time = 4.762 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=90: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 2.716 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 5.219 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4808
+t=10: Selected seed 195 with value = 0.4808
+Query 1/1: Action query time = 4.646 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5816
+t=26: Selected seed 195 with value = 0.5816
+Query 1/1: Action query time = 3.900 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6821
+t=42: Selected seed 195 with value = 0.6821
+Query 1/1: Action query time = 3.839 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8275
+t=58: Selected seed 195 with value = 0.8275
+Query 1/1: Action query time = 4.877 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9432
+t=74: Selected seed 195 with value = 0.9432
+Query 1/1: Action query time = 5.094 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 4.849 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4754
+t=10: Selected seed 195 with value = 0.4754
+Query 1/1: Action query time = 3.434 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6000
+t=26: Selected seed 195 with value = 0.6000
+Query 1/1: Action query time = 4.859 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6859
+t=42: Selected seed 195 with value = 0.6859
+Query 1/1: Action query time = 3.150 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8022
+t=58: Selected seed 195 with value = 0.8022
+Query 1/1: Action query time = 2.827 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=74: Selected seed 195 with value = 0.9291
+Query 1/1: Action query time = 3.660 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=90: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 4.264 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5102
+t=10: Selected seed 195 with value = 0.5102
+Query 1/1: Action query time = 4.019 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5911
+t=26: Selected seed 195 with value = 0.5911
+Query 1/1: Action query time = 2.783 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6526
+t=42: Selected seed 195 with value = 0.6526
+Query 1/1: Action query time = 1.503 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7712
+t=58: Selected seed 195 with value = 0.7712
+Query 1/1: Action query time = 2.308 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=74: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 1.843 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=90: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 1.903 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 2.158 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5094
+t=10: Selected seed 195 with value = 0.5094
+Query 1/1: Action query time = 2.622 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6085
+t=26: Selected seed 195 with value = 0.6085
+Query 1/1: Action query time = 2.363 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7099
+t=42: Selected seed 195 with value = 0.7099
+Query 1/1: Action query time = 2.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7996
+t=58: Selected seed 195 with value = 0.7996
+Query 1/1: Action query time = 2.785 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=74: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 1.813 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=90: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 1.216 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=106: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 2.058 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.457 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.823 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=154: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 2.240 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=170: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 2.485 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=186: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 2.552 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=202: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 2.523 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=218: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 2.400 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=234: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 2.369 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=250: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 1.702 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=266: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 2.430 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=282: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 2.826 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=298: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=11--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 2.092 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4837
+t=10: Selected seed 195 with value = 0.4837
+Query 1/1: Action query time = 1.490 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5733
+t=26: Selected seed 195 with value = 0.5733
+Query 1/1: Action query time = 2.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6525
+t=42: Selected seed 195 with value = 0.6525
+Query 1/1: Action query time = 2.080 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7604
+t=58: Selected seed 195 with value = 0.7604
+Query 1/1: Action query time = 1.839 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9024
+t=74: Selected seed 195 with value = 0.9024
+Query 1/1: Action query time = 1.576 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=90: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 2.278 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s2/2026_08_03-14_46_57--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+Current task success rate: 0.8333333333333334
+Current total success rate: 0.8333333333333334
+Final results:
+Total episodes: 12
+Total successes: 10
+Overall success rate: 0.8333 (83.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_57--fc350full_t7_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_57--fc350full_t7_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc7ca367db7cfd26ecd6068dc887bca11ca672dd
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_57--fc350full_t7_s0.txt
@@ -0,0 +1,375 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t7_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.367 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4666
+t=10: Selected seed 195 with value = 0.4666
+Query 1/1: Action query time = 5.555 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5399
+t=26: Selected seed 195 with value = 0.5399
+Query 1/1: Action query time = 4.897 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6462
+t=42: Selected seed 195 with value = 0.6462
+Query 1/1: Action query time = 4.097 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7684
+t=58: Selected seed 195 with value = 0.7684
+Query 1/1: Action query time = 3.017 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9224
+t=74: Selected seed 195 with value = 0.9224
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.675 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4856
+t=10: Selected seed 195 with value = 0.4856
+Query 1/1: Action query time = 4.661 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5787
+t=26: Selected seed 195 with value = 0.5787
+Query 1/1: Action query time = 4.113 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6866
+t=42: Selected seed 195 with value = 0.6866
+Query 1/1: Action query time = 5.069 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7561
+t=58: Selected seed 195 with value = 0.7561
+Query 1/1: Action query time = 5.116 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9156
+t=74: Selected seed 195 with value = 0.9156
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.078 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4921
+t=10: Selected seed 195 with value = 0.4921
+Query 1/1: Action query time = 5.613 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=26: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 4.080 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6992
+t=42: Selected seed 195 with value = 0.6992
+Query 1/1: Action query time = 4.185 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=58: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 4.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=74: Selected seed 195 with value = 0.9522
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.050 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4696
+t=10: Selected seed 195 with value = 0.4696
+Query 1/1: Action query time = 4.773 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5560
+t=26: Selected seed 195 with value = 0.5560
+Query 1/1: Action query time = 5.160 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6062
+t=42: Selected seed 195 with value = 0.6062
+Query 1/1: Action query time = 5.271 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=58: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 5.011 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8718
+t=74: Selected seed 195 with value = 0.8718
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.019 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=10: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 3.346 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5476
+t=26: Selected seed 195 with value = 0.5476
+Query 1/1: Action query time = 5.513 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6339
+t=42: Selected seed 195 with value = 0.6339
+Query 1/1: Action query time = 4.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7249
+t=58: Selected seed 195 with value = 0.7249
+Query 1/1: Action query time = 5.121 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9043
+t=74: Selected seed 195 with value = 0.9043
+Query 1/1: Action query time = 4.667 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=90: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.133 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5162
+t=10: Selected seed 195 with value = 0.5162
+Query 1/1: Action query time = 4.215 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5915
+t=26: Selected seed 195 with value = 0.5915
+Query 1/1: Action query time = 4.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6502
+t=42: Selected seed 195 with value = 0.6502
+Query 1/1: Action query time = 4.771 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7826
+t=58: Selected seed 195 with value = 0.7826
+Query 1/1: Action query time = 5.480 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=74: Selected seed 195 with value = 0.9055
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.115 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4558
+t=10: Selected seed 195 with value = 0.4558
+Query 1/1: Action query time = 4.540 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=26: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 5.548 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6442
+t=42: Selected seed 195 with value = 0.6442
+Query 1/1: Action query time = 5.067 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7148
+t=58: Selected seed 195 with value = 0.7148
+Query 1/1: Action query time = 3.716 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7962
+t=74: Selected seed 195 with value = 0.7962
+Query 1/1: Action query time = 4.446 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9264
+t=90: Selected seed 195 with value = 0.9264
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.131 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4895
+t=10: Selected seed 195 with value = 0.4895
+Query 1/1: Action query time = 4.887 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5586
+t=26: Selected seed 195 with value = 0.5586
+Query 1/1: Action query time = 4.712 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6698
+t=42: Selected seed 195 with value = 0.6698
+Query 1/1: Action query time = 3.441 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8174
+t=58: Selected seed 195 with value = 0.8174
+Query 1/1: Action query time = 4.249 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=74: Selected seed 195 with value = 0.9387
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.237 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4845
+t=10: Selected seed 195 with value = 0.4845
+Query 1/1: Action query time = 5.286 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5692
+t=26: Selected seed 195 with value = 0.5692
+Query 1/1: Action query time = 5.119 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6724
+t=42: Selected seed 195 with value = 0.6724
+Query 1/1: Action query time = 3.668 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7730
+t=58: Selected seed 195 with value = 0.7730
+Query 1/1: Action query time = 4.248 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9018
+t=74: Selected seed 195 with value = 0.9018
+Query 1/1: Action query time = 4.367 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 4.174 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4864
+t=10: Selected seed 195 with value = 0.4864
+Query 1/1: Action query time = 4.744 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5623
+t=26: Selected seed 195 with value = 0.5623
+Query 1/1: Action query time = 3.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6676
+t=42: Selected seed 195 with value = 0.6676
+Query 1/1: Action query time = 4.508 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7912
+t=58: Selected seed 195 with value = 0.7912
+Query 1/1: Action query time = 4.950 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9145
+t=74: Selected seed 195 with value = 0.9145
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.764 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4705
+t=10: Selected seed 195 with value = 0.4705
+Query 1/1: Action query time = 5.664 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5650
+t=26: Selected seed 195 with value = 0.5650
+Query 1/1: Action query time = 4.171 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6675
+t=42: Selected seed 195 with value = 0.6675
+Query 1/1: Action query time = 4.012 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7779
+t=58: Selected seed 195 with value = 0.7779
+Query 1/1: Action query time = 5.053 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9144
+t=74: Selected seed 195 with value = 0.9144
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 4.175 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4833
+t=10: Selected seed 195 with value = 0.4833
+Query 1/1: Action query time = 5.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5564
+t=26: Selected seed 195 with value = 0.5564
+Query 1/1: Action query time = 4.851 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6708
+t=42: Selected seed 195 with value = 0.6708
+Query 1/1: Action query time = 5.174 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7648
+t=58: Selected seed 195 with value = 0.7648
+Query 1/1: Action query time = 3.881 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9188
+t=74: Selected seed 195 with value = 0.9188
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: turn on the stove
+Starting episode 13...
+Query 1/1: Action query time = 3.048 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4980
+t=10: Selected seed 195 with value = 0.4980
+Query 1/1: Action query time = 3.283 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5957
+t=26: Selected seed 195 with value = 0.5957
+Query 1/1: Action query time = 4.439 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=42: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 4.454 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8271
+t=58: Selected seed 195 with value = 0.8271
+Query 1/1: Action query time = 2.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9626
+t=74: Selected seed 195 with value = 0.9626
+Saved rollout MP4 at path ./rollouts/fc350full_t7_s0/2026_08_03-14_46_57--with_future_img--episode=13--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t0_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t0_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..580cfb17a14a79fcfd2f697328928e8b468db4a4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t0_s3.txt
@@ -0,0 +1,484 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t0_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.637 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3985
+t=10: Selected seed 195 with value = 0.3985
+Query 1/1: Action query time = 4.599 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4686
+t=26: Selected seed 195 with value = 0.4686
+Query 1/1: Action query time = 4.199 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5667
+t=42: Selected seed 195 with value = 0.5667
+Query 1/1: Action query time = 4.715 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6189
+t=58: Selected seed 195 with value = 0.6189
+Query 1/1: Action query time = 4.118 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7394
+t=74: Selected seed 195 with value = 0.7394
+Query 1/1: Action query time = 4.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8468
+t=90: Selected seed 195 with value = 0.8468
+Query 1/1: Action query time = 3.635 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=106: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 3.215 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=122: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.655 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3832
+t=10: Selected seed 195 with value = 0.3832
+Query 1/1: Action query time = 4.400 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4710
+t=26: Selected seed 195 with value = 0.4710
+Query 1/1: Action query time = 4.908 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5492
+t=42: Selected seed 195 with value = 0.5492
+Query 1/1: Action query time = 5.416 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6589
+t=58: Selected seed 195 with value = 0.6589
+Query 1/1: Action query time = 4.378 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7559
+t=74: Selected seed 195 with value = 0.7559
+Query 1/1: Action query time = 3.684 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8982
+t=90: Selected seed 195 with value = 0.8982
+Query 1/1: Action query time = 4.436 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=106: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 4.559 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.545 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3752
+t=10: Selected seed 195 with value = 0.3752
+Query 1/1: Action query time = 4.882 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3952
+t=26: Selected seed 195 with value = 0.3952
+Query 1/1: Action query time = 4.504 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5056
+t=42: Selected seed 195 with value = 0.5056
+Query 1/1: Action query time = 2.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6106
+t=58: Selected seed 195 with value = 0.6106
+Query 1/1: Action query time = 5.190 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7669
+t=74: Selected seed 195 with value = 0.7669
+Query 1/1: Action query time = 5.312 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=90: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 4.510 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=106: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 3.783 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.664 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3740
+t=10: Selected seed 195 with value = 0.3740
+Query 1/1: Action query time = 3.573 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4160
+t=26: Selected seed 195 with value = 0.4160
+Query 1/1: Action query time = 2.855 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5047
+t=42: Selected seed 195 with value = 0.5047
+Query 1/1: Action query time = 5.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5991
+t=58: Selected seed 195 with value = 0.5991
+Query 1/1: Action query time = 3.199 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7671
+t=74: Selected seed 195 with value = 0.7671
+Query 1/1: Action query time = 3.705 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8858
+t=90: Selected seed 195 with value = 0.8858
+Query 1/1: Action query time = 4.717 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.254 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 3.606 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4380
+t=10: Selected seed 195 with value = 0.4380
+Query 1/1: Action query time = 4.940 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5148
+t=26: Selected seed 195 with value = 0.5148
+Query 1/1: Action query time = 3.621 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5808
+t=42: Selected seed 195 with value = 0.5808
+Query 1/1: Action query time = 5.157 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6544
+t=58: Selected seed 195 with value = 0.6544
+Query 1/1: Action query time = 5.076 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7677
+t=74: Selected seed 195 with value = 0.7677
+Query 1/1: Action query time = 4.826 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8965
+t=90: Selected seed 195 with value = 0.8965
+Query 1/1: Action query time = 4.300 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.164 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.399 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3988
+t=10: Selected seed 195 with value = 0.3988
+Query 1/1: Action query time = 5.335 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4529
+t=26: Selected seed 195 with value = 0.4529
+Query 1/1: Action query time = 4.642 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5355
+t=42: Selected seed 195 with value = 0.5355
+Query 1/1: Action query time = 4.503 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6525
+t=58: Selected seed 195 with value = 0.6525
+Query 1/1: Action query time = 3.883 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7647
+t=74: Selected seed 195 with value = 0.7647
+Query 1/1: Action query time = 3.332 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8618
+t=90: Selected seed 195 with value = 0.8618
+Query 1/1: Action query time = 3.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=106: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 4.655 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.179 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4092
+t=10: Selected seed 195 with value = 0.4092
+Query 1/1: Action query time = 4.711 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4884
+t=26: Selected seed 195 with value = 0.4884
+Query 1/1: Action query time = 3.784 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5761
+t=42: Selected seed 195 with value = 0.5761
+Query 1/1: Action query time = 4.358 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6648
+t=58: Selected seed 195 with value = 0.6648
+Query 1/1: Action query time = 2.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7586
+t=74: Selected seed 195 with value = 0.7586
+Query 1/1: Action query time = 4.774 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9580
+t=90: Selected seed 195 with value = 0.9580
+Query 1/1: Action query time = 4.382 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.101 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.050 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3299
+t=10: Selected seed 195 with value = 0.3299
+Query 1/1: Action query time = 3.356 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4605
+t=26: Selected seed 195 with value = 0.4605
+Query 1/1: Action query time = 2.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=42: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 2.568 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6235
+t=58: Selected seed 195 with value = 0.6235
+Query 1/1: Action query time = 4.912 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7555
+t=74: Selected seed 195 with value = 0.7555
+Query 1/1: Action query time = 4.754 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9145
+t=90: Selected seed 195 with value = 0.9145
+Query 1/1: Action query time = 4.678 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.739 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.539 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3770
+t=10: Selected seed 195 with value = 0.3770
+Query 1/1: Action query time = 4.283 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4717
+t=26: Selected seed 195 with value = 0.4717
+Query 1/1: Action query time = 4.154 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=42: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 3.530 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6576
+t=58: Selected seed 195 with value = 0.6576
+Query 1/1: Action query time = 4.880 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=74: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 4.738 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=90: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 4.787 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.829 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.309 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4279
+t=10: Selected seed 195 with value = 0.4279
+Query 1/1: Action query time = 5.309 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4698
+t=26: Selected seed 195 with value = 0.4698
+Query 1/1: Action query time = 4.735 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5414
+t=42: Selected seed 195 with value = 0.5414
+Query 1/1: Action query time = 3.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6171
+t=58: Selected seed 195 with value = 0.6171
+Query 1/1: Action query time = 5.277 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7101
+t=74: Selected seed 195 with value = 0.7101
+Query 1/1: Action query time = 4.631 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9176
+t=90: Selected seed 195 with value = 0.9176
+Query 1/1: Action query time = 3.065 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=106: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 2.356 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.236 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3954
+t=10: Selected seed 195 with value = 0.3954
+Query 1/1: Action query time = 4.149 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4229
+t=26: Selected seed 195 with value = 0.4229
+Query 1/1: Action query time = 4.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5775
+t=42: Selected seed 195 with value = 0.5775
+Query 1/1: Action query time = 4.869 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6653
+t=58: Selected seed 195 with value = 0.6653
+Query 1/1: Action query time = 3.870 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7715
+t=74: Selected seed 195 with value = 0.7715
+Query 1/1: Action query time = 2.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8560
+t=90: Selected seed 195 with value = 0.8560
+Query 1/1: Action query time = 3.644 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=106: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 3.003 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.046 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4355
+t=10: Selected seed 195 with value = 0.4355
+Query 1/1: Action query time = 4.484 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4925
+t=26: Selected seed 195 with value = 0.4925
+Query 1/1: Action query time = 3.618 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5478
+t=42: Selected seed 195 with value = 0.5478
+Query 1/1: Action query time = 3.207 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6573
+t=58: Selected seed 195 with value = 0.6573
+Query 1/1: Action query time = 1.731 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7582
+t=74: Selected seed 195 with value = 0.7582
+Query 1/1: Action query time = 3.450 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8984
+t=90: Selected seed 195 with value = 0.8984
+Query 1/1: Action query time = 3.558 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9583
+t=106: Selected seed 195 with value = 0.9583
+Query 1/1: Action query time = 2.894 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.890 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s3/2026_08_03-15_06_02--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t1_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t1_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf1fe678654eba36e6a3f34debad331777e73c07
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t1_s1.txt
@@ -0,0 +1,579 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t1_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.179 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6016
+t=10: Selected seed 195 with value = 0.6016
+Query 1/1: Action query time = 4.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6987
+t=26: Selected seed 195 with value = 0.6987
+Query 1/1: Action query time = 5.336 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7661
+t=42: Selected seed 195 with value = 0.7661
+Query 1/1: Action query time = 5.144 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8872
+t=58: Selected seed 195 with value = 0.8872
+Query 1/1: Action query time = 5.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=74: Selected seed 195 with value = 0.9612
+Query 1/1: Action query time = 3.670 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=90: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 3.388 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=106: Selected seed 195 with value = 0.9645
+Query 1/1: Action query time = 4.015 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=122: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 5.274 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=138: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 3.880 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8991
+t=154: Selected seed 195 with value = 0.8991
+Query 1/1: Action query time = 4.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8980
+t=170: Selected seed 195 with value = 0.8980
+Query 1/1: Action query time = 5.077 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8940
+t=186: Selected seed 195 with value = 0.8940
+Query 1/1: Action query time = 4.392 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=202: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 3.767 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9338
+t=218: Selected seed 195 with value = 0.9338
+Query 1/1: Action query time = 4.573 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.629 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=250: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 3.169 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.502 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.483 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.190 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6307
+t=10: Selected seed 195 with value = 0.6307
+Query 1/1: Action query time = 5.481 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8118
+t=26: Selected seed 195 with value = 0.8118
+Query 1/1: Action query time = 4.871 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=42: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 4.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=58: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 5.308 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=74: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 3.463 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.905 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5734
+t=10: Selected seed 195 with value = 0.5734
+Query 1/1: Action query time = 5.274 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8207
+t=26: Selected seed 195 with value = 0.8207
+Query 1/1: Action query time = 4.228 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=42: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 3.281 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9323
+t=58: Selected seed 195 with value = 0.9323
+Query 1/1: Action query time = 3.280 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.697 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.054 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=106: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 4.254 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=122: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 5.013 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8118
+t=138: Selected seed 195 with value = 0.8118
+Query 1/1: Action query time = 5.110 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8785
+t=154: Selected seed 195 with value = 0.8785
+Query 1/1: Action query time = 4.923 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=170: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 2.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=186: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 4.841 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=202: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 2.536 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=218: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 3.559 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=234: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 4.878 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=250: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 4.940 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=266: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 6.082 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=282: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 5.153 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=298: Selected seed 195 with value = 0.9737
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 5.486 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5897
+t=10: Selected seed 195 with value = 0.5897
+Query 1/1: Action query time = 4.739 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7159
+t=26: Selected seed 195 with value = 0.7159
+Query 1/1: Action query time = 5.228 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7856
+t=42: Selected seed 195 with value = 0.7856
+Query 1/1: Action query time = 4.650 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9153
+t=58: Selected seed 195 with value = 0.9153
+Query 1/1: Action query time = 4.737 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=74: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 4.105 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.334 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6258
+t=10: Selected seed 195 with value = 0.6258
+Query 1/1: Action query time = 4.633 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7971
+t=26: Selected seed 195 with value = 0.7971
+Query 1/1: Action query time = 4.448 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7847
+t=42: Selected seed 195 with value = 0.7847
+Query 1/1: Action query time = 4.741 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=58: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 4.029 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.537 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.540 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5893
+t=10: Selected seed 195 with value = 0.5893
+Query 1/1: Action query time = 4.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7899
+t=26: Selected seed 195 with value = 0.7899
+Query 1/1: Action query time = 4.915 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=42: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 3.845 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8630
+t=58: Selected seed 195 with value = 0.8630
+Query 1/1: Action query time = 4.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=74: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 5.527 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.568 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.621 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8476
+t=122: Selected seed 195 with value = 0.8476
+Query 1/1: Action query time = 5.056 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8136
+t=138: Selected seed 195 with value = 0.8136
+Query 1/1: Action query time = 5.159 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8608
+t=154: Selected seed 195 with value = 0.8608
+Query 1/1: Action query time = 3.750 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=170: Selected seed 195 with value = 0.9499
+Query 1/1: Action query time = 4.788 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9138
+t=186: Selected seed 195 with value = 0.9138
+Query 1/1: Action query time = 4.663 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=202: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 3.898 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=218: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 4.258 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9435
+t=234: Selected seed 195 with value = 0.9435
+Query 1/1: Action query time = 4.808 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9491
+t=250: Selected seed 195 with value = 0.9491
+Query 1/1: Action query time = 4.906 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=266: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 4.582 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=282: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 3.540 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9572
+t=298: Selected seed 195 with value = 0.9572
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 3 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 3.039 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6308
+t=10: Selected seed 195 with value = 0.6308
+Query 1/1: Action query time = 5.298 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8387
+t=26: Selected seed 195 with value = 0.8387
+Query 1/1: Action query time = 3.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8167
+t=42: Selected seed 195 with value = 0.8167
+Query 1/1: Action query time = 4.343 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9140
+t=58: Selected seed 195 with value = 0.9140
+Query 1/1: Action query time = 4.844 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.553 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 2.697 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6548
+t=10: Selected seed 195 with value = 0.6548
+Query 1/1: Action query time = 3.076 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6822
+t=26: Selected seed 195 with value = 0.6822
+Query 1/1: Action query time = 1.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=42: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 2.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=58: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 3.590 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=74: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 3.264 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.356 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=106: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5557
+t=10: Selected seed 195 with value = 0.5557
+Query 1/1: Action query time = 3.292 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7311
+t=26: Selected seed 195 with value = 0.7311
+Query 1/1: Action query time = 2.595 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=42: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 3.342 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8979
+t=58: Selected seed 195 with value = 0.8979
+Query 1/1: Action query time = 3.264 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=74: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 2.590 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 2.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5756
+t=10: Selected seed 195 with value = 0.5756
+Query 1/1: Action query time = 2.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6741
+t=26: Selected seed 195 with value = 0.6741
+Query 1/1: Action query time = 1.779 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7999
+t=42: Selected seed 195 with value = 0.7999
+Query 1/1: Action query time = 1.925 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9390
+t=58: Selected seed 195 with value = 0.9390
+Query 1/1: Action query time = 2.027 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=74: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 1.863 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 2.686 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5773
+t=10: Selected seed 195 with value = 0.5773
+Query 1/1: Action query time = 3.178 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7033
+t=26: Selected seed 195 with value = 0.7033
+Query 1/1: Action query time = 2.504 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7684
+t=42: Selected seed 195 with value = 0.7684
+Query 1/1: Action query time = 2.057 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8170
+t=58: Selected seed 195 with value = 0.8170
+Query 1/1: Action query time = 1.595 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8774
+t=74: Selected seed 195 with value = 0.8774
+Query 1/1: Action query time = 2.032 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9420
+t=90: Selected seed 195 with value = 0.9420
+Query 1/1: Action query time = 1.062 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 1.315 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6272
+t=10: Selected seed 195 with value = 0.6272
+Query 1/1: Action query time = 1.800 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8321
+t=26: Selected seed 195 with value = 0.8321
+Query 1/1: Action query time = 1.106 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8077
+t=42: Selected seed 195 with value = 0.8077
+Query 1/1: Action query time = 1.199 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9173
+t=58: Selected seed 195 with value = 0.9173
+Query 1/1: Action query time = 1.172 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.270 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.235 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6201
+t=10: Selected seed 195 with value = 0.6201
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7355
+t=26: Selected seed 195 with value = 0.7355
+Query 1/1: Action query time = 1.027 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8255
+t=42: Selected seed 195 with value = 0.8255
+Query 1/1: Action query time = 1.106 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=58: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.150 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s1/2026_08_03-15_06_02--with_future_img--episode=13--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+Current task success rate: 0.7692307692307693
+Current total success rate: 0.7692307692307693
+Final results:
+Total episodes: 13
+Total successes: 10
+Overall success rate: 0.7692 (76.9%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t1_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t1_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9232c3ac6c5bcdea7204caa61f45ce8944492b8a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t1_s3.txt
@@ -0,0 +1,488 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t1_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.367 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=10: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 2.582 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6950
+t=26: Selected seed 195 with value = 0.6950
+Query 1/1: Action query time = 5.039 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7699
+t=42: Selected seed 195 with value = 0.7699
+Query 1/1: Action query time = 4.452 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9249
+t=58: Selected seed 195 with value = 0.9249
+Query 1/1: Action query time = 5.617 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.910 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.619 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5471
+t=10: Selected seed 195 with value = 0.5471
+Query 1/1: Action query time = 5.119 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6968
+t=26: Selected seed 195 with value = 0.6968
+Query 1/1: Action query time = 5.233 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7901
+t=42: Selected seed 195 with value = 0.7901
+Query 1/1: Action query time = 4.139 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8599
+t=58: Selected seed 195 with value = 0.8599
+Query 1/1: Action query time = 4.922 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=74: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 5.380 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.605 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5886
+t=10: Selected seed 195 with value = 0.5886
+Query 1/1: Action query time = 4.468 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7969
+t=26: Selected seed 195 with value = 0.7969
+Query 1/1: Action query time = 4.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=42: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 4.672 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9074
+t=58: Selected seed 195 with value = 0.9074
+Query 1/1: Action query time = 5.617 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=74: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 3.547 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.911 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.477 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=122: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 4.861 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8180
+t=138: Selected seed 195 with value = 0.8180
+Query 1/1: Action query time = 4.556 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=154: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 4.660 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=170: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 4.067 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=186: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 4.894 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=202: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 5.669 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=218: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 3.218 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=234: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 2.732 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=250: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 5.799 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=266: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 3.702 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=282: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 4.629 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=298: Selected seed 195 with value = 0.9904
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.870 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6068
+t=10: Selected seed 195 with value = 0.6068
+Query 1/1: Action query time = 5.114 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8399
+t=26: Selected seed 195 with value = 0.8399
+Query 1/1: Action query time = 3.350 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8307
+t=42: Selected seed 195 with value = 0.8307
+Query 1/1: Action query time = 5.080 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8855
+t=58: Selected seed 195 with value = 0.8855
+Query 1/1: Action query time = 5.212 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.211 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.574 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5832
+t=10: Selected seed 195 with value = 0.5832
+Query 1/1: Action query time = 4.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6995
+t=26: Selected seed 195 with value = 0.6995
+Query 1/1: Action query time = 6.036 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8034
+t=42: Selected seed 195 with value = 0.8034
+Query 1/1: Action query time = 5.329 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=58: Selected seed 195 with value = 0.9604
+Query 1/1: Action query time = 5.305 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.399 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.107 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=10: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 3.627 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6985
+t=26: Selected seed 195 with value = 0.6985
+Query 1/1: Action query time = 5.128 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=42: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 4.434 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8994
+t=58: Selected seed 195 with value = 0.8994
+Query 1/1: Action query time = 5.488 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.630 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 3.909 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5456
+t=10: Selected seed 195 with value = 0.5456
+Query 1/1: Action query time = 4.323 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7562
+t=26: Selected seed 195 with value = 0.7562
+Query 1/1: Action query time = 4.775 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8152
+t=42: Selected seed 195 with value = 0.8152
+Query 1/1: Action query time = 4.913 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=58: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 3.868 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.456 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.567 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5753
+t=10: Selected seed 195 with value = 0.5753
+Query 1/1: Action query time = 1.743 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6876
+t=26: Selected seed 195 with value = 0.6876
+Query 1/1: Action query time = 2.526 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7782
+t=42: Selected seed 195 with value = 0.7782
+Query 1/1: Action query time = 5.554 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=58: Selected seed 195 with value = 0.8893
+Query 1/1: Action query time = 4.341 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=74: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 4.272 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.920 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5712
+t=10: Selected seed 195 with value = 0.5712
+Query 1/1: Action query time = 4.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8023
+t=26: Selected seed 195 with value = 0.8023
+Query 1/1: Action query time = 3.854 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7948
+t=42: Selected seed 195 with value = 0.7948
+Query 1/1: Action query time = 4.288 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8670
+t=58: Selected seed 195 with value = 0.8670
+Query 1/1: Action query time = 4.419 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=74: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 5.161 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 5.086 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5589
+t=10: Selected seed 195 with value = 0.5589
+Query 1/1: Action query time = 4.918 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6689
+t=26: Selected seed 195 with value = 0.6689
+Query 1/1: Action query time = 4.261 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7804
+t=42: Selected seed 195 with value = 0.7804
+Query 1/1: Action query time = 4.169 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9189
+t=58: Selected seed 195 with value = 0.9189
+Query 1/1: Action query time = 5.234 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.441 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.918 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.743 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=122: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 4.075 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8198
+t=138: Selected seed 195 with value = 0.8198
+Query 1/1: Action query time = 3.912 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9012
+t=154: Selected seed 195 with value = 0.9012
+Query 1/1: Action query time = 3.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=170: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 4.837 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.045 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.622 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.437 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=234: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 3.448 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=250: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 2.781 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9644
+t=266: Selected seed 195 with value = 0.9644
+Query 1/1: Action query time = 4.325 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9416
+t=282: Selected seed 195 with value = 0.9416
+Query 1/1: Action query time = 3.257 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9144
+t=298: Selected seed 195 with value = 0.9144
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.765 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6421
+t=10: Selected seed 195 with value = 0.6421
+Query 1/1: Action query time = 3.639 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8035
+t=26: Selected seed 195 with value = 0.8035
+Query 1/1: Action query time = 3.285 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8069
+t=42: Selected seed 195 with value = 0.8069
+Query 1/1: Action query time = 2.410 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9305
+t=58: Selected seed 195 with value = 0.9305
+Query 1/1: Action query time = 3.183 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.318 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 3.185 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6313
+t=10: Selected seed 195 with value = 0.6313
+Query 1/1: Action query time = 2.798 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8055
+t=26: Selected seed 195 with value = 0.8055
+Query 1/1: Action query time = 2.703 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7796
+t=42: Selected seed 195 with value = 0.7796
+Query 1/1: Action query time = 2.488 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9560
+t=58: Selected seed 195 with value = 0.9560
+Query 1/1: Action query time = 2.769 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.225 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t1_s3/2026_08_03-15_06_02--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+Current task success rate: 0.8333333333333334
+Current total success rate: 0.8333333333333334
+Final results:
+Total episodes: 12
+Total successes: 10
+Overall success rate: 0.8333 (83.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t5_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t5_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c2f14905bab462a60a67df5314e58703c5a20c0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t5_s1.txt
@@ -0,0 +1,599 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t5_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.947 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3807
+t=10: Selected seed 195 with value = 0.3807
+Query 1/1: Action query time = 4.028 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4303
+t=26: Selected seed 195 with value = 0.4303
+Query 1/1: Action query time = 5.229 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5710
+t=42: Selected seed 195 with value = 0.5710
+Query 1/1: Action query time = 5.055 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6578
+t=58: Selected seed 195 with value = 0.6578
+Query 1/1: Action query time = 4.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7380
+t=74: Selected seed 195 with value = 0.7380
+Query 1/1: Action query time = 4.565 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8658
+t=90: Selected seed 195 with value = 0.8658
+Query 1/1: Action query time = 4.825 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=106: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 4.604 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.700 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.866 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3995
+t=10: Selected seed 195 with value = 0.3995
+Query 1/1: Action query time = 4.794 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4318
+t=26: Selected seed 195 with value = 0.4318
+Query 1/1: Action query time = 3.871 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5279
+t=42: Selected seed 195 with value = 0.5279
+Query 1/1: Action query time = 4.813 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5813
+t=58: Selected seed 195 with value = 0.5813
+Query 1/1: Action query time = 4.253 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6740
+t=74: Selected seed 195 with value = 0.6740
+Query 1/1: Action query time = 5.590 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7695
+t=90: Selected seed 195 with value = 0.7695
+Query 1/1: Action query time = 4.762 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=106: Selected seed 195 with value = 0.9297
+Query 1/1: Action query time = 4.457 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.050 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.149 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4173
+t=10: Selected seed 195 with value = 0.4173
+Query 1/1: Action query time = 4.180 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4711
+t=26: Selected seed 195 with value = 0.4711
+Query 1/1: Action query time = 5.299 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5535
+t=42: Selected seed 195 with value = 0.5535
+Query 1/1: Action query time = 4.891 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6641
+t=58: Selected seed 195 with value = 0.6641
+Query 1/1: Action query time = 4.693 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=74: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 3.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8291
+t=90: Selected seed 195 with value = 0.8291
+Query 1/1: Action query time = 4.828 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=106: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 4.643 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.325 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.810 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3869
+t=10: Selected seed 195 with value = 0.3869
+Query 1/1: Action query time = 4.290 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4159
+t=26: Selected seed 195 with value = 0.4159
+Query 1/1: Action query time = 5.166 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5140
+t=42: Selected seed 195 with value = 0.5140
+Query 1/1: Action query time = 5.112 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5539
+t=58: Selected seed 195 with value = 0.5539
+Query 1/1: Action query time = 4.663 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6170
+t=74: Selected seed 195 with value = 0.6170
+Query 1/1: Action query time = 5.656 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7170
+t=90: Selected seed 195 with value = 0.7170
+Query 1/1: Action query time = 5.292 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8394
+t=106: Selected seed 195 with value = 0.8394
+Query 1/1: Action query time = 4.357 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=122: Selected seed 195 with value = 0.9233
+Query 1/1: Action query time = 3.993 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.087 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 3.274 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4003
+t=10: Selected seed 195 with value = 0.4003
+Query 1/1: Action query time = 5.676 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4604
+t=26: Selected seed 195 with value = 0.4604
+Query 1/1: Action query time = 4.885 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5696
+t=42: Selected seed 195 with value = 0.5696
+Query 1/1: Action query time = 4.885 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6395
+t=58: Selected seed 195 with value = 0.6395
+Query 1/1: Action query time = 4.686 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7124
+t=74: Selected seed 195 with value = 0.7124
+Query 1/1: Action query time = 3.605 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8188
+t=90: Selected seed 195 with value = 0.8188
+Query 1/1: Action query time = 5.165 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9401
+t=106: Selected seed 195 with value = 0.9401
+Query 1/1: Action query time = 4.008 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.633 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.558 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.176 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3755
+t=10: Selected seed 195 with value = 0.3755
+Query 1/1: Action query time = 3.271 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4370
+t=26: Selected seed 195 with value = 0.4370
+Query 1/1: Action query time = 4.906 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5456
+t=42: Selected seed 195 with value = 0.5456
+Query 1/1: Action query time = 4.880 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6132
+t=58: Selected seed 195 with value = 0.6132
+Query 1/1: Action query time = 4.870 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6505
+t=74: Selected seed 195 with value = 0.6505
+Query 1/1: Action query time = 5.205 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7139
+t=90: Selected seed 195 with value = 0.7139
+Query 1/1: Action query time = 4.260 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8408
+t=106: Selected seed 195 with value = 0.8408
+Query 1/1: Action query time = 5.123 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=122: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 2.508 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.934 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.145 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3699
+t=10: Selected seed 195 with value = 0.3699
+Query 1/1: Action query time = 4.781 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4378
+t=26: Selected seed 195 with value = 0.4378
+Query 1/1: Action query time = 4.595 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5295
+t=42: Selected seed 195 with value = 0.5295
+Query 1/1: Action query time = 5.561 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5440
+t=58: Selected seed 195 with value = 0.5440
+Query 1/1: Action query time = 3.052 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6129
+t=74: Selected seed 195 with value = 0.6129
+Query 1/1: Action query time = 5.182 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6913
+t=90: Selected seed 195 with value = 0.6913
+Query 1/1: Action query time = 5.046 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8168
+t=106: Selected seed 195 with value = 0.8168
+Query 1/1: Action query time = 4.895 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=122: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 3.348 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=138: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 3.892 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.392 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3679
+t=10: Selected seed 195 with value = 0.3679
+Query 1/1: Action query time = 4.618 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4670
+t=26: Selected seed 195 with value = 0.4670
+Query 1/1: Action query time = 2.486 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4988
+t=42: Selected seed 195 with value = 0.4988
+Query 1/1: Action query time = 5.036 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6287
+t=58: Selected seed 195 with value = 0.6287
+Query 1/1: Action query time = 5.676 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6334
+t=74: Selected seed 195 with value = 0.6334
+Query 1/1: Action query time = 5.574 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7389
+t=90: Selected seed 195 with value = 0.7389
+Query 1/1: Action query time = 5.714 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8145
+t=106: Selected seed 195 with value = 0.8145
+Query 1/1: Action query time = 3.837 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8878
+t=122: Selected seed 195 with value = 0.8878
+Query 1/1: Action query time = 3.731 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=138: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 3.198 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.216 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3940
+t=10: Selected seed 195 with value = 0.3940
+Query 1/1: Action query time = 3.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4670
+t=26: Selected seed 195 with value = 0.4670
+Query 1/1: Action query time = 4.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5501
+t=42: Selected seed 195 with value = 0.5501
+Query 1/1: Action query time = 2.213 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6244
+t=58: Selected seed 195 with value = 0.6244
+Query 1/1: Action query time = 2.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7283
+t=74: Selected seed 195 with value = 0.7283
+Query 1/1: Action query time = 3.070 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8190
+t=90: Selected seed 195 with value = 0.8190
+Query 1/1: Action query time = 3.041 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=106: Selected seed 195 with value = 0.9499
+Query 1/1: Action query time = 2.239 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.275 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 2.375 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3640
+t=10: Selected seed 195 with value = 0.3640
+Query 1/1: Action query time = 2.930 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4152
+t=26: Selected seed 195 with value = 0.4152
+Query 1/1: Action query time = 3.222 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5271
+t=42: Selected seed 195 with value = 0.5271
+Query 1/1: Action query time = 3.049 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5669
+t=58: Selected seed 195 with value = 0.5669
+Query 1/1: Action query time = 3.069 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6406
+t=74: Selected seed 195 with value = 0.6406
+Query 1/1: Action query time = 3.241 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7235
+t=90: Selected seed 195 with value = 0.7235
+Query 1/1: Action query time = 3.178 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8640
+t=106: Selected seed 195 with value = 0.8640
+Query 1/1: Action query time = 2.258 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=122: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 2.050 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.217 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 3.231 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3943
+t=10: Selected seed 195 with value = 0.3943
+Query 1/1: Action query time = 3.685 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4367
+t=26: Selected seed 195 with value = 0.4367
+Query 1/1: Action query time = 2.911 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5299
+t=42: Selected seed 195 with value = 0.5299
+Query 1/1: Action query time = 2.824 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6291
+t=58: Selected seed 195 with value = 0.6291
+Query 1/1: Action query time = 2.734 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6547
+t=74: Selected seed 195 with value = 0.6547
+Query 1/1: Action query time = 2.660 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7185
+t=90: Selected seed 195 with value = 0.7185
+Query 1/1: Action query time = 2.712 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8927
+t=106: Selected seed 195 with value = 0.8927
+Query 1/1: Action query time = 2.566 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=122: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 1.720 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.298 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3674
+t=10: Selected seed 195 with value = 0.3674
+Query 1/1: Action query time = 2.422 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4703
+t=26: Selected seed 195 with value = 0.4703
+Query 1/1: Action query time = 2.431 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5711
+t=42: Selected seed 195 with value = 0.5711
+Query 1/1: Action query time = 2.437 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6262
+t=58: Selected seed 195 with value = 0.6262
+Query 1/1: Action query time = 2.378 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7129
+t=74: Selected seed 195 with value = 0.7129
+Query 1/1: Action query time = 2.417 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8340
+t=90: Selected seed 195 with value = 0.8340
+Query 1/1: Action query time = 2.409 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=106: Selected seed 195 with value = 0.9564
+Query 1/1: Action query time = 1.528 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.535 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.222 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3501
+t=10: Selected seed 195 with value = 0.3501
+Query 1/1: Action query time = 2.249 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4209
+t=26: Selected seed 195 with value = 0.4209
+Query 1/1: Action query time = 2.289 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4703
+t=42: Selected seed 195 with value = 0.4703
+Query 1/1: Action query time = 2.388 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5744
+t=58: Selected seed 195 with value = 0.5744
+Query 1/1: Action query time = 2.473 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6072
+t=74: Selected seed 195 with value = 0.6072
+Query 1/1: Action query time = 2.230 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7373
+t=90: Selected seed 195 with value = 0.7373
+Query 1/1: Action query time = 2.152 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7954
+t=106: Selected seed 195 with value = 0.7954
+Query 1/1: Action query time = 1.230 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8560
+t=122: Selected seed 195 with value = 0.8560
+Query 1/1: Action query time = 1.636 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=138: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 1.244 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s1/2026_08_03-15_19_31--with_future_img--episode=13--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t5_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t5_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a8fc3e7b061749cdcd2f35d950896fd35c04d79
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t5_s2.txt
@@ -0,0 +1,548 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t5_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.665 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3750
+t=10: Selected seed 195 with value = 0.3750
+Query 1/1: Action query time = 4.522 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4171
+t=26: Selected seed 195 with value = 0.4171
+Query 1/1: Action query time = 4.610 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=42: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 4.817 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5380
+t=58: Selected seed 195 with value = 0.5380
+Query 1/1: Action query time = 4.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6315
+t=74: Selected seed 195 with value = 0.6315
+Query 1/1: Action query time = 3.871 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7543
+t=90: Selected seed 195 with value = 0.7543
+Query 1/1: Action query time = 4.257 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8466
+t=106: Selected seed 195 with value = 0.8466
+Query 1/1: Action query time = 4.549 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=122: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 3.246 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.194 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.943 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3634
+t=10: Selected seed 195 with value = 0.3634
+Query 1/1: Action query time = 4.367 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4285
+t=26: Selected seed 195 with value = 0.4285
+Query 1/1: Action query time = 5.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=42: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 4.524 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=58: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 5.214 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6344
+t=74: Selected seed 195 with value = 0.6344
+Query 1/1: Action query time = 4.844 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7179
+t=90: Selected seed 195 with value = 0.7179
+Query 1/1: Action query time = 4.228 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8019
+t=106: Selected seed 195 with value = 0.8019
+Query 1/1: Action query time = 4.212 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=122: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 3.419 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=138: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 4.441 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.371 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3945
+t=10: Selected seed 195 with value = 0.3945
+Query 1/1: Action query time = 4.725 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4193
+t=26: Selected seed 195 with value = 0.4193
+Query 1/1: Action query time = 4.520 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=42: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 4.111 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=58: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 5.035 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7051
+t=74: Selected seed 195 with value = 0.7051
+Query 1/1: Action query time = 4.759 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7933
+t=90: Selected seed 195 with value = 0.7933
+Query 1/1: Action query time = 4.317 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=106: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 3.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.930 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 5.331 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3685
+t=10: Selected seed 195 with value = 0.3685
+Query 1/1: Action query time = 4.439 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3973
+t=26: Selected seed 195 with value = 0.3973
+Query 1/1: Action query time = 4.346 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=42: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 4.772 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=58: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 3.488 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6895
+t=74: Selected seed 195 with value = 0.6895
+Query 1/1: Action query time = 4.904 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8096
+t=90: Selected seed 195 with value = 0.8096
+Query 1/1: Action query time = 5.231 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=106: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 2.904 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.876 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3590
+t=10: Selected seed 195 with value = 0.3590
+Query 1/1: Action query time = 4.836 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4205
+t=26: Selected seed 195 with value = 0.4205
+Query 1/1: Action query time = 4.599 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5287
+t=42: Selected seed 195 with value = 0.5287
+Query 1/1: Action query time = 5.036 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5491
+t=58: Selected seed 195 with value = 0.5491
+Query 1/1: Action query time = 4.425 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5934
+t=74: Selected seed 195 with value = 0.5934
+Query 1/1: Action query time = 5.588 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6992
+t=90: Selected seed 195 with value = 0.6992
+Query 1/1: Action query time = 4.514 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7968
+t=106: Selected seed 195 with value = 0.7968
+Query 1/1: Action query time = 4.471 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=122: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 3.736 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=138: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 5.720 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.284 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4024
+t=10: Selected seed 195 with value = 0.4024
+Query 1/1: Action query time = 5.230 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4361
+t=26: Selected seed 195 with value = 0.4361
+Query 1/1: Action query time = 4.937 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5550
+t=42: Selected seed 195 with value = 0.5550
+Query 1/1: Action query time = 5.125 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6017
+t=58: Selected seed 195 with value = 0.6017
+Query 1/1: Action query time = 4.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6411
+t=74: Selected seed 195 with value = 0.6411
+Query 1/1: Action query time = 4.486 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7267
+t=90: Selected seed 195 with value = 0.7267
+Query 1/1: Action query time = 2.556 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9013
+t=106: Selected seed 195 with value = 0.9013
+Query 1/1: Action query time = 4.877 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=122: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 4.746 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.157 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.336 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4035
+t=10: Selected seed 195 with value = 0.4035
+Query 1/1: Action query time = 4.323 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4389
+t=26: Selected seed 195 with value = 0.4389
+Query 1/1: Action query time = 5.263 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5405
+t=42: Selected seed 195 with value = 0.5405
+Query 1/1: Action query time = 4.284 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6217
+t=58: Selected seed 195 with value = 0.6217
+Query 1/1: Action query time = 5.021 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7082
+t=74: Selected seed 195 with value = 0.7082
+Query 1/1: Action query time = 3.882 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7757
+t=90: Selected seed 195 with value = 0.7757
+Query 1/1: Action query time = 3.754 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=106: Selected seed 195 with value = 0.8675
+Query 1/1: Action query time = 4.141 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=122: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 4.668 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.353 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.234 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3634
+t=10: Selected seed 195 with value = 0.3634
+Query 1/1: Action query time = 5.677 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4672
+t=26: Selected seed 195 with value = 0.4672
+Query 1/1: Action query time = 5.475 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5595
+t=42: Selected seed 195 with value = 0.5595
+Query 1/1: Action query time = 4.084 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=58: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 3.505 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6579
+t=74: Selected seed 195 with value = 0.6579
+Query 1/1: Action query time = 3.731 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7676
+t=90: Selected seed 195 with value = 0.7676
+Query 1/1: Action query time = 4.071 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=106: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 3.047 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=122: Selected seed 195 with value = 0.9940
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.820 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3250
+t=10: Selected seed 195 with value = 0.3250
+Query 1/1: Action query time = 3.688 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3925
+t=26: Selected seed 195 with value = 0.3925
+Query 1/1: Action query time = 2.672 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5288
+t=42: Selected seed 195 with value = 0.5288
+Query 1/1: Action query time = 3.241 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6053
+t=58: Selected seed 195 with value = 0.6053
+Query 1/1: Action query time = 2.853 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6973
+t=74: Selected seed 195 with value = 0.6973
+Query 1/1: Action query time = 3.442 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=90: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 2.128 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=106: Selected seed 195 with value = 0.9616
+Query 1/1: Action query time = 2.338 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.469 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.086 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3821
+t=10: Selected seed 195 with value = 0.3821
+Query 1/1: Action query time = 3.102 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4363
+t=26: Selected seed 195 with value = 0.4363
+Query 1/1: Action query time = 3.097 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5622
+t=42: Selected seed 195 with value = 0.5622
+Query 1/1: Action query time = 3.120 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6179
+t=58: Selected seed 195 with value = 0.6179
+Query 1/1: Action query time = 2.863 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6646
+t=74: Selected seed 195 with value = 0.6646
+Query 1/1: Action query time = 2.940 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7712
+t=90: Selected seed 195 with value = 0.7712
+Query 1/1: Action query time = 2.482 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9146
+t=106: Selected seed 195 with value = 0.9146
+Query 1/1: Action query time = 2.216 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.317 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 3.650 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3543
+t=10: Selected seed 195 with value = 0.3543
+Query 1/1: Action query time = 3.196 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3979
+t=26: Selected seed 195 with value = 0.3979
+Query 1/1: Action query time = 2.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5151
+t=42: Selected seed 195 with value = 0.5151
+Query 1/1: Action query time = 2.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5279
+t=58: Selected seed 195 with value = 0.5279
+Query 1/1: Action query time = 2.812 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5779
+t=74: Selected seed 195 with value = 0.5779
+Query 1/1: Action query time = 2.340 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6492
+t=90: Selected seed 195 with value = 0.6492
+Query 1/1: Action query time = 2.198 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7582
+t=106: Selected seed 195 with value = 0.7582
+Query 1/1: Action query time = 2.062 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=122: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 1.669 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.707 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.510 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3714
+t=10: Selected seed 195 with value = 0.3714
+Query 1/1: Action query time = 2.446 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4282
+t=26: Selected seed 195 with value = 0.4282
+Query 1/1: Action query time = 2.455 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5502
+t=42: Selected seed 195 with value = 0.5502
+Query 1/1: Action query time = 2.436 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5908
+t=58: Selected seed 195 with value = 0.5908
+Query 1/1: Action query time = 2.423 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6793
+t=74: Selected seed 195 with value = 0.6793
+Query 1/1: Action query time = 2.450 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=90: Selected seed 195 with value = 0.8171
+Query 1/1: Action query time = 2.139 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9549
+t=106: Selected seed 195 with value = 0.9549
+Query 1/1: Action query time = 1.935 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.114 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s2/2026_08_03-15_19_31--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t1_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t1_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be44a59e6d6c1647ba84ecb9cbe6700c3508edd5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t1_s2.txt
@@ -0,0 +1,540 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t1_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.833 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5814
+t=10: Selected seed 195 with value = 0.5814
+Query 1/1: Action query time = 4.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7120
+t=26: Selected seed 195 with value = 0.7120
+Query 1/1: Action query time = 4.760 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8009
+t=42: Selected seed 195 with value = 0.8009
+Query 1/1: Action query time = 5.407 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=58: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 4.755 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9583
+t=74: Selected seed 195 with value = 0.9583
+Query 1/1: Action query time = 4.712 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.543 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5832
+t=10: Selected seed 195 with value = 0.5832
+Query 1/1: Action query time = 5.510 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7050
+t=26: Selected seed 195 with value = 0.7050
+Query 1/1: Action query time = 4.679 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7386
+t=42: Selected seed 195 with value = 0.7386
+Query 1/1: Action query time = 4.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8554
+t=58: Selected seed 195 with value = 0.8554
+Query 1/1: Action query time = 5.122 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=74: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 5.146 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.265 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5190
+t=10: Selected seed 195 with value = 0.5190
+Query 1/1: Action query time = 4.918 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6377
+t=26: Selected seed 195 with value = 0.6377
+Query 1/1: Action query time = 5.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7573
+t=42: Selected seed 195 with value = 0.7573
+Query 1/1: Action query time = 4.924 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8963
+t=58: Selected seed 195 with value = 0.8963
+Query 1/1: Action query time = 3.779 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=74: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 3.306 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.265 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5804
+t=10: Selected seed 195 with value = 0.5804
+Query 1/1: Action query time = 5.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=26: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 5.551 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7948
+t=42: Selected seed 195 with value = 0.7948
+Query 1/1: Action query time = 5.637 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=58: Selected seed 195 with value = 0.9306
+Query 1/1: Action query time = 4.754 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.374 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 2.576 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6606
+t=10: Selected seed 195 with value = 0.6606
+Query 1/1: Action query time = 3.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7969
+t=26: Selected seed 195 with value = 0.7969
+Query 1/1: Action query time = 4.742 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7671
+t=42: Selected seed 195 with value = 0.7671
+Query 1/1: Action query time = 4.282 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8192
+t=58: Selected seed 195 with value = 0.8192
+Query 1/1: Action query time = 5.505 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=74: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 4.442 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.340 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=106: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 4.159 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=122: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 4.781 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=138: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 4.548 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=154: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 4.477 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=170: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 4.782 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9422
+t=186: Selected seed 195 with value = 0.9422
+Query 1/1: Action query time = 5.888 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9253
+t=202: Selected seed 195 with value = 0.9253
+Query 1/1: Action query time = 4.313 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9100
+t=218: Selected seed 195 with value = 0.9100
+Query 1/1: Action query time = 5.347 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8958
+t=234: Selected seed 195 with value = 0.8958
+Query 1/1: Action query time = 4.887 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9034
+t=250: Selected seed 195 with value = 0.9034
+Query 1/1: Action query time = 4.142 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8956
+t=266: Selected seed 195 with value = 0.8956
+Query 1/1: Action query time = 5.234 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8913
+t=282: Selected seed 195 with value = 0.8913
+Query 1/1: Action query time = 4.219 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=298: Selected seed 195 with value = 0.8779
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.642 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6706
+t=10: Selected seed 195 with value = 0.6706
+Query 1/1: Action query time = 4.813 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8250
+t=26: Selected seed 195 with value = 0.8250
+Query 1/1: Action query time = 5.268 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7483
+t=42: Selected seed 195 with value = 0.7483
+Query 1/1: Action query time = 5.869 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8198
+t=58: Selected seed 195 with value = 0.8198
+Query 1/1: Action query time = 3.215 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=74: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 4.015 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 3.600 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5717
+t=10: Selected seed 195 with value = 0.5717
+Query 1/1: Action query time = 4.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6494
+t=26: Selected seed 195 with value = 0.6494
+Query 1/1: Action query time = 3.478 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7504
+t=42: Selected seed 195 with value = 0.7504
+Query 1/1: Action query time = 4.806 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=58: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 5.623 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=74: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 4.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.890 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5556
+t=10: Selected seed 195 with value = 0.5556
+Query 1/1: Action query time = 5.526 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6349
+t=26: Selected seed 195 with value = 0.6349
+Query 1/1: Action query time = 4.097 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7352
+t=42: Selected seed 195 with value = 0.7352
+Query 1/1: Action query time = 4.236 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8513
+t=58: Selected seed 195 with value = 0.8513
+Query 1/1: Action query time = 3.505 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=74: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 4.844 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.554 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=106: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 5.148 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.741 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9274
+t=138: Selected seed 195 with value = 0.9274
+Query 1/1: Action query time = 4.819 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8100
+t=154: Selected seed 195 with value = 0.8100
+Query 1/1: Action query time = 4.733 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=170: Selected seed 195 with value = 0.9228
+Query 1/1: Action query time = 4.085 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=186: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 4.516 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=202: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 3.156 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=218: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 5.371 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=234: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 4.950 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=250: Selected seed 195 with value = 0.9668
+Query 1/1: Action query time = 4.693 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9631
+t=266: Selected seed 195 with value = 0.9631
+Query 1/1: Action query time = 4.393 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=282: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 3.520 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=298: Selected seed 195 with value = 0.9599
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.412 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=10: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 4.044 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6648
+t=26: Selected seed 195 with value = 0.6648
+Query 1/1: Action query time = 4.105 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7763
+t=42: Selected seed 195 with value = 0.7763
+Query 1/1: Action query time = 4.274 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9128
+t=58: Selected seed 195 with value = 0.9128
+Query 1/1: Action query time = 3.857 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.592 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.953 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6074
+t=10: Selected seed 195 with value = 0.6074
+Query 1/1: Action query time = 4.003 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7412
+t=26: Selected seed 195 with value = 0.7412
+Query 1/1: Action query time = 4.339 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7612
+t=42: Selected seed 195 with value = 0.7612
+Query 1/1: Action query time = 4.561 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8719
+t=58: Selected seed 195 with value = 0.8719
+Query 1/1: Action query time = 3.534 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=74: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 3.603 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.142 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=122: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 3.911 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=138: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 4.064 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=154: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 4.237 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=170: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 3.315 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=186: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 4.565 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=202: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 2.775 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=218: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 3.052 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8732
+t=234: Selected seed 195 with value = 0.8732
+Query 1/1: Action query time = 3.789 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8260
+t=250: Selected seed 195 with value = 0.8260
+Query 1/1: Action query time = 2.826 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8222
+t=266: Selected seed 195 with value = 0.8222
+Query 1/1: Action query time = 3.501 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8383
+t=282: Selected seed 195 with value = 0.8383
+Query 1/1: Action query time = 2.742 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8589
+t=298: Selected seed 195 with value = 0.8589
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 2.059 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5616
+t=10: Selected seed 195 with value = 0.5616
+Query 1/1: Action query time = 1.739 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6888
+t=26: Selected seed 195 with value = 0.6888
+Query 1/1: Action query time = 2.231 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7675
+t=42: Selected seed 195 with value = 0.7675
+Query 1/1: Action query time = 3.268 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=58: Selected seed 195 with value = 0.9072
+Query 1/1: Action query time = 2.805 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.189 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 1.815 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5370
+t=10: Selected seed 195 with value = 0.5370
+Query 1/1: Action query time = 1.550 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6443
+t=26: Selected seed 195 with value = 0.6443
+Query 1/1: Action query time = 1.301 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7591
+t=42: Selected seed 195 with value = 0.7591
+Query 1/1: Action query time = 1.084 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8849
+t=58: Selected seed 195 with value = 0.8849
+Query 1/1: Action query time = 1.333 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.464 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s2/2026_08_03-15_54_03--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 12
+Total successes: 9
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t3_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t3_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..515488d43d01c30c96544674738a10e78521baab
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t3_s2.txt
@@ -0,0 +1,660 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t3_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.502 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2208
+t=10: Selected seed 195 with value = 0.2208
+Query 1/1: Action query time = 3.415 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2644
+t=26: Selected seed 195 with value = 0.2644
+Query 1/1: Action query time = 5.357 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3009
+t=42: Selected seed 195 with value = 0.3009
+Query 1/1: Action query time = 5.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3414
+t=58: Selected seed 195 with value = 0.3414
+Query 1/1: Action query time = 4.801 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3944
+t=74: Selected seed 195 with value = 0.3944
+Query 1/1: Action query time = 3.268 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4491
+t=90: Selected seed 195 with value = 0.4491
+Query 1/1: Action query time = 4.733 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5724
+t=106: Selected seed 195 with value = 0.5724
+Query 1/1: Action query time = 5.621 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6676
+t=122: Selected seed 195 with value = 0.6676
+Query 1/1: Action query time = 5.327 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7733
+t=138: Selected seed 195 with value = 0.7733
+Query 1/1: Action query time = 4.220 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=154: Selected seed 195 with value = 0.9072
+Query 1/1: Action query time = 4.444 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=170: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 2.704 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=186: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 3.944 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=202: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 4.858 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=218: Selected seed 195 with value = 0.9711
+Query 1/1: Action query time = 3.318 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3397
+t=234: Selected seed 195 with value = 0.3397
+Query 1/1: Action query time = 4.433 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3412
+t=250: Selected seed 195 with value = 0.3412
+Query 1/1: Action query time = 4.770 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6061
+t=266: Selected seed 195 with value = 0.6061
+Query 1/1: Action query time = 5.475 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5684
+t=282: Selected seed 195 with value = 0.5684
+Query 1/1: Action query time = 5.506 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5716
+t=298: Selected seed 195 with value = 0.5716
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.719 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2136
+t=10: Selected seed 195 with value = 0.2136
+Query 1/1: Action query time = 5.012 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2337
+t=26: Selected seed 195 with value = 0.2337
+Query 1/1: Action query time = 4.216 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3097
+t=42: Selected seed 195 with value = 0.3097
+Query 1/1: Action query time = 4.107 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3522
+t=58: Selected seed 195 with value = 0.3522
+Query 1/1: Action query time = 4.363 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4124
+t=74: Selected seed 195 with value = 0.4124
+Query 1/1: Action query time = 4.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4642
+t=90: Selected seed 195 with value = 0.4642
+Query 1/1: Action query time = 4.703 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5848
+t=106: Selected seed 195 with value = 0.5848
+Query 1/1: Action query time = 4.210 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6600
+t=122: Selected seed 195 with value = 0.6600
+Query 1/1: Action query time = 3.798 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7753
+t=138: Selected seed 195 with value = 0.7753
+Query 1/1: Action query time = 4.448 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9408
+t=154: Selected seed 195 with value = 0.9408
+Query 1/1: Action query time = 5.804 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=170: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.936 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2132
+t=10: Selected seed 195 with value = 0.2132
+Query 1/1: Action query time = 5.998 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2447
+t=26: Selected seed 195 with value = 0.2447
+Query 1/1: Action query time = 3.852 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3065
+t=42: Selected seed 195 with value = 0.3065
+Query 1/1: Action query time = 3.915 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3517
+t=58: Selected seed 195 with value = 0.3517
+Query 1/1: Action query time = 5.252 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4101
+t=74: Selected seed 195 with value = 0.4101
+Query 1/1: Action query time = 5.046 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4741
+t=90: Selected seed 195 with value = 0.4741
+Query 1/1: Action query time = 4.482 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5907
+t=106: Selected seed 195 with value = 0.5907
+Query 1/1: Action query time = 3.788 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6745
+t=122: Selected seed 195 with value = 0.6745
+Query 1/1: Action query time = 4.856 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7990
+t=138: Selected seed 195 with value = 0.7990
+Query 1/1: Action query time = 4.512 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9254
+t=154: Selected seed 195 with value = 0.9254
+Query 1/1: Action query time = 3.366 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=170: Selected seed 195 with value = 0.9932
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.569 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2082
+t=10: Selected seed 195 with value = 0.2082
+Query 1/1: Action query time = 5.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2428
+t=26: Selected seed 195 with value = 0.2428
+Query 1/1: Action query time = 4.072 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3112
+t=42: Selected seed 195 with value = 0.3112
+Query 1/1: Action query time = 4.694 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3558
+t=58: Selected seed 195 with value = 0.3558
+Query 1/1: Action query time = 4.855 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4184
+t=74: Selected seed 195 with value = 0.4184
+Query 1/1: Action query time = 3.053 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4795
+t=90: Selected seed 195 with value = 0.4795
+Query 1/1: Action query time = 5.364 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6205
+t=106: Selected seed 195 with value = 0.6205
+Query 1/1: Action query time = 5.242 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7930
+t=122: Selected seed 195 with value = 0.7930
+Query 1/1: Action query time = 4.879 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8750
+t=138: Selected seed 195 with value = 0.8750
+Query 1/1: Action query time = 5.263 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 4.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2124
+t=10: Selected seed 195 with value = 0.2124
+Query 1/1: Action query time = 1.918 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2566
+t=26: Selected seed 195 with value = 0.2566
+Query 1/1: Action query time = 4.799 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2956
+t=42: Selected seed 195 with value = 0.2956
+Query 1/1: Action query time = 5.264 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3330
+t=58: Selected seed 195 with value = 0.3330
+Query 1/1: Action query time = 4.479 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3948
+t=74: Selected seed 195 with value = 0.3948
+Query 1/1: Action query time = 3.933 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4388
+t=90: Selected seed 195 with value = 0.4388
+Query 1/1: Action query time = 3.879 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5622
+t=106: Selected seed 195 with value = 0.5622
+Query 1/1: Action query time = 5.171 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6427
+t=122: Selected seed 195 with value = 0.6427
+Query 1/1: Action query time = 4.215 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7604
+t=138: Selected seed 195 with value = 0.7604
+Query 1/1: Action query time = 4.373 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8704
+t=154: Selected seed 195 with value = 0.8704
+Query 1/1: Action query time = 3.670 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=170: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 5.392 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 4.511 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2213
+t=10: Selected seed 195 with value = 0.2213
+Query 1/1: Action query time = 4.814 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2462
+t=26: Selected seed 195 with value = 0.2462
+Query 1/1: Action query time = 3.328 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3109
+t=42: Selected seed 195 with value = 0.3109
+Query 1/1: Action query time = 3.709 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3639
+t=58: Selected seed 195 with value = 0.3639
+Query 1/1: Action query time = 5.686 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4179
+t=74: Selected seed 195 with value = 0.4179
+Query 1/1: Action query time = 4.834 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4930
+t=90: Selected seed 195 with value = 0.4930
+Query 1/1: Action query time = 3.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6017
+t=106: Selected seed 195 with value = 0.6017
+Query 1/1: Action query time = 4.525 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8216
+t=122: Selected seed 195 with value = 0.8216
+Query 1/1: Action query time = 5.619 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=138: Selected seed 195 with value = 0.8602
+Query 1/1: Action query time = 4.681 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=154: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 4.691 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 4.768 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2089
+t=10: Selected seed 195 with value = 0.2089
+Query 1/1: Action query time = 3.317 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2392
+t=26: Selected seed 195 with value = 0.2392
+Query 1/1: Action query time = 4.733 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3015
+t=42: Selected seed 195 with value = 0.3015
+Query 1/1: Action query time = 5.582 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3400
+t=58: Selected seed 195 with value = 0.3400
+Query 1/1: Action query time = 3.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4010
+t=74: Selected seed 195 with value = 0.4010
+Query 1/1: Action query time = 3.545 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4701
+t=90: Selected seed 195 with value = 0.4701
+Query 1/1: Action query time = 4.169 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=106: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 3.410 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6715
+t=122: Selected seed 195 with value = 0.6715
+Query 1/1: Action query time = 4.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7692
+t=138: Selected seed 195 with value = 0.7692
+Query 1/1: Action query time = 3.617 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=154: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 5.852 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=170: Selected seed 195 with value = 0.9706
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 4.413 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2125
+t=10: Selected seed 195 with value = 0.2125
+Query 1/1: Action query time = 4.748 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2439
+t=26: Selected seed 195 with value = 0.2439
+Query 1/1: Action query time = 3.899 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3116
+t=42: Selected seed 195 with value = 0.3116
+Query 1/1: Action query time = 5.744 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3554
+t=58: Selected seed 195 with value = 0.3554
+Query 1/1: Action query time = 4.278 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4115
+t=74: Selected seed 195 with value = 0.4115
+Query 1/1: Action query time = 3.900 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4916
+t=90: Selected seed 195 with value = 0.4916
+Query 1/1: Action query time = 5.191 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5913
+t=106: Selected seed 195 with value = 0.5913
+Query 1/1: Action query time = 4.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6881
+t=122: Selected seed 195 with value = 0.6881
+Query 1/1: Action query time = 4.356 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7888
+t=138: Selected seed 195 with value = 0.7888
+Query 1/1: Action query time = 4.553 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9381
+t=154: Selected seed 195 with value = 0.9381
+Query 1/1: Action query time = 4.923 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=170: Selected seed 195 with value = 0.9885
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 4.809 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2150
+t=10: Selected seed 195 with value = 0.2150
+Query 1/1: Action query time = 4.721 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2447
+t=26: Selected seed 195 with value = 0.2447
+Query 1/1: Action query time = 4.559 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3133
+t=42: Selected seed 195 with value = 0.3133
+Query 1/1: Action query time = 4.314 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3554
+t=58: Selected seed 195 with value = 0.3554
+Query 1/1: Action query time = 2.635 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4134
+t=74: Selected seed 195 with value = 0.4134
+Query 1/1: Action query time = 2.923 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=90: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 3.862 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5725
+t=106: Selected seed 195 with value = 0.5725
+Query 1/1: Action query time = 3.384 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7903
+t=122: Selected seed 195 with value = 0.7903
+Query 1/1: Action query time = 3.397 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7977
+t=138: Selected seed 195 with value = 0.7977
+Query 1/1: Action query time = 3.556 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8877
+t=154: Selected seed 195 with value = 0.8877
+Query 1/1: Action query time = 3.083 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=170: Selected seed 195 with value = 0.9894
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 1.680 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2280
+t=10: Selected seed 195 with value = 0.2280
+Query 1/1: Action query time = 2.710 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2364
+t=26: Selected seed 195 with value = 0.2364
+Query 1/1: Action query time = 3.020 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2972
+t=42: Selected seed 195 with value = 0.2972
+Query 1/1: Action query time = 3.205 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3536
+t=58: Selected seed 195 with value = 0.3536
+Query 1/1: Action query time = 3.040 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4026
+t=74: Selected seed 195 with value = 0.4026
+Query 1/1: Action query time = 2.639 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4591
+t=90: Selected seed 195 with value = 0.4591
+Query 1/1: Action query time = 3.220 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5887
+t=106: Selected seed 195 with value = 0.5887
+Query 1/1: Action query time = 2.238 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=122: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 1.646 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7583
+t=138: Selected seed 195 with value = 0.7583
+Query 1/1: Action query time = 2.933 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8138
+t=154: Selected seed 195 with value = 0.8138
+Query 1/1: Action query time = 3.304 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=170: Selected seed 195 with value = 0.9451
+Query 1/1: Action query time = 3.321 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 2.762 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2216
+t=10: Selected seed 195 with value = 0.2216
+Query 1/1: Action query time = 3.486 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2475
+t=26: Selected seed 195 with value = 0.2475
+Query 1/1: Action query time = 3.315 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3107
+t=42: Selected seed 195 with value = 0.3107
+Query 1/1: Action query time = 3.231 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3585
+t=58: Selected seed 195 with value = 0.3585
+Query 1/1: Action query time = 2.582 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4194
+t=74: Selected seed 195 with value = 0.4194
+Query 1/1: Action query time = 2.659 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4880
+t=90: Selected seed 195 with value = 0.4880
+Query 1/1: Action query time = 2.603 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6005
+t=106: Selected seed 195 with value = 0.6005
+Query 1/1: Action query time = 2.584 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7218
+t=122: Selected seed 195 with value = 0.7218
+Query 1/1: Action query time = 2.204 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=138: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 2.752 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=154: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 2.627 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=170: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=11--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 1.836 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2159
+t=10: Selected seed 195 with value = 0.2159
+Query 1/1: Action query time = 2.427 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2427
+t=26: Selected seed 195 with value = 0.2427
+Query 1/1: Action query time = 2.388 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3004
+t=42: Selected seed 195 with value = 0.3004
+Query 1/1: Action query time = 2.417 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3458
+t=58: Selected seed 195 with value = 0.3458
+Query 1/1: Action query time = 2.093 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4044
+t=74: Selected seed 195 with value = 0.4044
+Query 1/1: Action query time = 2.251 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4717
+t=90: Selected seed 195 with value = 0.4717
+Query 1/1: Action query time = 2.263 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5715
+t=106: Selected seed 195 with value = 0.5715
+Query 1/1: Action query time = 2.371 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6806
+t=122: Selected seed 195 with value = 0.6806
+Query 1/1: Action query time = 2.623 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7773
+t=138: Selected seed 195 with value = 0.7773
+Query 1/1: Action query time = 2.665 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=154: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 2.614 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=170: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s2/2026_08_03-15_54_03--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+Current task success rate: 0.9166666666666666
+Current total success rate: 0.9166666666666666
+Final results:
+Total episodes: 12
+Total successes: 11
+Overall success rate: 0.9167 (91.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t6_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t6_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c131fd26f92b12229e2c8158fc205cae833c25c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t6_s2.txt
@@ -0,0 +1,528 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t6_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 3.585 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4839
+t=10: Selected seed 195 with value = 0.4839
+Query 1/1: Action query time = 2.287 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5767
+t=26: Selected seed 195 with value = 0.5767
+Query 1/1: Action query time = 2.257 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=42: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 2.917 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7597
+t=58: Selected seed 195 with value = 0.7597
+Query 1/1: Action query time = 3.250 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8773
+t=74: Selected seed 195 with value = 0.8773
+Query 1/1: Action query time = 3.240 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=90: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 1.910 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.550 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=122: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 2.273 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=138: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 2.427 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8425
+t=154: Selected seed 195 with value = 0.8425
+Query 1/1: Action query time = 2.239 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8419
+t=170: Selected seed 195 with value = 0.8419
+Query 1/1: Action query time = 2.588 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=186: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 2.479 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.714 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.023 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.777 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.257 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 1.528 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5468
+t=10: Selected seed 195 with value = 0.5468
+Query 1/1: Action query time = 1.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=26: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 3.208 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7464
+t=42: Selected seed 195 with value = 0.7464
+Query 1/1: Action query time = 2.650 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=58: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 1.329 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=74: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 2.620 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=90: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 1.265 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5201
+t=10: Selected seed 195 with value = 0.5201
+Query 1/1: Action query time = 1.393 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6031
+t=26: Selected seed 195 with value = 0.6031
+Query 1/1: Action query time = 1.791 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=42: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 2.269 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=58: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 1.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=74: Selected seed 195 with value = 0.9712
+Query 1/1: Action query time = 3.099 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 2.408 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=10: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 1.728 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6088
+t=26: Selected seed 195 with value = 0.6088
+Query 1/1: Action query time = 2.509 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7349
+t=42: Selected seed 195 with value = 0.7349
+Query 1/1: Action query time = 2.460 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8502
+t=58: Selected seed 195 with value = 0.8502
+Query 1/1: Action query time = 2.599 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=74: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 2.699 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 2.116 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5315
+t=10: Selected seed 195 with value = 0.5315
+Query 1/1: Action query time = 1.876 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6150
+t=26: Selected seed 195 with value = 0.6150
+Query 1/1: Action query time = 2.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7392
+t=42: Selected seed 195 with value = 0.7392
+Query 1/1: Action query time = 2.911 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8641
+t=58: Selected seed 195 with value = 0.8641
+Query 1/1: Action query time = 2.245 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9747
+t=74: Selected seed 195 with value = 0.9747
+Query 1/1: Action query time = 2.423 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 1.908 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5127
+t=10: Selected seed 195 with value = 0.5127
+Query 1/1: Action query time = 1.279 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5880
+t=26: Selected seed 195 with value = 0.5880
+Query 1/1: Action query time = 1.232 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=42: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 1.676 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8248
+t=58: Selected seed 195 with value = 0.8248
+Query 1/1: Action query time = 2.525 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=74: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 1.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=90: Selected seed 195 with value = 0.9954
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 2.044 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4954
+t=10: Selected seed 195 with value = 0.4954
+Query 1/1: Action query time = 1.889 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5781
+t=26: Selected seed 195 with value = 0.5781
+Query 1/1: Action query time = 2.227 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6282
+t=42: Selected seed 195 with value = 0.6282
+Query 1/1: Action query time = 1.374 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7600
+t=58: Selected seed 195 with value = 0.7600
+Query 1/1: Action query time = 2.142 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9172
+t=74: Selected seed 195 with value = 0.9172
+Query 1/1: Action query time = 3.286 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=90: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 2.696 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.360 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=122: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 1.191 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=138: Selected seed 195 with value = 0.9711
+Query 1/1: Action query time = 1.656 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8165
+t=154: Selected seed 195 with value = 0.8165
+Query 1/1: Action query time = 2.322 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9486
+t=170: Selected seed 195 with value = 0.9486
+Query 1/1: Action query time = 2.005 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=186: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 1.553 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=202: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 1.320 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9177
+t=218: Selected seed 195 with value = 0.9177
+Query 1/1: Action query time = 2.502 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=234: Selected seed 195 with value = 0.9497
+Query 1/1: Action query time = 3.037 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9223
+t=250: Selected seed 195 with value = 0.9223
+Query 1/1: Action query time = 2.642 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=266: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 3.332 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=282: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 3.076 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=7--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 2.235 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4807
+t=10: Selected seed 195 with value = 0.4807
+Query 1/1: Action query time = 1.590 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5687
+t=26: Selected seed 195 with value = 0.5687
+Query 1/1: Action query time = 1.697 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6582
+t=42: Selected seed 195 with value = 0.6582
+Query 1/1: Action query time = 2.422 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7862
+t=58: Selected seed 195 with value = 0.7862
+Query 1/1: Action query time = 3.160 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9062
+t=74: Selected seed 195 with value = 0.9062
+Query 1/1: Action query time = 2.322 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=90: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 1.477 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4822
+t=10: Selected seed 195 with value = 0.4822
+Query 1/1: Action query time = 1.785 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5884
+t=26: Selected seed 195 with value = 0.5884
+Query 1/1: Action query time = 1.325 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=42: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 2.128 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8021
+t=58: Selected seed 195 with value = 0.8021
+Query 1/1: Action query time = 2.872 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9283
+t=74: Selected seed 195 with value = 0.9283
+Query 1/1: Action query time = 2.832 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=90: Selected seed 195 with value = 0.9968
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 2.704 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5187
+t=10: Selected seed 195 with value = 0.5187
+Query 1/1: Action query time = 2.260 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=26: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 1.938 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=42: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 1.818 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7664
+t=58: Selected seed 195 with value = 0.7664
+Query 1/1: Action query time = 2.021 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9260
+t=74: Selected seed 195 with value = 0.9260
+Query 1/1: Action query time = 2.424 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=90: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 2.670 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.148 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=122: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 1.646 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=138: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 2.451 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=154: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 1.807 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=170: Selected seed 195 with value = 0.9681
+Query 1/1: Action query time = 1.710 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7399
+t=186: Selected seed 195 with value = 0.7399
+Query 1/1: Action query time = 2.630 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8945
+t=202: Selected seed 195 with value = 0.8945
+Query 1/1: Action query time = 3.149 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.320 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.612 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.460 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.687 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 2.501 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4967
+t=10: Selected seed 195 with value = 0.4967
+Query 1/1: Action query time = 2.144 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5810
+t=26: Selected seed 195 with value = 0.5810
+Query 1/1: Action query time = 2.466 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6776
+t=42: Selected seed 195 with value = 0.6776
+Query 1/1: Action query time = 2.178 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8315
+t=58: Selected seed 195 with value = 0.8315
+Query 1/1: Action query time = 1.283 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9591
+t=74: Selected seed 195 with value = 0.9591
+Query 1/1: Action query time = 1.398 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=90: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 2.559 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4987
+t=10: Selected seed 195 with value = 0.4987
+Query 1/1: Action query time = 2.447 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5896
+t=26: Selected seed 195 with value = 0.5896
+Query 1/1: Action query time = 2.140 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6796
+t=42: Selected seed 195 with value = 0.6796
+Query 1/1: Action query time = 1.948 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7810
+t=58: Selected seed 195 with value = 0.7810
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9134
+t=74: Selected seed 195 with value = 0.9134
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=90: Selected seed 195 with value = 0.9831
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s2/2026_08_03-16_07_39--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+Current task success rate: 0.9166666666666666
+Current total success rate: 0.9166666666666666
+Final results:
+Total episodes: 12
+Total successes: 11
+Overall success rate: 0.9167 (91.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_48--v2i350_p1_t0_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_48--v2i350_p1_t0_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d361c1644693e8da09ccf13ec715b3356b1dc278
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_48--v2i350_p1_t0_s1.txt
@@ -0,0 +1,567 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t0_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.093 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4010
+t=10: Selected seed 195 with value = 0.4010
+Query 1/1: Action query time = 4.715 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=26: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 5.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5592
+t=42: Selected seed 195 with value = 0.5592
+Query 1/1: Action query time = 5.661 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6444
+t=58: Selected seed 195 with value = 0.6444
+Query 1/1: Action query time = 5.392 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7503
+t=74: Selected seed 195 with value = 0.7503
+Query 1/1: Action query time = 5.045 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=90: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 4.748 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.063 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=122: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.334 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4065
+t=10: Selected seed 195 with value = 0.4065
+Query 1/1: Action query time = 4.325 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4476
+t=26: Selected seed 195 with value = 0.4476
+Query 1/1: Action query time = 4.802 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5585
+t=42: Selected seed 195 with value = 0.5585
+Query 1/1: Action query time = 5.204 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6584
+t=58: Selected seed 195 with value = 0.6584
+Query 1/1: Action query time = 3.231 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7549
+t=74: Selected seed 195 with value = 0.7549
+Query 1/1: Action query time = 4.610 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=90: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 4.943 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=106: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 5.098 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.224 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4402
+t=10: Selected seed 195 with value = 0.4402
+Query 1/1: Action query time = 3.908 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5146
+t=26: Selected seed 195 with value = 0.5146
+Query 1/1: Action query time = 4.157 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5711
+t=42: Selected seed 195 with value = 0.5711
+Query 1/1: Action query time = 4.666 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6540
+t=58: Selected seed 195 with value = 0.6540
+Query 1/1: Action query time = 5.494 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7485
+t=74: Selected seed 195 with value = 0.7485
+Query 1/1: Action query time = 5.163 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9133
+t=90: Selected seed 195 with value = 0.9133
+Query 1/1: Action query time = 5.171 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.565 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4013
+t=10: Selected seed 195 with value = 0.4013
+Query 1/1: Action query time = 3.716 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4709
+t=26: Selected seed 195 with value = 0.4709
+Query 1/1: Action query time = 5.484 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5455
+t=42: Selected seed 195 with value = 0.5455
+Query 1/1: Action query time = 5.326 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6324
+t=58: Selected seed 195 with value = 0.6324
+Query 1/1: Action query time = 5.152 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=74: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 4.684 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9032
+t=90: Selected seed 195 with value = 0.9032
+Query 1/1: Action query time = 3.582 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=106: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 3.278 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=122: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.243 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4077
+t=10: Selected seed 195 with value = 0.4077
+Query 1/1: Action query time = 4.946 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4746
+t=26: Selected seed 195 with value = 0.4746
+Query 1/1: Action query time = 4.900 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=42: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 5.216 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=58: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 4.382 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=74: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 4.179 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=90: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 4.005 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=106: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 4.887 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.398 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3730
+t=10: Selected seed 195 with value = 0.3730
+Query 1/1: Action query time = 4.740 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3405
+t=26: Selected seed 195 with value = 0.3405
+Query 1/1: Action query time = 4.244 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4280
+t=42: Selected seed 195 with value = 0.4280
+Query 1/1: Action query time = 5.104 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5618
+t=58: Selected seed 195 with value = 0.5618
+Query 1/1: Action query time = 4.058 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7448
+t=74: Selected seed 195 with value = 0.7448
+Query 1/1: Action query time = 4.264 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8381
+t=90: Selected seed 195 with value = 0.8381
+Query 1/1: Action query time = 5.763 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.434 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=122: Selected seed 195 with value = 0.9463
+Query 1/1: Action query time = 4.435 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7579
+t=138: Selected seed 195 with value = 0.7579
+Query 1/1: Action query time = 4.626 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7783
+t=154: Selected seed 195 with value = 0.7783
+Query 1/1: Action query time = 3.887 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7686
+t=170: Selected seed 195 with value = 0.7686
+Query 1/1: Action query time = 4.529 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7577
+t=186: Selected seed 195 with value = 0.7577
+Query 1/1: Action query time = 4.554 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7542
+t=202: Selected seed 195 with value = 0.7542
+Query 1/1: Action query time = 4.656 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7600
+t=218: Selected seed 195 with value = 0.7600
+Query 1/1: Action query time = 4.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7560
+t=234: Selected seed 195 with value = 0.7560
+Query 1/1: Action query time = 4.826 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7624
+t=250: Selected seed 195 with value = 0.7624
+Query 1/1: Action query time = 4.169 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7841
+t=266: Selected seed 195 with value = 0.7841
+Query 1/1: Action query time = 4.532 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8110
+t=282: Selected seed 195 with value = 0.8110
+Query 1/1: Action query time = 5.049 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8399
+t=298: Selected seed 195 with value = 0.8399
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=6--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.106 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3815
+t=10: Selected seed 195 with value = 0.3815
+Query 1/1: Action query time = 3.171 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4552
+t=26: Selected seed 195 with value = 0.4552
+Query 1/1: Action query time = 3.913 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5445
+t=42: Selected seed 195 with value = 0.5445
+Query 1/1: Action query time = 5.307 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6258
+t=58: Selected seed 195 with value = 0.6258
+Query 1/1: Action query time = 4.862 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7620
+t=74: Selected seed 195 with value = 0.7620
+Query 1/1: Action query time = 4.770 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8952
+t=90: Selected seed 195 with value = 0.8952
+Query 1/1: Action query time = 4.805 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=106: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 5.400 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.333 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3835
+t=10: Selected seed 195 with value = 0.3835
+Query 1/1: Action query time = 3.893 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4346
+t=26: Selected seed 195 with value = 0.4346
+Query 1/1: Action query time = 4.549 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5218
+t=42: Selected seed 195 with value = 0.5218
+Query 1/1: Action query time = 4.883 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=58: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 5.073 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7591
+t=74: Selected seed 195 with value = 0.7591
+Query 1/1: Action query time = 3.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=90: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 4.887 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.863 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.372 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3745
+t=10: Selected seed 195 with value = 0.3745
+Query 1/1: Action query time = 6.230 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4359
+t=26: Selected seed 195 with value = 0.4359
+Query 1/1: Action query time = 4.046 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5247
+t=42: Selected seed 195 with value = 0.5247
+Query 1/1: Action query time = 4.653 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6490
+t=58: Selected seed 195 with value = 0.6490
+Query 1/1: Action query time = 4.802 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8002
+t=74: Selected seed 195 with value = 0.8002
+Query 1/1: Action query time = 4.715 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8643
+t=90: Selected seed 195 with value = 0.8643
+Query 1/1: Action query time = 4.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9205
+t=106: Selected seed 195 with value = 0.9205
+Query 1/1: Action query time = 4.677 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.109 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.429 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3823
+t=10: Selected seed 195 with value = 0.3823
+Query 1/1: Action query time = 3.707 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4551
+t=26: Selected seed 195 with value = 0.4551
+Query 1/1: Action query time = 3.565 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5359
+t=42: Selected seed 195 with value = 0.5359
+Query 1/1: Action query time = 3.333 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6404
+t=58: Selected seed 195 with value = 0.6404
+Query 1/1: Action query time = 2.149 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7491
+t=74: Selected seed 195 with value = 0.7491
+Query 1/1: Action query time = 2.567 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9077
+t=90: Selected seed 195 with value = 0.9077
+Query 1/1: Action query time = 3.831 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=106: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 3.110 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 3.368 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3878
+t=10: Selected seed 195 with value = 0.3878
+Query 1/1: Action query time = 2.527 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4534
+t=26: Selected seed 195 with value = 0.4534
+Query 1/1: Action query time = 3.175 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5402
+t=42: Selected seed 195 with value = 0.5402
+Query 1/1: Action query time = 2.647 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6586
+t=58: Selected seed 195 with value = 0.6586
+Query 1/1: Action query time = 2.298 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7530
+t=74: Selected seed 195 with value = 0.7530
+Query 1/1: Action query time = 2.244 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8902
+t=90: Selected seed 195 with value = 0.8902
+Query 1/1: Action query time = 1.392 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=106: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 1.601 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 2.260 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3761
+t=10: Selected seed 195 with value = 0.3761
+Query 1/1: Action query time = 2.235 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4547
+t=26: Selected seed 195 with value = 0.4547
+Query 1/1: Action query time = 1.790 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5501
+t=42: Selected seed 195 with value = 0.5501
+Query 1/1: Action query time = 1.738 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6323
+t=58: Selected seed 195 with value = 0.6323
+Query 1/1: Action query time = 1.209 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7473
+t=74: Selected seed 195 with value = 0.7473
+Query 1/1: Action query time = 1.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9188
+t=90: Selected seed 195 with value = 0.9188
+Query 1/1: Action query time = 1.364 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.301 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3803
+t=10: Selected seed 195 with value = 0.3803
+Query 1/1: Action query time = 1.221 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4700
+t=26: Selected seed 195 with value = 0.4700
+Query 1/1: Action query time = 1.225 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5337
+t=42: Selected seed 195 with value = 0.5337
+Query 1/1: Action query time = 1.123 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6710
+t=58: Selected seed 195 with value = 0.6710
+Query 1/1: Action query time = 1.176 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7983
+t=74: Selected seed 195 with value = 0.7983
+Query 1/1: Action query time = 1.476 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9311
+t=90: Selected seed 195 with value = 0.9311
+Query 1/1: Action query time = 1.043 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=106: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 1.889 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s1/2026_08_03-17_25_48--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_49--v2i350_p1_t2_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_49--v2i350_p1_t2_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d06ce397c37ce4cc97aa646afcd1b384dad3d2ff
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_49--v2i350_p1_t2_s0.txt
@@ -0,0 +1,527 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t2_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.523 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6016
+t=10: Selected seed 195 with value = 0.6016
+Query 1/1: Action query time = 4.481 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7310
+t=26: Selected seed 195 with value = 0.7310
+Query 1/1: Action query time = 5.246 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8830
+t=42: Selected seed 195 with value = 0.8830
+Query 1/1: Action query time = 4.882 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=58: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.254 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.852 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.305 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5663
+t=10: Selected seed 195 with value = 0.5663
+Query 1/1: Action query time = 4.937 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7145
+t=26: Selected seed 195 with value = 0.7145
+Query 1/1: Action query time = 5.271 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=42: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 3.082 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=58: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 4.044 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.054 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.222 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5613
+t=10: Selected seed 195 with value = 0.5613
+Query 1/1: Action query time = 4.331 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6892
+t=26: Selected seed 195 with value = 0.6892
+Query 1/1: Action query time = 4.905 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8359
+t=42: Selected seed 195 with value = 0.8359
+Query 1/1: Action query time = 4.820 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=58: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 5.600 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.208 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.477 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5510
+t=10: Selected seed 195 with value = 0.5510
+Query 1/1: Action query time = 4.643 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6637
+t=26: Selected seed 195 with value = 0.6637
+Query 1/1: Action query time = 3.925 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7697
+t=42: Selected seed 195 with value = 0.7697
+Query 1/1: Action query time = 3.912 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9171
+t=58: Selected seed 195 with value = 0.9171
+Query 1/1: Action query time = 3.535 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=74: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 4.289 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=90: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 5.362 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8848
+t=106: Selected seed 195 with value = 0.8848
+Query 1/1: Action query time = 4.419 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8561
+t=122: Selected seed 195 with value = 0.8561
+Query 1/1: Action query time = 5.345 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8186
+t=138: Selected seed 195 with value = 0.8186
+Query 1/1: Action query time = 4.416 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8316
+t=154: Selected seed 195 with value = 0.8316
+Query 1/1: Action query time = 5.138 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7892
+t=170: Selected seed 195 with value = 0.7892
+Query 1/1: Action query time = 5.373 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=186: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 4.883 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8359
+t=202: Selected seed 195 with value = 0.8359
+Query 1/1: Action query time = 4.326 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8080
+t=218: Selected seed 195 with value = 0.8080
+Query 1/1: Action query time = 4.378 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8008
+t=234: Selected seed 195 with value = 0.8008
+Query 1/1: Action query time = 4.628 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8196
+t=250: Selected seed 195 with value = 0.8196
+Query 1/1: Action query time = 3.828 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8137
+t=266: Selected seed 195 with value = 0.8137
+Query 1/1: Action query time = 4.108 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8019
+t=282: Selected seed 195 with value = 0.8019
+Query 1/1: Action query time = 4.645 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8053
+t=298: Selected seed 195 with value = 0.8053
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.162 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5691
+t=10: Selected seed 195 with value = 0.5691
+Query 1/1: Action query time = 3.804 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6377
+t=26: Selected seed 195 with value = 0.6377
+Query 1/1: Action query time = 3.778 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7517
+t=42: Selected seed 195 with value = 0.7517
+Query 1/1: Action query time = 4.549 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=58: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 5.233 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=74: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 5.410 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.872 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.606 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=10: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 4.874 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7248
+t=26: Selected seed 195 with value = 0.7248
+Query 1/1: Action query time = 4.866 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=42: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 5.084 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=58: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 5.099 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.283 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 3.712 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=10: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 5.134 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7045
+t=26: Selected seed 195 with value = 0.7045
+Query 1/1: Action query time = 5.177 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7813
+t=42: Selected seed 195 with value = 0.7813
+Query 1/1: Action query time = 4.357 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=58: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 4.328 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=74: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 3.845 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.849 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5598
+t=10: Selected seed 195 with value = 0.5598
+Query 1/1: Action query time = 4.069 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5005
+t=26: Selected seed 195 with value = 0.5005
+Query 1/1: Action query time = 5.049 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7032
+t=42: Selected seed 195 with value = 0.7032
+Query 1/1: Action query time = 5.052 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8830
+t=58: Selected seed 195 with value = 0.8830
+Query 1/1: Action query time = 4.176 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=74: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 4.636 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.858 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.629 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5639
+t=10: Selected seed 195 with value = 0.5639
+Query 1/1: Action query time = 4.777 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=26: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 4.287 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7219
+t=42: Selected seed 195 with value = 0.7219
+Query 1/1: Action query time = 3.516 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8304
+t=58: Selected seed 195 with value = 0.8304
+Query 1/1: Action query time = 3.580 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=74: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 4.093 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.704 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5198
+t=10: Selected seed 195 with value = 0.5198
+Query 1/1: Action query time = 4.780 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6595
+t=26: Selected seed 195 with value = 0.6595
+Query 1/1: Action query time = 5.389 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=42: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 4.942 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=58: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 5.123 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=74: Selected seed 195 with value = 0.9681
+Query 1/1: Action query time = 4.028 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.321 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5617
+t=10: Selected seed 195 with value = 0.5617
+Query 1/1: Action query time = 3.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6694
+t=26: Selected seed 195 with value = 0.6694
+Query 1/1: Action query time = 4.852 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8071
+t=42: Selected seed 195 with value = 0.8071
+Query 1/1: Action query time = 3.675 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=58: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 3.192 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=74: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 5.031 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 4.802 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5563
+t=10: Selected seed 195 with value = 0.5563
+Query 1/1: Action query time = 4.825 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7088
+t=26: Selected seed 195 with value = 0.7088
+Query 1/1: Action query time = 3.925 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7976
+t=42: Selected seed 195 with value = 0.7976
+Query 1/1: Action query time = 4.628 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9249
+t=58: Selected seed 195 with value = 0.9249
+Query 1/1: Action query time = 4.311 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=74: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 4.669 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 5.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5371
+t=10: Selected seed 195 with value = 0.5371
+Query 1/1: Action query time = 5.024 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6150
+t=26: Selected seed 195 with value = 0.6150
+Query 1/1: Action query time = 4.211 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7657
+t=42: Selected seed 195 with value = 0.7657
+Query 1/1: Action query time = 4.688 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8056
+t=58: Selected seed 195 with value = 0.8056
+Query 1/1: Action query time = 3.586 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=74: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 3.379 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=90: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 4.445 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=106: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 4.391 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=122: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 4.411 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.860 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.504 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.921 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.154 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.573 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.626 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.506 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=250: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 3.914 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=266: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 3.620 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=282: Selected seed 195 with value = 0.9712
+Query 1/1: Action query time = 4.145 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=298: Selected seed 195 with value = 0.9132
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s0/2026_08_03-17_25_49--with_future_img--episode=13--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+Current task success rate: 0.8461538461538461
+Current total success rate: 0.8461538461538461
+Final results:
+Total episodes: 13
+Total successes: 11
+Overall success rate: 0.8462 (84.6%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_49--v2i350_p1_t3_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_49--v2i350_p1_t3_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..009562fc074e9a632625db3ad0f087417e408d04
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_49--v2i350_p1_t3_s3.txt
@@ -0,0 +1,660 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t3_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 7.174 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2130
+t=10: Selected seed 195 with value = 0.2130
+Query 1/1: Action query time = 5.547 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2584
+t=26: Selected seed 195 with value = 0.2584
+Query 1/1: Action query time = 4.414 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2948
+t=42: Selected seed 195 with value = 0.2948
+Query 1/1: Action query time = 3.858 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3361
+t=58: Selected seed 195 with value = 0.3361
+Query 1/1: Action query time = 5.274 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3916
+t=74: Selected seed 195 with value = 0.3916
+Query 1/1: Action query time = 4.090 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4609
+t=90: Selected seed 195 with value = 0.4609
+Query 1/1: Action query time = 4.460 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5688
+t=106: Selected seed 195 with value = 0.5688
+Query 1/1: Action query time = 5.615 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6552
+t=122: Selected seed 195 with value = 0.6552
+Query 1/1: Action query time = 5.228 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8188
+t=138: Selected seed 195 with value = 0.8188
+Query 1/1: Action query time = 4.403 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8890
+t=154: Selected seed 195 with value = 0.8890
+Query 1/1: Action query time = 3.627 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=170: Selected seed 195 with value = 0.9752
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.499 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2322
+t=10: Selected seed 195 with value = 0.2322
+Query 1/1: Action query time = 4.618 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2524
+t=26: Selected seed 195 with value = 0.2524
+Query 1/1: Action query time = 4.903 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3039
+t=42: Selected seed 195 with value = 0.3039
+Query 1/1: Action query time = 4.711 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3511
+t=58: Selected seed 195 with value = 0.3511
+Query 1/1: Action query time = 4.131 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4074
+t=74: Selected seed 195 with value = 0.4074
+Query 1/1: Action query time = 5.431 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4586
+t=90: Selected seed 195 with value = 0.4586
+Query 1/1: Action query time = 4.911 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5859
+t=106: Selected seed 195 with value = 0.5859
+Query 1/1: Action query time = 3.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6858
+t=122: Selected seed 195 with value = 0.6858
+Query 1/1: Action query time = 5.238 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7895
+t=138: Selected seed 195 with value = 0.7895
+Query 1/1: Action query time = 4.697 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9107
+t=154: Selected seed 195 with value = 0.9107
+Query 1/1: Action query time = 3.890 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.783 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2035
+t=10: Selected seed 195 with value = 0.2035
+Query 1/1: Action query time = 4.793 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2494
+t=26: Selected seed 195 with value = 0.2494
+Query 1/1: Action query time = 4.439 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3037
+t=42: Selected seed 195 with value = 0.3037
+Query 1/1: Action query time = 4.253 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3512
+t=58: Selected seed 195 with value = 0.3512
+Query 1/1: Action query time = 4.771 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4022
+t=74: Selected seed 195 with value = 0.4022
+Query 1/1: Action query time = 4.770 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4639
+t=90: Selected seed 195 with value = 0.4639
+Query 1/1: Action query time = 4.612 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=106: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 4.784 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6813
+t=122: Selected seed 195 with value = 0.6813
+Query 1/1: Action query time = 5.071 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8053
+t=138: Selected seed 195 with value = 0.8053
+Query 1/1: Action query time = 4.836 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=154: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 4.725 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=170: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.792 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2306
+t=10: Selected seed 195 with value = 0.2306
+Query 1/1: Action query time = 5.322 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2541
+t=26: Selected seed 195 with value = 0.2541
+Query 1/1: Action query time = 4.032 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3022
+t=42: Selected seed 195 with value = 0.3022
+Query 1/1: Action query time = 4.741 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3386
+t=58: Selected seed 195 with value = 0.3386
+Query 1/1: Action query time = 4.492 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3892
+t=74: Selected seed 195 with value = 0.3892
+Query 1/1: Action query time = 3.883 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4539
+t=90: Selected seed 195 with value = 0.4539
+Query 1/1: Action query time = 4.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5624
+t=106: Selected seed 195 with value = 0.5624
+Query 1/1: Action query time = 5.119 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=122: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 5.001 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8196
+t=138: Selected seed 195 with value = 0.8196
+Query 1/1: Action query time = 5.342 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8932
+t=154: Selected seed 195 with value = 0.8932
+Query 1/1: Action query time = 4.295 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 4.085 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2213
+t=10: Selected seed 195 with value = 0.2213
+Query 1/1: Action query time = 5.335 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2556
+t=26: Selected seed 195 with value = 0.2556
+Query 1/1: Action query time = 5.031 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2960
+t=42: Selected seed 195 with value = 0.2960
+Query 1/1: Action query time = 4.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3291
+t=58: Selected seed 195 with value = 0.3291
+Query 1/1: Action query time = 4.779 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3812
+t=74: Selected seed 195 with value = 0.3812
+Query 1/1: Action query time = 3.075 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4515
+t=90: Selected seed 195 with value = 0.4515
+Query 1/1: Action query time = 4.809 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5407
+t=106: Selected seed 195 with value = 0.5407
+Query 1/1: Action query time = 5.302 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6188
+t=122: Selected seed 195 with value = 0.6188
+Query 1/1: Action query time = 4.709 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7120
+t=138: Selected seed 195 with value = 0.7120
+Query 1/1: Action query time = 4.579 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9002
+t=154: Selected seed 195 with value = 0.9002
+Query 1/1: Action query time = 4.375 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 2.659 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2082
+t=10: Selected seed 195 with value = 0.2082
+Query 1/1: Action query time = 3.819 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2416
+t=26: Selected seed 195 with value = 0.2416
+Query 1/1: Action query time = 4.758 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3064
+t=42: Selected seed 195 with value = 0.3064
+Query 1/1: Action query time = 5.637 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3551
+t=58: Selected seed 195 with value = 0.3551
+Query 1/1: Action query time = 5.242 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4177
+t=74: Selected seed 195 with value = 0.4177
+Query 1/1: Action query time = 4.243 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4661
+t=90: Selected seed 195 with value = 0.4661
+Query 1/1: Action query time = 4.252 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5915
+t=106: Selected seed 195 with value = 0.5915
+Query 1/1: Action query time = 5.040 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6888
+t=122: Selected seed 195 with value = 0.6888
+Query 1/1: Action query time = 4.216 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8213
+t=138: Selected seed 195 with value = 0.8213
+Query 1/1: Action query time = 5.682 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=154: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 5.200 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=170: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 3.774 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2230
+t=10: Selected seed 195 with value = 0.2230
+Query 1/1: Action query time = 3.095 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2455
+t=26: Selected seed 195 with value = 0.2455
+Query 1/1: Action query time = 3.696 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3026
+t=42: Selected seed 195 with value = 0.3026
+Query 1/1: Action query time = 4.644 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3415
+t=58: Selected seed 195 with value = 0.3415
+Query 1/1: Action query time = 5.375 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3942
+t=74: Selected seed 195 with value = 0.3942
+Query 1/1: Action query time = 5.644 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4640
+t=90: Selected seed 195 with value = 0.4640
+Query 1/1: Action query time = 4.814 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5683
+t=106: Selected seed 195 with value = 0.5683
+Query 1/1: Action query time = 4.407 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6603
+t=122: Selected seed 195 with value = 0.6603
+Query 1/1: Action query time = 4.952 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7900
+t=138: Selected seed 195 with value = 0.7900
+Query 1/1: Action query time = 5.903 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=154: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 4.056 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=170: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 5.289 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2258
+t=10: Selected seed 195 with value = 0.2258
+Query 1/1: Action query time = 3.719 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2508
+t=26: Selected seed 195 with value = 0.2508
+Query 1/1: Action query time = 3.583 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2996
+t=42: Selected seed 195 with value = 0.2996
+Query 1/1: Action query time = 5.032 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3487
+t=58: Selected seed 195 with value = 0.3487
+Query 1/1: Action query time = 4.548 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4005
+t=74: Selected seed 195 with value = 0.4005
+Query 1/1: Action query time = 5.317 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4581
+t=90: Selected seed 195 with value = 0.4581
+Query 1/1: Action query time = 5.543 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5754
+t=106: Selected seed 195 with value = 0.5754
+Query 1/1: Action query time = 4.354 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6722
+t=122: Selected seed 195 with value = 0.6722
+Query 1/1: Action query time = 3.818 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7960
+t=138: Selected seed 195 with value = 0.7960
+Query 1/1: Action query time = 4.731 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9202
+t=154: Selected seed 195 with value = 0.9202
+Query 1/1: Action query time = 4.207 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 5.259 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2220
+t=10: Selected seed 195 with value = 0.2220
+Query 1/1: Action query time = 4.759 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2561
+t=26: Selected seed 195 with value = 0.2561
+Query 1/1: Action query time = 4.674 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2901
+t=42: Selected seed 195 with value = 0.2901
+Query 1/1: Action query time = 4.092 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3341
+t=58: Selected seed 195 with value = 0.3341
+Query 1/1: Action query time = 3.689 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3924
+t=74: Selected seed 195 with value = 0.3924
+Query 1/1: Action query time = 4.699 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4617
+t=90: Selected seed 195 with value = 0.4617
+Query 1/1: Action query time = 4.916 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5511
+t=106: Selected seed 195 with value = 0.5511
+Query 1/1: Action query time = 4.831 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6494
+t=122: Selected seed 195 with value = 0.6494
+Query 1/1: Action query time = 4.742 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7603
+t=138: Selected seed 195 with value = 0.7603
+Query 1/1: Action query time = 3.462 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8630
+t=154: Selected seed 195 with value = 0.8630
+Query 1/1: Action query time = 3.843 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=170: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 3.945 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 4.446 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2257
+t=10: Selected seed 195 with value = 0.2257
+Query 1/1: Action query time = 4.467 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2538
+t=26: Selected seed 195 with value = 0.2538
+Query 1/1: Action query time = 3.906 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3039
+t=42: Selected seed 195 with value = 0.3039
+Query 1/1: Action query time = 3.594 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3520
+t=58: Selected seed 195 with value = 0.3520
+Query 1/1: Action query time = 4.158 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4131
+t=74: Selected seed 195 with value = 0.4131
+Query 1/1: Action query time = 2.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4719
+t=90: Selected seed 195 with value = 0.4719
+Query 1/1: Action query time = 2.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=106: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 2.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6600
+t=122: Selected seed 195 with value = 0.6600
+Query 1/1: Action query time = 2.584 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8091
+t=138: Selected seed 195 with value = 0.8091
+Query 1/1: Action query time = 2.517 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9485
+t=154: Selected seed 195 with value = 0.9485
+Query 1/1: Action query time = 3.327 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=170: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 3.343 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9457
+t=186: Selected seed 195 with value = 0.9457
+Query 1/1: Action query time = 2.799 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=202: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 3.041 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3506
+t=218: Selected seed 195 with value = 0.3506
+Query 1/1: Action query time = 3.181 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9368
+t=234: Selected seed 195 with value = 0.9368
+Query 1/1: Action query time = 3.018 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=250: Selected seed 195 with value = 0.9229
+Query 1/1: Action query time = 2.670 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9159
+t=266: Selected seed 195 with value = 0.9159
+Query 1/1: Action query time = 3.528 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=282: Selected seed 195 with value = 0.9072
+Query 1/1: Action query time = 2.755 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8947
+t=298: Selected seed 195 with value = 0.8947
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 2.858 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2069
+t=10: Selected seed 195 with value = 0.2069
+Query 1/1: Action query time = 2.221 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2558
+t=26: Selected seed 195 with value = 0.2558
+Query 1/1: Action query time = 2.302 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2959
+t=42: Selected seed 195 with value = 0.2959
+Query 1/1: Action query time = 2.336 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3416
+t=58: Selected seed 195 with value = 0.3416
+Query 1/1: Action query time = 2.585 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4024
+t=74: Selected seed 195 with value = 0.4024
+Query 1/1: Action query time = 2.208 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4689
+t=90: Selected seed 195 with value = 0.4689
+Query 1/1: Action query time = 2.550 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5552
+t=106: Selected seed 195 with value = 0.5552
+Query 1/1: Action query time = 1.303 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6952
+t=122: Selected seed 195 with value = 0.6952
+Query 1/1: Action query time = 1.244 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8058
+t=138: Selected seed 195 with value = 0.8058
+Query 1/1: Action query time = 1.264 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9315
+t=154: Selected seed 195 with value = 0.9315
+Query 1/1: Action query time = 1.896 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=170: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=11--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 2.655 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2156
+t=10: Selected seed 195 with value = 0.2156
+Query 1/1: Action query time = 2.619 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2420
+t=26: Selected seed 195 with value = 0.2420
+Query 1/1: Action query time = 2.633 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2978
+t=42: Selected seed 195 with value = 0.2978
+Query 1/1: Action query time = 2.574 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3319
+t=58: Selected seed 195 with value = 0.3319
+Query 1/1: Action query time = 2.588 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3929
+t=74: Selected seed 195 with value = 0.3929
+Query 1/1: Action query time = 2.566 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4514
+t=90: Selected seed 195 with value = 0.4514
+Query 1/1: Action query time = 2.118 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5534
+t=106: Selected seed 195 with value = 0.5534
+Query 1/1: Action query time = 2.008 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6888
+t=122: Selected seed 195 with value = 0.6888
+Query 1/1: Action query time = 2.175 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7935
+t=138: Selected seed 195 with value = 0.7935
+Query 1/1: Action query time = 1.432 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9146
+t=154: Selected seed 195 with value = 0.9146
+Query 1/1: Action query time = 1.678 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=170: Selected seed 195 with value = 0.9960
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s3/2026_08_03-17_25_49--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+Current task success rate: 0.9166666666666666
+Current total success rate: 0.9166666666666666
+Final results:
+Total episodes: 12
+Total successes: 11
+Overall success rate: 0.9167 (91.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_50--v2i350_p1_t3_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_50--v2i350_p1_t3_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92da2f6e7052ff9f8d050d26406fc37aecc6d3ce
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_50--v2i350_p1_t3_s1.txt
@@ -0,0 +1,747 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t3_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.268 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2223
+t=10: Selected seed 195 with value = 0.2223
+Query 1/1: Action query time = 4.456 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2478
+t=26: Selected seed 195 with value = 0.2478
+Query 1/1: Action query time = 4.705 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3040
+t=42: Selected seed 195 with value = 0.3040
+Query 1/1: Action query time = 4.730 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3539
+t=58: Selected seed 195 with value = 0.3539
+Query 1/1: Action query time = 5.488 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4194
+t=74: Selected seed 195 with value = 0.4194
+Query 1/1: Action query time = 4.697 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4892
+t=90: Selected seed 195 with value = 0.4892
+Query 1/1: Action query time = 3.685 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=106: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 5.701 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7260
+t=122: Selected seed 195 with value = 0.7260
+Query 1/1: Action query time = 5.187 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8627
+t=138: Selected seed 195 with value = 0.8627
+Query 1/1: Action query time = 3.858 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.530 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2103
+t=10: Selected seed 195 with value = 0.2103
+Query 1/1: Action query time = 2.489 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2626
+t=26: Selected seed 195 with value = 0.2626
+Query 1/1: Action query time = 4.088 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2940
+t=42: Selected seed 195 with value = 0.2940
+Query 1/1: Action query time = 5.268 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3379
+t=58: Selected seed 195 with value = 0.3379
+Query 1/1: Action query time = 5.709 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4065
+t=74: Selected seed 195 with value = 0.4065
+Query 1/1: Action query time = 5.085 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4489
+t=90: Selected seed 195 with value = 0.4489
+Query 1/1: Action query time = 4.332 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5667
+t=106: Selected seed 195 with value = 0.5667
+Query 1/1: Action query time = 4.449 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6543
+t=122: Selected seed 195 with value = 0.6543
+Query 1/1: Action query time = 4.140 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=138: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 4.039 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8766
+t=154: Selected seed 195 with value = 0.8766
+Query 1/1: Action query time = 4.953 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=170: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 4.509 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.208 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2367
+t=10: Selected seed 195 with value = 0.2367
+Query 1/1: Action query time = 4.507 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2677
+t=26: Selected seed 195 with value = 0.2677
+Query 1/1: Action query time = 3.841 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3011
+t=42: Selected seed 195 with value = 0.3011
+Query 1/1: Action query time = 5.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3459
+t=58: Selected seed 195 with value = 0.3459
+Query 1/1: Action query time = 4.340 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4047
+t=74: Selected seed 195 with value = 0.4047
+Query 1/1: Action query time = 4.689 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4755
+t=90: Selected seed 195 with value = 0.4755
+Query 1/1: Action query time = 4.096 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5784
+t=106: Selected seed 195 with value = 0.5784
+Query 1/1: Action query time = 4.881 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7082
+t=122: Selected seed 195 with value = 0.7082
+Query 1/1: Action query time = 4.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8052
+t=138: Selected seed 195 with value = 0.8052
+Query 1/1: Action query time = 4.820 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=154: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 4.377 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=170: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 4.492 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9452
+t=186: Selected seed 195 with value = 0.9452
+Query 1/1: Action query time = 4.630 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=202: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 3.728 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9444
+t=218: Selected seed 195 with value = 0.9444
+Query 1/1: Action query time = 4.267 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3637
+t=234: Selected seed 195 with value = 0.3637
+Query 1/1: Action query time = 5.063 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9380
+t=250: Selected seed 195 with value = 0.9380
+Query 1/1: Action query time = 4.099 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=266: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 4.170 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9255
+t=282: Selected seed 195 with value = 0.9255
+Query 1/1: Action query time = 4.707 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9240
+t=298: Selected seed 195 with value = 0.9240
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.262 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2172
+t=10: Selected seed 195 with value = 0.2172
+Query 1/1: Action query time = 4.863 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2614
+t=26: Selected seed 195 with value = 0.2614
+Query 1/1: Action query time = 5.150 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3017
+t=42: Selected seed 195 with value = 0.3017
+Query 1/1: Action query time = 4.826 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3390
+t=58: Selected seed 195 with value = 0.3390
+Query 1/1: Action query time = 3.426 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4183
+t=74: Selected seed 195 with value = 0.4183
+Query 1/1: Action query time = 4.752 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4603
+t=90: Selected seed 195 with value = 0.4603
+Query 1/1: Action query time = 4.484 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5668
+t=106: Selected seed 195 with value = 0.5668
+Query 1/1: Action query time = 5.016 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6370
+t=122: Selected seed 195 with value = 0.6370
+Query 1/1: Action query time = 5.180 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8110
+t=138: Selected seed 195 with value = 0.8110
+Query 1/1: Action query time = 4.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8989
+t=154: Selected seed 195 with value = 0.8989
+Query 1/1: Action query time = 4.478 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 3.113 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2323
+t=10: Selected seed 195 with value = 0.2323
+Query 1/1: Action query time = 4.792 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2450
+t=26: Selected seed 195 with value = 0.2450
+Query 1/1: Action query time = 5.254 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3152
+t=42: Selected seed 195 with value = 0.3152
+Query 1/1: Action query time = 4.350 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3543
+t=58: Selected seed 195 with value = 0.3543
+Query 1/1: Action query time = 5.059 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3962
+t=74: Selected seed 195 with value = 0.3962
+Query 1/1: Action query time = 3.818 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4625
+t=90: Selected seed 195 with value = 0.4625
+Query 1/1: Action query time = 3.720 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5648
+t=106: Selected seed 195 with value = 0.5648
+Query 1/1: Action query time = 4.730 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6640
+t=122: Selected seed 195 with value = 0.6640
+Query 1/1: Action query time = 5.165 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=138: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 4.748 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9321
+t=154: Selected seed 195 with value = 0.9321
+Query 1/1: Action query time = 4.803 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=170: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 5.138 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=186: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 5.592 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3314
+t=202: Selected seed 195 with value = 0.3314
+Query 1/1: Action query time = 4.414 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3332
+t=218: Selected seed 195 with value = 0.3332
+Query 1/1: Action query time = 4.335 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=234: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 5.011 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9203
+t=250: Selected seed 195 with value = 0.9203
+Query 1/1: Action query time = 4.739 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3310
+t=266: Selected seed 195 with value = 0.3310
+Query 1/1: Action query time = 3.945 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9059
+t=282: Selected seed 195 with value = 0.9059
+Query 1/1: Action query time = 3.669 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=298: Selected seed 195 with value = 0.9645
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=5--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 4.092 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2169
+t=10: Selected seed 195 with value = 0.2169
+Query 1/1: Action query time = 5.222 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2329
+t=26: Selected seed 195 with value = 0.2329
+Query 1/1: Action query time = 5.525 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3004
+t=42: Selected seed 195 with value = 0.3004
+Query 1/1: Action query time = 4.732 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3470
+t=58: Selected seed 195 with value = 0.3470
+Query 1/1: Action query time = 4.182 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4054
+t=74: Selected seed 195 with value = 0.4054
+Query 1/1: Action query time = 5.106 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4577
+t=90: Selected seed 195 with value = 0.4577
+Query 1/1: Action query time = 5.657 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5609
+t=106: Selected seed 195 with value = 0.5609
+Query 1/1: Action query time = 3.933 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6852
+t=122: Selected seed 195 with value = 0.6852
+Query 1/1: Action query time = 4.324 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7726
+t=138: Selected seed 195 with value = 0.7726
+Query 1/1: Action query time = 5.115 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8721
+t=154: Selected seed 195 with value = 0.8721
+Query 1/1: Action query time = 4.479 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=170: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 2.871 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 4.599 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2145
+t=10: Selected seed 195 with value = 0.2145
+Query 1/1: Action query time = 5.168 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2543
+t=26: Selected seed 195 with value = 0.2543
+Query 1/1: Action query time = 5.735 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2980
+t=42: Selected seed 195 with value = 0.2980
+Query 1/1: Action query time = 4.809 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3346
+t=58: Selected seed 195 with value = 0.3346
+Query 1/1: Action query time = 3.925 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3931
+t=74: Selected seed 195 with value = 0.3931
+Query 1/1: Action query time = 4.939 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4655
+t=90: Selected seed 195 with value = 0.4655
+Query 1/1: Action query time = 4.747 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5515
+t=106: Selected seed 195 with value = 0.5515
+Query 1/1: Action query time = 4.193 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6506
+t=122: Selected seed 195 with value = 0.6506
+Query 1/1: Action query time = 4.941 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7653
+t=138: Selected seed 195 with value = 0.7653
+Query 1/1: Action query time = 4.599 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8764
+t=154: Selected seed 195 with value = 0.8764
+Query 1/1: Action query time = 4.685 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=170: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 4.436 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 4.754 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2170
+t=10: Selected seed 195 with value = 0.2170
+Query 1/1: Action query time = 4.408 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2607
+t=26: Selected seed 195 with value = 0.2607
+Query 1/1: Action query time = 4.767 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2987
+t=42: Selected seed 195 with value = 0.2987
+Query 1/1: Action query time = 4.251 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3411
+t=58: Selected seed 195 with value = 0.3411
+Query 1/1: Action query time = 3.051 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4013
+t=74: Selected seed 195 with value = 0.4013
+Query 1/1: Action query time = 3.441 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4550
+t=90: Selected seed 195 with value = 0.4550
+Query 1/1: Action query time = 4.382 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5643
+t=106: Selected seed 195 with value = 0.5643
+Query 1/1: Action query time = 3.867 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6999
+t=122: Selected seed 195 with value = 0.6999
+Query 1/1: Action query time = 4.643 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=138: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 2.925 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9173
+t=154: Selected seed 195 with value = 0.9173
+Query 1/1: Action query time = 4.193 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=170: Selected seed 195 with value = 0.9975
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 3.609 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2164
+t=10: Selected seed 195 with value = 0.2164
+Query 1/1: Action query time = 3.315 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2556
+t=26: Selected seed 195 with value = 0.2556
+Query 1/1: Action query time = 3.206 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2945
+t=42: Selected seed 195 with value = 0.2945
+Query 1/1: Action query time = 3.158 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3318
+t=58: Selected seed 195 with value = 0.3318
+Query 1/1: Action query time = 2.937 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3830
+t=74: Selected seed 195 with value = 0.3830
+Query 1/1: Action query time = 2.591 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4600
+t=90: Selected seed 195 with value = 0.4600
+Query 1/1: Action query time = 3.476 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=106: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 3.275 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6080
+t=122: Selected seed 195 with value = 0.6080
+Query 1/1: Action query time = 2.522 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7295
+t=138: Selected seed 195 with value = 0.7295
+Query 1/1: Action query time = 2.045 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8628
+t=154: Selected seed 195 with value = 0.8628
+Query 1/1: Action query time = 3.205 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=170: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 3.215 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=186: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 3.628 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2029
+t=10: Selected seed 195 with value = 0.2029
+Query 1/1: Action query time = 3.475 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2659
+t=26: Selected seed 195 with value = 0.2659
+Query 1/1: Action query time = 2.615 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2988
+t=42: Selected seed 195 with value = 0.2988
+Query 1/1: Action query time = 2.267 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3365
+t=58: Selected seed 195 with value = 0.3365
+Query 1/1: Action query time = 2.873 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4005
+t=74: Selected seed 195 with value = 0.4005
+Query 1/1: Action query time = 2.140 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4671
+t=90: Selected seed 195 with value = 0.4671
+Query 1/1: Action query time = 2.246 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5649
+t=106: Selected seed 195 with value = 0.5649
+Query 1/1: Action query time = 2.468 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7086
+t=122: Selected seed 195 with value = 0.7086
+Query 1/1: Action query time = 2.562 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8126
+t=138: Selected seed 195 with value = 0.8126
+Query 1/1: Action query time = 2.153 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8958
+t=154: Selected seed 195 with value = 0.8958
+Query 1/1: Action query time = 2.385 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=170: Selected seed 195 with value = 0.9968
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 1.785 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2095
+t=10: Selected seed 195 with value = 0.2095
+Query 1/1: Action query time = 1.789 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2445
+t=26: Selected seed 195 with value = 0.2445
+Query 1/1: Action query time = 1.759 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3117
+t=42: Selected seed 195 with value = 0.3117
+Query 1/1: Action query time = 2.160 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3570
+t=58: Selected seed 195 with value = 0.3570
+Query 1/1: Action query time = 2.287 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4153
+t=74: Selected seed 195 with value = 0.4153
+Query 1/1: Action query time = 2.370 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5093
+t=90: Selected seed 195 with value = 0.5093
+Query 1/1: Action query time = 2.375 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6110
+t=106: Selected seed 195 with value = 0.6110
+Query 1/1: Action query time = 2.407 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8115
+t=122: Selected seed 195 with value = 0.8115
+Query 1/1: Action query time = 2.386 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8733
+t=138: Selected seed 195 with value = 0.8733
+Query 1/1: Action query time = 2.419 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=11--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 2.493 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2142
+t=10: Selected seed 195 with value = 0.2142
+Query 1/1: Action query time = 2.341 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2633
+t=26: Selected seed 195 with value = 0.2633
+Query 1/1: Action query time = 2.707 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3009
+t=42: Selected seed 195 with value = 0.3009
+Query 1/1: Action query time = 2.570 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3380
+t=58: Selected seed 195 with value = 0.3380
+Query 1/1: Action query time = 1.844 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4076
+t=74: Selected seed 195 with value = 0.4076
+Query 1/1: Action query time = 1.688 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4597
+t=90: Selected seed 195 with value = 0.4597
+Query 1/1: Action query time = 1.630 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=106: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 1.852 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6156
+t=122: Selected seed 195 with value = 0.6156
+Query 1/1: Action query time = 1.846 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7888
+t=138: Selected seed 195 with value = 0.7888
+Query 1/1: Action query time = 1.782 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8808
+t=154: Selected seed 195 with value = 0.8808
+Query 1/1: Action query time = 1.420 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 1.419 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2047
+t=10: Selected seed 195 with value = 0.2047
+Query 1/1: Action query time = 1.215 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2372
+t=26: Selected seed 195 with value = 0.2372
+Query 1/1: Action query time = 1.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3111
+t=42: Selected seed 195 with value = 0.3111
+Query 1/1: Action query time = 1.844 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3565
+t=58: Selected seed 195 with value = 0.3565
+Query 1/1: Action query time = 1.725 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4188
+t=74: Selected seed 195 with value = 0.4188
+Query 1/1: Action query time = 1.464 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5037
+t=90: Selected seed 195 with value = 0.5037
+Query 1/1: Action query time = 1.304 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5944
+t=106: Selected seed 195 with value = 0.5944
+Query 1/1: Action query time = 1.354 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7547
+t=122: Selected seed 195 with value = 0.7547
+Query 1/1: Action query time = 1.394 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7993
+t=138: Selected seed 195 with value = 0.7993
+Query 1/1: Action query time = 1.450 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=154: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 1.461 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=170: Selected seed 195 with value = 0.9899
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t3_s1/2026_08_03-17_25_50--with_future_img--episode=13--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+Current task success rate: 0.8461538461538461
+Current total success rate: 0.8461538461538461
+Final results:
+Total episodes: 13
+Total successes: 11
+Overall success rate: 0.8462 (84.6%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_21--v2i350_p1_t5_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_21--v2i350_p1_t5_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..50a55b2610f636c030890c37bbc06fb060b98c26
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_21--v2i350_p1_t5_s1.txt
@@ -0,0 +1,583 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t5_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.111 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3735
+t=10: Selected seed 195 with value = 0.3735
+Query 1/1: Action query time = 5.182 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4238
+t=26: Selected seed 195 with value = 0.4238
+Query 1/1: Action query time = 5.340 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5579
+t=42: Selected seed 195 with value = 0.5579
+Query 1/1: Action query time = 4.209 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6442
+t=58: Selected seed 195 with value = 0.6442
+Query 1/1: Action query time = 5.146 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7082
+t=74: Selected seed 195 with value = 0.7082
+Query 1/1: Action query time = 4.612 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=90: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 4.676 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=106: Selected seed 195 with value = 0.9282
+Query 1/1: Action query time = 4.270 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.650 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.643 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3882
+t=10: Selected seed 195 with value = 0.3882
+Query 1/1: Action query time = 4.404 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4365
+t=26: Selected seed 195 with value = 0.4365
+Query 1/1: Action query time = 4.289 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=42: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 4.651 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6501
+t=58: Selected seed 195 with value = 0.6501
+Query 1/1: Action query time = 5.235 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7188
+t=74: Selected seed 195 with value = 0.7188
+Query 1/1: Action query time = 5.316 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8665
+t=90: Selected seed 195 with value = 0.8665
+Query 1/1: Action query time = 5.383 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=106: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 5.121 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.747 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.617 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4066
+t=10: Selected seed 195 with value = 0.4066
+Query 1/1: Action query time = 4.818 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4517
+t=26: Selected seed 195 with value = 0.4517
+Query 1/1: Action query time = 5.125 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5538
+t=42: Selected seed 195 with value = 0.5538
+Query 1/1: Action query time = 4.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6282
+t=58: Selected seed 195 with value = 0.6282
+Query 1/1: Action query time = 4.805 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7037
+t=74: Selected seed 195 with value = 0.7037
+Query 1/1: Action query time = 4.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8578
+t=90: Selected seed 195 with value = 0.8578
+Query 1/1: Action query time = 3.419 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.375 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.211 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3822
+t=10: Selected seed 195 with value = 0.3822
+Query 1/1: Action query time = 5.476 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4416
+t=26: Selected seed 195 with value = 0.4416
+Query 1/1: Action query time = 5.142 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5433
+t=42: Selected seed 195 with value = 0.5433
+Query 1/1: Action query time = 4.011 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6171
+t=58: Selected seed 195 with value = 0.6171
+Query 1/1: Action query time = 5.106 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6825
+t=74: Selected seed 195 with value = 0.6825
+Query 1/1: Action query time = 4.736 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8272
+t=90: Selected seed 195 with value = 0.8272
+Query 1/1: Action query time = 4.277 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=106: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 3.129 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.747 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.364 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=10: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 4.826 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4773
+t=26: Selected seed 195 with value = 0.4773
+Query 1/1: Action query time = 4.262 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5572
+t=42: Selected seed 195 with value = 0.5572
+Query 1/1: Action query time = 4.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5914
+t=58: Selected seed 195 with value = 0.5914
+Query 1/1: Action query time = 4.740 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6463
+t=74: Selected seed 195 with value = 0.6463
+Query 1/1: Action query time = 4.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=90: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 4.120 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8337
+t=106: Selected seed 195 with value = 0.8337
+Query 1/1: Action query time = 4.185 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=122: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 4.737 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=138: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 2.853 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=154: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.412 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3662
+t=10: Selected seed 195 with value = 0.3662
+Query 1/1: Action query time = 5.445 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4349
+t=26: Selected seed 195 with value = 0.4349
+Query 1/1: Action query time = 5.478 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5041
+t=42: Selected seed 195 with value = 0.5041
+Query 1/1: Action query time = 3.831 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6062
+t=58: Selected seed 195 with value = 0.6062
+Query 1/1: Action query time = 4.634 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6505
+t=74: Selected seed 195 with value = 0.6505
+Query 1/1: Action query time = 4.341 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8204
+t=90: Selected seed 195 with value = 0.8204
+Query 1/1: Action query time = 4.950 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=106: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 4.649 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.539 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=138: Selected seed 195 with value = 0.9929
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.592 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3654
+t=10: Selected seed 195 with value = 0.3654
+Query 1/1: Action query time = 4.501 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4394
+t=26: Selected seed 195 with value = 0.4394
+Query 1/1: Action query time = 4.469 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5255
+t=42: Selected seed 195 with value = 0.5255
+Query 1/1: Action query time = 4.785 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5827
+t=58: Selected seed 195 with value = 0.5827
+Query 1/1: Action query time = 3.816 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=74: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 4.601 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7085
+t=90: Selected seed 195 with value = 0.7085
+Query 1/1: Action query time = 5.103 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8012
+t=106: Selected seed 195 with value = 0.8012
+Query 1/1: Action query time = 4.171 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9746
+t=122: Selected seed 195 with value = 0.9746
+Query 1/1: Action query time = 4.261 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=138: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.709 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3555
+t=10: Selected seed 195 with value = 0.3555
+Query 1/1: Action query time = 4.567 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4539
+t=26: Selected seed 195 with value = 0.4539
+Query 1/1: Action query time = 4.828 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4663
+t=42: Selected seed 195 with value = 0.4663
+Query 1/1: Action query time = 4.416 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5506
+t=58: Selected seed 195 with value = 0.5506
+Query 1/1: Action query time = 4.321 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6158
+t=74: Selected seed 195 with value = 0.6158
+Query 1/1: Action query time = 4.858 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7078
+t=90: Selected seed 195 with value = 0.7078
+Query 1/1: Action query time = 5.182 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8036
+t=106: Selected seed 195 with value = 0.8036
+Query 1/1: Action query time = 4.999 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=122: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 3.955 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=138: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 4.711 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.623 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3868
+t=10: Selected seed 195 with value = 0.3868
+Query 1/1: Action query time = 4.067 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4431
+t=26: Selected seed 195 with value = 0.4431
+Query 1/1: Action query time = 3.279 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5189
+t=42: Selected seed 195 with value = 0.5189
+Query 1/1: Action query time = 3.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5988
+t=58: Selected seed 195 with value = 0.5988
+Query 1/1: Action query time = 4.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6818
+t=74: Selected seed 195 with value = 0.6818
+Query 1/1: Action query time = 4.105 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7629
+t=90: Selected seed 195 with value = 0.7629
+Query 1/1: Action query time = 3.394 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9051
+t=106: Selected seed 195 with value = 0.9051
+Query 1/1: Action query time = 1.776 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.131 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 2.133 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3543
+t=10: Selected seed 195 with value = 0.3543
+Query 1/1: Action query time = 2.444 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4160
+t=26: Selected seed 195 with value = 0.4160
+Query 1/1: Action query time = 3.239 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=42: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 3.157 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5408
+t=58: Selected seed 195 with value = 0.5408
+Query 1/1: Action query time = 3.367 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5805
+t=74: Selected seed 195 with value = 0.5805
+Query 1/1: Action query time = 2.713 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6652
+t=90: Selected seed 195 with value = 0.6652
+Query 1/1: Action query time = 2.501 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7599
+t=106: Selected seed 195 with value = 0.7599
+Query 1/1: Action query time = 2.259 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9224
+t=122: Selected seed 195 with value = 0.9224
+Query 1/1: Action query time = 1.441 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=138: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 1.653 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 2.059 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3839
+t=10: Selected seed 195 with value = 0.3839
+Query 1/1: Action query time = 2.152 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4344
+t=26: Selected seed 195 with value = 0.4344
+Query 1/1: Action query time = 2.373 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5593
+t=42: Selected seed 195 with value = 0.5593
+Query 1/1: Action query time = 2.509 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6513
+t=58: Selected seed 195 with value = 0.6513
+Query 1/1: Action query time = 2.489 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6867
+t=74: Selected seed 195 with value = 0.6867
+Query 1/1: Action query time = 2.379 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=90: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 2.000 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9447
+t=106: Selected seed 195 with value = 0.9447
+Query 1/1: Action query time = 2.292 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.257 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=138: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.302 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3648
+t=10: Selected seed 195 with value = 0.3648
+Query 1/1: Action query time = 2.352 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4399
+t=26: Selected seed 195 with value = 0.4399
+Query 1/1: Action query time = 2.570 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5662
+t=42: Selected seed 195 with value = 0.5662
+Query 1/1: Action query time = 2.655 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5544
+t=58: Selected seed 195 with value = 0.5544
+Query 1/1: Action query time = 1.672 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6493
+t=74: Selected seed 195 with value = 0.6493
+Query 1/1: Action query time = 1.698 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7265
+t=90: Selected seed 195 with value = 0.7265
+Query 1/1: Action query time = 2.486 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8351
+t=106: Selected seed 195 with value = 0.8351
+Query 1/1: Action query time = 2.180 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.917 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=138: Selected seed 195 with value = 0.9980
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.573 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3614
+t=10: Selected seed 195 with value = 0.3614
+Query 1/1: Action query time = 1.479 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4418
+t=26: Selected seed 195 with value = 0.4418
+Query 1/1: Action query time = 1.378 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4721
+t=42: Selected seed 195 with value = 0.4721
+Query 1/1: Action query time = 1.365 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5902
+t=58: Selected seed 195 with value = 0.5902
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6375
+t=74: Selected seed 195 with value = 0.6375
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7270
+t=90: Selected seed 195 with value = 0.7270
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8369
+t=106: Selected seed 195 with value = 0.8369
+Query 1/1: Action query time = 1.439 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=122: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 1.499 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=138: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s1/2026_08_03-17_39_21--with_future_img--episode=13--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t6_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t6_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..879fb03a85062dd28fc72af1c567fd52187a6d68
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t6_s0.txt
@@ -0,0 +1,579 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t6_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 2.559 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4869
+t=10: Selected seed 195 with value = 0.4869
+Query 1/1: Action query time = 6.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6033
+t=26: Selected seed 195 with value = 0.6033
+Query 1/1: Action query time = 3.434 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7344
+t=42: Selected seed 195 with value = 0.7344
+Query 1/1: Action query time = 5.021 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6222
+t=58: Selected seed 195 with value = 0.6222
+Query 1/1: Action query time = 5.274 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=74: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 5.125 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=90: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 3.804 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=106: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 4.063 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=122: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 4.636 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=138: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 5.108 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=154: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 4.680 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=170: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 4.649 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=186: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 3.899 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=202: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 4.039 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=218: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 5.127 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=234: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 4.828 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=250: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 4.916 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=266: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 3.363 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=282: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 3.664 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=298: Selected seed 195 with value = 0.9861
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5015
+t=10: Selected seed 195 with value = 0.5015
+Query 1/1: Action query time = 5.377 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5931
+t=26: Selected seed 195 with value = 0.5931
+Query 1/1: Action query time = 4.829 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6946
+t=42: Selected seed 195 with value = 0.6946
+Query 1/1: Action query time = 2.917 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=58: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 4.077 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=74: Selected seed 195 with value = 0.9379
+Query 1/1: Action query time = 4.688 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=90: Selected seed 195 with value = 0.9932
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.699 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4831
+t=10: Selected seed 195 with value = 0.4831
+Query 1/1: Action query time = 4.403 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5947
+t=26: Selected seed 195 with value = 0.5947
+Query 1/1: Action query time = 4.231 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6916
+t=42: Selected seed 195 with value = 0.6916
+Query 1/1: Action query time = 4.172 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8131
+t=58: Selected seed 195 with value = 0.8131
+Query 1/1: Action query time = 5.272 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=74: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 4.714 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=90: Selected seed 195 with value = 0.9948
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 5.438 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4800
+t=10: Selected seed 195 with value = 0.4800
+Query 1/1: Action query time = 4.082 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5798
+t=26: Selected seed 195 with value = 0.5798
+Query 1/1: Action query time = 3.660 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6976
+t=42: Selected seed 195 with value = 0.6976
+Query 1/1: Action query time = 4.737 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7789
+t=58: Selected seed 195 with value = 0.7789
+Query 1/1: Action query time = 4.871 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6936
+t=74: Selected seed 195 with value = 0.6936
+Query 1/1: Action query time = 5.166 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7657
+t=90: Selected seed 195 with value = 0.7657
+Query 1/1: Action query time = 5.483 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=106: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 4.092 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=122: Selected seed 195 with value = 0.9586
+Query 1/1: Action query time = 4.283 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=138: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 3.782 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=154: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 3.912 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=170: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 3.045 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=186: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 4.680 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=202: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 5.331 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=218: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 3.878 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=234: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 4.469 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=250: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 3.114 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9473
+t=266: Selected seed 195 with value = 0.9473
+Query 1/1: Action query time = 4.374 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=282: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 4.756 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=298: Selected seed 195 with value = 0.9607
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=4--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 6.049 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5117
+t=10: Selected seed 195 with value = 0.5117
+Query 1/1: Action query time = 3.821 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6062
+t=26: Selected seed 195 with value = 0.6062
+Query 1/1: Action query time = 5.344 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6766
+t=42: Selected seed 195 with value = 0.6766
+Query 1/1: Action query time = 4.157 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7913
+t=58: Selected seed 195 with value = 0.7913
+Query 1/1: Action query time = 4.182 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=74: Selected seed 195 with value = 0.9241
+Query 1/1: Action query time = 4.087 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.384 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 5.680 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5095
+t=10: Selected seed 195 with value = 0.5095
+Query 1/1: Action query time = 4.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5973
+t=26: Selected seed 195 with value = 0.5973
+Query 1/1: Action query time = 4.604 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7093
+t=42: Selected seed 195 with value = 0.7093
+Query 1/1: Action query time = 4.468 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8454
+t=58: Selected seed 195 with value = 0.8454
+Query 1/1: Action query time = 4.718 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9678
+t=74: Selected seed 195 with value = 0.9678
+Query 1/1: Action query time = 4.509 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 4.390 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4892
+t=10: Selected seed 195 with value = 0.4892
+Query 1/1: Action query time = 4.308 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5865
+t=26: Selected seed 195 with value = 0.5865
+Query 1/1: Action query time = 4.174 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6362
+t=42: Selected seed 195 with value = 0.6362
+Query 1/1: Action query time = 3.924 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7413
+t=58: Selected seed 195 with value = 0.7413
+Query 1/1: Action query time = 3.220 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8713
+t=74: Selected seed 195 with value = 0.8713
+Query 1/1: Action query time = 2.811 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=90: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 3.043 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 3.049 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4834
+t=10: Selected seed 195 with value = 0.4834
+Query 1/1: Action query time = 2.842 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5899
+t=26: Selected seed 195 with value = 0.5899
+Query 1/1: Action query time = 2.866 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6989
+t=42: Selected seed 195 with value = 0.6989
+Query 1/1: Action query time = 2.886 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8002
+t=58: Selected seed 195 with value = 0.8002
+Query 1/1: Action query time = 1.301 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9260
+t=74: Selected seed 195 with value = 0.9260
+Query 1/1: Action query time = 1.868 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=90: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 2.602 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4826
+t=10: Selected seed 195 with value = 0.4826
+Query 1/1: Action query time = 2.233 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5933
+t=26: Selected seed 195 with value = 0.5933
+Query 1/1: Action query time = 3.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7008
+t=42: Selected seed 195 with value = 0.7008
+Query 1/1: Action query time = 2.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8234
+t=58: Selected seed 195 with value = 0.8234
+Query 1/1: Action query time = 1.808 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9400
+t=74: Selected seed 195 with value = 0.9400
+Query 1/1: Action query time = 1.764 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 2.144 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5168
+t=10: Selected seed 195 with value = 0.5168
+Query 1/1: Action query time = 2.522 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=26: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 2.160 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7193
+t=42: Selected seed 195 with value = 0.7193
+Query 1/1: Action query time = 2.510 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8453
+t=58: Selected seed 195 with value = 0.8453
+Query 1/1: Action query time = 1.935 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9721
+t=74: Selected seed 195 with value = 0.9721
+Query 1/1: Action query time = 2.075 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 2.246 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5187
+t=10: Selected seed 195 with value = 0.5187
+Query 1/1: Action query time = 1.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=26: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 1.813 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7132
+t=42: Selected seed 195 with value = 0.7132
+Query 1/1: Action query time = 1.885 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8188
+t=58: Selected seed 195 with value = 0.8188
+Query 1/1: Action query time = 1.993 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=74: Selected seed 195 with value = 0.9459
+Query 1/1: Action query time = 1.206 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=90: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 1.021 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.091 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=122: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 1.551 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=138: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 1.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9551
+t=154: Selected seed 195 with value = 0.9551
+Query 1/1: Action query time = 1.890 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=170: Selected seed 195 with value = 0.9182
+Query 1/1: Action query time = 1.984 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9219
+t=186: Selected seed 195 with value = 0.9219
+Query 1/1: Action query time = 1.714 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=202: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.997 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.194 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.129 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.230 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.018 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=11--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5238
+t=10: Selected seed 195 with value = 0.5238
+Query 1/1: Action query time = 1.001 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6039
+t=26: Selected seed 195 with value = 0.6039
+Query 1/1: Action query time = 1.234 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7087
+t=42: Selected seed 195 with value = 0.7087
+Query 1/1: Action query time = 1.374 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8227
+t=58: Selected seed 195 with value = 0.8227
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=74: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=90: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 1.125 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5072
+t=10: Selected seed 195 with value = 0.5072
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5995
+t=26: Selected seed 195 with value = 0.5995
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7028
+t=42: Selected seed 195 with value = 0.7028
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8365
+t=58: Selected seed 195 with value = 0.8365
+Query 1/1: Action query time = 1.021 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=74: Selected seed 195 with value = 0.9565
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=90: Selected seed 195 with value = 0.9935
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s0/2026_08_03-17_39_23--with_future_img--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+Current task success rate: 0.7692307692307693
+Current total success rate: 0.7692307692307693
+Final results:
+Total episodes: 13
+Total successes: 10
+Overall success rate: 0.7692 (76.9%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_38--v2i350_p2_t2_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_38--v2i350_p2_t2_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b6f8abf0350457877690b49eb22589b43adafc0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_38--v2i350_p2_t2_s0.txt
@@ -0,0 +1,527 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t2_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.818 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6017
+t=10: Selected seed 195 with value = 0.6017
+Query 1/1: Action query time = 4.427 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7307
+t=26: Selected seed 195 with value = 0.7307
+Query 1/1: Action query time = 5.293 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=42: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 5.449 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=58: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 5.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.622 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.621 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5663
+t=10: Selected seed 195 with value = 0.5663
+Query 1/1: Action query time = 5.024 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7145
+t=26: Selected seed 195 with value = 0.7145
+Query 1/1: Action query time = 3.347 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=42: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 4.230 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=58: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 4.096 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.819 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.305 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5613
+t=10: Selected seed 195 with value = 0.5613
+Query 1/1: Action query time = 5.134 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6887
+t=26: Selected seed 195 with value = 0.6887
+Query 1/1: Action query time = 5.399 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8366
+t=42: Selected seed 195 with value = 0.8366
+Query 1/1: Action query time = 5.581 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=58: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 4.664 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.659 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.624 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=10: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 4.823 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6629
+t=26: Selected seed 195 with value = 0.6629
+Query 1/1: Action query time = 3.289 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7693
+t=42: Selected seed 195 with value = 0.7693
+Query 1/1: Action query time = 3.654 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9161
+t=58: Selected seed 195 with value = 0.9161
+Query 1/1: Action query time = 5.079 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=74: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 4.287 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9115
+t=90: Selected seed 195 with value = 0.9115
+Query 1/1: Action query time = 4.450 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8874
+t=106: Selected seed 195 with value = 0.8874
+Query 1/1: Action query time = 4.599 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8567
+t=122: Selected seed 195 with value = 0.8567
+Query 1/1: Action query time = 5.045 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8188
+t=138: Selected seed 195 with value = 0.8188
+Query 1/1: Action query time = 5.027 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8317
+t=154: Selected seed 195 with value = 0.8317
+Query 1/1: Action query time = 5.714 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7878
+t=170: Selected seed 195 with value = 0.7878
+Query 1/1: Action query time = 4.630 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8174
+t=186: Selected seed 195 with value = 0.8174
+Query 1/1: Action query time = 4.152 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8261
+t=202: Selected seed 195 with value = 0.8261
+Query 1/1: Action query time = 5.155 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8020
+t=218: Selected seed 195 with value = 0.8020
+Query 1/1: Action query time = 3.342 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7962
+t=234: Selected seed 195 with value = 0.7962
+Query 1/1: Action query time = 2.720 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=250: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 3.105 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=266: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 5.303 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7708
+t=282: Selected seed 195 with value = 0.7708
+Query 1/1: Action query time = 4.290 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7867
+t=298: Selected seed 195 with value = 0.7867
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.876 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5691
+t=10: Selected seed 195 with value = 0.5691
+Query 1/1: Action query time = 4.559 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6370
+t=26: Selected seed 195 with value = 0.6370
+Query 1/1: Action query time = 5.290 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7537
+t=42: Selected seed 195 with value = 0.7537
+Query 1/1: Action query time = 5.503 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=58: Selected seed 195 with value = 0.9017
+Query 1/1: Action query time = 4.588 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=74: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 4.788 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.948 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 3.814 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=10: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 4.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7248
+t=26: Selected seed 195 with value = 0.7248
+Query 1/1: Action query time = 4.784 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=42: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 5.102 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=58: Selected seed 195 with value = 0.9730
+Query 1/1: Action query time = 5.180 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.242 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.844 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=10: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 5.034 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7042
+t=26: Selected seed 195 with value = 0.7042
+Query 1/1: Action query time = 3.334 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7815
+t=42: Selected seed 195 with value = 0.7815
+Query 1/1: Action query time = 3.712 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9014
+t=58: Selected seed 195 with value = 0.9014
+Query 1/1: Action query time = 3.831 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=74: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 4.433 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.473 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5600
+t=10: Selected seed 195 with value = 0.5600
+Query 1/1: Action query time = 4.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5037
+t=26: Selected seed 195 with value = 0.5037
+Query 1/1: Action query time = 4.722 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7047
+t=42: Selected seed 195 with value = 0.7047
+Query 1/1: Action query time = 4.758 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8815
+t=58: Selected seed 195 with value = 0.8815
+Query 1/1: Action query time = 5.510 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=74: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 5.314 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.262 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.842 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5638
+t=10: Selected seed 195 with value = 0.5638
+Query 1/1: Action query time = 4.042 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6702
+t=26: Selected seed 195 with value = 0.6702
+Query 1/1: Action query time = 3.292 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7242
+t=42: Selected seed 195 with value = 0.7242
+Query 1/1: Action query time = 4.781 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8321
+t=58: Selected seed 195 with value = 0.8321
+Query 1/1: Action query time = 5.299 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=74: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 5.472 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.061 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5198
+t=10: Selected seed 195 with value = 0.5198
+Query 1/1: Action query time = 5.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6608
+t=26: Selected seed 195 with value = 0.6608
+Query 1/1: Action query time = 5.244 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7426
+t=42: Selected seed 195 with value = 0.7426
+Query 1/1: Action query time = 4.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8531
+t=58: Selected seed 195 with value = 0.8531
+Query 1/1: Action query time = 3.737 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=74: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 3.392 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.261 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5616
+t=10: Selected seed 195 with value = 0.5616
+Query 1/1: Action query time = 4.328 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6690
+t=26: Selected seed 195 with value = 0.6690
+Query 1/1: Action query time = 3.555 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8080
+t=42: Selected seed 195 with value = 0.8080
+Query 1/1: Action query time = 4.690 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=58: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 5.632 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=74: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 5.392 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 4.629 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5560
+t=10: Selected seed 195 with value = 0.5560
+Query 1/1: Action query time = 5.248 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7084
+t=26: Selected seed 195 with value = 0.7084
+Query 1/1: Action query time = 4.531 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7980
+t=42: Selected seed 195 with value = 0.7980
+Query 1/1: Action query time = 3.809 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9281
+t=58: Selected seed 195 with value = 0.9281
+Query 1/1: Action query time = 4.281 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=74: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 4.732 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 3.745 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5373
+t=10: Selected seed 195 with value = 0.5373
+Query 1/1: Action query time = 5.429 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6148
+t=26: Selected seed 195 with value = 0.6148
+Query 1/1: Action query time = 5.530 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7659
+t=42: Selected seed 195 with value = 0.7659
+Query 1/1: Action query time = 5.371 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8048
+t=58: Selected seed 195 with value = 0.8048
+Query 1/1: Action query time = 5.322 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=74: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 5.669 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=90: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 4.350 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=106: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 3.625 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=122: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 3.486 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.059 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.094 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.791 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.922 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.160 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.241 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.846 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=250: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 3.550 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=266: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 3.625 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=282: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 3.558 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=298: Selected seed 195 with value = 0.9037
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s0/2026_08_03-17_49_38--with_future_img--episode=13--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+Current task success rate: 0.8461538461538461
+Current total success rate: 0.8461538461538461
+Final results:
+Total episodes: 13
+Total successes: 11
+Overall success rate: 0.8462 (84.6%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t6_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t6_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c42096c016069fd4c8b31ce34e97f19a689a485b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t6_s0.txt
@@ -0,0 +1,567 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t6_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.300 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4869
+t=10: Selected seed 195 with value = 0.4869
+Query 1/1: Action query time = 4.451 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6032
+t=26: Selected seed 195 with value = 0.6032
+Query 1/1: Action query time = 5.720 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=42: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 5.011 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6246
+t=58: Selected seed 195 with value = 0.6246
+Query 1/1: Action query time = 4.686 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8297
+t=74: Selected seed 195 with value = 0.8297
+Query 1/1: Action query time = 3.393 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9380
+t=90: Selected seed 195 with value = 0.9380
+Query 1/1: Action query time = 4.466 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=106: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 4.271 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=122: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 5.279 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=138: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 5.275 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=154: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 4.619 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=170: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 3.792 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=186: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 4.475 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=202: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 4.132 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=218: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 4.463 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=234: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 4.600 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=250: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 4.141 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=266: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 4.721 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=282: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 4.499 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=298: Selected seed 195 with value = 0.9929
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.222 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5013
+t=10: Selected seed 195 with value = 0.5013
+Query 1/1: Action query time = 4.765 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5932
+t=26: Selected seed 195 with value = 0.5932
+Query 1/1: Action query time = 4.844 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6953
+t=42: Selected seed 195 with value = 0.6953
+Query 1/1: Action query time = 5.279 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8253
+t=58: Selected seed 195 with value = 0.8253
+Query 1/1: Action query time = 5.354 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=74: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 5.774 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=90: Selected seed 195 with value = 0.9929
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.880 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4832
+t=10: Selected seed 195 with value = 0.4832
+Query 1/1: Action query time = 5.397 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5948
+t=26: Selected seed 195 with value = 0.5948
+Query 1/1: Action query time = 4.505 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6917
+t=42: Selected seed 195 with value = 0.6917
+Query 1/1: Action query time = 4.755 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8135
+t=58: Selected seed 195 with value = 0.8135
+Query 1/1: Action query time = 4.722 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=74: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 3.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=90: Selected seed 195 with value = 0.9943
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 5.150 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4800
+t=10: Selected seed 195 with value = 0.4800
+Query 1/1: Action query time = 4.054 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5799
+t=26: Selected seed 195 with value = 0.5799
+Query 1/1: Action query time = 5.332 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6981
+t=42: Selected seed 195 with value = 0.6981
+Query 1/1: Action query time = 5.740 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7776
+t=58: Selected seed 195 with value = 0.7776
+Query 1/1: Action query time = 5.344 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=74: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 4.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7658
+t=90: Selected seed 195 with value = 0.7658
+Query 1/1: Action query time = 3.491 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7974
+t=106: Selected seed 195 with value = 0.7974
+Query 1/1: Action query time = 5.198 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=122: Selected seed 195 with value = 0.9578
+Query 1/1: Action query time = 4.937 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=138: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 4.149 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=154: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 4.604 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=170: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 4.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=186: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 3.242 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=202: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 3.308 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=218: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 3.472 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=234: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 5.823 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=250: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 4.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=266: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 5.210 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=282: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 3.932 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=4--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 3.341 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5117
+t=10: Selected seed 195 with value = 0.5117
+Query 1/1: Action query time = 4.064 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6059
+t=26: Selected seed 195 with value = 0.6059
+Query 1/1: Action query time = 4.853 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6718
+t=42: Selected seed 195 with value = 0.6718
+Query 1/1: Action query time = 4.929 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7854
+t=58: Selected seed 195 with value = 0.7854
+Query 1/1: Action query time = 5.061 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9215
+t=74: Selected seed 195 with value = 0.9215
+Query 1/1: Action query time = 4.942 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 3.690 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 4.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5121
+t=10: Selected seed 195 with value = 0.5121
+Query 1/1: Action query time = 4.279 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5959
+t=26: Selected seed 195 with value = 0.5959
+Query 1/1: Action query time = 5.150 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7141
+t=42: Selected seed 195 with value = 0.7141
+Query 1/1: Action query time = 5.261 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8415
+t=58: Selected seed 195 with value = 0.8415
+Query 1/1: Action query time = 4.288 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=74: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 3.673 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 3.220 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4892
+t=10: Selected seed 195 with value = 0.4892
+Query 1/1: Action query time = 3.361 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5862
+t=26: Selected seed 195 with value = 0.5862
+Query 1/1: Action query time = 3.526 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6359
+t=42: Selected seed 195 with value = 0.6359
+Query 1/1: Action query time = 3.774 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7424
+t=58: Selected seed 195 with value = 0.7424
+Query 1/1: Action query time = 4.079 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8706
+t=74: Selected seed 195 with value = 0.8706
+Query 1/1: Action query time = 2.735 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=90: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 3.191 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 2.560 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4833
+t=10: Selected seed 195 with value = 0.4833
+Query 1/1: Action query time = 2.627 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5898
+t=26: Selected seed 195 with value = 0.5898
+Query 1/1: Action query time = 1.258 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6984
+t=42: Selected seed 195 with value = 0.6984
+Query 1/1: Action query time = 1.628 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8013
+t=58: Selected seed 195 with value = 0.8013
+Query 1/1: Action query time = 2.522 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=74: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 2.363 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=90: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 2.481 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4826
+t=10: Selected seed 195 with value = 0.4826
+Query 1/1: Action query time = 2.763 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5933
+t=26: Selected seed 195 with value = 0.5933
+Query 1/1: Action query time = 1.856 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7007
+t=42: Selected seed 195 with value = 0.7007
+Query 1/1: Action query time = 1.298 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8223
+t=58: Selected seed 195 with value = 0.8223
+Query 1/1: Action query time = 1.895 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9368
+t=74: Selected seed 195 with value = 0.9368
+Query 1/1: Action query time = 2.458 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 2.261 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5167
+t=10: Selected seed 195 with value = 0.5167
+Query 1/1: Action query time = 2.358 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6188
+t=26: Selected seed 195 with value = 0.6188
+Query 1/1: Action query time = 2.059 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7203
+t=42: Selected seed 195 with value = 0.7203
+Query 1/1: Action query time = 1.685 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=58: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 2.019 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9720
+t=74: Selected seed 195 with value = 0.9720
+Query 1/1: Action query time = 2.309 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 1.398 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5187
+t=10: Selected seed 195 with value = 0.5187
+Query 1/1: Action query time = 2.227 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=26: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 2.081 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7132
+t=42: Selected seed 195 with value = 0.7132
+Query 1/1: Action query time = 2.376 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8188
+t=58: Selected seed 195 with value = 0.8188
+Query 1/1: Action query time = 1.900 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=74: Selected seed 195 with value = 0.9459
+Query 1/1: Action query time = 1.653 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=90: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 1.592 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.788 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=122: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 1.251 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=138: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 1.344 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=154: Selected seed 195 with value = 0.9566
+Query 1/1: Action query time = 1.224 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=170: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 1.824 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9224
+t=186: Selected seed 195 with value = 0.9224
+Query 1/1: Action query time = 1.893 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=202: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 1.203 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.512 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 1.265 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5238
+t=10: Selected seed 195 with value = 0.5238
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6039
+t=26: Selected seed 195 with value = 0.6039
+Query 1/1: Action query time = 1.511 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7087
+t=42: Selected seed 195 with value = 0.7087
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8233
+t=58: Selected seed 195 with value = 0.8233
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9433
+t=74: Selected seed 195 with value = 0.9433
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=90: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5072
+t=10: Selected seed 195 with value = 0.5072
+Query 1/1: Action query time = 1.069 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5995
+t=26: Selected seed 195 with value = 0.5995
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7023
+t=42: Selected seed 195 with value = 0.7023
+Query 1/1: Action query time = 1.248 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=58: Selected seed 195 with value = 0.8364
+Query 1/1: Action query time = 1.116 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=74: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 1.224 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=90: Selected seed 195 with value = 0.9942
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s0/2026_08_03-18_02_51--with_future_img--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+Current task success rate: 0.8461538461538461
+Current total success rate: 0.8461538461538461
+Final results:
+Total episodes: 13
+Total successes: 11
+Overall success rate: 0.8462 (84.6%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_52--v2i350_p2_t6_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_52--v2i350_p2_t6_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..db735d808c409868ec23e63840bbb2a31276fc23
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_52--v2i350_p2_t6_s1.txt
@@ -0,0 +1,471 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t6_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 2.835 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4939
+t=10: Selected seed 195 with value = 0.4939
+Query 1/1: Action query time = 5.274 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5872
+t=26: Selected seed 195 with value = 0.5872
+Query 1/1: Action query time = 3.941 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=42: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 4.620 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7558
+t=58: Selected seed 195 with value = 0.7558
+Query 1/1: Action query time = 4.539 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=74: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 5.020 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=90: Selected seed 195 with value = 0.9924
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.663 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5318
+t=10: Selected seed 195 with value = 0.5318
+Query 1/1: Action query time = 4.184 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5860
+t=26: Selected seed 195 with value = 0.5860
+Query 1/1: Action query time = 5.013 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7200
+t=42: Selected seed 195 with value = 0.7200
+Query 1/1: Action query time = 4.723 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8339
+t=58: Selected seed 195 with value = 0.8339
+Query 1/1: Action query time = 4.766 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=74: Selected seed 195 with value = 0.9628
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.255 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4855
+t=10: Selected seed 195 with value = 0.4855
+Query 1/1: Action query time = 5.712 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=26: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 4.745 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6600
+t=42: Selected seed 195 with value = 0.6600
+Query 1/1: Action query time = 4.910 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7878
+t=58: Selected seed 195 with value = 0.7878
+Query 1/1: Action query time = 4.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9105
+t=74: Selected seed 195 with value = 0.9105
+Query 1/1: Action query time = 4.364 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=90: Selected seed 195 with value = 0.9906
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 3.858 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5160
+t=10: Selected seed 195 with value = 0.5160
+Query 1/1: Action query time = 4.051 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=26: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 4.656 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7046
+t=42: Selected seed 195 with value = 0.7046
+Query 1/1: Action query time = 4.815 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=58: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 5.167 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=74: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 3.605 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 4.655 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4855
+t=10: Selected seed 195 with value = 0.4855
+Query 1/1: Action query time = 3.157 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5864
+t=26: Selected seed 195 with value = 0.5864
+Query 1/1: Action query time = 2.158 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7009
+t=42: Selected seed 195 with value = 0.7009
+Query 1/1: Action query time = 4.188 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8229
+t=58: Selected seed 195 with value = 0.8229
+Query 1/1: Action query time = 4.692 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9418
+t=74: Selected seed 195 with value = 0.9418
+Query 1/1: Action query time = 4.704 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=90: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 5.155 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.739 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9766
+t=122: Selected seed 195 with value = 0.9766
+Query 1/1: Action query time = 4.065 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9281
+t=138: Selected seed 195 with value = 0.9281
+Query 1/1: Action query time = 3.531 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=154: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 4.872 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=170: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 4.847 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9580
+t=186: Selected seed 195 with value = 0.9580
+Query 1/1: Action query time = 4.348 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=202: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 4.369 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=218: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 5.076 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.580 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.573 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=266: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 5.181 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=282: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 4.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=298: Selected seed 195 with value = 0.9887
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=5--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 5.147 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4647
+t=10: Selected seed 195 with value = 0.4647
+Query 1/1: Action query time = 3.492 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=26: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 2.648 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6485
+t=42: Selected seed 195 with value = 0.6485
+Query 1/1: Action query time = 3.881 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7346
+t=58: Selected seed 195 with value = 0.7346
+Query 1/1: Action query time = 5.633 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8672
+t=74: Selected seed 195 with value = 0.8672
+Query 1/1: Action query time = 4.716 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=90: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 4.797 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 4.691 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5169
+t=10: Selected seed 195 with value = 0.5169
+Query 1/1: Action query time = 4.102 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6003
+t=26: Selected seed 195 with value = 0.6003
+Query 1/1: Action query time = 4.214 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7177
+t=42: Selected seed 195 with value = 0.7177
+Query 1/1: Action query time = 5.009 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=58: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 4.811 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=74: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 4.451 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 4.803 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5046
+t=10: Selected seed 195 with value = 0.5046
+Query 1/1: Action query time = 3.910 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5822
+t=26: Selected seed 195 with value = 0.5822
+Query 1/1: Action query time = 4.822 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6939
+t=42: Selected seed 195 with value = 0.6939
+Query 1/1: Action query time = 4.605 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7912
+t=58: Selected seed 195 with value = 0.7912
+Query 1/1: Action query time = 5.088 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=74: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 5.998 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=90: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 5.359 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 3.204 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4984
+t=10: Selected seed 195 with value = 0.4984
+Query 1/1: Action query time = 4.520 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5989
+t=26: Selected seed 195 with value = 0.5989
+Query 1/1: Action query time = 4.130 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6636
+t=42: Selected seed 195 with value = 0.6636
+Query 1/1: Action query time = 3.747 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7606
+t=58: Selected seed 195 with value = 0.7606
+Query 1/1: Action query time = 2.841 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=74: Selected seed 195 with value = 0.8921
+Query 1/1: Action query time = 2.558 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=90: Selected seed 195 with value = 0.9940
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 2.226 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5201
+t=10: Selected seed 195 with value = 0.5201
+Query 1/1: Action query time = 1.478 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5861
+t=26: Selected seed 195 with value = 0.5861
+Query 1/1: Action query time = 1.846 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=42: Selected seed 195 with value = 0.6819
+Query 1/1: Action query time = 2.324 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8203
+t=58: Selected seed 195 with value = 0.8203
+Query 1/1: Action query time = 2.685 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9606
+t=74: Selected seed 195 with value = 0.9606
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 2.832 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5047
+t=10: Selected seed 195 with value = 0.5047
+Query 1/1: Action query time = 1.603 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5514
+t=26: Selected seed 195 with value = 0.5514
+Query 1/1: Action query time = 1.317 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6538
+t=42: Selected seed 195 with value = 0.6538
+Query 1/1: Action query time = 2.076 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7519
+t=58: Selected seed 195 with value = 0.7519
+Query 1/1: Action query time = 2.211 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8870
+t=74: Selected seed 195 with value = 0.8870
+Query 1/1: Action query time = 2.404 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=90: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 2.061 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 2.447 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5506
+t=10: Selected seed 195 with value = 0.5506
+Query 1/1: Action query time = 1.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=26: Selected seed 195 with value = 0.6094
+Query 1/1: Action query time = 1.752 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7228
+t=42: Selected seed 195 with value = 0.7228
+Query 1/1: Action query time = 2.213 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=58: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 2.495 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=74: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 2.149 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 2.516 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5134
+t=10: Selected seed 195 with value = 0.5134
+Query 1/1: Action query time = 1.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5895
+t=26: Selected seed 195 with value = 0.5895
+Query 1/1: Action query time = 1.639 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6570
+t=42: Selected seed 195 with value = 0.6570
+Query 1/1: Action query time = 2.505 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7796
+t=58: Selected seed 195 with value = 0.7796
+Query 1/1: Action query time = 1.881 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=74: Selected seed 195 with value = 0.8975
+Query 1/1: Action query time = 1.776 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=90: Selected seed 195 with value = 0.9857
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s1/2026_08_03-18_02_52--with_future_img--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal_gpu1-cosmos-2026_07_31-01_07_28--CLbest_t15--gpu1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal_gpu1-cosmos-2026_07_31-01_07_28--CLbest_t15--gpu1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..66893bfcd1f39bdec92965d9f62875bff47452a9
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal_gpu1-cosmos-2026_07_31-01_07_28--CLbest_t15--gpu1.txt
@@ -0,0 +1,234 @@
+[worker gpu=1] tasks=[2, 4] CUDA_VISIBLE_DEVICES=1
+[worker gpu=1] starting task_id=2
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.889 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5287
+t=10: Selected seed 195 with value = 0.5287
+Query 1/1: Action query time = 1.203 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6101
+t=26: Selected seed 195 with value = 0.6101
+Query 1/1: Action query time = 1.211 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7336
+t=42: Selected seed 195 with value = 0.7336
+Query 1/1: Action query time = 1.259 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8330
+t=58: Selected seed 195 with value = 0.8330
+Query 1/1: Action query time = 1.416 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9039
+t=74: Selected seed 195 with value = 0.9039
+Query 1/1: Action query time = 1.442 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=90: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.395 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4407
+t=10: Selected seed 195 with value = 0.4407
+Query 1/1: Action query time = 1.190 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4944
+t=26: Selected seed 195 with value = 0.4944
+Query 1/1: Action query time = 1.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5836
+t=42: Selected seed 195 with value = 0.5836
+Query 1/1: Action query time = 1.160 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6977
+t=58: Selected seed 195 with value = 0.6977
+Query 1/1: Action query time = 1.306 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7906
+t=74: Selected seed 195 with value = 0.7906
+Query 1/1: Action query time = 1.483 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8984
+t=90: Selected seed 195 with value = 0.8984
+Query 1/1: Action query time = 1.348 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=106: Selected seed 195 with value = 0.9978
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.127 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=10: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4909
+t=26: Selected seed 195 with value = 0.4909
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5953
+t=42: Selected seed 195 with value = 0.5953
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6876
+t=58: Selected seed 195 with value = 0.6876
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8294
+t=74: Selected seed 195 with value = 0.8294
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9050
+t=90: Selected seed 195 with value = 0.9050
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.344 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5127
+t=10: Selected seed 195 with value = 0.5127
+Query 1/1: Action query time = 1.322 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5303
+t=26: Selected seed 195 with value = 0.5303
+Query 1/1: Action query time = 1.309 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5896
+t=42: Selected seed 195 with value = 0.5896
+Query 1/1: Action query time = 1.288 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=58: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 1.227 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9245
+t=74: Selected seed 195 with value = 0.9245
+Query 1/1: Action query time = 1.258 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=90: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 1.413 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5039
+t=10: Selected seed 195 with value = 0.5039
+Query 1/1: Action query time = 1.652 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5802
+t=26: Selected seed 195 with value = 0.5802
+Query 1/1: Action query time = 1.425 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6192
+t=42: Selected seed 195 with value = 0.6192
+Query 1/1: Action query time = 1.351 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7489
+t=58: Selected seed 195 with value = 0.7489
+Query 1/1: Action query time = 1.280 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7864
+t=74: Selected seed 195 with value = 0.7864
+Query 1/1: Action query time = 1.240 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8773
+t=90: Selected seed 195 with value = 0.8773
+Query 1/1: Action query time = 1.119 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5075
+t=10: Selected seed 195 with value = 0.5075
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5804
+t=26: Selected seed 195 with value = 0.5804
+Query 1/1: Action query time = 1.660 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6630
+t=42: Selected seed 195 with value = 0.6630
+Query 1/1: Action query time = 1.510 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7756
+t=58: Selected seed 195 with value = 0.7756
+Query 1/1: Action query time = 1.395 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8867
+t=74: Selected seed 195 with value = 0.8867
+Query 1/1: Action query time = 1.345 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9745
+t=90: Selected seed 195 with value = 0.9745
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 1.636 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4211
+t=10: Selected seed 195 with value = 0.4211
+Query 1/1: Action query time = 1.585 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5006
+t=26: Selected seed 195 with value = 0.5006
+Query 1/1: Action query time = 1.668 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5839
+t=42: Selected seed 195 with value = 0.5839
+Query 1/1: Action query time = 1.846 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6361
+t=58: Selected seed 195 with value = 0.6361
+Query 1/1: Action query time = 1.737 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7951
+t=74: Selected seed 195 with value = 0.7951
+Query 1/1: Action query time = 1.386 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8725
+t=90: Selected seed 195 with value = 0.8725
+Query 1/1: Action query time = 1.337 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=106: Selected seed 195 with value = 0.9557
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/eval_CLbest_g0_t135.log b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/eval_CLbest_g0_t135.log
new file mode 100644
index 0000000000000000000000000000000000000000..a43727977d8f0343e4e455ead2c54a576a13988e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/eval_CLbest_g0_t135.log
@@ -0,0 +1,59699 @@
+Uninstalled 1 package in 3ms
+Installed 1 package in 18ms
+[07-31 01:10:28|CRITICAL|cosmos_policy/_src/predict2/checkpointer/dcp.py:188:<module>] for the back comptiable pytorch! New DefaultLoadPlanner class is created.
+[robosuite WARNING] No private macro file found! (__init__.py:7)
+[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)
+[robosuite WARNING] To setup, run: python /home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9)
+Using LIBERO constants:
+  NUM_ACTIONS_CHUNK = 16
+  ACTION_DIM = 7
+  PROPRIO_DIM = 9
+If needed, manually set the correct constants in `projects/cosmos/cosmos_policy/constants.py`!
+Loaded T5 text embeddings from /home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl onto device cuda:0
+Instantiating pretrained Cosmos model...
+[07-31 01:10:30|INFO|cosmos_policy/_src/imaginaire/visualize/video.py:31:<module>] No module named 'ffmpegcv'
+[07-31 01:10:30|CRITICAL|cosmos_policy/_src/imaginaire/utils/config_helper.py:192:import_all_modules_from_package] Reloading all modules from package cosmos_policy._src.predict2.configs.video2world.experiment
+[07-31 01:10:30|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering video_basic_augmentor_v1...
+[07-31 01:10:30|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering video_basic_augmentor_v2...
+[07-31 01:10:30|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering noframedrop_nocameramove_video_augmentor_v1...
+[07-31 01:10:30|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering nocameramove_video_augmentor_v1...
+[07-31 01:10:30|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering image_basic_augmentor...
+[07-31 01:10:30|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering image_basic_augmentor_without_embeddings...
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_high_motion
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_av
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_physical_ai
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_4k_cooldown
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face_only2
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded_only2
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_high_motion_only2
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics_only2
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_av_only2
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_physical_ai_only2
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_4k_cooldown_only2
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face_high_sigma
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded_high_sigma
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_high_motion_high_sigma
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics_high_sigma
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_av_high_sigma
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_physical_ai_high_sigma
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_4k_cooldown_high_sigma
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face_high_sigma2
+[07-31 01:10:34|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded_high_sigma2
+[07-31 01:10:35|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics_high_sigma2
+[07-31 01:10:35|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-2-Size-2B-Res-720-Fps-16-Note-rf_with_edm_ckpt
+[07-31 01:10:35|CRITICAL|cosmos_policy/_src/imaginaire/utils/config_helper.py:192:import_all_modules_from_package] Reloading all modules from package cosmos_policy.config.experiment
+[07-31 01:10:35|INFO|cosmos_policy/_src/imaginaire/utils/checkpoint_db.py:927:get_checkpoint_by_hf] Downloading checkpoint from HuggingFace: nvidia/Cosmos-Predict2-2B-Video2World/model-480p-16fps.pt
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_base_stage
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_base_stage_inference_only
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_cl_stage
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_cl_stage_inference_only
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero__inference_only
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_task6_ft
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_task6_regen_cl
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_robocasa_50_demos_per_task
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_robocasa_50_demos_per_task__inference
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__inference_only
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__resumeFrom50K_648_rollouts_Vsprime_value_func
+[07-31 01:10:35|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__resumeFrom50K_648_rollouts_Vsprime_value_func__inference_only
+[07-31 01:10:37|INFO|cosmos_policy/_src/predict2/utils/model_loader.py:91:load_model_from_checkpoint] Overriding config checkpoint path with: /home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model
+[07-31 01:10:37|INFO|cosmos_policy/_src/imaginaire/utils/misc.py:152:set_random_seed] Using random seed 0.
+[07-31 01:10:37|INFO|cosmos_policy/_src/predict2/utils/model_loader.py:111:load_model_from_checkpoint] Loading model from /home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model
+[07-31 01:10:37|WARNING|cosmos_policy/_src/predict2/models/text2world_model.py:145:__init__] DiffusionModel: precision torch.bfloat16
+[07-31 01:10:37|INFO|cosmos_policy/_src/imaginaire/utils/checkpoint_db.py:927:get_checkpoint_by_hf] Downloading checkpoint from HuggingFace: nvidia/Cosmos-Predict2-2B-Video2World/tokenizer/tokenizer.pth
+[07-31 01:10:37|INFO|cosmos_policy/tokenizers/wan2pt1.py:165:_policy_video_vae] loading /home/azureuser/.cache/huggingface/hub/models--nvidia--Cosmos-Predict2-2B-Video2World/snapshots/f50c09f5d8ab133a90cac3f4886a6471e9ba3f18/tokenizer/tokenizer.pth
+[07-31 01:10:37|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on DiffusionModel: set_up_tokenizer: 0.84 s
+[07-31 01:10:37|CRITICAL|cosmos_policy/_src/predict2/models/text2world_model.py:173:__init__] Using mean loss reduce with loss scale 10.0
+[07-31 01:10:37|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #0-fps: 
+ ReMapkey 
+	input key: fps
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: fps 
+	Dtype: None
+[07-31 01:10:37|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #1-padding_mask: 
+ ReMapkey 
+	input key: padding_mask
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: padding_mask 
+	Dtype: None
+[07-31 01:10:37|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #2-text: 
+ TextAttr 
+	input key: ['t5_text_embeddings']
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: [crossattn_emb]
+[07-31 01:10:37|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #3-use_video_condition: 
+ BooleanFlag 
+	input key: fps
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: use_video_condition 
+	 This is a boolean flag
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1805:enable_selective_checkpoint] Enable selective checkpoint with predict2_2b_720, for every 1 blocks. Total blocks: 28
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 0
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 1
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 2
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 3
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 4
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 5
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 6
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 7
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 8
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 9
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 10
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 11
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 12
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 13
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 14
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 15
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 16
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 17
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 18
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 19
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 20
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 21
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 22
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 23
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 24
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 25
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 26
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 27
+[07-31 01:10:39|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on meta to cuda and broadcast model states: 0.13 s
+[07-31 01:10:39|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on Creating PyTorch model: 1.26 s
+[07-31 01:10:39|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on Creating PyTorch model and ema if enabled: 1.26 s
+[07-31 01:10:39|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on DiffusionModel: set_up_model: 1.26 s
+[07-31 01:10:39|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on instantiate model: 2.13 s
+[07-31 01:10:39|INFO|cosmos_policy/_src/predict2/utils/model_loader.py:227:load_model_state_dict_from_checkpoint] Loading model cached locally from /home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model
+/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/torch/distributed/checkpoint/state_dict_loader.py:153: UserWarning: torch.distributed is disabled, unavailable or uninitialized, assuming the intent is to load in a single process.
+  warnings.warn(
+[07-31 01:10:41|CRITICAL|cosmos_policy/_src/predict2/models/text2world_model.py:839:load_state_dict] load model in non-strict mode
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.0.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.0.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.0.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.0.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.1.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.1.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.1.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.1.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.2.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.2.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.2.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.2.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.3.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.3.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.3.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.3.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.4.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.4.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.4.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.4.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.5.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.5.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.5.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.5.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.6.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.6.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.6.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.6.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.7.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.7.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.7.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.7.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.8.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.8.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.8.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.8.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.9.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.9.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.9.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.9.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.10.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.10.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.10.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.10.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.11.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.11.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.11.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.11.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.12.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.12.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.12.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.12.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
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+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.13.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.13.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.13.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.14.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.14.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.14.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.14.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.15.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.15.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.15.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.15.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.16.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.16.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.16.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.16.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.17.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.17.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.17.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.17.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.18.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.18.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.18.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.18.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.19.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.19.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.19.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.19.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.20.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.20.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.20.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.20.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.21.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.21.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.21.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.21.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.22.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.22.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.22.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.22.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.23.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.23.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.23.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.23.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.24.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.24.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.24.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.24.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.25.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.25.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.25.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.25.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.26.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.26.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.26.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.26.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key t_embedding_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 01:10:41|CRITICAL|cosmos_policy/_src/predict2/models/text2world_model.py:840:load_state_dict] [RANK 0] _IncompatibleKeys(missing_keys=[], unexpected_keys=[], incorrect_shapes=[])
+INFO:cosmos_policy.experiments.robot.robot_utils:Logging to local log file: cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-01_10_29--CLbest_g0_t135.txt
+INFO:cosmos_policy.experiments.robot.robot_utils:Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1,3,5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLbest_g0_t135', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200)
+INFO:cosmos_policy.experiments.robot.robot_utils:Using serial inference (parallel inference disabled)
+INFO:cosmos_policy.experiments.robot.robot_utils:Task suite: libero_goal
+INFO:cosmos_policy.experiments.robot.robot_utils:Number of tasks: 10
+INFO:cosmos_policy.experiments.robot.robot_utils:Running only task IDs: [1, 3, 5]
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1,3,5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLbest_g0_t135', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200)
+Using serial inference (parallel inference disabled)
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1, 3, 5]
+
  0%|          | 0/10 [00:00<?, ?it/s]INFO:cosmos_policy.experiments.robot.robot_utils:Using default initial states
+Using default initial states
+Local assets not found. Downloading from HuggingFace Hub...
+Assets already downloaded at /home/azureuser/.cache/libero/assets
+
+
  0%|          | 0/50 [00:00<?, ?it/s]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 1...
+
+Task: put the bowl on the stove
+Starting episode 1...
+[07-31 01:10:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.527 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4688
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 1.527 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=10: Selected seed 195 with value = 0.4688
+t: 10	 action: [ 1.019e-01  6.568e-02 -1.759e-03  5.859e-03  8.973e-03 -6.621e-06 -1.024e+00]
+t: 11	 action: [ 0.248  0.102  0.012  0.008  0.005 -0.006 -1.019]
+t: 12	 action: [ 3.722e-01  2.115e-01  8.387e-03  3.318e-03  1.432e-02 -8.701e-04 -1.029e+00]
+t: 13	 action: [ 0.48   0.276  0.025  0.003  0.006 -0.005 -1.023]
+t: 14	 action: [ 0.607  0.336  0.028  0.001  0.017 -0.001 -1.032]
+t: 15	 action: [ 0.709  0.422  0.014  0.005  0.009 -0.005 -1.05 ]
+t: 16	 action: [ 0.778  0.486  0.032 -0.003  0.023 -0.003 -1.024]
+t: 17	 action: [ 8.345e-01  5.321e-01  1.852e-02  3.615e-04  9.428e-03 -5.238e-03 -1.052e+00]
+t: 18	 action: [ 0.823  0.549  0.026 -0.005  0.022  0.004 -1.031]
+t: 19	 action: [ 0.842  0.566  0.027 -0.012  0.016 -0.003 -1.028]
+t: 20	 action: [ 8.621e-01  5.834e-01  5.582e-04 -1.728e-02  1.862e-02  4.325e-03 -1.030e+00]
+t: 21	 action: [ 8.786e-01  5.834e-01 -3.762e-03 -1.537e-02  1.664e-02 -6.311e-04 -1.029e+00]
+t: 22	 action: [ 0.888  0.589 -0.051 -0.011  0.018  0.003 -1.011]
+t: 23	 action: [ 0.892  0.577 -0.033 -0.008  0.006 -0.002 -1.043]
+t: 24	 action: [ 8.796e-01  5.675e-01 -1.654e-01 -1.506e-02  1.302e-02  2.454e-04 -1.014e+00]
+t: 25	 action: [ 8.942e-01  5.070e-01 -1.837e-01 -9.373e-03  5.061e-03  4.527e-04 -1.052e+00]
+[07-31 01:10:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.016 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5659
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 1.016 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=26: Selected seed 195 with value = 0.5659
+t: 26	 action: [ 0.902  0.502 -0.214  0.006  0.013  0.008 -1.036]
+t: 27	 action: [ 0.821  0.448 -0.289 -0.005  0.009  0.003 -1.034]
+t: 28	 action: [ 0.736  0.374 -0.331  0.01   0.004  0.01  -1.042]
+t: 29	 action: [ 0.561  0.243 -0.434  0.002  0.004  0.001 -1.037]
+t: 30	 action: [ 3.967e-01  1.381e-01 -5.704e-01  7.130e-04  1.998e-03  4.484e-04 -1.031e+00]
+t: 31	 action: [ 2.651e-01  5.112e-02 -6.912e-01  1.584e-02 -1.684e-03  9.791e-05 -1.058e+00]
+t: 32	 action: [ 1.363e-01  1.883e-03 -8.580e-01  3.503e-03 -5.774e-03  3.850e-04 -1.039e+00]
+t: 33	 action: [ 0.051 -0.002 -0.94   0.017 -0.01  -0.003 -1.06 ]
+t: 34	 action: [-0.051 -0.018 -0.886  0.008 -0.036  0.002 -1.04 ]
+t: 35	 action: [-0.12  -0.078 -0.95   0.002 -0.032 -0.008 -1.031]
+t: 36	 action: [-0.219 -0.074 -0.933  0.008 -0.045  0.002 -1.043]
+t: 37	 action: [-2.790e-01 -1.038e-01 -1.009e+00  6.161e-04 -3.834e-02 -9.324e-03 -1.032e+00]
+t: 38	 action: [-3.155e-01 -1.539e-01 -9.267e-01  1.717e-03 -4.922e-02 -4.326e-04 -1.040e+00]
+t: 39	 action: [-0.347 -0.062 -0.971  0.008 -0.043 -0.011 -1.042]
+t: 40	 action: [-4.153e-01 -1.381e-01 -9.277e-01  1.046e-04 -4.519e-02  6.335e-05 -1.037e+00]
+t: 41	 action: [-0.406 -0.066 -0.951  0.006 -0.037 -0.01  -1.046]
+[07-31 01:10:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6629
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6629
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6629
+t=42: Selected seed 195 with value = 0.6629
+t: 42	 action: [-0.256  0.016 -1.022  0.025 -0.008  0.008 -1.051]
+t: 43	 action: [-0.23   0.032 -0.914  0.013 -0.006  0.01  -1.031]
+t: 44	 action: [-0.191  0.063 -0.887  0.005 -0.002  0.008 -1.049]
+t: 45	 action: [-0.14   0.086 -0.785  0.001  0.004  0.011 -1.032]
+t: 46	 action: [-0.158  0.112 -0.68  -0.012  0.008  0.001 -1.036]
+t: 47	 action: [-0.154  0.154 -0.712 -0.004  0.006  0.005 -1.05 ]
+t: 48	 action: [-0.137  0.145 -0.521 -0.022  0.013  0.003 -1.042]
+t: 49	 action: [-1.920e-01  1.417e-01 -5.830e-01 -9.304e-03  1.372e-02 -9.785e-04 -1.047e+00]
+t: 50	 action: [-0.225  0.053 -0.6   -0.007  0.019  0.003 -1.233]
+t: 51	 action: [-0.316  0.034 -0.52  -0.01   0.022  0.014 -1.156]
+t: 52	 action: [-0.238  0.03  -0.461 -0.013  0.02   0.007  0.985]
+t: 53	 action: [-0.212 -0.005 -0.375 -0.01   0.03   0.002  1.029]
+t: 54	 action: [-0.274  0.009 -0.338 -0.026  0.036 -0.004  1.113]
+t: 55	 action: [-0.216  0.02  -0.26  -0.008  0.027  0.007  1.163]
+t: 56	 action: [-0.229 -0.005 -0.192 -0.021  0.031 -0.005  1.001]
+t: 57	 action: [-0.149 -0.008 -0.094 -0.007  0.029 -0.003  1.04 ]
+[07-31 01:10:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7197
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7197
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7197
+t=58: Selected seed 195 with value = 0.7197
+t: 58	 action: [-0.077 -0.045 -0.15  -0.022  0.02   0.007  0.981]
+t: 59	 action: [ 0.009 -0.053 -0.037 -0.026  0.041 -0.002  1.017]
+t: 60	 action: [-0.005 -0.031  0.073 -0.008  0.034 -0.002  0.974]
+t: 61	 action: [ 0.018 -0.039  0.234 -0.019  0.05  -0.006  1.014]
+t: 62	 action: [ 0.024  0.003  0.373 -0.012  0.059 -0.004  0.99 ]
+t: 63	 action: [ 0.049  0.018  0.546 -0.018  0.054 -0.009  1.015]
+t: 64	 action: [ 0.064  0.016  0.744 -0.005  0.051 -0.013  0.987]
+t: 65	 action: [ 0.065  0.046  0.772 -0.012  0.046 -0.018  1.02 ]
+t: 66	 action: [ 0.096 -0.015  0.873 -0.001  0.037 -0.009  0.978]
+t: 67	 action: [ 0.05   0.007  0.897  0.005  0.037 -0.014  1.009]
+t: 68	 action: [ 0.113 -0.036  0.864 -0.004  0.029 -0.007  0.973]
+t: 69	 action: [ 0.044 -0.089  0.844  0.012  0.032 -0.008  1.023]
+t: 70	 action: [ 0.044 -0.146  0.844  0.007  0.027 -0.005  0.99 ]
+t: 71	 action: [-1.785e-02 -2.145e-01  7.519e-01  2.400e-02  3.267e-02 -6.316e-04  1.012e+00]
+t: 72	 action: [-0.043 -0.285  0.578  0.008  0.014 -0.004  0.992]
+t: 73	 action: [-1.017e-01 -4.040e-01  3.270e-01  3.065e-02  2.249e-02  3.219e-04  1.023e+00]
+[07-31 01:10:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7827
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=74: Selected seed 195 with value = 0.7827
+t: 74	 action: [ 0.036  0.158  0.114  0.006  0.008 -0.007  0.991]
+t: 75	 action: [-9.825e-03  1.653e-01  2.104e-02  1.033e-02  2.182e-04 -8.056e-03  1.018e+00]
+t: 76	 action: [-5.772e-04  2.033e-01 -4.480e-02  7.033e-03  5.263e-03 -1.080e-02  9.708e-01]
+t: 77	 action: [-0.153  0.197 -0.11   0.018 -0.001 -0.005  0.998]
+t: 78	 action: [-0.163  0.144 -0.117  0.006  0.005 -0.004  0.983]
+t: 79	 action: [-2.891e-01  1.337e-01 -1.345e-01  2.350e-02 -7.031e-03 -4.931e-04  1.017e+00]
+t: 80	 action: [-0.343  0.211 -0.227  0.006 -0.002 -0.007  0.965]
+t: 81	 action: [-0.409  0.159 -0.331  0.025 -0.007  0.001  1.008]
+t: 82	 action: [-0.384  0.049 -0.389  0.018  0.012  0.03   0.952]
+t: 83	 action: [-0.478  0.004 -0.435  0.017 -0.001  0.041  1.009]
+t: 84	 action: [-0.404  0.05  -0.439  0.009  0.013  0.039  0.983]
+t: 85	 action: [-4.728e-01 -5.402e-04 -4.308e-01  1.023e-02 -8.723e-04  4.855e-02  1.051e+00]
+t: 86	 action: [-0.414  0.075 -0.454  0.002 -0.012  0.035  0.996]
+t: 87	 action: [-0.456  0.05  -0.47  -0.01  -0.008  0.046  1.052]
+t: 88	 action: [-0.367  0.099 -0.426  0.003 -0.024  0.031  1.008]
+t: 89	 action: [-0.38   0.059 -0.356 -0.019 -0.014  0.048  1.077]
+[07-31 01:10:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8260
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8260
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8260
+t=90: Selected seed 195 with value = 0.8260
+t: 90	 action: [-0.03   0.038 -0.02   0.005  0.027 -0.002  1.003]
+t: 91	 action: [-0.066 -0.02  -0.014  0.001  0.009 -0.01   1.023]
+t: 92	 action: [-5.853e-02  3.656e-02 -1.293e-01  8.599e-04  2.652e-02 -5.238e-03  9.948e-01]
+t: 93	 action: [-0.152 -0.01  -0.189  0.005  0.011 -0.006  1.027]
+t: 94	 action: [-0.181  0.004 -0.144  0.004  0.025  0.002  1.024]
+t: 95	 action: [-2.520e-01 -4.286e-02 -1.593e-01  1.669e-02  4.688e-04  3.074e-03  1.052e+00]
+t: 96	 action: [-3.058e-01  1.457e-02 -2.679e-01  6.651e-03  2.435e-02  5.264e-04  1.012e+00]
+t: 97	 action: [-0.362  0.001 -0.401  0.016  0.001  0.005  1.057]
+t: 98	 action: [-0.313  0.011 -0.5    0.002  0.047  0.013  0.978]
+t: 99	 action: [-0.409 -0.046 -0.53   0.003  0.007  0.031  1.021]
+t: 100	 action: [-3.401e-01 -1.108e-02 -5.149e-01 -2.922e-04  4.352e-02  1.144e-02  9.894e-01]
+t: 101	 action: [-4.006e-01 -5.795e-02 -5.020e-01 -6.644e-04  4.496e-03  3.011e-02  1.051e+00]
+t: 102	 action: [-0.294 -0.007 -0.416 -0.003  0.017  0.02   1.021]
+t: 103	 action: [-3.450e-01 -3.198e-02 -4.767e-01 -1.628e-02 -9.828e-04  3.523e-02  1.074e+00]
+t: 104	 action: [-0.222 -0.038 -0.313 -0.003 -0.005  0.006  1.02 ]
+t: 105	 action: [-0.233 -0.053 -0.282 -0.021 -0.019  0.026  1.079]
+[07-31 01:10:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9135
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9135
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9135
+t=106: Selected seed 195 with value = 0.9135
+t: 106	 action: [-0.096  0.021  0.037 -0.06  -0.024 -0.002  1.   ]
+t: 107	 action: [-1.218e-01 -1.988e-02  9.485e-02 -3.816e-02  2.470e-04 -3.429e-03  1.043e+00]
+t: 108	 action: [-0.163  0.019  0.184 -0.038 -0.011 -0.006  1.011]
+t: 109	 action: [-0.217 -0.055  0.179 -0.029  0.004 -0.005  1.035]
+t: 110	 action: [-0.226 -0.02   0.312 -0.024  0.008 -0.01   1.01 ]
+t: 111	 action: [-0.291 -0.063  0.283 -0.02   0.002 -0.001  1.055]
+t: 112	 action: [-3.222e-01 -4.771e-02  3.225e-01  1.997e-04  2.973e-02 -1.519e-02  1.017e+00]
+t: 113	 action: [-0.299 -0.108  0.276 -0.003  0.049 -0.008  1.049]
+t: 114	 action: [-2.305e-01  3.228e-02  2.807e-02  2.444e-04  8.568e-02 -1.534e-02  1.170e+00]
+t: 115	 action: [-0.222 -0.009  0.088  0.007  0.082 -0.022 -0.209]
+t: 116	 action: [-1.131e-01  1.823e-02  1.179e-01 -2.146e-04  8.785e-02 -2.974e-02 -1.027e+00]
+t: 117	 action: [-0.049 -0.031  0.143  0.01   0.061 -0.038 -1.083]
+t: 118	 action: [-0.104  0.006  0.042  0.003  0.075 -0.011 -1.166]
+t: 119	 action: [-0.088 -0.034  0.149 -0.009  0.023 -0.023 -0.897]
+t: 120	 action: [-0.075 -0.006  0.161  0.007  0.045 -0.018 -1.027]
+t: 121	 action: [-0.041 -0.028  0.28  -0.003  0.006 -0.021 -0.965]
+[07-31 01:10:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8320
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8320
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8320
+t=122: Selected seed 195 with value = 0.8320
+t: 122	 action: [-0.051 -0.121  0.146 -0.008  0.043 -0.048  1.014]
+t: 123	 action: [-0.007 -0.161  0.345 -0.012  0.045 -0.044  1.018]
+t: 124	 action: [ 0.031 -0.136  0.421  0.005  0.041 -0.054  0.994]
+t: 125	 action: [ 0.032 -0.235  0.539 -0.006  0.049 -0.043  1.014]
+t: 126	 action: [ 0.032 -0.161  0.471  0.009  0.049 -0.054  1.018]
+t: 127	 action: [ 0.039 -0.22   0.538  0.013  0.048 -0.045  1.002]
+t: 128	 action: [ 0.059 -0.284  0.346  0.01   0.05  -0.05   0.993]
+t: 129	 action: [ 0.071 -0.342  0.385  0.026  0.055 -0.042  1.001]
+t: 130	 action: [ 0.026 -0.329  0.126  0.022  0.029 -0.008  1.02 ]
+t: 131	 action: [-0.001 -0.496  0.068  0.029  0.019 -0.01   1.022]
+t: 132	 action: [ 0.013 -0.328 -0.073  0.023  0.022 -0.015  1.   ]
+t: 133	 action: [ 0.016 -0.327 -0.172  0.031  0.013 -0.016  1.025]
+t: 134	 action: [-0.005 -0.195 -0.138  0.016  0.012 -0.012  1.018]
+t: 135	 action: [-0.022 -0.298 -0.134  0.026 -0.001 -0.011  1.016]
+t: 136	 action: [-0.004 -0.189 -0.193  0.012  0.009 -0.022  1.002]
+t: 137	 action: [ 0.008 -0.147 -0.244  0.024 -0.004 -0.019  1.024]
+[07-31 01:10:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.954 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9498
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9498
+Query 1/1: Action query time = 0.954 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9498
+t=138: Selected seed 195 with value = 0.9498
+t: 138	 action: [-0.124  0.597  0.441 -0.013 -0.018  0.001  0.993]
+t: 139	 action: [-0.077  0.588  0.401 -0.011 -0.022 -0.013  1.011]
+t: 140	 action: [-0.132  0.618  0.356 -0.002 -0.019 -0.002  0.994]
+t: 141	 action: [-0.096  0.628  0.29  -0.009 -0.027 -0.016  1.014]
+t: 142	 action: [-0.116  0.678  0.157  0.003 -0.024 -0.004  1.001]
+t: 143	 action: [-0.142  0.657  0.103 -0.002 -0.04  -0.008  1.04 ]
+t: 144	 action: [-1.213e-01  6.796e-01  7.929e-03  2.245e-04 -2.222e-02 -8.487e-03  9.966e-01]
+t: 145	 action: [-0.108  0.665 -0.055 -0.005 -0.038 -0.011  1.043]
+t: 146	 action: [-0.133  0.633 -0.185 -0.004 -0.025 -0.007  1.006]
+t: 147	 action: [-0.099  0.563 -0.373 -0.013 -0.033 -0.011  1.035]
+t: 148	 action: [-0.035  0.509 -0.345 -0.009 -0.024 -0.012  1.004]
+t: 149	 action: [-0.02   0.414 -0.555 -0.017 -0.019 -0.012  1.057]
+t: 150	 action: [-0.063  0.337 -0.457 -0.009 -0.025 -0.007  1.01 ]
+t: 151	 action: [-0.02   0.306 -0.533 -0.022 -0.016 -0.001  1.057]
+t: 152	 action: [-0.053  0.231 -0.489 -0.014 -0.018 -0.008  1.009]
+t: 153	 action: [-0.013  0.201 -0.501 -0.022 -0.01  -0.003  1.057]
+[07-31 01:10:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=154: Selected seed 195 with value = 0.9950
+t: 154	 action: [-0.02   0.132 -0.567  0.008  0.024  0.005  0.899]
+t: 155	 action: [ 0.023  0.124 -0.568  0.005  0.024 -0.012  0.995]
+t: 156	 action: [ 0.008  0.1   -0.457  0.003  0.038  0.006  1.154]
+t: 157	 action: [ 0.012  0.089 -0.401  0.003  0.028 -0.011  1.012]
+t: 158	 action: [ 0.03   0.053 -0.164  0.004  0.034 -0.013  0.903]
+t: 159	 action: [ 0.066  0.08  -0.126  0.007  0.021 -0.032 -1.014]
+t: 160	 action: [ 0.045  0.055 -0.019 -0.002  0.033 -0.037 -1.184]
+t: 161	 action: [ 0.033  0.067  0.03   0.005  0.031 -0.054 -1.085]
+t: 162	 action: [-0.023  0.068  0.172  0.008  0.048 -0.047 -1.044]
+t: 163	 action: [-0.018  0.023  0.296  0.006  0.036 -0.055 -1.034]
+t: 164	 action: [ 0.003  0.086  0.333  0.006  0.044 -0.061 -1.043]
+t: 165	 action: [ 0.007  0.031  0.4    0.006  0.038 -0.063 -1.028]
+t: 166	 action: [ 0.028  0.073  0.469  0.014  0.058 -0.073 -1.054]
+t: 167	 action: [ 0.024  0.088  0.448  0.016  0.057 -0.066 -1.041]
+t: 168	 action: [ 0.048  0.101  0.469  0.008  0.06  -0.075 -1.047]
+t: 169	 action: [ 0.037  0.089  0.419  0.016  0.064 -0.07  -1.05 ]
+[07-31 01:10:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9939
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=170: Selected seed 195 with value = 0.9939
+t: 170	 action: [ 0.055  0.053  0.319  0.005  0.022 -0.066 -1.04 ]
+t: 171	 action: [ 0.069  0.036  0.343  0.005  0.017 -0.075 -1.024]
+t: 172	 action: [ 0.06   0.038  0.274  0.005  0.017 -0.074 -1.039]
+t: 173	 action: [ 0.079  0.038  0.318  0.005  0.016 -0.086 -1.025]
+t: 174	 action: [ 0.074  0.043  0.29   0.004  0.019 -0.071 -1.039]
+t: 175	 action: [ 0.083  0.069  0.302  0.008  0.003 -0.077 -1.045]
+t: 176	 action: [ 0.083  0.033  0.278  0.003  0.016 -0.081 -1.038]
+t: 177	 action: [ 0.112  0.072  0.313  0.009  0.004 -0.089 -1.053]
+t: 178	 action: [ 0.055  0.038  0.317  0.006  0.018 -0.069 -1.037]
+t: 179	 action: [ 0.061  0.037  0.331  0.005  0.017 -0.075 -1.025]
+t: 180	 action: [ 0.06   0.032  0.281  0.004  0.016 -0.077 -1.036]
+t: 181	 action: [ 0.078  0.04   0.311  0.006  0.015 -0.085 -1.026]
+t: 182	 action: [ 0.075  0.031  0.302  0.005  0.018 -0.075 -1.04 ]
+t: 183	 action: [ 0.078  0.071  0.297  0.009  0.002 -0.078 -1.043]
+t: 184	 action: [ 0.085  0.03   0.284  0.004  0.017 -0.084 -1.031]
+t: 185	 action: [ 0.111  0.073  0.313  0.009  0.003 -0.087 -1.053]
+[07-31 01:11:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9958
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=186: Selected seed 195 with value = 0.9958
+t: 186	 action: [ 0.015  0.014  0.23   0.013  0.003 -0.037 -1.044]
+t: 187	 action: [ 0.011 -0.005  0.241  0.012  0.002 -0.048 -1.03 ]
+t: 188	 action: [ 0.012  0.002  0.186  0.006 -0.01  -0.048 -1.044]
+t: 189	 action: [ 0.009  0.001  0.228  0.012  0.002 -0.058 -1.041]
+t: 190	 action: [ 0.019  0.002  0.205  0.011 -0.01  -0.042 -1.045]
+t: 191	 action: [ 0.004  0.022  0.177  0.017 -0.021 -0.049 -1.052]
+t: 192	 action: [ 0.029 -0.002  0.2    0.007 -0.015 -0.051 -1.042]
+t: 193	 action: [ 0.023  0.033  0.2    0.016 -0.018 -0.06  -1.059]
+t: 194	 action: [ 0.015 -0.002  0.24   0.008 -0.012 -0.048 -1.042]
+t: 195	 action: [ 8.444e-03 -1.600e-02  2.500e-01  1.131e-02 -4.077e-04 -5.198e-02 -1.036e+00]
+t: 196	 action: [ 0.014 -0.001  0.202  0.005 -0.016 -0.055 -1.041]
+t: 197	 action: [ 1.566e-02 -7.370e-03  2.226e-01  1.062e-02  9.719e-04 -5.919e-02 -1.043e+00]
+t: 198	 action: [ 0.026 -0.013  0.235  0.008 -0.015 -0.052 -1.043]
+t: 199	 action: [ 0.006  0.011  0.209  0.015 -0.021 -0.053 -1.051]
+t: 200	 action: [ 0.031 -0.005  0.215  0.006 -0.017 -0.059 -1.034]
+t: 201	 action: [ 0.024  0.024  0.211  0.014 -0.018 -0.059 -1.063]
+[07-31 01:11:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.950 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9807
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.950 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=202: Selected seed 195 with value = 0.9807
+t: 202	 action: [ 0.02   0.011  0.119  0.013  0.026 -0.029 -1.028]
+t: 203	 action: [ 0.024  0.006  0.084  0.017  0.009 -0.038 -1.01 ]
+t: 204	 action: [ 0.026 -0.005  0.026  0.006  0.006 -0.04  -1.032]
+t: 205	 action: [ 0.022 -0.005  0.042  0.016  0.007 -0.045 -1.047]
+t: 206	 action: [ 0.029 -0.012  0.055  0.012 -0.003 -0.029 -1.04 ]
+t: 207	 action: [ 0.002  0.014  0.027  0.021 -0.014 -0.035 -1.062]
+t: 208	 action: [ 0.037 -0.016  0.021  0.008 -0.008 -0.037 -1.028]
+t: 209	 action: [ 0.029  0.011  0.019  0.02  -0.015 -0.044 -1.071]
+t: 210	 action: [ 0.019 -0.024  0.049  0.008 -0.016 -0.04  -1.037]
+t: 211	 action: [ 2.124e-02 -4.938e-02  5.475e-02  1.057e-02  3.666e-05 -4.273e-02 -1.045e+00]
+t: 212	 action: [ 0.014 -0.022  0.012  0.005 -0.019 -0.046 -1.033]
+t: 213	 action: [ 0.025 -0.045  0.038  0.01   0.002 -0.046 -1.048]
+t: 214	 action: [ 0.019 -0.034  0.05   0.007 -0.022 -0.039 -1.038]
+t: 215	 action: [ 8.526e-04 -1.611e-02  3.573e-02  1.455e-02 -2.531e-02 -4.071e-02 -1.064e+00]
+t: 216	 action: [ 0.015 -0.023  0.025  0.005 -0.023 -0.044 -1.021]
+t: 217	 action: [ 0.013 -0.013  0.026  0.013 -0.02  -0.043 -1.072]
+[07-31 01:11:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.947 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9692
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 0.947 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=218: Selected seed 195 with value = 0.9692
+t: 218	 action: [ 0.041  0.014  0.129  0.01   0.035 -0.024 -1.013]
+t: 219	 action: [ 0.055  0.014  0.127  0.015  0.018 -0.034 -0.983]
+t: 220	 action: [ 0.055 -0.004  0.04   0.005  0.017 -0.034 -1.023]
+t: 221	 action: [ 0.061  0.003  0.065  0.014  0.012 -0.041 -1.046]
+t: 222	 action: [ 0.049 -0.009  0.078  0.01   0.007 -0.022 -1.038]
+t: 223	 action: [ 0.025  0.014  0.056  0.021 -0.001 -0.029 -1.063]
+t: 224	 action: [ 0.067 -0.015  0.03   0.008  0.002 -0.029 -1.022]
+t: 225	 action: [ 6.905e-02  9.691e-03  2.447e-02  1.919e-02 -5.483e-04 -3.683e-02 -1.072e+00]
+t: 226	 action: [ 0.035 -0.042  0.043  0.009 -0.009 -0.035 -1.033]
+t: 227	 action: [ 0.031 -0.057  0.042  0.013  0.007 -0.038 -1.045]
+t: 228	 action: [ 0.029 -0.035 -0.005  0.006 -0.012 -0.04  -1.029]
+t: 229	 action: [ 0.035 -0.052  0.015  0.012  0.009 -0.042 -1.048]
+t: 230	 action: [ 0.026 -0.046  0.029  0.008 -0.022 -0.031 -1.037]
+t: 231	 action: [ 0.002 -0.024  0.023  0.018 -0.019 -0.034 -1.062]
+t: 232	 action: [ 0.022 -0.027 -0.004  0.005 -0.021 -0.036 -1.019]
+t: 233	 action: [ 0.012 -0.023 -0.012  0.015 -0.014 -0.036 -1.07 ]
+[07-31 01:11:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9575
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9575
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9575
+t=234: Selected seed 195 with value = 0.9575
+t: 234	 action: [ 0.047  0.005  0.179  0.009  0.046 -0.024 -0.4  ]
+t: 235	 action: [ 0.072  0.001  0.191  0.015  0.038 -0.039 -0.122]
+t: 236	 action: [ 0.074 -0.008  0.085  0.005  0.03  -0.031 -1.008]
+t: 237	 action: [ 0.098 -0.008  0.124  0.014  0.02  -0.037 -1.052]
+t: 238	 action: [ 0.053 -0.016  0.147  0.012  0.017 -0.018 -1.132]
+t: 239	 action: [ 0.028 -0.003  0.126  0.021  0.002 -0.032 -1.072]
+t: 240	 action: [ 0.087 -0.019  0.07   0.01   0.01  -0.023 -1.017]
+t: 241	 action: [ 0.108 -0.01   0.046  0.021  0.003 -0.031 -1.073]
+t: 242	 action: [ 0.056 -0.071  0.048  0.011 -0.004 -0.031 -1.027]
+t: 243	 action: [ 0.048 -0.076  0.024  0.017  0.007 -0.034 -1.04 ]
+t: 244	 action: [ 0.053 -0.063 -0.013  0.007 -0.008 -0.035 -1.029]
+t: 245	 action: [ 0.053 -0.069 -0.03   0.014  0.009 -0.037 -1.051]
+t: 246	 action: [ 0.037 -0.064  0.018  0.011 -0.021 -0.025 -1.034]
+t: 247	 action: [ 0.005 -0.043 -0.004  0.021 -0.018 -0.028 -1.053]
+t: 248	 action: [ 0.036 -0.038 -0.026  0.006 -0.02  -0.028 -1.015]
+t: 249	 action: [ 0.015 -0.038 -0.073  0.017 -0.013 -0.029 -1.061]
+[07-31 01:11:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.949 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9440
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 0.949 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=250: Selected seed 195 with value = 0.9440
+t: 250	 action: [ 0.025 -0.007  0.2    0.012  0.045 -0.025  1.065]
+t: 251	 action: [ 0.042 -0.041  0.223  0.018  0.053 -0.044  0.901]
+t: 252	 action: [ 0.076 -0.03   0.137  0.008  0.035 -0.028 -0.985]
+t: 253	 action: [ 0.112 -0.05   0.196  0.017  0.031 -0.032 -1.057]
+t: 254	 action: [ 0.083 -0.037  0.222  0.016  0.024 -0.017 -1.152]
+t: 255	 action: [ 0.013 -0.047  0.215  0.021  0.006 -0.032 -1.075]
+t: 256	 action: [ 0.101 -0.043  0.129  0.013  0.017 -0.019 -1.016]
+t: 257	 action: [ 0.114 -0.053  0.097  0.022  0.004 -0.025 -1.064]
+t: 258	 action: [ 0.078 -0.126  0.073  0.018 -0.007 -0.025 -1.018]
+t: 259	 action: [ 0.074 -0.111  0.023  0.022  0.006 -0.029 -1.03 ]
+t: 260	 action: [ 0.076 -0.115  0.002  0.012 -0.009 -0.028 -1.038]
+t: 261	 action: [ 0.073 -0.105 -0.067  0.019  0.009 -0.031 -1.055]
+t: 262	 action: [ 0.048 -0.109  0.02   0.017 -0.025 -0.02  -1.028]
+t: 263	 action: [ 0.009 -0.078 -0.026  0.024 -0.02  -0.022 -1.047]
+t: 264	 action: [ 0.044 -0.062 -0.03   0.01  -0.023 -0.022 -1.014]
+t: 265	 action: [ 0.017 -0.064 -0.134  0.02  -0.015 -0.023 -1.044]
+[07-31 01:11:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9044
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9044
+Query 1/1: Action query time = 0.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9044
+t=266: Selected seed 195 with value = 0.9044
+t: 266	 action: [ 0.002 -0.009  0.247  0.012  0.043 -0.03   1.066]
+t: 267	 action: [ 0.024 -0.04   0.247  0.015  0.059 -0.052  0.95 ]
+t: 268	 action: [ 0.064 -0.031  0.17   0.007  0.037 -0.029  0.075]
+t: 269	 action: [ 0.087 -0.057  0.235  0.015  0.041 -0.032 -1.022]
+t: 270	 action: [ 0.062 -0.05   0.246  0.017  0.03  -0.015 -1.141]
+t: 271	 action: [-0.006 -0.055  0.251  0.019  0.014 -0.034 -1.076]
+t: 272	 action: [ 0.084 -0.046  0.158  0.012  0.023 -0.015 -1.067]
+t: 273	 action: [ 0.055 -0.045  0.138  0.019  0.009 -0.022 -1.062]
+t: 274	 action: [ 0.09  -0.185  0.07   0.019 -0.009 -0.019 -0.982]
+t: 275	 action: [ 0.091 -0.139  0.006  0.022  0.003 -0.025 -1.007]
+t: 276	 action: [ 0.094 -0.155 -0.005  0.013 -0.014 -0.021 -1.025]
+t: 277	 action: [ 0.091 -0.124 -0.091  0.017  0.003 -0.027 -1.044]
+t: 278	 action: [ 0.047 -0.155 -0.004  0.02  -0.031 -0.014 -1.032]
+t: 279	 action: [ 0.002 -0.096 -0.082  0.024 -0.025 -0.017 -1.042]
+t: 280	 action: [ 0.045 -0.063 -0.057  0.008 -0.03  -0.015 -1.012]
+t: 281	 action: [ 0.017 -0.061 -0.196  0.017 -0.023 -0.018 -1.038]
+[07-31 01:11:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.951 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8542
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 0.951 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=282: Selected seed 195 with value = 0.8542
+t: 282	 action: [ 3.069e-04 -8.234e-03  2.361e-01  1.296e-02  3.861e-02 -3.373e-02  1.063e+00]
+t: 283	 action: [ 0.006 -0.042  0.245  0.017  0.06  -0.055  0.952]
+t: 284	 action: [ 0.038 -0.033  0.195  0.009  0.041 -0.03   0.944]
+t: 285	 action: [ 0.025 -0.068  0.257  0.017  0.055 -0.034 -0.943]
+t: 286	 action: [ 0.041 -0.051  0.264  0.017  0.036 -0.014 -1.09 ]
+t: 287	 action: [-0.012 -0.057  0.276  0.02   0.026 -0.035 -1.021]
+t: 288	 action: [ 0.082 -0.051  0.202  0.013  0.036 -0.013 -1.069]
+t: 289	 action: [ 0.02  -0.052  0.191  0.021  0.027 -0.022 -1.045]
+t: 290	 action: [ 0.111 -0.191  0.067  0.022 -0.001 -0.017  0.504]
+t: 291	 action: [ 0.093 -0.187  0.004  0.024  0.005 -0.022 -0.873]
+t: 292	 action: [ 0.116 -0.201  0.001  0.017 -0.008 -0.018 -0.969]
+t: 293	 action: [ 0.113 -0.157 -0.074  0.019  0.005 -0.026 -1.033]
+t: 294	 action: [ 0.055 -0.218  0.012  0.023 -0.026 -0.011 -1.077]
+t: 295	 action: [-0.027 -0.138 -0.082  0.024 -0.018 -0.014 -1.038]
+t: 296	 action: [ 0.049 -0.086 -0.05   0.009 -0.028 -0.011 -0.992]
+t: 297	 action: [ 0.018 -0.084 -0.197  0.017 -0.018 -0.015 -1.024]
+[07-31 01:11:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8075
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8075
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 1
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
  2%|▏         | 1/50 [00:31<25:19, 31.01s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 2...
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=298: Selected seed 195 with value = 0.8075
+t: 298	 action: [ 7.095e-05 -1.947e-02  2.169e-01  4.262e-03  2.168e-02 -3.195e-02  9.871e-01]
+t: 299	 action: [ 0.048 -0.041  0.262  0.006  0.034 -0.049  1.004]
+t: 300	 action: [ 0.029 -0.028  0.225  0.004  0.032 -0.026  1.019]
+t: 301	 action: [ 0.013 -0.045  0.288  0.008  0.045 -0.051  0.633]
+t: 302	 action: [ 0.038 -0.055  0.285  0.009  0.029 -0.013  0.976]
+t: 303	 action: [ 0.091 -0.057  0.324  0.015  0.011 -0.027  0.88 ]
+t: 304	 action: [ 0.089 -0.043  0.262  0.006  0.036 -0.012 -1.055]
+t: 305	 action: [ 0.043 -0.034  0.287  0.014  0.027 -0.035 -1.057]
+t: 306	 action: [ 0.083 -0.2    0.116  0.016  0.004 -0.022  1.039]
+t: 307	 action: [ 0.046 -0.244  0.086  0.02   0.002 -0.038  0.774]
+t: 308	 action: [ 0.107 -0.268  0.044  0.011  0.001 -0.02   0.939]
+t: 309	 action: [ 0.06  -0.23   0.009  0.015  0.002 -0.035  0.759]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+[07-31 01:11:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.163 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4694
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4694
+Query 1/1: Action query time = 1.163 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4694
+t=10: Selected seed 195 with value = 0.4694
+t: 10	 action: [ 0.118  0.063 -0.015  0.004 -0.005 -0.003 -1.017]
+t: 11	 action: [ 0.22   0.135  0.003  0.008  0.003 -0.011 -1.028]
+t: 12	 action: [ 3.759e-01  2.832e-01 -1.783e-02  2.911e-03 -6.613e-03 -2.016e-04 -1.023e+00]
+t: 13	 action: [ 0.483  0.357  0.005  0.006  0.002 -0.009 -1.03 ]
+t: 14	 action: [ 0.616  0.452 -0.02  -0.002 -0.006 -0.003 -1.024]
+t: 15	 action: [ 0.69   0.525  0.002  0.006 -0.003 -0.01  -1.054]
+t: 16	 action: [ 0.755  0.577 -0.025 -0.005 -0.001 -0.002 -1.021]
+t: 17	 action: [ 0.793  0.623 -0.004  0.006 -0.003 -0.01  -1.057]
+t: 18	 action: [ 0.734  0.6   -0.057  0.002 -0.002  0.002 -1.027]
+t: 19	 action: [ 0.774  0.594 -0.06  -0.003  0.007 -0.005 -1.036]
+t: 20	 action: [ 0.774  0.617 -0.064 -0.003  0.002  0.005 -1.032]
+t: 21	 action: [ 0.804  0.605 -0.079 -0.006  0.008 -0.004 -1.034]
+t: 22	 action: [ 8.297e-01  5.746e-01 -1.261e-01 -4.151e-03 -2.428e-03  8.212e-04 -1.013e+00]
+t: 23	 action: [ 8.430e-01  5.414e-01 -1.688e-01  7.313e-04 -2.135e-03 -5.101e-03 -1.052e+00]
+t: 24	 action: [ 8.276e-01  4.953e-01 -2.051e-01 -4.595e-03  2.351e-03  1.719e-04 -1.020e+00]
+t: 25	 action: [ 8.349e-01  4.250e-01 -3.022e-01  3.534e-03 -7.428e-04 -3.760e-03 -1.060e+00]
+[07-31 01:11:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.115 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5672
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5672
+Query 1/1: Action query time = 1.115 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5672
+t=26: Selected seed 195 with value = 0.5672
+t: 26	 action: [ 0.833  0.588 -0.298  0.003 -0.017  0.005 -1.028]
+t: 27	 action: [ 7.993e-01  5.620e-01 -2.814e-01 -1.611e-03 -1.390e-02 -9.716e-04 -1.030e+00]
+t: 28	 action: [ 0.763  0.47  -0.421  0.005 -0.021  0.005 -1.031]
+t: 29	 action: [ 0.679  0.338 -0.495  0.006 -0.013 -0.003 -1.034]
+t: 30	 action: [ 5.209e-01  2.237e-01 -6.219e-01 -4.607e-05 -1.519e-02 -2.465e-03 -1.019e+00]
+t: 31	 action: [ 0.427  0.104 -0.72   0.015 -0.019 -0.005 -1.056]
+t: 32	 action: [ 0.3    0.11  -0.855  0.008 -0.021 -0.004 -1.024]
+t: 33	 action: [ 0.242  0.048 -0.977  0.022 -0.025 -0.009 -1.058]
+t: 34	 action: [ 0.194  0.064 -0.908  0.012 -0.025 -0.004 -1.032]
+t: 35	 action: [ 0.08   0.015 -0.989  0.011 -0.021 -0.009 -1.026]
+t: 36	 action: [ 0.049  0.034 -0.942  0.012 -0.029  0.004 -1.032]
+t: 37	 action: [-0.014 -0.019 -1.011  0.009 -0.022 -0.007 -1.029]
+t: 38	 action: [-0.115  0.012 -0.938  0.006 -0.037 -0.002 -1.031]
+t: 39	 action: [-0.142  0.021 -0.998  0.013 -0.038 -0.009 -1.042]
+t: 40	 action: [-2.354e-01 -1.822e-02 -9.430e-01  9.522e-04 -3.680e-02 -7.914e-04 -1.030e+00]
+t: 41	 action: [-0.258 -0.008 -0.994  0.009 -0.036 -0.005 -1.051]
+[07-31 01:11:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6219
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6219
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6219
+t=42: Selected seed 195 with value = 0.6219
+t: 42	 action: [-0.374  0.006 -0.983  0.023 -0.018  0.034 -1.045]
+t: 43	 action: [-3.673e-01 -6.044e-02 -9.220e-01  1.529e-02 -6.957e-04  3.585e-02 -1.029e+00]
+t: 44	 action: [-0.374 -0.037 -0.886  0.017 -0.007  0.038 -1.039]
+t: 45	 action: [-0.316 -0.083 -0.813  0.012  0.008  0.037 -1.033]
+t: 46	 action: [-3.190e-01 -3.288e-02 -7.186e-01  2.766e-04  5.932e-03  4.071e-02 -1.032e+00]
+t: 47	 action: [-0.262  0.003 -0.726  0.004  0.004  0.032 -1.053]
+t: 48	 action: [-0.211 -0.019 -0.6   -0.002  0.01   0.032 -1.032]
+t: 49	 action: [-0.177  0.006 -0.63  -0.005  0.008  0.024 -1.056]
+t: 50	 action: [-0.274 -0.035 -0.679 -0.005  0.021  0.017 -1.226]
+t: 51	 action: [-0.309 -0.05  -0.56  -0.009  0.026  0.048 -1.158]
+t: 52	 action: [-0.22  -0.022 -0.564 -0.014  0.034  0.014  0.989]
+t: 53	 action: [-0.186 -0.041 -0.411 -0.013  0.037  0.02   1.016]
+t: 54	 action: [-0.274 -0.018 -0.408 -0.023  0.044 -0.002  1.11 ]
+t: 55	 action: [-0.148 -0.045 -0.26  -0.014  0.031  0.01   1.17 ]
+t: 56	 action: [-0.166 -0.023 -0.196 -0.038  0.046 -0.01   1.005]
+t: 57	 action: [-0.07  -0.035 -0.06  -0.034  0.032 -0.028  1.038]
+[07-31 01:11:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7376
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7376
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7376
+t=58: Selected seed 195 with value = 0.7376
+t: 58	 action: [ 1.033e-03 -2.412e-01 -8.978e-02 -1.509e-04  4.587e-02 -5.809e-02  9.879e-01]
+t: 59	 action: [-0.002 -0.22  -0.006 -0.007  0.044 -0.065  1.022]
+t: 60	 action: [ 0.026 -0.196  0.087 -0.004  0.041 -0.077  0.984]
+t: 61	 action: [ 0.002 -0.167  0.213 -0.011  0.045 -0.074  1.022]
+t: 62	 action: [ 0.028 -0.094  0.397 -0.004  0.028 -0.094  0.992]
+t: 63	 action: [ 0.007 -0.077  0.654 -0.007  0.035 -0.093  1.004]
+t: 64	 action: [ 0.036 -0.052  0.743 -0.001  0.029 -0.099  0.986]
+t: 65	 action: [ 7.828e-04 -4.976e-02  8.376e-01 -5.047e-03  4.137e-02 -9.206e-02  1.010e+00]
+t: 66	 action: [ 0.037 -0.196  0.887  0.011  0.033 -0.08   0.992]
+t: 67	 action: [ 0.038 -0.232  0.946  0.02   0.036 -0.079  1.012]
+t: 68	 action: [-0.006 -0.368  0.894  0.03   0.033 -0.068  0.986]
+t: 69	 action: [-0.016 -0.457  0.933  0.036  0.043 -0.063  1.017]
+t: 70	 action: [-0.132 -0.591  0.785  0.06   0.032 -0.054  0.994]
+t: 71	 action: [-0.205 -0.65   0.746  0.061  0.045 -0.037  1.01 ]
+t: 72	 action: [-0.19  -0.711  0.616  0.061  0.033 -0.04   0.995]
+t: 73	 action: [-0.25  -0.734  0.471  0.064  0.052 -0.027  1.019]
+[07-31 01:11:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.956 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8125
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8125
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8125
+t=74: Selected seed 195 with value = 0.8125
+t: 74	 action: [5.628e-02 3.885e-01 5.461e-01 6.049e-03 1.232e-02 7.225e-04 9.963e-01]
+t: 75	 action: [-0.022  0.438  0.45   0.009  0.002 -0.006  1.027]
+t: 76	 action: [-0.003  0.486  0.329  0.006  0.008  0.004  0.999]
+t: 77	 action: [-2.155e-01  5.160e-01  1.483e-01  7.799e-03  6.956e-04 -1.205e-04  1.030e+00]
+t: 78	 action: [-2.581e-01  4.688e-01  9.138e-02 -2.896e-03  9.561e-04  5.872e-04  1.012e+00]
+t: 79	 action: [-0.384  0.514  0.041  0.008 -0.008  0.003  1.044]
+t: 80	 action: [-4.802e-01  5.254e-01 -1.005e-03 -4.593e-03  3.009e-04  5.794e-04  1.005e+00]
+t: 81	 action: [-0.55   0.554 -0.058  0.003 -0.006  0.006  1.043]
+t: 82	 action: [-0.526  0.38  -0.061 -0.001  0.005  0.008  0.981]
+t: 83	 action: [-0.551  0.366 -0.144 -0.005 -0.002  0.031  1.02 ]
+t: 84	 action: [-5.239e-01  3.037e-01 -2.016e-01 -1.509e-04  3.460e-03  1.327e-02  9.803e-01]
+t: 85	 action: [-0.546  0.31  -0.29  -0.011 -0.002  0.035  1.031]
+t: 86	 action: [-0.522  0.408 -0.306 -0.013 -0.013  0.013  1.001]
+t: 87	 action: [-0.477  0.295 -0.308 -0.025 -0.003  0.041  1.049]
+t: 88	 action: [-0.398  0.374 -0.377 -0.01  -0.012  0.011  0.998]
+t: 89	 action: [-0.322  0.326 -0.354 -0.029 -0.007  0.041  1.053]
+[07-31 01:11:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.070 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9171
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9171
+Query 1/1: Action query time = 1.070 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9171
+t=90: Selected seed 195 with value = 0.9171
+t: 90	 action: [-0.227  0.454 -0.006 -0.024  0.026 -0.003  0.999]
+t: 91	 action: [-0.193  0.369 -0.006 -0.019  0.01  -0.013  1.018]
+t: 92	 action: [-0.242  0.389 -0.152 -0.011  0.02  -0.006  0.995]
+t: 93	 action: [-0.256  0.277 -0.179 -0.014  0.014 -0.011  1.021]
+t: 94	 action: [-0.339  0.243 -0.306 -0.011  0.025 -0.002  1.014]
+t: 95	 action: [-0.405  0.077 -0.414 -0.014  0.008  0.002  1.027]
+t: 96	 action: [-0.394  0.15  -0.512 -0.012  0.031 -0.004  1.006]
+t: 97	 action: [-4.361e-01  5.355e-02 -6.202e-01 -1.331e-02  1.840e-02 -9.838e-05  1.034e+00]
+t: 98	 action: [-0.444  0.059 -0.692 -0.006  0.02   0.022  0.987]
+t: 99	 action: [-0.443  0.042 -0.736 -0.014  0.016  0.034  1.02 ]
+t: 100	 action: [-0.386  0.014 -0.721 -0.013  0.027  0.025  0.985]
+t: 101	 action: [-0.365  0.003 -0.723 -0.019  0.016  0.035  1.036]
+t: 102	 action: [-0.28   0.02  -0.604 -0.017  0.011  0.018  1.006]
+t: 103	 action: [-0.242  0.045 -0.619 -0.029  0.001  0.031  1.045]
+t: 104	 action: [-0.138 -0.004 -0.466 -0.026  0.011  0.009  1.008]
+t: 105	 action: [-0.115  0.024 -0.361 -0.035 -0.004  0.024  1.058]
+[07-31 01:11:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.025 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.025 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=106: Selected seed 195 with value = 0.9959
+t: 106	 action: [-0.099  0.053 -0.303 -0.02   0.022  0.001  1.179]
+t: 107	 action: [-0.125  0.055 -0.38  -0.016  0.02  -0.016  1.038]
+t: 108	 action: [-1.152e-01  4.962e-02 -1.376e-01  8.569e-04  3.799e-02 -9.963e-03  1.182e+00]
+t: 109	 action: [-0.114  0.013 -0.081 -0.009  0.04  -0.027  0.968]
+t: 110	 action: [-0.053  0.032  0.048 -0.014  0.056 -0.014 -1.16 ]
+t: 111	 action: [-0.048  0.044  0.122 -0.01   0.048 -0.035 -1.089]
+t: 112	 action: [ 0.023  0.03   0.241  0.001  0.073 -0.039 -1.174]
+t: 113	 action: [-0.013  0.042  0.269  0.003  0.072 -0.052 -1.127]
+t: 114	 action: [-0.037  0.039  0.474  0.016  0.087 -0.038 -1.035]
+t: 115	 action: [-0.016 -0.012  0.514  0.021  0.094 -0.038 -1.035]
+t: 116	 action: [-0.024  0.037  0.516  0.022  0.083 -0.045 -1.031]
+t: 117	 action: [ 0.01  -0.006  0.506  0.02   0.086 -0.043 -1.031]
+t: 118	 action: [-0.04   0.01   0.499  0.033  0.092 -0.042 -1.047]
+t: 119	 action: [-0.016  0.015  0.471  0.025  0.08  -0.038 -1.03 ]
+t: 120	 action: [-0.018  0.016  0.438  0.022  0.074 -0.048 -1.032]
+t: 121	 action: [ 4.279e-04  1.958e-02  4.009e-01  1.835e-02  6.868e-02 -4.199e-02 -1.048e+00]
+[07-31 01:11:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.015 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9883
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 1.015 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=122: Selected seed 195 with value = 0.9883
+t: 122	 action: [ 0.043  0.04   0.283  0.005  0.019 -0.059 -1.048]
+t: 123	 action: [ 0.047  0.031  0.308  0.005  0.019 -0.067 -1.029]
+t: 124	 action: [ 0.045  0.029  0.256  0.004  0.015 -0.069 -1.043]
+t: 125	 action: [ 0.05   0.033  0.296  0.004  0.018 -0.075 -1.031]
+t: 126	 action: [ 0.059  0.031  0.267  0.004  0.017 -0.062 -1.046]
+t: 127	 action: [ 0.058  0.066  0.269  0.009  0.004 -0.067 -1.048]
+t: 128	 action: [ 0.068  0.023  0.268  0.004  0.014 -0.075 -1.039]
+t: 129	 action: [ 0.079  0.068  0.29   0.01   0.005 -0.078 -1.054]
+t: 130	 action: [ 0.045  0.023  0.285  0.005  0.015 -0.065 -1.046]
+t: 131	 action: [ 0.038  0.031  0.301  0.005  0.019 -0.066 -1.03 ]
+t: 132	 action: [ 0.045  0.022  0.261  0.004  0.014 -0.074 -1.04 ]
+t: 133	 action: [ 0.048  0.034  0.289  0.005  0.018 -0.075 -1.032]
+t: 134	 action: [ 0.063  0.018  0.277  0.004  0.016 -0.068 -1.047]
+t: 135	 action: [ 0.052  0.068  0.265  0.01   0.003 -0.067 -1.044]
+t: 136	 action: [ 0.07   0.019  0.273  0.004  0.015 -0.079 -1.032]
+t: 137	 action: [ 0.077  0.071  0.29   0.01   0.005 -0.075 -1.053]
+[07-31 01:11:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.062 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9879
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 1.062 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=138: Selected seed 195 with value = 0.9879
+t: 138	 action: [ 0.035  0.015  0.23   0.008  0.01  -0.029 -1.046]
+t: 139	 action: [ 0.027  0.005  0.228  0.015  0.006 -0.04  -1.018]
+t: 140	 action: [ 3.909e-02 -2.231e-03  1.466e-01  6.407e-03 -3.217e-05 -4.217e-02 -1.047e+00]
+t: 141	 action: [ 0.041  0.009  0.167  0.015  0.008 -0.054 -1.044]
+t: 142	 action: [ 0.042  0.003  0.195  0.009 -0.003 -0.032 -1.047]
+t: 143	 action: [ 0.027  0.027  0.141  0.018 -0.014 -0.041 -1.05 ]
+t: 144	 action: [ 0.057 -0.005  0.151  0.008 -0.007 -0.045 -1.04 ]
+t: 145	 action: [ 0.07   0.035  0.113  0.018 -0.012 -0.057 -1.064]
+t: 146	 action: [ 0.043 -0.006  0.199  0.01  -0.005 -0.041 -1.044]
+t: 147	 action: [ 0.031 -0.015  0.197  0.014  0.005 -0.045 -1.028]
+t: 148	 action: [ 0.045 -0.006  0.143  0.007 -0.007 -0.05  -1.044]
+t: 149	 action: [ 0.051 -0.008  0.154  0.013  0.007 -0.056 -1.045]
+t: 150	 action: [ 0.055 -0.017  0.192  0.009 -0.007 -0.045 -1.045]
+t: 151	 action: [ 0.034  0.011  0.141  0.017 -0.015 -0.047 -1.048]
+t: 152	 action: [ 0.06  -0.011  0.154  0.007 -0.008 -0.054 -1.032]
+t: 153	 action: [ 0.067  0.021  0.12   0.016 -0.012 -0.056 -1.066]
+[07-31 01:11:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.087 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9743
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 1.087 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=154: Selected seed 195 with value = 0.9743
+t: 154	 action: [ 0.038  0.011  0.111  0.01   0.017 -0.024 -1.025]
+t: 155	 action: [ 0.032  0.009  0.107  0.014  0.011 -0.031 -0.996]
+t: 156	 action: [ 0.041 -0.01   0.014  0.004  0.006 -0.032 -1.032]
+t: 157	 action: [ 3.854e-02  4.605e-05  4.258e-02  1.301e-02  1.071e-02 -3.913e-02 -1.046e+00]
+t: 158	 action: [ 0.046 -0.016  0.084  0.008 -0.002 -0.023 -1.037]
+t: 159	 action: [ 0.021  0.013  0.046  0.017 -0.007 -0.028 -1.06 ]
+t: 160	 action: [ 0.052 -0.02   0.025  0.005 -0.005 -0.03  -1.027]
+t: 161	 action: [ 0.058  0.01   0.018  0.017 -0.006 -0.038 -1.074]
+t: 162	 action: [ 0.037 -0.027  0.063  0.006 -0.012 -0.034 -1.039]
+t: 163	 action: [ 0.026 -0.046  0.07   0.009  0.006 -0.036 -1.037]
+t: 164	 action: [ 0.036 -0.024  0.015  0.003 -0.014 -0.04  -1.037]
+t: 165	 action: [ 0.035 -0.041  0.041  0.009  0.008 -0.041 -1.048]
+t: 166	 action: [ 0.039 -0.038  0.06   0.005 -0.019 -0.032 -1.039]
+t: 167	 action: [ 0.013 -0.017  0.04   0.013 -0.016 -0.034 -1.059]
+t: 168	 action: [ 0.039 -0.025  0.028  0.003 -0.019 -0.038 -1.023]
+t: 169	 action: [ 0.03  -0.016  0.025  0.011 -0.012 -0.039 -1.074]
+[07-31 01:11:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.186 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9642
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 1.186 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=170: Selected seed 195 with value = 0.9642
+t: 170	 action: [ 0.045  0.005  0.112  0.011  0.029 -0.018 -0.986]
+t: 171	 action: [ 0.048  0.003  0.116  0.017  0.023 -0.025 -0.935]
+t: 172	 action: [ 0.061 -0.012  0.017  0.006  0.018 -0.025 -1.021]
+t: 173	 action: [ 0.07  -0.008  0.045  0.016  0.016 -0.034 -1.043]
+t: 174	 action: [ 0.059 -0.024  0.083  0.012  0.007 -0.017 -1.032]
+t: 175	 action: [ 3.436e-02 -5.934e-03  5.147e-02  2.160e-02 -3.076e-04 -2.092e-02 -1.060e+00]
+t: 176	 action: [ 0.073 -0.026  0.019  0.009  0.003 -0.023 -1.023]
+t: 177	 action: [ 0.093 -0.011  0.016  0.021  0.001 -0.031 -1.075]
+t: 178	 action: [ 0.043 -0.059  0.053  0.009 -0.012 -0.032 -1.031]
+t: 179	 action: [ 0.035 -0.062  0.049  0.015  0.008 -0.032 -1.035]
+t: 180	 action: [ 0.044 -0.043 -0.008  0.004 -0.014 -0.036 -1.032]
+t: 181	 action: [ 0.044 -0.055  0.013  0.012  0.011 -0.037 -1.044]
+t: 182	 action: [ 0.041 -0.061  0.04   0.008 -0.023 -0.028 -1.036]
+t: 183	 action: [ 0.01  -0.035  0.022  0.018 -0.014 -0.029 -1.058]
+t: 184	 action: [ 0.039 -0.035 -0.003  0.004 -0.021 -0.032 -1.022]
+t: 185	 action: [ 0.023 -0.034 -0.017  0.015 -0.01  -0.032 -1.071]
+[07-31 01:11:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.955 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9502
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 0.955 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=186: Selected seed 195 with value = 0.9502
+t: 186	 action: [ 0.052  0.001  0.179  0.011  0.04  -0.013 -0.856]
+t: 187	 action: [ 0.068 -0.007  0.185  0.019  0.044 -0.02  -0.756]
+t: 188	 action: [ 0.082 -0.015  0.063  0.007  0.031 -0.017 -1.001]
+t: 189	 action: [ 0.103 -0.019  0.083  0.018  0.028 -0.026 -1.038]
+t: 190	 action: [ 0.077 -0.026  0.137  0.015  0.018 -0.011 -1.044]
+t: 191	 action: [ 0.052 -0.033  0.1    0.024  0.007 -0.014 -1.067]
+t: 192	 action: [ 0.102 -0.029  0.05   0.012  0.014 -0.015 -1.021]
+t: 193	 action: [ 0.13  -0.035  0.019  0.022  0.004 -0.021 -1.074]
+t: 194	 action: [ 0.064 -0.087  0.058  0.011 -0.013 -0.025 -1.024]
+t: 195	 action: [ 0.051 -0.084  0.02   0.019  0.008 -0.025 -1.034]
+t: 196	 action: [ 0.066 -0.063 -0.02   0.005 -0.014 -0.027 -1.027]
+t: 197	 action: [ 0.061 -0.072 -0.065  0.015  0.011 -0.03  -1.037]
+t: 198	 action: [ 0.056 -0.08   0.024  0.012 -0.026 -0.021 -1.036]
+t: 199	 action: [ 0.014 -0.059 -0.018  0.023 -0.016 -0.02  -1.055]
+t: 200	 action: [ 0.053 -0.041 -0.031  0.005 -0.023 -0.022 -1.023]
+t: 201	 action: [ 0.024 -0.048 -0.119  0.018 -0.011 -0.023 -1.062]
+[07-31 01:11:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9357
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=202: Selected seed 195 with value = 0.9357
+t: 202	 action: [ 4.635e-02  6.470e-04  1.719e-01  1.317e-02  5.040e-02 -1.490e-02 -6.807e-01]
+t: 203	 action: [ 0.061 -0.023  0.172  0.019  0.055 -0.022 -0.56 ]
+t: 204	 action: [ 0.08  -0.014  0.071  0.007  0.04  -0.015 -0.989]
+t: 205	 action: [ 0.098 -0.034  0.094  0.017  0.037 -0.023 -1.034]
+t: 206	 action: [ 0.071 -0.022  0.137  0.019  0.028 -0.01  -1.078]
+t: 207	 action: [ 0.048 -0.06   0.101  0.024  0.016 -0.013 -1.073]
+t: 208	 action: [ 0.104 -0.026  0.057  0.014  0.021 -0.01  -1.022]
+t: 209	 action: [ 0.122 -0.054  0.018  0.022  0.008 -0.015 -1.073]
+t: 210	 action: [ 0.077 -0.116  0.033  0.014 -0.012 -0.018 -1.023]
+t: 211	 action: [ 0.059 -0.101 -0.034  0.02   0.004 -0.02  -1.039]
+t: 212	 action: [ 0.083 -0.084 -0.041  0.006 -0.017 -0.019 -1.028]
+t: 213	 action: [ 0.073 -0.088 -0.158  0.015  0.005 -0.023 -1.036]
+t: 214	 action: [ 0.063 -0.081 -0.009  0.013 -0.029 -0.014 -1.039]
+t: 215	 action: [ 0.014 -0.066 -0.118  0.022 -0.024 -0.014 -1.059]
+t: 216	 action: [ 0.06  -0.036 -0.063  0.004 -0.029 -0.015 -1.028]
+t: 217	 action: [ 0.022 -0.05  -0.216  0.017 -0.02  -0.015 -1.057]
+[07-31 01:11:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9197
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9197
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=218: Selected seed 195 with value = 0.9197
+t: 218	 action: [ 0.057  0.001  0.244  0.012  0.058 -0.02  -0.604]
+t: 219	 action: [ 0.062 -0.045  0.218  0.017  0.064 -0.027 -0.478]
+t: 220	 action: [ 0.086 -0.014  0.111  0.006  0.049 -0.017 -0.991]
+t: 221	 action: [ 0.092 -0.051  0.126  0.016  0.045 -0.022 -1.037]
+t: 222	 action: [ 0.058 -0.012  0.176  0.019  0.035 -0.009 -1.094]
+t: 223	 action: [ 0.035 -0.079  0.142  0.023  0.025 -0.016 -1.067]
+t: 224	 action: [ 0.087 -0.017  0.072  0.013  0.028 -0.007 -1.024]
+t: 225	 action: [ 0.098 -0.067  0.019  0.021  0.014 -0.012 -1.075]
+t: 226	 action: [ 0.079 -0.105  0.018  0.016 -0.019 -0.012 -1.024]
+t: 227	 action: [ 0.058 -0.105 -0.087  0.02  -0.005 -0.016 -1.045]
+t: 228	 action: [ 0.088 -0.072 -0.073  0.007 -0.024 -0.01  -1.033]
+t: 229	 action: [ 0.07  -0.094 -0.23   0.014 -0.006 -0.017 -1.039]
+t: 230	 action: [ 0.051 -0.042 -0.034  0.012 -0.039 -0.009 -1.042]
+t: 231	 action: [ 0.006 -0.057 -0.179  0.02  -0.036 -0.01  -1.061]
+t: 232	 action: [ 0.05  -0.011 -0.105  0.002 -0.037 -0.008 -1.035]
+t: 233	 action: [ 0.011 -0.038 -0.281  0.014 -0.031 -0.01  -1.055]
+[07-31 01:11:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9026
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 0.957 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=234: Selected seed 195 with value = 0.9026
+t: 234	 action: [ 4.750e-02  3.438e-04  2.606e-01  6.810e-03  5.473e-02 -2.522e-02  5.360e-01]
+t: 235	 action: [ 0.055 -0.063  0.227  0.011  0.058 -0.039  0.43 ]
+t: 236	 action: [ 0.079 -0.021  0.142  0.003  0.05  -0.021 -0.996]
+t: 237	 action: [ 0.073 -0.071  0.146  0.012  0.044 -0.025 -1.047]
+t: 238	 action: [ 0.039 -0.009  0.208  0.015  0.04  -0.011 -1.137]
+t: 239	 action: [-0.013 -0.086  0.186  0.018  0.027 -0.022 -1.111]
+t: 240	 action: [ 0.074 -0.016  0.096  0.011  0.033 -0.008 -1.029]
+t: 241	 action: [ 0.057 -0.08   0.03   0.018  0.018 -0.015 -1.073]
+t: 242	 action: [ 1.020e-01 -1.406e-01  5.000e-04  1.853e-02 -2.217e-02 -1.128e-02 -1.029e+00]
+t: 243	 action: [ 0.082 -0.136 -0.132  0.02  -0.012 -0.014 -1.041]
+t: 244	 action: [ 0.127 -0.101 -0.102  0.01  -0.029 -0.008 -1.044]
+t: 245	 action: [ 0.102 -0.117 -0.267  0.014 -0.014 -0.016 -1.048]
+t: 246	 action: [ 0.071 -0.047 -0.062  0.01  -0.043 -0.007 -1.05 ]
+t: 247	 action: [ 0.015 -0.068 -0.221  0.018 -0.044 -0.008 -1.064]
+t: 248	 action: [ 0.076 -0.008 -0.147  0.002 -0.042 -0.006 -1.045]
+t: 249	 action: [ 0.017 -0.041 -0.307  0.012 -0.038 -0.009 -1.053]
+[07-31 01:11:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.951 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8678
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8678
+Query 1/1: Action query time = 0.951 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8678
+t=250: Selected seed 195 with value = 0.8678
+t: 250	 action: [-0.025 -0.095  0.417  0.005  0.026 -0.029  0.987]
+t: 251	 action: [ 0.022 -0.223  0.425  0.006  0.03  -0.036  1.034]
+t: 252	 action: [ 0.029 -0.105  0.372  0.008  0.038 -0.026  0.653]
+t: 253	 action: [ 0.056 -0.264  0.376  0.011  0.048 -0.053  0.283]
+t: 254	 action: [ 0.014 -0.121  0.331  0.015  0.034 -0.013  0.993]
+t: 255	 action: [ 0.024 -0.311  0.339  0.012  0.014 -0.022  1.008]
+t: 256	 action: [ 0.043 -0.114  0.228  0.011  0.036 -0.011 -0.092]
+t: 257	 action: [ 0.063 -0.296  0.166  0.014  0.028 -0.04  -0.871]
+t: 258	 action: [ 0.065 -0.291 -0.023  0.027 -0.014 -0.014  1.055]
+t: 259	 action: [ 0.042 -0.339 -0.121  0.023 -0.019 -0.016  0.563]
+t: 260	 action: [ 0.117 -0.229 -0.132  0.015 -0.023 -0.012  0.648]
+t: 261	 action: [ 0.088 -0.262 -0.258  0.014 -0.019 -0.02  -0.99 ]
+t: 262	 action: [ 0.087 -0.123 -0.081  0.011 -0.035 -0.009 -1.159]
+t: 263	 action: [-0.011 -0.157 -0.179  0.014 -0.052 -0.016 -1.109]
+t: 264	 action: [ 0.085 -0.044 -0.171  0.002 -0.041 -0.008 -1.047]
+t: 265	 action: [-0.021 -0.079 -0.264  0.007 -0.046 -0.012 -1.045]
+[07-31 01:11:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8711
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=266: Selected seed 195 with value = 0.8711
+t: 266	 action: [-1.454e-02  1.518e-01  4.011e-02 -4.122e-05  2.207e-02 -1.469e-02  9.791e-01]
+t: 267	 action: [-0.006  0.136 -0.006 -0.01   0.038 -0.02   0.997]
+t: 268	 action: [ 2.847e-02  1.858e-01 -7.197e-02 -4.909e-04  2.771e-02  1.649e-03  9.802e-01]
+t: 269	 action: [-0.007  0.169 -0.138 -0.013  0.039 -0.008  1.007]
+t: 270	 action: [-0.005  0.154 -0.114 -0.005  0.039 -0.003  0.994]
+t: 271	 action: [-0.034  0.057 -0.147 -0.023  0.029  0.01   1.027]
+t: 272	 action: [-7.988e-02  1.553e-01 -3.461e-01 -7.903e-03  4.309e-02  7.818e-04  9.941e-01]
+t: 273	 action: [-0.087  0.099 -0.462 -0.031  0.033  0.018  1.037]
+t: 274	 action: [-0.098  0.025 -0.63   0.001 -0.011  0.004  0.979]
+t: 275	 action: [-0.163 -0.013 -0.77  -0.011 -0.007  0.03   1.005]
+t: 276	 action: [-0.096  0.04  -0.671 -0.004 -0.011  0.012  0.981]
+t: 277	 action: [-0.152  0.002 -0.762 -0.022 -0.007  0.036  1.035]
+t: 278	 action: [-0.205  0.027 -0.669 -0.017 -0.024  0.005  0.996]
+t: 279	 action: [-0.165  0.115 -0.653 -0.04  -0.008  0.039  1.042]
+t: 280	 action: [-0.171  0.04  -0.493 -0.044 -0.02   0.008  1.001]
+t: 281	 action: [-0.076  0.111 -0.357 -0.048 -0.012  0.037  1.063]
+[07-31 01:11:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9009
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9009
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9009
+t=282: Selected seed 195 with value = 0.9009
+t: 282	 action: [-0.176  0.073  0.09   0.002  0.005  0.002  0.977]
+t: 283	 action: [-1.238e-01 -1.442e-02  1.351e-01 -1.624e-02 -3.919e-03 -7.784e-04  1.013e+00]
+t: 284	 action: [-0.142  0.158  0.045  0.002 -0.001  0.004  0.973]
+t: 285	 action: [-1.164e-01  7.316e-02  3.081e-02 -1.576e-02 -2.317e-03 -5.214e-04  1.025e+00]
+t: 286	 action: [-0.128  0.124 -0.026 -0.003 -0.004  0.002  0.992]
+t: 287	 action: [-0.107  0.051 -0.007 -0.023 -0.005  0.009  1.02 ]
+t: 288	 action: [-1.109e-01  1.859e-01 -1.408e-01 -5.911e-03 -8.278e-04  4.377e-03  9.857e-01]
+t: 289	 action: [-0.107  0.084 -0.071 -0.024 -0.007  0.01   1.027]
+t: 290	 action: [-0.131  0.083 -0.55  -0.009  0.003  0.021  0.986]
+t: 291	 action: [-0.086  0.035 -0.541 -0.031  0.009  0.035  1.02 ]
+t: 292	 action: [-0.033  0.082 -0.533 -0.026  0.013  0.024  0.984]
+t: 293	 action: [-0.012  0.007 -0.44  -0.039  0.015  0.035  1.041]
+t: 294	 action: [-0.003  0.054 -0.372 -0.036  0.013  0.029  1.005]
+t: 295	 action: [ 0.009 -0.004 -0.231 -0.045 -0.001  0.039  1.035]
+t: 296	 action: [ 0.014  0.051 -0.233 -0.049  0.022  0.025  1.006]
+t: 297	 action: [ 8.626e-03 -3.108e-02 -6.192e-02 -5.100e-02 -7.372e-04  3.248e-02  1.043e+00]
+[07-31 01:11:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.954 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9026
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9026
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 2
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
  4%|▍         | 2/50 [01:02<25:02, 31.30s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 3...
+Query 1/1: Action query time = 0.954 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=298: Selected seed 195 with value = 0.9026
+t: 298	 action: [-1.301e-01  6.898e-02 -5.375e-03 -1.188e-04 -1.188e-03  2.589e-04  9.797e-01]
+t: 299	 action: [-0.101  0.021  0.1   -0.01   0.003 -0.003  1.022]
+t: 300	 action: [-0.097  0.131  0.124  0.01  -0.007 -0.006  0.982]
+t: 301	 action: [-8.553e-02  7.433e-02  1.865e-01  8.900e-04  3.305e-03 -8.754e-03  1.035e+00]
+t: 302	 action: [-6.109e-02  9.672e-02  1.237e-01  6.842e-03 -3.305e-03  9.590e-04  9.932e-01]
+t: 303	 action: [-3.144e-02  6.467e-02  1.430e-01 -5.025e-04 -7.805e-03  7.815e-03  1.024e+00]
+t: 304	 action: [-0.03   0.123  0.175  0.008  0.003 -0.002  0.993]
+t: 305	 action: [-8.322e-03  8.374e-02  2.005e-01  8.658e-03 -6.839e-03  5.377e-04  1.027e+00]
+t: 306	 action: [-0.029  0.054 -0.168  0.008  0.024  0.007  1.001]
+t: 307	 action: [-1.845e-02  3.901e-04 -7.304e-02 -1.313e-03  3.168e-02  1.946e-02  1.040e+00]
+t: 308	 action: [ 0.03   0.043 -0.139  0.001  0.037  0.007  0.999]
+t: 309	 action: [ 0.02  -0.016 -0.003 -0.016  0.027  0.015  0.995]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+[07-31 01:11:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4812
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4812
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4812
+t=10: Selected seed 195 with value = 0.4812
+t: 10	 action: [ 0.368  0.377  0.01   0.003 -0.001 -0.007 -1.031]
+t: 11	 action: [ 0.429  0.422  0.015  0.005  0.002 -0.015 -1.027]
+t: 12	 action: [ 5.569e-01  5.462e-01  1.099e-04  1.753e-03 -5.056e-03 -4.663e-03 -1.028e+00]
+t: 13	 action: [ 0.622  0.559  0.012  0.003  0.003 -0.016 -1.032]
+t: 14	 action: [ 6.947e-01  5.984e-01 -3.579e-03 -6.389e-04 -2.453e-03 -3.581e-03 -1.029e+00]
+t: 15	 action: [ 0.727  0.625  0.006  0.004 -0.003 -0.015 -1.049]
+t: 16	 action: [ 0.741  0.64  -0.021 -0.003 -0.003 -0.004 -1.023]
+t: 17	 action: [ 0.781  0.635 -0.013  0.003 -0.003 -0.017 -1.052]
+t: 18	 action: [ 7.025e-01  6.418e-01 -3.573e-02  1.852e-03  7.246e-04  2.743e-03 -1.035e+00]
+t: 19	 action: [ 0.744  0.625 -0.084 -0.001  0.006 -0.007 -1.031]
+t: 20	 action: [ 7.269e-01  6.131e-01 -6.131e-02 -4.728e-04  5.241e-03  4.256e-03 -1.034e+00]
+t: 21	 action: [ 0.758  0.58  -0.124 -0.002  0.009 -0.006 -1.031]
+t: 22	 action: [ 7.576e-01  4.898e-01 -1.620e-01 -1.497e-03  3.752e-03  6.560e-04 -1.022e+00]
+t: 23	 action: [ 7.494e-01  3.932e-01 -3.008e-01  5.445e-03  9.869e-04 -8.947e-03 -1.047e+00]
+t: 24	 action: [ 0.682  0.295 -0.295 -0.002  0.01  -0.002 -1.025]
+t: 25	 action: [ 0.672  0.183 -0.495  0.011  0.008 -0.008 -1.053]
+[07-31 01:11:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5827
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5827
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5827
+t=26: Selected seed 195 with value = 0.5827
+t: 26	 action: [ 7.272e-01  4.811e-01 -3.898e-01  2.957e-04 -6.116e-03  3.591e-03 -1.031e+00]
+t: 27	 action: [ 0.658  0.424 -0.36  -0.003 -0.004 -0.004 -1.035]
+t: 28	 action: [ 0.566  0.298 -0.624  0.002 -0.012  0.001 -1.026]
+t: 29	 action: [ 0.497  0.164 -0.739  0.004 -0.006 -0.008 -1.035]
+t: 30	 action: [ 0.366  0.136 -0.796 -0.003 -0.011 -0.005 -1.026]
+t: 31	 action: [ 0.32   0.032 -0.881  0.011 -0.018 -0.009 -1.062]
+t: 32	 action: [ 0.24   0.073 -0.947 -0.002 -0.017 -0.01  -1.025]
+t: 33	 action: [ 0.184  0.071 -1.013  0.009 -0.026 -0.013 -1.062]
+t: 34	 action: [ 0.096  0.03  -0.962  0.007 -0.042 -0.007 -1.028]
+t: 35	 action: [ 0.035 -0.017 -1.023 -0.001 -0.039 -0.014 -1.027]
+t: 36	 action: [-3.825e-03  1.371e-02 -9.583e-01  6.195e-03 -4.732e-02 -3.273e-04 -1.024e+00]
+t: 37	 action: [-0.042 -0.045 -1.016 -0.003 -0.044 -0.012 -1.026]
+t: 38	 action: [-0.124 -0.023 -0.935 -0.002 -0.05  -0.004 -1.029]
+t: 39	 action: [-1.570e-01 -7.049e-03 -9.976e-01  2.979e-04 -5.050e-02 -1.454e-02 -1.043e+00]
+t: 40	 action: [-0.237 -0.068 -0.917 -0.003 -0.051 -0.002 -1.023]
+t: 41	 action: [-0.255 -0.03  -0.986 -0.003 -0.049 -0.01  -1.05 ]
+[07-31 01:11:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6445
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6445
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6445
+t=42: Selected seed 195 with value = 0.6445
+t: 42	 action: [-0.461 -0.086 -0.842  0.037 -0.022  0.037 -1.055]
+t: 43	 action: [-0.439 -0.106 -0.813  0.022  0.004  0.042 -1.029]
+t: 44	 action: [-0.403 -0.12  -0.8    0.024 -0.012  0.043 -1.057]
+t: 45	 action: [-0.327 -0.097 -0.725  0.013  0.014  0.044 -1.037]
+t: 46	 action: [-0.352 -0.117 -0.662  0.008  0.002  0.053 -1.045]
+t: 47	 action: [-0.267 -0.023 -0.722  0.004  0.011  0.047 -1.056]
+t: 48	 action: [-0.233 -0.034 -0.579 -0.006  0.012  0.054 -1.049]
+t: 49	 action: [-0.184  0.015 -0.631 -0.01   0.029  0.039 -1.06 ]
+t: 50	 action: [-0.267 -0.041 -0.66  -0.009  0.003  0.027  0.998]
+t: 51	 action: [-0.181 -0.038 -0.429 -0.015  0.042  0.031  1.015]
+t: 52	 action: [-0.142  0.003 -0.444 -0.026  0.026  0.021  0.98 ]
+t: 53	 action: [-0.059 -0.025 -0.17  -0.025  0.062  0.022  1.01 ]
+t: 54	 action: [-0.082 -0.021 -0.18  -0.034  0.058  0.008  1.002]
+t: 55	 action: [-0.02  -0.018 -0.039 -0.035  0.069  0.012  1.014]
+t: 56	 action: [-2.267e-02 -7.885e-04  3.495e-02 -5.433e-02  7.504e-02  1.692e-03  9.995e-01]
+t: 57	 action: [ 0.02   0.004  0.193 -0.052  0.073  0.006  1.012]
+[07-31 01:11:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7414
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7414
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7414
+t=58: Selected seed 195 with value = 0.7414
+t: 58	 action: [ 0.023 -0.149  0.015 -0.003  0.017 -0.03   0.997]
+t: 59	 action: [ 0.019 -0.124  0.112 -0.003  0.015 -0.036  1.032]
+t: 60	 action: [ 0.054 -0.1    0.347 -0.003  0.016 -0.051  0.997]
+t: 61	 action: [ 1.752e-02 -1.020e-01  5.985e-01  6.397e-04  1.928e-02 -4.614e-02  1.032e+00]
+t: 62	 action: [ 3.770e-02 -5.823e-02  7.336e-01 -9.559e-04  1.604e-02 -5.735e-02  9.988e-01]
+t: 63	 action: [-0.005 -0.069  0.851  0.001  0.03  -0.062  1.018]
+t: 64	 action: [ 1.011e-04 -8.312e-02  9.257e-01  7.415e-03  2.253e-02 -7.074e-02  9.942e-01]
+t: 65	 action: [-0.028 -0.128  0.938  0.016  0.034 -0.064  1.018]
+t: 66	 action: [ 0.018 -0.34   0.921  0.032  0.066 -0.027  0.994]
+t: 67	 action: [-0.004 -0.414  0.945  0.036  0.065 -0.024  1.026]
+t: 68	 action: [-0.064 -0.564  0.829  0.045  0.064 -0.012  0.989]
+t: 69	 action: [-0.12  -0.632  0.731  0.041  0.06  -0.016  1.036]
+t: 70	 action: [-0.219 -0.663  0.492  0.044  0.051 -0.008  0.995]
+t: 71	 action: [-0.4   -0.713  0.316  0.046  0.037 -0.003  1.02 ]
+t: 72	 action: [-0.292 -0.678  0.148  0.024  0.041 -0.005  0.997]
+t: 73	 action: [-0.392 -0.721  0.074  0.027  0.023  0.001  1.024]
+[07-31 01:11:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8086
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8086
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8086
+t=74: Selected seed 195 with value = 0.8086
+t: 74	 action: [0.057 0.456 0.647 0.002 0.009 0.004 0.99 ]
+t: 75	 action: [-0.041  0.499  0.524  0.007 -0.002  0.003  1.022]
+t: 76	 action: [-0.004  0.541  0.385  0.005  0.004  0.004  0.989]
+t: 77	 action: [-0.211  0.57   0.185  0.005 -0.004  0.009  1.029]
+t: 78	 action: [-2.485e-01  5.014e-01  1.101e-01 -4.291e-03  8.065e-04  2.897e-03  1.010e+00]
+t: 79	 action: [-0.365  0.557  0.055  0.005 -0.01   0.014  1.033]
+t: 80	 action: [-0.443  0.535  0.019 -0.003  0.001  0.002  1.002]
+t: 81	 action: [-0.494  0.573 -0.046  0.001 -0.009  0.017  1.032]
+t: 82	 action: [-0.493  0.403 -0.037  0.005  0.002  0.011  0.977]
+t: 83	 action: [-0.502  0.409 -0.099  0.003 -0.002  0.034  1.017]
+t: 84	 action: [-4.866e-01  3.301e-01 -1.563e-01  4.413e-03  9.186e-04  1.537e-02  9.750e-01]
+t: 85	 action: [-0.506  0.36  -0.236 -0.003 -0.001  0.038  1.03 ]
+t: 86	 action: [-0.512  0.443 -0.272 -0.005 -0.003  0.017  1.001]
+t: 87	 action: [-0.484  0.358 -0.303 -0.007 -0.004  0.044  1.041]
+t: 88	 action: [-0.431  0.425 -0.356 -0.006 -0.003  0.018  0.999]
+t: 89	 action: [-0.387  0.376 -0.367 -0.011 -0.006  0.045  1.048]
+[07-31 01:11:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9357
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=90: Selected seed 195 with value = 0.9357
+t: 90	 action: [-2.050e-01  6.777e-01  6.614e-02 -3.317e-02  9.139e-03 -4.954e-04  9.936e-01]
+t: 91	 action: [-1.864e-01  6.049e-01  4.649e-02 -2.834e-02 -1.520e-04 -3.400e-04  1.012e+00]
+t: 92	 action: [-2.066e-01  6.010e-01 -9.781e-02 -1.743e-02  8.291e-03 -2.958e-04  9.906e-01]
+t: 93	 action: [-2.167e-01  4.735e-01 -1.121e-01 -1.994e-02  4.314e-03  9.917e-04  1.020e+00]
+t: 94	 action: [-0.323  0.44  -0.28  -0.019  0.014 -0.002  1.006]
+t: 95	 action: [-0.374  0.206 -0.414 -0.026 -0.005  0.011  1.027]
+t: 96	 action: [-3.902e-01  2.316e-01 -5.214e-01 -1.472e-02  2.307e-02 -3.163e-04  1.004e+00]
+t: 97	 action: [-0.426  0.053 -0.676 -0.019  0.004  0.009  1.037]
+t: 98	 action: [-0.451  0.075 -0.688 -0.004  0.011  0.012  0.986]
+t: 99	 action: [-0.447  0.037 -0.775 -0.014  0.016  0.028  1.021]
+t: 100	 action: [-0.438  0.014 -0.73  -0.008  0.024  0.018  0.986]
+t: 101	 action: [-0.415 -0.014 -0.753 -0.018  0.028  0.03   1.034]
+t: 102	 action: [-0.31   0.019 -0.6   -0.015  0.014  0.012  1.002]
+t: 103	 action: [-0.257  0.031 -0.605 -0.022  0.006  0.027  1.045]
+t: 104	 action: [-0.131  0.002 -0.435 -0.025  0.024  0.008  1.008]
+t: 105	 action: [-0.082  0.016 -0.302 -0.029  0.006  0.021  1.058]
+[07-31 01:11:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9912
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=106: Selected seed 195 with value = 0.9912
+t: 106	 action: [-4.618e-02  8.367e-02 -3.092e-01  5.648e-03  3.924e-02 -3.461e-04  1.182e+00]
+t: 107	 action: [-0.041  0.083 -0.31  -0.001  0.032 -0.024  1.043]
+t: 108	 action: [-0.022  0.105 -0.094  0.002  0.049 -0.018  1.2  ]
+t: 109	 action: [-1.193e-02  4.858e-02 -1.684e-02 -9.228e-04  4.153e-02 -3.708e-02 -1.025e+00]
+t: 110	 action: [ 6.042e-02  6.764e-02  5.681e-02  2.152e-04  5.049e-02 -2.864e-02 -1.183e+00]
+t: 111	 action: [ 0.035  0.084  0.115 -0.003  0.036 -0.05  -1.093]
+t: 112	 action: [ 1.239e-01  7.939e-02  2.172e-01 -4.310e-04  5.401e-02 -5.470e-02 -1.181e+00]
+t: 113	 action: [ 0.065  0.083  0.257 -0.001  0.048 -0.05  -1.045]
+t: 114	 action: [-0.008  0.092  0.414  0.01   0.069 -0.045 -1.035]
+t: 115	 action: [ 0.004  0.028  0.456  0.01   0.057 -0.047 -1.021]
+t: 116	 action: [-0.002  0.092  0.435  0.007  0.06  -0.051 -1.034]
+t: 117	 action: [ 0.016  0.026  0.433  0.006  0.055 -0.05  -1.013]
+t: 118	 action: [ 0.008  0.105  0.436  0.013  0.069 -0.049 -1.043]
+t: 119	 action: [ 0.004  0.067  0.408  0.01   0.051 -0.05  -1.035]
+t: 120	 action: [ 0.031  0.113  0.398  0.003  0.059 -0.051 -1.034]
+t: 121	 action: [ 0.024  0.069  0.365  0.007  0.055 -0.049 -1.041]
+[07-31 01:11:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9957
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=122: Selected seed 195 with value = 0.9957
+t: 122	 action: [ 0.061  0.062  0.192  0.004  0.021 -0.065 -1.044]
+t: 123	 action: [ 0.063  0.042  0.197 -0.002  0.016 -0.072 -1.024]
+t: 124	 action: [ 0.06   0.05   0.135  0.002  0.012 -0.074 -1.041]
+t: 125	 action: [ 0.062  0.045  0.174 -0.002  0.013 -0.084 -1.022]
+t: 126	 action: [ 7.228e-02  7.095e-02  1.474e-01  6.187e-04  1.631e-02 -6.949e-02 -1.041e+00]
+t: 127	 action: [ 7.247e-02  8.484e-02  1.369e-01  2.245e-03  5.725e-04 -7.325e-02 -1.044e+00]
+t: 128	 action: [ 0.079  0.055  0.128 -0.001  0.01  -0.079 -1.036]
+t: 129	 action: [ 8.297e-02  8.464e-02  1.475e-01  2.466e-03 -7.251e-04 -8.691e-02 -1.049e+00]
+t: 130	 action: [ 0.058  0.042  0.153  0.004  0.016 -0.068 -1.043]
+t: 131	 action: [ 5.434e-02  4.364e-02  1.722e-01 -7.834e-04  1.541e-02 -7.375e-02 -1.024e+00]
+t: 132	 action: [ 0.058  0.043  0.124  0.001  0.011 -0.075 -1.038]
+t: 133	 action: [ 0.061  0.048  0.152 -0.002  0.014 -0.083 -1.022]
+t: 134	 action: [ 7.204e-02  4.967e-02  1.372e-01  9.783e-04  1.557e-02 -7.181e-02 -1.040e+00]
+t: 135	 action: [ 6.744e-02  8.512e-02  1.292e-01  2.752e-03  3.260e-04 -7.583e-02 -1.043e+00]
+t: 136	 action: [ 0.078  0.051  0.121 -0.002  0.012 -0.08  -1.029]
+t: 137	 action: [ 8.204e-02  8.707e-02  1.412e-01  2.601e-03  7.060e-04 -8.447e-02 -1.051e+00]
+[07-31 01:11:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9966
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=138: Selected seed 195 with value = 0.9966
+t: 138	 action: [-0.018  0.01   0.295  0.009  0.009 -0.044 -1.047]
+t: 139	 action: [-0.008  0.009  0.307  0.013  0.009 -0.056 -1.033]
+t: 140	 action: [-0.014  0.004  0.249  0.006 -0.003 -0.056 -1.044]
+t: 141	 action: [-0.01   0.014  0.28   0.012  0.009 -0.067 -1.034]
+t: 142	 action: [-7.605e-03  3.807e-03  2.598e-01  8.011e-03  9.119e-04 -4.857e-02 -1.047e+00]
+t: 143	 action: [-0.014  0.041  0.244  0.017 -0.008 -0.057 -1.049]
+t: 144	 action: [ 0.005 -0.001  0.255  0.006 -0.007 -0.059 -1.043]
+t: 145	 action: [-0.005  0.048  0.246  0.016 -0.009 -0.069 -1.055]
+t: 146	 action: [-1.542e-02 -6.617e-04  3.015e-01  7.632e-03  1.132e-03 -5.029e-02 -1.043e+00]
+t: 147	 action: [-7.104e-03  8.819e-04  2.937e-01  1.190e-02  9.131e-03 -5.855e-02 -1.034e+00]
+t: 148	 action: [-1.170e-02  4.175e-04  2.543e-01  5.566e-03 -4.246e-03 -5.909e-02 -1.040e+00]
+t: 149	 action: [-0.002  0.01   0.266  0.011  0.009 -0.068 -1.034]
+t: 150	 action: [-4.609e-06 -1.064e-02  2.943e-01  7.596e-03  1.666e-04 -5.443e-02 -1.044e+00]
+t: 151	 action: [-0.011  0.031  0.254  0.016 -0.008 -0.06  -1.046]
+t: 152	 action: [ 0.008 -0.005  0.264  0.006 -0.005 -0.063 -1.036]
+t: 153	 action: [ 0.003  0.043  0.246  0.015 -0.008 -0.069 -1.056]
+[07-31 01:12:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9896
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=154: Selected seed 195 with value = 0.9896
+t: 154	 action: [ 0.004  0.008  0.086  0.016  0.02  -0.029 -1.042]
+t: 155	 action: [ 0.008  0.007  0.064  0.019  0.007 -0.039 -1.03 ]
+t: 156	 action: [-2.953e-04 -4.217e-03  3.306e-02  6.562e-03 -1.693e-03 -3.974e-02 -1.040e+00]
+t: 157	 action: [ 0.005  0.003  0.055  0.017  0.005 -0.046 -1.044]
+t: 158	 action: [ 0.007 -0.01   0.053  0.011 -0.005 -0.032 -1.042]
+t: 159	 action: [-0.008  0.028  0.027  0.022 -0.018 -0.038 -1.064]
+t: 160	 action: [ 0.009 -0.013  0.049  0.007 -0.01  -0.04  -1.034]
+t: 161	 action: [ 0.005  0.028  0.033  0.02  -0.017 -0.047 -1.067]
+t: 162	 action: [ 0.004 -0.017  0.066  0.009 -0.008 -0.041 -1.043]
+t: 163	 action: [ 0.01  -0.039  0.078  0.012  0.003 -0.045 -1.045]
+t: 164	 action: [ 4.291e-04 -1.725e-02  4.466e-02  5.048e-03 -1.279e-02 -4.673e-02 -1.040e+00]
+t: 165	 action: [ 0.015 -0.032  0.065  0.011  0.005 -0.047 -1.045]
+t: 166	 action: [ 0.01  -0.032  0.074  0.006 -0.012 -0.043 -1.04 ]
+t: 167	 action: [-3.418e-04 -9.142e-03  5.325e-02  1.511e-02 -1.935e-02 -4.429e-02 -1.065e+00]
+t: 168	 action: [ 0.007 -0.024  0.065  0.005 -0.014 -0.048 -1.028]
+t: 169	 action: [ 7.967e-03 -4.191e-04  4.977e-02  1.381e-02 -1.521e-02 -4.625e-02 -1.068e+00]
+[07-31 01:12:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9826
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=170: Selected seed 195 with value = 0.9826
+t: 170	 action: [ 0.007  0.007  0.102  0.015  0.028 -0.025 -1.034]
+t: 171	 action: [ 0.016  0.01   0.088  0.019  0.011 -0.036 -1.015]
+t: 172	 action: [ 0.011 -0.006  0.028  0.008  0.007 -0.036 -1.036]
+t: 173	 action: [ 0.013  0.002  0.054  0.018  0.009 -0.042 -1.044]
+t: 174	 action: [ 1.271e-02 -1.296e-02  5.107e-02  1.118e-02 -6.053e-05 -2.615e-02 -1.043e+00]
+t: 175	 action: [-0.002  0.025  0.034  0.023 -0.009 -0.034 -1.065]
+t: 176	 action: [ 0.02  -0.016  0.031  0.008 -0.004 -0.034 -1.032]
+t: 177	 action: [ 0.015  0.022  0.025  0.021 -0.009 -0.042 -1.07 ]
+t: 178	 action: [ 0.002 -0.022  0.026  0.009 -0.008 -0.036 -1.04 ]
+t: 179	 action: [ 0.013 -0.044  0.049  0.012  0.005 -0.041 -1.043]
+t: 180	 action: [-1.308e-05 -2.010e-02  3.713e-03  4.928e-03 -1.133e-02 -4.269e-02 -1.036e+00]
+t: 181	 action: [ 0.018 -0.037  0.04   0.011  0.008 -0.044 -1.044]
+t: 182	 action: [ 0.004 -0.038  0.037  0.006 -0.013 -0.036 -1.041]
+t: 183	 action: [-0.002 -0.013  0.035  0.016 -0.018 -0.04  -1.065]
+t: 184	 action: [ 0.003 -0.026  0.025  0.004 -0.013 -0.043 -1.026]
+t: 185	 action: [ 0.007 -0.007  0.029  0.014 -0.013 -0.042 -1.07 ]
+[07-31 01:12:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9772
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=186: Selected seed 195 with value = 0.9772
+t: 186	 action: [ 0.012  0.008  0.127  0.015  0.033 -0.022 -1.023]
+t: 187	 action: [ 0.023  0.01   0.127  0.019  0.015 -0.033 -0.998]
+t: 188	 action: [ 0.019 -0.004  0.044  0.009  0.013 -0.032 -1.03 ]
+t: 189	 action: [ 0.02   0.004  0.076  0.018  0.011 -0.04  -1.043]
+t: 190	 action: [ 0.017 -0.011  0.068  0.013  0.004 -0.022 -1.042]
+t: 191	 action: [-0.001  0.023  0.057  0.025 -0.003 -0.03  -1.064]
+t: 192	 action: [ 3.031e-02 -1.355e-02  3.962e-02  1.035e-02  8.666e-04 -2.978e-02 -1.029e+00]
+t: 193	 action: [ 0.023  0.022  0.035  0.023 -0.002 -0.037 -1.07 ]
+t: 194	 action: [ 0.006 -0.029  0.05   0.013 -0.006 -0.035 -1.034]
+t: 195	 action: [ 0.018 -0.049  0.069  0.016  0.008 -0.039 -1.04 ]
+t: 196	 action: [ 0.006 -0.023  0.017  0.007 -0.008 -0.041 -1.031]
+t: 197	 action: [ 0.023 -0.041  0.046  0.014  0.011 -0.042 -1.044]
+t: 198	 action: [ 0.006 -0.042  0.051  0.01  -0.013 -0.034 -1.04 ]
+t: 199	 action: [-0.005 -0.016  0.046  0.02  -0.014 -0.036 -1.063]
+t: 200	 action: [ 0.006 -0.027  0.03   0.007 -0.012 -0.039 -1.022]
+t: 201	 action: [ 0.006 -0.011  0.032  0.017 -0.008 -0.038 -1.07 ]
+[07-31 01:12:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9673
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=202: Selected seed 195 with value = 0.9673
+t: 202	 action: [ 0.019  0.007  0.184  0.011  0.042 -0.022 -0.864]
+t: 203	 action: [ 0.04   0.012  0.193  0.018  0.031 -0.032 -0.771]
+t: 204	 action: [ 0.042 -0.003  0.089  0.008  0.025 -0.03  -1.012]
+t: 205	 action: [ 0.051  0.008  0.128  0.018  0.017 -0.037 -1.046]
+t: 206	 action: [ 0.027 -0.008  0.124  0.013  0.013 -0.019 -1.05 ]
+t: 207	 action: [ 1.032e-02  2.258e-02  1.134e-01  2.494e-02  7.897e-04 -2.853e-02 -1.087e+00]
+t: 208	 action: [ 0.057 -0.011  0.068  0.011  0.009 -0.026 -1.023]
+t: 209	 action: [ 0.061  0.02   0.056  0.024  0.002 -0.033 -1.069]
+t: 210	 action: [ 0.022 -0.037  0.041  0.012 -0.004 -0.031 -1.019]
+t: 211	 action: [ 0.027 -0.051  0.049  0.017  0.009 -0.036 -1.036]
+t: 212	 action: [ 0.026 -0.026  0.002  0.008 -0.005 -0.037 -1.025]
+t: 213	 action: [ 0.033 -0.042  0.029  0.015  0.012 -0.038 -1.046]
+t: 214	 action: [ 0.017 -0.042  0.031  0.01  -0.014 -0.028 -1.036]
+t: 215	 action: [-4.465e-04 -1.775e-02  2.791e-02  2.159e-02 -1.240e-02 -3.137e-02 -1.057e+00]
+t: 216	 action: [ 0.021 -0.023  0.007  0.007 -0.011 -0.033 -1.016]
+t: 217	 action: [ 0.013 -0.011  0.012  0.018 -0.007 -0.033 -1.064]
+[07-31 01:12:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9404
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9404
+Query 1/1: Action query time = 0.960 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9404
+t=218: Selected seed 195 with value = 0.9404
+t: 218	 action: [ 0.023 -0.002  0.145  0.008  0.047 -0.024  1.072]
+t: 219	 action: [ 0.04  -0.026  0.192  0.015  0.052 -0.047  0.936]
+t: 220	 action: [ 0.086 -0.015  0.11   0.007  0.037 -0.029 -0.599]
+t: 221	 action: [ 0.13  -0.035  0.179  0.016  0.032 -0.034 -1.038]
+t: 222	 action: [ 0.083 -0.026  0.187  0.011  0.026 -0.02  -1.152]
+t: 223	 action: [ 0.019 -0.021  0.187  0.021  0.006 -0.039 -1.076]
+t: 224	 action: [ 0.116 -0.035  0.116  0.012  0.021 -0.023 -1.061]
+t: 225	 action: [ 0.119 -0.031  0.108  0.023  0.005 -0.029 -1.066]
+t: 226	 action: [ 0.067 -0.101  0.044  0.018 -0.001 -0.028 -1.009]
+t: 227	 action: [ 0.07  -0.099  0.028  0.022  0.01  -0.033 -1.019]
+t: 228	 action: [ 0.067 -0.096 -0.01   0.013 -0.001 -0.03  -1.035]
+t: 229	 action: [ 0.071 -0.095 -0.034  0.019  0.013 -0.035 -1.049]
+t: 230	 action: [ 0.042 -0.086  0.015  0.016 -0.015 -0.024 -1.029]
+t: 231	 action: [ 0.01  -0.062 -0.004  0.026 -0.009 -0.027 -1.052]
+t: 232	 action: [ 0.042 -0.048 -0.024  0.01  -0.012 -0.025 -1.014]
+t: 233	 action: [ 0.021 -0.051 -0.089  0.021 -0.005 -0.027 -1.047]
+[07-31 01:12:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8992
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.8992
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8992
+t=234: Selected seed 195 with value = 0.8992
+t: 234	 action: [ 0.017 -0.009  0.197  0.011  0.038 -0.03   1.082]
+t: 235	 action: [ 0.035 -0.035  0.239  0.015  0.054 -0.056  0.977]
+t: 236	 action: [ 0.068 -0.024  0.177  0.008  0.037 -0.029  0.999]
+t: 237	 action: [ 0.062 -0.054  0.25   0.016  0.046 -0.035 -0.966]
+t: 238	 action: [ 0.083 -0.039  0.243  0.015  0.03  -0.02  -1.132]
+t: 239	 action: [ 0.025 -0.038  0.243  0.02   0.013 -0.041 -1.075]
+t: 240	 action: [ 0.128 -0.053  0.179  0.013  0.028 -0.019 -1.102]
+t: 241	 action: [ 0.073 -0.055  0.177  0.021  0.014 -0.026 -1.045]
+t: 242	 action: [ 0.132 -0.169  0.052  0.023  0.004 -0.02   0.653]
+t: 243	 action: [ 0.115 -0.168  0.013  0.026  0.01  -0.025 -0.87 ]
+t: 244	 action: [ 1.294e-01 -1.758e-01 -8.624e-03  1.786e-02  5.466e-04 -2.112e-02 -9.898e-01]
+t: 245	 action: [ 0.144 -0.145 -0.06   0.022  0.01  -0.029 -1.041]
+t: 246	 action: [ 0.076 -0.165  0.012  0.023 -0.016 -0.016 -1.084]
+t: 247	 action: [-0.013 -0.114 -0.042  0.028 -0.01  -0.018 -1.051]
+t: 248	 action: [ 0.065 -0.081 -0.048  0.012 -0.017 -0.016 -0.998]
+t: 249	 action: [ 0.049 -0.078 -0.154  0.022 -0.008 -0.019 -1.027]
+[07-31 01:12:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8356
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=250: Selected seed 195 with value = 0.8356
+t: 250	 action: [ 0.007 -0.01   0.229  0.006  0.035 -0.031  1.048]
+t: 251	 action: [ 0.028 -0.044  0.256  0.01   0.053 -0.057  0.948]
+t: 252	 action: [ 0.053 -0.028  0.23   0.006  0.04  -0.028  1.001]
+t: 253	 action: [ 0.04  -0.05   0.281  0.014  0.054 -0.042 -0.284]
+t: 254	 action: [ 0.071 -0.041  0.268  0.012  0.035 -0.016 -0.823]
+t: 255	 action: [ 0.039 -0.051  0.277  0.017  0.021 -0.039 -0.896]
+t: 256	 action: [ 0.122 -0.047  0.221  0.01   0.034 -0.015 -1.088]
+t: 257	 action: [ 0.067 -0.049  0.218  0.018  0.027 -0.031 -1.013]
+t: 258	 action: [ 0.115 -0.198  0.072  0.022  0.004 -0.017  0.981]
+t: 259	 action: [ 0.088 -0.226  0.019  0.026  0.005 -0.024 -0.244]
+t: 260	 action: [ 0.149 -0.232 -0.006  0.019 -0.001 -0.018 -0.697]
+t: 261	 action: [ 0.176 -0.193 -0.07   0.021  0.007 -0.026 -0.962]
+t: 262	 action: [ 0.094 -0.24   0.011  0.028 -0.019 -0.011 -1.107]
+t: 263	 action: [-0.009 -0.178 -0.052  0.027 -0.016 -0.018 -1.009]
+t: 264	 action: [ 0.079 -0.1   -0.054  0.012 -0.021 -0.011 -0.994]
+t: 265	 action: [ 0.053 -0.087 -0.175  0.019 -0.013 -0.014 -1.017]
+[07-31 01:12:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8055
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8055
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8055
+t=266: Selected seed 195 with value = 0.8055
+t: 266	 action: [ 0.01  -0.013  0.222  0.004  0.024 -0.031  0.972]
+t: 267	 action: [ 0.062 -0.037  0.261  0.005  0.036 -0.06   0.978]
+t: 268	 action: [ 0.036 -0.025  0.206  0.004  0.035 -0.025  1.011]
+t: 269	 action: [ 0.021 -0.034  0.254  0.008  0.047 -0.051  0.607]
+t: 270	 action: [ 0.051 -0.04   0.249  0.007  0.03  -0.012  0.915]
+t: 271	 action: [ 0.102 -0.05   0.264  0.014  0.013 -0.027  0.534]
+t: 272	 action: [ 0.101 -0.034  0.211  0.006  0.037 -0.011 -1.051]
+t: 273	 action: [ 0.055 -0.023  0.207  0.015  0.029 -0.034 -1.073]
+t: 274	 action: [ 0.085 -0.192  0.072  0.015  0.004 -0.019  1.043]
+t: 275	 action: [ 0.05  -0.223  0.027  0.02   0.004 -0.038  0.755]
+t: 276	 action: [ 0.11  -0.253  0.003  0.012  0.005 -0.018  0.903]
+t: 277	 action: [ 0.074 -0.206 -0.033  0.016  0.005 -0.031  0.203]
+t: 278	 action: [ 0.044 -0.229 -0.013  0.018 -0.011 -0.011 -1.124]
+t: 279	 action: [-0.025 -0.162 -0.047  0.02  -0.02  -0.028 -1.081]
+t: 280	 action: [ 0.053 -0.077 -0.051  0.005 -0.017 -0.01  -1.077]
+t: 281	 action: [-0.005 -0.063 -0.117  0.011 -0.017 -0.021 -1.098]
+[07-31 01:12:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8770
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=282: Selected seed 195 with value = 0.8770
+t: 282	 action: [ 0.065  0.321 -0.084 -0.022  0.043  0.009  0.967]
+t: 283	 action: [ 0.067  0.295 -0.143 -0.026  0.055  0.002  1.009]
+t: 284	 action: [ 0.096  0.282 -0.255 -0.014  0.05   0.012  0.978]
+t: 285	 action: [ 0.04   0.225 -0.413 -0.023  0.065  0.015  1.022]
+t: 286	 action: [ 0.05   0.233 -0.331 -0.024  0.061  0.003  0.987]
+t: 287	 action: [ 0.005  0.136 -0.389 -0.027  0.06   0.029  1.025]
+t: 288	 action: [-0.028  0.147 -0.557 -0.023  0.067  0.022  0.993]
+t: 289	 action: [-0.041  0.095 -0.612 -0.028  0.062  0.036  1.036]
+t: 290	 action: [-0.04   0.061 -0.654 -0.002  0.04   0.025  0.981]
+t: 291	 action: [-0.062  0.041 -0.778 -0.016  0.058  0.042  1.009]
+t: 292	 action: [-0.03   0.049 -0.694 -0.004  0.04   0.045  0.99 ]
+t: 293	 action: [-0.051  0.021 -0.775 -0.024  0.052  0.051  1.036]
+t: 294	 action: [-0.135  0.033 -0.648 -0.026  0.044  0.038  0.996]
+t: 295	 action: [-0.071  0.103 -0.605 -0.045  0.038  0.055  1.03 ]
+t: 296	 action: [-0.107  0.037 -0.508 -0.039  0.042  0.043  1.006]
+t: 297	 action: [-0.024  0.098 -0.372 -0.051  0.027  0.053  1.048]
+[07-31 01:12:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9191
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9191
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 3
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
  6%|▌         | 3/50 [01:33<24:17, 31.00s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 4...
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9191
+t=298: Selected seed 195 with value = 0.9191
+t: 298	 action: [-0.047  0.041 -0.26  -0.008  0.035  0.009  0.975]
+t: 299	 action: [ 0.018 -0.002 -0.356 -0.03   0.041  0.021  1.021]
+t: 300	 action: [ 0.011  0.068 -0.357 -0.01   0.034  0.012  0.978]
+t: 301	 action: [ 0.031  0.043 -0.504 -0.031  0.042  0.022  1.037]
+t: 302	 action: [ 0.005  0.041 -0.381 -0.032  0.041  0.019  0.99 ]
+t: 303	 action: [ 0.003  0.026 -0.38  -0.041  0.038  0.031  1.019]
+t: 304	 action: [ 0.002  0.058 -0.454 -0.034  0.039  0.026  0.99 ]
+t: 305	 action: [ 0.006  0.056 -0.422 -0.039  0.046  0.029  1.031]
+t: 306	 action: [ 0.004  0.063 -0.562 -0.01   0.021  0.035  0.987]
+t: 307	 action: [ 0.029  0.018 -0.618 -0.036  0.037  0.047  1.027]
+t: 308	 action: [ 0.09   0.048 -0.478 -0.017  0.029  0.041  0.992]
+t: 309	 action: [ 0.087 -0.022 -0.451 -0.038  0.045  0.045  1.052]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+[07-31 01:12:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.126 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4863
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4863
+Query 1/1: Action query time = 1.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4863
+t=10: Selected seed 195 with value = 0.4863
+t: 10	 action: [ 2.097e-01  9.749e-02  1.934e-02 -5.452e-03  6.685e-03 -9.686e-04 -1.012e+00]
+t: 11	 action: [ 0.397  0.157  0.025 -0.011  0.003 -0.002 -1.025]
+t: 12	 action: [ 0.529  0.288  0.022 -0.012  0.008  0.002 -1.022]
+t: 13	 action: [ 0.679  0.344  0.017 -0.013  0.002 -0.001 -1.031]
+t: 14	 action: [ 0.778  0.417  0.024 -0.016  0.008 -0.003 -1.026]
+t: 15	 action: [ 8.463e-01  4.369e-01 -6.298e-04 -1.108e-02 -2.243e-03 -2.820e-03 -1.050e+00]
+t: 16	 action: [ 0.879  0.493  0.011 -0.019  0.01  -0.003 -1.021]
+t: 17	 action: [ 0.936  0.499 -0.005 -0.012 -0.003 -0.003 -1.054]
+t: 18	 action: [ 0.853  0.509 -0.018 -0.02   0.006  0.005 -1.03 ]
+t: 19	 action: [ 8.925e-01  4.933e-01 -2.299e-02 -1.991e-02  8.233e-03  1.490e-04 -1.031e+00]
+t: 20	 action: [ 0.883  0.515 -0.047 -0.024  0.004  0.006 -1.028]
+t: 21	 action: [ 9.200e-01  4.806e-01 -5.328e-02 -1.959e-02  9.574e-03  7.190e-04 -1.033e+00]
+t: 22	 action: [ 0.928  0.466 -0.1   -0.015  0.001  0.002 -1.007]
+t: 23	 action: [ 0.97   0.413 -0.169 -0.009 -0.001 -0.003 -1.047]
+t: 24	 action: [ 9.313e-01  3.883e-01 -1.889e-01 -1.196e-02  9.793e-04  3.734e-04 -1.009e+00]
+t: 25	 action: [ 9.669e-01  3.175e-01 -3.361e-01 -3.746e-03 -4.895e-04 -5.454e-04 -1.056e+00]
+[07-31 01:12:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5931
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5931
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5931
+t=26: Selected seed 195 with value = 0.5931
+t: 26	 action: [ 0.648  0.287 -0.417  0.008 -0.026 -0.003 -1.027]
+t: 27	 action: [ 0.533  0.188 -0.483  0.003 -0.029 -0.013 -1.025]
+t: 28	 action: [ 0.372  0.091 -0.579  0.009 -0.038 -0.005 -1.021]
+t: 29	 action: [ 0.214  0.008 -0.667  0.011 -0.043 -0.015 -1.031]
+t: 30	 action: [ 0.107  0.006 -0.807  0.012 -0.038 -0.008 -1.025]
+t: 31	 action: [ 4.302e-02  2.059e-04 -8.060e-01  1.582e-02 -4.419e-02 -1.274e-02 -1.051e+00]
+t: 32	 action: [-0.013 -0.003 -0.962  0.008 -0.042 -0.008 -1.018]
+t: 33	 action: [-0.032  0.013 -0.954  0.01  -0.048 -0.014 -1.057]
+t: 34	 action: [-0.107 -0.055 -0.964  0.008 -0.055 -0.012 -1.03 ]
+t: 35	 action: [-0.174 -0.108 -1.002  0.005 -0.058 -0.017 -1.03 ]
+t: 36	 action: [-0.235 -0.077 -0.973  0.008 -0.053 -0.008 -1.029]
+t: 37	 action: [-0.312 -0.111 -1.027  0.004 -0.049 -0.015 -1.033]
+t: 38	 action: [-0.361 -0.078 -0.974  0.002 -0.042 -0.002 -1.028]
+t: 39	 action: [-0.432 -0.034 -1.009  0.012 -0.037 -0.014 -1.044]
+t: 40	 action: [-4.815e-01 -6.391e-02 -9.528e-01  8.982e-04 -3.026e-02 -3.044e-05 -1.023e+00]
+t: 41	 action: [-0.497 -0.028 -1.001  0.01  -0.021 -0.008 -1.051]
+[07-31 01:12:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6666
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6666
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6666
+t=42: Selected seed 195 with value = 0.6666
+t: 42	 action: [-0.437 -0.051 -1.025 -0.001 -0.053  0.024 -1.064]
+t: 43	 action: [-0.466 -0.057 -0.968 -0.016 -0.049  0.026 -1.024]
+t: 44	 action: [-0.406 -0.023 -0.939 -0.01  -0.047  0.03  -1.065]
+t: 45	 action: [-0.381 -0.013 -0.869 -0.024 -0.021  0.024 -1.04 ]
+t: 46	 action: [-0.411 -0.019 -0.723 -0.029 -0.018  0.022 -1.055]
+t: 47	 action: [-0.342  0.056 -0.675 -0.015 -0.017  0.02  -1.052]
+t: 48	 action: [-0.247  0.013 -0.569 -0.044 -0.001  0.026 -1.065]
+t: 49	 action: [-2.365e-01  8.972e-02 -5.144e-01 -2.720e-02  8.297e-04  1.193e-02 -1.062e+00]
+t: 50	 action: [-0.214  0.011 -0.543 -0.04   0.012  0.031  0.986]
+t: 51	 action: [-0.179 -0.028 -0.342 -0.042  0.03   0.022  1.015]
+t: 52	 action: [-0.134  0.018 -0.295 -0.059  0.026  0.033  0.973]
+t: 53	 action: [-0.113 -0.031 -0.103 -0.054  0.037  0.023  1.005]
+t: 54	 action: [-0.065  0.011 -0.095 -0.049  0.046  0.009  0.999]
+t: 55	 action: [-0.034  0.007  0.003 -0.041  0.051  0.009  1.013]
+t: 56	 action: [-0.024  0.027  0.106 -0.042  0.042  0.003  1.003]
+t: 57	 action: [-7.534e-04  4.179e-02  1.992e-01 -4.024e-02  4.759e-02  1.022e-02  1.014e+00]
+[07-31 01:12:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.017 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6734
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6734
+Query 1/1: Action query time = 1.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6734
+t=58: Selected seed 195 with value = 0.6734
+t: 58	 action: [ 0.027  0.032 -0.018 -0.034  0.021  0.004  0.977]
+t: 59	 action: [ 2.503e-02  1.505e-02  7.966e-02 -3.020e-02  4.189e-02  1.820e-04  1.025e+00]
+t: 60	 action: [ 0.066  0.041  0.173 -0.027  0.033 -0.004  0.986]
+t: 61	 action: [ 0.035  0.022  0.323 -0.019  0.055 -0.007  1.031]
+t: 62	 action: [ 0.075  0.038  0.527 -0.017  0.045 -0.005  1.013]
+t: 63	 action: [ 0.024  0.043  0.666 -0.02   0.045 -0.014  1.027]
+t: 64	 action: [ 0.082  0.05   0.863  0.001  0.045 -0.02   1.015]
+t: 65	 action: [ 0.013  0.019  0.847  0.003  0.043 -0.023  1.027]
+t: 66	 action: [ 0.115  0.006  0.95   0.014  0.066 -0.012  1.002]
+t: 67	 action: [ 0.063 -0.013  0.89   0.016  0.079 -0.019  1.029]
+t: 68	 action: [ 0.098 -0.037  0.938  0.008  0.08  -0.008  1.164]
+t: 69	 action: [-0.013 -0.049  0.496  0.011  0.095 -0.02   1.045]
+t: 70	 action: [ 0.023 -0.068  0.243  0.033  0.048 -0.001  1.026]
+t: 71	 action: [-0.05  -0.024 -0.061  0.037  0.043 -0.007  1.041]
+t: 72	 action: [-0.033 -0.048 -0.437  0.02   0.038 -0.002 -1.155]
+t: 73	 action: [-0.067 -0.033 -0.312  0.028  0.045 -0.016 -1.095]
+[07-31 01:12:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.278 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7042
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7042
+Query 1/1: Action query time = 1.278 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7042
+t=74: Selected seed 195 with value = 0.7042
+t: 74	 action: [ 0.037  0.065 -0.097  0.006  0.003  0.015  1.188]
+t: 75	 action: [-1.999e-02  7.618e-02 -2.337e-01  7.275e-03  7.480e-04  1.931e-02  1.024e+00]
+t: 76	 action: [ 0.025  0.125 -0.275  0.019  0.01   0.014  1.071]
+t: 77	 action: [-0.062  0.095 -0.409  0.029  0.013  0.02  -0.715]
+t: 78	 action: [ 0.037  0.027 -0.38   0.017  0.017  0.02  -1.027]
+t: 79	 action: [-0.091  0.065 -0.533  0.032  0.004  0.016 -1.052]
+t: 80	 action: [-0.034  0.122 -0.525  0.044  0.029  0.016 -1.05 ]
+t: 81	 action: [-0.138  0.119 -0.671  0.046  0.021  0.013 -1.032]
+t: 82	 action: [-0.219  0.032 -0.759  0.032  0.031  0.068 -0.882]
+t: 83	 action: [-0.293  0.063 -0.751  0.021  0.022  0.069 -1.101]
+t: 84	 action: [-0.322  0.015 -0.775  0.017  0.049  0.055 -1.105]
+t: 85	 action: [-0.395  0.01  -0.709  0.013  0.037  0.064 -1.098]
+t: 86	 action: [-0.435  0.052 -0.67   0.008  0.034  0.058 -0.845]
+t: 87	 action: [-0.378  0.094 -0.624  0.008  0.022  0.056  1.166]
+t: 88	 action: [-0.335  0.04  -0.496 -0.002  0.033  0.025  1.087]
+t: 89	 action: [-0.279  0.075 -0.355 -0.009  0.028  0.043  1.181]
+[07-31 01:12:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.190 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7524
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7524
+Query 1/1: Action query time = 1.190 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7524
+t=90: Selected seed 195 with value = 0.7524
+t: 90	 action: [-0.275  0.041 -0.432 -0.014  0.003  0.054  0.987]
+t: 91	 action: [-0.269  0.031 -0.292 -0.029  0.016  0.041  1.006]
+t: 92	 action: [-0.213  0.021 -0.211 -0.029  0.021  0.03   0.977]
+t: 93	 action: [-0.166  0.017 -0.049 -0.033  0.028  0.034  1.009]
+t: 94	 action: [-0.153  0.012 -0.01  -0.048  0.024  0.021  1.006]
+t: 95	 action: [-0.046  0.02   0.09  -0.041  0.015  0.015  1.006]
+t: 96	 action: [-0.018  0.017  0.189 -0.031  0.035 -0.002  0.994]
+t: 97	 action: [ 0.034  0.059  0.408 -0.034  0.023 -0.003  1.011]
+t: 98	 action: [ 0.057 -0.039  0.665 -0.008  0.031  0.005  0.995]
+t: 99	 action: [ 0.037 -0.03   0.786 -0.021  0.022 -0.002  1.001]
+t: 100	 action: [ 0.114 -0.07   0.838 -0.001  0.021  0.005  0.979]
+t: 101	 action: [ 0.062 -0.102  0.932 -0.008  0.015 -0.002  1.012]
+t: 102	 action: [ 0.052 -0.093  0.913  0.012  0.022 -0.002  1.007]
+t: 103	 action: [ 0.006 -0.281  0.928  0.008  0.012 -0.004  1.005]
+t: 104	 action: [-3.304e-03 -3.625e-01  8.704e-01  1.524e-02  6.700e-03 -6.027e-04  1.003e+00]
+t: 105	 action: [-0.018 -0.536  0.796  0.021  0.009 -0.004  1.009]
+[07-31 01:12:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.259 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7994
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 1.259 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=106: Selected seed 195 with value = 0.7994
+t: 106	 action: [0.049 0.195 0.094 0.008 0.004 0.001 1.002]
+t: 107	 action: [0.028 0.175 0.035 0.008 0.003 0.002 1.033]
+t: 108	 action: [-1.094e-03  2.706e-01 -4.763e-02  8.070e-03  1.760e-03  6.832e-04  9.988e-01]
+t: 109	 action: [-0.1    0.211 -0.099  0.014  0.001  0.006  1.019]
+t: 110	 action: [-0.112  0.143 -0.097  0.007  0.009  0.003  1.   ]
+t: 111	 action: [-0.237  0.083 -0.129  0.026 -0.004  0.008  1.053]
+t: 112	 action: [-0.28   0.164 -0.236  0.012  0.007  0.002  0.988]
+t: 113	 action: [-0.381  0.097 -0.392  0.027 -0.005  0.01   1.032]
+t: 114	 action: [-0.382  0.048 -0.465  0.006  0.013  0.045  0.952]
+t: 115	 action: [-4.374e-01 -4.894e-03 -5.033e-01  3.237e-03 -3.841e-05  4.318e-02  1.005e+00]
+t: 116	 action: [-0.386  0.033 -0.517  0.003  0.019  0.044  0.997]
+t: 117	 action: [-4.237e-01 -2.076e-02 -4.859e-01 -6.987e-04  6.859e-04  4.568e-02  1.052e+00]
+t: 118	 action: [-0.389  0.04  -0.441  0.001 -0.004  0.041  1.001]
+t: 119	 action: [-0.432  0.025 -0.476 -0.005 -0.008  0.043  1.069]
+t: 120	 action: [-2.999e-01  2.014e-02 -3.851e-01  8.889e-04 -1.485e-02  2.536e-02  1.024e+00]
+t: 121	 action: [-0.31   0.024 -0.302 -0.012 -0.014  0.04   1.086]
+[07-31 01:12:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.263 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8640
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8640
+Query 1/1: Action query time = 1.263 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8640
+t=122: Selected seed 195 with value = 0.8640
+t: 122	 action: [-0.029  0.09   0.088 -0.041 -0.001 -0.004  1.03 ]
+t: 123	 action: [-0.079  0.072  0.023 -0.017 -0.001 -0.005  1.047]
+t: 124	 action: [-0.049  0.106  0.033 -0.015  0.002 -0.008  1.023]
+t: 125	 action: [-1.376e-01  5.790e-02 -3.764e-02 -1.116e-02 -9.402e-04 -6.782e-03  1.043e+00]
+t: 126	 action: [-0.13   0.042  0.083 -0.011  0.016 -0.002  1.044]
+t: 127	 action: [-0.212  0.026 -0.016 -0.007 -0.005  0.005  1.065]
+t: 128	 action: [-0.205  0.052 -0.005 -0.003  0.022 -0.007  1.032]
+t: 129	 action: [-0.234  0.019 -0.1   -0.002 -0.001 -0.004  1.051]
+t: 130	 action: [-1.974e-01  7.005e-02 -3.153e-01  2.251e-03  5.001e-02  7.783e-04  1.148e+00]
+t: 131	 action: [-0.238  0.006 -0.309 -0.004  0.027  0.     0.098]
+t: 132	 action: [-0.141  0.018 -0.288  0.003  0.049  0.004 -1.019]
+t: 133	 action: [-0.196 -0.033 -0.25  -0.005  0.016  0.014 -1.065]
+t: 134	 action: [-1.414e-01  2.601e-02 -3.394e-01 -3.236e-03  3.813e-02  7.309e-04 -1.081e+00]
+t: 135	 action: [-0.124 -0.032 -0.244 -0.012 -0.002 -0.001  0.064]
+t: 136	 action: [-1.302e-01 -1.252e-02 -2.448e-01 -6.313e-04  1.385e-02 -3.818e-03  9.637e-01]
+t: 137	 action: [-0.122 -0.048 -0.115 -0.014 -0.006  0.018  1.143]
+[07-31 01:12:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.155 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9057
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9057
+Query 1/1: Action query time = 1.155 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9057
+t=138: Selected seed 195 with value = 0.9057
+t: 138	 action: [-0.061 -0.02   0.492 -0.008 -0.003 -0.013  1.021]
+t: 139	 action: [-0.045 -0.036  0.547 -0.03  -0.002 -0.016  1.048]
+t: 140	 action: [-0.034 -0.059  0.613 -0.006  0.014 -0.02   1.027]
+t: 141	 action: [-0.052 -0.143  0.599 -0.015  0.02  -0.018  1.038]
+t: 142	 action: [-0.109 -0.213  0.618  0.003  0.025 -0.016  1.01 ]
+t: 143	 action: [-0.144 -0.211  0.575  0.02   0.017 -0.008  1.047]
+t: 144	 action: [-0.132 -0.258  0.411  0.014  0.046 -0.019  1.017]
+t: 145	 action: [-0.117 -0.302  0.219  0.024  0.061 -0.014  1.042]
+t: 146	 action: [-0.15  -0.197  0.172  0.024  0.069  0.001  1.145]
+t: 147	 action: [-0.164 -0.215  0.097  0.019  0.064 -0.014  1.037]
+t: 148	 action: [-6.827e-02 -1.177e-01 -3.256e-03  1.058e-02  7.718e-02 -7.966e-04  1.142e+00]
+t: 149	 action: [-0.087 -0.162  0.035  0.012  0.07  -0.015  0.291]
+t: 150	 action: [-0.081 -0.042  0.034  0.019  0.063 -0.008 -1.18 ]
+t: 151	 action: [-0.055 -0.068  0.108  0.017  0.05  -0.02  -1.095]
+t: 152	 action: [-0.037 -0.009  0.056  0.004  0.05  -0.019 -1.179]
+t: 153	 action: [-0.036 -0.044  0.211  0.006  0.041 -0.028 -1.033]
+[07-31 01:12:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.189 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9250
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9250
+Query 1/1: Action query time = 1.189 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9250
+t=154: Selected seed 195 with value = 0.9250
+t: 154	 action: [-0.161  0.239  0.253  0.011  0.016 -0.03   1.004]
+t: 155	 action: [-0.102  0.284  0.129 -0.016  0.009 -0.027  1.014]
+t: 156	 action: [-0.053  0.311  0.106  0.007  0.03  -0.027  1.005]
+t: 157	 action: [-0.03   0.325  0.056 -0.008  0.021 -0.026  1.019]
+t: 158	 action: [-0.099  0.298 -0.091  0.004  0.041 -0.03   0.998]
+t: 159	 action: [-0.089  0.284 -0.133  0.012  0.024 -0.026  1.01 ]
+t: 160	 action: [-0.1    0.277 -0.323  0.003  0.054 -0.026  1.   ]
+t: 161	 action: [-0.075  0.228 -0.417  0.009  0.038 -0.025  1.022]
+t: 162	 action: [-0.03   0.14  -0.382  0.004  0.041  0.003  1.   ]
+t: 163	 action: [-7.317e-02  2.044e-01 -4.388e-01 -3.268e-03  3.822e-02  7.359e-04  1.021e+00]
+t: 164	 action: [-0.042  0.158 -0.468  0.003  0.047  0.003  1.156]
+t: 165	 action: [-0.109  0.165 -0.395 -0.008  0.038 -0.014  1.047]
+t: 166	 action: [-0.076  0.082 -0.381 -0.002  0.037 -0.006  0.996]
+t: 167	 action: [-5.109e-02  1.683e-01 -2.997e-01 -2.484e-04  2.240e-02 -8.412e-03  1.033e+00]
+t: 168	 action: [-0.025  0.1   -0.063 -0.008  0.033 -0.022 -1.136]
+t: 169	 action: [-0.034  0.133  0.036 -0.008  0.008 -0.037 -1.114]
+[07-31 01:12:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.172 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9907
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 1.172 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=170: Selected seed 195 with value = 0.9907
+t: 170	 action: [-0.087  0.026 -0.558  0.003  0.045  0.008  0.922]
+t: 171	 action: [-0.079  0.007 -0.502 -0.006  0.016 -0.02   1.032]
+t: 172	 action: [-0.083  0.049 -0.254  0.002  0.041 -0.001  1.177]
+t: 173	 action: [-0.053  0.019 -0.12  -0.006  0.013 -0.035  1.011]
+t: 174	 action: [-0.052  0.017 -0.03  -0.003  0.015 -0.035  0.932]
+t: 175	 action: [ 1.707e-02  8.182e-02  5.663e-02 -7.380e-04  1.859e-03 -4.657e-02 -1.072e+00]
+t: 176	 action: [ 0.05   0.094  0.212 -0.004  0.006 -0.071 -1.195]
+t: 177	 action: [ 4.257e-02  1.283e-01  2.518e-01 -1.106e-03  6.625e-03 -6.796e-02 -1.111e+00]
+t: 178	 action: [ 2.734e-02  1.976e-01  3.791e-01  9.861e-04  3.918e-03 -5.732e-02 -1.031e+00]
+t: 179	 action: [ 9.793e-03  1.288e-01  4.885e-01 -4.357e-04  5.056e-03 -5.865e-02 -1.028e+00]
+t: 180	 action: [ 0.021  0.178  0.474 -0.001  0.009 -0.063 -1.03 ]
+t: 181	 action: [ 1.807e-02  1.245e-01  5.058e-01  7.847e-04  1.462e-02 -6.343e-02 -1.026e+00]
+t: 182	 action: [ 0.039  0.195  0.511  0.004  0.022 -0.064 -1.038]
+t: 183	 action: [ 0.029  0.16   0.473  0.01   0.003 -0.059 -1.043]
+t: 184	 action: [ 3.915e-02  1.709e-01  4.683e-01 -7.839e-04  2.737e-02 -6.201e-02 -1.030e+00]
+t: 185	 action: [ 0.021  0.153  0.378  0.009  0.014 -0.059 -1.056]
+[07-31 01:12:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.204 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9901
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 1.204 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=186: Selected seed 195 with value = 0.9901
+t: 186	 action: [ 0.114  0.121  0.232  0.006  0.029 -0.051 -1.046]
+t: 187	 action: [ 0.117  0.087  0.244  0.003  0.018 -0.061 -1.023]
+t: 188	 action: [ 0.107  0.115  0.179  0.005  0.017 -0.059 -1.044]
+t: 189	 action: [ 0.115  0.093  0.222  0.003  0.014 -0.066 -1.024]
+t: 190	 action: [ 0.123  0.132  0.188  0.002  0.023 -0.055 -1.047]
+t: 191	 action: [ 0.129  0.128  0.212  0.006  0.004 -0.061 -1.046]
+t: 192	 action: [ 1.252e-01  1.205e-01  1.777e-01 -1.499e-05  1.605e-02 -6.163e-02 -1.046e+00]
+t: 193	 action: [ 0.137  0.134  0.222  0.007  0.003 -0.068 -1.051]
+t: 194	 action: [ 0.105  0.108  0.2    0.007  0.018 -0.055 -1.045]
+t: 195	 action: [ 0.106  0.088  0.221  0.004  0.014 -0.063 -1.023]
+t: 196	 action: [ 0.106  0.11   0.175  0.004  0.012 -0.061 -1.041]
+t: 197	 action: [ 0.113  0.095  0.208  0.003  0.011 -0.066 -1.025]
+t: 198	 action: [ 0.116  0.122  0.198  0.003  0.018 -0.06  -1.047]
+t: 199	 action: [ 1.216e-01  1.289e-01  2.131e-01  6.781e-03  6.054e-04 -6.365e-02 -1.046e+00]
+t: 200	 action: [ 1.245e-01  1.220e-01  1.800e-01  8.147e-05  1.449e-02 -6.479e-02 -1.038e+00]
+t: 201	 action: [ 1.345e-01  1.352e-01  2.278e-01  6.636e-03  7.229e-04 -6.584e-02 -1.053e+00]
+[07-31 01:12:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.190 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9982
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 1.190 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=202: Selected seed 195 with value = 0.9982
+t: 202	 action: [ 0.034  0.099  0.205  0.015  0.027 -0.025 -1.049]
+t: 203	 action: [ 0.019  0.046  0.198  0.013  0.01  -0.039 -1.036]
+t: 204	 action: [ 0.025  0.044  0.145  0.005  0.008 -0.039 -1.045]
+t: 205	 action: [ 0.022  0.037  0.193  0.011  0.01  -0.045 -1.037]
+t: 206	 action: [ 0.049  0.062  0.169  0.009  0.009 -0.031 -1.049]
+t: 207	 action: [ 0.026  0.061  0.183  0.016 -0.006 -0.04  -1.058]
+t: 208	 action: [ 4.769e-02  2.644e-02  1.575e-01  4.487e-03  3.089e-04 -4.168e-02 -1.045e+00]
+t: 209	 action: [ 0.042  0.06   0.206  0.014 -0.005 -0.048 -1.059]
+t: 210	 action: [ 0.029  0.037  0.153  0.006  0.003 -0.04  -1.051]
+t: 211	 action: [ 0.015  0.026  0.172  0.008  0.008 -0.043 -1.038]
+t: 212	 action: [ 0.024  0.028  0.133  0.003 -0.002 -0.047 -1.045]
+t: 213	 action: [ 0.025  0.03   0.175  0.007  0.01  -0.047 -1.037]
+t: 214	 action: [ 0.048  0.025  0.163  0.004  0.001 -0.045 -1.049]
+t: 215	 action: [ 0.024  0.052  0.179  0.011 -0.008 -0.045 -1.059]
+t: 216	 action: [ 0.047  0.024  0.153  0.002 -0.003 -0.051 -1.04 ]
+t: 217	 action: [ 0.037  0.056  0.205  0.01  -0.006 -0.048 -1.062]
+[07-31 01:12:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.205 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9956
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 1.205 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=218: Selected seed 195 with value = 0.9956
+t: 218	 action: [-0.007  0.044  0.077  0.005  0.027 -0.023 -1.036]
+t: 219	 action: [ 0.007  0.023  0.061  0.009  0.006 -0.032 -1.038]
+t: 220	 action: [-0.011  0.007  0.035  0.002 -0.005 -0.035 -1.036]
+t: 221	 action: [ 3.968e-03  4.163e-03  5.571e-02  8.020e-03  9.617e-04 -3.949e-02 -1.044e+00]
+t: 222	 action: [-0.001  0.016  0.053  0.002 -0.011 -0.026 -1.043]
+t: 223	 action: [-0.019  0.029  0.036  0.011 -0.02  -0.032 -1.066]
+t: 224	 action: [-4.399e-04 -1.919e-03  4.991e-02  1.318e-03 -1.922e-02 -3.483e-02 -1.037e+00]
+t: 225	 action: [-0.003  0.023  0.047  0.01  -0.022 -0.04  -1.065]
+t: 226	 action: [-6.398e-03  5.639e-04  5.806e-02  3.714e-03 -1.870e-02 -3.422e-02 -1.045e+00]
+t: 227	 action: [ 0.006 -0.011  0.053  0.003 -0.008 -0.038 -1.046]
+t: 228	 action: [-0.013  0.002  0.04   0.002 -0.025 -0.041 -1.041]
+t: 229	 action: [ 0.015 -0.009  0.058  0.002 -0.006 -0.041 -1.046]
+t: 230	 action: [ 0.004 -0.009  0.067  0.002 -0.022 -0.036 -1.047]
+t: 231	 action: [-0.013  0.015  0.049  0.006 -0.026 -0.039 -1.067]
+t: 232	 action: [-0.003 -0.002  0.059  0.001 -0.027 -0.041 -1.036]
+t: 233	 action: [-0.003  0.02   0.064  0.005 -0.023 -0.04  -1.068]
+[07-31 01:12:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.221 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9900
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 1.221 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=234: Selected seed 195 with value = 0.9900
+t: 234	 action: [-0.003  0.029  0.085  0.007  0.028 -0.025 -1.032]
+t: 235	 action: [ 0.012  0.023  0.052  0.014  0.007 -0.035 -1.035]
+t: 236	 action: [-0.001  0.002  0.013  0.003 -0.003 -0.036 -1.03 ]
+t: 237	 action: [ 8.500e-03  1.705e-03  2.832e-02  1.173e-02  2.505e-04 -4.121e-02 -1.047e+00]
+t: 238	 action: [ 5.125e-03 -8.368e-04  3.601e-02  4.217e-03 -1.191e-02 -2.533e-02 -1.038e+00]
+t: 239	 action: [-0.015  0.023  0.011  0.015 -0.024 -0.033 -1.07 ]
+t: 240	 action: [ 0.011 -0.008  0.011  0.003 -0.02  -0.034 -1.029]
+t: 241	 action: [ 4.495e-03  1.479e-02  9.954e-04  1.386e-02 -2.698e-02 -4.088e-02 -1.069e+00]
+t: 242	 action: [ 0.006 -0.003  0.016  0.005 -0.024 -0.035 -1.041]
+t: 243	 action: [ 0.015 -0.028  0.028  0.007 -0.012 -0.04  -1.05 ]
+t: 244	 action: [-2.298e-04 -3.313e-03 -5.712e-03  3.473e-03 -3.006e-02 -4.099e-02 -1.035e+00]
+t: 245	 action: [ 0.022 -0.027  0.026  0.006 -0.011 -0.042 -1.048]
+t: 246	 action: [ 0.011 -0.016  0.022  0.004 -0.028 -0.035 -1.04 ]
+t: 247	 action: [-8.723e-03 -9.443e-04  1.204e-02  1.057e-02 -3.333e-02 -3.839e-02 -1.071e+00]
+t: 248	 action: [ 0.004 -0.009  0.009  0.003 -0.031 -0.039 -1.027]
+t: 249	 action: [ 0.001  0.003  0.011  0.009 -0.029 -0.039 -1.072]
+[07-31 01:12:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9854
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=250: Selected seed 195 with value = 0.9854
+t: 250	 action: [ 0.005  0.029  0.131  0.009  0.026 -0.028 -1.02 ]
+t: 251	 action: [ 0.019  0.029  0.075  0.016  0.006 -0.038 -1.014]
+t: 252	 action: [ 0.021  0.002  0.03   0.003 -0.001 -0.036 -1.024]
+t: 253	 action: [ 1.900e-02  4.820e-03  2.721e-02  1.424e-02  6.197e-05 -4.222e-02 -1.046e+00]
+t: 254	 action: [ 0.023 -0.008  0.052  0.008 -0.013 -0.026 -1.032]
+t: 255	 action: [-0.008  0.018  0.017  0.019 -0.026 -0.034 -1.068]
+t: 256	 action: [ 0.039 -0.01   0.013  0.005 -0.02  -0.032 -1.021]
+t: 257	 action: [ 0.018  0.009 -0.002  0.017 -0.028 -0.04  -1.069]
+t: 258	 action: [ 0.029 -0.013  0.024  0.008 -0.025 -0.035 -1.037]
+t: 259	 action: [ 0.027 -0.041  0.025  0.011 -0.011 -0.04  -1.047]
+t: 260	 action: [ 0.026 -0.012 -0.006  0.005 -0.031 -0.039 -1.032]
+t: 261	 action: [ 0.033 -0.039  0.014  0.01  -0.009 -0.042 -1.047]
+t: 262	 action: [ 0.031 -0.025  0.021  0.007 -0.032 -0.033 -1.036]
+t: 263	 action: [-9.037e-04 -1.413e-02  5.501e-03  1.547e-02 -3.490e-02 -3.700e-02 -1.069e+00]
+t: 264	 action: [ 2.618e-02 -1.322e-02  4.654e-04  4.673e-03 -3.366e-02 -3.617e-02 -1.022e+00]
+t: 265	 action: [ 0.008 -0.011 -0.009  0.013 -0.029 -0.037 -1.072]
+[07-31 01:12:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9660
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9660
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=266: Selected seed 195 with value = 0.9660
+t: 266	 action: [ 0.023  0.032  0.187  0.01   0.033 -0.029 -1.011]
+t: 267	 action: [ 0.044  0.035  0.141  0.017  0.012 -0.038 -0.996]
+t: 268	 action: [ 6.133e-02  5.413e-04  6.872e-02  4.498e-03  1.189e-02 -3.312e-02 -1.018e+00]
+t: 269	 action: [ 0.075  0.001  0.039  0.015  0.009 -0.04  -1.047]
+t: 270	 action: [ 0.062 -0.015  0.084  0.01  -0.002 -0.024 -1.027]
+t: 271	 action: [ 0.023 -0.003  0.036  0.021 -0.008 -0.032 -1.071]
+t: 272	 action: [ 0.093 -0.017  0.014  0.007 -0.009 -0.027 -1.017]
+t: 273	 action: [ 0.085 -0.017 -0.002  0.019 -0.012 -0.036 -1.074]
+t: 274	 action: [ 0.079 -0.04  -0.005  0.009 -0.022 -0.03  -1.038]
+t: 275	 action: [ 0.064 -0.067 -0.014  0.013 -0.006 -0.036 -1.049]
+t: 276	 action: [ 0.076 -0.034 -0.043  0.006 -0.028 -0.032 -1.033]
+t: 277	 action: [ 0.074 -0.061 -0.071  0.011 -0.005 -0.038 -1.048]
+t: 278	 action: [ 0.072 -0.041 -0.025  0.009 -0.033 -0.026 -1.036]
+t: 279	 action: [ 0.019 -0.038 -0.061  0.017 -0.034 -0.031 -1.071]
+t: 280	 action: [ 0.063 -0.024 -0.049  0.005 -0.034 -0.028 -1.021]
+t: 281	 action: [ 0.025 -0.032 -0.109  0.014 -0.028 -0.031 -1.072]
+[07-31 01:12:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.956 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9504
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9504
+Query 1/1: Action query time = 0.956 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=282: Selected seed 195 with value = 0.9504
+t: 282	 action: [ 0.018  0.007  0.249  0.01   0.035 -0.026 -0.907]
+t: 283	 action: [ 0.05   0.004  0.22   0.017  0.023 -0.036 -0.838]
+t: 284	 action: [ 0.076 -0.011  0.114  0.004  0.018 -0.029 -1.007]
+t: 285	 action: [ 0.096 -0.03   0.109  0.016  0.013 -0.036 -1.049]
+t: 286	 action: [ 0.072 -0.031  0.151  0.014  0.005 -0.019 -1.033]
+t: 287	 action: [ 0.035 -0.045  0.109  0.023 -0.002 -0.027 -1.085]
+t: 288	 action: [ 0.114 -0.037  0.057  0.008 -0.003 -0.021 -1.017]
+t: 289	 action: [ 0.106 -0.059  0.007  0.02  -0.002 -0.029 -1.073]
+t: 290	 action: [ 0.11  -0.086  0.011  0.01  -0.027 -0.022 -1.035]
+t: 291	 action: [ 0.089 -0.101 -0.033  0.015 -0.009 -0.03  -1.048]
+t: 292	 action: [ 0.108 -0.071 -0.051  0.006 -0.032 -0.023 -1.032]
+t: 293	 action: [ 0.104 -0.089 -0.149  0.012 -0.009 -0.032 -1.047]
+t: 294	 action: [ 0.092 -0.077 -0.028  0.01  -0.04  -0.019 -1.039]
+t: 295	 action: [ 0.031 -0.073 -0.107  0.018 -0.037 -0.023 -1.062]
+t: 296	 action: [ 0.081 -0.047 -0.07   0.005 -0.04  -0.02  -1.023]
+t: 297	 action: [ 0.034 -0.058 -0.195  0.014 -0.031 -0.024 -1.066]
+[07-31 01:12:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9258
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9258
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 4
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
  8%|▊         | 4/50 [02:07<24:45, 32.29s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 5...
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=298: Selected seed 195 with value = 0.9258
+t: 298	 action: [-0.01  -0.008  0.269  0.008  0.038 -0.023  1.007]
+t: 299	 action: [ 0.041 -0.045  0.253  0.013  0.035 -0.043  0.832]
+t: 300	 action: [ 0.068 -0.026  0.163  0.003  0.025 -0.025 -1.039]
+t: 301	 action: [ 0.1   -0.06   0.187  0.013  0.017 -0.031 -1.068]
+t: 302	 action: [ 0.094 -0.073  0.201  0.012  0.015 -0.015 -1.141]
+t: 303	 action: [ 0.025 -0.105  0.186  0.017 -0.001 -0.027 -1.113]
+t: 304	 action: [ 0.126 -0.059  0.098  0.007  0.008 -0.016 -1.033]
+t: 305	 action: [ 1.225e-01 -9.728e-02  3.514e-02  1.663e-02  4.164e-04 -2.386e-02 -1.075e+00]
+t: 306	 action: [ 0.137 -0.104 -0.004  0.007 -0.03  -0.017 -1.05 ]
+t: 307	 action: [ 0.115 -0.13  -0.1    0.012 -0.012 -0.025 -1.049]
+t: 308	 action: [ 0.14  -0.079 -0.081  0.005 -0.035 -0.018 -1.058]
+t: 309	 action: [ 0.135 -0.108 -0.244  0.01  -0.013 -0.027 -1.06 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+[07-31 01:12:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4905
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4905
+t=10: Selected seed 195 with value = 0.4905
+t: 10	 action: [ 0.327  0.317  0.017 -0.002  0.006 -0.003 -1.029]
+t: 11	 action: [ 3.941e-01  3.706e-01  3.256e-02 -2.101e-03  1.084e-02  8.548e-04 -1.028e+00]
+t: 12	 action: [ 5.229e-01  4.727e-01  2.673e-02 -1.225e-03  8.536e-03 -8.011e-04 -1.026e+00]
+t: 13	 action: [ 0.591  0.511  0.037 -0.002  0.008  0.003 -1.032]
+t: 14	 action: [ 0.687  0.579  0.029 -0.003  0.015 -0.003 -1.029]
+t: 15	 action: [ 0.725  0.611  0.03  -0.001  0.013  0.002 -1.058]
+t: 16	 action: [ 0.772  0.603  0.035 -0.004  0.018 -0.002 -1.02 ]
+t: 17	 action: [ 8.304e-01  6.222e-01  2.264e-02 -1.658e-04  6.197e-03  2.410e-03 -1.060e+00]
+t: 18	 action: [ 0.788  0.612  0.026  0.001  0.015  0.005 -1.04 ]
+t: 19	 action: [ 0.825  0.591  0.018 -0.004  0.014  0.004 -1.03 ]
+t: 20	 action: [ 0.816  0.592  0.012 -0.003  0.01   0.005 -1.038]
+t: 21	 action: [ 8.278e-01  5.579e-01 -3.147e-04 -3.658e-03  1.418e-02  4.302e-03 -1.029e+00]
+t: 22	 action: [ 0.811  0.475 -0.097 -0.001  0.01   0.002 -1.023]
+t: 23	 action: [ 0.803  0.423 -0.119  0.002  0.001  0.002 -1.047]
+t: 24	 action: [ 7.596e-01  3.332e-01 -2.140e-01 -2.553e-03  3.522e-03  2.268e-04 -1.025e+00]
+t: 25	 action: [ 7.755e-01  2.526e-01 -3.045e-01  5.024e-03 -4.650e-04  1.401e-03 -1.054e+00]
+[07-31 01:12:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5462
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5462
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5462
+t=26: Selected seed 195 with value = 0.5462
+t: 26	 action: [ 0.702  0.42  -0.278  0.007 -0.008  0.008 -1.036]
+t: 27	 action: [ 0.623  0.355 -0.275  0.01  -0.004  0.01  -1.03 ]
+t: 28	 action: [ 0.499  0.192 -0.415  0.005 -0.015  0.009 -1.03 ]
+t: 29	 action: [ 0.431  0.105 -0.563  0.018 -0.009  0.009 -1.03 ]
+t: 30	 action: [ 0.328  0.064 -0.66   0.012 -0.014  0.003 -1.028]
+t: 31	 action: [ 0.287  0.006 -0.813  0.026 -0.018  0.006 -1.057]
+t: 32	 action: [ 0.223  0.022 -0.931  0.015 -0.018  0.004 -1.026]
+t: 33	 action: [ 0.174  0.023 -1.022  0.026 -0.021  0.004 -1.057]
+t: 34	 action: [ 0.124  0.031 -0.953  0.01  -0.029  0.009 -1.035]
+t: 35	 action: [ 0.04  -0.021 -1.02   0.009 -0.025  0.006 -1.028]
+t: 36	 action: [ 0.021  0.024 -0.964  0.004 -0.027  0.009 -1.034]
+t: 37	 action: [-0.012 -0.031 -1.019  0.004 -0.022  0.007 -1.028]
+t: 38	 action: [-0.063  0.03  -0.954  0.003 -0.022  0.008 -1.034]
+t: 39	 action: [-0.085  0.028 -1.006  0.011 -0.019  0.006 -1.05 ]
+t: 40	 action: [-0.143  0.007 -0.939 -0.007 -0.018  0.008 -1.031]
+t: 41	 action: [-0.151  0.015 -0.986  0.005 -0.015  0.007 -1.053]
+[07-31 01:12:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6197
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=42: Selected seed 195 with value = 0.6197
+t: 42	 action: [-0.14   0.033 -1.045  0.013 -0.028  0.01  -1.044]
+t: 43	 action: [-0.144 -0.008 -0.984  0.011 -0.028  0.003 -1.041]
+t: 44	 action: [-1.711e-01  5.375e-04 -9.796e-01  1.164e-02 -1.766e-02  1.079e-02 -1.033e+00]
+t: 45	 action: [-0.201 -0.036 -0.902  0.008 -0.016  0.002 -1.04 ]
+t: 46	 action: [-0.288 -0.05  -0.833  0.002 -0.011  0.002 -1.037]
+t: 47	 action: [-0.355 -0.003 -0.826  0.011 -0.01   0.001 -1.053]
+t: 48	 action: [-3.885e-01 -4.366e-02 -7.073e-01  1.093e-03 -9.147e-03  8.381e-04 -1.028e+00]
+t: 49	 action: [-4.248e-01  2.096e-05 -7.418e-01  4.134e-03 -7.652e-03 -6.447e-03 -1.052e+00]
+t: 50	 action: [-0.483 -0.007 -0.754  0.006  0.008  0.008 -1.187]
+t: 51	 action: [-0.543 -0.033 -0.656 -0.007  0.004  0.022 -1.152]
+t: 52	 action: [-0.533 -0.035 -0.703  0.004  0.019  0.005 -1.189]
+t: 53	 action: [-0.506 -0.042 -0.576 -0.006  0.01   0.012 -1.153]
+t: 54	 action: [-0.535 -0.012 -0.568 -0.003  0.015 -0.007  1.027]
+t: 55	 action: [-0.45  -0.036 -0.43  -0.015  0.007 -0.005  1.216]
+t: 56	 action: [-0.328 -0.031 -0.411 -0.009  0.024 -0.017  1.107]
+t: 57	 action: [-0.205 -0.025 -0.229 -0.025  0.017 -0.01   1.189]
+[07-31 01:12:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7273
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7273
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7273
+t=58: Selected seed 195 with value = 0.7273
+t: 58	 action: [-0.17  -0.141 -0.216 -0.005  0.035 -0.005  0.978]
+t: 59	 action: [-0.086 -0.13  -0.064  0.001  0.061 -0.019  1.011]
+t: 60	 action: [-0.038 -0.187 -0.031 -0.005  0.049 -0.023  0.973]
+t: 61	 action: [ 5.579e-04 -1.711e-01  9.434e-02 -3.665e-03  6.626e-02 -2.906e-02  1.014e+00]
+t: 62	 action: [ 0.026 -0.157  0.226 -0.008  0.056 -0.029  0.992]
+t: 63	 action: [ 0.026 -0.119  0.361 -0.004  0.057 -0.029  1.011]
+t: 64	 action: [ 0.049 -0.081  0.522 -0.007  0.053 -0.042  0.988]
+t: 65	 action: [ 0.035 -0.053  0.69  -0.001  0.05  -0.038  1.021]
+t: 66	 action: [ 0.083 -0.043  0.793 -0.001  0.046 -0.039  0.98 ]
+t: 67	 action: [ 0.084 -0.056  0.89  -0.006  0.039 -0.046  1.003]
+t: 68	 action: [ 0.086 -0.084  0.885 -0.005  0.035 -0.032  0.971]
+t: 69	 action: [ 0.064 -0.121  0.931  0.003  0.026 -0.04   1.003]
+t: 70	 action: [-0.01  -0.223  0.9    0.008  0.018 -0.018  0.991]
+t: 71	 action: [-0.07  -0.337  0.927  0.027  0.007 -0.016  1.011]
+t: 72	 action: [-0.1   -0.452  0.883  0.022  0.011 -0.013  0.991]
+t: 73	 action: [-0.177 -0.516  0.796  0.038  0.006 -0.006  1.018]
+[07-31 01:12:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8420
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8420
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8420
+t=74: Selected seed 195 with value = 0.8420
+t: 74	 action: [-1.304e-02 -6.920e-01  7.159e-01  6.485e-02  4.450e-02 -9.519e-04  9.657e-01]
+t: 75	 action: [-0.032 -0.777  0.543  0.054  0.056 -0.001  1.008]
+t: 76	 action: [-9.707e-02 -7.830e-01  2.882e-01  5.960e-02  3.634e-02 -1.966e-04  9.582e-01]
+t: 77	 action: [-0.123 -0.839  0.126  0.051  0.047  0.003  1.002]
+t: 78	 action: [-1.692e-01 -7.972e-01 -3.785e-02  3.621e-02  4.018e-02  2.546e-04  9.715e-01]
+t: 79	 action: [-0.284 -0.766 -0.146  0.03   0.03   0.011  1.011]
+t: 80	 action: [-0.256 -0.727 -0.276  0.024  0.024  0.001  0.966]
+t: 81	 action: [-0.327 -0.586 -0.422  0.02   0.014  0.012  1.019]
+t: 82	 action: [-0.257 -0.606 -0.47   0.022 -0.013  0.004  0.983]
+t: 83	 action: [-0.294 -0.452 -0.678  0.006 -0.008  0.014  1.008]
+t: 84	 action: [-0.265 -0.35  -0.68   0.004 -0.026  0.004  0.974]
+t: 85	 action: [-0.265 -0.244 -0.829 -0.015 -0.011  0.016  1.015]
+t: 86	 action: [-0.242 -0.102 -0.739 -0.009 -0.035  0.017  0.991]
+t: 87	 action: [-0.203 -0.063 -0.834 -0.028 -0.024  0.023  1.012]
+t: 88	 action: [-0.166 -0.018 -0.688 -0.037 -0.03   0.01   0.985]
+t: 89	 action: [-0.073 -0.014 -0.682 -0.04  -0.016  0.019  1.02 ]
+[07-31 01:13:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=90: Selected seed 195 with value = 0.9977
+t: 90	 action: [ 4.311e-02  2.507e-02  1.850e-01 -6.604e-03  4.337e-02 -9.561e-04 -1.026e+00]
+t: 91	 action: [ 0.058 -0.002  0.232 -0.019  0.03  -0.012 -1.049]
+t: 92	 action: [ 0.045  0.016  0.275 -0.003  0.036 -0.007 -1.022]
+t: 93	 action: [ 0.049 -0.006  0.328 -0.006  0.03  -0.01  -1.032]
+t: 94	 action: [ 0.053  0.024  0.36   0.003  0.048 -0.02  -1.03 ]
+t: 95	 action: [ 0.025  0.047  0.364  0.012  0.037 -0.015 -1.056]
+t: 96	 action: [ 0.049  0.015  0.391  0.002  0.05  -0.019 -1.025]
+t: 97	 action: [ 0.024  0.042  0.365  0.016  0.03  -0.016 -1.051]
+t: 98	 action: [ 0.054  0.028  0.401  0.004  0.021 -0.005 -1.035]
+t: 99	 action: [ 0.049  0.027  0.396  0.011  0.022 -0.011 -1.037]
+t: 100	 action: [ 0.041  0.024  0.365  0.005  0.014 -0.005 -1.031]
+t: 101	 action: [ 0.039  0.029  0.346  0.012  0.018 -0.01  -1.031]
+t: 102	 action: [ 0.036  0.025  0.307  0.007  0.021 -0.008 -1.038]
+t: 103	 action: [ 0.016  0.054  0.283  0.017  0.014 -0.012 -1.059]
+t: 104	 action: [ 0.035  0.019  0.282  0.005  0.017 -0.01  -1.036]
+t: 105	 action: [ 0.009  0.053  0.251  0.016  0.009 -0.009 -1.061]
+[07-31 01:13:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 4.316e-03  1.834e-02  1.578e-01  6.487e-03  7.426e-04 -8.676e-03 -1.035e+00]
+t: 107	 action: [ 0.008 -0.007  0.126  0.002  0.003 -0.014 -1.043]
+t: 108	 action: [-0.012  0.014  0.106  0.006 -0.003 -0.005 -1.03 ]
+t: 109	 action: [ 0.007 -0.015  0.111  0.001  0.004 -0.011 -1.036]
+t: 110	 action: [-0.008  0.004  0.09   0.007 -0.003 -0.011 -1.031]
+t: 111	 action: [-0.022  0.012  0.056  0.008 -0.006 -0.011 -1.061]
+t: 112	 action: [-1.224e-02  2.402e-03  9.685e-02  5.080e-03  7.735e-06 -9.085e-03 -1.034e+00]
+t: 113	 action: [-0.014  0.008  0.079  0.007 -0.005 -0.012 -1.06 ]
+t: 114	 action: [-3.809e-03  1.006e-02  5.175e-02  9.127e-03 -1.212e-02 -6.140e-04 -1.035e+00]
+t: 115	 action: [ 0.004 -0.007  0.049  0.002  0.002 -0.012 -1.041]
+t: 116	 action: [-0.007  0.013  0.069  0.007 -0.007 -0.002 -1.032]
+t: 117	 action: [ 1.177e-02 -1.100e-02  7.371e-02 -5.475e-04  2.302e-03 -1.223e-02 -1.040e+00]
+t: 118	 action: [ 8.360e-05  6.334e-03  6.225e-02  5.464e-03 -5.116e-03 -6.627e-03 -1.036e+00]
+t: 119	 action: [-0.013  0.023  0.048  0.004 -0.006 -0.014 -1.066]
+t: 120	 action: [ 0.002  0.006  0.085  0.004  0.001 -0.01  -1.035]
+t: 121	 action: [-0.008  0.018  0.082  0.003 -0.007 -0.012 -1.068]
+[07-31 01:13:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.017  0.045  0.048  0.005 -0.015 -0.005 -1.04 ]
+t: 123	 action: [ 1.541e-02  1.731e-02  4.308e-02 -3.690e-04 -5.528e-03 -1.061e-02 -1.043e+00]
+t: 124	 action: [-0.007  0.028  0.042  0.005 -0.015 -0.003 -1.036]
+t: 125	 action: [ 7.692e-03  3.326e-03  6.719e-02 -2.189e-03  2.572e-04 -9.750e-03 -1.035e+00]
+t: 126	 action: [-0.006  0.026  0.039  0.003 -0.014 -0.009 -1.031]
+t: 127	 action: [-0.021  0.029  0.035  0.003 -0.01  -0.01  -1.059]
+t: 128	 action: [-0.016  0.016  0.059  0.003 -0.011 -0.008 -1.034]
+t: 129	 action: [-0.017  0.025  0.088  0.001 -0.007 -0.012 -1.059]
+t: 130	 action: [-4.158e-03  2.530e-02  5.231e-02  6.883e-03 -1.501e-02 -5.489e-04 -1.039e+00]
+t: 131	 action: [ 5.897e-05  1.709e-02  6.305e-02 -2.604e-03 -4.926e-04 -1.055e-02 -1.045e+00]
+t: 132	 action: [-9.401e-03  2.476e-02  5.571e-02  5.198e-03 -1.357e-02 -8.833e-04 -1.038e+00]
+t: 133	 action: [ 0.008  0.011  0.084 -0.005  0.001 -0.011 -1.042]
+t: 134	 action: [-0.012  0.029  0.062  0.002 -0.011 -0.006 -1.035]
+t: 135	 action: [-0.022  0.045  0.078 -0.001 -0.009 -0.013 -1.066]
+t: 136	 action: [-9.773e-03  2.533e-02  7.508e-02  4.685e-04 -7.838e-03 -8.525e-03 -1.035e+00]
+t: 137	 action: [-0.017  0.039  0.118 -0.003 -0.009 -0.012 -1.068]
+[07-31 01:13:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [ 0.016  0.05  -0.088  0.005 -0.016 -0.003 -1.033]
+t: 139	 action: [ 0.019  0.009 -0.054  0.002 -0.008 -0.007 -1.042]
+t: 140	 action: [-1.122e-02  3.198e-02 -5.640e-02  5.149e-03 -1.448e-02 -9.582e-04 -1.032e+00]
+t: 141	 action: [ 9.519e-03 -8.201e-03  2.649e-02 -7.975e-04 -7.722e-04 -6.343e-03 -1.037e+00]
+t: 142	 action: [-0.014  0.035 -0.055  0.002 -0.015 -0.007 -1.029]
+t: 143	 action: [-0.026  0.013 -0.024  0.006 -0.012 -0.007 -1.059]
+t: 144	 action: [-0.029  0.019 -0.011  0.002 -0.011 -0.006 -1.033]
+t: 145	 action: [-0.027  0.009  0.004  0.003 -0.007 -0.008 -1.058]
+t: 146	 action: [-0.009  0.027  0.001  0.007 -0.012  0.004 -1.037]
+t: 147	 action: [-3.067e-04  8.556e-03  4.528e-02 -1.752e-03  1.951e-04 -5.070e-03 -1.046e+00]
+t: 148	 action: [-0.017  0.027  0.003  0.006 -0.011  0.003 -1.034]
+t: 149	 action: [ 7.933e-03  1.004e-03  5.454e-02 -4.583e-03  1.720e-03 -5.371e-03 -1.043e+00]
+t: 150	 action: [-0.026  0.028  0.02   0.002 -0.009 -0.002 -1.035]
+t: 151	 action: [-3.161e-02  3.423e-02  5.551e-02 -6.959e-04 -8.436e-03 -8.734e-03 -1.066e+00]
+t: 152	 action: [-2.811e-02  2.660e-02  3.279e-02  7.069e-04 -6.721e-03 -4.603e-03 -1.034e+00]
+t: 153	 action: [-0.028  0.029  0.095 -0.003 -0.008 -0.008 -1.067]
+[07-31 01:13:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=154: Selected seed 195 with value = 0.9997
+t: 154	 action: [ 0.017  0.04  -0.145  0.004 -0.008 -0.004 -1.031]
+t: 155	 action: [ 2.337e-02 -4.697e-03 -1.175e-01  1.510e-03 -9.912e-04 -7.114e-03 -1.041e+00]
+t: 156	 action: [-1.380e-03  2.936e-02 -1.176e-01  4.339e-03 -5.890e-03 -9.778e-04 -1.033e+00]
+t: 157	 action: [ 0.012 -0.017 -0.072 -0.002  0.002 -0.006 -1.035]
+t: 158	 action: [-0.008  0.031 -0.106  0.001 -0.009 -0.007 -1.03 ]
+t: 159	 action: [-0.024  0.005 -0.06   0.005 -0.008 -0.007 -1.057]
+t: 160	 action: [-0.02   0.019 -0.067  0.001 -0.005 -0.006 -1.033]
+t: 161	 action: [-2.591e-02  3.464e-03 -1.832e-02  9.280e-04 -4.694e-03 -8.148e-03 -1.056e+00]
+t: 162	 action: [ 0.007  0.022 -0.047  0.007 -0.006  0.005 -1.037]
+t: 163	 action: [ 0.006  0.001  0.027 -0.003  0.003 -0.005 -1.044]
+t: 164	 action: [-0.008  0.027 -0.053  0.005 -0.006  0.004 -1.036]
+t: 165	 action: [ 0.012 -0.005  0.035 -0.006  0.004 -0.005 -1.043]
+t: 166	 action: [-0.018  0.025 -0.029  0.002 -0.006 -0.002 -1.038]
+t: 167	 action: [-0.031  0.026  0.002 -0.003 -0.007 -0.009 -1.064]
+t: 168	 action: [-2.738e-02  2.550e-02 -2.523e-02  3.078e-04 -4.030e-03 -4.265e-03 -1.035e+00]
+t: 169	 action: [-0.03   0.021  0.024 -0.007 -0.006 -0.008 -1.065]
+[07-31 01:13:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+t: 170	 action: [-0.001  0.034 -0.04   0.005 -0.007 -0.002 -1.038]
+t: 171	 action: [ 1.214e-02 -4.666e-03 -2.670e-02  3.069e-04 -2.321e-04 -7.154e-03 -1.043e+00]
+t: 172	 action: [-1.588e-02  2.630e-02 -3.393e-02  4.594e-03 -5.365e-03 -5.027e-04 -1.036e+00]
+t: 173	 action: [ 0.008 -0.015  0.025 -0.003  0.002 -0.007 -1.034]
+t: 174	 action: [-0.017  0.026 -0.031  0.003 -0.008 -0.007 -1.033]
+t: 175	 action: [-0.025  0.009 -0.017  0.002 -0.008 -0.008 -1.06 ]
+t: 176	 action: [-0.025  0.018 -0.005  0.002 -0.005 -0.007 -1.035]
+t: 177	 action: [-0.024  0.009  0.009 -0.002 -0.005 -0.01  -1.055]
+t: 178	 action: [-0.007  0.02  -0.008  0.008 -0.007  0.003 -1.039]
+t: 179	 action: [ 1.920e-03  9.635e-04  3.804e-02 -3.463e-03  2.424e-03 -8.557e-03 -1.046e+00]
+t: 180	 action: [-0.023  0.023 -0.009  0.006 -0.006  0.002 -1.038]
+t: 181	 action: [ 0.01  -0.006  0.045 -0.007  0.003 -0.008 -1.044]
+t: 182	 action: [-0.024  0.021  0.001  0.003 -0.006 -0.004 -1.037]
+t: 183	 action: [-0.031  0.026  0.037 -0.005 -0.007 -0.012 -1.063]
+t: 184	 action: [-3.277e-02  1.980e-02  9.558e-03  9.530e-04 -4.795e-03 -6.654e-03 -1.036e+00]
+t: 185	 action: [-0.027  0.021  0.066 -0.009 -0.008 -0.011 -1.065]
+[07-31 01:13:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+t: 186	 action: [-5.609e-04  3.019e-02 -6.028e-02  5.399e-03 -1.795e-03 -2.344e-03 -1.038e+00]
+t: 187	 action: [ 1.363e-02 -1.495e-02 -6.035e-02  9.855e-04  1.526e-03 -8.127e-03 -1.043e+00]
+t: 188	 action: [-1.635e-02  2.558e-02 -5.955e-02  4.409e-03 -8.035e-04 -2.563e-04 -1.035e+00]
+t: 189	 action: [ 0.009 -0.024 -0.01  -0.003  0.003 -0.008 -1.034]
+t: 190	 action: [-0.017  0.025 -0.056  0.002 -0.006 -0.007 -1.034]
+t: 191	 action: [-0.026  0.003 -0.031  0.002 -0.007 -0.009 -1.059]
+t: 192	 action: [-0.027  0.018 -0.033  0.001 -0.003 -0.007 -1.035]
+t: 193	 action: [-0.027  0.004 -0.005 -0.002 -0.005 -0.011 -1.055]
+t: 194	 action: [-0.007  0.02  -0.036  0.008 -0.004  0.003 -1.04 ]
+t: 195	 action: [ 0.003 -0.004  0.027 -0.003  0.003 -0.009 -1.046]
+t: 196	 action: [-0.026  0.025 -0.037  0.005 -0.004  0.003 -1.038]
+t: 197	 action: [ 0.01  -0.011  0.037 -0.006  0.003 -0.009 -1.044]
+t: 198	 action: [-0.028  0.022 -0.027  0.003 -0.005 -0.004 -1.039]
+t: 199	 action: [-0.033  0.023  0.011 -0.005 -0.007 -0.013 -1.062]
+t: 200	 action: [-3.741e-02  2.060e-02 -1.976e-02  5.438e-04 -4.309e-03 -6.272e-03 -1.036e+00]
+t: 201	 action: [-0.031  0.018  0.035 -0.01  -0.008 -0.012 -1.064]
+[07-31 01:13:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+t: 202	 action: [ 4.116e-03  2.912e-02 -3.302e-02  5.288e-03  4.550e-04 -8.916e-04 -1.042e+00]
+t: 203	 action: [ 1.384e-02 -1.478e-02 -3.024e-02 -1.904e-06  1.928e-03 -8.108e-03 -1.043e+00]
+t: 204	 action: [-1.745e-02  2.607e-02 -3.426e-02  4.107e-03  2.276e-04  1.007e-03 -1.036e+00]
+t: 205	 action: [ 0.006 -0.023  0.021 -0.004  0.003 -0.008 -1.034]
+t: 206	 action: [-0.017  0.025 -0.035  0.002 -0.005 -0.006 -1.034]
+t: 207	 action: [-0.026  0.006 -0.017  0.001 -0.007 -0.009 -1.06 ]
+t: 208	 action: [-0.027  0.02  -0.013  0.001 -0.003 -0.006 -1.035]
+t: 209	 action: [-0.027  0.009  0.015 -0.003 -0.005 -0.01  -1.056]
+t: 210	 action: [-0.011  0.021 -0.017  0.008 -0.003  0.004 -1.042]
+t: 211	 action: [ 0.002 -0.003  0.032 -0.004  0.003 -0.01  -1.046]
+t: 212	 action: [-0.031  0.025 -0.019  0.005 -0.004  0.004 -1.039]
+t: 213	 action: [ 0.009 -0.01   0.04  -0.006  0.003 -0.009 -1.043]
+t: 214	 action: [-0.028  0.025 -0.014  0.002 -0.005 -0.004 -1.039]
+t: 215	 action: [-0.034  0.026  0.029 -0.005 -0.007 -0.014 -1.063]
+t: 216	 action: [-3.865e-02  2.260e-02 -5.290e-03  2.953e-04 -4.304e-03 -5.165e-03 -1.036e+00]
+t: 217	 action: [-0.031  0.021  0.058 -0.009 -0.008 -0.012 -1.064]
+[07-31 01:13:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+t: 218	 action: [ 0.012  0.026 -0.027  0.007  0.007 -0.002 -1.043]
+t: 219	 action: [ 0.017 -0.021 -0.035  0.001  0.005 -0.009 -1.043]
+t: 220	 action: [-1.733e-02  2.462e-02 -3.149e-02  4.551e-03  4.565e-03  7.063e-04 -1.038e+00]
+t: 221	 action: [ 0.007 -0.028  0.014 -0.002  0.005 -0.009 -1.034]
+t: 222	 action: [-0.016  0.02  -0.037  0.003 -0.003 -0.006 -1.035]
+t: 223	 action: [-0.026  0.001 -0.021  0.004 -0.004 -0.01  -1.061]
+t: 224	 action: [-0.031  0.017 -0.014  0.001 -0.002 -0.006 -1.036]
+t: 225	 action: [-0.029  0.005  0.012 -0.001 -0.004 -0.011 -1.056]
+t: 226	 action: [-1.204e-02  2.012e-02 -2.036e-02  8.868e-03  2.760e-04  3.450e-03 -1.044e+00]
+t: 227	 action: [ 0.003 -0.008  0.028 -0.002  0.004 -0.011 -1.045]
+t: 228	 action: [-0.034  0.023 -0.02   0.005 -0.002  0.004 -1.04 ]
+t: 229	 action: [ 0.006 -0.016  0.038 -0.005  0.004 -0.009 -1.042]
+t: 230	 action: [-0.032  0.022 -0.021  0.003 -0.003 -0.003 -1.04 ]
+t: 231	 action: [-0.035  0.021  0.019 -0.002 -0.007 -0.014 -1.062]
+t: 232	 action: [-4.472e-02  1.966e-02 -7.742e-03  8.640e-04 -3.615e-03 -4.744e-03 -1.036e+00]
+t: 233	 action: [-0.035  0.016  0.052 -0.006 -0.007 -0.012 -1.064]
+[07-31 01:13:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+t: 234	 action: [ 1.420e-02  2.433e-02 -1.438e-02  8.015e-03  1.121e-02 -3.289e-04 -1.045e+00]
+t: 235	 action: [ 0.018 -0.022 -0.028  0.002  0.007 -0.009 -1.043]
+t: 236	 action: [-0.017  0.024 -0.023  0.005  0.007  0.002 -1.039]
+t: 237	 action: [ 0.005 -0.03   0.016 -0.003  0.006 -0.008 -1.034]
+t: 238	 action: [-0.018  0.018 -0.031  0.004 -0.001 -0.005 -1.036]
+t: 239	 action: [-2.536e-02 -4.879e-05 -2.087e-02  4.177e-03 -3.094e-03 -9.103e-03 -1.062e+00]
+t: 240	 action: [-3.297e-02  1.701e-02 -5.842e-03  1.468e-03 -2.863e-04 -4.776e-03 -1.036e+00]
+t: 241	 action: [-3.048e-02  3.720e-03  1.803e-02 -4.743e-04 -3.526e-03 -1.006e-02 -1.057e+00]
+t: 242	 action: [-0.01   0.02  -0.019  0.009  0.001  0.004 -1.046]
+t: 243	 action: [ 0.002 -0.01   0.025 -0.002  0.004 -0.011 -1.046]
+t: 244	 action: [-0.035  0.023 -0.015  0.005 -0.002  0.004 -1.041]
+t: 245	 action: [ 0.004 -0.018  0.036 -0.005  0.004 -0.009 -1.041]
+t: 246	 action: [-0.032  0.021 -0.021  0.003 -0.002 -0.002 -1.042]
+t: 247	 action: [-0.035  0.019  0.017 -0.001 -0.006 -0.014 -1.064]
+t: 248	 action: [-0.046  0.019 -0.003  0.001 -0.003 -0.004 -1.037]
+t: 249	 action: [-0.036  0.015  0.054 -0.005 -0.007 -0.011 -1.064]
+[07-31 01:13:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+t: 250	 action: [ 0.024  0.022  0.002  0.01   0.015 -0.003 -1.047]
+t: 251	 action: [ 0.023 -0.021 -0.022  0.003  0.009 -0.011 -1.043]
+t: 252	 action: [-1.035e-02  2.272e-02 -1.065e-02  5.050e-03  8.404e-03  4.159e-04 -1.041e+00]
+t: 253	 action: [ 0.008 -0.031  0.018 -0.001  0.006 -0.009 -1.034]
+t: 254	 action: [-1.207e-02  1.598e-02 -2.223e-02  5.153e-03 -1.261e-06 -5.568e-03 -1.038e+00]
+t: 255	 action: [-0.023 -0.002 -0.019  0.006 -0.001 -0.01  -1.063]
+t: 256	 action: [-2.801e-02  1.724e-02  4.779e-03  2.611e-03 -1.607e-05 -5.111e-03 -1.038e+00]
+t: 257	 action: [-0.027  0.002  0.023  0.002 -0.002 -0.01  -1.058]
+t: 258	 action: [-0.002  0.019 -0.016  0.009  0.003  0.004 -1.048]
+t: 259	 action: [ 0.005 -0.011  0.024 -0.001  0.005 -0.012 -1.046]
+t: 260	 action: [-0.029  0.021 -0.007  0.006 -0.002  0.004 -1.045]
+t: 261	 action: [ 0.006 -0.02   0.037 -0.004  0.004 -0.01  -1.042]
+t: 262	 action: [-0.028  0.02  -0.015  0.003 -0.002 -0.002 -1.044]
+t: 263	 action: [-3.115e-02  1.612e-02  1.394e-02 -1.525e-04 -4.679e-03 -1.385e-02 -1.065e+00]
+t: 264	 action: [-0.041  0.019  0.007  0.002 -0.003 -0.004 -1.04 ]
+t: 265	 action: [-0.033  0.013  0.058 -0.003 -0.006 -0.011 -1.066]
+[07-31 01:13:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9996
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=266: Selected seed 195 with value = 0.9996
+t: 266	 action: [ 0.027  0.02   0.016  0.013  0.02  -0.005 -1.049]
+t: 267	 action: [ 0.023 -0.024 -0.017  0.005  0.011 -0.012 -1.044]
+t: 268	 action: [-9.741e-03  2.038e-02 -4.942e-03  6.043e-03  1.107e-02 -6.479e-04 -1.045e+00]
+t: 269	 action: [ 6.166e-03 -3.557e-02  1.697e-02  7.022e-04  7.581e-03 -1.019e-02 -1.035e+00]
+t: 270	 action: [-0.015  0.012 -0.019  0.008  0.002 -0.006 -1.041]
+t: 271	 action: [-2.238e-02 -6.087e-03 -2.225e-02  8.978e-03  9.273e-04 -1.040e-02 -1.066e+00]
+t: 272	 action: [-3.163e-02  1.468e-02  1.077e-02  4.412e-03  9.119e-04 -5.479e-03 -1.040e+00]
+t: 273	 action: [-2.907e-02 -2.736e-03  2.056e-02  4.708e-03 -4.283e-04 -1.049e-02 -1.059e+00]
+t: 274	 action: [-0.002  0.017 -0.012  0.01   0.004  0.003 -1.051]
+t: 275	 action: [ 4.431e-03 -1.764e-02  2.337e-02  8.580e-04  5.138e-03 -1.219e-02 -1.046e+00]
+t: 276	 action: [-0.029  0.02  -0.003  0.006 -0.002  0.004 -1.048]
+t: 277	 action: [ 0.004 -0.026  0.036 -0.002  0.004 -0.011 -1.043]
+t: 278	 action: [-0.032  0.016 -0.008  0.005 -0.001 -0.002 -1.046]
+t: 279	 action: [-0.032  0.01   0.016  0.003 -0.003 -0.014 -1.066]
+t: 280	 action: [-0.045  0.015  0.015  0.003 -0.003 -0.004 -1.042]
+t: 281	 action: [-3.669e-02  7.617e-03  5.818e-02 -1.398e-04 -4.664e-03 -1.141e-02 -1.067e+00]
+[07-31 01:13:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=282: Selected seed 195 with value = 0.9979
+t: 282	 action: [ 0.048  0.025  0.043  0.013  0.023 -0.007 -1.052]
+t: 283	 action: [ 0.036 -0.008 -0.01   0.006  0.014 -0.013 -1.046]
+t: 284	 action: [ 0.005  0.024  0.007  0.006  0.013 -0.002 -1.048]
+t: 285	 action: [ 0.01  -0.021  0.014  0.001  0.009 -0.011 -1.038]
+t: 286	 action: [-0.005  0.018 -0.014  0.008  0.004 -0.006 -1.044]
+t: 287	 action: [-0.017  0.004 -0.031  0.01   0.003 -0.01  -1.068]
+t: 288	 action: [-0.022  0.021  0.016  0.004  0.002 -0.005 -1.044]
+t: 289	 action: [-0.024  0.005  0.013  0.006  0.001 -0.011 -1.061]
+t: 290	 action: [ 0.006  0.018 -0.007  0.01   0.003  0.002 -1.053]
+t: 291	 action: [ 0.006 -0.01   0.021  0.001  0.006 -0.012 -1.048]
+t: 292	 action: [-0.018  0.022  0.005  0.006 -0.002  0.003 -1.051]
+t: 293	 action: [ 0.007 -0.018  0.036 -0.001  0.005 -0.011 -1.044]
+t: 294	 action: [-0.024  0.018 -0.001  0.005 -0.001 -0.002 -1.049]
+t: 295	 action: [-0.029  0.014  0.011  0.004 -0.002 -0.013 -1.068]
+t: 296	 action: [-0.035  0.019  0.024  0.003 -0.003 -0.003 -1.046]
+t: 297	 action: [-0.032  0.014  0.057  0.002 -0.004 -0.011 -1.068]
+[07-31 01:13:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9942
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9942
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 5
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 10%|█         | 5/50 [02:38<23:50, 31.79s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 6...
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=298: Selected seed 195 with value = 0.9942
+t: 298	 action: [ 0.068  0.031  0.042  0.01   0.025 -0.008 -1.053]
+t: 299	 action: [ 0.048  0.008 -0.028  0.005  0.018 -0.013 -1.047]
+t: 300	 action: [ 0.019  0.028 -0.003  0.004  0.015 -0.002 -1.049]
+t: 301	 action: [ 1.316e-02 -6.839e-03 -7.783e-03  2.854e-04  1.068e-02 -1.110e-02 -1.038e+00]
+t: 302	 action: [ 0.002  0.027 -0.026  0.006  0.006 -0.006 -1.046]
+t: 303	 action: [-0.012  0.016 -0.054  0.01   0.005 -0.01  -1.069]
+t: 304	 action: [-0.015  0.029  0.003  0.003  0.002 -0.005 -1.045]
+t: 305	 action: [-0.021  0.013 -0.008  0.006  0.002 -0.01  -1.062]
+t: 306	 action: [ 0.012  0.02  -0.022  0.009  0.002  0.003 -1.054]
+t: 307	 action: [ 9.296e-03 -4.825e-03  7.947e-03  9.386e-04  5.758e-03 -1.105e-02 -1.048e+00]
+t: 308	 action: [-0.01   0.023 -0.006  0.005 -0.003  0.004 -1.054]
+t: 309	 action: [ 0.01  -0.011  0.03  -0.002  0.005 -0.01  -1.045]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+[07-31 01:13:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4945
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=10: Selected seed 195 with value = 0.4945
+t: 10	 action: [ 1.967e-01  7.174e-02 -2.182e-02  3.832e-03 -2.243e-03 -4.290e-04 -1.020e+00]
+t: 11	 action: [ 3.159e-01  1.321e-01 -8.264e-03  9.739e-03  1.034e-04 -6.883e-03 -1.024e+00]
+t: 12	 action: [ 4.092e-01  2.509e-01 -2.758e-02  1.629e-03 -4.758e-03  7.894e-04 -1.019e+00]
+t: 13	 action: [ 0.51   0.317 -0.012  0.01  -0.003 -0.007 -1.029]
+t: 14	 action: [ 5.904e-01  4.423e-01 -3.685e-02 -6.357e-04 -6.756e-03 -3.155e-03 -1.032e+00]
+t: 15	 action: [ 0.655  0.524 -0.019  0.011 -0.005 -0.007 -1.057]
+t: 16	 action: [ 0.715  0.563 -0.049 -0.002 -0.006 -0.004 -1.023]
+t: 17	 action: [ 0.755  0.613 -0.047  0.012 -0.008 -0.007 -1.061]
+t: 18	 action: [ 0.722  0.59  -0.073  0.011 -0.012  0.003 -1.03 ]
+t: 19	 action: [ 0.767  0.586 -0.079  0.012 -0.003 -0.008 -1.03 ]
+t: 20	 action: [ 0.747  0.617 -0.095  0.006 -0.011  0.001 -1.026]
+t: 21	 action: [ 0.803  0.596 -0.113  0.005 -0.004 -0.012 -1.028]
+t: 22	 action: [ 0.79   0.608 -0.124  0.004 -0.008 -0.002 -1.017]
+t: 23	 action: [ 0.801  0.609 -0.176  0.015 -0.008 -0.01  -1.052]
+t: 24	 action: [ 7.977e-01  5.906e-01 -1.833e-01  6.010e-04 -5.262e-03 -8.811e-03 -1.017e+00]
+t: 25	 action: [ 0.82   0.542 -0.263  0.01  -0.01  -0.012 -1.059]
+[07-31 01:13:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5148
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5148
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5148
+t=26: Selected seed 195 with value = 0.5148
+t: 26	 action: [ 0.827  0.52  -0.201 -0.005 -0.012  0.006 -1.034]
+t: 27	 action: [ 0.781  0.479 -0.206 -0.003 -0.012 -0.002 -1.036]
+t: 28	 action: [ 0.713  0.401 -0.33   0.005 -0.02   0.005 -1.038]
+t: 29	 action: [ 6.127e-01  3.083e-01 -3.370e-01 -1.368e-04 -1.978e-02 -3.808e-03 -1.040e+00]
+t: 30	 action: [ 0.473  0.164 -0.464 -0.001 -0.019 -0.005 -1.025]
+t: 31	 action: [ 0.403  0.081 -0.555  0.01  -0.026 -0.009 -1.058]
+t: 32	 action: [ 0.299  0.057 -0.737 -0.002 -0.025 -0.007 -1.031]
+t: 33	 action: [ 0.235 -0.005 -0.824  0.013 -0.034 -0.011 -1.061]
+t: 34	 action: [ 0.154 -0.046 -0.894  0.006 -0.046 -0.005 -1.043]
+t: 35	 action: [ 0.06  -0.126 -0.959  0.003 -0.04  -0.014 -1.033]
+t: 36	 action: [ 1.084e-02 -1.656e-01 -9.516e-01  3.837e-03 -5.021e-02  4.819e-04 -1.044e+00]
+t: 37	 action: [-0.058 -0.179 -1.019  0.002 -0.04  -0.009 -1.034]
+t: 38	 action: [-0.124 -0.172 -0.958  0.002 -0.049 -0.002 -1.039]
+t: 39	 action: [-0.199 -0.098 -0.974  0.009 -0.046 -0.013 -1.047]
+t: 40	 action: [-3.279e-01 -1.852e-01 -9.581e-01 -2.222e-03 -4.723e-02 -7.475e-04 -1.038e+00]
+t: 41	 action: [-0.376 -0.107 -0.972  0.007 -0.04  -0.006 -1.052]
+[07-31 01:13:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.019 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6251
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6251
+Query 1/1: Action query time = 1.019 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6251
+t=42: Selected seed 195 with value = 0.6251
+t: 42	 action: [-0.22   0.137 -1.025  0.008 -0.04   0.015 -1.035]
+t: 43	 action: [-0.223  0.124 -0.97   0.003 -0.022  0.023 -1.036]
+t: 44	 action: [-0.221  0.078 -0.954  0.008 -0.02   0.016 -1.031]
+t: 45	 action: [-0.197  0.097 -0.879  0.003 -0.002  0.022 -1.036]
+t: 46	 action: [-0.167  0.064 -0.759 -0.003 -0.005  0.007 -1.036]
+t: 47	 action: [-0.145  0.148 -0.771  0.005  0.004  0.013 -1.05 ]
+t: 48	 action: [-0.133  0.021 -0.612 -0.005  0.002  0.002 -1.033]
+t: 49	 action: [-0.141  0.109 -0.659  0.002  0.014  0.004 -1.052]
+t: 50	 action: [-1.932e-01  5.772e-03 -6.813e-01  3.197e-04  9.441e-03  6.134e-03 -1.201e+00]
+t: 51	 action: [-0.247 -0.028 -0.57  -0.009  0.009  0.017 -1.165]
+t: 52	 action: [-2.864e-01 -5.204e-02 -5.927e-01  1.097e-03  1.501e-02  5.774e-03 -1.174e+00]
+t: 53	 action: [-3.082e-01 -5.971e-02 -4.824e-01 -8.902e-03  1.451e-02 -8.962e-05  1.024e+00]
+t: 54	 action: [-0.263 -0.03  -0.427 -0.004  0.012 -0.016  1.108]
+t: 55	 action: [-0.192 -0.038 -0.335 -0.005  0.025 -0.012  1.197]
+t: 56	 action: [-0.206 -0.061 -0.282 -0.003  0.018 -0.023  1.092]
+t: 57	 action: [-0.158 -0.052 -0.174 -0.01   0.042 -0.025  1.046]
+[07-31 01:13:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7487
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7487
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7487
+t=58: Selected seed 195 with value = 0.7487
+t: 58	 action: [-0.087 -0.085 -0.274 -0.006  0.031 -0.015  0.996]
+t: 59	 action: [-0.092 -0.105 -0.145 -0.018  0.028 -0.033  1.017]
+t: 60	 action: [-0.041 -0.114 -0.032 -0.013  0.033 -0.038  0.987]
+t: 61	 action: [-0.017 -0.123  0.11  -0.023  0.031 -0.043  1.016]
+t: 62	 action: [-0.01  -0.088  0.36  -0.012  0.025 -0.047  0.998]
+t: 63	 action: [ 0.003 -0.095  0.621 -0.023  0.03  -0.051  1.013]
+t: 64	 action: [-0.022 -0.076  0.784 -0.005  0.025 -0.059  0.988]
+t: 65	 action: [-0.009 -0.091  0.88  -0.014  0.026 -0.061  1.018]
+t: 66	 action: [-0.021 -0.177  0.914  0.002  0.03  -0.031  0.99 ]
+t: 67	 action: [-0.01  -0.234  0.944  0.011  0.025 -0.038  1.01 ]
+t: 68	 action: [-0.054 -0.312  0.918  0.012  0.03  -0.02   0.981]
+t: 69	 action: [-0.041 -0.409  0.967  0.027  0.029 -0.028  1.013]
+t: 70	 action: [-0.102 -0.436  0.922  0.031  0.039 -0.021  0.994]
+t: 71	 action: [-0.156 -0.542  0.875  0.048  0.032 -0.023  1.015]
+t: 72	 action: [-0.148 -0.6    0.802  0.04   0.041 -0.011  0.995]
+t: 73	 action: [-0.202 -0.674  0.534  0.059  0.033 -0.013  1.02 ]
+[07-31 01:13:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8375
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8375
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8375
+t=74: Selected seed 195 with value = 0.8375
+t: 74	 action: [-0.152 -0.811  0.317  0.059  0.029 -0.001  0.979]
+t: 75	 action: [-0.169 -0.852  0.166  0.053  0.036 -0.002  1.01 ]
+t: 76	 action: [-2.206e-01 -8.245e-01  2.661e-02  5.458e-02  3.233e-02 -8.013e-04  9.753e-01]
+t: 77	 action: [-0.251 -0.813 -0.107  0.045  0.039  0.006  1.008]
+t: 78	 action: [-0.222 -0.713 -0.203  0.037  0.043 -0.002  0.986]
+t: 79	 action: [-0.316 -0.611 -0.339  0.039  0.035  0.011  1.01 ]
+t: 80	 action: [-0.272 -0.526 -0.435  0.011  0.036  0.002  0.986]
+t: 81	 action: [-0.331 -0.374 -0.605  0.02   0.028  0.018  1.022]
+t: 82	 action: [-0.208 -0.3   -0.549  0.002  0.008  0.006  0.987]
+t: 83	 action: [-0.246 -0.206 -0.697 -0.007  0.017  0.017  1.014]
+t: 84	 action: [-0.196 -0.087 -0.664 -0.008  0.017  0.009  0.981]
+t: 85	 action: [-0.204 -0.076 -0.697 -0.017  0.031  0.022  1.028]
+t: 86	 action: [-0.258 -0.034 -0.643 -0.025  0.019  0.026  0.996]
+t: 87	 action: [-0.219  0.006 -0.671 -0.018  0.039  0.03   1.016]
+t: 88	 action: [-1.924e-01 -1.941e-05 -5.012e-01 -4.035e-02  4.184e-02  2.550e-02  9.914e-01]
+t: 89	 action: [-0.128  0.016 -0.39  -0.023  0.065  0.031  1.029]
+[07-31 01:13:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9891
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=90: Selected seed 195 with value = 0.9891
+t: 90	 action: [ 0.167  0.011  0.038  0.002  0.109 -0.004 -0.265]
+t: 91	 action: [ 0.228 -0.033  0.102 -0.003  0.114 -0.01  -0.745]
+t: 92	 action: [ 0.192  0.006  0.186 -0.005  0.105 -0.005 -1.023]
+t: 93	 action: [ 0.228 -0.02   0.276 -0.004  0.116 -0.012 -1.038]
+t: 94	 action: [ 0.205  0.014  0.299 -0.014  0.091 -0.021 -1.164]
+t: 95	 action: [ 0.217  0.056  0.379 -0.007  0.086 -0.017 -1.114]
+t: 96	 action: [ 0.181  0.012  0.43  -0.005  0.08  -0.022 -1.032]
+t: 97	 action: [ 1.955e-01  5.581e-02  4.363e-01 -6.059e-05  7.921e-02 -1.897e-02 -1.064e+00]
+t: 98	 action: [ 0.206  0.018  0.463  0.004  0.097  0.003 -1.027]
+t: 99	 action: [ 1.891e-01 -4.424e-04  4.521e-01 -9.839e-04  9.904e-02 -2.854e-03 -1.044e+00]
+t: 100	 action: [ 0.187  0.018  0.451  0.004  0.089  0.002 -1.03 ]
+t: 101	 action: [ 1.863e-01 -3.081e-04  4.298e-01 -7.045e-04  9.530e-02 -3.203e-03 -1.035e+00]
+t: 102	 action: [ 0.147  0.019  0.406  0.001  0.08  -0.003 -1.031]
+t: 103	 action: [ 0.16   0.036  0.396  0.002  0.071 -0.005 -1.06 ]
+t: 104	 action: [ 0.146  0.014  0.378 -0.001  0.07  -0.007 -1.033]
+t: 105	 action: [ 0.147  0.033  0.363  0.004  0.066 -0.005 -1.066]
+[07-31 01:13:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.071  0.014  0.099  0.006  0.022  0.002 -1.042]
+t: 107	 action: [ 0.075 -0.029  0.066  0.008  0.021 -0.004 -1.041]
+t: 108	 action: [ 4.785e-02  7.351e-03  8.220e-02  6.363e-03  2.306e-02  6.572e-04 -1.034e+00]
+t: 109	 action: [ 0.037 -0.041  0.071  0.008  0.027 -0.003 -1.033]
+t: 110	 action: [ 0.031  0.001  0.075  0.008  0.016 -0.002 -1.03 ]
+t: 111	 action: [ 0.023 -0.005  0.076  0.013  0.02  -0.003 -1.063]
+t: 112	 action: [ 2.792e-02 -9.355e-05  9.425e-02  6.786e-03  2.444e-02 -3.658e-03 -1.031e+00]
+t: 113	 action: [ 0.016  0.004  0.112  0.013  0.028 -0.005 -1.062]
+t: 114	 action: [ 0.074  0.009  0.084  0.011  0.02   0.003 -1.04 ]
+t: 115	 action: [ 0.062 -0.017  0.077  0.008  0.021 -0.005 -1.043]
+t: 116	 action: [ 0.065  0.014  0.098  0.009  0.027  0.002 -1.033]
+t: 117	 action: [ 0.051 -0.02   0.096  0.008  0.034 -0.006 -1.04 ]
+t: 118	 action: [ 0.058  0.009  0.099  0.008  0.027 -0.001 -1.035]
+t: 119	 action: [ 0.047  0.027  0.12   0.011  0.023 -0.008 -1.068]
+t: 120	 action: [ 0.057  0.008  0.126  0.006  0.035 -0.006 -1.03 ]
+t: 121	 action: [ 0.033  0.027  0.159  0.012  0.037 -0.007 -1.07 ]
+[07-31 01:13:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9998
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=122: Selected seed 195 with value = 0.9998
+t: 122	 action: [-0.005  0.05  -0.095  0.003 -0.005  0.004 -1.034]
+t: 123	 action: [ 8.883e-03  1.232e-02 -6.793e-02  2.955e-04  3.919e-03  6.457e-03 -1.041e+00]
+t: 124	 action: [-0.005  0.031 -0.058  0.004 -0.002  0.003 -1.025]
+t: 125	 action: [ 9.440e-03 -9.290e-03  1.097e-02 -9.321e-04  7.989e-03  6.149e-03 -1.034e+00]
+t: 126	 action: [-0.006  0.037 -0.053  0.002 -0.002  0.002 -1.029]
+t: 127	 action: [-0.002  0.02  -0.008  0.005 -0.001  0.007 -1.067]
+t: 128	 action: [-0.007  0.018 -0.012  0.002  0.004  0.002 -1.025]
+t: 129	 action: [-0.007  0.019  0.013  0.005  0.004  0.005 -1.059]
+t: 130	 action: [ 3.931e-02  1.186e-02 -2.619e-02  9.513e-03  2.024e-04  8.839e-03 -1.037e+00]
+t: 131	 action: [ 0.023 -0.012  0.03   0.001  0.007  0.002 -1.045]
+t: 132	 action: [ 0.021  0.021 -0.002  0.007  0.004  0.007 -1.025]
+t: 133	 action: [ 2.266e-02 -8.900e-03  4.888e-02  2.405e-04  1.369e-02  4.337e-03 -1.038e+00]
+t: 134	 action: [ 0.018  0.01   0.005  0.006  0.006  0.004 -1.036]
+t: 135	 action: [-2.545e-05  2.750e-02  5.200e-03  4.679e-03  1.705e-03  6.712e-05 -1.072e+00]
+t: 136	 action: [ 6.786e-03  1.321e-02  3.793e-02  3.268e-03  1.106e-02  7.136e-04 -1.026e+00]
+t: 137	 action: [-0.01   0.033  0.055  0.005  0.01   0.003 -1.066]
+[07-31 01:13:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9999
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=138: Selected seed 195 with value = 0.9999
+t: 138	 action: [-0.012  0.038 -0.134  0.004 -0.004  0.006 -1.037]
+t: 139	 action: [ 0.008  0.011 -0.124  0.001  0.004  0.003 -1.044]
+t: 140	 action: [-0.011  0.027 -0.093  0.003 -0.002  0.003 -1.031]
+t: 141	 action: [ 9.615e-03 -1.049e-02 -4.666e-02 -2.018e-04  9.028e-03  4.300e-03 -1.037e+00]
+t: 142	 action: [-1.649e-02  3.588e-02 -9.197e-02  2.709e-03 -7.867e-04  1.964e-03 -1.036e+00]
+t: 143	 action: [-8.947e-03  1.923e-02 -3.835e-02  6.225e-03 -3.830e-04  6.117e-03 -1.070e+00]
+t: 144	 action: [-0.015  0.019 -0.046  0.002  0.005  0.002 -1.03 ]
+t: 145	 action: [-0.01   0.014  0.004  0.006  0.005  0.005 -1.06 ]
+t: 146	 action: [ 0.041  0.007 -0.058  0.01  -0.001  0.009 -1.04 ]
+t: 147	 action: [ 2.814e-02 -1.807e-02 -2.575e-02  1.864e-03  5.384e-03  2.266e-04 -1.048e+00]
+t: 148	 action: [ 0.024  0.018 -0.033  0.007  0.002  0.007 -1.032]
+t: 149	 action: [ 2.867e-02 -1.542e-02  2.597e-02  5.619e-04  1.161e-02  4.589e-03 -1.041e+00]
+t: 150	 action: [ 0.016  0.008 -0.026  0.006  0.005  0.004 -1.041]
+t: 151	 action: [-4.022e-03  2.084e-02 -6.261e-03  6.853e-03 -1.891e-03  3.828e-04 -1.073e+00]
+t: 152	 action: [ 0.003  0.011  0.004  0.004  0.009  0.001 -1.032]
+t: 153	 action: [-0.016  0.025  0.009  0.007  0.006  0.004 -1.067]
+[07-31 01:13:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9988
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=154: Selected seed 195 with value = 0.9988
+t: 154	 action: [-3.386e-03  1.312e-02 -1.412e-01  5.749e-03 -7.740e-04  6.454e-03 -1.040e+00]
+t: 155	 action: [ 1.349e-02 -2.220e-02 -1.257e-01  3.447e-03  7.288e-03  2.191e-04 -1.045e+00]
+t: 156	 action: [ 0.004  0.014 -0.092  0.004  0.004  0.004 -1.033]
+t: 157	 action: [ 0.017 -0.036 -0.042  0.002  0.014  0.002 -1.037]
+t: 158	 action: [-0.006  0.01  -0.088  0.004  0.006  0.002 -1.037]
+t: 159	 action: [ 4.304e-03 -6.088e-04 -3.367e-02  9.346e-03  7.598e-03  3.324e-03 -1.069e+00]
+t: 160	 action: [-0.005  0.006 -0.046  0.004  0.011  0.001 -1.033]
+t: 161	 action: [-1.060e-02 -7.696e-04  2.721e-03  9.163e-03  1.418e-02  2.303e-03 -1.060e+00]
+t: 162	 action: [ 0.039 -0.003 -0.074  0.01   0.002  0.007 -1.044]
+t: 163	 action: [ 0.031 -0.032 -0.06   0.004  0.009 -0.002 -1.05 ]
+t: 164	 action: [ 0.022  0.012 -0.048  0.007  0.006  0.007 -1.035]
+t: 165	 action: [ 0.031 -0.036 -0.004  0.003  0.015  0.003 -1.043]
+t: 166	 action: [ 0.019  0.004 -0.038  0.007  0.01   0.003 -1.045]
+t: 167	 action: [-7.103e-03  5.672e-03 -1.260e-02  1.044e-02  3.612e-03 -9.738e-04 -1.071e+00]
+t: 168	 action: [ 1.957e-03  4.649e-03 -1.342e-02  4.169e-03  1.306e-02  4.701e-04 -1.036e+00]
+t: 169	 action: [-0.018  0.005 -0.001  0.01   0.011  0.004 -1.065]
+[07-31 01:13:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9955
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=170: Selected seed 195 with value = 0.9955
+t: 170	 action: [ 7.028e-03 -8.374e-04 -1.461e-01  5.201e-03  5.730e-03  6.918e-03 -1.036e+00]
+t: 171	 action: [ 0.021 -0.046 -0.117  0.003  0.012 -0.002 -1.049]
+t: 172	 action: [ 0.019 -0.005 -0.09   0.004  0.014  0.006 -1.024]
+t: 173	 action: [ 2.456e-02 -5.397e-02 -4.297e-02  1.153e-03  2.062e-02 -7.155e-04 -1.050e+00]
+t: 174	 action: [ 5.377e-03 -8.281e-04 -8.389e-02  3.459e-03  1.579e-02  2.787e-03 -1.034e+00]
+t: 175	 action: [ 1.427e-02 -1.267e-02 -2.666e-02  9.648e-03  2.008e-02  7.445e-04 -1.070e+00]
+t: 176	 action: [ 0.008 -0.002 -0.043  0.003  0.022  0.002 -1.022]
+t: 177	 action: [-8.482e-03 -1.140e-02  1.083e-03  8.263e-03  2.761e-02 -8.116e-04 -1.068e+00]
+t: 178	 action: [ 0.036 -0.007 -0.103  0.009  0.01   0.005 -1.042]
+t: 179	 action: [ 0.034 -0.045 -0.096  0.003  0.013 -0.003 -1.056]
+t: 180	 action: [ 0.025  0.002 -0.074  0.006  0.015  0.006 -1.028]
+t: 181	 action: [ 0.035 -0.054 -0.045  0.001  0.018  0.018 -1.063]
+t: 182	 action: [ 2.353e-02  8.080e-04 -5.919e-02  5.492e-03  1.992e-02  1.900e-03 -1.043e+00]
+t: 183	 action: [-0.005 -0.006 -0.025  0.01   0.01  -0.001 -1.071]
+t: 184	 action: [ 3.723e-03  5.684e-04 -3.580e-02  3.256e-03  2.237e-02  2.321e-04 -1.011e+00]
+t: 185	 action: [-0.017 -0.009 -0.009  0.009  0.014  0.027  1.069]
+[07-31 01:13:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9930
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=186: Selected seed 195 with value = 0.9930
+t: 186	 action: [ 0.007 -0.004 -0.109  0.005  0.011  0.007 -1.031]
+t: 187	 action: [ 1.802e-02 -6.001e-02 -5.166e-02  1.018e-03  1.823e-02 -3.029e-03 -1.047e+00]
+t: 188	 action: [ 0.006 -0.008 -0.057  0.005  0.019  0.006 -1.02 ]
+t: 189	 action: [ 2.075e-02 -5.808e-02 -2.602e-03  6.033e-04  2.596e-02 -1.620e-03 -1.040e+00]
+t: 190	 action: [ 0.004 -0.006 -0.052  0.004  0.024  0.003 -1.035]
+t: 191	 action: [-3.984e-03 -2.268e-02 -3.659e-03  8.511e-03  2.764e-02  3.249e-04 -1.071e+00]
+t: 192	 action: [-2.026e-04 -6.371e-03 -1.662e-02  2.649e-03  2.973e-02  1.651e-03 -1.027e+00]
+t: 193	 action: [-1.821e-02 -1.356e-02  8.233e-03  9.378e-03  3.029e-02 -9.064e-04 -1.066e+00]
+t: 194	 action: [ 0.024 -0.008 -0.089  0.007  0.015  0.003 -1.038]
+t: 195	 action: [ 2.964e-02 -4.975e-02 -7.170e-02  9.749e-04  1.515e-02 -3.801e-03 -1.057e+00]
+t: 196	 action: [ 0.009  0.004 -0.058  0.006  0.019  0.006 -1.017]
+t: 197	 action: [ 0.024 -0.053 -0.029  0.001  0.018  0.004 -1.006]
+t: 198	 action: [ 0.022  0.004 -0.039  0.004  0.027  0.002 -1.044]
+t: 199	 action: [-7.488e-03 -8.035e-03 -1.462e-02  9.248e-03  1.358e-02 -3.902e-04 -1.070e+00]
+t: 200	 action: [ 7.174e-04  4.691e-03 -1.483e-02  2.532e-03  3.010e-02  6.377e-04 -1.028e+00]
+t: 201	 action: [-2.249e-02 -5.942e-03  9.248e-04  9.559e-03  1.648e-02  6.770e-03 -1.043e+00]
+[07-31 01:13:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9878
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=202: Selected seed 195 with value = 0.9878
+t: 202	 action: [-9.049e-04 -8.008e-03 -1.335e-01  6.352e-03  3.525e-03  6.085e-03 -1.016e+00]
+t: 203	 action: [ 0.006 -0.059 -0.093 -0.005  0.014 -0.008 -1.049]
+t: 204	 action: [-0.006 -0.017 -0.068  0.007  0.01   0.007 -1.018]
+t: 205	 action: [-0.001 -0.06  -0.025 -0.004  0.017 -0.006 -1.045]
+t: 206	 action: [-0.012 -0.017 -0.068  0.004  0.018  0.002 -1.017]
+t: 207	 action: [-0.023 -0.027 -0.015  0.002  0.016 -0.007 -1.068]
+t: 208	 action: [-8.588e-03 -1.914e-02 -1.729e-02  2.438e-03  1.959e-02  8.780e-04 -1.029e+00]
+t: 209	 action: [-4.022e-02 -2.049e-02  5.801e-04  4.627e-03  1.434e-02 -8.421e-03 -1.063e+00]
+t: 210	 action: [ 1.652e-02 -1.734e-02 -1.200e-01 -1.886e-03  9.057e-03  4.060e-04 -9.972e-01]
+t: 211	 action: [ 0.029 -0.052 -0.112 -0.005  0.009  0.01  -1.099]
+t: 212	 action: [ 1.437e-04 -1.358e-02 -9.154e-02 -1.466e-03  8.336e-03  5.140e-03  1.100e+00]
+t: 213	 action: [ 0.005 -0.051 -0.07  -0.004  0.01  -0.002  0.93 ]
+t: 214	 action: [ 5.022e-03 -4.926e-04 -5.918e-02 -4.886e-03  2.119e-02 -4.524e-04 -8.960e-01]
+t: 215	 action: [-0.008 -0.012 -0.034  0.003  0.001  0.017  1.157]
+t: 216	 action: [-0.001  0.002 -0.022 -0.002  0.02  -0.001 -1.143]
+t: 217	 action: [-4.145e-02 -6.977e-03 -5.331e-04  3.557e-03  2.893e-04 -1.160e-02 -1.099e+00]
+[07-31 01:13:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9855
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=218: Selected seed 195 with value = 0.9855
+t: 218	 action: [-0.019 -0.063  0.038 -0.011  0.011  0.005 -0.874]
+t: 219	 action: [-0.003 -0.075  0.03  -0.014  0.017  0.005 -0.87 ]
+t: 220	 action: [-0.014 -0.023  0.095 -0.007  0.016  0.006 -1.009]
+t: 221	 action: [-0.004 -0.055  0.074 -0.009  0.016  0.001 -1.032]
+t: 222	 action: [-0.033 -0.005  0.09  -0.004  0.009 -0.002 -1.035]
+t: 223	 action: [-0.05   0.006  0.085 -0.003  0.004  0.003 -1.091]
+t: 224	 action: [-0.017  0.016  0.139  0.002  0.011 -0.003 -1.036]
+t: 225	 action: [-0.032  0.039  0.15   0.003  0.006 -0.005 -1.057]
+t: 226	 action: [ 4.176e-02  4.063e-02  1.635e-01 -1.139e-04 -9.183e-03  4.627e-03 -1.016e+00]
+t: 227	 action: [ 0.038  0.025  0.18  -0.002  0.003 -0.001 -1.057]
+t: 228	 action: [ 0.053  0.042  0.183  0.006 -0.005  0.003 -1.034]
+t: 229	 action: [ 0.037  0.024  0.194  0.003  0.008 -0.006 -1.046]
+t: 230	 action: [ 3.261e-02  5.670e-02  1.883e-01  3.716e-03 -4.983e-03  1.018e-03 -1.044e+00]
+t: 231	 action: [-1.799e-02  7.638e-02  2.050e-01  6.037e-03 -8.203e-03 -2.632e-04 -1.071e+00]
+t: 232	 action: [ 0.036  0.056  0.187  0.005  0.004 -0.002 -1.046]
+t: 233	 action: [-0.023  0.072  0.194  0.009 -0.002 -0.003 -1.057]
+[07-31 01:13:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9890
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=234: Selected seed 195 with value = 0.9890
+t: 234	 action: [-0.042 -0.013 -0.085  0.003 -0.002  0.006 -1.021]
+t: 235	 action: [-0.01  -0.049 -0.066 -0.005  0.008 -0.002 -1.039]
+t: 236	 action: [-2.775e-02 -7.106e-04 -5.884e-02  3.582e-03  7.225e-04  4.691e-03 -1.024e+00]
+t: 237	 action: [ 0.005 -0.045 -0.014 -0.004  0.01  -0.002 -1.033]
+t: 238	 action: [-3.804e-02 -2.897e-03 -5.558e-02  1.966e-03  3.179e-03  5.420e-04 -1.035e+00]
+t: 239	 action: [-2.012e-02 -1.812e-02 -2.244e-02  3.021e-03 -6.259e-04 -1.392e-03 -1.075e+00]
+t: 240	 action: [-1.903e-02 -4.940e-04 -1.558e-02  1.419e-03  6.365e-03 -1.539e-04 -1.033e+00]
+t: 241	 action: [-1.585e-02 -7.471e-03  6.348e-03  5.935e-03  2.976e-04 -3.519e-03 -1.062e+00]
+t: 242	 action: [ 2.521e-04  6.574e-04 -6.069e-02  5.806e-03 -1.193e-02  1.918e-03 -1.025e+00]
+t: 243	 action: [ 0.02  -0.034 -0.044 -0.005 -0.009 -0.006 -1.048]
+t: 244	 action: [ 0.003  0.013 -0.029  0.006 -0.011  0.003 -1.022]
+t: 245	 action: [ 2.165e-02 -3.175e-02 -1.056e-02 -2.613e-03 -9.034e-04 -2.765e-03 -1.040e+00]
+t: 246	 action: [ 1.117e-02  7.841e-03 -2.552e-02  3.185e-03 -2.017e-03 -8.862e-04 -1.041e+00]
+t: 247	 action: [-0.012  0.016 -0.007  0.005 -0.009 -0.006 -1.076]
+t: 248	 action: [ 0.006  0.009  0.009  0.002  0.003 -0.002 -1.031]
+t: 249	 action: [-0.02   0.017  0.008  0.007 -0.004 -0.001 -1.06 ]
+[07-31 01:13:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9882
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=250: Selected seed 195 with value = 0.9882
+t: 250	 action: [-4.025e-02 -1.603e-02 -9.187e-02  3.953e-03 -5.668e-04  6.173e-03 -1.023e+00]
+t: 251	 action: [-0.008 -0.058 -0.069 -0.003  0.01  -0.004 -1.038]
+t: 252	 action: [-0.028 -0.009 -0.065  0.004  0.004  0.005 -1.025]
+t: 253	 action: [ 0.003 -0.056 -0.024 -0.002  0.012 -0.004 -1.034]
+t: 254	 action: [-3.756e-02 -1.079e-02 -6.050e-02  2.769e-03  7.650e-03  9.718e-04 -1.037e+00]
+t: 255	 action: [-0.023 -0.022 -0.019  0.004  0.003 -0.003 -1.074]
+t: 256	 action: [-2.390e-02 -8.767e-03 -2.431e-02  1.718e-03  1.073e-02 -1.048e-04 -1.036e+00]
+t: 257	 action: [-0.023 -0.012  0.003  0.007  0.003 -0.005 -1.062]
+t: 258	 action: [-0.008 -0.003 -0.078  0.006 -0.004  0.002 -1.022]
+t: 259	 action: [ 0.017 -0.045 -0.073 -0.002 -0.001 -0.006 -1.039]
+t: 260	 action: [-0.01   0.009 -0.053  0.005 -0.004  0.004 -0.49 ]
+t: 261	 action: [ 9.794e-03 -4.429e-02 -4.749e-02 -1.191e-03  2.995e-03 -6.957e-04 -1.002e+00]
+t: 262	 action: [ 2.297e-03  5.836e-03 -3.999e-02  3.312e-03  6.555e-03 -7.170e-04 -1.041e+00]
+t: 263	 action: [-0.018  0.003 -0.02   0.006 -0.006 -0.005 -1.074]
+t: 264	 action: [-0.005  0.007 -0.007  0.002  0.01  -0.002 -1.059]
+t: 265	 action: [-3.743e-02  5.781e-03  2.170e-03  8.103e-03 -3.611e-03  1.492e-04 -1.061e+00]
+[07-31 01:13:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9858
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=266: Selected seed 195 with value = 0.9858
+t: 266	 action: [-2.280e-02 -9.625e-03 -1.133e-01  4.905e-03 -4.904e-04  6.362e-03 -1.016e+00]
+t: 267	 action: [-0.003 -0.064 -0.057 -0.003  0.014 -0.006 -1.032]
+t: 268	 action: [-0.009 -0.015 -0.059  0.005  0.008  0.006 -1.022]
+t: 269	 action: [ 0.004 -0.06   0.004 -0.003  0.016 -0.006 -1.046]
+t: 270	 action: [-0.028 -0.021 -0.063  0.004  0.014  0.001 -1.033]
+t: 271	 action: [-0.027 -0.028 -0.006  0.003  0.011 -0.005 -1.066]
+t: 272	 action: [-7.946e-03 -1.587e-02 -1.272e-02  2.203e-03  1.787e-02  1.717e-04 -1.035e+00]
+t: 273	 action: [-0.03  -0.017  0.011  0.005  0.011 -0.007 -1.055]
+t: 274	 action: [ 0.007 -0.007 -0.087  0.002  0.005  0.    -0.168]
+t: 275	 action: [ 0.033 -0.047 -0.075 -0.003  0.007 -0.003 -0.927]
+t: 276	 action: [ 0.014  0.002 -0.07   0.001  0.004  0.004  1.097]
+t: 277	 action: [ 0.01  -0.045 -0.05  -0.003  0.008 -0.003  0.935]
+t: 278	 action: [ 9.938e-03  4.179e-03 -4.006e-02 -4.873e-04  1.782e-02 -9.287e-04 -8.807e-01]
+t: 279	 action: [-1.758e-02 -2.995e-03 -1.736e-02  4.705e-03 -1.856e-03 -7.185e-04 -1.017e+00]
+t: 280	 action: [ 1.656e-02  9.800e-03 -9.449e-03 -2.006e-04  1.730e-02 -2.098e-03 -1.140e+00]
+t: 281	 action: [-0.03   0.003  0.009  0.005 -0.002 -0.013 -1.102]
+[07-31 01:13:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9888
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=282: Selected seed 195 with value = 0.9888
+t: 282	 action: [-0.038 -0.018 -0.05   0.002  0.011  0.005 -1.006]
+t: 283	 action: [-0.008 -0.05   0.016 -0.007  0.026 -0.004 -1.022]
+t: 284	 action: [-0.023 -0.009  0.032 -0.002  0.022  0.005 -1.053]
+t: 285	 action: [-0.001 -0.042  0.071 -0.004  0.029 -0.004 -1.044]
+t: 286	 action: [-0.047 -0.019  0.02   0.001  0.022 -0.001 -1.035]
+t: 287	 action: [-3.777e-02 -1.990e-02  3.000e-02  1.453e-04  1.942e-02 -2.991e-03 -1.068e+00]
+t: 288	 action: [-0.015 -0.001  0.082  0.002  0.027 -0.002 -1.053]
+t: 289	 action: [-0.019  0.007  0.103  0.006  0.022 -0.006 -1.043]
+t: 290	 action: [ 0.031  0.019  0.036  0.001 -0.005  0.002  1.103]
+t: 291	 action: [ 0.032 -0.009  0.063 -0.004  0.007 -0.005 -0.723]
+t: 292	 action: [ 0.045  0.023  0.059  0.005 -0.003  0.001  0.178]
+t: 293	 action: [ 3.732e-02 -1.018e-02  7.619e-02 -1.132e-04  1.131e-02 -6.754e-03 -1.049e+00]
+t: 294	 action: [ 0.054  0.016  0.082  0.004  0.006 -0.003 -1.15 ]
+t: 295	 action: [ 0.008  0.04   0.089  0.005 -0.002 -0.01  -1.123]
+t: 296	 action: [ 0.048  0.017  0.097  0.004  0.014 -0.006 -1.012]
+t: 297	 action: [-0.025  0.039  0.113  0.009  0.004 -0.007 -1.039]
+[07-31 01:13:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9849
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9849
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 6
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 12%|█▏        | 6/50 [03:09<23:07, 31.53s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 7...
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=298: Selected seed 195 with value = 0.9849
+t: 298	 action: [-0.032 -0.004 -0.067  0.005  0.002  0.006 -1.004]
+t: 299	 action: [-0.006 -0.045  0.005 -0.007  0.014 -0.004 -1.016]
+t: 300	 action: [-0.016  0.01  -0.016  0.002  0.01   0.006 -1.044]
+t: 301	 action: [ 0.004 -0.034  0.058 -0.006  0.015 -0.005 -1.04 ]
+t: 302	 action: [-4.890e-02 -1.366e-02 -2.520e-02  2.719e-03  8.841e-03 -7.506e-04 -1.035e+00]
+t: 303	 action: [-0.032 -0.019  0.01  -0.001  0.001 -0.004 -1.069]
+t: 304	 action: [-0.011  0.003  0.037  0.002  0.014 -0.002 -1.048]
+t: 305	 action: [-0.015  0.002  0.065  0.004  0.004 -0.006 -1.047]
+t: 306	 action: [ 0.016  0.017 -0.014  0.001 -0.015  0.002  1.087]
+t: 307	 action: [ 0.016 -0.015  0.029 -0.006 -0.006 -0.005 -0.867]
+t: 308	 action: [ 3.053e-02  2.115e-02  1.432e-02  2.390e-03 -1.380e-02  7.949e-04  9.990e-01]
+t: 309	 action: [ 1.919e-02 -1.484e-02  4.426e-02 -3.180e-03 -5.820e-04 -5.457e-03 -1.044e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+[07-31 01:13:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.138 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4754
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4754
+Query 1/1: Action query time = 1.138 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4754
+t=10: Selected seed 195 with value = 0.4754
+t: 10	 action: [ 1.140e-01  5.797e-02 -3.013e-02  5.851e-04  3.600e-03 -1.456e-03 -1.009e+00]
+t: 11	 action: [ 0.24   0.085 -0.011 -0.007  0.001 -0.014 -1.021]
+t: 12	 action: [ 0.295  0.192 -0.019 -0.008  0.005 -0.002 -1.018]
+t: 13	 action: [ 0.374  0.25  -0.008 -0.011 -0.001 -0.014 -1.028]
+t: 14	 action: [ 0.444  0.35  -0.027 -0.006 -0.004 -0.003 -1.032]
+t: 15	 action: [ 0.484  0.436  0.002 -0.008 -0.004 -0.013 -1.049]
+t: 16	 action: [ 0.552  0.494 -0.006 -0.013  0.002 -0.003 -1.018]
+t: 17	 action: [ 0.584  0.538  0.007 -0.01  -0.007 -0.014 -1.055]
+t: 18	 action: [ 0.619  0.558  0.037  0.005  0.011  0.005 -1.032]
+t: 19	 action: [ 6.514e-01  5.745e-01  2.602e-02  9.326e-04  5.131e-03 -5.865e-03 -1.028e+00]
+t: 20	 action: [ 6.363e-01  5.940e-01  2.166e-02  7.741e-04  1.008e-02  5.726e-03 -1.027e+00]
+t: 21	 action: [ 0.687  0.589  0.009 -0.002  0.005 -0.006 -1.023]
+t: 22	 action: [ 0.654  0.542 -0.023  0.001  0.005  0.003 -1.018]
+t: 23	 action: [ 0.642  0.52  -0.013  0.005 -0.004 -0.006 -1.046]
+t: 24	 action: [ 0.642  0.506 -0.081 -0.002  0.008  0.001 -1.016]
+t: 25	 action: [ 0.668  0.459 -0.065  0.002 -0.005 -0.005 -1.054]
+[07-31 01:13:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5437
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5437
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5437
+t=26: Selected seed 195 with value = 0.5437
+t: 26	 action: [ 0.732  0.506 -0.056  0.006 -0.012  0.009 -1.036]
+t: 27	 action: [ 0.702  0.473 -0.039  0.001 -0.006  0.005 -1.03 ]
+t: 28	 action: [ 0.678  0.351 -0.163  0.008 -0.019  0.009 -1.038]
+t: 29	 action: [ 6.213e-01  2.605e-01 -1.391e-01  8.709e-04 -1.136e-02  4.349e-03 -1.034e+00]
+t: 30	 action: [ 5.026e-01  1.013e-01 -2.640e-01  2.332e-03 -1.562e-02  5.356e-04 -1.024e+00]
+t: 31	 action: [ 4.387e-01  4.355e-02 -3.311e-01  1.269e-02 -2.228e-02  3.889e-04 -1.054e+00]
+t: 32	 action: [ 3.198e-01 -1.710e-02 -5.197e-01  2.667e-03 -2.216e-02  8.716e-04 -1.029e+00]
+t: 33	 action: [ 0.286 -0.032 -0.624  0.017 -0.03  -0.001 -1.056]
+t: 34	 action: [ 0.181 -0.11  -0.694  0.013 -0.043  0.006 -1.034]
+t: 35	 action: [ 7.842e-02 -1.249e-01 -8.216e-01  1.037e-02 -4.667e-02 -5.023e-04 -1.031e+00]
+t: 36	 action: [ 0.027 -0.108 -0.884  0.009 -0.054  0.006 -1.032]
+t: 37	 action: [-2.147e-02 -1.196e-01 -9.720e-01  6.640e-03 -5.451e-02  3.701e-04 -1.033e+00]
+t: 38	 action: [-0.08  -0.058 -0.935  0.008 -0.054  0.002 -1.035]
+t: 39	 action: [-0.081 -0.021 -0.966  0.014 -0.06  -0.001 -1.05 ]
+t: 40	 action: [-1.936e-01  2.885e-03 -9.349e-01  3.517e-04 -5.548e-02  3.071e-03 -1.033e+00]
+t: 41	 action: [-2.149e-01  3.765e-03 -9.574e-01  9.917e-03 -5.523e-02  5.893e-04 -1.054e+00]
+[07-31 01:13:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6059
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6059
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6059
+t=42: Selected seed 195 with value = 0.6059
+t: 42	 action: [ 0.167  0.127 -0.985  0.027 -0.045 -0.004 -1.034]
+t: 43	 action: [ 0.124  0.094 -0.995  0.023 -0.041 -0.013 -1.039]
+t: 44	 action: [ 0.084  0.088 -0.982  0.017 -0.037 -0.003 -1.024]
+t: 45	 action: [ 0.046  0.079 -0.991  0.015 -0.028 -0.009 -1.039]
+t: 46	 action: [-0.004  0.096 -0.922  0.006 -0.026 -0.01  -1.031]
+t: 47	 action: [-0.036  0.148 -0.958  0.015 -0.023 -0.016 -1.058]
+t: 48	 action: [-8.896e-02  7.885e-02 -8.864e-01  4.607e-04 -2.162e-02 -7.834e-03 -1.022e+00]
+t: 49	 action: [-0.123  0.136 -0.931  0.006 -0.015 -0.015 -1.047]
+t: 50	 action: [-0.143  0.076 -0.803  0.005 -0.017  0.003 -1.041]
+t: 51	 action: [-0.212  0.074 -0.78  -0.005 -0.005 -0.011 -1.031]
+t: 52	 action: [-0.233  0.05  -0.731  0.004 -0.014  0.004 -1.031]
+t: 53	 action: [-0.29   0.045 -0.725 -0.003 -0.004  0.011 -1.161]
+t: 54	 action: [-0.379  0.036 -0.629 -0.007 -0.016 -0.009 -1.049]
+t: 55	 action: [-0.429  0.055 -0.647 -0.003 -0.008 -0.021 -1.049]
+t: 56	 action: [-0.425  0.01  -0.579 -0.006 -0.012 -0.011 -1.002]
+t: 57	 action: [-0.401  0.026 -0.577 -0.003 -0.008  0.008  1.231]
+[07-31 01:13:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6838
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6838
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6838
+t=58: Selected seed 195 with value = 0.6838
+t: 58	 action: [-0.352  0.001 -0.726 -0.001 -0.013  0.003 -1.081]
+t: 59	 action: [-0.313 -0.028 -0.645 -0.014  0.007  0.004  0.997]
+t: 60	 action: [-0.243 -0.027 -0.526 -0.008  0.019 -0.002  0.985]
+t: 61	 action: [-1.859e-01 -5.929e-02 -3.724e-01 -2.247e-02  2.099e-02 -1.955e-04  1.034e+00]
+t: 62	 action: [-0.157 -0.077 -0.228 -0.018  0.021 -0.021  1.043]
+t: 63	 action: [-0.082 -0.064 -0.158 -0.023  0.013 -0.035  1.025]
+t: 64	 action: [-0.046 -0.096 -0.019 -0.022  0.028 -0.052  1.013]
+t: 65	 action: [ 0.003 -0.082  0.009 -0.028  0.03  -0.071  1.025]
+t: 66	 action: [-0.027 -0.095  0.054 -0.011  0.044 -0.054  0.991]
+t: 67	 action: [ 0.003 -0.11   0.161 -0.022  0.04  -0.074  1.009]
+t: 68	 action: [ 0.003 -0.08   0.272 -0.013  0.023 -0.063  0.987]
+t: 69	 action: [ 0.02  -0.111  0.45  -0.026  0.027 -0.085  1.012]
+t: 70	 action: [ 0.017 -0.03   0.713 -0.019  0.011 -0.078  1.01 ]
+t: 71	 action: [ 0.016 -0.036  0.83  -0.019  0.008 -0.08   1.005]
+t: 72	 action: [-0.014 -0.036  0.918 -0.013  0.004 -0.076  1.011]
+t: 73	 action: [ 0.003 -0.069  0.94  -0.009  0.01  -0.076  1.013]
+[07-31 01:14:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7938
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7938
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7938
+t=74: Selected seed 195 with value = 0.7938
+t: 74	 action: [ 0.055 -0.289  0.905  0.024  0.032 -0.06   0.992]
+t: 75	 action: [ 0.033 -0.367  0.959  0.026  0.039 -0.055  1.027]
+t: 76	 action: [ 0.003 -0.514  0.894  0.057  0.041 -0.055  0.985]
+t: 77	 action: [ 0.005 -0.6    0.854  0.049  0.055 -0.047  1.019]
+t: 78	 action: [-0.043 -0.657  0.761  0.075  0.063 -0.042  1.003]
+t: 79	 action: [-0.074 -0.71   0.636  0.073  0.061 -0.031  1.019]
+t: 80	 action: [-0.091 -0.738  0.408  0.07   0.066 -0.03   0.992]
+t: 81	 action: [-0.115 -0.721  0.203  0.066  0.061 -0.023  1.015]
+t: 82	 action: [-0.179 -0.76   0.106  0.074  0.046 -0.033  0.989]
+t: 83	 action: [-0.23  -0.737  0.047  0.065  0.057 -0.025  1.027]
+t: 84	 action: [-0.193 -0.723 -0.135  0.063  0.036 -0.014  0.974]
+t: 85	 action: [-0.238 -0.623 -0.202  0.051  0.048 -0.015  1.029]
+t: 86	 action: [-0.202 -0.538 -0.214  0.041  0.029 -0.017  0.997]
+t: 87	 action: [-0.255 -0.435 -0.352  0.043  0.032 -0.007  1.014]
+t: 88	 action: [-0.199 -0.365 -0.394  0.012  0.02  -0.009  0.983]
+t: 89	 action: [-0.218 -0.201 -0.522  0.02   0.03   0.001  1.012]
+[07-31 01:14:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8971
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=90: Selected seed 195 with value = 0.8971
+t: 90	 action: [-0.225 -0.322 -0.676  0.006  0.016  0.005  0.991]
+t: 91	 action: [-1.904e-01 -2.032e-01 -5.628e-01  2.734e-04  3.196e-02  5.159e-03  1.034e+00]
+t: 92	 action: [-1.791e-01 -9.963e-02 -5.674e-01 -4.090e-04  3.118e-02  4.420e-03  9.930e-01]
+t: 93	 action: [-0.136 -0.056 -0.45  -0.008  0.052  0.013  1.031]
+t: 94	 action: [-0.043  0.045 -0.281 -0.01   0.093  0.006  0.996]
+t: 95	 action: [-0.06   0.057 -0.2   -0.01   0.097  0.024  1.004]
+t: 96	 action: [-0.028  0.039 -0.121 -0.019  0.111  0.015  1.   ]
+t: 97	 action: [-0.044  0.072 -0.043 -0.011  0.109  0.026  1.011]
+t: 98	 action: [ 0.078  0.079 -0.044 -0.018  0.115  0.043  1.161]
+t: 99	 action: [-0.015  0.062  0.045 -0.023  0.125  0.028  1.025]
+t: 100	 action: [ 0.034  0.095  0.04  -0.029  0.116  0.04   1.183]
+t: 101	 action: [-0.001  0.052  0.113 -0.022  0.113  0.021 -1.019]
+t: 102	 action: [-0.069  0.029  0.21  -0.046  0.085  0.008 -1.223]
+t: 103	 action: [-0.008  0.07   0.342 -0.029  0.061 -0.009 -1.123]
+t: 104	 action: [ 0.043  0.019  0.384 -0.027  0.051 -0.008 -1.214]
+t: 105	 action: [ 0.082  0.074  0.432 -0.024  0.048  0.002 -1.04 ]
+[07-31 01:14:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9632
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=106: Selected seed 195 with value = 0.9632
+t: 106	 action: [ 0.119  0.035  0.158 -0.004  0.082  0.008  1.127]
+t: 107	 action: [ 0.166  0.004  0.174  0.003  0.059 -0.011  0.962]
+t: 108	 action: [ 0.165  0.023  0.247 -0.002  0.048 -0.009 -1.043]
+t: 109	 action: [ 0.161  0.005  0.289  0.008  0.021 -0.022 -1.036]
+t: 110	 action: [ 0.218  0.01   0.23   0.002  0.004 -0.03  -1.176]
+t: 111	 action: [ 0.146  0.035  0.285  0.008  0.01  -0.028 -1.109]
+t: 112	 action: [ 1.748e-01  9.006e-03  2.168e-01 -1.930e-03 -7.519e-04 -3.616e-02 -1.031e+00]
+t: 113	 action: [ 0.095  0.028  0.238  0.011 -0.003 -0.031 -1.056]
+t: 114	 action: [ 0.106  0.019  0.182  0.005 -0.017 -0.036 -1.036]
+t: 115	 action: [ 5.636e-02  2.826e-04  1.710e-01  4.430e-03 -1.902e-02 -3.898e-02 -1.037e+00]
+t: 116	 action: [ 5.777e-02  1.940e-02  9.593e-02  5.755e-04 -3.236e-02 -3.467e-02 -1.039e+00]
+t: 117	 action: [ 3.707e-02  7.869e-03  5.980e-02  3.210e-04 -3.220e-02 -3.849e-02 -1.027e+00]
+t: 118	 action: [ 5.471e-03  1.748e-02  7.500e-02 -6.563e-04 -3.466e-02 -2.875e-02 -1.035e+00]
+t: 119	 action: [-7.428e-03  4.603e-02  6.516e-02  1.979e-04 -5.146e-02 -3.752e-02 -1.056e+00]
+t: 120	 action: [ 0.003  0.021  0.054 -0.007 -0.042 -0.028 -1.037]
+t: 121	 action: [-0.01   0.051  0.03  -0.003 -0.055 -0.035 -1.058]
+[07-31 01:14:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.028  0.02   0.138  0.009  0.009  0.003 -1.047]
+t: 123	 action: [ 0.01  -0.016  0.135  0.005  0.005 -0.004 -1.043]
+t: 124	 action: [ 8.219e-03  1.459e-02  1.086e-01  6.207e-03 -7.478e-04  8.518e-04 -1.039e+00]
+t: 125	 action: [ 0.006 -0.019  0.13   0.005  0.005 -0.005 -1.034]
+t: 126	 action: [ 0.004  0.007  0.097  0.007 -0.006 -0.004 -1.042]
+t: 127	 action: [-0.02   0.007  0.122  0.009 -0.006 -0.004 -1.066]
+t: 128	 action: [ 0.002  0.011  0.119  0.008 -0.004 -0.005 -1.042]
+t: 129	 action: [-0.015  0.015  0.139  0.01  -0.004 -0.008 -1.06 ]
+t: 130	 action: [ 0.017  0.014  0.11   0.009 -0.008  0.004 -1.048]
+t: 131	 action: [ 0.007 -0.013  0.124  0.006  0.003 -0.008 -1.044]
+t: 132	 action: [ 0.007  0.014  0.112  0.007 -0.009  0.001 -1.041]
+t: 133	 action: [ 0.011 -0.015  0.127  0.005  0.006 -0.008 -1.036]
+t: 134	 action: [ 0.008  0.015  0.113  0.007 -0.005 -0.003 -1.046]
+t: 135	 action: [-0.015  0.018  0.135  0.007 -0.006 -0.011 -1.07 ]
+t: 136	 action: [ 0.008  0.015  0.132  0.007 -0.004 -0.006 -1.042]
+t: 137	 action: [-0.014  0.019  0.153  0.008 -0.006 -0.011 -1.066]
+[07-31 01:14:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.952 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [ 0.016  0.033  0.033  0.006  0.005  0.005 -1.048]
+t: 139	 action: [ 0.01  -0.009  0.047  0.002  0.005  0.009 -1.043]
+t: 140	 action: [-7.041e-05  2.032e-02  3.815e-02  4.145e-03 -2.104e-03  3.895e-03 -1.038e+00]
+t: 141	 action: [ 0.007 -0.025  0.068  0.002  0.005  0.009 -1.037]
+t: 142	 action: [-0.002  0.018  0.037  0.003 -0.004  0.005 -1.04 ]
+t: 143	 action: [-0.018  0.005  0.072  0.006 -0.007  0.01  -1.063]
+t: 144	 action: [-0.007  0.011  0.063  0.005 -0.003  0.004 -1.036]
+t: 145	 action: [-0.015  0.004  0.107  0.006 -0.004  0.007 -1.058]
+t: 146	 action: [ 0.02   0.01   0.071  0.007 -0.003  0.01  -1.048]
+t: 147	 action: [ 0.011 -0.026  0.082  0.003  0.005  0.004 -1.046]
+t: 148	 action: [ 0.002  0.013  0.066  0.006 -0.006  0.007 -1.04 ]
+t: 149	 action: [ 0.012 -0.027  0.083  0.002  0.007  0.006 -1.038]
+t: 150	 action: [ 1.352e-03  7.302e-03  7.520e-02  4.127e-03 -1.004e-03  3.406e-03 -1.045e+00]
+t: 151	 action: [-1.686e-02  2.109e-03  1.184e-01  5.235e-03 -2.788e-03 -1.009e-04 -1.071e+00]
+t: 152	 action: [-0.006  0.009  0.087  0.004 -0.001  0.001 -1.039]
+t: 153	 action: [-0.017  0.006  0.13   0.005 -0.002  0.002 -1.065]
+[07-31 01:14:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9984
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=154: Selected seed 195 with value = 0.9984
+t: 154	 action: [ 0.009  0.061 -0.062  0.002  0.013  0.004 -1.037]
+t: 155	 action: [ 1.251e-02  2.551e-02 -5.691e-02 -5.266e-04  8.987e-03  7.728e-03 -1.038e+00]
+t: 156	 action: [-1.311e-02  3.940e-02 -5.564e-02  7.724e-04  5.098e-03  4.199e-03 -1.031e+00]
+t: 157	 action: [ 0.006 -0.002  0.003 -0.001  0.008  0.009 -1.036]
+t: 158	 action: [-1.515e-02  4.660e-02 -6.018e-02 -5.274e-04  1.443e-04  4.346e-03 -1.037e+00]
+t: 159	 action: [-0.024  0.025 -0.027  0.004 -0.004  0.011 -1.06 ]
+t: 160	 action: [-2.286e-02  2.482e-02 -2.885e-02  1.949e-04  1.234e-03  6.074e-03 -1.033e+00]
+t: 161	 action: [-2.610e-02  1.259e-02 -2.933e-04  3.658e-03 -2.403e-03  8.784e-03 -1.057e+00]
+t: 162	 action: [ 0.02   0.014 -0.012  0.004  0.005  0.012 -1.042]
+t: 163	 action: [ 0.014 -0.02   0.033 -0.002  0.008  0.007 -1.043]
+t: 164	 action: [-0.005  0.016 -0.016  0.003  0.002  0.01  -1.037]
+t: 165	 action: [ 0.014 -0.016  0.04  -0.002  0.01   0.008 -1.036]
+t: 166	 action: [-4.291e-03  1.029e-02 -5.430e-03  4.660e-04  4.144e-03  5.596e-03 -1.045e+00]
+t: 167	 action: [-0.023  0.005  0.022  0.002 -0.003  0.002 -1.07 ]
+t: 168	 action: [-1.941e-02  1.170e-02  5.533e-03 -2.234e-04  4.121e-03  3.533e-03 -1.039e+00]
+t: 169	 action: [-0.027  0.012  0.036  0.002 -0.001  0.005 -1.065]
+[07-31 01:14:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9983
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=170: Selected seed 195 with value = 0.9983
+t: 170	 action: [ 1.888e-02  5.456e-02 -9.589e-02  2.236e-04  1.237e-02  4.997e-03 -1.038e+00]
+t: 171	 action: [ 0.016  0.025 -0.113 -0.004  0.01   0.008 -1.038]
+t: 172	 action: [-8.776e-03  3.567e-02 -8.277e-02  8.742e-04  4.421e-03  5.001e-03 -1.032e+00]
+t: 173	 action: [ 0.008 -0.004 -0.049 -0.005  0.008  0.01  -1.036]
+t: 174	 action: [-0.011  0.041 -0.095 -0.001 -0.002  0.005 -1.036]
+t: 175	 action: [-0.023  0.022 -0.056  0.001 -0.003  0.011 -1.06 ]
+t: 176	 action: [-2.483e-02  2.339e-02 -6.146e-02 -1.072e-03 -5.264e-04  7.566e-03 -1.034e+00]
+t: 177	 action: [-0.028  0.01  -0.01   0.001 -0.002  0.01  -1.059]
+t: 178	 action: [ 0.022  0.012 -0.048  0.003  0.005  0.013 -1.043]
+t: 179	 action: [ 1.407e-02 -2.027e-02 -9.748e-04 -5.486e-03  8.760e-03  7.395e-03 -1.042e+00]
+t: 180	 action: [-0.006  0.016 -0.048  0.003  0.002  0.01  -1.037]
+t: 181	 action: [ 0.013 -0.018  0.022 -0.005  0.01   0.01  -1.036]
+t: 182	 action: [-8.149e-03  1.068e-02 -4.304e-02 -1.009e-03  3.983e-03  6.471e-03 -1.047e+00]
+t: 183	 action: [-2.548e-02  5.220e-03 -7.849e-03 -8.946e-04 -2.019e-03  2.843e-03 -1.069e+00]
+t: 184	 action: [-0.026  0.012 -0.029 -0.001  0.004  0.004 -1.041]
+t: 185	 action: [-3.094e-02  1.079e-02  4.578e-03 -4.294e-05 -1.646e-04  5.577e-03 -1.065e+00]
+[07-31 01:14:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9994
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=186: Selected seed 195 with value = 0.9994
+t: 186	 action: [ 0.021  0.033 -0.083  0.001  0.011  0.005 -1.044]
+t: 187	 action: [ 0.016  0.004 -0.098 -0.005  0.009  0.007 -1.043]
+t: 188	 action: [-0.01   0.025 -0.075  0.001  0.003  0.004 -1.037]
+t: 189	 action: [ 0.007 -0.017 -0.037 -0.006  0.008  0.008 -1.038]
+t: 190	 action: [-1.004e-02  2.569e-02 -8.541e-02 -6.544e-04 -2.564e-03  4.708e-03 -1.040e+00]
+t: 191	 action: [-2.207e-02  9.754e-03 -4.182e-02  8.777e-04 -2.004e-03  9.110e-03 -1.064e+00]
+t: 192	 action: [-2.775e-02  1.861e-02 -5.513e-02 -5.886e-04 -7.669e-04  5.379e-03 -1.038e+00]
+t: 193	 action: [-2.843e-02  6.352e-03 -6.441e-03  1.217e-03 -5.050e-04  6.797e-03 -1.060e+00]
+t: 194	 action: [ 0.017  0.011 -0.055  0.004  0.004  0.011 -1.046]
+t: 195	 action: [ 0.012 -0.023 -0.013 -0.006  0.008  0.005 -1.044]
+t: 196	 action: [-1.401e-02  1.547e-02 -5.183e-02  3.405e-03 -9.249e-04  8.072e-03 -1.042e+00]
+t: 197	 action: [ 0.01  -0.022  0.019 -0.006  0.009  0.006 -1.039]
+t: 198	 action: [-1.226e-02  1.047e-02 -5.360e-02 -1.195e-04  1.928e-03  5.103e-03 -1.049e+00]
+t: 199	 action: [-2.647e-02  3.748e-03 -1.069e-02 -8.395e-04 -2.528e-03  6.570e-05 -1.069e+00]
+t: 200	 action: [-3.187e-02  1.261e-02 -3.596e-02 -8.937e-04  8.774e-04  1.912e-03 -1.045e+00]
+t: 201	 action: [-3.366e-02  7.971e-03  1.776e-03 -3.687e-06 -4.241e-04  2.488e-03 -1.068e+00]
+[07-31 01:14:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+t: 202	 action: [ 0.033  0.025 -0.048  0.002  0.013  0.005 -1.05 ]
+t: 203	 action: [ 0.019 -0.009 -0.044 -0.006  0.01   0.006 -1.045]
+t: 204	 action: [ 0.002  0.021 -0.048  0.002  0.004  0.004 -1.041]
+t: 205	 action: [ 0.011 -0.025  0.006 -0.007  0.009  0.005 -1.038]
+t: 206	 action: [ 3.390e-04  1.821e-02 -5.413e-02 -6.920e-04 -1.202e-05  3.947e-03 -1.042e+00]
+t: 207	 action: [-1.569e-02  1.186e-03 -1.673e-02 -3.960e-04  3.011e-03  7.077e-03 -1.065e+00]
+t: 208	 action: [-1.903e-02  1.487e-02 -3.525e-02 -4.387e-04  1.732e-03  3.164e-03 -1.040e+00]
+t: 209	 action: [-2.224e-02  2.665e-03  3.400e-03  2.325e-05  4.946e-03  3.979e-03 -1.060e+00]
+t: 210	 action: [ 0.023  0.011 -0.04   0.004  0.005  0.01  -1.052]
+t: 211	 action: [ 0.014 -0.023  0.006 -0.007  0.009  0.002 -1.046]
+t: 212	 action: [-7.399e-03  1.550e-02 -3.612e-02  3.882e-03  1.562e-04  6.737e-03 -1.047e+00]
+t: 213	 action: [ 0.013 -0.025  0.031 -0.007  0.01   0.004 -1.04 ]
+t: 214	 action: [-8.021e-03  1.082e-02 -4.374e-02  1.032e-04  3.620e-03  3.983e-03 -1.050e+00]
+t: 215	 action: [-2.346e-02  1.375e-03 -4.560e-03 -1.766e-03  9.118e-04 -1.506e-03 -1.068e+00]
+t: 216	 action: [-2.652e-02  1.268e-02 -2.704e-02 -7.804e-04  2.301e-03  6.177e-04 -1.047e+00]
+t: 217	 action: [-2.809e-02  6.309e-03  1.403e-02 -9.558e-04  2.786e-03  8.443e-04 -1.067e+00]
+[07-31 01:14:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+t: 218	 action: [ 0.035  0.021 -0.034  0.002  0.013  0.006 -1.053]
+t: 219	 action: [ 0.02  -0.015 -0.013 -0.007  0.011  0.005 -1.045]
+t: 220	 action: [ 0.003  0.018 -0.035  0.003  0.006  0.004 -1.043]
+t: 221	 action: [ 0.012 -0.027  0.023 -0.008  0.011  0.004 -1.039]
+t: 222	 action: [ 3.140e-03  1.626e-02 -3.933e-02 -4.821e-04  1.667e-03  3.135e-03 -1.043e+00]
+t: 223	 action: [-0.013 -0.002 -0.005 -0.001  0.005  0.005 -1.064]
+t: 224	 action: [-1.617e-02  1.429e-02 -2.188e-02 -3.130e-04  3.321e-03  1.777e-03 -1.041e+00]
+t: 225	 action: [-1.954e-02  2.670e-03  1.556e-02 -6.753e-04  7.078e-03  2.372e-03 -1.060e+00]
+t: 226	 action: [ 0.022  0.01  -0.029  0.004  0.006  0.009 -1.054]
+t: 227	 action: [ 1.379e-02 -2.383e-02  1.635e-02 -7.673e-03  9.970e-03  5.247e-04 -1.048e+00]
+t: 228	 action: [-0.008  0.015 -0.024  0.004  0.001  0.006 -1.049]
+t: 229	 action: [ 0.014 -0.026  0.036 -0.008  0.01   0.003 -1.041]
+t: 230	 action: [-7.411e-03  1.060e-02 -3.327e-02  5.103e-05  4.799e-03  3.439e-03 -1.052e+00]
+t: 231	 action: [-2.262e-02 -5.438e-05  1.831e-03 -2.245e-03  1.482e-03 -2.477e-03 -1.068e+00]
+t: 232	 action: [-2.460e-02  1.223e-02 -1.593e-02 -7.744e-04  3.335e-03  1.616e-04 -1.048e+00]
+t: 233	 action: [-2.572e-02  6.215e-03  2.299e-02 -1.501e-03  3.398e-03  1.486e-04 -1.067e+00]
+[07-31 01:14:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+t: 234	 action: [ 0.033  0.017 -0.042  0.003  0.013  0.006 -1.052]
+t: 235	 action: [ 0.02  -0.018 -0.026 -0.008  0.011  0.004 -1.046]
+t: 236	 action: [ 9.745e-04  1.518e-02 -4.407e-02  2.726e-03  5.861e-03  3.849e-03 -1.041e+00]
+t: 237	 action: [ 0.012 -0.027  0.011 -0.009  0.011  0.003 -1.04 ]
+t: 238	 action: [ 1.622e-04  1.374e-02 -4.727e-02 -4.110e-04  2.251e-03  2.702e-03 -1.043e+00]
+t: 239	 action: [-0.014 -0.003 -0.01  -0.002  0.005  0.004 -1.065]
+t: 240	 action: [-1.957e-02  1.352e-02 -3.308e-02 -7.948e-04  3.037e-03  1.487e-03 -1.040e+00]
+t: 241	 action: [-2.096e-02  3.031e-03  5.151e-03 -1.672e-03  6.556e-03  9.803e-04 -1.061e+00]
+t: 242	 action: [ 0.018  0.009 -0.037  0.004  0.006  0.009 -1.053]
+t: 243	 action: [ 1.343e-02 -2.384e-02  3.699e-05 -8.521e-03  1.017e-02 -4.141e-04 -1.049e+00]
+t: 244	 action: [-0.013  0.014 -0.034  0.003  0.002  0.006 -1.048]
+t: 245	 action: [ 0.011 -0.026  0.026 -0.009  0.01   0.002 -1.043]
+t: 246	 action: [-1.196e-02  9.977e-03 -4.245e-02 -4.879e-04  4.606e-03  3.133e-03 -1.051e+00]
+t: 247	 action: [-2.449e-02 -2.210e-04 -8.471e-03 -2.562e-03  1.561e-03 -3.434e-03 -1.069e+00]
+t: 248	 action: [-2.932e-02  1.208e-02 -2.702e-02 -1.515e-03  2.711e-03 -1.950e-04 -1.048e+00]
+t: 249	 action: [-2.918e-02  5.908e-03  6.201e-03 -2.321e-03  2.854e-03 -7.058e-04 -1.068e+00]
+[07-31 01:14:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+t: 250	 action: [ 0.034  0.012 -0.045  0.003  0.014  0.007 -1.052]
+t: 251	 action: [ 0.021 -0.019 -0.022 -0.009  0.011  0.002 -1.046]
+t: 252	 action: [ 0.001  0.013 -0.046  0.003  0.008  0.004 -1.042]
+t: 253	 action: [ 0.012 -0.025  0.009 -0.01   0.012  0.003 -1.04 ]
+t: 254	 action: [ 1.547e-03  1.146e-02 -4.880e-02 -5.498e-04  4.716e-03  2.369e-03 -1.043e+00]
+t: 255	 action: [-0.011 -0.002 -0.009 -0.002  0.007  0.003 -1.065]
+t: 256	 action: [-1.679e-02  1.314e-02 -3.673e-02 -9.679e-04  4.740e-03  1.120e-03 -1.040e+00]
+t: 257	 action: [-1.876e-02  5.784e-03  3.408e-03 -2.584e-03  7.710e-03  3.927e-04 -1.061e+00]
+t: 258	 action: [ 0.016  0.008 -0.041  0.003  0.009  0.008 -1.055]
+t: 259	 action: [ 0.013 -0.023 -0.007 -0.009  0.011 -0.002 -1.051]
+t: 260	 action: [-0.014  0.013 -0.036  0.002  0.004  0.006 -1.049]
+t: 261	 action: [ 0.011 -0.024  0.019 -0.01   0.011  0.002 -1.044]
+t: 262	 action: [-1.122e-02  9.222e-03 -4.621e-02 -8.029e-04  6.927e-03  2.793e-03 -1.052e+00]
+t: 263	 action: [-2.368e-02  9.262e-04 -1.045e-02 -2.623e-03  2.491e-03 -3.759e-03 -1.069e+00]
+t: 264	 action: [-2.740e-02  1.232e-02 -3.258e-02 -2.201e-03  4.380e-03 -5.240e-04 -1.048e+00]
+t: 265	 action: [-2.795e-02  7.249e-03 -2.347e-06 -2.803e-03  3.397e-03 -5.101e-04 -1.068e+00]
+[07-31 01:14:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+t: 266	 action: [ 0.033  0.007 -0.044  0.004  0.013  0.007 -1.05 ]
+t: 267	 action: [ 0.02  -0.023 -0.025 -0.008  0.01  -0.001 -1.046]
+t: 268	 action: [-8.520e-04  1.031e-02 -4.589e-02  2.938e-03  7.947e-03  5.075e-03 -1.039e+00]
+t: 269	 action: [ 1.107e-02 -2.314e-02  3.880e-03 -9.661e-03  1.123e-02 -4.215e-04 -1.040e+00]
+t: 270	 action: [-2.531e-04  7.911e-03 -4.464e-02  5.163e-04  5.745e-03  1.667e-03 -1.041e+00]
+t: 271	 action: [-8.316e-03 -2.125e-03 -8.519e-03 -1.318e-03  6.551e-03 -1.783e-04 -1.066e+00]
+t: 272	 action: [-1.729e-02  1.173e-02 -3.571e-02 -6.669e-04  4.725e-03  2.121e-04 -1.039e+00]
+t: 273	 action: [-0.018  0.008  0.003 -0.002  0.007 -0.002 -1.061]
+t: 274	 action: [ 0.012  0.009 -0.041  0.004  0.009  0.007 -1.052]
+t: 275	 action: [ 0.013 -0.023 -0.012 -0.008  0.01  -0.004 -1.053]
+t: 276	 action: [-0.017  0.013 -0.037  0.002  0.005  0.005 -1.047]
+t: 277	 action: [ 1.052e-02 -2.387e-02  1.205e-02 -9.332e-03  9.883e-03 -1.283e-04 -1.046e+00]
+t: 278	 action: [-1.337e-02  9.188e-03 -4.471e-02 -2.108e-04  6.584e-03  1.531e-03 -1.050e+00]
+t: 279	 action: [-0.022  0.002 -0.011 -0.001  0.002 -0.006 -1.07 ]
+t: 280	 action: [-0.028  0.013 -0.034 -0.002  0.004 -0.002 -1.048]
+t: 281	 action: [-0.028  0.009 -0.004 -0.002  0.002 -0.002 -1.067]
+[07-31 01:14:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+t: 282	 action: [ 0.032  0.004 -0.032  0.005  0.013  0.006 -1.049]
+t: 283	 action: [ 0.021 -0.03  -0.005 -0.006  0.01  -0.004 -1.046]
+t: 284	 action: [ 5.351e-04  8.046e-03 -2.945e-02  3.671e-03  9.788e-03  4.990e-03 -1.037e+00]
+t: 285	 action: [ 0.012 -0.027  0.02  -0.008  0.012 -0.003 -1.04 ]
+t: 286	 action: [-7.328e-04  2.865e-03 -2.736e-02  1.649e-03  7.952e-03  6.106e-04 -1.040e+00]
+t: 287	 action: [-4.002e-03 -4.919e-03  3.850e-03  4.586e-04  7.053e-03 -2.853e-03 -1.067e+00]
+t: 288	 action: [-1.462e-02  8.435e-03 -1.778e-02  3.607e-04  6.990e-03 -6.671e-04 -1.038e+00]
+t: 289	 action: [-1.433e-02  7.399e-03  1.588e-02 -7.388e-04  7.320e-03 -4.538e-03 -1.061e+00]
+t: 290	 action: [ 0.011  0.008 -0.027  0.004  0.01   0.006 -1.051]
+t: 291	 action: [ 0.015 -0.028  0.003 -0.007  0.01  -0.007 -1.056]
+t: 292	 action: [-0.016  0.011 -0.023  0.002  0.007  0.004 -1.045]
+t: 293	 action: [ 0.011 -0.028  0.024 -0.008  0.01  -0.002 -1.047]
+t: 294	 action: [-1.273e-02  5.645e-03 -2.883e-02  1.000e-03  7.943e-03 -8.298e-06 -1.050e+00]
+t: 295	 action: [-2.026e-02 -4.942e-04 -4.186e-03  2.987e-04  1.650e-03 -7.291e-03 -1.071e+00]
+t: 296	 action: [-2.584e-02  1.111e-02 -1.979e-02 -5.411e-04  5.680e-03 -2.574e-03 -1.046e+00]
+t: 297	 action: [-2.436e-02  7.949e-03  6.734e-03 -3.312e-04  1.843e-03 -2.714e-03 -1.066e+00]
+[07-31 01:14:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 1.0000
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 7
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 14%|█▍        | 7/50 [03:40<22:30, 31.41s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 8...
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+t: 298	 action: [ 0.035  0.002 -0.021  0.005  0.015  0.006 -1.047]
+t: 299	 action: [ 0.023 -0.035  0.003 -0.006  0.012 -0.006 -1.045]
+t: 300	 action: [ 0.003  0.006 -0.017  0.003  0.012  0.005 -1.036]
+t: 301	 action: [ 0.013 -0.029  0.025 -0.008  0.014 -0.004 -1.039]
+t: 302	 action: [ 8.064e-04  5.533e-04 -1.780e-02  1.727e-03  9.977e-03  2.221e-04 -1.039e+00]
+t: 303	 action: [-5.975e-04 -6.626e-03  1.088e-02  7.370e-04  9.662e-03 -3.990e-03 -1.067e+00]
+t: 304	 action: [-1.217e-02  6.796e-03 -6.667e-03  3.231e-04  8.523e-03 -1.402e-03 -1.037e+00]
+t: 305	 action: [-1.210e-02  7.699e-03  2.485e-02 -7.949e-04  9.994e-03 -5.360e-03 -1.061e+00]
+t: 306	 action: [ 0.013  0.006 -0.015  0.003  0.012  0.005 -1.05 ]
+t: 307	 action: [ 0.016 -0.031  0.01  -0.006  0.012 -0.007 -1.056]
+t: 308	 action: [-1.456e-02  1.050e-02 -1.071e-02  9.446e-04  8.903e-03  3.848e-03 -1.045e+00]
+t: 309	 action: [ 0.013 -0.029  0.028 -0.008  0.011 -0.002 -1.048]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+[07-31 01:14:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4617
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4617
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4617
+t=10: Selected seed 195 with value = 0.4617
+t: 10	 action: [ 1.280e-01  1.135e-01  9.625e-03  3.928e-03  6.567e-03  7.137e-04 -1.024e+00]
+t: 11	 action: [ 0.262  0.19   0.021  0.007  0.001 -0.005 -1.021]
+t: 12	 action: [ 4.293e-01  3.380e-01  1.707e-02  2.100e-03  1.206e-02  5.144e-05 -1.029e+00]
+t: 13	 action: [ 0.52   0.39   0.03   0.003  0.004 -0.003 -1.023]
+t: 14	 action: [ 6.387e-01  4.239e-01  2.637e-02 -4.954e-05  1.757e-02 -1.161e-03 -1.031e+00]
+t: 15	 action: [ 7.137e-01  4.930e-01  1.205e-02  6.674e-04  9.658e-03 -4.441e-03 -1.050e+00]
+t: 16	 action: [ 0.786  0.51   0.022 -0.005  0.025 -0.003 -1.025]
+t: 17	 action: [ 0.82   0.557  0.009 -0.001  0.012 -0.003 -1.052]
+t: 18	 action: [ 0.809  0.56  -0.015 -0.003  0.022  0.004 -1.029]
+t: 19	 action: [ 0.829  0.556 -0.01  -0.008  0.02  -0.004 -1.032]
+t: 20	 action: [ 0.827  0.581 -0.047 -0.013  0.02   0.003 -1.035]
+t: 21	 action: [ 0.854  0.568 -0.054 -0.011  0.022 -0.002 -1.031]
+t: 22	 action: [ 8.566e-01  5.873e-01 -9.940e-02 -6.386e-03  1.883e-02  8.355e-04 -1.013e+00]
+t: 23	 action: [ 0.846  0.558 -0.1   -0.002  0.01  -0.004 -1.045]
+t: 24	 action: [ 0.805  0.559 -0.243 -0.006  0.015 -0.003 -1.022]
+t: 25	 action: [ 0.821  0.487 -0.264 -0.002  0.008 -0.002 -1.053]
+[07-31 01:14:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5974
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5974
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5974
+t=26: Selected seed 195 with value = 0.5974
+t: 26	 action: [ 0.826  0.476 -0.333 -0.014  0.012  0.006 -1.034]
+t: 27	 action: [ 0.785  0.384 -0.357 -0.013  0.012 -0.006 -1.033]
+t: 28	 action: [ 0.681  0.343 -0.434  0.006  0.006  0.004 -1.042]
+t: 29	 action: [ 0.559  0.182 -0.496 -0.004  0.005 -0.01  -1.036]
+t: 30	 action: [ 0.405  0.101 -0.614  0.003  0.009 -0.002 -1.03 ]
+t: 31	 action: [ 3.111e-01  4.269e-02 -6.586e-01  9.352e-03 -6.257e-04 -7.457e-03 -1.056e+00]
+t: 32	 action: [ 1.796e-01  9.706e-03 -8.890e-01  6.281e-04 -3.213e-03 -5.318e-03 -1.039e+00]
+t: 33	 action: [ 0.11   0.018 -0.933  0.01  -0.01  -0.013 -1.061]
+t: 34	 action: [-0.013 -0.008 -0.918  0.01  -0.038 -0.007 -1.04 ]
+t: 35	 action: [-0.071 -0.078 -0.992 -0.003 -0.04  -0.019 -1.027]
+t: 36	 action: [-0.133 -0.05  -0.941  0.01  -0.049 -0.01  -1.039]
+t: 37	 action: [-0.215 -0.106 -1.027 -0.004 -0.054 -0.02  -1.031]
+t: 38	 action: [-2.398e-01 -1.211e-01 -9.448e-01  2.320e-04 -6.388e-02 -8.877e-03 -1.042e+00]
+t: 39	 action: [-0.322 -0.073 -0.998  0.002 -0.065 -0.024 -1.038]
+t: 40	 action: [-4.337e-01 -1.506e-01 -9.407e-01  2.184e-04 -6.254e-02 -9.625e-03 -1.032e+00]
+t: 41	 action: [-4.699e-01 -8.601e-02 -9.940e-01 -2.523e-04 -6.585e-02 -2.187e-02 -1.045e+00]
+[07-31 01:14:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6683
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6683
+Query 1/1: Action query time = 0.997 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6683
+t=42: Selected seed 195 with value = 0.6683
+t: 42	 action: [-0.306  0.032 -0.961  0.009 -0.002  0.021 -1.053]
+t: 43	 action: [-2.704e-01  5.460e-02 -8.606e-01  4.865e-03 -9.285e-04  2.463e-02 -1.027e+00]
+t: 44	 action: [-2.803e-01  6.544e-02 -8.160e-01 -2.810e-04  4.327e-03  2.680e-02 -1.049e+00]
+t: 45	 action: [-0.235  0.109 -0.739 -0.007  0.008  0.029 -1.033]
+t: 46	 action: [-0.29   0.067 -0.667 -0.017  0.009  0.027 -1.043]
+t: 47	 action: [-0.268  0.142 -0.672 -0.004  0.002  0.022 -1.042]
+t: 48	 action: [-0.225  0.107 -0.509 -0.033  0.013  0.029 -1.046]
+t: 49	 action: [-0.246  0.153 -0.559 -0.012  0.01   0.019 -1.043]
+t: 50	 action: [-0.35   0.05  -0.624 -0.016  0.023  0.016 -1.237]
+t: 51	 action: [-0.341  0.049 -0.488 -0.018  0.03   0.037 -1.149]
+t: 52	 action: [-0.299  0.038 -0.44  -0.025  0.023  0.019  0.981]
+t: 53	 action: [-0.192  0.027 -0.317 -0.018  0.033  0.023  1.028]
+t: 54	 action: [-0.226  0.038 -0.27  -0.036  0.032  0.008  1.104]
+t: 55	 action: [-0.121  0.039 -0.153 -0.016  0.025  0.026  1.154]
+t: 56	 action: [-0.122  0.033 -0.114 -0.033  0.024  0.004  1.004]
+t: 57	 action: [-0.048  0.025 -0.019 -0.016  0.025  0.015  1.037]
+[07-31 01:14:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7326
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 0.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=58: Selected seed 195 with value = 0.7326
+t: 58	 action: [-0.072 -0.012 -0.088 -0.036  0.026  0.007  0.983]
+t: 59	 action: [-0.025 -0.029  0.011 -0.035  0.041  0.008  1.016]
+t: 60	 action: [-0.024  0.001  0.074 -0.027  0.031  0.007  0.974]
+t: 61	 action: [ 9.000e-04 -1.598e-02  2.166e-01 -2.994e-02  3.818e-02  7.689e-03  1.013e+00]
+t: 62	 action: [-0.017  0.005  0.33  -0.015  0.045 -0.001  0.995]
+t: 63	 action: [ 0.024  0.018  0.509 -0.024  0.031 -0.001  1.007]
+t: 64	 action: [ 0.034  0.016  0.692 -0.004  0.032 -0.004  0.987]
+t: 65	 action: [ 0.031  0.034  0.746 -0.017  0.019 -0.011  1.015]
+t: 66	 action: [ 0.114 -0.014  0.841 -0.001  0.024  0.002  0.98 ]
+t: 67	 action: [ 0.067  0.006  0.899  0.005  0.018 -0.005  1.009]
+t: 68	 action: [ 1.230e-01 -6.651e-02  8.372e-01  6.417e-05  1.197e-02  7.046e-04  9.742e-01]
+t: 69	 action: [ 0.055 -0.196  0.828  0.008  0.005 -0.001  1.021]
+t: 70	 action: [ 5.275e-02 -2.826e-01  7.677e-01  8.940e-03  1.300e-02 -2.657e-05  9.975e-01]
+t: 71	 action: [-0.027 -0.434  0.653  0.012  0.008  0.006  1.012]
+t: 72	 action: [-0.067 -0.463  0.365  0.014 -0.005 -0.001  0.995]
+t: 73	 action: [-0.131 -0.609  0.192  0.013  0.002  0.005  1.028]
+[07-31 01:14:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7731
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7731
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7731
+t=74: Selected seed 195 with value = 0.7731
+t: 74	 action: [0.013 0.21  0.117 0.002 0.01  0.003 1.019]
+t: 75	 action: [-3.622e-02  2.259e-01  1.753e-02  9.180e-03  2.214e-03  7.090e-04  1.032e+00]
+t: 76	 action: [-0.032  0.256 -0.008  0.007  0.01   0.001  0.996]
+t: 77	 action: [-0.164  0.246 -0.082  0.02   0.003  0.004  0.985]
+t: 78	 action: [-1.623e-01  1.742e-01 -8.066e-02  5.627e-03  8.822e-03  3.285e-05  9.973e-01]
+t: 79	 action: [-2.623e-01  1.450e-01 -1.350e-01  1.773e-02 -4.254e-03  2.328e-04  1.026e+00]
+t: 80	 action: [-0.329  0.233 -0.2    0.004  0.005 -0.003  0.945]
+t: 81	 action: [-0.374  0.159 -0.341  0.024 -0.004  0.002  0.922]
+t: 82	 action: [-0.389  0.057 -0.361  0.019  0.017  0.036  0.951]
+t: 83	 action: [-0.449  0.018 -0.396  0.023  0.008  0.045  1.008]
+t: 84	 action: [-0.4    0.051 -0.442  0.013  0.025  0.044  1.001]
+t: 85	 action: [-4.339e-01 -1.739e-04 -4.046e-01  1.782e-02  9.317e-03  5.220e-02  1.056e+00]
+t: 86	 action: [-0.428  0.085 -0.443  0.003  0.008  0.042  1.   ]
+t: 87	 action: [-0.406  0.044 -0.423 -0.004  0.002  0.045  1.061]
+t: 88	 action: [-0.345  0.089 -0.43   0.002 -0.001  0.035  1.02 ]
+t: 89	 action: [-0.294  0.046 -0.313 -0.016 -0.001  0.047  1.085]
+[07-31 01:14:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.118 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8094
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8094
+Query 1/1: Action query time = 1.118 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8094
+t=90: Selected seed 195 with value = 0.8094
+t: 90	 action: [ 0.021  0.032  0.075  0.004  0.019 -0.002  1.006]
+t: 91	 action: [-0.024 -0.012  0.017  0.003  0.01  -0.009  1.028]
+t: 92	 action: [-0.016  0.044 -0.071  0.002  0.017 -0.005  1.002]
+t: 93	 action: [-1.207e-01 -8.004e-04 -1.392e-01  7.989e-03  1.146e-02 -3.514e-03  1.036e+00]
+t: 94	 action: [-0.103  0.016 -0.075  0.004  0.02   0.004  1.024]
+t: 95	 action: [-0.208 -0.002 -0.068  0.02   0.002  0.004  1.054]
+t: 96	 action: [-0.242  0.036 -0.199  0.003  0.018  0.001  1.015]
+t: 97	 action: [-0.33   0.009 -0.323  0.02   0.004  0.007  1.06 ]
+t: 98	 action: [-0.342  0.029 -0.498  0.002  0.044  0.021  0.969]
+t: 99	 action: [-0.438 -0.039 -0.531  0.002  0.01   0.035  1.014]
+t: 100	 action: [-3.632e-01  5.474e-03 -5.577e-01 -2.941e-04  4.187e-02  2.329e-02  9.898e-01]
+t: 101	 action: [-0.43  -0.053 -0.524 -0.002  0.006  0.039  1.05 ]
+t: 102	 action: [-0.322  0.004 -0.434 -0.004  0.013  0.036  1.019]
+t: 103	 action: [-0.353 -0.041 -0.476 -0.024 -0.001  0.043  1.076]
+t: 104	 action: [-0.261 -0.025 -0.353 -0.006 -0.009  0.024  1.029]
+t: 105	 action: [-0.267 -0.057 -0.299 -0.029 -0.013  0.038  1.084]
+[07-31 01:14:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.180 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8771
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8771
+Query 1/1: Action query time = 1.180 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=106: Selected seed 195 with value = 0.8771
+t: 106	 action: [-0.018  0.031  0.239 -0.044 -0.011 -0.003  1.005]
+t: 107	 action: [-4.837e-02  3.768e-02  2.869e-01 -2.794e-02 -9.684e-04 -4.572e-03  1.042e+00]
+t: 108	 action: [-0.067  0.036  0.402 -0.02   0.001 -0.01   1.016]
+t: 109	 action: [-0.168 -0.006  0.347 -0.02   0.015 -0.007  1.04 ]
+t: 110	 action: [-0.179  0.012  0.467 -0.01   0.028 -0.008  1.017]
+t: 111	 action: [-0.285 -0.006  0.346 -0.011  0.024 -0.002  1.067]
+t: 112	 action: [-0.345  0.005  0.358 -0.008  0.047 -0.012  1.024]
+t: 113	 action: [-0.356 -0.088  0.216 -0.007  0.061 -0.006  1.062]
+t: 114	 action: [-0.256  0.045 -0.015 -0.003  0.089 -0.005  1.151]
+t: 115	 action: [-0.266 -0.012  0.024 -0.005  0.088 -0.018  0.885]
+t: 116	 action: [-0.142  0.025  0.025 -0.003  0.092 -0.017  0.899]
+t: 117	 action: [-0.148 -0.036  0.053 -0.004  0.079 -0.031 -0.767]
+t: 118	 action: [-0.111  0.018 -0.014 -0.005  0.086 -0.008 -1.149]
+t: 119	 action: [-0.114 -0.057  0.043 -0.015  0.04  -0.019 -0.989]
+t: 120	 action: [-0.057 -0.003  0.132 -0.002  0.068 -0.015 -1.051]
+t: 121	 action: [-0.056 -0.047  0.232 -0.012  0.021 -0.022 -0.963]
+[07-31 01:14:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.100 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9024
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9024
+Query 1/1: Action query time = 1.100 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9024
+t=122: Selected seed 195 with value = 0.9024
+t: 122	 action: [-0.13  -0.052  0.024  0.007  0.032 -0.038  1.013]
+t: 123	 action: [-0.125 -0.126 -0.011 -0.014  0.031 -0.035  1.024]
+t: 124	 action: [-0.076 -0.008  0.031  0.004  0.033 -0.035  1.001]
+t: 125	 action: [-0.084 -0.064 -0.02  -0.006  0.026 -0.034  1.02 ]
+t: 126	 action: [-0.14  -0.015 -0.028  0.007  0.044 -0.034  1.006]
+t: 127	 action: [-0.106 -0.03  -0.042  0.012  0.018 -0.027  1.01 ]
+t: 128	 action: [-0.116  0.01  -0.066  0.003  0.037 -0.034  0.991]
+t: 129	 action: [-0.093  0.006 -0.092  0.01   0.015 -0.03   1.004]
+t: 130	 action: [-0.095  0.032 -0.106  0.006  0.019 -0.016  1.163]
+t: 131	 action: [-0.162  0.024 -0.066  0.008  0.006 -0.03   1.047]
+t: 132	 action: [-0.091  0.052 -0.023  0.001  0.003 -0.026  1.155]
+t: 133	 action: [-0.138  0.018  0.054  0.003  0.003 -0.043 -0.871]
+t: 134	 action: [-1.013e-01  4.218e-02  4.695e-02 -9.161e-07 -5.915e-03 -4.407e-02 -1.166e+00]
+t: 135	 action: [-0.116  0.082  0.065  0.006 -0.008 -0.048 -1.116]
+t: 136	 action: [-0.056  0.051  0.176 -0.002 -0.017 -0.051 -1.168]
+t: 137	 action: [-0.074  0.081  0.26   0.002 -0.015 -0.05  -1.035]
+[07-31 01:14:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9154
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=138: Selected seed 195 with value = 0.9154
+t: 138	 action: [-0.107  0.015 -0.411  0.008  0.046 -0.038  1.007]
+t: 139	 action: [-0.068  0.019 -0.281  0.011  0.034 -0.042  1.029]
+t: 140	 action: [-0.024  0.022 -0.241  0.004  0.04  -0.049  1.005]
+t: 141	 action: [-0.005  0.039 -0.112  0.01   0.031 -0.051  1.014]
+t: 142	 action: [-0.014 -0.009 -0.064  0.016  0.048 -0.055  1.004]
+t: 143	 action: [ 0.007  0.005 -0.053  0.012  0.023 -0.05   1.012]
+t: 144	 action: [ 0.012  0.003  0.077  0.007  0.036 -0.07   0.997]
+t: 145	 action: [ 0.013  0.04   0.027  0.01   0.02  -0.058  0.912]
+t: 146	 action: [-0.017  0.079  0.146  0.007  0.018 -0.045  1.186]
+t: 147	 action: [-0.038  0.056  0.216  0.015  0.008 -0.051 -0.992]
+t: 148	 action: [ 0.004  0.074  0.259  0.002  0.003 -0.047 -1.038]
+t: 149	 action: [ 0.013  0.052  0.335  0.011  0.006 -0.052 -1.046]
+t: 150	 action: [ 0.028  0.044  0.299  0.003  0.004 -0.063 -1.16 ]
+t: 151	 action: [-0.039  0.098  0.371  0.013 -0.005 -0.058 -1.033]
+t: 152	 action: [ 0.023  0.058  0.33  -0.001 -0.002 -0.053 -1.039]
+t: 153	 action: [-0.003  0.092  0.383  0.009 -0.007 -0.05  -1.044]
+[07-31 01:14:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.956 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9454
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9454
+Query 1/1: Action query time = 0.956 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9454
+t=154: Selected seed 195 with value = 0.9454
+t: 154	 action: [-0.073  0.006  0.069  0.005  0.033 -0.049  0.908]
+t: 155	 action: [ 0.005 -0.006  0.15  -0.004  0.027 -0.066  0.894]
+t: 156	 action: [ 4.544e-04  1.993e-02  1.848e-01  4.556e-03  2.758e-02 -6.362e-02 -9.677e-01]
+t: 157	 action: [ 0.027  0.005  0.272 -0.003  0.025 -0.061 -1.028]
+t: 158	 action: [ 0.037 -0.016  0.251  0.002  0.031 -0.055 -0.063]
+t: 159	 action: [ 0.086  0.024  0.306 -0.004  0.014 -0.063 -0.96 ]
+t: 160	 action: [ 6.335e-02 -2.919e-03  2.902e-01  8.084e-04  3.100e-02 -6.612e-02 -1.015e+00]
+t: 161	 action: [ 7.273e-02  4.019e-02  3.309e-01  2.305e-04  1.729e-02 -6.508e-02 -1.043e+00]
+t: 162	 action: [ 0.046  0.015  0.244  0.007  0.016 -0.058  1.072]
+t: 163	 action: [ 0.018 -0.001  0.27   0.004  0.018 -0.058 -0.805]
+t: 164	 action: [ 0.047  0.025  0.256  0.005  0.01  -0.063 -1.016]
+t: 165	 action: [ 0.033  0.004  0.299  0.001  0.013 -0.059 -1.054]
+t: 166	 action: [ 0.085 -0.011  0.274  0.002  0.013 -0.065 -1.111]
+t: 167	 action: [ 3.381e-02  3.320e-02  2.911e-01  4.344e-03  3.835e-04 -5.883e-02 -9.898e-01]
+t: 168	 action: [ 7.615e-02  9.699e-03  2.924e-01 -7.492e-04  9.043e-03 -6.784e-02 -1.006e+00]
+t: 169	 action: [ 4.252e-02  3.943e-02  3.046e-01  1.823e-03 -1.218e-04 -5.818e-02 -1.031e+00]
+[07-31 01:14:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9754
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9754
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9754
+t=170: Selected seed 195 with value = 0.9754
+t: 170	 action: [ 0.08   0.061  0.115  0.006  0.009 -0.023 -1.047]
+t: 171	 action: [ 0.061  0.04   0.075  0.014  0.008 -0.037 -1.01 ]
+t: 172	 action: [ 0.074  0.035  0.037  0.005  0.004 -0.034 -1.047]
+t: 173	 action: [ 0.077  0.032  0.039  0.013  0.01  -0.046 -1.042]
+t: 174	 action: [ 0.083  0.043  0.075  0.005 -0.002 -0.025 -1.045]
+t: 175	 action: [ 0.067  0.056  0.02   0.017 -0.01  -0.036 -1.043]
+t: 176	 action: [ 8.586e-02  2.002e-02  4.301e-02  4.228e-03 -7.267e-05 -3.762e-02 -1.039e+00]
+t: 177	 action: [ 0.099  0.052  0.012  0.016 -0.008 -0.049 -1.065]
+t: 178	 action: [ 7.499e-02  3.094e-02  7.098e-02  7.154e-03 -7.156e-04 -3.537e-02 -1.042e+00]
+t: 179	 action: [ 0.051  0.032  0.043  0.014  0.006 -0.039 -1.017]
+t: 180	 action: [ 7.062e-02  1.098e-02  3.485e-02  5.521e-03  8.755e-04 -4.392e-02 -1.040e+00]
+t: 181	 action: [ 0.077  0.025  0.033  0.012  0.009 -0.048 -1.042]
+t: 182	 action: [ 0.085  0.006  0.065  0.004 -0.003 -0.039 -1.043]
+t: 183	 action: [ 0.058  0.055  0.019  0.017 -0.013 -0.038 -1.038]
+t: 184	 action: [ 8.320e-02  1.957e-03  4.551e-02  3.262e-03  9.768e-04 -4.950e-02 -1.028e+00]
+t: 185	 action: [ 0.089  0.049  0.014  0.015 -0.01  -0.048 -1.061]
+[07-31 01:14:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.142 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9745
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9745
+Query 1/1: Action query time = 1.142 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9745
+t=186: Selected seed 195 with value = 0.9745
+t: 186	 action: [ 0.069  0.038  0.184  0.005  0.008 -0.019 -1.033]
+t: 187	 action: [ 0.056  0.012  0.169  0.012  0.007 -0.027 -0.985]
+t: 188	 action: [ 0.072  0.012  0.062  0.004  0.004 -0.027 -1.043]
+t: 189	 action: [ 0.076  0.01   0.064  0.011  0.009 -0.038 -1.046]
+t: 190	 action: [ 0.074  0.023  0.134  0.005 -0.005 -0.019 -1.039]
+t: 191	 action: [ 0.054  0.026  0.066  0.015 -0.01  -0.024 -1.031]
+t: 192	 action: [ 0.084  0.004  0.062  0.004 -0.002 -0.028 -1.036]
+t: 193	 action: [ 0.106  0.029  0.024  0.015 -0.008 -0.038 -1.069]
+t: 194	 action: [ 0.072  0.004  0.126  0.006 -0.007 -0.03  -1.03 ]
+t: 195	 action: [ 4.768e-02  6.880e-05  1.024e-01  1.162e-02  3.868e-03 -2.952e-02 -1.003e+00]
+t: 196	 action: [ 0.069 -0.006  0.05   0.005 -0.004 -0.036 -1.038]
+t: 197	 action: [ 0.073 -0.002  0.043  0.01   0.007 -0.041 -1.046]
+t: 198	 action: [ 0.079 -0.014  0.113  0.004 -0.01  -0.03  -1.035]
+t: 199	 action: [ 0.046  0.022  0.046  0.015 -0.016 -0.027 -1.025]
+t: 200	 action: [ 0.079 -0.012  0.058  0.003 -0.005 -0.038 -1.028]
+t: 201	 action: [ 0.083  0.021  0.024  0.013 -0.011 -0.04  -1.065]
+[07-31 01:14:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.135 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9601
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 1.135 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=202: Selected seed 195 with value = 0.9601
+t: 202	 action: [ 0.059  0.028  0.201  0.008  0.015 -0.016 -0.995]
+t: 203	 action: [ 0.05   0.013  0.202  0.012  0.014 -0.019 -0.926]
+t: 204	 action: [ 0.067  0.002  0.047  0.003  0.013 -0.02  -1.028]
+t: 205	 action: [ 0.072  0.016  0.064  0.01   0.013 -0.03  -1.046]
+t: 206	 action: [ 6.998e-02  1.130e-02  1.458e-01  7.091e-03 -9.751e-05 -1.382e-02 -1.026e+00]
+t: 207	 action: [ 0.041  0.017  0.089  0.016 -0.004 -0.014 -1.028]
+t: 208	 action: [ 0.083 -0.007  0.042  0.005  0.003 -0.019 -1.027]
+t: 209	 action: [ 0.106  0.02   0.022  0.015 -0.002 -0.028 -1.071]
+t: 210	 action: [ 0.072 -0.014  0.088  0.007 -0.012 -0.026 -1.019]
+t: 211	 action: [ 0.055 -0.019  0.067  0.01   0.008 -0.025 -1.004]
+t: 212	 action: [ 6.828e-02 -1.561e-02  8.505e-05  3.936e-03 -6.828e-03 -3.019e-02 -1.031e+00]
+t: 213	 action: [ 0.072 -0.016  0.022  0.009  0.012 -0.035 -1.044]
+t: 214	 action: [ 0.077 -0.026  0.069  0.005 -0.015 -0.023 -1.027]
+t: 215	 action: [ 3.572e-02 -3.841e-06  2.625e-02  1.380e-02 -1.060e-02 -2.069e-02 -1.024e+00]
+t: 216	 action: [ 0.071 -0.02   0.009  0.002 -0.008 -0.028 -1.023]
+t: 217	 action: [ 0.059 -0.002 -0.002  0.012 -0.006 -0.031 -1.063]
+[07-31 01:14:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.147 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9319
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9319
+Query 1/1: Action query time = 1.147 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9319
+t=218: Selected seed 195 with value = 0.9319
+t: 218	 action: [ 0.075  0.023  0.212  0.01   0.02  -0.015 -0.988]
+t: 219	 action: [ 0.093  0.022  0.215  0.014  0.021 -0.016 -0.927]
+t: 220	 action: [ 0.092 -0.002  0.065  0.004  0.019 -0.015 -1.022]
+t: 221	 action: [ 0.127  0.025  0.085  0.011  0.016 -0.024 -1.042]
+t: 222	 action: [ 0.091  0.002  0.164  0.012  0.005 -0.011 -1.028]
+t: 223	 action: [ 0.081  0.008  0.118  0.017 -0.002 -0.008 -1.043]
+t: 224	 action: [ 0.114 -0.012  0.055  0.008  0.007 -0.013 -1.025]
+t: 225	 action: [ 1.527e-01  1.618e-02  2.424e-02  1.579e-02 -6.982e-04 -1.899e-02 -1.071e+00]
+t: 226	 action: [ 0.106 -0.014  0.088  0.01  -0.016 -0.023 -1.03 ]
+t: 227	 action: [ 0.118 -0.024  0.046  0.013  0.008 -0.022 -1.025]
+t: 228	 action: [ 0.109 -0.015 -0.01   0.004 -0.013 -0.024 -1.038]
+t: 229	 action: [ 0.146 -0.016 -0.022  0.01   0.011 -0.031 -1.043]
+t: 230	 action: [ 0.103 -0.024  0.044  0.009 -0.024 -0.019 -1.035]
+t: 231	 action: [ 0.073 -0.008  0.009  0.016 -0.013 -0.016 -1.039]
+t: 232	 action: [ 0.099 -0.017 -0.021  0.003 -0.016 -0.022 -1.03 ]
+t: 233	 action: [ 0.096 -0.006 -0.073  0.013 -0.008 -0.024 -1.061]
+[07-31 01:14:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.101 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9105
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9105
+Query 1/1: Action query time = 1.101 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9105
+t=234: Selected seed 195 with value = 0.9105
+t: 234	 action: [ 0.09   0.028  0.214  0.01   0.021 -0.014 -1.014]
+t: 235	 action: [ 0.122  0.025  0.191  0.013  0.018 -0.016 -0.983]
+t: 236	 action: [ 0.106 -0.002  0.069  0.005  0.018 -0.01  -1.027]
+t: 237	 action: [ 0.154  0.016  0.069  0.013  0.014 -0.019 -1.042]
+t: 238	 action: [ 0.101  0.004  0.156  0.016  0.004 -0.009 -1.034]
+t: 239	 action: [ 0.099 -0.012  0.104  0.018 -0.003 -0.007 -1.061]
+t: 240	 action: [ 0.119 -0.011  0.043  0.011  0.003 -0.008 -1.03 ]
+t: 241	 action: [ 0.155 -0.007  0.007  0.016 -0.002 -0.012 -1.07 ]
+t: 242	 action: [ 0.122 -0.016  0.064  0.011 -0.025 -0.01  -1.05 ]
+t: 243	 action: [ 0.13  -0.039  0.005  0.015 -0.004 -0.017 -1.048]
+t: 244	 action: [ 0.126 -0.014 -0.037  0.003 -0.025 -0.01  -1.052]
+t: 245	 action: [ 0.155 -0.029 -0.113  0.011 -0.002 -0.02  -1.044]
+t: 246	 action: [ 1.015e-01 -1.367e-02  3.263e-05  1.135e-02 -3.747e-02 -9.485e-03 -1.053e+00]
+t: 247	 action: [ 0.059 -0.019 -0.072  0.018 -0.03  -0.012 -1.066]
+t: 248	 action: [ 0.092 -0.004 -0.069  0.002 -0.033 -0.01  -1.046]
+t: 249	 action: [ 0.063 -0.009 -0.191  0.013 -0.025 -0.013 -1.061]
+[07-31 01:14:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.036 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8944
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8944
+Query 1/1: Action query time = 1.036 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8944
+t=250: Selected seed 195 with value = 0.8944
+t: 250	 action: [ 0.085  0.031  0.156  0.008  0.024 -0.012 -1.031]
+t: 251	 action: [ 0.123  0.032  0.089  0.012  0.016 -0.014 -1.017]
+t: 252	 action: [ 0.104  0.005  0.018  0.003  0.02  -0.007 -1.029]
+t: 253	 action: [ 0.148  0.013  0.002  0.011  0.012 -0.014 -1.039]
+t: 254	 action: [ 0.099  0.011  0.072  0.013  0.008 -0.007 -1.041]
+t: 255	 action: [ 0.109 -0.023  0.019  0.016 -0.003 -0.005 -1.07 ]
+t: 256	 action: [ 0.108 -0.003 -0.021  0.007  0.004 -0.005 -1.035]
+t: 257	 action: [ 0.144 -0.022 -0.047  0.014 -0.004 -0.007 -1.068]
+t: 258	 action: [ 1.089e-01 -2.634e-02 -3.276e-02  1.070e-02 -3.553e-02  9.397e-04 -1.057e+00]
+t: 259	 action: [ 0.087 -0.056 -0.156  0.013 -0.022 -0.006 -1.048]
+t: 260	 action: [ 0.111 -0.018 -0.135  0.006 -0.04   0.004 -1.056]
+t: 261	 action: [ 0.102 -0.048 -0.302  0.009 -0.024 -0.008 -1.042]
+t: 262	 action: [ 6.952e-02 -2.582e-03 -1.018e-01  6.288e-03 -5.202e-02 -9.502e-04 -1.063e+00]
+t: 263	 action: [ 0.016 -0.026 -0.255  0.014 -0.05  -0.003 -1.069]
+t: 264	 action: [ 5.417e-02  6.057e-03 -1.810e-01 -3.062e-04 -4.984e-02 -1.516e-03 -1.056e+00]
+t: 265	 action: [ 0.014 -0.018 -0.35   0.008 -0.046 -0.002 -1.058]
+[07-31 01:14:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8857
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8857
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8857
+t=266: Selected seed 195 with value = 0.8857
+t: 266	 action: [ 0.044  0.024  0.245  0.006  0.011 -0.007 -1.035]
+t: 267	 action: [ 0.099  0.022  0.145  0.007  0.011 -0.01  -1.012]
+t: 268	 action: [ 0.088  0.004  0.056  0.002  0.012 -0.002 -1.033]
+t: 269	 action: [ 0.132  0.004  0.009  0.006  0.01  -0.01  -1.041]
+t: 270	 action: [ 0.081  0.017  0.111  0.009  0.002 -0.006 -1.052]
+t: 271	 action: [ 9.375e-02 -1.311e-02  6.819e-02  1.315e-02 -5.276e-03 -2.367e-04 -1.071e+00]
+t: 272	 action: [ 1.028e-01  2.242e-03 -1.846e-02  4.569e-03  5.467e-04 -3.187e-03 -1.044e+00]
+t: 273	 action: [ 0.124 -0.024 -0.037  0.01  -0.006 -0.004 -1.067]
+t: 274	 action: [ 0.122 -0.02  -0.104  0.01  -0.034  0.003 -1.061]
+t: 275	 action: [ 0.096 -0.058 -0.261  0.011 -0.023 -0.003 -1.05 ]
+t: 276	 action: [ 0.125 -0.017 -0.238  0.007 -0.039  0.005 -1.061]
+t: 277	 action: [ 0.108 -0.054 -0.414  0.006 -0.025 -0.007 -1.043]
+t: 278	 action: [ 7.546e-02  5.953e-03 -1.932e-01  7.100e-04 -4.918e-02 -6.095e-04 -1.074e+00]
+t: 279	 action: [ 1.911e-02 -3.179e-02 -3.357e-01  7.428e-03 -4.658e-02 -4.996e-04 -1.070e+00]
+t: 280	 action: [ 0.061  0.008 -0.278 -0.001 -0.047 -0.001 -1.068]
+t: 281	 action: [ 0.011 -0.024 -0.387  0.002 -0.042 -0.003 -1.057]
+[07-31 01:14:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8735
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=282: Selected seed 195 with value = 0.8735
+t: 282	 action: [ 6.101e-02  3.141e-02  3.444e-01 -5.412e-04 -2.080e-03 -4.267e-03 -1.017e+00]
+t: 283	 action: [ 0.13   0.035  0.276 -0.004  0.003 -0.004 -0.973]
+t: 284	 action: [ 1.242e-01  8.888e-03  1.760e-01 -7.090e-04  6.836e-03  3.260e-04 -1.039e+00]
+t: 285	 action: [ 0.178  0.009  0.123 -0.002  0.008 -0.005 -1.043]
+t: 286	 action: [ 0.1    0.025  0.215  0.003 -0.005 -0.004 -1.057]
+t: 287	 action: [ 0.113  0.008  0.187  0.006 -0.007  0.005 -1.069]
+t: 288	 action: [ 1.378e-01 -1.402e-05  5.333e-02  2.771e-03  6.969e-04 -2.694e-03 -1.052e+00]
+t: 289	 action: [ 1.445e-01 -2.391e-02 -3.697e-03  6.656e-03 -4.483e-03 -9.465e-04 -1.064e+00]
+t: 290	 action: [ 0.135 -0.028 -0.123  0.005 -0.025  0.004 -1.067]
+t: 291	 action: [ 0.106 -0.07  -0.268  0.006 -0.014  0.004 -1.054]
+t: 292	 action: [ 0.147 -0.026 -0.285  0.005 -0.027  0.006 -1.072]
+t: 293	 action: [ 0.139 -0.062 -0.438  0.002 -0.015 -0.004 -1.048]
+t: 294	 action: [ 8.769e-02  2.081e-03 -2.374e-01 -1.490e-03 -3.616e-02  3.181e-04 -1.083e+00]
+t: 295	 action: [ 0.035 -0.045 -0.349  0.001 -0.035  0.006 -1.071]
+t: 296	 action: [ 8.345e-02  3.149e-03 -3.204e-01 -3.559e-03 -3.570e-02 -6.111e-04 -1.077e+00]
+t: 297	 action: [ 0.034 -0.029 -0.412 -0.003 -0.034 -0.002 -1.048]
+[07-31 01:14:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8589
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8589
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 8
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 16%|█▌        | 8/50 [04:12<22:05, 31.57s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 9...
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8589
+t=298: Selected seed 195 with value = 0.8589
+t: 298	 action: [ 0.05   0.026  0.286 -0.003 -0.003 -0.006  0.959]
+t: 299	 action: [ 7.209e-02 -4.536e-04  2.999e-01 -1.691e-02  7.170e-04 -1.368e-02  7.802e-01]
+t: 300	 action: [ 0.13  -0.008  0.279 -0.001  0.006 -0.002 -0.783]
+t: 301	 action: [ 1.610e-01 -6.438e-02  2.343e-01 -1.289e-02  1.694e-04  1.247e-02 -1.028e+00]
+t: 302	 action: [ 1.151e-01 -1.919e-03  2.647e-01  5.590e-04 -5.352e-03 -7.371e-03 -1.121e+00]
+t: 303	 action: [ 0.026 -0.05   0.241 -0.006 -0.01  -0.003 -1.068]
+t: 304	 action: [ 0.141 -0.065  0.126  0.001 -0.002 -0.003 -0.404]
+t: 305	 action: [ 1.160e-01 -1.321e-01  3.308e-02 -7.546e-04 -7.993e-03  1.273e-02  1.003e+00]
+t: 306	 action: [ 0.135 -0.135 -0.239  0.006 -0.024  0.004 -1.068]
+t: 307	 action: [ 0.073 -0.145 -0.359  0.002 -0.017  0.009 -1.067]
+t: 308	 action: [ 0.159 -0.124 -0.398  0.006 -0.023  0.007 -1.022]
+t: 309	 action: [ 0.134 -0.126 -0.51  -0.002 -0.019  0.024 -1.064]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+[07-31 01:14:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.023 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4651
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 1.023 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=10: Selected seed 195 with value = 0.4651
+t: 10	 action: [ 2.755e-02  1.757e-02 -1.037e-02  2.390e-03 -3.456e-03  6.652e-04 -1.013e+00]
+t: 11	 action: [ 1.406e-01  4.300e-02  3.159e-04 -3.176e-03  1.726e-04 -9.104e-03 -1.020e+00]
+t: 12	 action: [ 2.611e-01  1.713e-01  2.966e-03 -6.318e-04 -1.238e-03  3.147e-03 -1.020e+00]
+t: 13	 action: [ 3.760e-01  2.357e-01  1.621e-02 -5.825e-03 -6.057e-05 -8.040e-03 -1.026e+00]
+t: 14	 action: [ 4.796e-01  3.243e-01 -3.087e-03 -4.780e-03  9.189e-04 -3.211e-03 -1.028e+00]
+t: 15	 action: [ 6.075e-01  4.205e-01  3.853e-03 -3.723e-03 -5.215e-04 -1.043e-02 -1.054e+00]
+t: 16	 action: [ 0.703  0.51   0.013 -0.008  0.007 -0.002 -1.02 ]
+t: 17	 action: [ 0.79   0.535  0.012 -0.004 -0.001 -0.01  -1.059]
+t: 18	 action: [ 0.788  0.568  0.023  0.006  0.013  0.006 -1.027]
+t: 19	 action: [ 0.815  0.583  0.024 -0.005  0.009 -0.002 -1.026]
+t: 20	 action: [ 0.841  0.587  0.017  0.003  0.014  0.008 -1.024]
+t: 21	 action: [ 0.853  0.589  0.012 -0.005  0.012 -0.002 -1.027]
+t: 22	 action: [ 0.86   0.536 -0.02   0.001  0.015  0.002 -1.013]
+t: 23	 action: [ 8.720e-01  5.360e-01 -1.210e-02 -5.067e-04  2.429e-03 -6.116e-03 -1.046e+00]
+t: 24	 action: [ 8.827e-01  4.786e-01 -6.300e-02 -9.366e-04  1.400e-02  1.068e-03 -1.011e+00]
+t: 25	 action: [ 8.949e-01  4.619e-01 -4.892e-02  1.788e-04  3.294e-03 -5.522e-03 -1.056e+00]
+[07-31 01:15:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.018 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5376
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 1.018 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=26: Selected seed 195 with value = 0.5376
+t: 26	 action: [ 0.764  0.487 -0.189  0.01  -0.005  0.009 -1.025]
+t: 27	 action: [ 0.706  0.46  -0.182  0.011 -0.002  0.011 -1.026]
+t: 28	 action: [ 0.636  0.338 -0.289  0.007 -0.013  0.01  -1.031]
+t: 29	 action: [ 0.557  0.255 -0.34   0.01  -0.008  0.01  -1.032]
+t: 30	 action: [ 0.417  0.155 -0.46   0.003 -0.01   0.001 -1.02 ]
+t: 31	 action: [ 0.348  0.096 -0.58   0.017 -0.011  0.004 -1.051]
+t: 32	 action: [ 0.262  0.064 -0.738  0.005 -0.017  0.002 -1.026]
+t: 33	 action: [ 0.205  0.046 -0.891  0.016 -0.019  0.003 -1.055]
+t: 34	 action: [ 0.16   0.002 -0.855  0.008 -0.031  0.009 -1.037]
+t: 35	 action: [ 0.056 -0.056 -0.933  0.007 -0.042  0.003 -1.029]
+t: 36	 action: [-0.003 -0.03  -0.929  0.007 -0.037  0.009 -1.04 ]
+t: 37	 action: [-0.067 -0.068 -0.991  0.004 -0.048  0.004 -1.03 ]
+t: 38	 action: [-0.125 -0.018 -0.942  0.006 -0.034  0.005 -1.041]
+t: 39	 action: [-0.189  0.021 -0.979  0.016 -0.043  0.005 -1.041]
+t: 40	 action: [-0.275 -0.012 -0.945  0.002 -0.034  0.005 -1.039]
+t: 41	 action: [-0.325  0.017 -0.969  0.013 -0.039  0.008 -1.046]
+[07-31 01:15:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.023 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6187
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6187
+Query 1/1: Action query time = 1.023 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6187
+t=42: Selected seed 195 with value = 0.6187
+t: 42	 action: [-0.079  0.049 -1.013  0.013 -0.028  0.006 -1.025]
+t: 43	 action: [-0.039  0.025 -1.011  0.01  -0.032  0.002 -1.044]
+t: 44	 action: [-0.032  0.027 -0.956  0.009 -0.015  0.007 -1.023]
+t: 45	 action: [-0.044  0.005 -0.961  0.006 -0.011  0.002 -1.044]
+t: 46	 action: [-1.151e-01  1.271e-02 -8.580e-01  1.481e-03 -3.030e-04  1.598e-03 -1.023e+00]
+t: 47	 action: [-2.025e-01  7.060e-02 -8.761e-01  7.241e-03 -8.360e-04 -1.094e-03 -1.051e+00]
+t: 48	 action: [-2.542e-01  8.404e-04 -7.575e-01  5.071e-04 -5.538e-04 -4.571e-04 -1.017e+00]
+t: 49	 action: [-3.397e-01  5.436e-02 -8.032e-01  9.632e-04  7.371e-04 -6.348e-03 -1.050e+00]
+t: 50	 action: [-0.24   0.03  -0.724  0.002 -0.003  0.005 -1.025]
+t: 51	 action: [-0.332 -0.008 -0.716 -0.008 -0.002  0.01  -1.136]
+t: 52	 action: [-4.239e-01  1.939e-02 -6.884e-01  1.507e-03  2.737e-04  2.948e-03 -1.173e+00]
+t: 53	 action: [-4.512e-01 -2.861e-02 -6.604e-01 -6.997e-03 -1.149e-03  7.723e-03 -1.170e+00]
+t: 54	 action: [-0.498 -0.005 -0.608 -0.004 -0.006 -0.008 -1.023]
+t: 55	 action: [-0.491 -0.02  -0.531 -0.008 -0.004 -0.002  1.139]
+t: 56	 action: [-0.401 -0.006 -0.528 -0.006 -0.002 -0.014  1.097]
+t: 57	 action: [-0.266 -0.023 -0.418 -0.011 -0.002 -0.005  1.215]
+[07-31 01:15:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7199
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7199
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7199
+t=58: Selected seed 195 with value = 0.7199
+t: 58	 action: [-0.369 -0.012 -0.451 -0.006  0.006 -0.008  0.969]
+t: 59	 action: [-0.227 -0.017 -0.208 -0.002  0.034 -0.018  1.015]
+t: 60	 action: [-0.174 -0.064 -0.195 -0.007  0.036 -0.026  0.977]
+t: 61	 action: [-0.038 -0.068 -0.023 -0.006  0.056 -0.033  1.016]
+t: 62	 action: [ 0.021 -0.101  0.086 -0.015  0.054 -0.044  0.992]
+t: 63	 action: [ 0.053 -0.114  0.142 -0.009  0.066 -0.044  1.019]
+t: 64	 action: [ 0.075 -0.112  0.338 -0.012  0.058 -0.062  0.999]
+t: 65	 action: [ 0.037 -0.081  0.461 -0.004  0.064 -0.058  1.027]
+t: 66	 action: [ 0.116 -0.03   0.554 -0.002  0.059 -0.051  0.979]
+t: 67	 action: [ 0.136 -0.042  0.75  -0.004  0.069 -0.058  1.003]
+t: 68	 action: [ 1.217e-01 -2.410e-02  8.043e-01 -8.972e-04  4.691e-02 -4.776e-02  9.727e-01]
+t: 69	 action: [ 0.113 -0.029  0.9   -0.002  0.052 -0.055  1.005]
+t: 70	 action: [ 8.915e-02 -4.471e-02  9.254e-01  6.905e-04  2.391e-02 -3.693e-02  9.949e-01]
+t: 71	 action: [ 0.022 -0.1    0.953  0.012  0.011 -0.034  1.011]
+t: 72	 action: [ 0.042 -0.154  0.921  0.005  0.017 -0.023  1.006]
+t: 73	 action: [-0.003 -0.222  0.917  0.026  0.004 -0.018  1.017]
+[07-31 01:15:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8356
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=74: Selected seed 195 with value = 0.8356
+t: 74	 action: [-9.204e-03 -6.676e-01  7.596e-01  6.508e-02  6.846e-02  3.271e-04  9.807e-01]
+t: 75	 action: [-0.021 -0.719  0.636  0.058  0.084  0.002  1.015]
+t: 76	 action: [-9.291e-02 -7.640e-01  4.135e-01  5.780e-02  7.457e-02 -2.464e-04  9.744e-01]
+t: 77	 action: [-0.108 -0.799  0.244  0.053  0.086  0.009  1.006]
+t: 78	 action: [-0.123 -0.796  0.064  0.047  0.087  0.003  0.99 ]
+t: 79	 action: [-0.231 -0.796 -0.027  0.049  0.078  0.016  1.012]
+t: 80	 action: [-0.188 -0.753 -0.139  0.03   0.077  0.005  0.984]
+t: 81	 action: [-0.27  -0.688 -0.205  0.034  0.066  0.02   1.022]
+t: 82	 action: [-0.279 -0.581 -0.276  0.019  0.027  0.01   0.987]
+t: 83	 action: [-0.299 -0.423 -0.47   0.005  0.027  0.024  1.016]
+t: 84	 action: [-0.249 -0.282 -0.521  0.003  0.013  0.014  0.978]
+t: 85	 action: [-0.247 -0.212 -0.683 -0.017  0.014  0.029  1.025]
+t: 86	 action: [-0.293 -0.054 -0.639 -0.016  0.001  0.028  0.996]
+t: 87	 action: [-0.271  0.002 -0.774 -0.032 -0.001  0.034  1.014]
+t: 88	 action: [-2.452e-01  7.753e-03 -6.547e-01 -4.480e-02  9.392e-04  2.531e-02  9.892e-01]
+t: 89	 action: [-1.581e-01  4.701e-02 -7.015e-01 -4.651e-02 -4.273e-04  3.512e-02  1.025e+00]
+[07-31 01:15:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9794
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=90: Selected seed 195 with value = 0.9794
+t: 90	 action: [ 0.02  -0.06  -0.353 -0.027 -0.002  0.008  1.162]
+t: 91	 action: [ 0.056 -0.078 -0.197 -0.032  0.011  0.01   1.037]
+t: 92	 action: [ 0.054 -0.024 -0.079 -0.013  0.013  0.006  1.183]
+t: 93	 action: [ 0.068 -0.063  0.037 -0.022  0.015  0.005 -1.045]
+t: 94	 action: [ 0.087 -0.044  0.095 -0.012  0.023 -0.002 -1.209]
+t: 95	 action: [ 0.062 -0.049  0.08  -0.007  0.019 -0.009 -1.139]
+t: 96	 action: [ 0.109 -0.035  0.177  0.003  0.034 -0.004 -1.182]
+t: 97	 action: [ 0.058 -0.016  0.224  0.008  0.026 -0.006 -1.063]
+t: 98	 action: [ 0.107  0.008  0.261  0.004  0.038  0.004 -1.038]
+t: 99	 action: [ 8.030e-02 -8.445e-03  2.952e-01  5.623e-03  3.917e-02 -2.803e-04 -1.037e+00]
+t: 100	 action: [ 0.083  0.007  0.283  0.003  0.041  0.002 -1.047]
+t: 101	 action: [ 0.069 -0.003  0.302  0.008  0.049 -0.002 -1.032]
+t: 102	 action: [ 0.053  0.003  0.264  0.003  0.052 -0.003 -1.044]
+t: 103	 action: [ 0.047  0.028  0.285  0.011  0.043 -0.004 -1.06 ]
+t: 104	 action: [ 5.736e-02  6.602e-04  2.698e-01  1.058e-03  5.646e-02 -6.032e-03 -1.048e+00]
+t: 105	 action: [ 0.03   0.027  0.262  0.011  0.041 -0.002 -1.066]
+[07-31 01:15:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 7.730e-02 -2.537e-03  1.132e-01  1.579e-02  7.054e-02 -3.624e-04 -1.045e+00]
+t: 107	 action: [ 0.064 -0.047  0.112  0.012  0.071 -0.007 -1.035]
+t: 108	 action: [ 0.053 -0.006  0.086  0.013  0.068  0.002 -1.036]
+t: 109	 action: [ 0.041 -0.053  0.107  0.012  0.078 -0.003 -1.031]
+t: 110	 action: [ 0.028 -0.018  0.064  0.009  0.069 -0.004 -1.036]
+t: 111	 action: [ 0.035 -0.026  0.099  0.015  0.067 -0.004 -1.061]
+t: 112	 action: [ 0.025 -0.013  0.081  0.008  0.071 -0.003 -1.034]
+t: 113	 action: [ 0.013 -0.019  0.115  0.014  0.063 -0.003 -1.056]
+t: 114	 action: [ 6.085e-02  4.825e-04  7.710e-02  1.396e-02  6.215e-02 -6.838e-04 -1.047e+00]
+t: 115	 action: [ 0.057 -0.036  0.087  0.013  0.069 -0.007 -1.044]
+t: 116	 action: [ 0.047  0.007  0.081  0.011  0.064  0.002 -1.037]
+t: 117	 action: [ 0.043 -0.045  0.096  0.012  0.074 -0.005 -1.046]
+t: 118	 action: [ 0.028 -0.003  0.072  0.01   0.07  -0.002 -1.041]
+t: 119	 action: [ 0.032 -0.006  0.087  0.016  0.062 -0.006 -1.06 ]
+t: 120	 action: [ 2.383e-02 -1.938e-04  8.173e-02  6.805e-03  7.073e-02 -3.222e-03 -1.031e+00]
+t: 121	 action: [ 0.015 -0.012  0.108  0.015  0.062 -0.003 -1.065]
+[07-31 01:15:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9978
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=122: Selected seed 195 with value = 0.9978
+t: 122	 action: [ 0.014  0.004 -0.033  0.012  0.018  0.004 -1.041]
+t: 123	 action: [ 0.022 -0.043  0.02   0.01   0.026 -0.003 -1.041]
+t: 124	 action: [ 0.011  0.005 -0.006  0.01   0.029  0.005 -1.028]
+t: 125	 action: [ 0.023 -0.045  0.045  0.009  0.039 -0.002 -1.036]
+t: 126	 action: [-8.841e-03 -4.582e-03 -7.554e-03  1.380e-02  3.530e-02  9.101e-04 -1.036e+00]
+t: 127	 action: [ 4.112e-04 -1.672e-02  2.671e-02  1.661e-02  3.447e-02  6.114e-04 -1.064e+00]
+t: 128	 action: [-8.363e-03 -9.432e-04  2.454e-02  1.061e-02  4.475e-02  3.958e-05 -1.029e+00]
+t: 129	 action: [-1.450e-02 -7.071e-03  6.211e-02  1.636e-02  4.292e-02 -5.710e-04 -1.059e+00]
+t: 130	 action: [ 2.768e-02 -2.007e-04 -3.201e-02  9.797e-03  2.246e-02  1.935e-03 -1.045e+00]
+t: 131	 action: [ 0.029 -0.033  0.013  0.01   0.025 -0.005 -1.052]
+t: 132	 action: [ 0.011  0.011 -0.001  0.008  0.032  0.005 -1.033]
+t: 133	 action: [ 0.027 -0.042  0.041  0.01   0.038 -0.002 -1.049]
+t: 134	 action: [ 8.589e-03  2.621e-03  6.620e-03  8.783e-03  4.014e-02  2.935e-04 -1.042e+00]
+t: 135	 action: [-0.006 -0.001  0.009  0.017  0.028 -0.002 -1.066]
+t: 136	 action: [-8.882e-03  6.858e-03  2.911e-02  7.214e-03  4.852e-02 -9.772e-04 -1.031e+00]
+t: 137	 action: [-0.017 -0.003  0.044  0.017  0.04   0.002 -1.062]
+[07-31 01:15:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9906
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=138: Selected seed 195 with value = 0.9906
+t: 138	 action: [-0.053 -0.008 -0.159  0.005 -0.009  0.007 -1.028]
+t: 139	 action: [-0.016 -0.047 -0.156  0.002  0.006 -0.004 -1.048]
+t: 140	 action: [-4.714e-02 -7.891e-03 -1.029e-01  5.601e-03 -1.321e-04  6.648e-03 -1.023e+00]
+t: 141	 action: [-5.794e-03 -4.810e-02 -7.560e-02  2.993e-04  1.026e-02 -1.703e-03 -1.048e+00]
+t: 142	 action: [-0.058 -0.013 -0.106  0.004  0.005  0.002 -1.035]
+t: 143	 action: [-0.024 -0.015 -0.051  0.009  0.002 -0.003 -1.066]
+t: 144	 action: [-0.043 -0.01  -0.048  0.003  0.011  0.002 -1.026]
+t: 145	 action: [-0.032 -0.007 -0.002  0.008  0.007 -0.004 -1.063]
+t: 146	 action: [-0.03  -0.004 -0.144  0.007 -0.005  0.003 -1.038]
+t: 147	 action: [ 0.007 -0.042 -0.143  0.002  0.003 -0.006 -1.045]
+t: 148	 action: [-4.235e-02 -4.652e-04 -9.641e-02  6.450e-03  1.425e-03  5.473e-03 -1.112e+00]
+t: 149	 action: [-4.313e-02 -4.685e-02 -8.780e-02  1.918e-04  7.954e-03  1.533e-02 -1.105e+00]
+t: 150	 action: [-3.739e-02 -2.640e-03 -8.884e-02  3.374e-03  8.990e-03  1.179e-04 -1.044e+00]
+t: 151	 action: [-0.028 -0.006 -0.05   0.01  -0.003 -0.004 -1.039]
+t: 152	 action: [-4.448e-02 -1.887e-03 -4.378e-02  2.526e-03  1.472e-02 -6.527e-04  1.064e+00]
+t: 153	 action: [-1.863e-02 -2.113e-03 -1.322e-02  8.800e-03  5.369e-04  2.126e-02  1.123e+00]
+[07-31 01:15:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9885
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=154: Selected seed 195 with value = 0.9885
+t: 154	 action: [-6.277e-02 -1.504e-02 -4.397e-02  5.179e-03  3.765e-03 -9.327e-04 -1.024e+00]
+t: 155	 action: [-0.024 -0.045  0.004  0.002  0.015 -0.008 -1.039]
+t: 156	 action: [-0.056 -0.013  0.001  0.005  0.01   0.001 -1.026]
+t: 157	 action: [-0.012 -0.045  0.051  0.001  0.017 -0.007 -1.037]
+t: 158	 action: [-0.072 -0.022 -0.007  0.004  0.012 -0.004 -1.03 ]
+t: 159	 action: [-0.044 -0.025  0.01   0.009  0.008 -0.006 -1.074]
+t: 160	 action: [-0.053 -0.018  0.055  0.003  0.017 -0.003 -1.032]
+t: 161	 action: [-0.036 -0.008  0.067  0.011  0.012 -0.008 -1.061]
+t: 162	 action: [-0.026  0.009  0.037  0.004 -0.006 -0.003 -1.026]
+t: 163	 action: [ 0.003 -0.021  0.069 -0.002  0.004 -0.011 -1.054]
+t: 164	 action: [-2.256e-02  1.396e-02  9.346e-02  4.406e-03 -8.517e-04  3.419e-04 -1.024e+00]
+t: 165	 action: [ 9.538e-03 -2.157e-02  9.959e-02 -2.923e-06  1.046e-02 -8.550e-03 -1.048e+00]
+t: 166	 action: [-0.02   0.007  0.08   0.003  0.007 -0.004 -1.035]
+t: 167	 action: [-2.658e-02  3.138e-02  1.128e-01  7.507e-03 -3.869e-04 -9.452e-03 -1.076e+00]
+t: 168	 action: [-0.021  0.009  0.129  0.003  0.016 -0.004 -1.027]
+t: 169	 action: [-0.033  0.03   0.149  0.011  0.006 -0.006 -1.065]
+[07-31 01:15:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9898
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=170: Selected seed 195 with value = 0.9898
+t: 170	 action: [-0.043 -0.008 -0.056  0.005 -0.006  0.006 -1.031]
+t: 171	 action: [-1.532e-02 -4.820e-02  1.724e-03 -5.214e-04  7.485e-03 -2.849e-03 -1.045e+00]
+t: 172	 action: [-3.578e-02 -3.160e-03 -1.060e-04  4.286e-03  1.800e-03  4.760e-03 -1.024e+00]
+t: 173	 action: [-0.008 -0.044  0.051 -0.001  0.012 -0.001 -1.038]
+t: 174	 action: [-5.303e-02 -1.650e-02 -2.663e-02  3.792e-03  6.154e-03  5.901e-04 -1.034e+00]
+t: 175	 action: [-3.318e-02 -1.862e-02  1.345e-02  7.317e-03 -4.483e-04 -2.027e-03 -1.073e+00]
+t: 176	 action: [-4.295e-02 -1.320e-02  4.021e-02  2.128e-03  1.325e-02  6.444e-05 -1.028e+00]
+t: 177	 action: [-0.033 -0.002  0.075  0.008  0.004 -0.003 -1.063]
+t: 178	 action: [-0.025 -0.004 -0.036  0.004 -0.006  0.002 -1.036]
+t: 179	 action: [ 6.878e-03 -3.864e-02 -6.334e-03 -1.005e-03 -7.378e-04 -4.690e-03 -1.052e+00]
+t: 180	 action: [-2.375e-02  4.801e-03  1.642e-02  2.709e-03 -1.581e-04  4.252e-03 -1.027e+00]
+t: 181	 action: [ 8.411e-03 -3.708e-02  4.185e-02 -8.928e-04  6.411e-03 -4.188e-05 -1.042e+00]
+t: 182	 action: [-2.717e-02  1.413e-03 -2.778e-04  1.560e-03  6.968e-03 -4.826e-04 -1.039e+00]
+t: 183	 action: [-0.028  0.004  0.008  0.008 -0.008 -0.003 -1.071]
+t: 184	 action: [-3.282e-02  3.591e-03  5.261e-02  9.547e-04  1.401e-02 -1.235e-03 -1.030e+00]
+t: 185	 action: [-0.033  0.009  0.058  0.009 -0.002  0.003 -1.052]
+[07-31 01:15:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=186: Selected seed 195 with value = 0.9905
+t: 186	 action: [-0.043 -0.005 -0.045  0.005 -0.009  0.007 -1.032]
+t: 187	 action: [-2.381e-02 -4.808e-02  6.912e-03  1.544e-04  5.351e-03 -4.437e-04 -1.044e+00]
+t: 188	 action: [-0.039  0.003  0.005  0.004 -0.001  0.005 -1.025]
+t: 189	 action: [-1.667e-02 -4.191e-02  5.241e-02 -3.396e-04  1.025e-02  5.808e-04 -1.038e+00]
+t: 190	 action: [-0.055 -0.017 -0.024  0.004  0.002  0.001 -1.037]
+t: 191	 action: [-3.272e-02 -1.879e-02  1.578e-02  8.152e-03 -2.739e-03 -1.824e-04 -1.071e+00]
+t: 192	 action: [-4.369e-02 -1.146e-02  3.799e-02  2.250e-03  9.710e-03  9.862e-05 -1.030e+00]
+t: 193	 action: [-0.028 -0.002  0.076  0.009  0.003 -0.002 -1.061]
+t: 194	 action: [-0.033 -0.003 -0.032  0.005 -0.009  0.003 -1.037]
+t: 195	 action: [-5.947e-04 -3.866e-02 -6.722e-03  1.896e-04 -2.705e-03 -2.559e-03 -1.050e+00]
+t: 196	 action: [-0.03   0.007  0.012  0.004 -0.003  0.005 -1.029]
+t: 197	 action: [ 3.478e-03 -3.565e-02  4.043e-02  3.427e-04  5.183e-03  1.648e-03 -1.040e+00]
+t: 198	 action: [-3.252e-02 -1.478e-03 -6.121e-03  2.116e-03  3.041e-03  1.852e-04 -1.041e+00]
+t: 199	 action: [-2.763e-02  1.904e-03  5.999e-03  9.564e-03 -9.731e-03 -9.515e-04 -1.069e+00]
+t: 200	 action: [-0.035  0.002  0.042  0.001  0.011 -0.001 -1.031]
+t: 201	 action: [-0.029  0.008  0.053  0.01  -0.002  0.004 -1.048]
+[07-31 01:15:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9901
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=202: Selected seed 195 with value = 0.9901
+t: 202	 action: [-0.032  0.003 -0.029  0.005 -0.013  0.006 -1.031]
+t: 203	 action: [-2.167e-02 -3.931e-02  1.934e-02  3.754e-04 -6.219e-04  6.246e-04 -1.042e+00]
+t: 204	 action: [-0.032  0.01   0.016  0.004 -0.006  0.005 -1.024]
+t: 205	 action: [-1.601e-02 -3.282e-02  6.000e-02 -5.288e-04  7.438e-03  5.112e-04 -1.037e+00]
+t: 206	 action: [-5.156e-02 -7.673e-03 -1.646e-02  3.264e-03 -3.172e-03  9.406e-04 -1.036e+00]
+t: 207	 action: [-2.974e-02 -5.432e-03  2.923e-02  6.726e-03 -7.929e-03 -4.089e-04 -1.071e+00]
+t: 208	 action: [-4.149e-02 -2.010e-03  4.257e-02  2.067e-03  4.156e-03 -2.300e-04 -1.028e+00]
+t: 209	 action: [-0.022  0.011  0.092  0.008 -0.002 -0.003 -1.061]
+t: 210	 action: [-0.03  -0.003 -0.025  0.005 -0.014  0.004 -1.036]
+t: 211	 action: [-4.512e-05 -3.205e-02  6.740e-03  2.659e-04 -9.593e-03 -1.178e-03 -1.046e+00]
+t: 212	 action: [-0.028  0.01   0.019  0.003 -0.008  0.004 -1.028]
+t: 213	 action: [ 6.306e-03 -2.708e-02  4.798e-02  6.418e-05  6.447e-04  2.393e-03 -1.036e+00]
+t: 214	 action: [-3.591e-02  1.868e-03 -5.475e-03  2.298e-03 -3.056e-03  1.961e-04 -1.040e+00]
+t: 215	 action: [-2.628e-02  1.128e-02  1.385e-02  8.411e-03 -1.567e-02 -5.581e-04 -1.067e+00]
+t: 216	 action: [-0.036  0.007  0.044  0.001  0.005 -0.002 -1.029]
+t: 217	 action: [-0.024  0.02   0.069  0.009 -0.006  0.003 -1.044]
+[07-31 01:15:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9913
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=218: Selected seed 195 with value = 0.9913
+t: 218	 action: [-0.011  0.013 -0.051  0.004 -0.014  0.006 -1.033]
+t: 219	 action: [-9.742e-03 -2.385e-02 -2.584e-02 -1.648e-04 -4.136e-03  4.325e-04 -1.042e+00]
+t: 220	 action: [-0.02   0.018 -0.009  0.004 -0.01   0.005 -1.027]
+t: 221	 action: [-9.051e-03 -2.340e-02  3.746e-02 -9.888e-04  4.100e-03  5.996e-05 -1.038e+00]
+t: 222	 action: [-4.004e-02  6.952e-04 -4.588e-02  2.412e-03 -8.083e-03  1.009e-03 -1.038e+00]
+t: 223	 action: [-2.672e-02  3.520e-03 -3.164e-03  6.213e-03 -1.323e-02 -7.448e-05 -1.069e+00]
+t: 224	 action: [-3.301e-02  3.088e-03  1.834e-02  1.589e-03 -2.371e-03 -5.407e-04 -1.029e+00]
+t: 225	 action: [-0.018  0.013  0.056  0.007 -0.006 -0.003 -1.06 ]
+t: 226	 action: [-0.02  -0.003 -0.057  0.005 -0.017  0.004 -1.038]
+t: 227	 action: [ 5.493e-03 -2.577e-02 -3.539e-02 -6.813e-04 -1.517e-02 -1.590e-03 -1.045e+00]
+t: 228	 action: [-0.02   0.01  -0.005  0.003 -0.013  0.004 -1.031]
+t: 229	 action: [ 1.157e-02 -2.156e-02  3.079e-02 -6.689e-04 -4.426e-03  2.026e-03 -1.038e+00]
+t: 230	 action: [-3.004e-02  2.168e-03 -3.713e-02  8.605e-04 -9.254e-03  3.598e-04 -1.041e+00]
+t: 231	 action: [-0.026  0.015 -0.007  0.007 -0.023 -0.001 -1.067]
+t: 232	 action: [-3.106e-02  6.883e-03  2.361e-02  5.342e-04 -2.483e-03 -2.010e-03 -1.031e+00]
+t: 233	 action: [-0.022  0.021  0.038  0.008 -0.012  0.002 -1.049]
+[07-31 01:15:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9928
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=234: Selected seed 195 with value = 0.9928
+t: 234	 action: [-0.001  0.014 -0.042  0.004 -0.011  0.006 -1.036]
+t: 235	 action: [-2.281e-03 -2.052e-02 -1.921e-02 -2.983e-04 -1.534e-03  8.536e-04 -1.042e+00]
+t: 236	 action: [-0.015  0.019 -0.005  0.004 -0.007  0.005 -1.029]
+t: 237	 action: [-3.137e-03 -2.090e-02  3.929e-02 -1.253e-03  5.739e-03  6.338e-04 -1.038e+00]
+t: 238	 action: [-0.035  0.002 -0.043  0.003 -0.006  0.001 -1.038]
+t: 239	 action: [-2.439e-02  8.054e-03  3.684e-04  6.175e-03 -1.152e-02  1.089e-03 -1.067e+00]
+t: 240	 action: [-3.090e-02  4.255e-03  1.999e-02  1.656e-03 -1.001e-03 -1.982e-04 -1.030e+00]
+t: 241	 action: [-0.018  0.018  0.063  0.007 -0.004 -0.002 -1.059]
+t: 242	 action: [-0.014 -0.004 -0.052  0.004 -0.014  0.005 -1.041]
+t: 243	 action: [ 9.050e-03 -2.440e-02 -2.584e-02 -9.479e-04 -1.157e-02 -1.194e-03 -1.047e+00]
+t: 244	 action: [-1.751e-02  1.073e-02 -8.147e-04  3.331e-03 -1.081e-02  4.778e-03 -1.033e+00]
+t: 245	 action: [ 1.522e-02 -1.961e-02  3.691e-02 -9.879e-04 -1.561e-03  2.085e-03 -1.040e+00]
+t: 246	 action: [-2.912e-02  2.274e-03 -3.520e-02  8.169e-04 -7.147e-03  9.718e-04 -1.043e+00]
+t: 247	 action: [-2.448e-02  1.761e-02 -3.619e-03  7.272e-03 -2.105e-02 -3.202e-04 -1.067e+00]
+t: 248	 action: [-3.218e-02  7.615e-03  2.757e-02  4.651e-04 -9.789e-04 -1.649e-03 -1.031e+00]
+t: 249	 action: [-0.021  0.024  0.046  0.007 -0.01   0.003 -1.051]
+[07-31 01:15:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9941
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=250: Selected seed 195 with value = 0.9941
+t: 250	 action: [ 0.009  0.016 -0.03   0.004 -0.009  0.006 -1.04 ]
+t: 251	 action: [ 3.586e-03 -1.311e-02 -8.007e-03 -7.814e-04 -2.462e-03  7.762e-04 -1.043e+00]
+t: 252	 action: [-9.845e-03  2.205e-02  9.939e-04  3.596e-03 -6.608e-03  4.593e-03 -1.031e+00]
+t: 253	 action: [ 2.218e-03 -1.409e-02  4.200e-02 -1.825e-03  4.962e-03  1.023e-03 -1.038e+00]
+t: 254	 action: [-0.031  0.006 -0.038  0.002 -0.006  0.001 -1.039]
+t: 255	 action: [-0.022  0.016  0.005  0.006 -0.013  0.002 -1.065]
+t: 256	 action: [-2.850e-02  7.581e-03  1.942e-02  1.364e-03 -1.280e-03  7.581e-05 -1.032e+00]
+t: 257	 action: [-1.783e-02  2.481e-02  6.527e-02  6.393e-03 -5.349e-03 -4.468e-04 -1.058e+00]
+t: 258	 action: [-1.117e-02  3.153e-05 -4.567e-02  4.199e-03 -1.377e-02  4.860e-03 -1.044e+00]
+t: 259	 action: [ 0.011 -0.018 -0.013 -0.002 -0.013 -0.001 -1.048]
+t: 260	 action: [-0.016  0.014  0.004  0.003 -0.011  0.005 -1.034]
+t: 261	 action: [ 0.018 -0.013  0.04  -0.002 -0.003  0.002 -1.042]
+t: 262	 action: [-2.763e-02  4.312e-03 -3.172e-02  1.794e-04 -7.129e-03  1.156e-03 -1.045e+00]
+t: 263	 action: [-2.358e-02  2.423e-02  1.303e-03  6.944e-03 -2.232e-02  3.662e-04 -1.066e+00]
+t: 264	 action: [-3.182e-02  1.015e-02  2.747e-02 -4.822e-04 -1.635e-03 -1.071e-03 -1.032e+00]
+t: 265	 action: [-0.021  0.031  0.05   0.007 -0.012  0.004 -1.053]
+[07-31 01:15:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9944
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=266: Selected seed 195 with value = 0.9944
+t: 266	 action: [ 0.012  0.018 -0.05   0.003 -0.009  0.007 -1.041]
+t: 267	 action: [ 0.003 -0.004 -0.038 -0.002 -0.005  0.001 -1.045]
+t: 268	 action: [-0.013  0.024 -0.015  0.004 -0.008  0.005 -1.031]
+t: 269	 action: [-4.475e-04 -7.047e-03  2.915e-02 -3.325e-03  3.083e-03  1.580e-03 -1.040e+00]
+t: 270	 action: [-0.031  0.008 -0.055  0.002 -0.006  0.001 -1.041]
+t: 271	 action: [-0.024  0.023 -0.01   0.005 -0.015  0.002 -1.066]
+t: 272	 action: [-3.312e-02  9.584e-03  4.749e-03  9.415e-04 -2.514e-03  2.943e-04 -1.033e+00]
+t: 273	 action: [-2.033e-02  2.955e-02  4.580e-02  4.797e-03 -7.382e-03 -3.191e-04 -1.059e+00]
+t: 274	 action: [-0.017  0.004 -0.066  0.004 -0.014  0.005 -1.045]
+t: 275	 action: [ 8.782e-03 -1.359e-02 -3.749e-02 -3.234e-03 -1.538e-02 -7.640e-04 -1.049e+00]
+t: 276	 action: [-0.024  0.015 -0.011  0.002 -0.012  0.005 -1.036]
+t: 277	 action: [ 0.014 -0.007  0.03  -0.004 -0.007  0.003 -1.043]
+t: 278	 action: [-0.034  0.006 -0.05  -0.001 -0.008  0.002 -1.046]
+t: 279	 action: [-2.681e-02  2.805e-02 -8.024e-03  5.432e-03 -2.477e-02  6.047e-04 -1.066e+00]
+t: 280	 action: [-0.039  0.011  0.013 -0.001 -0.003 -0.001 -1.034]
+t: 281	 action: [-0.026  0.035  0.035  0.005 -0.015  0.005 -1.051]
+[07-31 01:15:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9932
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=282: Selected seed 195 with value = 0.9932
+t: 282	 action: [ 0.006  0.022 -0.094  0.003 -0.009  0.007 -1.041]
+t: 283	 action: [ 8.594e-05  2.798e-04 -8.549e-02 -3.366e-03 -4.546e-03  1.188e-03 -1.045e+00]
+t: 284	 action: [-0.017  0.027 -0.041  0.003 -0.008  0.006 -1.03 ]
+t: 285	 action: [-4.285e-03 -3.502e-03  1.491e-02 -4.584e-03  1.932e-03  7.357e-04 -1.041e+00]
+t: 286	 action: [-0.031  0.011 -0.088  0.002 -0.006  0.002 -1.04 ]
+t: 287	 action: [-0.025  0.028 -0.03   0.004 -0.014  0.002 -1.066]
+t: 288	 action: [-3.260e-02  1.275e-02 -9.325e-03  2.894e-04 -2.693e-03  1.257e-04 -1.031e+00]
+t: 289	 action: [-0.024  0.034  0.034  0.003 -0.007 -0.001 -1.061]
+t: 290	 action: [-0.018  0.01  -0.102  0.003 -0.012  0.006 -1.046]
+t: 291	 action: [ 0.008 -0.01  -0.073 -0.005 -0.014 -0.001 -1.049]
+t: 292	 action: [-2.658e-02  1.779e-02 -3.502e-02  9.762e-04 -1.204e-02  5.330e-03 -1.036e+00]
+t: 293	 action: [ 0.011 -0.005  0.019 -0.005 -0.007  0.004 -1.037]
+t: 294	 action: [-0.034  0.008 -0.08  -0.003 -0.007  0.002 -1.046]
+t: 295	 action: [-2.828e-02  2.998e-02 -2.013e-02  3.995e-03 -2.358e-02  2.099e-04 -1.064e+00]
+t: 296	 action: [-4.021e-02  1.392e-02  3.995e-04 -2.748e-03 -3.389e-03 -1.233e-03 -1.034e+00]
+t: 297	 action: [-0.03   0.037  0.027  0.004 -0.015  0.006 -1.017]
+[07-31 01:15:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9910
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9910
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 9
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 18%|█▊        | 9/50 [04:43<21:29, 31.45s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 10...
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=298: Selected seed 195 with value = 0.9910
+t: 298	 action: [ 0.013  0.02  -0.108  0.003 -0.006  0.008 -1.042]
+t: 299	 action: [ 0.003 -0.014 -0.08  -0.003 -0.002  0.002 -1.049]
+t: 300	 action: [-0.006  0.021 -0.038  0.003 -0.005  0.006 -1.025]
+t: 301	 action: [ 0.004 -0.016  0.029 -0.006  0.003  0.002 -1.054]
+t: 302	 action: [-0.027  0.005 -0.087  0.001 -0.002  0.002 -1.039]
+t: 303	 action: [-0.025  0.021 -0.016  0.004 -0.01   0.003 -1.067]
+t: 304	 action: [-2.640e-02  8.112e-03  8.400e-03 -1.523e-03  8.262e-04  8.256e-04 -1.022e+00]
+t: 305	 action: [-2.504e-02  3.209e-02  7.301e-02  1.338e-03 -6.162e-03 -6.391e-04 -1.066e+00]
+t: 306	 action: [-0.009  0.007 -0.116  0.001 -0.006  0.006 -1.049]
+t: 307	 action: [ 1.272e-02 -1.956e-02 -7.270e-02 -4.230e-03 -8.720e-03  4.725e-05 -1.056e+00]
+t: 308	 action: [-0.014  0.017 -0.033 -0.002 -0.007  0.006 -1.033]
+t: 309	 action: [ 0.021 -0.016  0.031 -0.007 -0.005  0.02  -1.06 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+[07-31 01:15:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5102
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.5102
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5102
+t=10: Selected seed 195 with value = 0.5102
+t: 10	 action: [ 1.022e-01  1.765e-02 -8.649e-03  6.026e-03  3.068e-04 -9.064e-04 -1.019e+00]
+t: 11	 action: [ 2.248e-01  8.850e-02  1.068e-02  1.152e-02 -2.243e-04  8.318e-04 -1.030e+00]
+t: 12	 action: [ 3.730e-01  2.030e-01 -1.326e-02  4.857e-03  2.895e-04  9.013e-04 -1.021e+00]
+t: 13	 action: [ 0.518  0.289  0.008  0.01  -0.002  0.003 -1.031]
+t: 14	 action: [ 5.990e-01  4.129e-01 -2.393e-02  6.471e-04  4.565e-04 -4.023e-04 -1.026e+00]
+t: 15	 action: [ 0.746  0.521 -0.011  0.009 -0.005  0.003 -1.055]
+t: 16	 action: [ 7.843e-01  5.983e-01 -4.094e-02 -1.103e-03  3.520e-03 -8.149e-04 -1.018e+00]
+t: 17	 action: [ 0.86   0.631 -0.035  0.01  -0.007  0.004 -1.058]
+t: 18	 action: [ 0.767  0.627 -0.095  0.007 -0.011  0.005 -1.022]
+t: 19	 action: [ 0.824  0.628 -0.099  0.006 -0.005  0.003 -1.034]
+t: 20	 action: [ 0.788  0.658 -0.149  0.004 -0.016  0.006 -1.029]
+t: 21	 action: [ 0.85   0.648 -0.143  0.001 -0.009  0.005 -1.032]
+t: 22	 action: [ 0.828  0.65  -0.186  0.004 -0.016  0.003 -1.002]
+t: 23	 action: [ 0.878  0.644 -0.232  0.012 -0.017  0.003 -1.049]
+t: 24	 action: [ 8.182e-01  6.161e-01 -3.149e-01  2.432e-03 -1.875e-02  3.348e-04 -1.008e+00]
+t: 25	 action: [ 0.876  0.572 -0.341  0.013 -0.02   0.004 -1.056]
+[07-31 01:15:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5502
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5502
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5502
+t=26: Selected seed 195 with value = 0.5502
+t: 26	 action: [ 0.824  0.492 -0.218 -0.015 -0.01   0.008 -1.033]
+t: 27	 action: [ 7.879e-01  4.543e-01 -2.623e-01 -5.013e-03 -2.216e-03  9.700e-05 -1.036e+00]
+t: 28	 action: [ 0.741  0.406 -0.353  0.006 -0.015  0.006 -1.036]
+t: 29	 action: [ 0.64   0.279 -0.398  0.002 -0.004 -0.006 -1.043]
+t: 30	 action: [ 5.113e-01  1.745e-01 -4.676e-01 -8.256e-04 -8.668e-03 -3.385e-03 -1.028e+00]
+t: 31	 action: [ 0.409  0.088 -0.579  0.005 -0.011 -0.008 -1.056]
+t: 32	 action: [ 0.291  0.075 -0.743 -0.002 -0.012 -0.01  -1.034]
+t: 33	 action: [ 0.207  0.016 -0.847  0.01  -0.018 -0.014 -1.061]
+t: 34	 action: [ 0.088 -0.013 -0.896  0.006 -0.043 -0.009 -1.035]
+t: 35	 action: [ 0.01  -0.085 -0.944  0.004 -0.038 -0.021 -1.03 ]
+t: 36	 action: [-0.068 -0.128 -0.945  0.004 -0.049 -0.01  -1.034]
+t: 37	 action: [-0.131 -0.158 -1.003  0.004 -0.042 -0.018 -1.032]
+t: 38	 action: [-0.172 -0.184 -0.954  0.002 -0.049 -0.011 -1.038]
+t: 39	 action: [-0.217 -0.107 -0.967  0.012 -0.047 -0.027 -1.044]
+t: 40	 action: [-3.084e-01 -1.966e-01 -9.545e-01 -8.463e-04 -4.755e-02 -1.079e-02 -1.033e+00]
+t: 41	 action: [-0.323 -0.129 -0.97   0.01  -0.043 -0.021 -1.048]
+[07-31 01:15:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6215
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6215
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6215
+t=42: Selected seed 195 with value = 0.6215
+t: 42	 action: [-0.064  0.123 -1.009  0.002 -0.025  0.007 -1.044]
+t: 43	 action: [-4.794e-02  1.416e-01 -9.247e-01 -3.631e-03 -2.603e-03  3.494e-05 -1.035e+00]
+t: 44	 action: [-5.384e-02  1.547e-01 -8.690e-01 -9.235e-04 -4.220e-03  7.745e-03 -1.035e+00]
+t: 45	 action: [-0.039  0.161 -0.804 -0.007  0.007  0.001 -1.037]
+t: 46	 action: [-0.079  0.183 -0.679 -0.016  0.013 -0.005 -1.041]
+t: 47	 action: [-0.109  0.223 -0.694 -0.007  0.004 -0.012 -1.048]
+t: 48	 action: [-0.124  0.187 -0.563 -0.022  0.018 -0.007 -1.035]
+t: 49	 action: [-0.174  0.201 -0.597 -0.01   0.015 -0.017 -1.05 ]
+t: 50	 action: [-0.177  0.056 -0.525 -0.01   0.023  0.002 -1.219]
+t: 51	 action: [-0.282  0.032 -0.53  -0.014  0.014  0.005 -1.152]
+t: 52	 action: [-0.248  0.021 -0.471 -0.006  0.023  0.002  0.904]
+t: 53	 action: [-0.266 -0.01  -0.447 -0.013  0.02  -0.013  1.018]
+t: 54	 action: [-0.282 -0.006 -0.452 -0.007  0.019 -0.03   1.118]
+t: 55	 action: [-0.23  -0.023 -0.356 -0.009  0.014 -0.019  1.172]
+t: 56	 action: [-0.286 -0.026 -0.336 -0.005  0.015 -0.031  1.003]
+t: 57	 action: [-0.213 -0.042 -0.219 -0.013  0.019 -0.036  1.027]
+[07-31 01:15:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7597
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7597
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7597
+t=58: Selected seed 195 with value = 0.7597
+t: 58	 action: [-0.102 -0.016 -0.168 -0.021  0.035  0.001  0.983]
+t: 59	 action: [-0.051 -0.033 -0.063 -0.028  0.06  -0.008  1.015]
+t: 60	 action: [-0.027 -0.017  0.06  -0.009  0.057 -0.011  0.981]
+t: 61	 action: [ 0.005 -0.026  0.174 -0.02   0.069 -0.02   1.019]
+t: 62	 action: [-0.01   0.015  0.36  -0.013  0.087 -0.016  0.992]
+t: 63	 action: [ 0.043  0.029  0.546 -0.009  0.081 -0.024  1.018]
+t: 64	 action: [ 0.024 -0.027  0.733  0.008  0.08  -0.034  0.989]
+t: 65	 action: [ 0.045 -0.013  0.794  0.012  0.079 -0.04   1.015]
+t: 66	 action: [ 0.077 -0.15   0.831  0.017  0.085 -0.021  0.988]
+t: 67	 action: [ 0.04  -0.231  0.894  0.028  0.086 -0.027  1.016]
+t: 68	 action: [ 0.045 -0.341  0.816  0.038  0.077 -0.025  0.978]
+t: 69	 action: [ 0.043 -0.468  0.853  0.051  0.084 -0.028  1.013]
+t: 70	 action: [-0.025 -0.503  0.83   0.059  0.088 -0.019  0.992]
+t: 71	 action: [-0.071 -0.561  0.822  0.068  0.084 -0.018  1.021]
+t: 72	 action: [-0.048 -0.623  0.641  0.067  0.08  -0.024  0.989]
+t: 73	 action: [-0.085 -0.676  0.442  0.074  0.078 -0.021  1.004]
+[07-31 01:15:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8459
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8459
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8459
+t=74: Selected seed 195 with value = 0.8459
+t: 74	 action: [-0.087 -0.779  0.534  0.07   0.041 -0.01   0.985]
+t: 75	 action: [-0.09  -0.817  0.354  0.064  0.037 -0.014  1.014]
+t: 76	 action: [-0.135 -0.84   0.171  0.067  0.03  -0.007  0.978]
+t: 77	 action: [-0.144 -0.891  0.063  0.059  0.027 -0.011  1.009]
+t: 78	 action: [-0.122 -0.839 -0.049  0.058  0.025 -0.006  0.994]
+t: 79	 action: [-0.209 -0.808 -0.118  0.048  0.007 -0.002  1.012]
+t: 80	 action: [-0.163 -0.766 -0.276  0.032  0.011 -0.005  0.991]
+t: 81	 action: [-2.307e-01 -6.280e-01 -3.944e-01  2.540e-02 -2.501e-03  9.788e-04  1.019e+00]
+t: 82	 action: [-0.181 -0.631 -0.46   0.032 -0.012  0.002  0.988]
+t: 83	 action: [-0.205 -0.546 -0.651  0.017 -0.014  0.006  1.012]
+t: 84	 action: [-0.192 -0.401 -0.635  0.006 -0.02   0.003  0.976]
+t: 85	 action: [-0.206 -0.342 -0.793 -0.005 -0.013  0.01   1.021]
+t: 86	 action: [-0.244 -0.139 -0.717 -0.006 -0.026  0.003  1.003]
+t: 87	 action: [-0.241 -0.093 -0.824 -0.021 -0.027  0.017  1.012]
+t: 88	 action: [-0.258 -0.063 -0.695 -0.018 -0.021  0.004  0.994]
+t: 89	 action: [-0.209 -0.019 -0.727 -0.028 -0.016  0.018  1.023]
+[07-31 01:15:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9886
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=90: Selected seed 195 with value = 0.9886
+t: 90	 action: [-0.227 -0.067 -0.374 -0.04   0.045  0.005  1.161]
+t: 91	 action: [-0.12  -0.088 -0.149 -0.046  0.066  0.023  0.991]
+t: 92	 action: [-0.148 -0.014 -0.061 -0.035  0.07   0.003 -1.05 ]
+t: 93	 action: [-0.036 -0.074  0.094 -0.036  0.088  0.009 -1.038]
+t: 94	 action: [ 6.843e-03 -1.949e-02  1.344e-01 -3.945e-02  1.001e-01 -2.136e-04 -1.205e+00]
+t: 95	 action: [-0.01  -0.002  0.189 -0.03   0.109 -0.007 -1.103]
+t: 96	 action: [ 0.069 -0.016  0.319 -0.02   0.102 -0.004 -1.037]
+t: 97	 action: [ 0.073  0.008  0.393 -0.012  0.105 -0.004 -1.063]
+t: 98	 action: [ 0.096  0.015  0.417 -0.014  0.079  0.004 -1.034]
+t: 99	 action: [ 0.102  0.021  0.484 -0.013  0.091 -0.002 -1.04 ]
+t: 100	 action: [ 0.129  0.016  0.5   -0.006  0.076  0.002 -1.038]
+t: 101	 action: [ 0.147  0.025  0.534 -0.009  0.095 -0.005 -1.029]
+t: 102	 action: [ 0.144  0.01   0.499  0.004  0.087 -0.002 -1.039]
+t: 103	 action: [ 0.128  0.041  0.497  0.003  0.097 -0.006 -1.055]
+t: 104	 action: [ 0.148  0.007  0.484  0.002  0.08  -0.006 -1.036]
+t: 105	 action: [ 0.117  0.037  0.461  0.005  0.094 -0.007 -1.065]
+[07-31 01:15:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.098  0.003  0.272  0.003  0.061  0.002 -1.038]
+t: 107	 action: [ 8.009e-02 -2.395e-02  2.243e-01  4.716e-03  4.761e-02  5.820e-05 -1.041e+00]
+t: 108	 action: [ 0.069 -0.001  0.204  0.004  0.052 -0.001 -1.033]
+t: 109	 action: [ 0.047 -0.035  0.184  0.009  0.053  0.003 -1.031]
+t: 110	 action: [ 0.032 -0.011  0.151  0.004  0.041 -0.003 -1.033]
+t: 111	 action: [ 0.035 -0.004  0.153  0.012  0.046  0.003 -1.064]
+t: 112	 action: [ 0.035 -0.004  0.138  0.006  0.047 -0.004 -1.031]
+t: 113	 action: [ 0.032  0.007  0.135  0.016  0.051  0.002 -1.057]
+t: 114	 action: [ 0.077  0.003  0.135  0.01   0.027  0.004 -1.034]
+t: 115	 action: [ 0.059 -0.023  0.133  0.008  0.028  0.002 -1.041]
+t: 116	 action: [ 7.130e-02  1.183e-02  1.416e-01  8.480e-03  3.469e-02  9.714e-04 -1.029e+00]
+t: 117	 action: [ 0.06  -0.018  0.143  0.009  0.045  0.002 -1.035]
+t: 118	 action: [ 0.065  0.005  0.143  0.006  0.038  0.002 -1.035]
+t: 119	 action: [ 5.556e-02  3.244e-02  1.675e-01  1.147e-02  3.657e-02 -3.345e-04 -1.064e+00]
+t: 120	 action: [ 0.065  0.005  0.159  0.005  0.05  -0.003 -1.028]
+t: 121	 action: [ 5.241e-02  3.646e-02  1.853e-01  1.334e-02  5.534e-02 -6.384e-04 -1.064e+00]
+[07-31 01:15:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.003  0.063 -0.011  0.004 -0.01   0.002 -1.035]
+t: 123	 action: [ 0.009  0.032  0.013  0.001 -0.011 -0.004 -1.04 ]
+t: 124	 action: [ 0.002  0.041 -0.022  0.005 -0.01   0.001 -1.029]
+t: 125	 action: [ 0.008  0.01   0.027  0.004 -0.002 -0.003 -1.034]
+t: 126	 action: [-0.006  0.055 -0.033  0.004 -0.014 -0.002 -1.034]
+t: 127	 action: [-0.012  0.03   0.012  0.008 -0.022 -0.001 -1.067]
+t: 128	 action: [-0.004  0.022 -0.022  0.008 -0.009 -0.003 -1.027]
+t: 129	 action: [-0.009  0.02   0.017  0.01  -0.013 -0.003 -1.057]
+t: 130	 action: [ 0.053  0.005 -0.032  0.011 -0.016  0.005 -1.042]
+t: 131	 action: [ 0.026 -0.015  0.029  0.003 -0.019 -0.005 -1.046]
+t: 132	 action: [ 0.029  0.013 -0.018  0.008 -0.013  0.004 -1.031]
+t: 133	 action: [ 0.021 -0.006  0.046  0.004 -0.002 -0.002 -1.038]
+t: 134	 action: [ 0.023  0.002 -0.016  0.009 -0.011  0.001 -1.041]
+t: 135	 action: [-0.009  0.026  0.01   0.008 -0.022 -0.005 -1.071]
+t: 136	 action: [ 0.005  0.007  0.009  0.006 -0.005 -0.002 -1.03 ]
+t: 137	 action: [-0.014  0.036  0.03   0.009 -0.01  -0.003 -1.063]
+[07-31 01:15:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.041 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9998
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 1.041 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=138: Selected seed 195 with value = 0.9998
+t: 138	 action: [-0.011  0.066 -0.064  0.003 -0.012  0.003 -1.03 ]
+t: 139	 action: [ 5.098e-03  3.986e-02 -4.411e-02  8.528e-04 -1.601e-02 -1.737e-03 -1.037e+00]
+t: 140	 action: [-0.008  0.044 -0.054  0.003 -0.012  0.002 -1.028]
+t: 141	 action: [ 0.004  0.016 -0.004  0.002 -0.006 -0.001 -1.036]
+t: 142	 action: [-0.014  0.061 -0.065  0.002 -0.014 -0.001 -1.036]
+t: 143	 action: [-0.016  0.038 -0.014  0.007 -0.024  0.001 -1.069]
+t: 144	 action: [-0.007  0.026 -0.039  0.004 -0.008 -0.001 -1.028]
+t: 145	 action: [-8.456e-03  2.610e-02  5.892e-03  8.442e-03 -1.331e-02 -3.707e-04 -1.059e+00]
+t: 146	 action: [ 0.048  0.009 -0.045  0.009 -0.018  0.007 -1.043]
+t: 147	 action: [ 0.024 -0.012  0.009  0.002 -0.023 -0.003 -1.048]
+t: 148	 action: [ 0.026  0.018 -0.028  0.007 -0.014  0.006 -1.031]
+t: 149	 action: [ 2.241e-02 -3.558e-03  3.868e-02  2.204e-03 -4.522e-03 -9.532e-05 -1.039e+00]
+t: 150	 action: [ 0.018  0.007 -0.027  0.006 -0.012  0.003 -1.045]
+t: 151	 action: [-1.472e-02  3.143e-02  2.310e-04  7.662e-03 -2.511e-02 -3.275e-03 -1.074e+00]
+t: 152	 action: [ 6.844e-04  1.234e-02 -2.138e-03  4.179e-03 -5.369e-03 -1.799e-04 -1.032e+00]
+t: 153	 action: [-1.826e-02  3.982e-02  1.591e-02  8.073e-03 -1.155e-02  3.810e-05 -1.064e+00]
+[07-31 01:15:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.082 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.082 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+t: 154	 action: [ 0.019  0.046 -0.08   0.003 -0.011  0.006 -1.037]
+t: 155	 action: [ 1.650e-02  2.615e-02 -6.526e-02 -3.488e-04 -1.090e-02  2.933e-03 -1.040e+00]
+t: 156	 action: [ 0.015  0.033 -0.05   0.003 -0.01   0.003 -1.033]
+t: 157	 action: [ 1.211e-02  4.860e-03  6.449e-03 -7.284e-04 -1.927e-04  3.443e-03 -1.036e+00]
+t: 158	 action: [ 6.233e-03  4.666e-02 -5.949e-02  1.335e-03 -1.011e-02  9.075e-04 -1.038e+00]
+t: 159	 action: [-0.004  0.031 -0.012  0.006 -0.016  0.006 -1.069]
+t: 160	 action: [ 0.005  0.024 -0.023  0.002 -0.004  0.001 -1.032]
+t: 161	 action: [-0.005  0.026  0.013  0.006 -0.007  0.005 -1.059]
+t: 162	 action: [ 0.067  0.011 -0.028  0.008 -0.013  0.008 -1.043]
+t: 163	 action: [ 4.131e-02 -8.880e-03  2.169e-02 -2.006e-03 -1.129e-02  6.563e-04 -1.046e+00]
+t: 164	 action: [ 0.04   0.019 -0.011  0.007 -0.009  0.007 -1.033]
+t: 165	 action: [ 0.031 -0.003  0.046 -0.002  0.003  0.004 -1.039]
+t: 166	 action: [ 0.032  0.014 -0.011  0.004 -0.007  0.004 -1.045]
+t: 167	 action: [-2.351e-03  3.133e-02  5.748e-03  4.005e-03 -1.552e-02  8.998e-04 -1.072e+00]
+t: 168	 action: [ 1.121e-02  1.963e-02  1.400e-02  1.641e-03 -6.533e-04  1.415e-03 -1.033e+00]
+t: 169	 action: [-0.015  0.039  0.033  0.005 -0.006  0.004 -1.065]
+[07-31 01:15:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.046 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.046 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+t: 170	 action: [ 0.025  0.035 -0.101  0.003 -0.008  0.006 -1.04 ]
+t: 171	 action: [ 2.023e-02  1.930e-02 -9.284e-02  6.976e-04 -3.057e-03  4.852e-03 -1.042e+00]
+t: 172	 action: [ 0.017  0.029 -0.049  0.004 -0.007  0.003 -1.033]
+t: 173	 action: [ 1.471e-02  5.737e-04  7.481e-03 -5.385e-04  5.265e-03  4.717e-03 -1.037e+00]
+t: 174	 action: [ 0.008  0.036 -0.061  0.002 -0.006  0.002 -1.041]
+t: 175	 action: [-5.703e-04  2.781e-02 -1.463e-02  6.459e-03 -7.933e-03  8.024e-03 -1.069e+00]
+t: 176	 action: [ 2.649e-03  1.971e-02 -1.306e-02  1.982e-03 -2.912e-04  2.474e-03 -1.034e+00]
+t: 177	 action: [-0.007  0.025  0.018  0.006 -0.002  0.006 -1.06 ]
+t: 178	 action: [ 0.071  0.011 -0.019  0.009 -0.01   0.009 -1.042]
+t: 179	 action: [ 4.666e-02 -9.186e-03  3.103e-02 -5.880e-04 -3.128e-03  1.636e-03 -1.047e+00]
+t: 180	 action: [ 4.280e-02  1.921e-02  7.425e-04  7.588e-03 -6.881e-03  7.206e-03 -1.035e+00]
+t: 181	 action: [ 3.475e-02 -5.171e-03  4.700e-02 -5.968e-04  7.022e-03  5.334e-03 -1.040e+00]
+t: 182	 action: [ 0.038  0.014  0.006  0.005 -0.003  0.004 -1.046]
+t: 183	 action: [ 0.005  0.031  0.014  0.006 -0.009  0.002 -1.071]
+t: 184	 action: [ 0.016  0.017  0.03   0.003  0.002  0.002 -1.035]
+t: 185	 action: [-0.013  0.036  0.05   0.006 -0.002  0.006 -1.065]
+[07-31 01:15:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.079 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9995
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 1.079 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=186: Selected seed 195 with value = 0.9995
+t: 186	 action: [ 0.031  0.023 -0.129  0.004 -0.009  0.006 -1.041]
+t: 187	 action: [ 2.625e-02 -8.873e-04 -1.180e-01  2.999e-03 -2.705e-03  3.815e-03 -1.044e+00]
+t: 188	 action: [ 0.024  0.022 -0.058  0.004 -0.006  0.003 -1.034]
+t: 189	 action: [ 0.02  -0.018 -0.006  0.001  0.006  0.004 -1.038]
+t: 190	 action: [ 0.014  0.024 -0.072  0.003 -0.003  0.004 -1.044]
+t: 191	 action: [ 0.007  0.017 -0.026  0.009 -0.005  0.008 -1.072]
+t: 192	 action: [ 0.004  0.015 -0.016  0.002  0.002  0.003 -1.036]
+t: 193	 action: [-8.517e-03  1.674e-02  1.510e-02  8.130e-03 -5.762e-04  6.194e-03 -1.061e+00]
+t: 194	 action: [ 0.07   0.01  -0.027  0.01  -0.008  0.009 -1.043]
+t: 195	 action: [ 0.047 -0.022  0.007  0.002 -0.001  0.001 -1.049]
+t: 196	 action: [ 0.043  0.019 -0.006  0.008 -0.007  0.007 -1.034]
+t: 197	 action: [ 0.038 -0.019  0.036  0.001  0.008  0.006 -1.042]
+t: 198	 action: [ 0.036  0.014  0.003  0.005 -0.002  0.004 -1.047]
+t: 199	 action: [ 2.806e-04  1.937e-02  3.020e-03  8.409e-03 -6.960e-03  2.622e-03 -1.073e+00]
+t: 200	 action: [ 0.011  0.015  0.025  0.003  0.002  0.002 -1.035]
+t: 201	 action: [-1.541e-02  2.448e-02  3.060e-02  8.460e-03 -1.059e-03  7.059e-03 -1.065e+00]
+[07-31 01:15:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.161 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9984
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 1.161 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=202: Selected seed 195 with value = 0.9984
+t: 202	 action: [ 0.032  0.018 -0.122  0.005 -0.009  0.007 -1.04 ]
+t: 203	 action: [ 3.094e-02 -1.115e-02 -1.071e-01  6.018e-04 -1.648e-03  2.368e-03 -1.046e+00]
+t: 204	 action: [ 0.029  0.019 -0.049  0.005 -0.005  0.004 -1.034]
+t: 205	 action: [ 2.340e-02 -2.304e-02  6.773e-03 -1.011e-03  6.441e-03  2.315e-03 -1.039e+00]
+t: 206	 action: [ 0.021  0.018 -0.058  0.003 -0.002  0.004 -1.043]
+t: 207	 action: [ 0.018  0.019 -0.012  0.007 -0.003  0.006 -1.073]
+t: 208	 action: [ 0.008  0.013 -0.006  0.003  0.003  0.003 -1.036]
+t: 209	 action: [-7.296e-03  1.900e-02  2.388e-02  6.105e-03  8.228e-04  4.301e-03 -1.062e+00]
+t: 210	 action: [ 0.07   0.014 -0.04   0.009 -0.009  0.009 -1.042]
+t: 211	 action: [ 4.761e-02 -1.784e-02  7.793e-04 -8.635e-05 -4.299e-04  6.203e-04 -1.051e+00]
+t: 212	 action: [ 0.04   0.024 -0.014  0.008 -0.007  0.007 -1.034]
+t: 213	 action: [ 3.815e-02 -2.055e-02  3.481e-02 -9.399e-04  6.702e-03  4.705e-03 -1.044e+00]
+t: 214	 action: [ 0.041  0.018 -0.008  0.004 -0.002  0.004 -1.05 ]
+t: 215	 action: [ 0.002  0.027  0.003  0.007 -0.006  0.001 -1.074]
+t: 216	 action: [ 0.013  0.018  0.017  0.003  0.001  0.002 -1.035]
+t: 217	 action: [-0.015  0.027  0.029  0.007 -0.001  0.006 -1.064]
+[07-31 01:15:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.146 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9968
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 1.146 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=218: Selected seed 195 with value = 0.9968
+t: 218	 action: [ 0.038  0.01  -0.142  0.002 -0.014  0.008 -1.033]
+t: 219	 action: [ 0.026 -0.024 -0.126 -0.008 -0.012 -0.002 -1.058]
+t: 220	 action: [ 0.025  0.012 -0.064  0.004 -0.011  0.006 -1.034]
+t: 221	 action: [ 0.012 -0.029 -0.01  -0.01  -0.002 -0.002 -1.051]
+t: 222	 action: [ 4.806e-03  9.385e-03 -6.077e-02 -5.322e-04 -8.121e-03  4.315e-03 -1.026e+00]
+t: 223	 action: [ 9.781e-03  8.292e-03 -1.523e-02 -6.171e-04 -7.418e-03 -7.563e-04 -1.071e+00]
+t: 224	 action: [ 6.065e-03  1.059e-02 -1.207e-02 -6.920e-04 -5.979e-03  3.204e-03 -1.026e+00]
+t: 225	 action: [-0.015  0.015  0.016 -0.002 -0.004 -0.002 -1.066]
+t: 226	 action: [ 0.033  0.017 -0.08   0.002 -0.012  0.008 -1.034]
+t: 227	 action: [ 0.031 -0.024 -0.052 -0.009 -0.007  0.014 -1.111]
+t: 228	 action: [-2.977e-03  2.144e-02 -5.617e-02  3.651e-04 -1.348e-02  6.749e-03 -1.116e+00]
+t: 229	 action: [ 8.128e-03 -2.741e-02  2.545e-04 -1.177e-02 -1.846e-03  1.775e-02 -1.114e+00]
+t: 230	 action: [-0.002  0.017 -0.036 -0.003 -0.008  0.002 -1.027]
+t: 231	 action: [-0.015  0.016 -0.009 -0.001 -0.011  0.015  1.088]
+t: 232	 action: [-1.625e-02  1.514e-02 -1.258e-02 -2.862e-03 -7.123e-03  1.566e-04  1.065e+00]
+t: 233	 action: [ 0.022  0.021  0.002 -0.003 -0.007  0.021  1.114]
+[07-31 01:15:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9776
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 0.968 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=234: Selected seed 195 with value = 0.9776
+t: 234	 action: [ 0.048 -0.009 -0.334 -0.014 -0.016  0.005  0.888]
+t: 235	 action: [ 0.076  0.003 -0.389 -0.021 -0.009  0.01   1.019]
+t: 236	 action: [ 0.023  0.023 -0.117 -0.029 -0.021  0.006  1.1  ]
+t: 237	 action: [-0.005  0.014 -0.052 -0.026 -0.012 -0.012  0.812]
+t: 238	 action: [ 0.01   0.008 -0.079 -0.029 -0.014  0.004  0.991]
+t: 239	 action: [ 0.047  0.048 -0.016 -0.017 -0.024  0.012  0.986]
+t: 240	 action: [ 6.543e-03  2.093e-02  6.782e-02 -1.473e-02 -2.018e-02 -2.166e-04 -1.170e+00]
+t: 241	 action: [-0.026  0.062  0.085 -0.012 -0.022 -0.016 -1.171]
+t: 242	 action: [-0.015  0.045  0.123 -0.019 -0.032  0.008 -1.029]
+t: 243	 action: [ 0.015  0.039  0.174 -0.026 -0.019 -0.002 -1.05 ]
+t: 244	 action: [-0.005  0.051  0.186 -0.012 -0.037  0.007 -1.043]
+t: 245	 action: [ 0.018  0.036  0.218 -0.021 -0.017 -0.006 -1.046]
+t: 246	 action: [-0.006  0.054  0.191 -0.014 -0.032  0.002 -1.06 ]
+t: 247	 action: [-0.01   0.091  0.286 -0.013 -0.029 -0.003 -1.064]
+t: 248	 action: [ 0.005  0.054  0.242 -0.006 -0.029 -0.002 -1.05 ]
+t: 249	 action: [-0.013  0.082  0.292 -0.009 -0.023 -0.002 -1.058]
+[07-31 01:15:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9866
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=250: Selected seed 195 with value = 0.9866
+t: 250	 action: [-7.997e-03  2.745e-02 -3.264e-01  2.839e-04 -2.672e-02  1.403e-03  8.927e-01]
+t: 251	 action: [ 4.430e-04  3.779e-02 -4.089e-01 -1.152e-02 -2.663e-02 -1.246e-02  6.266e-01]
+t: 252	 action: [-0.026  0.047 -0.15  -0.006 -0.029  0.002 -1.028]
+t: 253	 action: [-0.035  0.028 -0.077 -0.016 -0.025 -0.01  -1.037]
+t: 254	 action: [-0.038  0.036 -0.113 -0.01  -0.022  0.002 -1.088]
+t: 255	 action: [-0.048  0.087 -0.063 -0.005 -0.03  -0.005 -1.158]
+t: 256	 action: [-0.035  0.045 -0.007 -0.008 -0.021  0.001 -1.038]
+t: 257	 action: [-0.048  0.07   0.024 -0.006 -0.023 -0.005 -1.058]
+t: 258	 action: [-0.033  0.053  0.01  -0.006 -0.027  0.009 -1.002]
+t: 259	 action: [-0.005  0.035  0.066 -0.019 -0.019 -0.006 -1.039]
+t: 260	 action: [-0.018  0.056  0.069 -0.004 -0.033  0.007 -1.048]
+t: 261	 action: [ 0.012  0.032  0.108 -0.017 -0.021 -0.006 -1.047]
+t: 262	 action: [-0.012  0.067  0.081 -0.01  -0.028  0.003 -1.045]
+t: 263	 action: [-0.026  0.093  0.177 -0.01  -0.029 -0.004 -1.066]
+t: 264	 action: [-5.810e-05  6.635e-02  1.402e-01 -6.176e-03 -2.490e-02  2.953e-04 -1.048e+00]
+t: 265	 action: [-0.025  0.089  0.223 -0.007 -0.023 -0.002 -1.055]
+[07-31 01:15:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9622
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=266: Selected seed 195 with value = 0.9622
+t: 266	 action: [-1.367e-01  4.078e-02 -5.459e-01 -7.497e-04 -6.624e-04  9.097e-03 -1.022e+00]
+t: 267	 action: [-0.129  0.044 -0.618 -0.009  0.004  0.005 -1.035]
+t: 268	 action: [-8.286e-02  3.445e-02 -4.061e-01 -4.909e-04  1.978e-03  7.658e-03 -1.025e+00]
+t: 269	 action: [-0.078  0.035 -0.448 -0.01   0.009  0.005 -1.031]
+t: 270	 action: [-0.113  0.03  -0.36  -0.013  0.005  0.005 -1.027]
+t: 271	 action: [-0.105  0.083 -0.321 -0.005  0.003  0.006 -1.051]
+t: 272	 action: [-0.097  0.024 -0.258 -0.012  0.009  0.005 -1.023]
+t: 273	 action: [-0.144  0.06  -0.207 -0.007  0.008  0.001 -1.049]
+t: 274	 action: [-0.146  0.018 -0.458 -0.012  0.008  0.006 -1.186]
+t: 275	 action: [-0.19  -0.009 -0.44  -0.016  0.009  0.032 -1.126]
+t: 276	 action: [-0.092  0.023 -0.38  -0.019  0.012  0.008  0.95 ]
+t: 277	 action: [-0.049 -0.027 -0.277 -0.022  0.013  0.027  1.04 ]
+t: 278	 action: [-0.125  0.014 -0.282 -0.024  0.016  0.005  1.114]
+t: 279	 action: [-0.038  0.026 -0.14  -0.011  0.003  0.03   1.152]
+t: 280	 action: [-0.071  0.007 -0.118 -0.025  0.02   0.003  0.994]
+t: 281	 action: [ 0.015  0.014  0.008 -0.021  0.011  0.021  1.029]
+[07-31 01:15:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.138 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9036
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9036
+Query 1/1: Action query time = 1.138 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9036
+t=282: Selected seed 195 with value = 0.9036
+t: 282	 action: [-0.114 -0.11   0.005 -0.047 -0.019  0.009  1.014]
+t: 283	 action: [-0.15  -0.164  0.154 -0.037 -0.007  0.02   1.054]
+t: 284	 action: [-0.072 -0.116  0.143 -0.014 -0.023  0.007  1.022]
+t: 285	 action: [-0.083 -0.159  0.243 -0.026 -0.007  0.007  0.973]
+t: 286	 action: [-0.058 -0.136  0.228 -0.002 -0.013  0.002  1.021]
+t: 287	 action: [-0.044 -0.102  0.27  -0.015 -0.009  0.01   1.038]
+t: 288	 action: [-0.024 -0.077  0.301  0.006 -0.015 -0.003  1.005]
+t: 289	 action: [-0.023 -0.035  0.288  0.002 -0.005 -0.007 -0.7  ]
+t: 290	 action: [ 6.470e-04  3.823e-02  7.413e-02 -1.720e-04  1.075e-02  8.813e-03  1.108e+00]
+t: 291	 action: [-0.006  0.02   0.11  -0.011  0.017  0.006 -1.018]
+t: 292	 action: [ 1.522e-02  4.984e-02  1.043e-01  2.747e-04  2.553e-02  7.789e-03 -1.061e+00]
+t: 293	 action: [ 1.409e-02  3.156e-02  1.378e-01 -2.685e-03  3.473e-02 -6.955e-04 -1.062e+00]
+t: 294	 action: [ 2.333e-02  5.666e-02  8.564e-02  1.990e-04  2.301e-02  2.923e-03 -1.156e+00]
+t: 295	 action: [-1.898e-02  1.100e-01  1.348e-01  5.838e-03  1.656e-02  7.424e-04 -1.051e+00]
+t: 296	 action: [ 3.306e-02  6.306e-02  1.069e-01 -2.560e-03  4.380e-02  6.578e-05 -1.059e+00]
+t: 297	 action: [-0.022  0.1    0.182  0.01   0.035  0.001 -0.993]
+[07-31 01:15:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.163 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9483
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9483
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 10
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 20%|██        | 10/50 [05:15<21:07, 31.69s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 11...
+Query 1/1: Action query time = 1.163 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=298: Selected seed 195 with value = 0.9483
+t: 298	 action: [-0.011 -0.227 -0.107 -0.011  0.023 -0.004  1.024]
+t: 299	 action: [-0.018 -0.277 -0.185 -0.021  0.009 -0.008  1.056]
+t: 300	 action: [-0.013 -0.134 -0.116 -0.009  0.011 -0.006  1.017]
+t: 301	 action: [ 0.011 -0.135 -0.214 -0.019  0.011 -0.017  0.959]
+t: 302	 action: [ 0.019 -0.094 -0.055 -0.015  0.003 -0.015  1.025]
+t: 303	 action: [ 3.318e-02 -9.512e-02 -7.565e-02 -2.094e-02 -4.447e-04 -1.168e-02  1.028e+00]
+t: 304	 action: [ 7.811e-02 -3.365e-02 -2.102e-02 -4.550e-03 -3.688e-04 -1.964e-02  9.958e-01]
+t: 305	 action: [ 0.045 -0.017 -0.028 -0.011  0.003 -0.028 -1.115]
+t: 306	 action: [ 0.171  0.017  0.023  0.004  0.018 -0.013 -1.052]
+t: 307	 action: [ 1.654e-01 -2.303e-02  9.536e-02 -6.398e-05  1.369e-02 -2.109e-02 -1.037e+00]
+t: 308	 action: [ 0.161  0.03   0.07   0.004  0.019 -0.017 -1.066]
+t: 309	 action: [ 0.166 -0.018  0.128  0.002  0.023 -0.025 -1.043]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+[07-31 01:16:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4734
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4734
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4734
+t=10: Selected seed 195 with value = 0.4734
+t: 10	 action: [ 0.18   0.095  0.007  0.005  0.008  0.001 -1.03 ]
+t: 11	 action: [ 3.173e-01  1.989e-01  1.685e-02  7.694e-03 -2.259e-04  3.322e-03 -1.027e+00]
+t: 12	 action: [ 0.44   0.333  0.019  0.003  0.012  0.003 -1.03 ]
+t: 13	 action: [ 0.538  0.409  0.029  0.003 -0.002  0.004 -1.032]
+t: 14	 action: [ 6.270e-01  4.564e-01  1.975e-02  1.272e-03  1.188e-02  3.684e-04 -1.032e+00]
+t: 15	 action: [ 7.372e-01  5.485e-01  1.250e-02  7.120e-04  4.202e-04  4.042e-03 -1.053e+00]
+t: 16	 action: [ 7.615e-01  5.589e-01  2.598e-02 -3.647e-03  1.713e-02  1.846e-04 -1.026e+00]
+t: 17	 action: [ 0.854  0.622  0.013 -0.003 -0.002  0.003 -1.056]
+t: 18	 action: [ 0.792  0.616  0.006 -0.005  0.015  0.007 -1.04 ]
+t: 19	 action: [ 8.310e-01  6.216e-01  2.677e-04 -1.129e-02  6.464e-03  5.086e-03 -1.033e+00]
+t: 20	 action: [ 0.812  0.644 -0.02  -0.017  0.012  0.006 -1.037]
+t: 21	 action: [ 0.853  0.625 -0.042 -0.015  0.007  0.006 -1.033]
+t: 22	 action: [ 0.843  0.604 -0.098 -0.01   0.013  0.007 -1.018]
+t: 23	 action: [ 0.867  0.603 -0.109 -0.008 -0.002  0.006 -1.045]
+t: 24	 action: [ 0.824  0.546 -0.221 -0.012  0.01   0.003 -1.019]
+t: 25	 action: [ 0.862  0.501 -0.281 -0.008 -0.003  0.007 -1.054]
+[07-31 01:16:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5736
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5736
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5736
+t=26: Selected seed 195 with value = 0.5736
+t: 26	 action: [ 0.81   0.422 -0.24   0.008  0.007  0.009 -1.04 ]
+t: 27	 action: [ 0.685  0.335 -0.351  0.003  0.008  0.005 -1.037]
+t: 28	 action: [ 0.576  0.277 -0.389  0.009 -0.001  0.01  -1.041]
+t: 29	 action: [ 0.401  0.139 -0.509  0.008  0.004  0.002 -1.042]
+t: 30	 action: [ 2.679e-01  8.452e-02 -5.365e-01  4.902e-04 -2.206e-03 -5.986e-05 -1.036e+00]
+t: 31	 action: [ 1.855e-01  3.052e-02 -6.401e-01  1.692e-02 -2.009e-03 -2.716e-04 -1.058e+00]
+t: 32	 action: [ 1.143e-01 -1.298e-02 -8.263e-01  3.395e-03 -9.112e-03  3.256e-07 -1.041e+00]
+t: 33	 action: [ 0.046 -0.008 -0.881  0.016 -0.011 -0.004 -1.06 ]
+t: 34	 action: [-0.044 -0.058 -0.879  0.006 -0.035 -0.006 -1.039]
+t: 35	 action: [-0.08  -0.138 -0.948  0.006 -0.035 -0.015 -1.035]
+t: 36	 action: [-0.187 -0.145 -0.923  0.006 -0.045 -0.009 -1.04 ]
+t: 37	 action: [-0.217 -0.175 -1.005  0.004 -0.043 -0.015 -1.037]
+t: 38	 action: [-2.728e-01 -1.860e-01 -9.327e-01 -7.894e-04 -4.699e-02 -5.012e-03 -1.039e+00]
+t: 39	 action: [-0.306 -0.1   -0.955  0.011 -0.045 -0.017 -1.048]
+t: 40	 action: [-0.402 -0.142 -0.921 -0.002 -0.044 -0.004 -1.036]
+t: 41	 action: [-0.385 -0.084 -0.932  0.01  -0.04  -0.014 -1.051]
+[07-31 01:16:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6606
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6606
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6606
+t=42: Selected seed 195 with value = 0.6606
+t: 42	 action: [-0.337 -0.032 -1.019  0.009 -0.023  0.015 -1.048]
+t: 43	 action: [-0.312  0.008 -0.941 -0.003 -0.012  0.018 -1.028]
+t: 44	 action: [-0.295  0.034 -0.91  -0.001 -0.016  0.015 -1.042]
+t: 45	 action: [-2.440e-01  8.126e-02 -8.221e-01 -1.148e-02 -6.192e-04  2.030e-02 -1.029e+00]
+t: 46	 action: [-2.506e-01  8.932e-02 -7.508e-01 -2.562e-02  8.264e-04  1.127e-02 -1.038e+00]
+t: 47	 action: [-0.213  0.15  -0.736 -0.013  0.002  0.013 -1.051]
+t: 48	 action: [-0.172  0.142 -0.559 -0.041  0.009  0.012 -1.039]
+t: 49	 action: [-0.201  0.167 -0.593 -0.019  0.017  0.01  -1.046]
+t: 50	 action: [-0.266  0.062 -0.661 -0.019  0.014  0.005 -1.227]
+t: 51	 action: [-0.307  0.043 -0.507 -0.022  0.022  0.019 -1.155]
+t: 52	 action: [-0.202  0.032 -0.494 -0.031  0.021  0.006  0.987]
+t: 53	 action: [-0.14   0.004 -0.34  -0.025  0.037  0.003  1.027]
+t: 54	 action: [-2.251e-01  7.882e-03 -3.642e-01 -4.209e-02  3.471e-02 -8.197e-04  1.111e+00]
+t: 55	 action: [-0.154  0.033 -0.232 -0.021  0.035  0.013  1.17 ]
+t: 56	 action: [-0.139 -0.01  -0.196 -0.042  0.035 -0.002  1.007]
+t: 57	 action: [-0.079  0.012 -0.073 -0.027  0.042  0.002  1.033]
+[07-31 01:16:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7187
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7187
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7187
+t=58: Selected seed 195 with value = 0.7187
+t: 58	 action: [-0.085 -0.016 -0.123 -0.042  0.019  0.007  0.978]
+t: 59	 action: [-0.038 -0.041 -0.014 -0.04   0.041  0.012  1.016]
+t: 60	 action: [-0.04  -0.013  0.019 -0.033  0.032  0.009  0.972]
+t: 61	 action: [-0.003 -0.039  0.145 -0.033  0.049  0.01   1.012]
+t: 62	 action: [-2.261e-02  1.217e-02  2.638e-01 -2.536e-02  5.725e-02  4.952e-04  9.921e-01]
+t: 63	 action: [ 0.027  0.028  0.446 -0.031  0.056  0.005  1.009]
+t: 64	 action: [ 0.031  0.019  0.617 -0.015  0.05  -0.002  0.987]
+t: 65	 action: [ 0.039  0.05   0.699 -0.023  0.046 -0.007  1.014]
+t: 66	 action: [ 1.131e-01  3.108e-02  8.585e-01  3.862e-04  3.327e-02 -1.339e-03  9.716e-01]
+t: 67	 action: [ 0.067  0.081  0.878 -0.004  0.03  -0.008  1.005]
+t: 68	 action: [ 0.128  0.039  0.864 -0.005  0.017 -0.002  0.969]
+t: 69	 action: [ 5.784e-02  4.466e-02  8.215e-01 -6.100e-04  1.491e-02 -1.125e-03  1.021e+00]
+t: 70	 action: [ 0.044 -0.045  0.821  0.007  0.017 -0.002  0.989]
+t: 71	 action: [-0.033 -0.096  0.713  0.011  0.02   0.005  1.01 ]
+t: 72	 action: [-0.073 -0.189  0.533  0.008 -0.002 -0.003  0.99 ]
+t: 73	 action: [-0.145 -0.29   0.296  0.019  0.008  0.007  1.025]
+[07-31 01:16:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7456
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7456
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7456
+t=74: Selected seed 195 with value = 0.7456
+t: 74	 action: [ 0.005  0.116 -0.034  0.008  0.011  0.002  0.991]
+t: 75	 action: [-4.154e-02  1.081e-01 -6.628e-02  1.773e-02  5.433e-04  2.413e-03  9.947e-01]
+t: 76	 action: [-0.04   0.174 -0.162  0.005  0.01   0.002  0.917]
+t: 77	 action: [-0.153  0.141 -0.234  0.029  0.001  0.006  0.874]
+t: 78	 action: [-0.144  0.107 -0.22   0.004  0.008  0.003  0.978]
+t: 79	 action: [-0.232  0.089 -0.271  0.029 -0.006  0.006  0.976]
+t: 80	 action: [-0.276  0.187 -0.341  0.015 -0.002  0.001  0.619]
+t: 81	 action: [-2.914e-01  1.293e-01 -4.556e-01  3.737e-02 -5.019e-03 -1.105e-04 -2.599e-01]
+t: 82	 action: [-0.347  0.032 -0.523  0.029  0.016  0.055 -0.299]
+t: 83	 action: [-0.402 -0.01  -0.552  0.026  0.004  0.051  0.846]
+t: 84	 action: [-0.333  0.032 -0.561  0.018  0.027  0.055  0.964]
+t: 85	 action: [-0.388 -0.022 -0.507  0.021  0.006  0.056  1.055]
+t: 86	 action: [-0.382  0.037 -0.531  0.007  0.007  0.058  0.943]
+t: 87	 action: [-0.331  0.039 -0.53  -0.002 -0.001  0.047  1.028]
+t: 88	 action: [-0.281  0.042 -0.462  0.002 -0.003  0.038  1.003]
+t: 89	 action: [-0.248  0.027 -0.332 -0.016 -0.003  0.044  1.095]
+[07-31 01:16:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7882
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7882
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7882
+t=90: Selected seed 195 with value = 0.7882
+t: 90	 action: [ 0.03   0.012  0.042 -0.011  0.017 -0.013  1.015]
+t: 91	 action: [ 0.011 -0.063  0.048 -0.011  0.011 -0.02   1.045]
+t: 92	 action: [-0.001  0.006  0.048 -0.006  0.025 -0.02   1.01 ]
+t: 93	 action: [-0.075 -0.089  0.02  -0.003  0.028 -0.018  1.045]
+t: 94	 action: [-0.106 -0.08   0.116  0.004  0.035 -0.007  1.034]
+t: 95	 action: [-0.189 -0.105  0.041  0.012  0.02  -0.011  1.058]
+t: 96	 action: [-0.219 -0.109  0.039  0.005  0.041 -0.009  1.01 ]
+t: 97	 action: [-0.273 -0.156 -0.022  0.019  0.034 -0.013  1.031]
+t: 98	 action: [-2.080e-01 -2.510e-04 -4.358e-01  4.565e-03  8.606e-02  5.119e-03  1.126e+00]
+t: 99	 action: [-0.28  -0.094 -0.359 -0.002  0.064  0.032 -0.952]
+t: 100	 action: [-0.225 -0.016 -0.414  0.004  0.085  0.003 -1.051]
+t: 101	 action: [-0.275 -0.095 -0.347 -0.004  0.041  0.024 -1.082]
+t: 102	 action: [-0.182 -0.015 -0.401 -0.008  0.045  0.011 -1.043]
+t: 103	 action: [-0.193 -0.074 -0.338 -0.021  0.003  0.038  1.126]
+t: 104	 action: [-1.859e-01 -3.791e-02 -3.281e-01 -8.806e-03  1.285e-02  4.113e-04  1.030e+00]
+t: 105	 action: [-0.191 -0.074 -0.249 -0.026 -0.007  0.023  1.175]
+[07-31 01:16:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8381
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8381
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8381
+t=106: Selected seed 195 with value = 0.8381
+t: 106	 action: [-0.035 -0.028  0.098 -0.035  0.01  -0.01   1.005]
+t: 107	 action: [-0.012 -0.05   0.227 -0.037  0.016 -0.019  1.028]
+t: 108	 action: [-0.035 -0.036  0.561 -0.008  0.013 -0.032  1.022]
+t: 109	 action: [-0.021 -0.096  0.711 -0.014  0.024 -0.028  1.029]
+t: 110	 action: [-0.05  -0.128  0.761  0.004  0.018 -0.026  1.013]
+t: 111	 action: [-0.083 -0.166  0.817  0.006  0.023 -0.025  1.038]
+t: 112	 action: [-0.051 -0.3    0.8    0.031  0.029 -0.04   1.018]
+t: 113	 action: [-0.037 -0.414  0.751  0.046  0.039 -0.033  1.037]
+t: 114	 action: [-9.181e-02 -4.541e-01  5.883e-01  4.523e-02  6.122e-02 -1.995e-04  1.037e+00]
+t: 115	 action: [-0.078 -0.578  0.374  0.035  0.058 -0.003  1.039]
+t: 116	 action: [-0.047 -0.439  0.21   0.039  0.064 -0.006  1.12 ]
+t: 117	 action: [-0.068 -0.391  0.058  0.032  0.052 -0.022  1.041]
+t: 118	 action: [-6.382e-02 -4.104e-01  1.636e-02  3.651e-02  4.918e-02 -5.715e-04  1.047e+00]
+t: 119	 action: [-0.023 -0.384 -0.019  0.028  0.031  0.004  1.058]
+t: 120	 action: [-0.036 -0.224 -0.021  0.03   0.035 -0.007 -1.168]
+t: 121	 action: [-0.008 -0.202 -0.04   0.019  0.014 -0.026 -1.102]
+[07-31 01:16:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8849
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8849
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8849
+t=122: Selected seed 195 with value = 0.8849
+t: 122	 action: [-9.879e-02  6.262e-01  7.029e-01 -9.600e-03  5.880e-03 -9.286e-04  1.002e+00]
+t: 123	 action: [-0.138  0.659  0.593 -0.023 -0.004 -0.005  1.016]
+t: 124	 action: [-1.573e-01  6.765e-01  5.485e-01 -4.518e-03  2.800e-03 -2.756e-04  1.006e+00]
+t: 125	 action: [-0.225  0.678  0.42  -0.02  -0.004 -0.003  1.02 ]
+t: 126	 action: [-0.342  0.665  0.249 -0.005  0.001 -0.004  1.007]
+t: 127	 action: [-0.348  0.69   0.176 -0.017 -0.016  0.006  1.038]
+t: 128	 action: [-0.398  0.656  0.086 -0.003  0.002 -0.003  1.01 ]
+t: 129	 action: [-0.356  0.689  0.014 -0.014 -0.013  0.007  1.04 ]
+t: 130	 action: [-0.348  0.676 -0.035 -0.025  0.009  0.004  1.001]
+t: 131	 action: [-0.311  0.667 -0.138 -0.031  0.008  0.017  1.024]
+t: 132	 action: [-0.232  0.606 -0.215 -0.028  0.011  0.006  0.999]
+t: 133	 action: [-0.18   0.544 -0.367 -0.032  0.012  0.019  1.034]
+t: 134	 action: [-0.201  0.504 -0.37  -0.015  0.009  0.002  1.004]
+t: 135	 action: [-0.107  0.492 -0.435 -0.023  0.004  0.029  1.05 ]
+t: 136	 action: [-0.072  0.373 -0.465 -0.017  0.023  0.004  1.006]
+t: 137	 action: [ 0.016  0.361 -0.531 -0.02   0.018  0.031  1.06 ]
+[07-31 01:16:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9808
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=138: Selected seed 195 with value = 0.9808
+t: 138	 action: [ 0.05   0.108 -0.614  0.005  0.047  0.002  0.987]
+t: 139	 action: [ 4.896e-02  1.298e-01 -5.304e-01  2.251e-04  6.653e-02 -7.371e-03  1.024e+00]
+t: 140	 action: [ 0.084  0.08  -0.557 -0.002  0.059  0.003  1.001]
+t: 141	 action: [ 0.067  0.103 -0.455  0.002  0.079 -0.01   0.986]
+t: 142	 action: [ 9.829e-02  5.917e-02 -2.934e-01 -9.878e-04  7.986e-02 -6.037e-03  9.967e-01]
+t: 143	 action: [ 0.062  0.1   -0.291  0.006  0.088 -0.014  1.011]
+t: 144	 action: [ 0.069  0.061 -0.143 -0.003  0.084 -0.016  1.004]
+t: 145	 action: [ 0.051  0.082 -0.091  0.005  0.088 -0.035 -1.086]
+t: 146	 action: [ 5.842e-03  1.150e-01  6.830e-04  6.489e-05  4.697e-02 -1.414e-02 -1.049e+00]
+t: 147	 action: [-0.004  0.058  0.099 -0.009  0.029 -0.045 -1.034]
+t: 148	 action: [-0.02   0.147  0.15  -0.002  0.028 -0.046 -1.054]
+t: 149	 action: [-0.012  0.069  0.245 -0.012  0.021 -0.057 -1.025]
+t: 150	 action: [-0.031  0.135  0.344 -0.007  0.027 -0.067 -1.047]
+t: 151	 action: [-0.005  0.117  0.4   -0.014  0.028 -0.06  -1.037]
+t: 152	 action: [-0.014  0.157  0.408 -0.007  0.036 -0.068 -1.046]
+t: 153	 action: [ 0.009  0.113  0.404 -0.01   0.033 -0.064 -1.045]
+[07-31 01:16:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9890
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=154: Selected seed 195 with value = 0.9890
+t: 154	 action: [ 0.112  0.11   0.442  0.006  0.087 -0.033 -1.054]
+t: 155	 action: [ 0.116  0.058  0.413  0.004  0.06  -0.045 -1.034]
+t: 156	 action: [ 0.114  0.087  0.396  0.005  0.069 -0.045 -1.048]
+t: 157	 action: [ 0.126  0.059  0.39   0.004  0.061 -0.051 -1.03 ]
+t: 158	 action: [ 0.145  0.096  0.353  0.004  0.067 -0.046 -1.052]
+t: 159	 action: [ 0.137  0.088  0.372  0.007  0.049 -0.047 -1.054]
+t: 160	 action: [ 0.139  0.079  0.349  0.002  0.063 -0.054 -1.048]
+t: 161	 action: [ 0.147  0.091  0.368  0.007  0.05  -0.055 -1.058]
+t: 162	 action: [ 0.113  0.081  0.344  0.008  0.058 -0.04  -1.052]
+t: 163	 action: [ 0.112  0.056  0.345  0.003  0.046 -0.047 -1.033]
+t: 164	 action: [ 0.109  0.08   0.339  0.005  0.051 -0.047 -1.046]
+t: 165	 action: [ 0.122  0.067  0.345  0.003  0.048 -0.052 -1.031]
+t: 166	 action: [ 0.129  0.078  0.335  0.004  0.056 -0.051 -1.049]
+t: 167	 action: [ 0.129  0.085  0.34   0.005  0.033 -0.05  -1.055]
+t: 168	 action: [ 0.131  0.082  0.338  0.002  0.051 -0.057 -1.042]
+t: 169	 action: [ 0.142  0.096  0.359  0.005  0.038 -0.054 -1.061]
+[07-31 01:16:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=170: Selected seed 195 with value = 0.9997
+t: 170	 action: [ 0.016  0.109  0.158  0.006  0.044 -0.008 -1.041]
+t: 171	 action: [ 0.003  0.053  0.162  0.004  0.01  -0.023 -1.045]
+t: 172	 action: [-0.005  0.041  0.122  0.002  0.01  -0.02  -1.036]
+t: 173	 action: [-0.002  0.037  0.184  0.002  0.009 -0.026 -1.037]
+t: 174	 action: [ 2.389e-02  7.196e-02  1.406e-01  7.093e-04  4.625e-03 -1.685e-02 -1.040e+00]
+t: 175	 action: [-0.01   0.065  0.184  0.005 -0.007 -0.021 -1.062]
+t: 176	 action: [ 1.261e-02  2.468e-02  1.375e-01 -9.442e-04 -4.897e-03 -2.352e-02 -1.037e+00]
+t: 177	 action: [-0.004  0.057  0.218  0.003 -0.008 -0.027 -1.058]
+t: 178	 action: [-6.720e-03  2.761e-02  1.193e-01 -4.301e-04 -3.292e-03 -2.372e-02 -1.044e+00]
+t: 179	 action: [ 0.002  0.023  0.143 -0.006  0.005 -0.028 -1.045]
+t: 180	 action: [-0.015  0.024  0.11  -0.002 -0.011 -0.029 -1.04 ]
+t: 181	 action: [ 0.007  0.028  0.165 -0.005  0.005 -0.028 -1.039]
+t: 182	 action: [ 0.008  0.019  0.132 -0.005 -0.007 -0.027 -1.043]
+t: 183	 action: [-0.011  0.05   0.18  -0.003 -0.012 -0.028 -1.063]
+t: 184	 action: [ 0.003  0.019  0.13  -0.006 -0.014 -0.03  -1.035]
+t: 185	 action: [-0.003  0.054  0.218 -0.003 -0.012 -0.028 -1.062]
+[07-31 01:16:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9972
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=186: Selected seed 195 with value = 0.9972
+t: 186	 action: [-0.036  0.059  0.042  0.003  0.043 -0.008 -1.025]
+t: 187	 action: [-0.018  0.051  0.021  0.005  0.011 -0.022 -1.041]
+t: 188	 action: [-0.045  0.021 -0.007  0.002  0.007 -0.021 -1.022]
+t: 189	 action: [-0.021  0.03   0.025  0.002  0.007 -0.029 -1.044]
+t: 190	 action: [-3.710e-02  3.181e-02 -8.080e-03 -8.939e-04 -5.721e-03 -1.650e-02 -1.038e+00]
+t: 191	 action: [-0.06   0.048 -0.003  0.006 -0.008 -0.023 -1.072]
+t: 192	 action: [-0.039  0.005 -0.002 -0.002 -0.014 -0.025 -1.029]
+t: 193	 action: [-0.042  0.038  0.019  0.004 -0.015 -0.031 -1.063]
+t: 194	 action: [-6.622e-02  7.559e-03 -4.888e-02  5.616e-04 -1.579e-02 -1.857e-02 -1.034e+00]
+t: 195	 action: [-0.065 -0.009 -0.024 -0.007 -0.006 -0.027 -1.049]
+t: 196	 action: [-6.867e-02  1.034e-02 -3.357e-02 -6.662e-04 -2.613e-02 -2.505e-02 -1.032e+00]
+t: 197	 action: [-4.589e-02 -3.523e-04  2.013e-02 -6.566e-03 -7.840e-03 -2.898e-02 -1.045e+00]
+t: 198	 action: [-0.055 -0.008 -0.029 -0.005 -0.02  -0.021 -1.041]
+t: 199	 action: [-0.073  0.021 -0.008 -0.003 -0.025 -0.028 -1.067]
+t: 200	 action: [-5.677e-02  7.876e-04 -8.051e-03 -5.171e-03 -2.806e-02 -2.673e-02 -1.030e+00]
+t: 201	 action: [-0.053  0.031  0.026 -0.003 -0.026 -0.029 -1.065]
+[07-31 01:16:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=202: Selected seed 195 with value = 0.9977
+t: 202	 action: [-0.037  0.054  0.064  0.006  0.04  -0.011 -1.03 ]
+t: 203	 action: [-0.018  0.049  0.04   0.01   0.01  -0.026 -1.042]
+t: 204	 action: [-0.044  0.02  -0.009  0.002  0.005 -0.025 -1.026]
+t: 205	 action: [-0.02   0.034  0.028  0.007  0.005 -0.032 -1.045]
+t: 206	 action: [-3.869e-02  2.700e-02 -1.113e-02  7.043e-04 -6.688e-03 -1.908e-02 -1.040e+00]
+t: 207	 action: [-0.058  0.047 -0.002  0.011 -0.01  -0.025 -1.071]
+t: 208	 action: [-3.859e-02  3.471e-03 -1.759e-02 -2.071e-04 -1.433e-02 -2.713e-02 -1.030e+00]
+t: 209	 action: [-0.042  0.041  0.005  0.008 -0.018 -0.033 -1.063]
+t: 210	 action: [-0.06   0.009 -0.067  0.002 -0.017 -0.021 -1.037]
+t: 211	 action: [-0.055 -0.002 -0.052 -0.004 -0.01  -0.029 -1.05 ]
+t: 212	 action: [-0.064  0.012 -0.062  0.002 -0.026 -0.028 -1.033]
+t: 213	 action: [-0.038  0.007 -0.011 -0.004 -0.011 -0.031 -1.046]
+t: 214	 action: [-0.049 -0.003 -0.055 -0.003 -0.021 -0.022 -1.041]
+t: 215	 action: [-6.678e-02  2.528e-02 -3.710e-02  2.976e-04 -2.782e-02 -2.889e-02 -1.068e+00]
+t: 216	 action: [-0.054  0.003 -0.044 -0.003 -0.027 -0.028 -1.029]
+t: 217	 action: [-5.189e-02  3.467e-02 -4.010e-03 -2.491e-04 -2.817e-02 -3.056e-02 -1.066e+00]
+[07-31 01:16:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9975
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=218: Selected seed 195 with value = 0.9975
+t: 218	 action: [-0.021  0.039  0.082  0.01   0.038 -0.015 -1.035]
+t: 219	 action: [-0.003  0.044  0.032  0.013  0.01  -0.029 -1.04 ]
+t: 220	 action: [-0.027  0.015 -0.027  0.003  0.005 -0.027 -1.029]
+t: 221	 action: [-0.005  0.029  0.003  0.011  0.005 -0.034 -1.044]
+t: 222	 action: [-0.024  0.02  -0.022  0.003 -0.008 -0.02  -1.041]
+t: 223	 action: [-0.041  0.048 -0.022  0.014 -0.013 -0.027 -1.07 ]
+t: 224	 action: [-2.059e-02  3.628e-04 -4.533e-02  6.795e-04 -1.470e-02 -2.782e-02 -1.031e+00]
+t: 225	 action: [-0.028  0.039 -0.034  0.012 -0.019 -0.034 -1.063]
+t: 226	 action: [-0.037  0.008 -0.083  0.004 -0.019 -0.024 -1.039]
+t: 227	 action: [-2.295e-02 -3.576e-03 -6.949e-02  1.010e-03 -1.048e-02 -3.116e-02 -1.049e+00]
+t: 228	 action: [-0.043  0.011 -0.08   0.003 -0.025 -0.031 -1.034]
+t: 229	 action: [-0.012  0.004 -0.039  0.001 -0.009 -0.034 -1.045]
+t: 230	 action: [-2.854e-02 -4.552e-03 -7.735e-02 -2.266e-04 -2.154e-02 -2.454e-02 -1.041e+00]
+t: 231	 action: [-0.045  0.024 -0.067  0.005 -0.029 -0.03  -1.068]
+t: 232	 action: [-3.447e-02  1.545e-03 -6.831e-02 -9.363e-04 -2.570e-02 -3.046e-02 -1.029e+00]
+t: 233	 action: [-0.035  0.031 -0.03   0.004 -0.027 -0.033 -1.066]
+[07-31 01:16:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9993
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=234: Selected seed 195 with value = 0.9993
+t: 234	 action: [-0.012  0.02   0.083  0.013  0.034 -0.02  -1.037]
+t: 235	 action: [ 0.003  0.022  0.028  0.015  0.007 -0.034 -1.037]
+t: 236	 action: [-0.016  0.006 -0.024  0.005  0.001 -0.031 -1.033]
+t: 237	 action: [ 1.729e-03  7.836e-03  2.164e-04  1.358e-02  1.461e-03 -3.872e-02 -1.044e+00]
+t: 238	 action: [-0.016  0.005 -0.019  0.006 -0.012 -0.024 -1.043]
+t: 239	 action: [-0.032  0.034 -0.023  0.017 -0.019 -0.031 -1.068]
+t: 240	 action: [-0.011 -0.006 -0.045  0.003 -0.017 -0.03  -1.034]
+t: 241	 action: [-0.022  0.024 -0.044  0.016 -0.025 -0.038 -1.063]
+t: 242	 action: [-0.023  0.003 -0.067  0.006 -0.02  -0.03  -1.042]
+t: 243	 action: [-0.007 -0.019 -0.051  0.006 -0.01  -0.036 -1.048]
+t: 244	 action: [-0.027  0.003 -0.076  0.004 -0.025 -0.036 -1.036]
+t: 245	 action: [ 1.024e-03 -1.468e-02 -3.815e-02  6.528e-03 -9.061e-03 -3.889e-02 -1.046e+00]
+t: 246	 action: [-0.017 -0.011 -0.065  0.003 -0.023 -0.03  -1.044]
+t: 247	 action: [-0.033  0.009 -0.058  0.01  -0.031 -0.034 -1.067]
+t: 248	 action: [-0.02  -0.006 -0.066  0.002 -0.026 -0.035 -1.029]
+t: 249	 action: [-0.026  0.014 -0.039  0.009 -0.028 -0.037 -1.067]
+[07-31 01:16:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9990
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 1.006 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=250: Selected seed 195 with value = 0.9990
+t: 250	 action: [-0.007  0.009  0.102  0.017  0.029 -0.03  -1.039]
+t: 251	 action: [ 0.008  0.004  0.041  0.016  0.005 -0.042 -1.033]
+t: 252	 action: [-0.006  0.002 -0.008  0.005 -0.002 -0.039 -1.036]
+t: 253	 action: [ 0.005 -0.003  0.016  0.014 -0.002 -0.046 -1.041]
+t: 254	 action: [-0.008 -0.005  0.006  0.01  -0.012 -0.031 -1.042]
+t: 255	 action: [-0.022  0.026 -0.003  0.019 -0.026 -0.038 -1.065]
+t: 256	 action: [ 5.457e-04 -7.354e-03 -2.643e-02  4.138e-03 -1.767e-02 -3.607e-02 -1.034e+00]
+t: 257	 action: [-0.014  0.022 -0.025  0.017 -0.03  -0.045 -1.062]
+t: 258	 action: [-1.534e-02  1.184e-04 -3.354e-02  8.690e-03 -2.144e-02 -3.596e-02 -1.041e+00]
+t: 259	 action: [ 1.198e-04 -2.365e-02 -1.116e-02  1.036e-02 -1.209e-02 -4.298e-02 -1.046e+00]
+t: 260	 action: [-0.018  0.003 -0.051  0.005 -0.027 -0.042 -1.037]
+t: 261	 action: [ 0.007 -0.015 -0.01   0.009 -0.011 -0.046 -1.044]
+t: 262	 action: [-0.01  -0.014 -0.033  0.006 -0.025 -0.036 -1.043]
+t: 263	 action: [-0.023  0.006 -0.032  0.014 -0.034 -0.041 -1.065]
+t: 264	 action: [-0.011 -0.006 -0.043  0.003 -0.027 -0.042 -1.029]
+t: 265	 action: [-0.016  0.015 -0.024  0.012 -0.031 -0.043 -1.067]
+[07-31 01:16:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.059 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9963
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 1.059 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=266: Selected seed 195 with value = 0.9963
+t: 266	 action: [ 0.004  0.005  0.156  0.014  0.029 -0.036 -1.036]
+t: 267	 action: [ 0.015 -0.008  0.112  0.013  0.005 -0.046 -1.024]
+t: 268	 action: [ 1.170e-02 -7.079e-04  4.751e-02  4.605e-03  1.298e-04 -4.583e-02 -1.037e+00]
+t: 269	 action: [ 1.065e-02 -1.351e-02  5.530e-02  1.193e-02 -8.045e-04 -5.132e-02 -1.042e+00]
+t: 270	 action: [ 0.007 -0.008  0.06   0.01  -0.009 -0.034 -1.043]
+t: 271	 action: [-0.011  0.018  0.033  0.018 -0.026 -0.041 -1.062]
+t: 272	 action: [ 0.022 -0.009  0.027  0.004 -0.014 -0.041 -1.035]
+t: 273	 action: [-9.136e-04  1.732e-02  1.850e-02  1.600e-02 -2.823e-02 -4.880e-02 -1.062e+00]
+t: 274	 action: [-0.002 -0.008  0.023  0.01  -0.022 -0.042 -1.039]
+t: 275	 action: [ 0.009 -0.038  0.029  0.011 -0.011 -0.048 -1.042]
+t: 276	 action: [-0.001 -0.004 -0.008  0.005 -0.027 -0.049 -1.036]
+t: 277	 action: [ 0.013 -0.029  0.025  0.01  -0.01  -0.051 -1.044]
+t: 278	 action: [ 0.002 -0.02   0.02   0.008 -0.025 -0.042 -1.042]
+t: 279	 action: [-0.011 -0.005  0.015  0.015 -0.034 -0.046 -1.062]
+t: 280	 action: [ 6.520e-03 -1.175e-02  8.425e-04  4.489e-03 -2.666e-02 -4.809e-02 -1.028e+00]
+t: 281	 action: [-0.005  0.003  0.008  0.013 -0.03  -0.047 -1.065]
+[07-31 01:16:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.091 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9886
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 1.091 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=282: Selected seed 195 with value = 0.9886
+t: 282	 action: [ 0.017  0.002  0.205  0.015  0.034 -0.041 -1.003]
+t: 283	 action: [ 0.034 -0.011  0.19   0.015  0.008 -0.049 -0.963]
+t: 284	 action: [ 0.034 -0.005  0.094  0.007  0.011 -0.049 -1.03 ]
+t: 285	 action: [ 0.033 -0.022  0.111  0.014  0.005 -0.053 -1.044]
+t: 286	 action: [ 2.035e-02 -1.225e-02  1.117e-01  1.420e-02 -7.474e-04 -3.370e-02 -1.042e+00]
+t: 287	 action: [-0.004  0.011  0.087  0.021 -0.011 -0.041 -1.065]
+t: 288	 action: [ 0.043 -0.014  0.061  0.009 -0.004 -0.041 -1.031]
+t: 289	 action: [ 0.016  0.005  0.037  0.02  -0.014 -0.048 -1.062]
+t: 290	 action: [ 0.013 -0.024  0.04   0.014 -0.016 -0.044 -1.033]
+t: 291	 action: [ 0.018 -0.056  0.039  0.015 -0.003 -0.049 -1.04 ]
+t: 292	 action: [ 1.261e-02 -1.703e-02  8.437e-04  7.885e-03 -2.017e-02 -5.005e-02 -1.032e+00]
+t: 293	 action: [ 0.02  -0.048  0.023  0.013 -0.001 -0.052 -1.047]
+t: 294	 action: [ 0.009 -0.032  0.028  0.013 -0.022 -0.042 -1.043]
+t: 295	 action: [-0.011 -0.02   0.018  0.019 -0.027 -0.045 -1.058]
+t: 296	 action: [ 0.012 -0.021  0.004  0.008 -0.023 -0.048 -1.023]
+t: 297	 action: [-0.004 -0.014  0.004  0.017 -0.023 -0.046 -1.064]
+[07-31 01:16:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.138 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9758
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9758
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 11
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 22%|██▏       | 11/50 [05:47<20:32, 31.61s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 12...
+Query 1/1: Action query time = 1.138 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=298: Selected seed 195 with value = 0.9758
+t: 298	 action: [ 0.032 -0.003  0.157  0.011  0.044 -0.036  1.092]
+t: 299	 action: [ 0.044 -0.031  0.181  0.012  0.033 -0.054  0.913]
+t: 300	 action: [ 0.068 -0.014  0.12   0.009  0.028 -0.044 -1.041]
+t: 301	 action: [ 0.067 -0.027  0.159  0.014  0.011 -0.044 -1.063]
+t: 302	 action: [ 0.074 -0.02   0.152  0.013  0.013 -0.027 -1.157]
+t: 303	 action: [ 0.017 -0.018  0.144  0.018 -0.004 -0.044 -1.064]
+t: 304	 action: [ 0.091 -0.017  0.097  0.013  0.009 -0.033 -1.036]
+t: 305	 action: [ 3.946e-02 -1.392e-02  6.674e-02  2.222e-02  8.921e-04 -3.738e-02 -1.065e+00]
+t: 306	 action: [ 0.03  -0.05   0.04   0.017 -0.01  -0.037 -1.026]
+t: 307	 action: [ 0.028 -0.075  0.032  0.018  0.002 -0.044 -1.04 ]
+t: 308	 action: [ 0.025 -0.04  -0.001  0.012 -0.013 -0.042 -1.049]
+t: 309	 action: [ 0.025 -0.064 -0.011  0.016  0.004 -0.043 -1.064]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+[07-31 01:16:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4934
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4934
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4934
+t=10: Selected seed 195 with value = 0.4934
+t: 10	 action: [ 0.118  0.011 -0.044  0.008 -0.008 -0.003 -1.018]
+t: 11	 action: [ 2.495e-01  9.897e-02 -1.288e-02  1.946e-02 -4.949e-04  4.480e-03 -1.025e+00]
+t: 12	 action: [ 3.790e-01  2.166e-01 -4.504e-02  3.992e-03 -6.667e-03 -6.643e-05 -1.018e+00]
+t: 13	 action: [ 0.506  0.311 -0.02   0.018 -0.003  0.005 -1.032]
+t: 14	 action: [ 5.841e-01  4.026e-01 -4.473e-02 -2.612e-05 -5.040e-03  2.238e-03 -1.026e+00]
+t: 15	 action: [ 0.713  0.535 -0.034  0.019 -0.004  0.008 -1.051]
+t: 16	 action: [ 0.742  0.592 -0.046 -0.002 -0.001  0.003 -1.018]
+t: 17	 action: [ 0.804  0.652 -0.073  0.019 -0.007  0.008 -1.057]
+t: 18	 action: [ 0.763  0.627 -0.085  0.007 -0.013  0.005 -1.023]
+t: 19	 action: [ 0.811  0.625 -0.117  0.014 -0.006  0.007 -1.032]
+t: 20	 action: [ 0.781  0.664 -0.12   0.005 -0.018  0.004 -1.028]
+t: 21	 action: [ 0.822  0.641 -0.157  0.007 -0.011  0.006 -1.035]
+t: 22	 action: [ 0.823  0.66  -0.172  0.004 -0.024  0.004 -1.006]
+t: 23	 action: [ 0.834  0.66  -0.283  0.015 -0.024  0.006 -1.048]
+t: 24	 action: [ 8.210e-01  6.353e-01 -2.725e-01 -1.754e-04 -2.734e-02 -4.737e-04 -1.011e+00]
+t: 25	 action: [ 0.839  0.582 -0.396  0.011 -0.029  0.006 -1.059]
+[07-31 01:16:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5411
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5411
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5411
+t=26: Selected seed 195 with value = 0.5411
+t: 26	 action: [ 0.893  0.524 -0.314  0.007 -0.011  0.009 -1.027]
+t: 27	 action: [ 0.912  0.469 -0.431  0.007 -0.004  0.009 -1.036]
+t: 28	 action: [ 0.788  0.425 -0.472  0.008 -0.015  0.01  -1.032]
+t: 29	 action: [ 0.744  0.319 -0.577  0.013 -0.005  0.005 -1.039]
+t: 30	 action: [ 6.322e-01  2.444e-01 -5.830e-01  2.657e-03 -1.012e-02  1.458e-04 -1.025e+00]
+t: 31	 action: [ 0.557  0.157 -0.713  0.014 -0.013  0.003 -1.06 ]
+t: 32	 action: [ 3.827e-01  1.303e-01 -7.802e-01  4.347e-03 -1.340e-02 -8.910e-04 -1.027e+00]
+t: 33	 action: [ 3.213e-01  7.266e-02 -8.631e-01  1.330e-02 -1.763e-02 -3.600e-04 -1.062e+00]
+t: 34	 action: [ 0.199  0.047 -0.895  0.012 -0.035 -0.008 -1.037]
+t: 35	 action: [ 0.079 -0.028 -0.961  0.015 -0.029 -0.015 -1.029]
+t: 36	 action: [ 0.062 -0.02  -0.956  0.013 -0.036 -0.005 -1.039]
+t: 37	 action: [ 5.776e-04 -8.915e-02 -1.015e+00  1.365e-02 -2.890e-02 -1.432e-02 -1.030e+00]
+t: 38	 action: [-0.037 -0.077 -0.946  0.035 -0.037 -0.012 -1.033]
+t: 39	 action: [-0.065 -0.037 -0.991  0.027 -0.034 -0.019 -1.046]
+t: 40	 action: [-0.185 -0.135 -0.948  0.025 -0.031 -0.011 -1.034]
+t: 41	 action: [-0.222 -0.073 -0.987  0.023 -0.03  -0.017 -1.05 ]
+[07-31 01:16:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6307
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6307
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6307
+t=42: Selected seed 195 with value = 0.6307
+t: 42	 action: [-0.388  0.123 -0.997  0.008 -0.037  0.007 -1.057]
+t: 43	 action: [-3.630e-01  1.085e-01 -9.580e-01  1.021e-03 -3.170e-02  1.485e-02 -1.034e+00]
+t: 44	 action: [-0.364  0.073 -0.948  0.006 -0.026  0.007 -1.057]
+t: 45	 action: [-0.302  0.071 -0.865 -0.003 -0.005  0.014 -1.038]
+t: 46	 action: [-2.891e-01  3.911e-02 -7.971e-01 -2.898e-04 -4.760e-03  5.528e-03 -1.055e+00]
+t: 47	 action: [-2.622e-01  1.360e-01 -8.096e-01  1.675e-03 -7.262e-04  1.201e-02 -1.053e+00]
+t: 48	 action: [-0.204  0.008 -0.661 -0.003  0.005  0.004 -1.061]
+t: 49	 action: [-0.224  0.088 -0.676 -0.004  0.005  0.005 -1.053]
+t: 50	 action: [-0.22   0.023 -0.65  -0.003  0.021  0.009 -1.216]
+t: 51	 action: [-0.273 -0.043 -0.512 -0.02   0.022  0.008  0.69 ]
+t: 52	 action: [-0.216 -0.008 -0.438 -0.012  0.033  0.011  0.936]
+t: 53	 action: [-0.206 -0.073 -0.303 -0.026  0.032  0.008  1.03 ]
+t: 54	 action: [-0.177 -0.065 -0.262 -0.016  0.031 -0.007  1.099]
+t: 55	 action: [-0.118 -0.072 -0.178 -0.038  0.038 -0.014  1.02 ]
+t: 56	 action: [-0.116 -0.092 -0.05  -0.015  0.034 -0.011  0.982]
+t: 57	 action: [-0.068 -0.095 -0.013 -0.043  0.041 -0.014  1.03 ]
+[07-31 01:16:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7443
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7443
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7443
+t=58: Selected seed 195 with value = 0.7443
+t: 58	 action: [-0.043 -0.118  0.02  -0.008  0.03  -0.032  0.986]
+t: 59	 action: [-0.006 -0.101  0.091 -0.015  0.036 -0.043  1.027]
+t: 60	 action: [-2.905e-02 -7.005e-02  3.814e-01  6.733e-04  3.022e-02 -4.956e-02  9.820e-01]
+t: 61	 action: [ 0.001 -0.076  0.622 -0.015  0.045 -0.048  1.028]
+t: 62	 action: [ 0.002 -0.027  0.797  0.002  0.037 -0.057  0.989]
+t: 63	 action: [ 0.011 -0.065  0.929  0.002  0.044 -0.058  1.017]
+t: 64	 action: [-0.015 -0.079  0.964  0.01   0.04  -0.062  0.983]
+t: 65	 action: [-0.013 -0.132  0.979  0.02   0.048 -0.056  1.027]
+t: 66	 action: [ 0.005 -0.285  0.914  0.015  0.051 -0.023  0.994]
+t: 67	 action: [ 0.003 -0.346  0.968  0.025  0.061 -0.024  1.019]
+t: 68	 action: [-0.033 -0.496  0.894  0.031  0.059 -0.014  0.993]
+t: 69	 action: [-0.016 -0.569  0.896  0.034  0.065 -0.017  1.023]
+t: 70	 action: [-0.063 -0.638  0.787  0.044  0.068 -0.014  1.001]
+t: 71	 action: [-0.111 -0.714  0.603  0.048  0.058 -0.012  1.019]
+t: 72	 action: [-0.095 -0.722  0.444  0.041  0.065 -0.01   1.009]
+t: 73	 action: [-0.151 -0.76   0.288  0.04   0.049 -0.007  1.023]
+[07-31 01:16:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8606
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8606
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8606
+t=74: Selected seed 195 with value = 0.8606
+t: 74	 action: [-1.669e-01 -8.714e-01  3.422e-02  5.440e-02  4.461e-02  7.732e-04  9.734e-01]
+t: 75	 action: [-0.208 -0.886 -0.123  0.039  0.058 -0.002  1.003]
+t: 76	 action: [-2.121e-01 -8.166e-01 -2.287e-01  3.822e-02  3.993e-02  6.234e-04  9.734e-01]
+t: 77	 action: [-0.263 -0.708 -0.5    0.026  0.052  0.008  1.004]
+t: 78	 action: [-0.22  -0.582 -0.52   0.007  0.037  0.003  0.979]
+t: 79	 action: [-0.3   -0.392 -0.696  0.014  0.03   0.013  1.008]
+t: 80	 action: [-0.256 -0.265 -0.71  -0.005  0.021  0.01   0.981]
+t: 81	 action: [-0.306 -0.157 -0.845 -0.006  0.015  0.019  1.026]
+t: 82	 action: [-0.161 -0.081 -0.762 -0.014  0.002  0.02   0.982]
+t: 83	 action: [-0.197 -0.067 -0.805 -0.026  0.014  0.03   1.013]
+t: 84	 action: [-0.148  0.017 -0.736 -0.035  0.012  0.031  0.98 ]
+t: 85	 action: [-0.162 -0.025 -0.62  -0.033  0.026  0.034  1.037]
+t: 86	 action: [-0.229  0.013 -0.56  -0.048  0.013  0.035  0.993]
+t: 87	 action: [-0.194  0.021 -0.468 -0.033  0.026  0.037  1.016]
+t: 88	 action: [-0.167  0.015 -0.304 -0.05   0.026  0.032  0.992]
+t: 89	 action: [-0.122 -0.001 -0.138 -0.035  0.036  0.034  1.034]
+[07-31 01:16:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+t: 90	 action: [-3.591e-02  1.692e-02  1.198e-01 -3.025e-02  8.555e-02  5.453e-04 -1.029e+00]
+t: 91	 action: [-5.392e-04 -2.167e-02  1.964e-01 -2.760e-02  8.747e-02  2.272e-03 -1.040e+00]
+t: 92	 action: [ 0.011  0.014  0.23  -0.012  0.085  0.001 -1.027]
+t: 93	 action: [ 0.034 -0.012  0.308 -0.014  0.088  0.004 -1.032]
+t: 94	 action: [ 0.074  0.01   0.319 -0.006  0.089 -0.005 -1.038]
+t: 95	 action: [ 0.047  0.037  0.357 -0.002  0.079 -0.003 -1.059]
+t: 96	 action: [ 0.103  0.005  0.405  0.002  0.078 -0.009 -1.029]
+t: 97	 action: [ 0.08   0.042  0.391  0.006  0.066 -0.005 -1.06 ]
+t: 98	 action: [ 0.132  0.011  0.39   0.005  0.063  0.004 -1.029]
+t: 99	 action: [ 0.115  0.002  0.39   0.003  0.072  0.003 -1.034]
+t: 100	 action: [ 0.111  0.014  0.387  0.005  0.062  0.003 -1.026]
+t: 101	 action: [ 0.102  0.016  0.383  0.006  0.071  0.002 -1.029]
+t: 102	 action: [ 7.766e-02  8.901e-03  3.473e-01  4.407e-03  5.245e-02 -3.343e-04 -1.035e+00]
+t: 103	 action: [ 4.259e-02  5.249e-02  3.283e-01  9.959e-03  4.924e-02  1.002e-03 -1.053e+00]
+t: 104	 action: [ 0.059  0.015  0.32   0.002  0.053 -0.003 -1.033]
+t: 105	 action: [ 2.607e-02  6.374e-02  2.998e-01  1.044e-02  4.331e-02 -2.592e-05 -1.061e+00]
+[07-31 01:16:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.011 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.011 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.116 -0.007  0.093  0.008  0.058  0.002 -1.044]
+t: 107	 action: [ 0.099 -0.053  0.098  0.007  0.06  -0.004 -1.042]
+t: 108	 action: [ 8.809e-02 -2.305e-03  9.492e-02  5.912e-03  5.816e-02  7.236e-04 -1.039e+00]
+t: 109	 action: [ 0.061 -0.053  0.109  0.007  0.067 -0.002 -1.036]
+t: 110	 action: [ 0.065 -0.021  0.095  0.005  0.067 -0.001 -1.036]
+t: 111	 action: [ 0.069 -0.022  0.157  0.012  0.066 -0.002 -1.064]
+t: 112	 action: [ 0.055 -0.009  0.108  0.004  0.07  -0.002 -1.036]
+t: 113	 action: [ 0.031 -0.006  0.17   0.012  0.067 -0.003 -1.061]
+t: 114	 action: [ 0.106 -0.013  0.103  0.01   0.06   0.002 -1.046]
+t: 115	 action: [ 0.087 -0.039  0.108  0.008  0.062 -0.004 -1.049]
+t: 116	 action: [ 0.082  0.002  0.098  0.007  0.061  0.002 -1.04 ]
+t: 117	 action: [ 0.066 -0.041  0.114  0.007  0.067 -0.004 -1.047]
+t: 118	 action: [ 7.594e-02 -2.684e-03  1.147e-01  7.316e-03  7.294e-02 -1.807e-04 -1.042e+00]
+t: 119	 action: [ 0.056  0.004  0.158  0.013  0.061 -0.005 -1.065]
+t: 120	 action: [ 5.738e-02 -4.943e-04  1.106e-01  4.002e-03  7.254e-02 -3.030e-03 -1.035e+00]
+t: 121	 action: [ 0.029  0.006  0.17   0.013  0.067 -0.002 -1.066]
+[07-31 01:16:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.062 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9961
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 1.062 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=122: Selected seed 195 with value = 0.9961
+t: 122	 action: [-0.023  0.016 -0.157  0.003 -0.004  0.006 -1.032]
+t: 123	 action: [-6.032e-03 -1.339e-02 -1.613e-01 -8.428e-04 -6.435e-04 -1.642e-03 -1.044e+00]
+t: 124	 action: [-0.035  0.019 -0.118  0.004 -0.005  0.003 -1.026]
+t: 125	 action: [-1.361e-02 -2.913e-02 -8.941e-02 -9.696e-04  5.582e-03  1.340e-03 -1.038e+00]
+t: 126	 action: [-4.422e-02  8.984e-03 -1.290e-01  2.360e-03 -4.525e-03  7.665e-04 -1.038e+00]
+t: 127	 action: [-2.817e-02 -9.057e-04 -8.246e-02  5.845e-03 -8.082e-03  8.088e-04 -1.073e+00]
+t: 128	 action: [-4.080e-02  7.423e-03 -8.383e-02  1.257e-03 -6.077e-04  6.710e-04 -1.031e+00]
+t: 129	 action: [-2.567e-02 -1.869e-03 -1.854e-02  6.074e-03 -2.885e-03  1.043e-03 -1.061e+00]
+t: 130	 action: [ 0.007 -0.007 -0.097  0.008 -0.007  0.006 -1.038]
+t: 131	 action: [ 1.367e-02 -3.548e-02 -9.754e-02 -2.428e-04 -2.112e-03 -4.600e-03 -1.049e+00]
+t: 132	 action: [-0.003  0.014 -0.074  0.007 -0.006  0.006 -1.033]
+t: 133	 action: [ 1.964e-02 -3.091e-02 -5.227e-02 -6.730e-04  6.078e-03  2.804e-03 -1.042e+00]
+t: 134	 action: [-4.736e-03  9.900e-04 -7.596e-02  3.464e-03 -1.708e-03  2.173e-03 -1.045e+00]
+t: 135	 action: [-0.022  0.009 -0.027  0.007 -0.01  -0.004 -1.074]
+t: 136	 action: [-1.886e-02  6.526e-03 -4.704e-02  1.174e-03  2.420e-03  3.795e-04 -1.036e+00]
+t: 137	 action: [-0.029  0.013 -0.008  0.007 -0.003  0.004 -1.064]
+[07-31 01:16:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9881
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=138: Selected seed 195 with value = 0.9881
+t: 138	 action: [-0.038 -0.016 -0.179  0.004 -0.003  0.006 -1.023]
+t: 139	 action: [-2.062e-02 -5.472e-02 -1.920e-01 -2.077e-04  4.972e-03 -4.169e-03 -1.049e+00]
+t: 140	 action: [-0.036 -0.01  -0.143  0.004 -0.002  0.005 -1.023]
+t: 141	 action: [-0.013 -0.058 -0.122 -0.001  0.009 -0.001 -1.047]
+t: 142	 action: [-5.567e-02 -1.784e-03 -1.331e-01  2.769e-03  4.686e-04  1.574e-03 -1.033e+00]
+t: 143	 action: [-2.637e-02 -1.369e-02 -7.767e-02  5.782e-03  3.801e-04 -3.821e-03 -1.072e+00]
+t: 144	 action: [-0.029 -0.002 -0.097  0.002  0.004  0.002 -1.025]
+t: 145	 action: [-0.024 -0.007 -0.028  0.005  0.003 -0.002 -1.066]
+t: 146	 action: [-0.01  -0.014 -0.145  0.007 -0.002  0.004 -1.03 ]
+t: 147	 action: [ 7.565e-03 -5.497e-02 -1.624e-01  9.277e-04  7.402e-04 -3.728e-03 -1.022e+00]
+t: 148	 action: [-0.024  0.004 -0.127  0.006 -0.002  0.006 -1.108]
+t: 149	 action: [-4.834e-02 -5.564e-02 -1.369e-01 -4.508e-04  5.272e-03  1.611e-02 -1.099e+00]
+t: 150	 action: [-1.817e-02  7.258e-04 -1.099e-01  3.017e-03  4.771e-03  9.268e-04 -1.041e+00]
+t: 151	 action: [-0.028 -0.008 -0.067  0.008 -0.006 -0.002 -0.853]
+t: 152	 action: [-1.920e-02  2.056e-03 -8.651e-02  1.987e-03  6.933e-03  7.353e-04  1.081e+00]
+t: 153	 action: [-0.011 -0.001 -0.044  0.007 -0.003  0.022  1.119]
+[07-31 01:16:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=154: Selected seed 195 with value = 0.9905
+t: 154	 action: [-4.491e-03 -2.804e-02 -1.636e-02  4.499e-03  1.799e-02  2.375e-04 -1.019e+00]
+t: 155	 action: [ 0.009 -0.054  0.004 -0.002  0.022 -0.006 -1.038]
+t: 156	 action: [-0.01  -0.012 -0.009  0.004  0.021  0.002 -1.024]
+t: 157	 action: [ 9.617e-03 -4.395e-02  2.772e-02 -7.600e-04  2.246e-02 -5.423e-03 -1.031e+00]
+t: 158	 action: [-0.033 -0.017 -0.017  0.002  0.022 -0.003 -1.029]
+t: 159	 action: [-0.024 -0.019  0.004  0.004  0.016 -0.003 -1.074]
+t: 160	 action: [-0.013 -0.002  0.004  0.001  0.025 -0.002 -1.032]
+t: 161	 action: [-1.582e-02  4.424e-04  1.539e-02  6.230e-03  1.574e-02 -4.583e-03 -1.059e+00]
+t: 162	 action: [ 4.215e-02  1.464e-02 -7.130e-03  6.752e-03  1.287e-02  2.081e-04 -1.025e+00]
+t: 163	 action: [ 3.510e-02 -2.159e-02  4.215e-02 -4.941e-04  1.420e-02 -7.706e-03 -1.051e+00]
+t: 164	 action: [ 0.045  0.023  0.007  0.007  0.016  0.001 -1.022]
+t: 165	 action: [ 0.032 -0.018  0.043  0.002  0.017 -0.007 -1.043]
+t: 166	 action: [ 0.042  0.015  0.023  0.004  0.025 -0.001 -1.039]
+t: 167	 action: [ 0.003  0.031  0.032  0.007  0.012 -0.008 -1.074]
+t: 168	 action: [ 0.041  0.016  0.034  0.003  0.033 -0.003 -1.029]
+t: 169	 action: [-0.01   0.036  0.042  0.01   0.019 -0.004 -1.063]
+[07-31 01:16:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9821
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=170: Selected seed 195 with value = 0.9821
+t: 170	 action: [-0.003 -0.012 -0.142  0.006  0.005  0.005 -1.009]
+t: 171	 action: [ 2.292e-04 -6.356e-02 -1.142e-01 -2.400e-03  1.536e-02 -9.034e-03 -1.040e+00]
+t: 172	 action: [-0.003 -0.017 -0.092  0.006  0.012  0.005 -1.013]
+t: 173	 action: [-0.002 -0.06  -0.036 -0.001  0.017 -0.007 -1.042]
+t: 174	 action: [-2.655e-02 -2.316e-02 -9.781e-02  4.017e-03  1.695e-02  7.535e-05 -1.016e+00]
+t: 175	 action: [-0.026 -0.028 -0.035  0.002  0.012 -0.008 -1.07 ]
+t: 176	 action: [-8.889e-03 -1.414e-02 -4.789e-02  1.747e-03  2.111e-02 -4.682e-04 -1.026e+00]
+t: 177	 action: [-0.028 -0.017 -0.009  0.005  0.012 -0.008 -1.061]
+t: 178	 action: [ 1.992e-02 -1.568e-02 -1.146e-01 -7.509e-04  1.150e-02 -2.905e-03 -9.377e-01]
+t: 179	 action: [ 0.023 -0.053 -0.118 -0.002  0.009  0.01  -1.084]
+t: 180	 action: [ 0.024 -0.001 -0.1   -0.002  0.009  0.002  1.091]
+t: 181	 action: [ 0.01  -0.045 -0.09  -0.001  0.009 -0.006  0.933]
+t: 182	 action: [ 0.001  0.005 -0.076 -0.006  0.024 -0.002 -0.851]
+t: 183	 action: [-6.138e-03 -9.347e-03 -5.216e-02  4.968e-03  1.012e-03  1.774e-02  1.154e+00]
+t: 184	 action: [ 0.013  0.011 -0.042 -0.005  0.023 -0.003 -1.132]
+t: 185	 action: [-3.427e-02  1.861e-04 -1.664e-02  4.770e-03  2.322e-04 -1.338e-02 -1.096e+00]
+[07-31 01:16:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.047 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9804
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 1.047 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=186: Selected seed 195 with value = 0.9804
+t: 186	 action: [-0.031 -0.03   0.014 -0.008  0.018 -0.003 -0.918]
+t: 187	 action: [-0.014 -0.055  0.036 -0.011  0.023 -0.005 -0.887]
+t: 188	 action: [-3.016e-02  6.733e-03  6.393e-02 -1.043e-02  2.613e-02  4.524e-04 -1.027e+00]
+t: 189	 action: [-0.017 -0.025  0.074 -0.007  0.022 -0.006 -1.039]
+t: 190	 action: [-0.037  0.005  0.062 -0.008  0.021 -0.006 -1.026]
+t: 191	 action: [-0.039  0.025  0.068 -0.004  0.008 -0.005 -1.082]
+t: 192	 action: [ 0.003  0.026  0.101 -0.003  0.028 -0.006 -1.034]
+t: 193	 action: [-0.014  0.067  0.116  0.002  0.01  -0.007 -1.048]
+t: 194	 action: [ 7.039e-02  3.818e-02  8.961e-02  5.200e-03 -1.009e-03  8.433e-04  1.081e+00]
+t: 195	 action: [ 0.058  0.013  0.127  0.003  0.007 -0.004 -1.014]
+t: 196	 action: [ 0.091  0.038  0.139  0.007  0.006 -0.003 -1.042]
+t: 197	 action: [ 0.059  0.018  0.173  0.007  0.01  -0.009 -1.055]
+t: 198	 action: [ 0.11   0.036  0.149  0.006  0.01  -0.004 -1.143]
+t: 199	 action: [ 0.055  0.064  0.18   0.008 -0.004 -0.008 -1.07 ]
+t: 200	 action: [ 0.084  0.043  0.161  0.006  0.021 -0.008 -1.046]
+t: 201	 action: [-0.013  0.065  0.175  0.012  0.001 -0.008 -1.044]
+[07-31 01:16:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.067 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9768
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 1.067 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=202: Selected seed 195 with value = 0.9768
+t: 202	 action: [-0.012  0.008 -0.194  0.005 -0.005  0.006 -1.003]
+t: 203	 action: [-0.02  -0.04  -0.16  -0.007  0.009 -0.007 -1.025]
+t: 204	 action: [-7.117e-03  1.095e-02 -1.242e-01  3.919e-03  6.227e-05  5.282e-03 -1.008e+00]
+t: 205	 action: [-0.008 -0.034 -0.041 -0.008  0.008 -0.005 -1.077]
+t: 206	 action: [-4.450e-02 -1.104e-02 -1.294e-01  1.697e-03  2.685e-03  5.169e-04 -1.023e+00]
+t: 207	 action: [-0.034 -0.012 -0.057 -0.005 -0.003 -0.007 -1.069]
+t: 208	 action: [-2.200e-03  6.442e-03 -6.472e-02 -1.332e-03  5.044e-03 -5.561e-04 -1.007e+00]
+t: 209	 action: [-0.017  0.002 -0.015 -0.001 -0.003 -0.001 -0.901]
+t: 210	 action: [ 0.025  0.014 -0.141 -0.003 -0.009 -0.002  1.101]
+t: 211	 action: [ 0.014 -0.023 -0.132 -0.008 -0.013 -0.008  0.515]
+t: 212	 action: [ 3.682e-02  2.154e-02 -1.106e-01 -6.010e-03 -1.423e-02 -5.851e-04  1.095e+00]
+t: 213	 action: [ 0.007 -0.016 -0.098 -0.007 -0.017 -0.011  0.952]
+t: 214	 action: [ 2.773e-02  2.031e-02 -8.826e-02 -7.232e-03 -1.978e-04 -4.013e-03 -1.111e+00]
+t: 215	 action: [-1.410e-02  2.163e-02 -4.719e-02  1.883e-04 -1.928e-02 -1.476e-02 -1.100e+00]
+t: 216	 action: [ 0.044  0.023 -0.041 -0.005 -0.002 -0.007 -1.134]
+t: 217	 action: [-0.016  0.03  -0.012  0.002 -0.018 -0.019 -1.092]
+[07-31 01:16:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.090 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9688
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 1.090 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=218: Selected seed 195 with value = 0.9688
+t: 218	 action: [-1.480e-02 -9.495e-02 -3.351e-02 -2.007e-02  9.438e-03  3.490e-04  1.049e+00]
+t: 219	 action: [ 0.003 -0.1    0.016 -0.022  0.015 -0.009  0.908]
+t: 220	 action: [-1.043e-02  4.627e-03  7.978e-02 -1.855e-02  1.529e-02 -9.418e-05 -1.021e+00]
+t: 221	 action: [-0.017 -0.027  0.098 -0.017  0.013 -0.01  -1.045]
+t: 222	 action: [ 0.028  0.024  0.101 -0.019  0.008 -0.012 -1.107]
+t: 223	 action: [-0.006  0.083  0.118 -0.01  -0.006 -0.015 -1.105]
+t: 224	 action: [ 0.06   0.052  0.183 -0.008  0.011 -0.013 -1.037]
+t: 225	 action: [-1.000e-02  1.218e-01  2.029e-01 -1.936e-03 -3.088e-04 -1.409e-02 -1.069e+00]
+t: 226	 action: [ 0.079  0.061  0.203  0.003 -0.002 -0.005 -0.991]
+t: 227	 action: [ 6.272e-02  5.347e-02  2.428e-01  2.745e-05  5.639e-03 -8.147e-03 -1.048e+00]
+t: 228	 action: [ 0.099  0.07   0.226  0.006  0.002 -0.009 -1.041]
+t: 229	 action: [ 0.071  0.058  0.246  0.006  0.008 -0.013 -1.051]
+t: 230	 action: [ 5.684e-02  7.057e-02  2.014e-01  4.943e-03 -8.843e-04 -3.884e-03 -1.053e+00]
+t: 231	 action: [-0.007  0.101  0.232  0.008 -0.009 -0.004 -1.079]
+t: 232	 action: [ 0.048  0.086  0.202  0.006  0.01  -0.007 -1.045]
+t: 233	 action: [-0.021  0.104  0.205  0.011 -0.003 -0.005 -1.059]
+[07-31 01:16:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.159 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9736
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 1.159 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=234: Selected seed 195 with value = 0.9736
+t: 234	 action: [-0.044  0.021 -0.238  0.003 -0.016  0.006 -1.004]
+t: 235	 action: [-0.059 -0.016 -0.281 -0.014 -0.004 -0.008 -1.013]
+t: 236	 action: [-0.033  0.024 -0.154 -0.002 -0.019  0.005 -1.015]
+t: 237	 action: [-0.031 -0.015 -0.131 -0.014 -0.009 -0.007 -1.047]
+t: 238	 action: [-0.066  0.015 -0.161 -0.007 -0.02   0.001 -1.019]
+t: 239	 action: [-0.031  0.012 -0.105 -0.012 -0.019 -0.009 -1.075]
+t: 240	 action: [-6.214e-03  1.746e-02 -8.474e-02 -1.072e-02 -1.885e-02 -9.127e-04 -1.028e+00]
+t: 241	 action: [-0.008  0.014 -0.029 -0.009 -0.018 -0.011 -1.063]
+t: 242	 action: [-0.018  0.016 -0.182 -0.012 -0.028 -0.002  0.122]
+t: 243	 action: [ 0.015 -0.023 -0.199 -0.015 -0.036 -0.002 -0.884]
+t: 244	 action: [ 0.004  0.021 -0.132 -0.017 -0.035 -0.002  1.075]
+t: 245	 action: [-0.023 -0.009 -0.145 -0.014 -0.039 -0.008  0.915]
+t: 246	 action: [ 0.013  0.014 -0.13  -0.021 -0.026 -0.005 -0.782]
+t: 247	 action: [-0.017  0.024 -0.087 -0.006 -0.044  0.005  0.732]
+t: 248	 action: [ 0.029  0.019 -0.059 -0.017 -0.026 -0.011 -1.114]
+t: 249	 action: [-0.038  0.033 -0.021 -0.006 -0.04  -0.018 -1.082]
+[07-31 01:16:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.103 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9765
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 1.103 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=250: Selected seed 195 with value = 0.9765
+t: 250	 action: [ 0.008 -0.038 -0.041 -0.007  0.007 -0.003 -0.962]
+t: 251	 action: [ 0.007 -0.052 -0.049 -0.014  0.013 -0.009 -0.962]
+t: 252	 action: [ 0.012  0.005 -0.004 -0.014  0.003 -0.002 -1.014]
+t: 253	 action: [ 0.007 -0.021  0.025 -0.011  0.01  -0.01  -1.031]
+t: 254	 action: [-0.031  0.016  0.003 -0.016 -0.004 -0.007 -1.018]
+t: 255	 action: [-0.023  0.024 -0.004 -0.009 -0.006 -0.009 -1.077]
+t: 256	 action: [ 0.015  0.027  0.042 -0.012 -0.004 -0.006 -1.028]
+t: 257	 action: [-0.003  0.058  0.025 -0.003 -0.006 -0.013 -1.06 ]
+t: 258	 action: [ 0.083  0.034  0.032  0.001 -0.023  0.001 -0.737]
+t: 259	 action: [ 0.048  0.021  0.061 -0.005 -0.013 -0.008 -1.035]
+t: 260	 action: [ 0.088  0.044  0.068  0.006 -0.023 -0.001 -1.031]
+t: 261	 action: [ 6.764e-02  2.852e-02  8.367e-02  7.384e-04 -1.085e-02 -1.207e-02 -1.047e+00]
+t: 262	 action: [ 0.072  0.045  0.076  0.002 -0.024 -0.003 -1.091]
+t: 263	 action: [-7.109e-04  8.150e-02  9.521e-02  2.421e-03 -2.475e-02 -1.115e-02 -1.076e+00]
+t: 264	 action: [ 0.061  0.064  0.093  0.003 -0.015 -0.006 -1.04 ]
+t: 265	 action: [-0.007  0.086  0.109  0.006 -0.017 -0.011 -1.056]
+[07-31 01:16:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.015 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9630
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 1.015 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=266: Selected seed 195 with value = 0.9630
+t: 266	 action: [-0.028  0.006 -0.311  0.006 -0.013  0.01  -1.025]
+t: 267	 action: [-0.023 -0.032 -0.375 -0.011  0.005 -0.007 -1.042]
+t: 268	 action: [-0.01  -0.006 -0.183  0.002 -0.009  0.007 -1.024]
+t: 269	 action: [-0.009 -0.049 -0.191 -0.011  0.005 -0.007 -1.041]
+t: 270	 action: [-4.983e-03 -6.553e-04 -1.541e-01 -1.869e-05 -6.642e-03  1.968e-03 -1.044e+00]
+t: 271	 action: [-0.041 -0.002 -0.11  -0.008 -0.004 -0.01  -1.068]
+t: 272	 action: [ 6.165e-03 -2.065e-03 -9.160e-02 -5.675e-03 -7.853e-04  3.289e-04 -1.041e+00]
+t: 273	 action: [-0.051 -0.008 -0.044 -0.005 -0.005 -0.011 -1.063]
+t: 274	 action: [ 0.008 -0.041 -0.245 -0.021 -0.01  -0.002  0.884]
+t: 275	 action: [ 8.040e-03 -5.330e-02 -2.519e-01 -1.687e-02 -8.328e-03 -4.355e-04  1.028e+00]
+t: 276	 action: [ 0.026 -0.001 -0.187 -0.027 -0.01   0.002  0.979]
+t: 277	 action: [ 0.027 -0.047 -0.165 -0.017 -0.007 -0.002  1.047]
+t: 278	 action: [ 0.011  0.012 -0.131 -0.032 -0.006 -0.004  0.982]
+t: 279	 action: [ 0.025  0.002 -0.079 -0.011 -0.017  0.003  1.026]
+t: 280	 action: [ 0.025  0.003 -0.06  -0.023 -0.001 -0.003  1.007]
+t: 281	 action: [ 3.035e-02  9.722e-03 -1.481e-02 -1.023e-02 -1.452e-02  9.080e-04  1.029e+00]
+[07-31 01:16:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9208
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9208
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9208
+t=282: Selected seed 195 with value = 0.9208
+t: 282	 action: [ 0.019 -0.124  0.084 -0.044 -0.055  0.005  1.035]
+t: 283	 action: [ 0.026 -0.184  0.159 -0.027 -0.047  0.003  1.049]
+t: 284	 action: [ 1.131e-02 -6.091e-02  1.415e-01 -7.719e-03 -4.765e-02 -7.711e-04  1.125e+00]
+t: 285	 action: [-0.04  -0.128  0.216 -0.014 -0.033 -0.011  0.971]
+t: 286	 action: [-0.003 -0.026  0.252  0.004 -0.035 -0.002  1.043]
+t: 287	 action: [ 0.004  0.032  0.277  0.005 -0.023  0.004  1.012]
+t: 288	 action: [-0.027  0.03   0.312  0.009 -0.019 -0.009 -1.134]
+t: 289	 action: [-0.056  0.094  0.258  0.014 -0.004 -0.022 -1.113]
+t: 290	 action: [-0.003  0.116  0.215  0.004  0.011 -0.004  1.044]
+t: 291	 action: [-1.316e-03  9.914e-02  2.731e-01  1.276e-05  1.322e-02 -6.889e-03 -1.001e+00]
+t: 292	 action: [ 3.854e-02  2.037e-01  2.532e-01  8.733e-04  2.629e-02 -6.003e-03 -1.036e+00]
+t: 293	 action: [ 4.530e-02  1.253e-01  2.879e-01 -7.382e-04  2.344e-02 -1.625e-02 -1.063e+00]
+t: 294	 action: [ 0.063  0.161  0.213  0.002  0.023 -0.006 -1.123]
+t: 295	 action: [ 0.012  0.13   0.227  0.001  0.006 -0.008 -1.05 ]
+t: 296	 action: [ 5.033e-02  1.762e-01  2.343e-01  1.333e-04  2.937e-02 -1.079e-02 -1.034e+00]
+t: 297	 action: [-3.873e-03  1.370e-01  2.492e-01  8.610e-04  6.400e-03 -8.233e-03 -9.673e-01]
+[07-31 01:16:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9607
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9607
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 12
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 24%|██▍       | 12/50 [06:19<20:04, 31.69s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 13...
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=298: Selected seed 195 with value = 0.9607
+t: 298	 action: [ 0.035 -0.139 -0.28  -0.009 -0.012 -0.005  0.993]
+t: 299	 action: [ 0.034 -0.114 -0.408 -0.011 -0.017 -0.004  1.017]
+t: 300	 action: [ 0.025 -0.059 -0.239 -0.023 -0.021 -0.009  1.087]
+t: 301	 action: [-0.016 -0.045 -0.37  -0.015 -0.024 -0.022  0.933]
+t: 302	 action: [-0.016 -0.03  -0.225 -0.032 -0.029 -0.008  1.017]
+t: 303	 action: [-0.011 -0.063 -0.236 -0.015 -0.039 -0.004  0.992]
+t: 304	 action: [ 0.008  0.008 -0.085 -0.02  -0.035 -0.015 -1.153]
+t: 305	 action: [-0.027  0.002 -0.073 -0.007 -0.041 -0.029 -1.145]
+t: 306	 action: [ 0.036  0.046 -0.025 -0.002 -0.047  0.002  1.084]
+t: 307	 action: [ 0.021  0.008  0.053 -0.011 -0.033 -0.014 -0.987]
+t: 308	 action: [ 4.503e-02  5.220e-02  6.348e-02  1.005e-03 -5.505e-02 -8.388e-04 -1.025e+00]
+t: 309	 action: [ 0.03   0.016  0.109 -0.005 -0.039 -0.02  -1.051]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+[07-31 01:17:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4933
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4933
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4933
+t=10: Selected seed 195 with value = 0.4933
+t: 10	 action: [ 0.045 -0.016 -0.043  0.005 -0.008 -0.003 -1.012]
+t: 11	 action: [ 0.14   0.016 -0.015  0.014 -0.002 -0.002 -1.021]
+t: 12	 action: [ 0.282  0.13  -0.05   0.002 -0.009 -0.002 -1.011]
+t: 13	 action: [ 0.409  0.222 -0.018  0.013 -0.004 -0.002 -1.027]
+t: 14	 action: [ 0.516  0.31  -0.054 -0.001 -0.009 -0.003 -1.022]
+t: 15	 action: [ 6.712e-01  4.621e-01 -3.062e-02  1.591e-02 -6.210e-03  6.203e-05 -1.049e+00]
+t: 16	 action: [ 0.718  0.557 -0.052 -0.004 -0.005 -0.004 -1.009]
+t: 17	 action: [ 7.886e-01  6.048e-01 -4.572e-02  1.606e-02 -8.186e-03 -4.801e-04 -1.053e+00]
+t: 18	 action: [ 0.765  0.617 -0.078  0.006 -0.006  0.003 -1.019]
+t: 19	 action: [ 8.025e-01  6.246e-01 -9.911e-02  1.234e-02  4.606e-04  6.188e-04 -1.031e+00]
+t: 20	 action: [ 0.789  0.642 -0.118  0.006 -0.01   0.002 -1.02 ]
+t: 21	 action: [ 8.202e-01  6.394e-01 -1.326e-01  6.886e-03 -1.111e-03  4.639e-04 -1.033e+00]
+t: 22	 action: [ 8.356e-01  6.289e-01 -1.619e-01  1.303e-03 -1.087e-02  4.929e-04 -1.002e+00]
+t: 23	 action: [ 8.526e-01  6.062e-01 -2.519e-01  1.580e-02 -1.057e-02 -1.352e-06 -1.048e+00]
+t: 24	 action: [ 0.839  0.595 -0.255 -0.002 -0.013 -0.003 -1.004]
+t: 25	 action: [ 8.670e-01  5.251e-01 -3.546e-01  1.259e-02 -1.332e-02  3.708e-04 -1.057e+00]
+[07-31 01:17:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.017 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5339
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5339
+Query 1/1: Action query time = 1.017 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5339
+t=26: Selected seed 195 with value = 0.5339
+t: 26	 action: [ 0.889  0.55  -0.236  0.001 -0.011  0.008 -1.033]
+t: 27	 action: [ 0.911  0.513 -0.33   0.003 -0.005  0.003 -1.035]
+t: 28	 action: [ 0.826  0.471 -0.376  0.007 -0.015  0.007 -1.033]
+t: 29	 action: [ 8.051e-01  3.903e-01 -4.507e-01  6.925e-03 -6.621e-03 -1.414e-04 -1.039e+00]
+t: 30	 action: [ 6.780e-01  2.770e-01 -5.260e-01  2.201e-04 -1.148e-02 -1.299e-03 -1.023e+00]
+t: 31	 action: [ 0.593  0.203 -0.661  0.012 -0.017 -0.004 -1.059]
+t: 32	 action: [ 4.427e-01  1.505e-01 -7.733e-01  3.594e-04 -1.596e-02 -4.249e-03 -1.025e+00]
+t: 33	 action: [ 0.368  0.074 -0.889  0.017 -0.023 -0.007 -1.062]
+t: 34	 action: [ 0.234  0.038 -0.906  0.016 -0.034 -0.012 -1.041]
+t: 35	 action: [ 0.12  -0.032 -0.972  0.021 -0.03  -0.018 -1.029]
+t: 36	 action: [ 0.095 -0.025 -0.971  0.019 -0.036 -0.011 -1.045]
+t: 37	 action: [ 0.023 -0.085 -1.026  0.02  -0.032 -0.017 -1.029]
+t: 38	 action: [ 0.012 -0.066 -0.958  0.048 -0.034 -0.02  -1.038]
+t: 39	 action: [-0.037 -0.023 -0.998  0.035 -0.033 -0.025 -1.045]
+t: 40	 action: [-0.132 -0.098 -0.958  0.036 -0.031 -0.018 -1.038]
+t: 41	 action: [-0.164 -0.053 -0.989  0.03  -0.031 -0.022 -1.048]
+[07-31 01:17:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.050 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6353
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6353
+Query 1/1: Action query time = 1.050 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6353
+t=42: Selected seed 195 with value = 0.6353
+t: 42	 action: [-0.406  0.129 -0.987  0.014 -0.059  0.014 -1.041]
+t: 43	 action: [-0.382  0.091 -0.988  0.013 -0.05   0.027 -1.033]
+t: 44	 action: [-0.361  0.059 -0.948  0.015 -0.043  0.016 -1.038]
+t: 45	 action: [-0.301  0.045 -0.907  0.012 -0.018  0.026 -1.031]
+t: 46	 action: [-0.298  0.028 -0.807  0.003 -0.018  0.015 -1.034]
+t: 47	 action: [-0.243  0.107 -0.829  0.015 -0.003  0.022 -1.054]
+t: 48	 action: [-0.21  -0.003 -0.689  0.002 -0.006  0.01  -1.037]
+t: 49	 action: [-0.194  0.062 -0.71   0.011  0.004  0.014 -1.055]
+t: 50	 action: [-0.25   0.005 -0.646  0.007  0.013  0.007 -1.208]
+t: 51	 action: [-0.314 -0.049 -0.565 -0.008  0.021  0.026 -1.157]
+t: 52	 action: [-0.294 -0.021 -0.533  0.005  0.022  0.008  0.978]
+t: 53	 action: [-0.263 -0.074 -0.42  -0.008  0.034  0.014  1.031]
+t: 54	 action: [-0.251 -0.041 -0.386  0.003  0.035 -0.009  1.116]
+t: 55	 action: [-1.822e-01 -4.715e-02 -2.846e-01 -1.148e-02  4.674e-02 -7.211e-04  1.190e+00]
+t: 56	 action: [-0.177 -0.043 -0.187 -0.003  0.042 -0.011  0.998]
+t: 57	 action: [-0.114 -0.056 -0.076 -0.028  0.062 -0.019  1.039]
+[07-31 01:17:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.075 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7365
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7365
+Query 1/1: Action query time = 1.075 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7365
+t=58: Selected seed 195 with value = 0.7365
+t: 58	 action: [-0.089 -0.208 -0.174 -0.014  0.019 -0.032  0.998]
+t: 59	 action: [-0.102 -0.185 -0.095 -0.024  0.02  -0.045  1.016]
+t: 60	 action: [-0.052 -0.152  0.058 -0.021  0.011 -0.05   0.989]
+t: 61	 action: [-0.032 -0.137  0.205 -0.022  0.019 -0.05   1.019]
+t: 62	 action: [-0.023 -0.054  0.385 -0.024  0.01  -0.042  0.996]
+t: 63	 action: [-0.007 -0.033  0.725 -0.025  0.012 -0.048  1.004]
+t: 64	 action: [-0.016 -0.032  0.816 -0.003  0.011 -0.053  0.981]
+t: 65	 action: [-0.019 -0.048  0.921 -0.011  0.019 -0.053  1.013]
+t: 66	 action: [-1.901e-03 -1.854e-01  9.156e-01  8.043e-05  1.493e-02 -2.054e-02  9.934e-01]
+t: 67	 action: [-0.012 -0.241  0.96   0.024  0.025 -0.027  1.008]
+t: 68	 action: [-0.041 -0.382  0.909  0.021  0.028 -0.019  0.979]
+t: 69	 action: [-0.031 -0.484  0.964  0.041  0.042 -0.021  1.017]
+t: 70	 action: [-0.113 -0.552  0.871  0.032  0.036 -0.01   0.996]
+t: 71	 action: [-0.182 -0.644  0.797  0.051  0.046 -0.008  1.009]
+t: 72	 action: [-0.154 -0.689  0.686  0.042  0.047 -0.009  0.994]
+t: 73	 action: [-0.192 -0.748  0.423  0.057  0.057 -0.006  1.018]
+[07-31 01:17:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.119 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8786
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8786
+Query 1/1: Action query time = 1.119 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8786
+t=74: Selected seed 195 with value = 0.8786
+t: 74	 action: [-1.475e-01 -8.697e-01  6.117e-03  7.049e-02  4.543e-02  7.389e-04  9.725e-01]
+t: 75	 action: [-0.181 -0.89  -0.133  0.046  0.058 -0.003  1.005]
+t: 76	 action: [-0.196 -0.813 -0.288  0.046  0.04   0.002  0.972]
+t: 77	 action: [-0.259 -0.733 -0.547  0.027  0.046  0.009  1.009]
+t: 78	 action: [-0.218 -0.574 -0.541  0.005  0.042  0.003  0.981]
+t: 79	 action: [-0.315 -0.424 -0.684  0.007  0.036  0.015  1.004]
+t: 80	 action: [-0.251 -0.307 -0.726 -0.008  0.032  0.013  0.985]
+t: 81	 action: [-0.321 -0.194 -0.839 -0.009  0.026  0.023  1.02 ]
+t: 82	 action: [-0.177 -0.112 -0.782 -0.027  0.004  0.016  0.989]
+t: 83	 action: [-0.221 -0.08  -0.76  -0.038  0.016  0.026  1.023]
+t: 84	 action: [-0.13  -0.016 -0.694 -0.051  0.016  0.028  0.991]
+t: 85	 action: [-0.131 -0.031 -0.528 -0.045  0.029  0.031  1.058]
+t: 86	 action: [-0.189  0.009 -0.458 -0.066  0.025  0.031  1.001]
+t: 87	 action: [-0.155  0.017 -0.301 -0.041  0.039  0.036  1.019]
+t: 88	 action: [-0.125  0.007 -0.191 -0.069  0.034  0.03   1.001]
+t: 89	 action: [-0.087 -0.001 -0.037 -0.045  0.044  0.032  1.017]
+[07-31 01:17:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.073 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9766
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9766
+Query 1/1: Action query time = 1.073 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9766
+t=90: Selected seed 195 with value = 0.9766
+t: 90	 action: [-0.095  0.002 -0.082 -0.023  0.089  0.005  1.17 ]
+t: 91	 action: [-0.024 -0.031  0.073 -0.025  0.096  0.004  0.773]
+t: 92	 action: [-0.027  0.017  0.129 -0.009  0.09  -0.003 -1.041]
+t: 93	 action: [ 0.013 -0.011  0.285 -0.012  0.089 -0.012 -1.035]
+t: 94	 action: [ 0.089  0.017  0.333 -0.01   0.079 -0.011 -1.184]
+t: 95	 action: [ 0.037  0.067  0.375 -0.004  0.083 -0.027 -1.116]
+t: 96	 action: [ 0.091  0.02   0.424  0.002  0.073 -0.033 -1.034]
+t: 97	 action: [ 0.078  0.06   0.401  0.005  0.073 -0.026 -1.063]
+t: 98	 action: [ 0.074  0.051  0.424  0.003  0.072 -0.019 -1.03 ]
+t: 99	 action: [ 7.841e-02  3.295e-02  4.498e-01  1.014e-03  7.404e-02 -2.602e-02 -1.040e+00]
+t: 100	 action: [ 0.075  0.028  0.427  0.003  0.061 -0.02  -1.037]
+t: 101	 action: [ 0.087  0.028  0.44   0.003  0.065 -0.025 -1.029]
+t: 102	 action: [ 0.091  0.035  0.419  0.006  0.061 -0.022 -1.031]
+t: 103	 action: [ 0.079  0.058  0.408  0.008  0.054 -0.028 -1.059]
+t: 104	 action: [ 0.089  0.023  0.416  0.004  0.054 -0.025 -1.033]
+t: 105	 action: [ 0.067  0.05   0.375  0.008  0.045 -0.025 -1.061]
+[07-31 01:17:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.096 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9970
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.096 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=106: Selected seed 195 with value = 0.9970
+t: 106	 action: [ 7.768e-03  2.567e-02  9.603e-02  4.214e-03 -7.843e-04 -1.544e-03 -1.034e+00]
+t: 107	 action: [ 6.330e-03 -1.230e-03  5.711e-02  2.207e-03  4.203e-04 -9.484e-03 -1.043e+00]
+t: 108	 action: [-0.007  0.024  0.07   0.005 -0.002 -0.002 -1.034]
+t: 109	 action: [-5.084e-04 -4.357e-03  6.333e-02  2.267e-03  4.331e-03 -1.068e-02 -1.026e+00]
+t: 110	 action: [-0.005  0.02   0.077  0.005 -0.007 -0.006 -1.031]
+t: 111	 action: [-0.021  0.021  0.061  0.009 -0.01  -0.009 -1.066]
+t: 112	 action: [-0.009  0.017  0.083  0.006 -0.001 -0.008 -1.035]
+t: 113	 action: [-0.017  0.027  0.087  0.01  -0.004 -0.014 -1.056]
+t: 114	 action: [ 0.011  0.03   0.084  0.008 -0.011 -0.002 -1.041]
+t: 115	 action: [ 2.025e-03  1.578e-02  7.376e-02  7.001e-04 -2.797e-04 -1.314e-02 -1.045e+00]
+t: 116	 action: [-2.050e-04  2.387e-02  7.576e-02  7.105e-03 -5.013e-03 -3.894e-03 -1.040e+00]
+t: 117	 action: [ 3.563e-03  1.160e-02  7.471e-02  5.110e-04  5.006e-03 -1.316e-02 -1.036e+00]
+t: 118	 action: [ 0.01   0.034  0.088  0.005 -0.007 -0.007 -1.042]
+t: 119	 action: [-0.015  0.047  0.089  0.004 -0.009 -0.016 -1.068]
+t: 120	 action: [ 7.969e-03  2.663e-02  9.330e-02  4.231e-03  8.887e-04 -1.015e-02 -1.040e+00]
+t: 121	 action: [-0.013  0.044  0.102  0.004 -0.006 -0.015 -1.066]
+[07-31 01:17:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.153 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9964
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 1.153 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=122: Selected seed 195 with value = 0.9964
+t: 122	 action: [-0.036  0.046 -0.05   0.002 -0.005  0.003 -1.02 ]
+t: 123	 action: [-8.205e-03  1.389e-02 -5.404e-02 -4.485e-04 -1.339e-03  2.714e-03 -1.038e+00]
+t: 124	 action: [-0.045  0.036 -0.039  0.002 -0.004  0.001 -1.029]
+t: 125	 action: [-1.399e-02  2.578e-03  2.763e-02 -1.612e-03  3.128e-03 -3.508e-04 -1.030e+00]
+t: 126	 action: [-3.402e-02  3.168e-02 -1.764e-02  6.311e-04 -7.374e-03 -6.794e-04 -1.032e+00]
+t: 127	 action: [-0.024  0.021 -0.007  0.004 -0.01   0.002 -1.066]
+t: 128	 action: [-0.042  0.018  0.005  0.001 -0.002 -0.003 -1.034]
+t: 129	 action: [-0.022  0.021  0.023  0.004 -0.004 -0.003 -1.055]
+t: 130	 action: [-0.024  0.019  0.006  0.006 -0.005  0.006 -1.035]
+t: 131	 action: [-0.006  0.002  0.042 -0.001  0.002 -0.005 -1.047]
+t: 132	 action: [-0.042  0.022  0.011  0.005 -0.003  0.005 -1.038]
+t: 133	 action: [-3.858e-03 -6.411e-04  4.892e-02 -2.674e-03  4.923e-03 -3.959e-03 -1.038e+00]
+t: 134	 action: [-2.905e-02  1.185e-02  2.597e-02  3.000e-03 -5.459e-03 -9.054e-04 -1.046e+00]
+t: 135	 action: [-0.03   0.025  0.048  0.001 -0.009 -0.008 -1.07 ]
+t: 136	 action: [-3.870e-02  1.205e-02  4.422e-02  1.850e-03  6.442e-05 -4.166e-03 -1.042e+00]
+t: 137	 action: [-2.659e-02  2.678e-02  8.026e-02  7.715e-04 -5.254e-03 -6.183e-03 -1.065e+00]
+[07-31 01:17:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.201 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.201 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=138: Selected seed 195 with value = 0.9959
+t: 138	 action: [-0.013  0.036 -0.074  0.002  0.004  0.004 -1.028]
+t: 139	 action: [ 2.796e-03  7.499e-04 -8.947e-02 -2.065e-03  8.676e-03  7.194e-03 -1.041e+00]
+t: 140	 action: [-0.031  0.026 -0.05   0.002  0.005  0.003 -1.032]
+t: 141	 action: [-0.005 -0.014  0.015 -0.004  0.011  0.005 -1.032]
+t: 142	 action: [-2.514e-02  2.130e-02 -3.236e-02  3.396e-04  1.262e-03  2.944e-03 -1.034e+00]
+t: 143	 action: [-0.019  0.01  -0.012  0.003  0.001  0.008 -1.064]
+t: 144	 action: [-4.084e-02  1.144e-02 -7.948e-04  4.677e-04  5.287e-03  1.024e-03 -1.036e+00]
+t: 145	 action: [-0.023  0.01   0.022  0.002  0.007  0.003 -1.056]
+t: 146	 action: [-0.02   0.018 -0.022  0.006  0.006  0.009 -1.038]
+t: 147	 action: [ 1.395e-03 -7.597e-03  3.397e-02 -2.582e-03  9.106e-03  6.905e-04 -1.047e+00]
+t: 148	 action: [-0.041  0.022 -0.009  0.005  0.006  0.007 -1.039]
+t: 149	 action: [ 0.003 -0.012  0.045 -0.004  0.013  0.003 -1.04 ]
+t: 150	 action: [-0.034  0.009  0.003  0.003  0.003  0.002 -1.047]
+t: 151	 action: [-3.003e-02  1.455e-02  1.854e-02  8.991e-04 -1.193e-03 -2.740e-03 -1.067e+00]
+t: 152	 action: [-0.046  0.01   0.027  0.001  0.006 -0.002 -1.043]
+t: 153	 action: [-2.876e-02  1.671e-02  6.261e-02  9.213e-05  3.801e-03 -4.054e-05 -1.064e+00]
+[07-31 01:17:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.186 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.186 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=154: Selected seed 195 with value = 0.9973
+t: 154	 action: [ 0.018  0.031 -0.083  0.003  0.009  0.006 -1.034]
+t: 155	 action: [ 0.016 -0.005 -0.095 -0.002  0.014  0.009 -1.042]
+t: 156	 action: [-0.004  0.024 -0.049  0.003  0.011  0.005 -1.035]
+t: 157	 action: [ 0.009 -0.02   0.01  -0.004  0.018  0.007 -1.034]
+t: 158	 action: [-0.005  0.024 -0.039  0.001  0.007  0.005 -1.033]
+t: 159	 action: [-0.006  0.01  -0.011  0.003  0.008  0.01  -1.063]
+t: 160	 action: [-2.234e-02  1.443e-02 -9.854e-04  9.018e-04  1.102e-02  3.608e-03 -1.035e+00]
+t: 161	 action: [-0.018  0.01   0.021  0.002  0.015  0.006 -1.057]
+t: 162	 action: [ 0.012  0.016 -0.038  0.007  0.011  0.01  -1.041]
+t: 163	 action: [ 0.014 -0.014  0.019 -0.002  0.014  0.004 -1.047]
+t: 164	 action: [-0.015  0.021 -0.016  0.006  0.011  0.008 -1.04 ]
+t: 165	 action: [ 0.016 -0.019  0.043 -0.004  0.019  0.006 -1.042]
+t: 166	 action: [-0.015  0.012 -0.008  0.003  0.009  0.004 -1.045]
+t: 167	 action: [-0.023  0.013  0.002  0.002  0.005  0.001 -1.067]
+t: 168	 action: [-3.098e-02  1.200e-02  2.186e-02  1.533e-03  1.104e-02  7.600e-05 -1.042e+00]
+t: 169	 action: [-2.485e-02  1.607e-02  4.521e-02  6.736e-04  1.136e-02  3.665e-03 -1.064e+00]
+[07-31 01:17:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.169 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 1.169 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=170: Selected seed 195 with value = 0.9979
+t: 170	 action: [ 0.036  0.018 -0.116  0.004  0.012  0.007 -1.04 ]
+t: 171	 action: [ 2.539e-02 -2.091e-02 -1.275e-01 -9.113e-04  1.414e-02  6.422e-03 -1.042e+00]
+t: 172	 action: [ 0.006  0.019 -0.073  0.004  0.013  0.005 -1.034]
+t: 173	 action: [ 0.014 -0.03  -0.02  -0.003  0.019  0.006 -1.034]
+t: 174	 action: [ 0.005  0.016 -0.059  0.002  0.01   0.004 -1.036]
+t: 175	 action: [ 4.232e-03  9.827e-04 -1.905e-02  4.853e-03  1.025e-02  8.301e-03 -1.064e+00]
+t: 176	 action: [-0.019  0.011 -0.019  0.001  0.013  0.003 -1.034]
+t: 177	 action: [-0.017  0.005  0.012  0.003  0.016  0.005 -1.057]
+t: 178	 action: [ 0.022  0.014 -0.07   0.008  0.012  0.01  -1.045]
+t: 179	 action: [ 2.215e-02 -2.234e-02 -4.016e-02 -1.017e-03  1.457e-02  3.199e-03 -1.048e+00]
+t: 180	 action: [-0.01   0.02  -0.046  0.006  0.011  0.007 -1.042]
+t: 181	 action: [ 0.021 -0.029  0.02  -0.003  0.018  0.006 -1.043]
+t: 182	 action: [-0.011  0.011 -0.035  0.004  0.01   0.004 -1.047]
+t: 183	 action: [-0.021  0.007 -0.01   0.004  0.005  0.001 -1.068]
+t: 184	 action: [-3.348e-02  8.907e-03 -5.265e-03  1.784e-03  1.068e-02  5.769e-05 -1.043e+00]
+t: 185	 action: [-0.027  0.009  0.008  0.003  0.011  0.004 -1.065]
+[07-31 01:17:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.153 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9970
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.153 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=186: Selected seed 195 with value = 0.9970
+t: 186	 action: [ 4.610e-02  1.709e-04 -1.709e-01  4.824e-03  1.008e-02  8.894e-03 -1.038e+00]
+t: 187	 action: [ 2.950e-02 -4.100e-02 -1.919e-01 -3.411e-03  1.067e-02 -7.517e-04 -1.052e+00]
+t: 188	 action: [ 0.022  0.002 -0.108  0.006  0.011  0.007 -1.034]
+t: 189	 action: [ 1.529e-02 -4.800e-02 -8.618e-02 -4.965e-03  1.583e-02  4.788e-04 -1.046e+00]
+t: 190	 action: [ 9.986e-03 -9.648e-04 -9.053e-02  2.120e-03  8.817e-03  2.739e-03 -1.022e+00]
+t: 191	 action: [ 1.813e-02 -1.427e-02 -4.620e-02  3.246e-03  9.958e-03 -3.099e-04 -1.067e+00]
+t: 192	 action: [ 3.603e-03  8.996e-04 -4.341e-02  1.419e-03  1.170e-02  1.560e-03 -1.026e+00]
+t: 193	 action: [-0.016 -0.01   0.001  0.002  0.016 -0.002 -1.065]
+t: 194	 action: [ 3.327e-02 -6.054e-04 -1.166e-01  7.144e-03  1.209e-02  7.962e-03 -1.041e+00]
+t: 195	 action: [ 0.031 -0.045 -0.123 -0.004  0.012  0.014 -1.089]
+t: 196	 action: [-0.005  0.002 -0.093  0.005  0.011  0.006 -1.149]
+t: 197	 action: [-0.015 -0.053 -0.07  -0.006  0.016  0.021 -1.123]
+t: 198	 action: [-7.693e-03 -8.380e-04 -7.205e-02  1.638e-03  9.958e-03  1.280e-03 -1.027e+00]
+t: 199	 action: [-0.016 -0.013 -0.03   0.003  0.002  0.014  0.952]
+t: 200	 action: [-2.700e-02 -5.202e-03 -4.687e-02 -2.354e-04  9.468e-03 -1.999e-03  1.032e+00]
+t: 201	 action: [-1.079e-03 -9.571e-03 -1.521e-02  6.378e-04  7.188e-03  2.418e-02  1.118e+00]
+[07-31 01:17:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.153 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9776
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 1.153 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=202: Selected seed 195 with value = 0.9776
+t: 202	 action: [ 2.267e-02 -6.354e-02 -1.323e-01 -8.001e-04 -4.928e-03 -4.436e-03  1.071e+00]
+t: 203	 action: [ 0.019 -0.019 -0.249 -0.006 -0.002 -0.012  0.891]
+t: 204	 action: [ 0.018 -0.019 -0.081 -0.003 -0.018 -0.006 -1.011]
+t: 205	 action: [ 0.009 -0.026 -0.087 -0.006 -0.01  -0.016 -1.041]
+t: 206	 action: [ 0.028 -0.013 -0.095 -0.002 -0.019 -0.004 -1.125]
+t: 207	 action: [-2.697e-02  5.065e-03 -7.720e-02  8.823e-04 -1.900e-02 -7.276e-03 -1.108e+00]
+t: 208	 action: [ 1.585e-02 -4.519e-03 -2.285e-02  7.422e-04 -1.893e-02 -5.924e-03 -1.048e+00]
+t: 209	 action: [-0.033  0.004 -0.015  0.004 -0.019 -0.015 -1.055]
+t: 210	 action: [ 0.029  0.024  0.01   0.006 -0.025  0.002 -1.028]
+t: 211	 action: [ 0.022 -0.005  0.047 -0.002 -0.017 -0.011 -1.051]
+t: 212	 action: [ 2.901e-02  2.406e-02  2.353e-02  6.659e-03 -2.629e-02 -7.736e-04 -1.051e+00]
+t: 213	 action: [ 2.698e-02 -8.738e-03  5.258e-02 -5.465e-04 -1.359e-02 -1.301e-02 -1.051e+00]
+t: 214	 action: [ 0.034  0.025  0.03   0.003 -0.022 -0.005 -1.055]
+t: 215	 action: [ 0.003  0.04   0.071  0.003 -0.023 -0.014 -1.074]
+t: 216	 action: [ 0.037  0.019  0.05   0.003 -0.015 -0.009 -1.055]
+t: 217	 action: [-0.01   0.033  0.071  0.004 -0.016 -0.014 -1.064]
+[07-31 01:17:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.088 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9899
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 1.088 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=218: Selected seed 195 with value = 0.9899
+t: 218	 action: [-0.01  -0.016 -0.136  0.005  0.006  0.006 -1.034]
+t: 219	 action: [ 0.003 -0.058 -0.171 -0.009  0.007 -0.007 -1.046]
+t: 220	 action: [-0.012 -0.024 -0.07   0.007  0.008  0.007 -1.028]
+t: 221	 action: [-0.004 -0.067 -0.056 -0.009  0.009 -0.007 -1.038]
+t: 222	 action: [-0.014 -0.02  -0.083  0.003  0.006  0.002 -1.022]
+t: 223	 action: [-0.012 -0.028 -0.038 -0.002  0.001 -0.007 -1.055]
+t: 224	 action: [-0.008 -0.019 -0.01   0.002  0.009 -0.001 -1.029]
+t: 225	 action: [-0.026 -0.034 -0.002 -0.002  0.003 -0.013 -1.054]
+t: 226	 action: [-5.920e-04 -3.056e-02 -1.437e-01  5.886e-04  1.157e-02  4.417e-03 -1.152e+00]
+t: 227	 action: [-0.011 -0.069 -0.101 -0.01   0.008  0.007 -1.126]
+t: 228	 action: [-1.777e-02 -2.936e-02 -9.276e-02 -5.366e-04  1.040e-02  6.227e-03  1.103e+00]
+t: 229	 action: [-0.011 -0.068 -0.029 -0.011  0.008  0.001  0.969]
+t: 230	 action: [-0.01  -0.011 -0.085 -0.001  0.012  0.001  1.075]
+t: 231	 action: [ 0.028 -0.029 -0.031 -0.002 -0.002  0.012  1.156]
+t: 232	 action: [-0.013 -0.01  -0.022 -0.002  0.012 -0.003 -1.159]
+t: 233	 action: [-4.090e-02 -2.961e-02 -5.880e-03 -4.382e-03 -3.657e-04 -1.229e-02 -1.090e+00]
+[07-31 01:17:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.054 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9677
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 1.054 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=234: Selected seed 195 with value = 0.9677
+t: 234	 action: [-0.026 -0.086 -0.231 -0.035 -0.009  0.008  0.9  ]
+t: 235	 action: [ 0.007 -0.048 -0.219 -0.028 -0.006  0.003  1.008]
+t: 236	 action: [ 0.012 -0.021 -0.11  -0.035 -0.025  0.006  1.153]
+t: 237	 action: [-0.003 -0.032 -0.022 -0.028 -0.016 -0.002  0.923]
+t: 238	 action: [ 2.347e-02 -1.933e-02 -5.915e-02 -2.986e-02 -2.760e-02 -2.060e-04  8.192e-01]
+t: 239	 action: [ 0.042 -0.008  0.017 -0.024 -0.021 -0.005 -1.111]
+t: 240	 action: [ 0.025 -0.012  0.055 -0.007 -0.033 -0.005 -1.192]
+t: 241	 action: [-0.022  0.013  0.068 -0.009 -0.018 -0.017 -1.145]
+t: 242	 action: [ 3.926e-03  2.326e-02  1.057e-01  2.975e-04 -3.958e-02 -2.830e-04 -1.035e+00]
+t: 243	 action: [-3.910e-05 -8.155e-03  1.351e-01 -3.042e-03 -3.535e-02 -1.380e-02 -1.042e+00]
+t: 244	 action: [-0.019  0.025  0.103  0.005 -0.041 -0.003 -1.033]
+t: 245	 action: [ 7.227e-03 -6.603e-03  1.231e-01  3.052e-05 -2.932e-02 -1.898e-02 -1.036e+00]
+t: 246	 action: [-0.035  0.017  0.108  0.003 -0.041 -0.005 -1.054]
+t: 247	 action: [-0.047  0.037  0.16   0.006 -0.039 -0.013 -1.053]
+t: 248	 action: [-0.024  0.015  0.112  0.002 -0.033 -0.008 -1.052]
+t: 249	 action: [-0.034  0.035  0.152  0.006 -0.029 -0.014 -1.057]
+[07-31 01:17:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=250: Selected seed 195 with value = 0.9959
+t: 250	 action: [-0.008  0.014  0.13   0.004  0.017  0.005 -1.029]
+t: 251	 action: [-0.003 -0.024  0.062  0.002  0.006 -0.004 -1.047]
+t: 252	 action: [-0.017  0.016  0.074  0.005  0.01   0.004 -1.03 ]
+t: 253	 action: [-0.003 -0.019  0.046  0.003  0.006 -0.004 -1.027]
+t: 254	 action: [-0.022  0.008  0.061  0.003 -0.002 -0.005 -1.033]
+t: 255	 action: [-0.025  0.005  0.043  0.007 -0.013 -0.005 -1.068]
+t: 256	 action: [-1.998e-02  1.201e-02  6.001e-02  2.666e-03  1.249e-04 -5.408e-03 -1.037e+00]
+t: 257	 action: [-0.02   0.016  0.041  0.008 -0.008 -0.009 -1.055]
+t: 258	 action: [ 0.006  0.026  0.029  0.009 -0.011  0.005 -1.04 ]
+t: 259	 action: [ 0.003  0.01   0.03   0.002 -0.005 -0.006 -1.051]
+t: 260	 action: [-0.006  0.025  0.023  0.008 -0.007  0.003 -1.039]
+t: 261	 action: [ 0.004  0.007  0.034  0.002  0.003 -0.006 -1.039]
+t: 262	 action: [ 0.008  0.036  0.033  0.006 -0.009 -0.002 -1.049]
+t: 263	 action: [-0.017  0.045  0.032  0.004 -0.016 -0.011 -1.068]
+t: 264	 action: [ 0.004  0.032  0.041  0.004 -0.002 -0.006 -1.044]
+t: 265	 action: [-0.018  0.04   0.027  0.003 -0.009 -0.009 -1.067]
+[07-31 01:17:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=266: Selected seed 195 with value = 0.9977
+t: 266	 action: [ 0.009  0.017  0.046  0.004  0.007  0.004 -1.041]
+t: 267	 action: [ 8.010e-03 -2.707e-02  3.692e-02 -8.574e-04  6.602e-03 -5.570e-03 -1.042e+00]
+t: 268	 action: [-0.004  0.009  0.037  0.005  0.01   0.002 -1.036]
+t: 269	 action: [ 3.840e-03 -3.422e-02  5.024e-02  2.908e-04  8.782e-03 -5.485e-03 -1.030e+00]
+t: 270	 action: [-0.002  0.008  0.044  0.003  0.005 -0.003 -1.034]
+t: 271	 action: [-1.294e-02 -4.220e-04  5.937e-02  5.462e-03 -1.129e-03 -5.283e-03 -1.067e+00]
+t: 272	 action: [-0.009  0.003  0.055  0.003  0.011 -0.005 -1.036]
+t: 273	 action: [-0.014  0.004  0.086  0.007  0.003 -0.008 -1.059]
+t: 274	 action: [ 0.016  0.011  0.024  0.008  0.002  0.002 -1.046]
+t: 275	 action: [ 8.347e-03 -2.123e-02  3.514e-02 -8.845e-04  6.297e-03 -9.944e-03 -1.050e+00]
+t: 276	 action: [-3.916e-03  1.577e-02  2.912e-02  6.826e-03  7.562e-03  2.151e-04 -1.041e+00]
+t: 277	 action: [ 7.469e-03 -2.434e-02  4.377e-02 -3.286e-04  7.559e-03 -8.372e-03 -1.040e+00]
+t: 278	 action: [ 0.006  0.01   0.033  0.005  0.005 -0.003 -1.044]
+t: 279	 action: [-0.017  0.013  0.045  0.004 -0.003 -0.012 -1.069]
+t: 280	 action: [-0.004  0.008  0.048  0.003  0.012 -0.007 -1.04 ]
+t: 281	 action: [-1.731e-02  1.258e-02  6.522e-02  4.827e-03  2.065e-04 -9.374e-03 -1.068e+00]
+[07-31 01:17:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9993
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=282: Selected seed 195 with value = 0.9993
+t: 282	 action: [ 0.009  0.015  0.019  0.004  0.005  0.005 -1.043]
+t: 283	 action: [ 0.01  -0.03   0.032 -0.003  0.006 -0.002 -1.042]
+t: 284	 action: [-0.007  0.009  0.02   0.005  0.009  0.003 -1.037]
+t: 285	 action: [ 0.006 -0.035  0.048 -0.002  0.01  -0.002 -1.032]
+t: 286	 action: [-4.537e-03  3.882e-03  2.369e-02  2.407e-03  3.703e-03 -6.509e-04 -1.036e+00]
+t: 287	 action: [-1.011e-02 -8.238e-03  4.928e-02  2.928e-03  3.264e-04 -1.970e-03 -1.066e+00]
+t: 288	 action: [-1.474e-02  2.489e-04  4.026e-02  2.394e-03  1.052e-02 -2.703e-03 -1.037e+00]
+t: 289	 action: [-0.015 -0.001  0.084  0.004  0.006 -0.005 -1.058]
+t: 290	 action: [ 0.012  0.007  0.012  0.008  0.004  0.005 -1.047]
+t: 291	 action: [ 0.01  -0.026  0.037 -0.003  0.007 -0.006 -1.05 ]
+t: 292	 action: [-0.012  0.014  0.022  0.006  0.009  0.003 -1.041]
+t: 293	 action: [ 0.009 -0.029  0.046 -0.003  0.01  -0.005 -1.041]
+t: 294	 action: [-0.004  0.004  0.021  0.004  0.007 -0.001 -1.046]
+t: 295	 action: [-0.019  0.003  0.047  0.003 -0.002 -0.008 -1.07 ]
+t: 296	 action: [-0.017  0.006  0.04   0.003  0.013 -0.005 -1.041]
+t: 297	 action: [-0.019  0.005  0.075  0.004  0.004 -0.006 -1.067]
+[07-31 01:17:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 1.0000
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 13
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 26%|██▌       | 13/50 [06:52<19:48, 32.13s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 14...
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+t: 298	 action: [ 0.021  0.019 -0.004  0.004  0.004  0.006 -1.042]
+t: 299	 action: [ 0.018 -0.027  0.025 -0.003  0.006  0.002 -1.043]
+t: 300	 action: [ 0.004  0.013  0.005  0.004  0.007  0.004 -1.036]
+t: 301	 action: [ 0.01  -0.034  0.044 -0.003  0.01   0.001 -1.034]
+t: 302	 action: [ 0.002  0.007  0.007  0.002  0.003  0.001 -1.035]
+t: 303	 action: [-2.666e-04 -7.502e-03  2.587e-02  2.301e-03  5.048e-04  2.062e-03 -1.066e+00]
+t: 304	 action: [-1.016e-02  1.805e-03  2.814e-02  1.858e-03  9.458e-03 -6.460e-04 -1.036e+00]
+t: 305	 action: [-1.099e-02  9.196e-04  6.578e-02  3.169e-03  6.253e-03 -5.944e-04 -1.059e+00]
+t: 306	 action: [ 0.023  0.007  0.003  0.008  0.005  0.007 -1.046]
+t: 307	 action: [ 0.015 -0.026  0.038 -0.003  0.007 -0.003 -1.048]
+t: 308	 action: [-0.001  0.015  0.016  0.006  0.008  0.006 -1.04 ]
+t: 309	 action: [ 1.497e-02 -2.874e-02  4.679e-02 -2.700e-03  1.161e-02 -6.258e-04 -1.041e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=13--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=13--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 14...
+[07-31 01:17:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4722
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4722
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4722
+t=10: Selected seed 195 with value = 0.4722
+t: 10	 action: [ 0.27   0.196 -0.008  0.002 -0.004 -0.003 -1.019]
+t: 11	 action: [ 0.361  0.274  0.007  0.002  0.003 -0.01  -1.031]
+t: 12	 action: [ 5.313e-01  4.172e-01 -3.480e-03  6.709e-04 -2.915e-03 -5.986e-04 -1.022e+00]
+t: 13	 action: [ 6.166e-01  4.694e-01  1.608e-02  4.277e-05  2.851e-03 -8.466e-03 -1.034e+00]
+t: 14	 action: [ 7.270e-01  5.379e-01 -4.240e-04 -4.522e-03  2.394e-03 -1.925e-03 -1.021e+00]
+t: 15	 action: [ 7.632e-01  5.793e-01  7.981e-03 -4.130e-04  5.613e-04 -7.727e-03 -1.057e+00]
+t: 16	 action: [ 0.811  0.586 -0.003 -0.006  0.008 -0.001 -1.018]
+t: 17	 action: [ 8.488e-01  6.122e-01  3.169e-03 -4.275e-04  5.772e-04 -8.639e-03 -1.058e+00]
+t: 18	 action: [ 0.799  0.614 -0.03  -0.001  0.006  0.003 -1.029]
+t: 19	 action: [ 0.84   0.607 -0.017 -0.008  0.01  -0.002 -1.036]
+t: 20	 action: [ 0.83   0.618 -0.055 -0.009  0.009  0.005 -1.035]
+t: 21	 action: [ 8.710e-01  6.013e-01 -5.414e-02 -1.154e-02  1.112e-02 -4.422e-04 -1.033e+00]
+t: 22	 action: [ 0.875  0.529 -0.171 -0.006  0.004  0.002 -1.014]
+t: 23	 action: [ 0.89   0.491 -0.206 -0.006  0.002 -0.002 -1.054]
+t: 24	 action: [ 0.851  0.42  -0.307 -0.006  0.006  0.001 -1.025]
+t: 25	 action: [ 0.862  0.339 -0.378 -0.002  0.003 -0.002 -1.06 ]
+[07-31 01:17:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5596
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5596
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5596
+t=26: Selected seed 195 with value = 0.5596
+t: 26	 action: [ 0.721  0.484 -0.424  0.005 -0.015  0.006 -1.028]
+t: 27	 action: [ 6.121e-01  3.927e-01 -4.450e-01  1.808e-03 -1.262e-02  6.518e-04 -1.034e+00]
+t: 28	 action: [ 4.753e-01  2.531e-01 -6.977e-01  6.633e-04 -2.069e-02  6.585e-03 -1.024e+00]
+t: 29	 action: [ 3.673e-01  1.020e-01 -8.350e-01  1.001e-02 -1.422e-02 -1.527e-04 -1.035e+00]
+t: 30	 action: [ 2.573e-01  8.982e-02 -8.503e-01  1.653e-03 -1.952e-02  1.479e-04 -1.023e+00]
+t: 31	 action: [ 2.155e-01 -9.724e-04 -9.427e-01  1.733e-02 -2.496e-02 -3.085e-03 -1.058e+00]
+t: 32	 action: [ 1.451e-01  2.339e-02 -9.666e-01  1.260e-03 -2.238e-02  9.013e-05 -1.023e+00]
+t: 33	 action: [ 0.087  0.036 -1.033  0.013 -0.026 -0.005 -1.06 ]
+t: 34	 action: [ 0.059  0.021 -0.966  0.005 -0.035  0.003 -1.032]
+t: 35	 action: [ 1.150e-02 -4.993e-02 -1.027e+00  2.743e-04 -2.895e-02 -6.524e-03 -1.028e+00]
+t: 36	 action: [-0.038  0.003 -0.962  0.005 -0.033  0.006 -1.031]
+t: 37	 action: [-0.074 -0.064 -1.018 -0.001 -0.025 -0.003 -1.028]
+t: 38	 action: [-1.404e-01 -2.399e-02 -9.474e-01 -4.314e-03 -3.293e-02  4.576e-04 -1.034e+00]
+t: 39	 action: [-0.195 -0.016 -1.005  0.001 -0.028 -0.006 -1.043]
+t: 40	 action: [-2.579e-01 -5.781e-02 -9.303e-01 -4.730e-03 -2.746e-02  8.364e-04 -1.029e+00]
+t: 41	 action: [-0.282 -0.034 -0.992 -0.002 -0.021 -0.002 -1.048]
+[07-31 01:17:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6479
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6479
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6479
+t=42: Selected seed 195 with value = 0.6479
+t: 42	 action: [-0.348 -0.082 -0.938  0.029 -0.029  0.031 -1.058]
+t: 43	 action: [-0.357 -0.102 -0.904  0.021 -0.017  0.034 -1.029]
+t: 44	 action: [-0.332 -0.087 -0.853  0.018 -0.016  0.032 -1.056]
+t: 45	 action: [-2.960e-01 -1.036e-01 -8.158e-01  1.336e-02 -4.709e-04  3.421e-02 -1.034e+00]
+t: 46	 action: [-0.362 -0.061 -0.694  0.004 -0.001  0.023 -1.042]
+t: 47	 action: [-0.339 -0.006 -0.752  0.018 -0.005  0.029 -1.052]
+t: 48	 action: [-0.272 -0.043 -0.612 -0.002  0.009  0.018 -1.049]
+t: 49	 action: [-0.249 -0.005 -0.667  0.01   0.004  0.02  -1.053]
+t: 50	 action: [-3.603e-01 -7.631e-03 -6.049e-01 -1.480e-05  4.792e-03  1.050e-02  9.991e-01]
+t: 51	 action: [-0.292 -0.03  -0.477 -0.009  0.029  0.016  1.017]
+t: 52	 action: [-0.206  0.009 -0.403 -0.01   0.034  0.007  0.984]
+t: 53	 action: [-1.375e-01 -3.092e-02 -2.155e-01 -1.573e-02  5.325e-02  7.890e-05  1.011e+00]
+t: 54	 action: [-0.125 -0.025 -0.163 -0.018  0.066 -0.007  1.005]
+t: 55	 action: [-0.059 -0.041 -0.04  -0.021  0.065 -0.023  1.016]
+t: 56	 action: [-0.063 -0.024  0.041 -0.032  0.079 -0.017  1.002]
+t: 57	 action: [-0.013 -0.029  0.115 -0.034  0.064 -0.035  1.012]
+[07-31 01:17:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7264
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7264
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7264
+t=58: Selected seed 195 with value = 0.7264
+t: 58	 action: [-5.577e-02 -1.087e-01 -6.790e-04 -1.907e-03  2.835e-02  5.035e-03  9.839e-01]
+t: 59	 action: [ 0.015 -0.104  0.093 -0.006  0.044 -0.004  1.017]
+t: 60	 action: [ 1.651e-02 -4.489e-02  3.030e-01  2.113e-04  3.794e-02 -3.263e-03  9.779e-01]
+t: 61	 action: [ 0.008 -0.052  0.479 -0.009  0.052 -0.011  1.016]
+t: 62	 action: [ 0.055  0.026  0.714 -0.003  0.057 -0.011  0.992]
+t: 63	 action: [ 4.683e-02  5.009e-02  8.405e-01  4.692e-04  5.339e-02 -1.874e-02  1.016e+00]
+t: 64	 action: [ 0.07   0.011  0.926  0.006  0.051 -0.02   0.988]
+t: 65	 action: [ 0.026  0.007  0.909  0.01   0.052 -0.023  1.024]
+t: 66	 action: [ 0.1   -0.161  0.908  0.013  0.067 -0.022  0.989]
+t: 67	 action: [ 0.04  -0.284  0.948  0.028  0.081 -0.025  1.017]
+t: 68	 action: [ 0.035 -0.396  0.87   0.028  0.071 -0.021  0.985]
+t: 69	 action: [ 0.02  -0.539  0.865  0.037  0.085 -0.022  1.018]
+t: 70	 action: [-0.038 -0.626  0.79   0.045  0.072 -0.014  1.   ]
+t: 71	 action: [-0.048 -0.735  0.625  0.049  0.075 -0.013  1.017]
+t: 72	 action: [-0.079 -0.726  0.505  0.046  0.058 -0.013  1.002]
+t: 73	 action: [-0.142 -0.788  0.323  0.045  0.055 -0.012  1.023]
+[07-31 01:17:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8522
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8522
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8522
+t=74: Selected seed 195 with value = 0.8522
+t: 74	 action: [-0.069 -0.812  0.363  0.052  0.036 -0.003  0.987]
+t: 75	 action: [-0.083 -0.9    0.141  0.048  0.023 -0.01   1.014]
+t: 76	 action: [-0.117 -0.876  0.029  0.062  0.02  -0.001  0.978]
+t: 77	 action: [-0.146 -0.863 -0.144  0.052  0.005 -0.003  1.015]
+t: 78	 action: [-0.12  -0.794 -0.235  0.044  0.004 -0.002  0.991]
+t: 79	 action: [-0.201 -0.677 -0.378  0.038 -0.009  0.001  1.016]
+t: 80	 action: [-0.157 -0.584 -0.497  0.024 -0.02  -0.002  0.984]
+t: 81	 action: [-0.234 -0.398 -0.69   0.023 -0.017  0.005  1.029]
+t: 82	 action: [-0.228 -0.3   -0.713  0.017 -0.046  0.003  0.983]
+t: 83	 action: [-0.29  -0.199 -0.859  0.008 -0.048  0.016  1.02 ]
+t: 84	 action: [-0.248 -0.067 -0.825  0.004 -0.056  0.006  0.97 ]
+t: 85	 action: [-0.283 -0.073 -0.874 -0.016 -0.042  0.02   1.032]
+t: 86	 action: [-0.289 -0.018 -0.765 -0.006 -0.037  0.01   0.997]
+t: 87	 action: [-0.253  0.009 -0.802 -0.033 -0.025  0.021  1.02 ]
+t: 88	 action: [-0.262 -0.01  -0.626 -0.025 -0.024  0.009  0.99 ]
+t: 89	 action: [-0.208  0.013 -0.563 -0.036 -0.008  0.021  1.03 ]
+[07-31 01:17:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.019 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9910
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 1.019 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=90: Selected seed 195 with value = 0.9910
+t: 90	 action: [-0.02   0.006 -0.154 -0.035  0.095  0.004  1.166]
+t: 91	 action: [ 0.078 -0.052  0.006 -0.036  0.096  0.017  0.976]
+t: 92	 action: [ 0.078  0.01   0.108 -0.02   0.102  0.001 -1.051]
+t: 93	 action: [ 0.139 -0.02   0.251 -0.022  0.108  0.008 -1.038]
+t: 94	 action: [ 0.208  0.006  0.272 -0.035  0.093 -0.003 -1.171]
+t: 95	 action: [ 0.173  0.072  0.354 -0.017  0.099 -0.011 -1.136]
+t: 96	 action: [ 0.218  0.015  0.434 -0.01   0.091 -0.012 -1.039]
+t: 97	 action: [ 0.191  0.065  0.437 -0.003  0.088 -0.005 -1.066]
+t: 98	 action: [ 2.027e-01  7.656e-03  4.790e-01 -3.510e-03  8.022e-02 -8.370e-04 -1.044e+00]
+t: 99	 action: [ 0.176  0.011  0.499 -0.009  0.077 -0.004 -1.046]
+t: 100	 action: [ 1.648e-01  1.138e-02  4.912e-01 -1.668e-04  7.385e-02 -2.892e-03 -1.052e+00]
+t: 101	 action: [ 0.151  0.022  0.492 -0.006  0.076 -0.004 -1.037]
+t: 102	 action: [ 0.127  0.011  0.448 -0.002  0.066 -0.008 -1.043]
+t: 103	 action: [ 1.192e-01  5.304e-02  4.471e-01 -6.259e-04  6.148e-02 -8.928e-03 -1.065e+00]
+t: 104	 action: [ 0.109  0.013  0.409 -0.003  0.055 -0.012 -1.049]
+t: 105	 action: [ 8.474e-02  5.836e-02  3.963e-01  3.728e-04  4.834e-02 -7.675e-03 -1.068e+00]
+[07-31 01:17:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.061 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.061 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.058 -0.002  0.133  0.022  0.053 -0.005 -1.045]
+t: 107	 action: [ 0.072 -0.052  0.109  0.02   0.062 -0.009 -1.035]
+t: 108	 action: [ 0.05  -0.01   0.09   0.022  0.057 -0.003 -1.039]
+t: 109	 action: [ 0.051 -0.061  0.09   0.019  0.069 -0.008 -1.03 ]
+t: 110	 action: [ 0.031 -0.016  0.09   0.031  0.062 -0.007 -1.034]
+t: 111	 action: [ 0.046 -0.028  0.099  0.027  0.066 -0.008 -1.059]
+t: 112	 action: [ 0.03  -0.013  0.096  0.027  0.065 -0.007 -1.036]
+t: 113	 action: [ 0.026 -0.02   0.117  0.026  0.068 -0.01  -1.057]
+t: 114	 action: [ 0.074  0.002  0.089  0.019  0.056 -0.003 -1.046]
+t: 115	 action: [ 0.071 -0.032  0.09   0.019  0.062 -0.01  -1.043]
+t: 116	 action: [ 0.064  0.003  0.099  0.016  0.06  -0.002 -1.038]
+t: 117	 action: [ 0.051 -0.042  0.097  0.019  0.069 -0.011 -1.043]
+t: 118	 action: [ 0.057  0.004  0.098  0.019  0.065 -0.005 -1.04 ]
+t: 119	 action: [ 0.052  0.005  0.109  0.026  0.061 -0.012 -1.061]
+t: 120	 action: [ 0.047  0.002  0.117  0.017  0.067 -0.008 -1.034]
+t: 121	 action: [ 0.024 -0.002  0.135  0.025  0.068 -0.011 -1.067]
+[07-31 01:17:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.063 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9988
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 1.063 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=122: Selected seed 195 with value = 0.9988
+t: 122	 action: [-0.023  0.026 -0.111  0.004 -0.002  0.005 -1.042]
+t: 123	 action: [ 0.007 -0.02  -0.088  0.003  0.008 -0.002 -1.042]
+t: 124	 action: [-0.013  0.019 -0.056  0.003  0.003  0.004 -1.035]
+t: 125	 action: [ 0.014 -0.035  0.006  0.002  0.013 -0.002 -1.035]
+t: 126	 action: [-1.642e-02  9.108e-03 -5.534e-02  3.405e-03  6.422e-03  4.333e-04 -1.035e+00]
+t: 127	 action: [ 0.003 -0.006 -0.016  0.01   0.004 -0.001 -1.065]
+t: 128	 action: [-1.446e-02  1.825e-03  6.650e-04  2.436e-03  1.080e-02 -4.531e-04 -1.033e+00]
+t: 129	 action: [-0.006 -0.007  0.019  0.01   0.01  -0.003 -1.06 ]
+t: 130	 action: [ 0.029  0.001 -0.038  0.008 -0.004  0.003 -1.044]
+t: 131	 action: [ 0.032 -0.025 -0.008  0.001  0.005 -0.008 -1.048]
+t: 132	 action: [ 1.378e-02  1.509e-02  7.900e-04  7.121e-03 -1.441e-04  4.620e-03 -1.034e+00]
+t: 133	 action: [ 0.03  -0.027  0.04   0.001  0.01  -0.003 -1.045]
+t: 134	 action: [ 1.497e-02 -9.279e-04 -1.800e-03  5.226e-03  4.951e-03 -6.288e-04 -1.039e+00]
+t: 135	 action: [ 0.001  0.01  -0.004  0.008 -0.002 -0.008 -1.068]
+t: 136	 action: [-0.001  0.006  0.042  0.003  0.01  -0.002 -1.032]
+t: 137	 action: [-0.014  0.011  0.036  0.009  0.005 -0.003 -1.065]
+[07-31 01:17:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.042 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 1.042 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=138: Selected seed 195 with value = 0.9936
+t: 138	 action: [-0.058  0.023 -0.154  0.002 -0.01   0.005 -1.037]
+t: 139	 action: [-1.591e-02 -1.789e-02 -1.596e-01 -4.165e-03  7.691e-05 -2.745e-03 -1.044e+00]
+t: 140	 action: [-0.041  0.021 -0.077  0.003 -0.007  0.005 -1.034]
+t: 141	 action: [ 7.421e-04 -3.165e-02 -5.312e-02 -5.506e-03  4.650e-03 -3.612e-03 -1.037e+00]
+t: 142	 action: [-4.332e-02  1.054e-02 -7.554e-02  1.350e-03 -3.863e-03  9.304e-04 -1.038e+00]
+t: 143	 action: [-0.014  0.005 -0.045  0.004 -0.005 -0.004 -1.069]
+t: 144	 action: [-3.352e-02  4.065e-03 -1.071e-02  8.607e-04 -4.221e-04 -2.549e-04 -1.036e+00]
+t: 145	 action: [-0.015 -0.002  0.009  0.004 -0.002 -0.007 -1.06 ]
+t: 146	 action: [-0.001  0.004 -0.079  0.004 -0.017  0.004 -1.043]
+t: 147	 action: [ 0.023 -0.03  -0.086 -0.005 -0.011 -0.008 -1.049]
+t: 148	 action: [-0.011  0.013 -0.029  0.003 -0.015  0.004 -1.034]
+t: 149	 action: [ 0.024 -0.031 -0.009 -0.005 -0.002 -0.004 -1.043]
+t: 150	 action: [-4.109e-03 -1.319e-04 -3.347e-02  1.499e-03 -1.010e-02 -1.153e-03 -1.044e+00]
+t: 151	 action: [-0.014  0.006 -0.018  0.004 -0.015 -0.01  -1.069]
+t: 152	 action: [-1.837e-02  4.042e-03  1.889e-02  7.166e-04 -5.586e-03 -3.363e-03 -1.036e+00]
+t: 153	 action: [-0.024  0.008  0.006  0.005 -0.008 -0.006 -1.06 ]
+[07-31 01:17:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.029 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9926
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 1.029 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=154: Selected seed 195 with value = 0.9926
+t: 154	 action: [-0.061  0.015 -0.112  0.003 -0.007  0.006 -1.035]
+t: 155	 action: [-0.017 -0.034 -0.102 -0.006  0.004 -0.004 -1.046]
+t: 156	 action: [-0.049  0.011 -0.039  0.004 -0.002  0.005 -1.031]
+t: 157	 action: [-0.007 -0.043  0.002 -0.007  0.008 -0.004 -1.038]
+t: 158	 action: [-0.056 -0.004 -0.045  0.002  0.002  0.001 -1.038]
+t: 159	 action: [-2.382e-02 -1.327e-02 -1.455e-02  3.827e-03 -7.354e-04 -3.934e-03 -1.069e+00]
+t: 160	 action: [-5.047e-02 -8.921e-03  1.813e-02  1.296e-03  5.946e-03 -4.508e-05 -1.035e+00]
+t: 161	 action: [-0.034 -0.013  0.02   0.005  0.003 -0.007 -1.061]
+t: 162	 action: [-0.026  0.008 -0.068  0.002 -0.01   0.003 -1.041]
+t: 163	 action: [ 0.012 -0.031 -0.072 -0.005 -0.003 -0.006 -1.053]
+t: 164	 action: [-3.841e-02  1.424e-02 -1.745e-02  9.295e-04 -7.692e-03  4.078e-03 -1.031e+00]
+t: 165	 action: [ 0.004 -0.037  0.009 -0.005  0.003 -0.001 -1.044]
+t: 166	 action: [-2.613e-02 -2.200e-03 -2.076e-02  5.804e-04 -1.394e-03 -1.449e-03 -1.044e+00]
+t: 167	 action: [-0.027 -0.001 -0.016  0.004 -0.009 -0.008 -1.071]
+t: 168	 action: [-4.471e-02  7.056e-04  3.087e-02  2.124e-04  3.049e-03 -2.832e-03 -1.034e+00]
+t: 169	 action: [-0.044 -0.002  0.014  0.006 -0.003 -0.002 -1.048]
+[07-31 01:17:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9922
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 1.005 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=170: Selected seed 195 with value = 0.9922
+t: 170	 action: [-0.05   0.003 -0.093  0.004 -0.005  0.005 -1.034]
+t: 171	 action: [-0.011 -0.047 -0.078 -0.003  0.008 -0.005 -1.047]
+t: 172	 action: [-0.038 -0.005 -0.022  0.004  0.003  0.005 -1.023]
+t: 173	 action: [-7.267e-04 -5.196e-02  1.170e-02 -3.942e-03  1.204e-02 -5.008e-03 -1.040e+00]
+t: 174	 action: [-4.703e-02 -1.050e-02 -3.442e-02  3.409e-03  7.681e-03  5.934e-04 -1.036e+00]
+t: 175	 action: [-0.02  -0.017 -0.007  0.006  0.005 -0.005 -1.069]
+t: 176	 action: [-4.214e-02 -1.489e-02  3.051e-02  1.870e-03  1.235e-02 -8.264e-04 -1.027e+00]
+t: 177	 action: [-0.032 -0.012  0.027  0.007  0.01  -0.008 -1.063]
+t: 178	 action: [-0.017 -0.003 -0.063  0.003 -0.003  0.001 -1.04 ]
+t: 179	 action: [ 0.015 -0.042 -0.065 -0.003  0.003 -0.006 -1.056]
+t: 180	 action: [-2.952e-02  5.393e-03 -1.560e-02  2.207e-03 -1.235e-04  3.525e-03 -1.018e+00]
+t: 181	 action: [ 0.004 -0.048  0.009 -0.003  0.007  0.001 -1.004]
+t: 182	 action: [-0.019 -0.005 -0.017  0.002  0.007 -0.002 -1.043]
+t: 183	 action: [-0.022 -0.007 -0.013  0.007 -0.003 -0.007 -1.069]
+t: 184	 action: [-3.900e-02 -5.800e-04  3.244e-02  1.308e-03  1.085e-02 -3.447e-03 -1.026e+00]
+t: 185	 action: [-4.063e-02 -3.673e-03  2.154e-02  7.716e-03  1.433e-04  7.725e-04 -1.024e+00]
+[07-31 01:17:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9921
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=186: Selected seed 195 with value = 0.9921
+t: 186	 action: [-0.033  0.004 -0.068  0.003 -0.002  0.006 -1.037]
+t: 187	 action: [ 7.215e-04 -4.606e-02 -2.277e-02 -3.165e-03  1.094e-02 -3.168e-03 -1.046e+00]
+t: 188	 action: [-0.024 -0.002  0.003  0.004  0.007  0.005 -1.028]
+t: 189	 action: [ 0.007 -0.05   0.041 -0.003  0.016 -0.002 -1.039]
+t: 190	 action: [-3.715e-02 -7.080e-03 -1.641e-02  2.696e-03  1.204e-02  9.925e-04 -1.038e+00]
+t: 191	 action: [-0.02  -0.016  0.007  0.006  0.01  -0.003 -1.071]
+t: 192	 action: [-3.271e-02 -1.245e-02  4.755e-02  1.651e-03  1.791e-02 -2.745e-04 -1.032e+00]
+t: 193	 action: [-0.028 -0.008  0.061  0.008  0.016 -0.005 -1.064]
+t: 194	 action: [-4.620e-03 -7.588e-04 -3.423e-02  2.253e-03  2.601e-04  2.512e-03 -1.043e+00]
+t: 195	 action: [ 0.02  -0.04  -0.026 -0.003  0.008 -0.005 -1.056]
+t: 196	 action: [-0.013  0.006  0.01   0.002  0.005  0.005 -1.029]
+t: 197	 action: [ 1.275e-02 -4.391e-02  3.776e-02 -2.157e-03  1.085e-02  8.534e-04 -1.038e+00]
+t: 198	 action: [-1.056e-02 -2.430e-04  3.130e-03  1.187e-03  1.252e-02 -3.146e-04 -1.045e+00]
+t: 199	 action: [-1.724e-02 -2.581e-03 -1.154e-03  6.692e-03  6.043e-04 -3.731e-03 -1.070e+00]
+t: 200	 action: [-2.518e-02  2.488e-03  5.050e-02  9.954e-04  1.702e-02 -1.529e-03 -1.034e+00]
+t: 201	 action: [-0.031  0.001  0.048  0.009  0.005  0.002 -1.052]
+[07-31 01:17:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9915
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=202: Selected seed 195 with value = 0.9915
+t: 202	 action: [-0.035  0.007 -0.06   0.003 -0.006  0.006 -1.038]
+t: 203	 action: [-0.003 -0.044 -0.021 -0.004  0.008 -0.002 -1.046]
+t: 204	 action: [-0.025  0.005  0.002  0.003  0.002  0.004 -1.03 ]
+t: 205	 action: [ 4.916e-03 -4.449e-02  4.239e-02 -4.846e-03  1.141e-02 -7.765e-04 -1.039e+00]
+t: 206	 action: [-4.158e-02 -6.445e-03 -1.541e-02  2.343e-03  5.022e-03  9.676e-04 -1.039e+00]
+t: 207	 action: [-0.024 -0.016  0.005  0.005  0.002 -0.002 -1.071]
+t: 208	 action: [-3.286e-02 -8.075e-03  4.625e-02  8.381e-04  1.055e-02 -2.558e-04 -1.035e+00]
+t: 209	 action: [-0.029 -0.006  0.058  0.006  0.006 -0.004 -1.063]
+t: 210	 action: [-6.870e-03  4.130e-03 -2.711e-02  8.046e-04 -6.098e-03  3.338e-03 -1.043e+00]
+t: 211	 action: [ 0.017 -0.035 -0.02  -0.004  0.002 -0.004 -1.055]
+t: 212	 action: [-1.195e-02  1.108e-02  1.339e-02 -8.415e-05 -1.593e-03  4.970e-03 -1.032e+00]
+t: 213	 action: [ 1.175e-02 -3.679e-02  3.823e-02 -3.611e-03  7.718e-03  9.084e-04 -1.043e+00]
+t: 214	 action: [-1.254e-02  1.526e-03  6.002e-03  3.295e-04  4.705e-03  2.562e-05 -1.045e+00]
+t: 215	 action: [-2.064e-02  9.722e-04 -6.369e-04  5.397e-03 -4.948e-03 -3.520e-03 -1.071e+00]
+t: 216	 action: [-2.273e-02  6.294e-03  5.108e-02  3.022e-04  9.678e-03 -1.305e-03 -1.035e+00]
+t: 217	 action: [-3.178e-02  4.495e-03  4.380e-02  7.097e-03 -4.826e-04  1.712e-03 -1.053e+00]
+[07-31 01:17:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9913
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=218: Selected seed 195 with value = 0.9913
+t: 218	 action: [-0.047  0.005 -0.041  0.003 -0.008  0.005 -1.038]
+t: 219	 action: [-0.01  -0.049 -0.001 -0.004  0.006 -0.003 -1.046]
+t: 220	 action: [-3.610e-02  6.711e-03  1.537e-02  2.968e-03 -9.087e-04  4.107e-03 -1.031e+00]
+t: 221	 action: [-0.001 -0.046  0.049 -0.005  0.01  -0.002 -1.037]
+t: 222	 action: [-5.397e-02 -5.228e-03  2.647e-03  1.938e-03  1.667e-03  5.569e-04 -1.037e+00]
+t: 223	 action: [-0.023 -0.017  0.017  0.004 -0.002 -0.003 -1.07 ]
+t: 224	 action: [-4.229e-02 -6.156e-03  5.880e-02  9.361e-04  7.298e-03 -5.740e-04 -1.034e+00]
+t: 225	 action: [-0.025 -0.004  0.078  0.006  0.002 -0.004 -1.061]
+t: 226	 action: [-0.017 -0.001 -0.006  0.001 -0.01   0.003 -1.043]
+t: 227	 action: [ 0.014 -0.037  0.006 -0.004 -0.002 -0.005 -1.054]
+t: 228	 action: [-2.345e-02  1.133e-02  2.871e-02  5.880e-04 -5.967e-03  4.616e-03 -1.033e+00]
+t: 229	 action: [ 8.991e-03 -3.610e-02  4.711e-02 -3.163e-03  5.113e-03 -1.627e-04 -1.045e+00]
+t: 230	 action: [-2.174e-02  1.233e-03  2.194e-02  6.510e-04  2.245e-04 -4.043e-04 -1.043e+00]
+t: 231	 action: [-0.021  0.003  0.01   0.005 -0.009 -0.005 -1.071]
+t: 232	 action: [-3.045e-02  6.228e-03  6.469e-02  5.439e-04  5.576e-03 -1.595e-03 -1.033e+00]
+t: 233	 action: [-2.782e-02  8.526e-03  6.217e-02  7.139e-03 -2.874e-03  1.495e-04 -1.057e+00]
+[07-31 01:17:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9921
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=234: Selected seed 195 with value = 0.9921
+t: 234	 action: [-0.033  0.01  -0.024  0.002 -0.008  0.006 -1.039]
+t: 235	 action: [ 0.002 -0.038  0.015 -0.005  0.004 -0.002 -1.046]
+t: 236	 action: [-0.021  0.018  0.018  0.002 -0.002  0.004 -1.032]
+t: 237	 action: [ 1.257e-02 -3.126e-02  5.191e-02 -6.021e-03  9.118e-03 -3.464e-04 -1.038e+00]
+t: 238	 action: [-3.846e-02  2.448e-03  7.191e-03  9.061e-04 -1.006e-03  5.393e-04 -1.036e+00]
+t: 239	 action: [-0.013 -0.007  0.025  0.002 -0.003 -0.001 -1.07 ]
+t: 240	 action: [-2.259e-02  6.690e-03  5.314e-02 -4.632e-04  4.814e-03 -4.175e-04 -1.032e+00]
+t: 241	 action: [-7.894e-03  7.860e-03  8.149e-02  3.382e-03  7.439e-04 -2.658e-03 -1.060e+00]
+t: 242	 action: [-0.003  0.009  0.002  0.002 -0.012  0.003 -1.044]
+t: 243	 action: [ 0.019 -0.022  0.021 -0.005 -0.004 -0.004 -1.053]
+t: 244	 action: [-3.982e-03  1.788e-02  3.146e-02  4.443e-04 -7.576e-03  5.015e-03 -1.033e+00]
+t: 245	 action: [ 2.609e-02 -1.964e-02  5.117e-02 -4.581e-03  4.547e-03  7.443e-04 -1.045e+00]
+t: 246	 action: [-3.887e-03  7.310e-03  2.269e-02  1.540e-06 -2.456e-03  2.224e-04 -1.041e+00]
+t: 247	 action: [-0.01   0.018  0.015  0.003 -0.011 -0.004 -1.071]
+t: 248	 action: [-7.692e-03  1.184e-02  5.970e-02 -4.630e-04  3.777e-03 -1.152e-03 -1.031e+00]
+t: 249	 action: [-1.023e-02  2.255e-02  6.242e-02  4.687e-03 -3.630e-03  5.788e-04 -1.061e+00]
+[07-31 01:17:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9933
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=250: Selected seed 195 with value = 0.9933
+t: 250	 action: [-0.03   0.018 -0.038  0.002 -0.012  0.005 -1.042]
+t: 251	 action: [ 0.004 -0.021 -0.007 -0.006 -0.001 -0.002 -1.045]
+t: 252	 action: [-0.019  0.025  0.002  0.002 -0.008  0.004 -1.034]
+t: 253	 action: [ 0.013 -0.02   0.044 -0.007  0.006 -0.001 -1.038]
+t: 254	 action: [-3.715e-02  1.078e-02 -4.818e-03  4.011e-04 -8.325e-03  3.713e-04 -1.037e+00]
+t: 255	 action: [-0.013  0.005  0.012  0.002 -0.008 -0.002 -1.069]
+t: 256	 action: [-2.101e-02  1.530e-02  4.054e-02 -6.257e-04 -2.153e-03 -4.763e-04 -1.032e+00]
+t: 257	 action: [-0.007  0.014  0.063  0.002 -0.003 -0.003 -1.061]
+t: 258	 action: [-8.295e-04  1.305e-02 -9.243e-03  3.235e-03 -1.913e-02  3.148e-03 -1.046e+00]
+t: 259	 action: [ 0.02  -0.011  0.016 -0.005 -0.013 -0.005 -1.052]
+t: 260	 action: [-0.001  0.02   0.022  0.001 -0.015  0.005 -1.034]
+t: 261	 action: [ 2.649e-02 -8.404e-03  5.036e-02 -4.877e-03 -1.448e-03 -6.225e-04 -1.045e+00]
+t: 262	 action: [-3.400e-03  9.718e-03  1.131e-02  7.225e-04 -1.099e-02  6.148e-05 -1.041e+00]
+t: 263	 action: [-0.011  0.027  0.009  0.003 -0.017 -0.006 -1.072]
+t: 264	 action: [-5.574e-03  1.587e-02  5.101e-02 -5.824e-04 -4.068e-03 -1.790e-03 -1.030e+00]
+t: 265	 action: [-1.114e-02  3.096e-02  5.563e-02  3.732e-03 -7.944e-03 -1.044e-03 -1.064e+00]
+[07-31 01:17:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9943
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=266: Selected seed 195 with value = 0.9943
+t: 266	 action: [-0.023  0.02  -0.058  0.002 -0.012  0.005 -1.044]
+t: 267	 action: [ 0.007 -0.015 -0.044 -0.004 -0.003 -0.002 -1.044]
+t: 268	 action: [-0.015  0.026 -0.016  0.003 -0.009  0.004 -1.035]
+t: 269	 action: [ 0.014 -0.021  0.03  -0.006  0.005 -0.001 -1.038]
+t: 270	 action: [-3.072e-02  1.542e-02 -2.189e-02  5.538e-04 -9.580e-03 -1.036e-04 -1.037e+00]
+t: 271	 action: [-1.122e-02  5.963e-03 -9.196e-04  2.614e-03 -9.999e-03 -2.224e-03 -1.068e+00]
+t: 272	 action: [-2.058e-02  1.517e-02  2.504e-02 -3.131e-04 -4.332e-03 -5.555e-04 -1.031e+00]
+t: 273	 action: [-0.008  0.009  0.039  0.002 -0.005 -0.003 -1.06 ]
+t: 274	 action: [ 0.007  0.011 -0.023  0.005 -0.02   0.003 -1.046]
+t: 275	 action: [ 0.021 -0.016  0.002 -0.004 -0.015 -0.006 -1.049]
+t: 276	 action: [ 0.003  0.02   0.007  0.002 -0.016  0.005 -1.035]
+t: 277	 action: [ 0.027 -0.013  0.045 -0.004 -0.004 -0.001 -1.045]
+t: 278	 action: [-9.203e-04  7.762e-03  2.427e-04  1.757e-03 -1.283e-02  2.398e-06 -1.040e+00]
+t: 279	 action: [-0.011  0.022  0.003  0.003 -0.019 -0.007 -1.071]
+t: 280	 action: [-8.131e-03  1.416e-02  4.032e-02 -1.547e-04 -7.075e-03 -1.564e-03 -1.030e+00]
+t: 281	 action: [-0.013  0.026  0.043  0.004 -0.01  -0.002 -1.065]
+[07-31 01:18:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=282: Selected seed 195 with value = 0.9959
+t: 282	 action: [-0.014  0.024 -0.068  0.002 -0.011  0.006 -1.044]
+t: 283	 action: [ 0.01  -0.006 -0.06  -0.005 -0.002 -0.002 -1.043]
+t: 284	 action: [-0.009  0.027 -0.016  0.003 -0.008  0.004 -1.036]
+t: 285	 action: [ 1.549e-02 -1.724e-02  2.693e-02 -6.850e-03  5.032e-03 -4.313e-04 -1.039e+00]
+t: 286	 action: [-2.317e-02  1.924e-02 -2.511e-02  2.248e-04 -7.948e-03  4.381e-04 -1.036e+00]
+t: 287	 action: [-0.008  0.011 -0.003  0.002 -0.009 -0.001 -1.067]
+t: 288	 action: [-1.546e-02  1.607e-02  2.783e-02 -6.691e-04 -3.390e-03 -4.297e-05 -1.031e+00]
+t: 289	 action: [-6.397e-03  1.131e-02  4.374e-02  9.932e-04 -3.996e-03 -2.304e-03 -1.060e+00]
+t: 290	 action: [ 0.016  0.01  -0.021  0.004 -0.018  0.004 -1.047]
+t: 291	 action: [ 0.024 -0.014  0.009 -0.005 -0.011 -0.005 -1.049]
+t: 292	 action: [ 0.01   0.02   0.012  0.002 -0.016  0.006 -1.035]
+t: 293	 action: [ 2.885e-02 -1.182e-02  4.754e-02 -5.437e-03 -1.142e-03 -4.383e-04 -1.045e+00]
+t: 294	 action: [ 4.743e-03  8.236e-03  5.180e-03  1.005e-03 -1.109e-02  8.873e-04 -1.039e+00]
+t: 295	 action: [-0.007  0.024  0.004  0.002 -0.016 -0.006 -1.07 ]
+t: 296	 action: [-3.476e-03  1.501e-02  4.741e-02 -9.814e-04 -6.452e-03 -1.033e-03 -1.030e+00]
+t: 297	 action: [-0.012  0.028  0.056  0.003 -0.008 -0.001 -1.066]
+[07-31 01:18:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9968
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9968
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 14
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 28%|██▊       | 14/50 [07:23<19:07, 31.89s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 15...
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=298: Selected seed 195 with value = 0.9968
+t: 298	 action: [-0.011  0.025 -0.081  0.002 -0.009  0.005 -1.046]
+t: 299	 action: [ 1.022e-02 -4.671e-03 -7.762e-02 -3.689e-03 -6.481e-04 -1.423e-03 -1.042e+00]
+t: 300	 action: [-0.005  0.026 -0.023  0.003 -0.007  0.004 -1.036]
+t: 301	 action: [ 1.546e-02 -1.908e-02  2.072e-02 -6.165e-03  5.601e-03 -1.772e-04 -1.038e+00]
+t: 302	 action: [-1.658e-02  1.802e-02 -3.491e-02  5.053e-04 -5.747e-03  4.256e-04 -1.037e+00]
+t: 303	 action: [-3.387e-03  1.052e-02 -8.163e-03  2.769e-03 -7.104e-03 -4.970e-04 -1.065e+00]
+t: 304	 action: [-1.065e-02  1.368e-02  2.401e-02 -1.691e-04 -1.915e-03 -1.390e-05 -1.031e+00]
+t: 305	 action: [-0.005  0.01   0.041  0.002 -0.003 -0.002 -1.061]
+t: 306	 action: [ 0.024  0.008 -0.026  0.006 -0.016  0.005 -1.047]
+t: 307	 action: [ 0.028 -0.019  0.008 -0.005 -0.01  -0.005 -1.047]
+t: 308	 action: [ 0.017  0.019  0.011  0.003 -0.014  0.006 -1.036]
+t: 309	 action: [ 3.141e-02 -1.638e-02  4.687e-02 -5.278e-03  8.127e-04 -2.708e-05 -1.044e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=14--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=14--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 15...
+[07-31 01:18:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5121
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.5121
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5121
+t=10: Selected seed 195 with value = 0.5121
+t: 10	 action: [ 3.848e-01  3.283e-01  3.173e-03  4.351e-03  3.917e-03 -1.765e-04 -1.027e+00]
+t: 11	 action: [ 0.507  0.384  0.016  0.005  0.003  0.002 -1.031]
+t: 12	 action: [ 0.642  0.506 -0.002  0.003  0.007  0.001 -1.031]
+t: 13	 action: [ 0.734  0.526  0.011  0.003  0.003  0.004 -1.032]
+t: 14	 action: [ 0.799  0.551 -0.005  0.002  0.009  0.002 -1.029]
+t: 15	 action: [ 8.485e-01  5.650e-01  6.932e-04  7.437e-03 -1.489e-03  4.371e-03 -1.054e+00]
+t: 16	 action: [ 8.473e-01  5.664e-01 -2.469e-02 -2.965e-04  1.218e-02  2.215e-03 -1.030e+00]
+t: 17	 action: [ 0.907  0.594 -0.014  0.006 -0.001  0.005 -1.054]
+t: 18	 action: [ 8.143e-01  5.882e-01 -7.484e-02 -2.261e-04 -1.400e-03  6.453e-03 -1.036e+00]
+t: 19	 action: [ 0.862  0.588 -0.076 -0.006  0.007  0.004 -1.036]
+t: 20	 action: [ 8.209e-01  5.866e-01 -1.313e-01 -1.028e-02  6.879e-04  6.490e-03 -1.039e+00]
+t: 21	 action: [ 0.88   0.565 -0.16  -0.011  0.008  0.005 -1.031]
+t: 22	 action: [ 0.86   0.541 -0.229 -0.003 -0.002  0.006 -1.019]
+t: 23	 action: [ 8.819e-01  5.203e-01 -2.691e-01 -1.295e-03 -6.238e-04  4.169e-03 -1.047e+00]
+t: 24	 action: [ 0.802  0.444 -0.418 -0.004  0.003  0.003 -1.026]
+t: 25	 action: [ 8.275e-01  3.637e-01 -4.877e-01 -1.099e-03  5.410e-04  4.317e-03 -1.053e+00]
+[07-31 01:18:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5734
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5734
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5734
+t=26: Selected seed 195 with value = 0.5734
+t: 26	 action: [ 0.739  0.405 -0.333  0.006 -0.014  0.006 -1.039]
+t: 27	 action: [ 6.606e-01  3.008e-01 -3.761e-01 -2.165e-04 -5.821e-03 -3.374e-03 -1.034e+00]
+t: 28	 action: [ 0.54   0.274 -0.577  0.005 -0.018  0.004 -1.041]
+t: 29	 action: [ 0.428  0.119 -0.729  0.01  -0.009 -0.011 -1.038]
+t: 30	 action: [ 0.284  0.122 -0.787  0.005 -0.013 -0.003 -1.034]
+t: 31	 action: [ 0.213  0.058 -0.851  0.02  -0.016 -0.01  -1.055]
+t: 32	 action: [ 0.145  0.076 -0.969  0.006 -0.014 -0.009 -1.04 ]
+t: 33	 action: [ 0.065  0.067 -0.984  0.014 -0.024 -0.017 -1.06 ]
+t: 34	 action: [-0.011  0.022 -0.96   0.007 -0.038 -0.009 -1.041]
+t: 35	 action: [-0.069 -0.056 -1.006  0.002 -0.034 -0.017 -1.028]
+t: 36	 action: [-0.168 -0.059 -0.958  0.008 -0.038 -0.006 -1.037]
+t: 37	 action: [-2.167e-01 -1.053e-01 -9.986e-01  1.004e-03 -3.110e-02 -1.390e-02 -1.028e+00]
+t: 38	 action: [-2.361e-01 -1.103e-01 -9.484e-01  8.072e-04 -3.604e-02 -7.676e-03 -1.038e+00]
+t: 39	 action: [-0.312 -0.054 -0.954  0.005 -0.033 -0.021 -1.045]
+t: 40	 action: [-3.651e-01 -1.326e-01 -9.361e-01 -6.292e-06 -3.126e-02 -7.086e-03 -1.028e+00]
+t: 41	 action: [-3.741e-01 -6.980e-02 -9.370e-01 -2.086e-05 -2.551e-02 -1.498e-02 -1.048e+00]
+[07-31 01:18:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6500
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6500
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6500
+t=42: Selected seed 195 with value = 0.6500
+t: 42	 action: [-1.425e-01  3.902e-02 -8.932e-01 -1.425e-04 -1.138e-02  7.011e-03 -1.051e+00]
+t: 43	 action: [-1.400e-01  3.395e-02 -8.111e-01 -8.559e-04  5.385e-03  1.577e-02 -1.027e+00]
+t: 44	 action: [-0.125  0.03  -0.794 -0.003  0.009  0.007 -1.055]
+t: 45	 action: [-0.124  0.029 -0.695 -0.006  0.021  0.033 -1.139]
+t: 46	 action: [-0.228 -0.004 -0.614 -0.01   0.036  0.004 -1.039]
+t: 47	 action: [-0.249  0.053 -0.635 -0.001  0.018  0.011 -1.044]
+t: 48	 action: [-2.636e-01 -1.626e-02 -5.322e-01 -1.668e-02  4.785e-02 -1.998e-05 -1.034e+00]
+t: 49	 action: [-0.28   0.024 -0.528 -0.005  0.036  0.015  1.185]
+t: 50	 action: [-0.259 -0.021 -0.505 -0.004  0.026  0.007  1.002]
+t: 51	 action: [-0.243 -0.05  -0.33  -0.009  0.035  0.001  1.023]
+t: 52	 action: [-0.203 -0.026 -0.298 -0.016  0.036  0.004  0.98 ]
+t: 53	 action: [-0.178 -0.067 -0.104 -0.014  0.03  -0.012  1.014]
+t: 54	 action: [-0.166 -0.051 -0.08  -0.009  0.039 -0.022  1.   ]
+t: 55	 action: [-0.102 -0.059  0.002 -0.007  0.034 -0.038  1.013]
+t: 56	 action: [-0.08  -0.072  0.128 -0.01   0.024 -0.047  1.002]
+t: 57	 action: [-0.017 -0.046  0.226 -0.008  0.016 -0.053  1.015]
+[07-31 01:18:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7479
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7479
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7479
+t=58: Selected seed 195 with value = 0.7479
+t: 58	 action: [-0.043 -0.102  0.072 -0.005  0.038 -0.006  0.991]
+t: 59	 action: [ 0.029 -0.083  0.203 -0.012  0.054 -0.021  1.015]
+t: 60	 action: [ 0.046 -0.045  0.468 -0.005  0.035 -0.018  0.979]
+t: 61	 action: [ 0.034 -0.052  0.704 -0.014  0.051 -0.027  1.014]
+t: 62	 action: [ 0.092  0.006  0.805 -0.006  0.043 -0.022  0.992]
+t: 63	 action: [ 0.059 -0.012  0.893 -0.005  0.046 -0.032  1.02 ]
+t: 64	 action: [ 0.086 -0.049  0.961  0.002  0.029 -0.027  0.981]
+t: 65	 action: [ 0.017 -0.098  0.929  0.007  0.029 -0.032  1.024]
+t: 66	 action: [ 0.018 -0.34   0.904  0.014  0.039 -0.02   0.986]
+t: 67	 action: [ 0.013 -0.441  0.924  0.024  0.049 -0.026  1.02 ]
+t: 68	 action: [-0.069 -0.575  0.84   0.026  0.037 -0.009  0.976]
+t: 69	 action: [-0.102 -0.651  0.688  0.026  0.035 -0.019  1.025]
+t: 70	 action: [-0.127 -0.69   0.499  0.029  0.024 -0.006  0.994]
+t: 71	 action: [-0.252 -0.74   0.23   0.038  0.017 -0.011  1.02 ]
+t: 72	 action: [-0.198 -0.709  0.045  0.025  0.01  -0.003  0.987]
+t: 73	 action: [-0.326 -0.745 -0.053  0.028  0.004 -0.008  1.027]
+[07-31 01:18:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8687
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8687
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8687
+t=74: Selected seed 195 with value = 0.8687
+t: 74	 action: [-0.164 -0.797 -0.001  0.054  0.001 -0.005  0.976]
+t: 75	 action: [-0.19  -0.81  -0.165  0.041 -0.003 -0.009  1.016]
+t: 76	 action: [-0.228 -0.741 -0.286  0.053 -0.005  0.003  0.982]
+t: 77	 action: [-2.511e-01 -6.696e-01 -5.091e-01  3.346e-02 -6.126e-03 -9.056e-04  1.016e+00]
+t: 78	 action: [-0.238 -0.544 -0.537  0.016 -0.008 -0.002  0.981]
+t: 79	 action: [-0.301 -0.32  -0.715  0.013 -0.017  0.001  1.016]
+t: 80	 action: [-0.299 -0.293 -0.695  0.003 -0.017  0.002  0.988]
+t: 81	 action: [-0.314 -0.144 -0.786 -0.004 -0.017  0.008  1.021]
+t: 82	 action: [-1.976e-01 -2.385e-01 -7.288e-01 -4.593e-04 -2.058e-02  5.580e-03  9.982e-01]
+t: 83	 action: [-0.23  -0.149 -0.707 -0.012  0.004  0.016  1.032]
+t: 84	 action: [-1.700e-01 -4.285e-02 -5.742e-01 -1.959e-02  1.043e-03  9.534e-03  1.143e+00]
+t: 85	 action: [-0.175 -0.039 -0.413 -0.022  0.016  0.018  1.037]
+t: 86	 action: [-0.177  0.003 -0.349 -0.039  0.013  0.011  1.012]
+t: 87	 action: [-0.095  0.057 -0.168 -0.026  0.012  0.019  1.04 ]
+t: 88	 action: [-0.063  0.016 -0.068 -0.043  0.033  0.004 -1.169]
+t: 89	 action: [-0.025  0.056  0.051 -0.026  0.048 -0.006 -1.113]
+[07-31 01:18:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9976
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=90: Selected seed 195 with value = 0.9976
+t: 90	 action: [-0.024  0.027  0.241 -0.011  0.099 -0.005 -1.038]
+t: 91	 action: [ 0.008  0.008  0.321 -0.005  0.106 -0.017 -1.046]
+t: 92	 action: [ 0.009  0.024  0.345 -0.002  0.094 -0.016 -1.03 ]
+t: 93	 action: [ 0.035  0.007  0.408  0.002  0.104 -0.017 -1.036]
+t: 94	 action: [ 0.057  0.028  0.434  0.003  0.092 -0.025 -1.032]
+t: 95	 action: [ 0.038  0.041  0.412  0.001  0.079 -0.023 -1.05 ]
+t: 96	 action: [ 0.061  0.016  0.432  0.004  0.084 -0.03  -1.027]
+t: 97	 action: [ 0.055  0.036  0.391  0.007  0.057 -0.025 -1.059]
+t: 98	 action: [ 0.07   0.021  0.388  0.008  0.06  -0.005 -1.032]
+t: 99	 action: [ 7.432e-02  5.236e-04  3.800e-01  1.478e-02  6.176e-02 -1.225e-02 -1.034e+00]
+t: 100	 action: [ 0.062  0.02   0.316  0.008  0.044 -0.003 -1.027]
+t: 101	 action: [ 0.07   0.005  0.317  0.012  0.044 -0.01  -1.032]
+t: 102	 action: [ 0.053  0.009  0.254  0.007  0.038 -0.007 -1.031]
+t: 103	 action: [ 0.025  0.023  0.216  0.013  0.023 -0.013 -1.052]
+t: 104	 action: [ 0.047  0.012  0.207  0.003  0.029 -0.008 -1.03 ]
+t: 105	 action: [ 0.019  0.029  0.177  0.01   0.015 -0.011 -1.061]
+[07-31 01:18:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.044  0.03   0.064  0.005  0.007  0.003 -1.039]
+t: 107	 action: [ 0.035  0.003  0.043  0.007  0.006 -0.002 -1.042]
+t: 108	 action: [ 0.014  0.019  0.039  0.006  0.003  0.001 -1.029]
+t: 109	 action: [ 1.479e-02 -9.303e-03  4.842e-02  7.429e-03  6.419e-03 -7.867e-04 -1.033e+00]
+t: 110	 action: [-0.003  0.017  0.031  0.006 -0.006 -0.002 -1.03 ]
+t: 111	 action: [-1.443e-02  2.075e-02  3.626e-02  1.123e-02 -2.645e-03 -3.668e-04 -1.064e+00]
+t: 112	 action: [-2.657e-03  1.117e-02  4.060e-02  5.904e-03  5.423e-04 -2.859e-03 -1.029e+00]
+t: 113	 action: [-1.194e-02  2.525e-02  5.735e-02  1.211e-02  9.546e-05 -1.522e-03 -1.059e+00]
+t: 114	 action: [ 0.033  0.018  0.026  0.01  -0.005  0.005 -1.038]
+t: 115	 action: [ 0.021  0.007  0.043  0.007  0.003 -0.003 -1.042]
+t: 116	 action: [ 0.029  0.018  0.041  0.008  0.001  0.003 -1.029]
+t: 117	 action: [ 0.023  0.004  0.058  0.006  0.006 -0.003 -1.038]
+t: 118	 action: [ 2.292e-02  1.807e-02  4.230e-02  5.931e-03  1.343e-04  1.998e-04 -1.035e+00]
+t: 119	 action: [ 0.007  0.041  0.061  0.008 -0.004 -0.006 -1.068]
+t: 120	 action: [ 0.027  0.014  0.063  0.005  0.008 -0.004 -1.028]
+t: 121	 action: [ 3.081e-03  4.089e-02  9.761e-02  8.580e-03  1.045e-03 -4.770e-03 -1.066e+00]
+[07-31 01:18:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.039  0.036 -0.02   0.004 -0.009  0.004 -1.039]
+t: 123	 action: [ 3.127e-02  2.895e-03  2.228e-02  4.482e-03 -1.617e-03  6.340e-04 -1.041e+00]
+t: 124	 action: [ 0.024  0.024 -0.008  0.005 -0.007  0.002 -1.03 ]
+t: 125	 action: [ 0.016 -0.008  0.047  0.003  0.004  0.001 -1.034]
+t: 126	 action: [ 7.112e-03  2.406e-02 -5.367e-03  4.216e-03 -1.177e-02  4.934e-04 -1.028e+00]
+t: 127	 action: [-0.005  0.015  0.011  0.007 -0.009  0.002 -1.065]
+t: 128	 action: [ 0.006  0.016  0.02   0.003 -0.005 -0.001 -1.027]
+t: 129	 action: [-7.677e-03  2.431e-02  5.499e-02  6.741e-03 -4.075e-03  1.504e-04 -1.060e+00]
+t: 130	 action: [ 0.042  0.018 -0.002  0.009 -0.01   0.007 -1.038]
+t: 131	 action: [ 2.375e-02  6.882e-03  4.453e-02  3.096e-03 -4.770e-05 -1.184e-03 -1.045e+00]
+t: 132	 action: [ 0.034  0.022  0.018  0.007 -0.004  0.005 -1.029]
+t: 133	 action: [ 2.297e-02  3.816e-03  5.220e-02  2.102e-03  4.517e-03 -4.527e-04 -1.039e+00]
+t: 134	 action: [ 0.023  0.02   0.023  0.005 -0.004  0.002 -1.034]
+t: 135	 action: [ 0.005  0.039  0.04   0.004 -0.007 -0.003 -1.07 ]
+t: 136	 action: [ 0.022  0.018  0.049  0.003  0.002 -0.002 -1.028]
+t: 137	 action: [-0.001  0.041  0.096  0.004 -0.003 -0.002 -1.066]
+[07-31 01:18:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [ 0.037  0.037 -0.064  0.005 -0.014  0.005 -1.037]
+t: 139	 action: [ 0.029  0.007 -0.022  0.005 -0.006  0.003 -1.04 ]
+t: 140	 action: [ 0.021  0.027 -0.037  0.005 -0.011  0.003 -1.029]
+t: 141	 action: [ 0.017 -0.004  0.041  0.003  0.002  0.004 -1.035]
+t: 142	 action: [ 0.005  0.028 -0.036  0.004 -0.015  0.002 -1.028]
+t: 143	 action: [-0.007  0.019 -0.005  0.008 -0.011  0.005 -1.065]
+t: 144	 action: [ 1.432e-04  1.920e-02 -1.609e-03  3.078e-03 -8.231e-03  2.839e-04 -1.026e+00]
+t: 145	 action: [-0.011  0.026  0.026  0.007 -0.005  0.003 -1.059]
+t: 146	 action: [ 0.038  0.019 -0.03   0.009 -0.013  0.008 -1.038]
+t: 147	 action: [ 0.021  0.012  0.039  0.004 -0.002  0.002 -1.044]
+t: 148	 action: [ 0.023  0.023 -0.009  0.007 -0.007  0.007 -1.03 ]
+t: 149	 action: [ 0.02   0.007  0.05   0.002  0.005  0.003 -1.039]
+t: 150	 action: [ 1.189e-02  2.534e-02 -3.744e-04  5.219e-03 -7.036e-03  3.537e-03 -1.034e+00]
+t: 151	 action: [-8.218e-03  4.098e-02  9.692e-03  5.924e-03 -7.932e-03  9.394e-05 -1.069e+00]
+t: 152	 action: [ 6.362e-03  2.303e-02  2.564e-02  3.241e-03 -6.272e-04 -1.243e-04 -1.028e+00]
+t: 153	 action: [-0.011  0.042  0.06   0.005 -0.003  0.002 -1.067]
+[07-31 01:18:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+t: 154	 action: [ 0.048  0.038 -0.073  0.005 -0.012  0.005 -1.04 ]
+t: 155	 action: [ 0.04   0.006 -0.022  0.005 -0.003  0.002 -1.041]
+t: 156	 action: [ 0.031  0.031 -0.035  0.005 -0.008  0.003 -1.034]
+t: 157	 action: [ 0.021 -0.002  0.044  0.002  0.004  0.002 -1.035]
+t: 158	 action: [ 0.02   0.033 -0.034  0.004 -0.011  0.001 -1.031]
+t: 159	 action: [ 0.009  0.023 -0.003  0.009 -0.007  0.005 -1.065]
+t: 160	 action: [ 1.149e-02  2.654e-02  2.600e-03  3.255e-03 -4.434e-03 -2.929e-04 -1.030e+00]
+t: 161	 action: [-0.006  0.032  0.039  0.006 -0.002  0.003 -1.059]
+t: 162	 action: [ 0.053  0.024 -0.025  0.01  -0.008  0.009 -1.041]
+t: 163	 action: [ 0.032  0.014  0.043  0.004  0.003  0.001 -1.045]
+t: 164	 action: [ 0.029  0.029 -0.007  0.007 -0.004  0.007 -1.034]
+t: 165	 action: [ 0.024  0.008  0.048  0.002  0.006  0.002 -1.042]
+t: 166	 action: [ 0.024  0.031  0.003  0.006 -0.003  0.003 -1.038]
+t: 167	 action: [-1.235e-03  4.312e-02  2.152e-02  6.858e-03 -4.039e-03  3.762e-04 -1.069e+00]
+t: 168	 action: [ 1.094e-02  3.180e-02  2.409e-02  3.492e-03  2.210e-03 -1.874e-04 -1.032e+00]
+t: 169	 action: [-1.003e-02  4.291e-02  7.079e-02  4.810e-03  9.236e-05  1.744e-03 -1.067e+00]
+[07-31 01:18:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9984
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.960 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=170: Selected seed 195 with value = 0.9984
+t: 170	 action: [ 0.031  0.036 -0.073  0.005 -0.005  0.007 -1.039]
+t: 171	 action: [ 2.381e-02 -2.093e-03 -3.303e-02  1.575e-03  5.881e-04  3.662e-03 -1.040e+00]
+t: 172	 action: [ 0.006  0.032 -0.039  0.005 -0.002  0.004 -1.034]
+t: 173	 action: [ 0.015 -0.009  0.034 -0.001  0.005  0.005 -1.034]
+t: 174	 action: [-0.005  0.034 -0.03   0.003 -0.006  0.002 -1.033]
+t: 175	 action: [-1.023e-02  1.608e-02 -8.224e-04  6.696e-03 -4.868e-03  7.843e-03 -1.061e+00]
+t: 176	 action: [-2.288e-02  2.903e-02 -3.769e-03  1.874e-03 -1.010e-03  1.365e-03 -1.034e+00]
+t: 177	 action: [-1.914e-02  2.311e-02  3.475e-02  3.738e-03  1.118e-05  6.415e-03 -1.056e+00]
+t: 178	 action: [ 0.025  0.025 -0.032  0.009 -0.005  0.01  -1.044]
+t: 179	 action: [ 0.018  0.002  0.032  0.001  0.004  0.002 -1.045]
+t: 180	 action: [-0.007  0.028 -0.022  0.006 -0.004  0.007 -1.037]
+t: 181	 action: [ 0.018 -0.005  0.042 -0.002  0.007  0.004 -1.043]
+t: 182	 action: [-0.016  0.031 -0.007  0.005 -0.004  0.005 -1.043]
+t: 183	 action: [-0.025  0.027  0.016  0.005 -0.005  0.002 -1.065]
+t: 184	 action: [-3.722e-02  3.200e-02  4.897e-03  2.211e-03 -5.691e-04  1.193e-03 -1.036e+00]
+t: 185	 action: [-0.027  0.027  0.049  0.003 -0.002  0.005 -1.064]
+[07-31 01:18:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9957
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=186: Selected seed 195 with value = 0.9957
+t: 186	 action: [ 3.763e-02  3.029e-02 -1.385e-01  4.961e-03 -1.870e-04  6.740e-03 -1.038e+00]
+t: 187	 action: [ 2.439e-02 -1.058e-02 -1.173e-01  7.744e-04  3.220e-03 -5.425e-04 -1.039e+00]
+t: 188	 action: [ 0.008  0.033 -0.087  0.005  0.001  0.005 -1.034]
+t: 189	 action: [ 1.338e-02 -1.369e-02 -2.102e-02 -2.765e-03  6.580e-03  3.940e-04 -1.031e+00]
+t: 190	 action: [-4.569e-03  3.258e-02 -7.726e-02  2.141e-03 -2.207e-03  9.887e-04 -1.035e+00]
+t: 191	 action: [-0.014  0.015 -0.028  0.006 -0.003  0.004 -1.06 ]
+t: 192	 action: [-2.920e-02  3.466e-02 -4.494e-02  6.479e-04  4.892e-04  1.530e-05 -1.034e+00]
+t: 193	 action: [-2.816e-02  2.061e-02  4.458e-03  2.228e-03  2.957e-04  2.593e-03 -1.053e+00]
+t: 194	 action: [ 0.026  0.027 -0.088  0.008 -0.003  0.008 -1.043]
+t: 195	 action: [ 1.807e-02 -7.762e-03 -3.972e-02 -1.595e-04  4.323e-03 -2.881e-03 -1.045e+00]
+t: 196	 action: [-0.011  0.03  -0.075  0.006 -0.004  0.007 -1.039]
+t: 197	 action: [ 1.439e-02 -1.494e-02  9.548e-03 -3.758e-03  6.157e-03  8.330e-05 -1.044e+00]
+t: 198	 action: [-0.023  0.036 -0.057  0.004 -0.004  0.002 -1.046]
+t: 199	 action: [-0.034  0.019 -0.014  0.005 -0.006 -0.002 -1.062]
+t: 200	 action: [-5.328e-02  3.524e-02 -4.361e-02  5.131e-04 -2.319e-03 -1.472e-04 -1.038e+00]
+t: 201	 action: [-3.953e-02  1.854e-02 -2.347e-03  7.865e-04 -3.490e-03  1.870e-03 -1.060e+00]
+[07-31 01:18:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9874
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=202: Selected seed 195 with value = 0.9874
+t: 202	 action: [ 2.811e-02  2.598e-02 -2.580e-01  2.581e-03  6.083e-04  5.879e-03 -1.036e+00]
+t: 203	 action: [ 0.009 -0.003 -0.277 -0.009  0.003 -0.007 -1.045]
+t: 204	 action: [ 2.355e-03  3.024e-02 -1.733e-01  4.414e-03  1.177e-04  5.828e-03 -1.034e+00]
+t: 205	 action: [-0.007 -0.011 -0.161 -0.011  0.005 -0.006 -1.039]
+t: 206	 action: [-1.331e-02  2.221e-02 -1.611e-01 -2.760e-03 -1.447e-03  4.985e-04 -1.029e+00]
+t: 207	 action: [-0.021  0.027 -0.105 -0.002 -0.002 -0.004 -1.058]
+t: 208	 action: [-2.199e-02  3.017e-02 -1.041e-01 -1.303e-03 -1.343e-03  2.234e-04 -1.028e+00]
+t: 209	 action: [-4.888e-02  2.062e-02 -2.981e-02 -4.660e-03 -9.567e-04 -6.437e-03 -1.056e+00]
+t: 210	 action: [-6.216e-04  1.792e-02 -2.359e-01 -7.203e-04  7.716e-04  7.003e-03 -1.039e+00]
+t: 211	 action: [ 0.003 -0.021 -0.227 -0.012  0.004  0.015 -1.117]
+t: 212	 action: [-0.047  0.02  -0.203 -0.006 -0.002  0.006 -1.156]
+t: 213	 action: [-0.065 -0.034 -0.163 -0.015  0.003  0.018 -1.121]
+t: 214	 action: [-0.049  0.012 -0.165 -0.006 -0.002  0.001 -1.034]
+t: 215	 action: [-0.048  0.013 -0.092 -0.005 -0.007  0.019  1.166]
+t: 216	 action: [-0.067  0.007 -0.124 -0.008 -0.004 -0.001  1.09 ]
+t: 217	 action: [-0.022  0.011 -0.032 -0.011 -0.007  0.024  1.132]
+[07-31 01:18:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9636
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9636
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9636
+t=218: Selected seed 195 with value = 0.9636
+t: 218	 action: [-0.05  -0.079 -0.139 -0.028  0.004  0.004 -0.875]
+t: 219	 action: [-6.492e-02 -6.511e-02 -1.419e-01 -2.258e-02  5.774e-03  8.649e-04  8.852e-01]
+t: 220	 action: [-0.023 -0.04  -0.027 -0.024  0.003  0.004 -0.047]
+t: 221	 action: [ 0.006 -0.05   0.025 -0.019  0.009 -0.004 -0.814]
+t: 222	 action: [ 2.234e-02 -9.421e-03 -5.376e-02 -1.509e-02  4.245e-03  1.189e-04  6.802e-01]
+t: 223	 action: [ 0.011 -0.012 -0.005 -0.016  0.002  0.003 -1.115]
+t: 224	 action: [ 0.027 -0.004  0.034 -0.002  0.006 -0.001 -1.146]
+t: 225	 action: [-0.025  0.007  0.061 -0.008  0.005 -0.009 -1.09 ]
+t: 226	 action: [ 2.974e-02  2.472e-02  7.764e-02  7.080e-04 -1.239e-03  4.165e-03 -1.049e+00]
+t: 227	 action: [ 0.023 -0.003  0.108 -0.01   0.004 -0.009 -1.058]
+t: 228	 action: [ 4.165e-02  2.867e-02  1.025e-01  5.886e-03  9.114e-04  3.029e-03 -1.042e+00]
+t: 229	 action: [ 0.038  0.002  0.132 -0.008  0.008 -0.011 -1.054]
+t: 230	 action: [ 1.991e-02  3.253e-02  1.043e-01  2.718e-03  1.632e-03 -4.268e-04 -1.069e+00]
+t: 231	 action: [-8.076e-04  4.646e-02  1.634e-01 -3.434e-03 -2.858e-03 -9.541e-03 -1.060e+00]
+t: 232	 action: [ 0.036  0.035  0.118  0.003  0.01  -0.003 -1.06 ]
+t: 233	 action: [-2.459e-03  4.103e-02  1.625e-01 -2.597e-03  2.292e-04 -9.264e-03 -1.063e+00]
+[07-31 01:18:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.177 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9713
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 1.177 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=234: Selected seed 195 with value = 0.9713
+t: 234	 action: [ 0.022  0.012 -0.221  0.005  0.005  0.003 -1.041]
+t: 235	 action: [ 0.015 -0.046 -0.181 -0.01   0.009 -0.01  -1.04 ]
+t: 236	 action: [ 0.009  0.009 -0.118  0.007  0.006  0.004 -1.038]
+t: 237	 action: [ 0.003 -0.056 -0.052 -0.008  0.011 -0.009 -1.037]
+t: 238	 action: [-3.310e-03  1.129e-03 -1.173e-01  1.844e-03  9.071e-03  2.777e-04 -1.030e+00]
+t: 239	 action: [-0.025 -0.012 -0.041 -0.003  0.006 -0.01  -1.046]
+t: 240	 action: [-0.019  0.008 -0.04   0.003  0.01  -0.001 -1.037]
+t: 241	 action: [-0.053 -0.019 -0.006 -0.002  0.009 -0.014 -1.052]
+t: 242	 action: [-2.321e-02 -3.416e-02 -2.184e-01  4.197e-04  1.792e-02  5.590e-03 -1.172e+00]
+t: 243	 action: [-0.038 -0.074 -0.165 -0.012  0.015  0.011 -1.117]
+t: 244	 action: [-1.092e-02 -3.299e-02 -1.141e-01 -3.808e-04  1.384e-02  7.509e-03  8.042e-01]
+t: 245	 action: [ 0.05  -0.067 -0.031 -0.016  0.014  0.005  0.965]
+t: 246	 action: [-0.034 -0.004 -0.1   -0.004  0.019  0.001  1.099]
+t: 247	 action: [ 0.015 -0.018 -0.035 -0.005  0.004  0.013  1.149]
+t: 248	 action: [-0.024 -0.01  -0.016 -0.002  0.015 -0.001  0.681]
+t: 249	 action: [ 0.014 -0.014  0.005 -0.009  0.006 -0.006 -1.017]
+[07-31 01:18:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.150 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9579
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9579
+Query 1/1: Action query time = 1.150 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9579
+t=250: Selected seed 195 with value = 0.9579
+t: 250	 action: [-0.114 -0.125 -0.378 -0.073 -0.015  0.007  0.933]
+t: 251	 action: [-0.018 -0.104 -0.32  -0.061 -0.009  0.012  0.941]
+t: 252	 action: [-0.023 -0.044 -0.285 -0.073 -0.018  0.008  1.157]
+t: 253	 action: [ 0.005 -0.061 -0.179 -0.064 -0.012  0.016  1.005]
+t: 254	 action: [ 0.025 -0.036 -0.132 -0.054 -0.015  0.004  0.913]
+t: 255	 action: [ 0.027 -0.058 -0.066 -0.047 -0.009  0.02  -0.022]
+t: 256	 action: [ 4.208e-02 -1.651e-02 -2.565e-02 -3.559e-02 -1.503e-02  1.899e-04 -1.195e+00]
+t: 257	 action: [ 0.01  -0.019 -0.005 -0.029 -0.002 -0.009 -1.135]
+t: 258	 action: [ 0.007  0.017  0.082 -0.005 -0.006  0.002 -1.049]
+t: 259	 action: [-1.803e-04 -3.396e-03  1.397e-01 -9.413e-03 -5.849e-04 -9.105e-03 -1.038e+00]
+t: 260	 action: [ 9.757e-03  2.140e-02  1.378e-01  2.756e-03  1.307e-03 -1.013e-03 -1.048e+00]
+t: 261	 action: [ 0.009  0.009  0.182 -0.004  0.013 -0.013 -1.033]
+t: 262	 action: [ 0.004  0.014  0.148  0.003  0.004 -0.007 -1.057]
+t: 263	 action: [-1.959e-03  5.884e-02  2.365e-01  3.631e-03 -7.529e-04 -1.224e-02 -1.054e+00]
+t: 264	 action: [ 0.022  0.011  0.193  0.002  0.017 -0.009 -1.056]
+t: 265	 action: [-0.003  0.062  0.252  0.006  0.011 -0.011 -1.057]
+[07-31 01:18:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.186 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9902
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 1.186 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=266: Selected seed 195 with value = 0.9902
+t: 266	 action: [ 0.003 -0.058  0.129  0.011  0.063 -0.006 -1.048]
+t: 267	 action: [ 0.013 -0.066  0.106  0.011  0.049 -0.015 -1.039]
+t: 268	 action: [ 0.017 -0.037  0.095  0.01   0.061 -0.005 -1.044]
+t: 269	 action: [ 0.023 -0.06   0.09   0.011  0.053 -0.012 -1.031]
+t: 270	 action: [ 0.012 -0.018  0.075  0.006  0.048 -0.019 -1.043]
+t: 271	 action: [ 0.009 -0.021  0.101  0.016  0.049 -0.018 -1.06 ]
+t: 272	 action: [ 0.013 -0.015  0.082  0.008  0.05  -0.016 -1.042]
+t: 273	 action: [-0.006 -0.009  0.101  0.016  0.049 -0.018 -1.056]
+t: 274	 action: [ 0.049 -0.016  0.043  0.012  0.047 -0.008 -1.055]
+t: 275	 action: [ 0.027 -0.046  0.044  0.011  0.039 -0.013 -1.054]
+t: 276	 action: [ 0.04  -0.008  0.055  0.009  0.049 -0.004 -1.047]
+t: 277	 action: [ 0.02  -0.046  0.058  0.011  0.044 -0.012 -1.048]
+t: 278	 action: [ 0.041 -0.002  0.049  0.008  0.041 -0.013 -1.055]
+t: 279	 action: [ 0.006 -0.002  0.059  0.016  0.035 -0.018 -1.064]
+t: 280	 action: [ 0.029  0.002  0.067  0.007  0.046 -0.012 -1.043]
+t: 281	 action: [-1.008e-02  3.136e-04  8.446e-02  1.485e-02  4.274e-02 -1.600e-02 -1.068e+00]
+[07-31 01:18:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.163 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9926
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 1.163 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=282: Selected seed 195 with value = 0.9926
+t: 282	 action: [ 0.023 -0.018 -0.078  0.008  0.027 -0.006 -1.031]
+t: 283	 action: [ 0.024 -0.067 -0.019  0.005  0.03  -0.015 -1.052]
+t: 284	 action: [ 0.023 -0.025 -0.04   0.007  0.032  0.001 -1.025]
+t: 285	 action: [ 0.023 -0.069  0.027  0.007  0.04  -0.011 -1.043]
+t: 286	 action: [ 0.026 -0.023 -0.025  0.007  0.036 -0.006 -1.017]
+t: 287	 action: [ 0.024 -0.043 -0.002  0.012  0.043 -0.013 -1.067]
+t: 288	 action: [ 0.02  -0.021  0.011  0.006  0.041 -0.004 -1.024]
+t: 289	 action: [-0.007 -0.038  0.021  0.013  0.046 -0.012 -1.064]
+t: 290	 action: [ 0.036 -0.042 -0.068  0.007  0.031 -0.004 -1.036]
+t: 291	 action: [ 0.035 -0.072 -0.031  0.004  0.029  0.007 -1.103]
+t: 292	 action: [ 0.016 -0.04  -0.058  0.005  0.031  0.002  0.772]
+t: 293	 action: [ 0.032 -0.081 -0.006  0.003  0.03  -0.007  0.851]
+t: 294	 action: [ 0.025 -0.032 -0.034  0.005  0.036 -0.005 -1.018]
+t: 295	 action: [ 0.01  -0.045 -0.011  0.01   0.029  0.014  1.138]
+t: 296	 action: [ 0.003 -0.022 -0.018  0.003  0.036 -0.005 -1.019]
+t: 297	 action: [-0.042 -0.046 -0.002  0.009  0.031 -0.012 -1.13 ]
+[07-31 01:18:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.127 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9949
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9949
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 15
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 30%|███       | 15/50 [07:55<18:39, 31.99s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 16...
+Query 1/1: Action query time = 1.127 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=298: Selected seed 195 with value = 0.9949
+t: 298	 action: [-1.209e-02 -1.483e-02  9.581e-02  2.793e-03 -8.528e-03  4.725e-04 -1.012e+00]
+t: 299	 action: [ 0.013 -0.042  0.06   0.001 -0.008 -0.004 -1.037]
+t: 300	 action: [-0.022  0.005  0.056  0.003 -0.016  0.003 -1.014]
+t: 301	 action: [ 0.008 -0.027  0.048  0.002 -0.008 -0.002 -1.024]
+t: 302	 action: [-3.119e-02 -8.947e-04  3.305e-02  2.682e-03 -2.495e-02 -3.026e-03 -1.025e+00]
+t: 303	 action: [-4.126e-02  8.344e-04  3.440e-02  7.716e-03 -2.237e-02 -2.607e-03 -1.069e+00]
+t: 304	 action: [-0.032  0.009  0.041  0.002 -0.02  -0.001 -1.025]
+t: 305	 action: [-0.036  0.02   0.036  0.009 -0.019 -0.004 -1.055]
+t: 306	 action: [ 0.016  0.022  0.043  0.008 -0.028  0.005 -1.023]
+t: 307	 action: [ 1.878e-02  1.256e-02  5.980e-02  2.698e-03 -1.721e-02  9.270e-05 -1.044e+00]
+t: 308	 action: [ 0.008  0.028  0.059  0.008 -0.024  0.005 -1.016]
+t: 309	 action: [ 0.017  0.015  0.069  0.004 -0.008 -0.002 -1.033]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=15--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=15--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 16...
+[07-31 01:18:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4653
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4653
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4653
+t=10: Selected seed 195 with value = 0.4653
+t: 10	 action: [ 0.154  0.09  -0.029  0.003 -0.005 -0.002 -1.004]
+t: 11	 action: [ 0.269  0.131 -0.004  0.006 -0.001 -0.007 -1.015]
+t: 12	 action: [ 3.337e-01  2.418e-01 -2.181e-02  1.816e-03 -3.325e-03  1.010e-03 -1.012e+00]
+t: 13	 action: [ 0.424  0.299 -0.001  0.007 -0.002 -0.006 -1.024]
+t: 14	 action: [ 4.877e-01  4.224e-01 -2.606e-02 -8.535e-04 -7.233e-03 -3.225e-03 -1.030e+00]
+t: 15	 action: [ 0.533  0.504  0.006  0.007 -0.005 -0.004 -1.05 ]
+t: 16	 action: [ 6.022e-01  5.260e-01 -9.391e-03 -2.002e-03 -7.543e-04 -2.121e-03 -1.017e+00]
+t: 17	 action: [ 0.629  0.586  0.006  0.01  -0.007 -0.005 -1.056]
+t: 18	 action: [ 0.669  0.56  -0.014  0.005 -0.002  0.005 -1.02 ]
+t: 19	 action: [ 7.192e-01  5.775e-01 -4.771e-03  6.341e-03  1.831e-04 -5.407e-03 -1.025e+00]
+t: 20	 action: [ 0.698  0.585 -0.034  0.003 -0.004  0.005 -1.015]
+t: 21	 action: [ 7.625e-01  5.914e-01 -2.688e-02 -1.827e-03  2.143e-04 -6.858e-03 -1.023e+00]
+t: 22	 action: [ 7.237e-01  5.448e-01 -7.030e-02  7.405e-04 -4.025e-03  1.891e-03 -1.014e+00]
+t: 23	 action: [ 0.71   0.532 -0.068  0.006 -0.009 -0.006 -1.046]
+t: 24	 action: [ 7.152e-01  5.145e-01 -1.328e-01 -4.006e-03 -3.447e-03 -1.742e-04 -1.013e+00]
+t: 25	 action: [ 0.718  0.457 -0.16  -0.001 -0.011 -0.007 -1.055]
+[07-31 01:18:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5278
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5278
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5278
+t=26: Selected seed 195 with value = 0.5278
+t: 26	 action: [ 0.757  0.484 -0.086 -0.003 -0.007  0.008 -1.036]
+t: 27	 action: [ 0.693  0.443 -0.052 -0.003 -0.004 -0.003 -1.03 ]
+t: 28	 action: [ 0.649  0.284 -0.204  0.003 -0.016  0.005 -1.037]
+t: 29	 action: [ 5.586e-01  2.045e-01 -1.863e-01 -4.066e-04 -4.602e-03 -3.636e-03 -1.034e+00]
+t: 30	 action: [ 4.339e-01  6.242e-02 -3.766e-01  2.939e-04 -1.050e-02 -5.924e-03 -1.027e+00]
+t: 31	 action: [ 3.343e-01  6.129e-04 -4.227e-01  1.017e-02 -8.086e-03 -9.306e-03 -1.053e+00]
+t: 32	 action: [ 0.257 -0.003 -0.68  -0.002 -0.016 -0.01  -1.032]
+t: 33	 action: [ 0.181 -0.038 -0.778  0.014 -0.015 -0.011 -1.055]
+t: 34	 action: [ 0.091 -0.083 -0.87   0.008 -0.037 -0.016 -1.037]
+t: 35	 action: [ 0.017 -0.107 -0.969  0.004 -0.03  -0.021 -1.027]
+t: 36	 action: [-0.028 -0.104 -0.946  0.006 -0.043 -0.011 -1.038]
+t: 37	 action: [-0.086 -0.114 -1.022  0.002 -0.035 -0.018 -1.028]
+t: 38	 action: [-9.337e-02 -6.602e-02 -9.533e-01 -3.141e-04 -4.388e-02 -1.143e-02 -1.038e+00]
+t: 39	 action: [-0.15  -0.027 -0.982  0.009 -0.042 -0.021 -1.043]
+t: 40	 action: [-0.191 -0.042 -0.951 -0.004 -0.043 -0.006 -1.036]
+t: 41	 action: [-0.247 -0.022 -0.967  0.006 -0.041 -0.017 -1.045]
+[07-31 01:18:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6008
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=42: Selected seed 195 with value = 0.6008
+t: 42	 action: [ 0.147  0.055 -1.004  0.025 -0.019 -0.005 -1.047]
+t: 43	 action: [ 0.137  0.034 -1.027  0.017 -0.015 -0.017 -1.043]
+t: 44	 action: [ 0.089  0.052 -0.989  0.01  -0.011 -0.006 -1.034]
+t: 45	 action: [ 0.054  0.041 -1.     0.008 -0.003 -0.014 -1.043]
+t: 46	 action: [ 9.187e-03  4.639e-02 -8.589e-01 -1.060e-04 -3.350e-03 -1.329e-02 -1.037e+00]
+t: 47	 action: [-0.046  0.106 -0.925  0.008 -0.008 -0.022 -1.054]
+t: 48	 action: [-0.116  0.043 -0.795 -0.003 -0.003 -0.013 -1.029]
+t: 49	 action: [-1.822e-01  1.061e-01 -8.644e-01 -7.976e-04 -2.501e-03 -2.379e-02 -1.048e+00]
+t: 50	 action: [-1.351e-01  4.614e-02 -7.403e-01  1.037e-03 -6.479e-03 -2.466e-03 -1.051e+00]
+t: 51	 action: [-0.199  0.035 -0.765 -0.006 -0.001 -0.024 -1.027]
+t: 52	 action: [-0.251  0.032 -0.666 -0.001 -0.006 -0.006 -1.17 ]
+t: 53	 action: [-0.352 -0.005 -0.681 -0.004 -0.002 -0.004 -1.159]
+t: 54	 action: [-0.414  0.002 -0.625 -0.014 -0.016 -0.014 -1.063]
+t: 55	 action: [-0.482  0.01  -0.618 -0.006 -0.011 -0.029 -1.043]
+t: 56	 action: [-0.409 -0.013 -0.583 -0.017 -0.016 -0.015  1.096]
+t: 57	 action: [-0.348 -0.023 -0.487 -0.006 -0.012 -0.009  1.217]
+[07-31 01:18:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7004
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7004
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7004
+t=58: Selected seed 195 with value = 0.7004
+t: 58	 action: [-0.261 -0.016 -0.677  0.002  0.027 -0.007  0.987]
+t: 59	 action: [-1.540e-01 -5.063e-02 -4.739e-01  9.697e-04  4.424e-02 -1.654e-02  1.021e+00]
+t: 60	 action: [-1.198e-01 -5.936e-02 -4.362e-01 -6.733e-04  5.750e-02 -1.760e-02  9.789e-01]
+t: 61	 action: [-0.036 -0.087 -0.216 -0.002  0.064 -0.027  1.029]
+t: 62	 action: [-0.039 -0.12  -0.105 -0.003  0.04  -0.054  1.004]
+t: 63	 action: [ 6.275e-03 -1.219e-01 -9.805e-03  9.961e-04  6.365e-02 -6.695e-02  1.019e+00]
+t: 64	 action: [ 0.009 -0.119  0.079 -0.003  0.043 -0.082  0.998]
+t: 65	 action: [ 0.024 -0.108  0.097  0.001  0.069 -0.091  1.02 ]
+t: 66	 action: [-0.003 -0.08   0.221 -0.004  0.017 -0.07   0.986]
+t: 67	 action: [ 0.021 -0.055  0.453 -0.005  0.011 -0.083  1.017]
+t: 68	 action: [ 0.037 -0.05   0.558 -0.005  0.008 -0.067  0.973]
+t: 69	 action: [ 0.051 -0.048  0.797 -0.007  0.007 -0.092  1.019]
+t: 70	 action: [-0.007 -0.008  0.902 -0.008  0.011 -0.086  0.992]
+t: 71	 action: [ 0.002 -0.072  0.961 -0.002  0.01  -0.083  1.007]
+t: 72	 action: [-0.022 -0.067  0.948 -0.007  0.013 -0.073  0.994]
+t: 73	 action: [ 0.013 -0.151  0.975  0.01   0.01  -0.067  1.011]
+[07-31 01:18:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8183
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8183
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8183
+t=74: Selected seed 195 with value = 0.8183
+t: 74	 action: [ 0.005 -0.563  0.897  0.064  0.032 -0.063  0.994]
+t: 75	 action: [-4.096e-04 -6.266e-01  8.450e-01  6.002e-02  3.431e-02 -6.004e-02  1.022e+00]
+t: 76	 action: [-0.061 -0.694  0.688  0.074  0.034 -0.053  0.992]
+t: 77	 action: [-0.062 -0.742  0.521  0.066  0.037 -0.05   1.011]
+t: 78	 action: [-0.09  -0.772  0.306  0.074  0.049 -0.035  1.002]
+t: 79	 action: [-0.151 -0.778  0.172  0.074  0.041 -0.025  1.019]
+t: 80	 action: [-0.162 -0.771  0.017  0.064  0.045 -0.024  0.994]
+t: 81	 action: [-0.195 -0.737 -0.077  0.059  0.037 -0.02   1.02 ]
+t: 82	 action: [-0.266 -0.757 -0.207  0.078  0.034 -0.021  0.987]
+t: 83	 action: [-0.301 -0.684 -0.26   0.055  0.046 -0.016  1.025]
+t: 84	 action: [-0.274 -0.6   -0.409  0.055  0.028 -0.003  0.972]
+t: 85	 action: [-0.277 -0.47  -0.468  0.032  0.043 -0.006  1.026]
+t: 86	 action: [-0.286 -0.364 -0.457  0.024  0.028 -0.008  0.997]
+t: 87	 action: [-0.272 -0.255 -0.545  0.023  0.042  0.008  1.019]
+t: 88	 action: [-0.216 -0.153 -0.506 -0.002  0.027 -0.004  0.983]
+t: 89	 action: [-0.151 -0.031 -0.541  0.004  0.051  0.012  1.02 ]
+[07-31 01:18:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9394
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=90: Selected seed 195 with value = 0.9394
+t: 90	 action: [-0.194  0.017 -0.526 -0.007  0.053  0.006  0.923]
+t: 91	 action: [-0.131  0.018 -0.404 -0.021  0.064  0.013  1.021]
+t: 92	 action: [-0.141  0.031 -0.266 -0.015  0.065  0.011  1.148]
+t: 93	 action: [-0.073  0.019 -0.099 -0.026  0.074  0.022  1.001]
+t: 94	 action: [-9.581e-02  1.450e-02 -8.361e-04 -3.024e-02  1.004e-01  6.936e-03  9.708e-01]
+t: 95	 action: [-0.025  0.048  0.061 -0.025  0.091  0.001 -1.096]
+t: 96	 action: [-0.018  0.018  0.134 -0.019  0.091  0.005 -1.214]
+t: 97	 action: [-0.016  0.043  0.254 -0.019  0.08  -0.008 -1.133]
+t: 98	 action: [ 0.034  0.018  0.276 -0.011  0.055  0.007 -1.034]
+t: 99	 action: [ 0.014  0.003  0.384 -0.006  0.044  0.003 -1.036]
+t: 100	 action: [ 0.056  0.021  0.412 -0.001  0.035  0.003 -1.023]
+t: 101	 action: [ 5.460e-02  8.905e-03  4.807e-01  3.071e-04  3.749e-02 -3.257e-03 -1.022e+00]
+t: 102	 action: [ 0.042  0.017  0.462  0.005  0.02  -0.006 -1.042]
+t: 103	 action: [ 6.440e-02  2.410e-02  4.472e-01  6.439e-03  3.038e-02  2.852e-05 -1.043e+00]
+t: 104	 action: [ 0.069  0.01   0.487  0.003  0.014 -0.008 -1.025]
+t: 105	 action: [ 0.086  0.026  0.436  0.01   0.027 -0.002 -1.052]
+[07-31 01:18:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 1.184e-01  2.503e-02  4.306e-01  2.775e-03  3.087e-02  9.120e-04 -1.037e+00]
+t: 107	 action: [ 0.074  0.015  0.409  0.002  0.009 -0.007 -1.044]
+t: 108	 action: [ 7.824e-02  1.919e-02  3.160e-01  2.827e-03  7.580e-03  6.014e-04 -1.028e+00]
+t: 109	 action: [ 0.051  0.012  0.31   0.002  0.004 -0.003 -1.036]
+t: 110	 action: [ 0.045  0.024  0.215  0.007 -0.007 -0.001 -1.036]
+t: 111	 action: [ 0.004  0.041  0.197  0.005 -0.011 -0.001 -1.068]
+t: 112	 action: [ 3.088e-02  2.415e-02  1.463e-01  3.177e-03 -9.667e-03 -4.953e-04 -1.035e+00]
+t: 113	 action: [ 1.826e-03  3.812e-02  1.380e-01  5.562e-03 -1.508e-02  9.452e-04 -1.061e+00]
+t: 114	 action: [ 0.042  0.022  0.067  0.006 -0.022  0.007 -1.038]
+t: 115	 action: [ 0.019  0.011  0.087  0.003 -0.023  0.003 -1.039]
+t: 116	 action: [ 0.037  0.021  0.068  0.005 -0.025  0.006 -1.03 ]
+t: 117	 action: [ 0.028  0.012  0.085  0.002 -0.021  0.005 -1.032]
+t: 118	 action: [ 0.032  0.03   0.055  0.004 -0.019  0.008 -1.041]
+t: 119	 action: [-0.001  0.04   0.063  0.005 -0.031  0.004 -1.066]
+t: 120	 action: [ 0.034  0.028  0.075  0.002 -0.018  0.004 -1.034]
+t: 121	 action: [ 0.003  0.04   0.083  0.004 -0.026  0.006 -1.063]
+[07-31 01:18:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.044  0.045  0.05   0.006  0.006  0.003 -1.05 ]
+t: 123	 action: [ 0.026  0.014  0.042  0.002 -0.002  0.003 -1.042]
+t: 124	 action: [ 0.019  0.033  0.025  0.003 -0.006  0.002 -1.044]
+t: 125	 action: [ 1.182e-02  2.818e-03  5.321e-02  7.808e-04 -5.812e-03  3.740e-03 -1.035e+00]
+t: 126	 action: [ 0.014  0.038  0.014  0.002 -0.009  0.002 -1.042]
+t: 127	 action: [-0.01   0.03   0.045  0.006 -0.016  0.006 -1.067]
+t: 128	 action: [ 0.009  0.031  0.033  0.002 -0.008  0.003 -1.04 ]
+t: 129	 action: [-0.011  0.03   0.07   0.006 -0.015  0.004 -1.061]
+t: 130	 action: [ 0.03   0.021  0.033  0.007 -0.011  0.009 -1.052]
+t: 131	 action: [ 1.338e-02  1.994e-03  5.996e-02  8.262e-04 -6.152e-03  2.055e-03 -1.042e+00]
+t: 132	 action: [ 0.015  0.02   0.034  0.004 -0.014  0.007 -1.047]
+t: 133	 action: [ 1.246e-02  1.661e-03  6.365e-02  2.603e-04 -1.804e-03  2.362e-03 -1.035e+00]
+t: 134	 action: [ 0.013  0.023  0.034  0.003 -0.008  0.004 -1.048]
+t: 135	 action: [-0.016  0.03   0.08   0.003 -0.013 -0.001 -1.071]
+t: 136	 action: [ 0.008  0.025  0.047  0.002 -0.007  0.002 -1.043]
+t: 137	 action: [-1.389e-02  3.358e-02  9.392e-02  3.491e-03 -9.860e-03  3.174e-04 -1.067e+00]
+[07-31 01:18:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [ 0.033  0.06  -0.026  0.002  0.011  0.005 -1.045]
+t: 139	 action: [ 1.932e-02  2.835e-02 -3.756e-02  2.430e-05  5.418e-03  4.231e-03 -1.042e+00]
+t: 140	 action: [ 4.037e-03  4.614e-02 -3.318e-02  1.018e-03  1.881e-04  3.587e-03 -1.039e+00]
+t: 141	 action: [ 0.011  0.007  0.018 -0.001  0.001  0.006 -1.035]
+t: 142	 action: [-3.689e-03  5.184e-02 -4.741e-02 -4.330e-04 -4.719e-03  3.896e-03 -1.041e+00]
+t: 143	 action: [-0.02   0.027 -0.02   0.005 -0.009  0.009 -1.065]
+t: 144	 action: [-1.274e-02  3.598e-02 -1.800e-02  1.599e-04 -5.080e-03  5.613e-03 -1.038e+00]
+t: 145	 action: [-0.021  0.022  0.014  0.004 -0.011  0.007 -1.059]
+t: 146	 action: [ 0.024  0.022 -0.021  0.005 -0.003  0.012 -1.048]
+t: 147	 action: [ 1.217e-02 -2.839e-03  3.275e-02 -1.030e-04  7.598e-04  5.864e-03 -1.042e+00]
+t: 148	 action: [ 0.003  0.022 -0.014  0.004 -0.007  0.01  -1.044]
+t: 149	 action: [ 1.343e-02 -2.310e-03  4.013e-02 -9.855e-04  2.627e-03  7.037e-03 -1.036e+00]
+t: 150	 action: [ 0.002  0.019 -0.013  0.001 -0.003  0.007 -1.05 ]
+t: 151	 action: [-0.024  0.017  0.025  0.003 -0.011  0.001 -1.07 ]
+t: 152	 action: [-1.055e-02  2.074e-02  4.999e-03  4.706e-04 -3.266e-03  3.787e-03 -1.044e+00]
+t: 153	 action: [-0.024  0.024  0.05   0.003 -0.009  0.004 -1.065]
+[07-31 01:18:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.953 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9985
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.953 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=154: Selected seed 195 with value = 0.9985
+t: 154	 action: [ 0.033  0.051 -0.058  0.001  0.008  0.005 -1.039]
+t: 155	 action: [ 0.02   0.031 -0.116 -0.002  0.007  0.002 -1.039]
+t: 156	 action: [-1.826e-04  4.300e-02 -5.963e-02  1.694e-03 -9.365e-04  3.521e-03 -1.036e+00]
+t: 157	 action: [ 0.009  0.01  -0.043 -0.003  0.003  0.004 -1.035]
+t: 158	 action: [-7.537e-03  4.917e-02 -7.640e-02 -4.832e-04 -5.494e-03  3.522e-03 -1.041e+00]
+t: 159	 action: [-0.021  0.03  -0.059  0.003 -0.005  0.008 -1.065]
+t: 160	 action: [-2.013e-02  3.779e-02 -4.625e-02 -7.389e-05 -6.129e-03  5.004e-03 -1.039e+00]
+t: 161	 action: [-0.028  0.025 -0.006  0.003 -0.005  0.006 -1.059]
+t: 162	 action: [ 0.022  0.02  -0.05   0.005 -0.003  0.013 -1.045]
+t: 163	 action: [ 0.013 -0.001 -0.007 -0.003  0.005  0.006 -1.042]
+t: 164	 action: [-0.004  0.024 -0.046  0.004 -0.007  0.01  -1.042]
+t: 165	 action: [ 1.174e-02 -2.452e-04  2.401e-02 -4.158e-03  6.173e-03  6.639e-03 -1.037e+00]
+t: 166	 action: [-5.799e-03  2.126e-02 -4.548e-02  5.861e-04 -4.445e-03  7.587e-03 -1.050e+00]
+t: 167	 action: [-2.765e-02  2.036e-02 -4.763e-03  5.451e-04 -4.900e-03  1.815e-03 -1.069e+00]
+t: 168	 action: [-2.126e-02  2.502e-02 -2.765e-02 -3.281e-04 -4.690e-03  4.330e-03 -1.045e+00]
+t: 169	 action: [-3.164e-02  2.626e-02  1.262e-02  3.470e-04 -3.453e-03  4.155e-03 -1.066e+00]
+[07-31 01:18:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9983
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=170: Selected seed 195 with value = 0.9983
+t: 170	 action: [ 0.03   0.037 -0.036  0.002  0.005  0.006 -1.043]
+t: 171	 action: [ 0.019  0.019 -0.103 -0.004  0.008  0.002 -1.041]
+t: 172	 action: [-0.001  0.033 -0.044  0.003 -0.003  0.004 -1.04 ]
+t: 173	 action: [ 0.008  0.003 -0.039 -0.005  0.004  0.003 -1.036]
+t: 174	 action: [-7.240e-03  3.504e-02 -7.087e-02  1.616e-04 -5.933e-03  4.294e-03 -1.045e+00]
+t: 175	 action: [-2.075e-02  2.572e-02 -5.103e-02  8.255e-04 -2.639e-03  7.759e-03 -1.066e+00]
+t: 176	 action: [-2.202e-02  2.914e-02 -4.609e-02  1.423e-04 -6.640e-03  4.553e-03 -1.042e+00]
+t: 177	 action: [-2.767e-02  2.249e-02 -4.397e-03  3.822e-04 -3.154e-03  5.634e-03 -1.060e+00]
+t: 178	 action: [ 0.012  0.02  -0.057  0.006 -0.007  0.012 -1.048]
+t: 179	 action: [ 0.011 -0.001 -0.026 -0.005  0.006  0.003 -1.042]
+t: 180	 action: [-0.012  0.025 -0.047  0.005 -0.012  0.009 -1.047]
+t: 181	 action: [ 0.01  -0.003  0.016 -0.006  0.006  0.004 -1.038]
+t: 182	 action: [-0.011  0.021 -0.062  0.001 -0.008  0.008 -1.053]
+t: 183	 action: [-0.028  0.022 -0.008 -0.001 -0.005  0.002 -1.067]
+t: 184	 action: [-2.707e-02  2.400e-02 -3.944e-02  1.212e-04 -9.013e-03  3.908e-03 -1.049e+00]
+t: 185	 action: [-0.033  0.024  0.011 -0.002 -0.004  0.004 -1.066]
+[07-31 01:18:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9987
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=186: Selected seed 195 with value = 0.9987
+t: 186	 action: [ 0.038  0.028 -0.036  0.003  0.003  0.006 -1.049]
+t: 187	 action: [ 0.021  0.006 -0.095 -0.007  0.008  0.003 -1.043]
+t: 188	 action: [ 0.004  0.03  -0.039  0.003 -0.004  0.003 -1.044]
+t: 189	 action: [ 0.009 -0.005 -0.022 -0.009  0.006  0.003 -1.035]
+t: 190	 action: [-2.835e-03  2.776e-02 -6.128e-02  2.498e-04 -4.021e-03  4.645e-03 -1.049e+00]
+t: 191	 action: [-1.851e-02  2.124e-02 -3.852e-02 -1.795e-03 -7.341e-04  7.406e-03 -1.067e+00]
+t: 192	 action: [-2.053e-02  2.860e-02 -3.786e-02 -6.844e-04 -4.194e-03  4.062e-03 -1.047e+00]
+t: 193	 action: [-2.634e-02  2.617e-02  5.022e-03 -3.286e-03 -1.672e-04  5.387e-03 -1.059e+00]
+t: 194	 action: [ 0.018  0.022 -0.06   0.006 -0.006  0.011 -1.052]
+t: 195	 action: [ 0.014 -0.007 -0.029 -0.009  0.008  0.002 -1.043]
+t: 196	 action: [-0.009  0.026 -0.046  0.004 -0.011  0.007 -1.051]
+t: 197	 action: [ 0.012 -0.01   0.018 -0.01   0.007  0.003 -1.04 ]
+t: 198	 action: [-1.080e-02  2.169e-02 -6.837e-02  9.873e-04 -6.691e-03  6.656e-03 -1.056e+00]
+t: 199	 action: [-0.026  0.021 -0.008 -0.005 -0.004  0.002 -1.066]
+t: 200	 action: [-2.880e-02  2.448e-02 -4.088e-02 -1.010e-03 -8.074e-03  3.069e-03 -1.052e+00]
+t: 201	 action: [-0.033  0.026  0.022 -0.006 -0.003  0.005 -1.066]
+[07-31 01:18:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9984
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=202: Selected seed 195 with value = 0.9984
+t: 202	 action: [ 0.039  0.024 -0.054  0.003  0.003  0.007 -1.053]
+t: 203	 action: [ 1.835e-02 -1.349e-04 -1.151e-01 -8.170e-03  9.761e-03  1.507e-03 -1.041e+00]
+t: 204	 action: [ 0.004  0.029 -0.051  0.003 -0.002  0.004 -1.045]
+t: 205	 action: [ 6.975e-03 -6.936e-03 -3.584e-02 -1.150e-02  8.304e-03  8.676e-04 -1.034e+00]
+t: 206	 action: [-2.547e-03  2.204e-02 -6.584e-02  2.086e-04 -9.525e-04  4.448e-03 -1.052e+00]
+t: 207	 action: [-1.756e-02  2.167e-02 -4.786e-02 -2.365e-03  2.940e-04  5.344e-03 -1.063e+00]
+t: 208	 action: [-0.021  0.026 -0.041 -0.001 -0.002  0.003 -1.047]
+t: 209	 action: [-2.496e-02  2.993e-02  5.583e-03 -5.494e-03  8.558e-04  3.223e-03 -1.058e+00]
+t: 210	 action: [ 0.017  0.022 -0.075  0.006 -0.002  0.009 -1.055]
+t: 211	 action: [ 1.247e-02 -8.486e-03 -6.043e-02 -1.006e-02  9.817e-03 -9.077e-04 -1.043e+00]
+t: 212	 action: [-0.011  0.027 -0.057  0.003 -0.008  0.006 -1.053]
+t: 213	 action: [ 0.01  -0.013  0.003 -0.013  0.008  0.001 -1.04 ]
+t: 214	 action: [-1.536e-02  1.969e-02 -8.564e-02  3.861e-04 -4.647e-03  4.567e-03 -1.057e+00]
+t: 215	 action: [-2.709e-02  2.090e-02 -1.884e-02 -5.820e-03 -3.398e-03 -1.858e-05 -1.063e+00]
+t: 216	 action: [-0.032  0.024 -0.051 -0.003 -0.007  0.001 -1.056]
+t: 217	 action: [-0.034  0.029  0.017 -0.008 -0.002  0.003 -1.064]
+[07-31 01:18:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.984 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=218: Selected seed 195 with value = 0.9979
+t: 218	 action: [ 0.025  0.015 -0.099  0.003  0.004  0.008 -1.05 ]
+t: 219	 action: [ 0.012 -0.016 -0.171 -0.009  0.009 -0.002 -1.044]
+t: 220	 action: [-6.647e-03  2.436e-02 -1.017e-01  2.571e-03 -8.698e-04  5.394e-03 -1.035e+00]
+t: 221	 action: [-0.002 -0.019 -0.097 -0.015  0.008 -0.002 -1.046]
+t: 222	 action: [-1.668e-02  1.215e-02 -9.195e-02  1.021e-03 -5.090e-04  3.595e-03 -1.048e+00]
+t: 223	 action: [-2.220e-02  1.850e-02 -8.516e-02 -3.529e-03 -1.253e-03  5.139e-04 -1.064e+00]
+t: 224	 action: [-0.035  0.017 -0.075 -0.003 -0.003  0.001 -1.034]
+t: 225	 action: [-3.123e-02  2.522e-02 -1.669e-02 -9.800e-03 -3.751e-04 -1.742e-03 -1.068e+00]
+t: 226	 action: [ 9.577e-04  1.742e-02 -1.208e-01  4.572e-03  4.418e-04  8.074e-03 -1.055e+00]
+t: 227	 action: [ 0.005 -0.024 -0.127 -0.011  0.008 -0.005 -1.047]
+t: 228	 action: [-2.153e-02  2.429e-02 -1.062e-01 -2.015e-04 -5.034e-03  6.191e-03 -1.048e+00]
+t: 229	 action: [ 0.001 -0.027 -0.069 -0.016  0.005  0.019 -0.904]
+t: 230	 action: [-3.527e-02  1.236e-02 -1.229e-01 -5.881e-04 -4.817e-03  2.342e-03 -1.058e+00]
+t: 231	 action: [-0.038  0.015 -0.056 -0.008 -0.005 -0.004 -1.066]
+t: 232	 action: [-4.753e-02  1.459e-02 -8.895e-02 -7.287e-03 -7.867e-03 -2.252e-04 -1.040e+00]
+t: 233	 action: [-0.043  0.024 -0.009 -0.013 -0.004  0.024  0.717]
+[07-31 01:19:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=234: Selected seed 195 with value = 0.9973
+t: 234	 action: [ 0.015  0.005 -0.1    0.002  0.004  0.009 -1.044]
+t: 235	 action: [ 0.003 -0.023 -0.194 -0.015  0.007 -0.009 -1.051]
+t: 236	 action: [-0.006  0.014 -0.075  0.002 -0.001  0.007 -1.04 ]
+t: 237	 action: [-0.004 -0.03  -0.057 -0.018  0.006 -0.009 -1.048]
+t: 238	 action: [-0.024  0.003 -0.056 -0.001 -0.002  0.002 -1.034]
+t: 239	 action: [-0.012  0.023 -0.051 -0.012 -0.002 -0.007 -1.06 ]
+t: 240	 action: [-2.309e-02  8.089e-03 -1.467e-02 -3.625e-03 -4.620e-03 -1.750e-04 -1.039e+00]
+t: 241	 action: [-0.02   0.031  0.017 -0.016 -0.001 -0.009 -1.062]
+t: 242	 action: [ 0.004 -0.005 -0.109 -0.002  0.005  0.006 -1.049]
+t: 243	 action: [ 0.005 -0.04  -0.118 -0.017  0.004  0.014 -1.106]
+t: 244	 action: [-0.026  0.012 -0.085 -0.008 -0.002  0.005 -1.156]
+t: 245	 action: [-6.903e-02 -3.570e-02 -3.343e-02 -2.092e-02  9.880e-04  1.440e-02 -1.092e+00]
+t: 246	 action: [-0.035  0.003 -0.078 -0.013 -0.007 -0.002 -1.043]
+t: 247	 action: [-0.028  0.011 -0.031 -0.018 -0.008  0.015  1.136]
+t: 248	 action: [-0.029  0.004 -0.026 -0.017 -0.009 -0.003  1.044]
+t: 249	 action: [-0.001  0.036  0.012 -0.023 -0.006  0.019  1.097]
+[07-31 01:19:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9597
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9597
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9597
+t=250: Selected seed 195 with value = 0.9597
+t: 250	 action: [ 3.845e-02 -9.278e-02 -2.012e-01 -4.616e-04  6.384e-02 -3.120e-03  8.054e-01]
+t: 251	 action: [ 0.054 -0.071 -0.261 -0.005  0.06  -0.015  0.973]
+t: 252	 action: [ 5.516e-02 -1.664e-02 -1.618e-01 -3.243e-03  4.462e-02  5.272e-04  1.124e+00]
+t: 253	 action: [ 0.044 -0.034 -0.202 -0.011  0.047 -0.019  0.659]
+t: 254	 action: [ 0.014 -0.022 -0.158 -0.005  0.038 -0.004  0.577]
+t: 255	 action: [ 0.035 -0.019 -0.131 -0.009  0.04  -0.011 -1.097]
+t: 256	 action: [ 0.046  0.001 -0.034 -0.005  0.026 -0.006 -1.176]
+t: 257	 action: [ 0.032  0.015  0.011 -0.012  0.031 -0.02  -1.132]
+t: 258	 action: [ 0.004  0.027  0.06  -0.005  0.002  0.009 -1.039]
+t: 259	 action: [ 0.004 -0.011  0.108 -0.008  0.007 -0.01  -1.049]
+t: 260	 action: [ 9.415e-03  3.077e-02  1.058e-01  2.419e-04 -2.951e-03  6.677e-03 -1.036e+00]
+t: 261	 action: [ 0.011 -0.007  0.149 -0.007  0.01  -0.013 -1.052]
+t: 262	 action: [ 8.657e-04  2.492e-02  1.189e-01 -4.604e-03 -8.563e-03 -5.556e-05 -1.061e+00]
+t: 263	 action: [ 0.002  0.032  0.2   -0.005 -0.004 -0.012 -1.06 ]
+t: 264	 action: [ 0.014  0.023  0.136 -0.001 -0.003 -0.002 -1.052]
+t: 265	 action: [ 7.132e-04  2.782e-02  1.924e-01 -3.188e-03 -2.190e-04 -1.003e-02 -1.062e+00]
+[07-31 01:19:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9811
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 0.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=266: Selected seed 195 with value = 0.9811
+t: 266	 action: [ 0.038 -0.037  0.009  0.003  0.008 -0.001 -1.039]
+t: 267	 action: [ 0.024 -0.046 -0.052 -0.007  0.006 -0.016 -1.046]
+t: 268	 action: [ 0.026  0.001  0.035  0.003 -0.002 -0.004 -1.036]
+t: 269	 action: [ 0.015 -0.039  0.037 -0.008  0.006 -0.017 -1.037]
+t: 270	 action: [ 1.506e-03  1.330e-03 -4.074e-03 -5.323e-04 -7.133e-03 -3.135e-03 -1.042e+00]
+t: 271	 action: [-5.227e-03  1.872e-02 -1.016e-03 -1.774e-03 -4.684e-03 -1.346e-02 -1.069e+00]
+t: 272	 action: [-0.002  0.006  0.051 -0.001 -0.006 -0.004 -1.041]
+t: 273	 action: [-0.011  0.034  0.068 -0.001 -0.002 -0.015 -1.061]
+t: 274	 action: [ 3.165e-02  1.987e-02  4.157e-02  3.514e-04 -4.389e-03  4.437e-04 -1.045e+00]
+t: 275	 action: [ 0.018 -0.031  0.046 -0.008  0.003 -0.018 -1.053]
+t: 276	 action: [ 1.593e-02  1.915e-02  5.318e-02  1.042e-03 -1.118e-02 -6.525e-04 -1.038e+00]
+t: 277	 action: [ 0.014 -0.032  0.061 -0.008  0.003 -0.016 -1.044]
+t: 278	 action: [ 0.011  0.013  0.041 -0.002 -0.009 -0.003 -1.054]
+t: 279	 action: [-0.012  0.031  0.067 -0.002 -0.01  -0.016 -1.07 ]
+t: 280	 action: [ 0.003  0.009  0.068 -0.003 -0.008 -0.005 -1.045]
+t: 281	 action: [-0.017  0.037  0.101 -0.002 -0.006 -0.012 -1.063]
+[07-31 01:19:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=282: Selected seed 195 with value = 0.9950
+t: 282	 action: [ 0.034 -0.016 -0.05   0.003  0.007  0.006 -1.04 ]
+t: 283	 action: [ 0.01  -0.056 -0.084 -0.014  0.007 -0.013 -1.057]
+t: 284	 action: [ 0.004 -0.002 -0.023  0.003  0.004  0.004 -1.039]
+t: 285	 action: [ 0.002 -0.051 -0.008 -0.016  0.007 -0.011 -1.054]
+t: 286	 action: [ 1.481e-03 -2.564e-03 -1.867e-02 -1.517e-03  5.209e-03 -6.715e-04 -1.026e+00]
+t: 287	 action: [-1.729e-03 -9.787e-03 -1.155e-02 -7.073e-03  1.820e-04 -1.227e-02 -1.066e+00]
+t: 288	 action: [-7.573e-03  5.511e-04  1.529e-02 -2.422e-03  3.056e-03 -2.751e-03 -1.041e+00]
+t: 289	 action: [-2.025e-02  4.328e-03  1.252e-02 -8.627e-03  3.662e-04 -1.331e-02 -1.068e+00]
+t: 290	 action: [ 0.02   0.005 -0.047 -0.01   0.009  0.003 -1.044]
+t: 291	 action: [ 0.013 -0.055 -0.054 -0.016  0.006  0.007 -1.121]
+t: 292	 action: [-0.021  0.007 -0.036 -0.013  0.004  0.003 -0.975]
+t: 293	 action: [-0.06  -0.048 -0.037 -0.02   0.005 -0.007  0.458]
+t: 294	 action: [-0.014  0.004 -0.034 -0.013  0.002 -0.003 -1.033]
+t: 295	 action: [-0.019 -0.009 -0.016 -0.011 -0.006  0.01   1.14 ]
+t: 296	 action: [-2.317e-02  1.342e-03 -8.293e-03 -1.339e-02 -8.901e-04 -5.132e-03  9.399e-01]
+t: 297	 action: [-0.023  0.013 -0.007 -0.016 -0.005 -0.007 -0.503]
+[07-31 01:19:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9881
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9881
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 16
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 32%|███▏      | 16/50 [08:26<17:58, 31.72s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 17...
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=298: Selected seed 195 with value = 0.9881
+t: 298	 action: [ 0.089 -0.009  0.177  0.004  0.043 -0.013 -1.012]
+t: 299	 action: [ 3.789e-02 -4.498e-02  1.197e-01 -8.652e-04  1.649e-02 -2.539e-02 -1.023e+00]
+t: 300	 action: [ 0.044  0.01   0.1    0.002  0.01  -0.013 -1.026]
+t: 301	 action: [ 0.018 -0.037  0.094 -0.003  0.009 -0.023 -1.039]
+t: 302	 action: [ 0.01   0.002  0.029 -0.002 -0.012 -0.01  -1.033]
+t: 303	 action: [-0.017  0.009  0.063  0.003 -0.006 -0.02  -1.074]
+t: 304	 action: [-5.164e-03  6.769e-03  5.507e-02 -6.656e-04 -8.819e-03 -5.678e-03 -1.037e+00]
+t: 305	 action: [-0.023  0.02   0.079  0.002 -0.006 -0.019 -1.065]
+t: 306	 action: [ 0.021  0.019  0.054  0.007 -0.014  0.005 -1.03 ]
+t: 307	 action: [ 0.009 -0.007  0.067 -0.002 -0.003 -0.015 -1.048]
+t: 308	 action: [ 0.008  0.019  0.056  0.006 -0.016  0.004 -1.033]
+t: 309	 action: [ 0.007 -0.008  0.073 -0.001  0.002 -0.014 -1.04 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=16--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=16--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 16
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 17...
+[07-31 01:19:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5034
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.5034
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5034
+t=10: Selected seed 195 with value = 0.5034
+t: 10	 action: [ 2.816e-01  1.589e-01  4.008e-03  7.240e-03  2.951e-03 -8.835e-04 -1.021e+00]
+t: 11	 action: [ 0.409  0.245  0.014  0.014  0.002  0.003 -1.031]
+t: 12	 action: [ 5.618e-01  3.998e-01 -5.522e-03  3.803e-03  4.243e-03  4.521e-04 -1.030e+00]
+t: 13	 action: [ 6.542e-01  4.354e-01 -3.752e-03  1.041e-02  1.022e-03  4.966e-03 -1.034e+00]
+t: 14	 action: [ 7.465e-01  5.341e-01 -1.579e-02  3.171e-03  4.392e-03 -5.515e-04 -1.032e+00]
+t: 15	 action: [ 0.795  0.583 -0.007  0.013 -0.003  0.003 -1.059]
+t: 16	 action: [ 8.302e-01  6.090e-01 -4.973e-02  8.315e-04  6.174e-03 -1.111e-03 -1.033e+00]
+t: 17	 action: [ 0.876  0.635 -0.05   0.01  -0.004  0.003 -1.06 ]
+t: 18	 action: [ 0.781  0.626 -0.135  0.007 -0.012  0.005 -1.036]
+t: 19	 action: [ 8.159e-01  5.974e-01 -1.816e-01  4.177e-03  1.988e-04  2.423e-03 -1.038e+00]
+t: 20	 action: [ 0.795  0.648 -0.185  0.003 -0.01   0.005 -1.046]
+t: 21	 action: [ 8.495e-01  6.093e-01 -2.309e-01 -7.460e-04  4.107e-03  4.089e-03 -1.035e+00]
+t: 22	 action: [ 0.836  0.605 -0.265  0.003 -0.013  0.004 -1.021]
+t: 23	 action: [ 0.865  0.585 -0.358  0.008 -0.009  0.002 -1.051]
+t: 24	 action: [ 0.788  0.529 -0.397  0.001 -0.009  0.001 -1.033]
+t: 25	 action: [ 0.836  0.483 -0.485  0.008 -0.005  0.003 -1.057]
+[07-31 01:19:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5681
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=26: Selected seed 195 with value = 0.5681
+t: 26	 action: [ 0.829  0.508 -0.313  0.001 -0.022  0.006 -1.031]
+t: 27	 action: [ 0.752  0.439 -0.34  -0.005 -0.015 -0.003 -1.033]
+t: 28	 action: [ 0.622  0.338 -0.517  0.007 -0.027  0.005 -1.036]
+t: 29	 action: [ 0.497  0.185 -0.643  0.007 -0.017 -0.007 -1.037]
+t: 30	 action: [ 3.410e-01  1.084e-01 -7.114e-01 -4.242e-04 -2.406e-02 -2.356e-03 -1.029e+00]
+t: 31	 action: [ 0.254  0.003 -0.805  0.014 -0.026 -0.006 -1.06 ]
+t: 32	 action: [ 0.159  0.02  -0.933  0.007 -0.026 -0.006 -1.037]
+t: 33	 action: [ 0.074  0.007 -0.976  0.013 -0.032 -0.01  -1.064]
+t: 34	 action: [-0.007 -0.02  -0.939  0.01  -0.044 -0.007 -1.04 ]
+t: 35	 action: [-0.074 -0.07  -1.006  0.006 -0.039 -0.014 -1.029]
+t: 36	 action: [-0.149 -0.089 -0.949  0.01  -0.046 -0.004 -1.038]
+t: 37	 action: [-0.227 -0.103 -1.017  0.003 -0.037 -0.013 -1.029]
+t: 38	 action: [-2.596e-01 -1.051e-01 -9.369e-01 -1.721e-04 -4.371e-02 -3.818e-03 -1.040e+00]
+t: 39	 action: [-0.304 -0.033 -0.964  0.005 -0.038 -0.015 -1.044]
+t: 40	 action: [-3.683e-01 -8.120e-02 -9.225e-01 -1.915e-04 -3.717e-02 -3.738e-03 -1.033e+00]
+t: 41	 action: [-0.374 -0.031 -0.943 -0.002 -0.029 -0.01  -1.047]
+[07-31 01:19:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6441
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6441
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6441
+t=42: Selected seed 195 with value = 0.6441
+t: 42	 action: [-0.088  0.145 -0.902 -0.008 -0.009  0.008 -1.057]
+t: 43	 action: [-0.075  0.159 -0.746 -0.015  0.004  0.006 -1.029]
+t: 44	 action: [-0.082  0.111 -0.773 -0.012  0.008  0.009 -1.039]
+t: 45	 action: [-0.065  0.127 -0.647 -0.02   0.014  0.025 -1.132]
+t: 46	 action: [-1.872e-01  8.748e-02 -5.717e-01 -2.637e-02  2.573e-02 -5.338e-04 -1.048e+00]
+t: 47	 action: [-0.203  0.152 -0.593 -0.012  0.019 -0.001 -1.049]
+t: 48	 action: [-0.209  0.034 -0.48  -0.029  0.03  -0.003 -0.977]
+t: 49	 action: [-0.232  0.098 -0.502 -0.015  0.027  0.002  1.174]
+t: 50	 action: [-0.215  0.023 -0.446 -0.03   0.025  0.009  0.983]
+t: 51	 action: [-0.218 -0.023 -0.317 -0.025  0.026 -0.009  1.019]
+t: 52	 action: [-0.203 -0.001 -0.271 -0.04   0.03   0.003  0.967]
+t: 53	 action: [-0.188 -0.06  -0.105 -0.029  0.023 -0.02   1.008]
+t: 54	 action: [-0.167 -0.055 -0.102 -0.032  0.02  -0.045  0.996]
+t: 55	 action: [-0.105 -0.071 -0.057 -0.021  0.019 -0.048  1.015]
+t: 56	 action: [-0.108 -0.099  0.054 -0.022  0.014 -0.061  1.001]
+t: 57	 action: [-0.036 -0.081  0.025 -0.023  0.008 -0.056  1.018]
+[07-31 01:19:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7339
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=58: Selected seed 195 with value = 0.7339
+t: 58	 action: [-3.141e-02 -8.053e-02 -4.101e-02 -4.818e-03  3.114e-02 -7.817e-04  9.781e-01]
+t: 59	 action: [ 0.008 -0.076  0.043 -0.013  0.051 -0.014  1.017]
+t: 60	 action: [ 0.014 -0.038  0.261 -0.004  0.038 -0.01   0.97 ]
+t: 61	 action: [ 0.015 -0.041  0.438 -0.014  0.058 -0.019  1.018]
+t: 62	 action: [ 0.034  0.017  0.626 -0.008  0.046 -0.022  0.988]
+t: 63	 action: [ 0.031 -0.007  0.787 -0.005  0.051 -0.036  1.017]
+t: 64	 action: [ 0.028 -0.02   0.911  0.007  0.042 -0.031  0.983]
+t: 65	 action: [-6.975e-05 -5.345e-02  8.736e-01  9.660e-03  4.309e-02 -3.890e-02  1.026e+00]
+t: 66	 action: [ 0.046 -0.257  0.917  0.017  0.055 -0.031  0.984]
+t: 67	 action: [ 0.017 -0.391  0.939  0.036  0.073 -0.032  1.018]
+t: 68	 action: [-0.01  -0.468  0.887  0.039  0.057 -0.027  0.984]
+t: 69	 action: [-0.029 -0.604  0.842  0.052  0.065 -0.028  1.022]
+t: 70	 action: [-0.051 -0.658  0.75   0.06   0.052 -0.019  0.994]
+t: 71	 action: [-0.13  -0.733  0.534  0.07   0.053 -0.021  1.021]
+t: 72	 action: [-0.084 -0.718  0.388  0.066  0.039 -0.015  1.003]
+t: 73	 action: [-0.195 -0.773  0.22   0.067  0.029 -0.018  1.028]
+[07-31 01:19:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8571
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8571
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8571
+t=74: Selected seed 195 with value = 0.8571
+t: 74	 action: [-0.12  -0.827  0.33   0.075  0.052 -0.012  0.976]
+t: 75	 action: [-0.148 -0.905  0.174  0.062  0.052 -0.015  1.008]
+t: 76	 action: [-1.989e-01 -8.672e-01  4.689e-02  6.519e-02  4.775e-02 -7.958e-04  9.702e-01]
+t: 77	 action: [-0.232 -0.892 -0.06   0.051  0.046 -0.005  1.003]
+t: 78	 action: [-0.183 -0.784 -0.182  0.043  0.042 -0.003  0.982]
+t: 79	 action: [-2.884e-01 -6.707e-01 -3.035e-01  3.850e-02  2.060e-02  6.887e-04  9.993e-01]
+t: 80	 action: [-2.419e-01 -6.088e-01 -4.277e-01  1.749e-02  2.790e-02  2.428e-04  9.816e-01]
+t: 81	 action: [-0.317 -0.413 -0.605  0.02   0.013  0.009  1.009]
+t: 82	 action: [-0.224 -0.34  -0.571  0.005  0.001  0.011  0.99 ]
+t: 83	 action: [-0.245 -0.225 -0.75  -0.005  0.006  0.024  1.012]
+t: 84	 action: [-0.192 -0.109 -0.68  -0.002  0.003  0.02   0.981]
+t: 85	 action: [-0.172 -0.069 -0.752 -0.016  0.015  0.031  1.027]
+t: 86	 action: [-0.21  -0.024 -0.66  -0.011  0.006  0.031  0.998]
+t: 87	 action: [-0.156  0.016 -0.713 -0.016  0.012  0.038  1.008]
+t: 88	 action: [-0.123  0.002 -0.512 -0.026  0.021  0.033  0.992]
+t: 89	 action: [-0.055  0.024 -0.4   -0.022  0.035  0.038  1.018]
+[07-31 01:19:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.023 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9877
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 1.023 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=90: Selected seed 195 with value = 0.9877
+t: 90	 action: [-0.048  0.017  0.155 -0.034  0.095  0.001 -0.978]
+t: 91	 action: [ 3.494e-02 -5.610e-04  2.563e-01 -3.542e-02  1.043e-01  6.621e-03 -9.972e-01]
+t: 92	 action: [ 3.800e-02  1.264e-02  3.238e-01 -1.536e-02  9.825e-02  8.921e-04 -1.023e+00]
+t: 93	 action: [ 0.087  0.002  0.418 -0.02   0.114  0.008 -1.036]
+t: 94	 action: [ 1.153e-01  2.181e-02  4.909e-01  7.941e-04  1.217e-01 -2.301e-03 -1.029e+00]
+t: 95	 action: [ 1.064e-01  6.197e-02  4.840e-01  3.717e-03  1.257e-01  1.245e-04 -1.063e+00]
+t: 96	 action: [ 0.115  0.009  0.505  0.003  0.116 -0.005 -1.027]
+t: 97	 action: [ 0.114  0.046  0.483  0.009  0.117 -0.002 -1.062]
+t: 98	 action: [ 0.175  0.005  0.5    0.003  0.097  0.002 -1.029]
+t: 99	 action: [ 0.148 -0.002  0.464  0.007  0.093  0.002 -1.042]
+t: 100	 action: [ 0.152  0.009  0.438  0.003  0.08   0.002 -1.025]
+t: 101	 action: [ 1.311e-01  5.142e-03  3.988e-01  8.736e-03  8.525e-02  5.666e-04 -1.036e+00]
+t: 102	 action: [ 9.154e-02  8.437e-03  3.232e-01  4.889e-03  7.837e-02 -9.063e-04 -1.031e+00]
+t: 103	 action: [ 7.340e-02  3.801e-02  2.991e-01  1.195e-02  7.342e-02  1.199e-05 -1.059e+00]
+t: 104	 action: [ 0.081  0.013  0.258  0.002  0.065 -0.005 -1.028]
+t: 105	 action: [ 0.049  0.044  0.244  0.013  0.062 -0.003 -1.065]
+[07-31 01:19:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.069  0.013  0.059  0.005  0.021  0.002 -1.045]
+t: 107	 action: [ 0.087 -0.035  0.051  0.006  0.027 -0.002 -1.043]
+t: 108	 action: [ 0.053  0.009  0.081  0.006  0.023  0.002 -1.037]
+t: 109	 action: [ 0.048 -0.044  0.075  0.006  0.034 -0.002 -1.037]
+t: 110	 action: [ 3.837e-02 -4.690e-04  7.761e-02  6.262e-03  2.198e-02 -1.356e-03 -1.031e+00]
+t: 111	 action: [ 0.046 -0.002  0.111  0.013  0.027 -0.001 -1.064]
+t: 112	 action: [ 3.376e-02 -5.538e-04  1.109e-01  5.335e-03  2.747e-02 -2.438e-03 -1.030e+00]
+t: 113	 action: [ 0.03   0.012  0.164  0.013  0.036 -0.004 -1.062]
+t: 114	 action: [ 0.084  0.003  0.106  0.01   0.027  0.004 -1.044]
+t: 115	 action: [ 0.081 -0.017  0.099  0.007  0.033 -0.004 -1.047]
+t: 116	 action: [ 0.071  0.016  0.122  0.009  0.032  0.003 -1.034]
+t: 117	 action: [ 0.064 -0.017  0.12   0.007  0.045 -0.004 -1.044]
+t: 118	 action: [ 6.546e-02  5.791e-03  1.248e-01  6.871e-03  3.410e-02 -8.554e-04 -1.034e+00]
+t: 119	 action: [ 0.065  0.031  0.165  0.011  0.032 -0.006 -1.069]
+t: 120	 action: [ 0.058  0.01   0.152  0.005  0.041 -0.004 -1.027]
+t: 121	 action: [ 0.045  0.034  0.203  0.012  0.046 -0.005 -1.071]
+[07-31 01:19:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=122: Selected seed 195 with value = 0.9973
+t: 122	 action: [-0.017  0.078 -0.123  0.002 -0.011  0.004 -1.037]
+t: 123	 action: [ 7.170e-03  3.802e-02 -9.890e-02 -6.246e-03  8.189e-04  2.821e-03 -1.041e+00]
+t: 124	 action: [-0.016  0.046 -0.064  0.003 -0.009  0.002 -1.032]
+t: 125	 action: [ 9.497e-03  7.048e-03  3.796e-04 -6.389e-03  5.485e-03  1.904e-03 -1.038e+00]
+t: 126	 action: [-1.888e-02  5.558e-02 -5.490e-02 -2.225e-04 -8.235e-03 -9.594e-04 -1.033e+00]
+t: 127	 action: [-1.097e-02  3.599e-02 -1.021e-02 -4.379e-04 -6.395e-03  1.861e-03 -1.066e+00]
+t: 128	 action: [-2.130e-02  2.013e-02 -6.933e-03  6.407e-04 -2.619e-03 -7.609e-04 -1.028e+00]
+t: 129	 action: [-1.200e-02  2.309e-02  1.896e-02  1.444e-04 -1.838e-03 -6.105e-04 -1.061e+00]
+t: 130	 action: [ 2.669e-02 -4.566e-04 -2.877e-02  8.114e-03 -9.724e-03  5.735e-03 -1.042e+00]
+t: 131	 action: [ 0.016 -0.018  0.023 -0.001 -0.002 -0.004 -1.046]
+t: 132	 action: [ 0.007  0.021 -0.002  0.006 -0.008  0.006 -1.03 ]
+t: 133	 action: [ 2.168e-02 -9.363e-03  4.937e-02 -2.398e-03  5.953e-03 -1.027e-03 -1.040e+00]
+t: 134	 action: [ 3.720e-03 -7.632e-04 -7.142e-04  4.830e-03 -4.987e-03  4.830e-04 -1.037e+00]
+t: 135	 action: [-0.015  0.026  0.004  0.003 -0.01  -0.006 -1.072]
+t: 136	 action: [-1.353e-02  7.441e-03  3.598e-02  1.909e-03 -7.244e-04 -1.555e-03 -1.028e+00]
+t: 137	 action: [-0.018  0.036  0.057  0.003 -0.005 -0.003 -1.066]
+[07-31 01:19:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9951
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=138: Selected seed 195 with value = 0.9951
+t: 138	 action: [-0.035  0.065 -0.162  0.002 -0.01   0.004 -1.038]
+t: 139	 action: [-8.562e-04  2.837e-02 -1.531e-01 -5.049e-03 -7.885e-04  2.124e-03 -1.042e+00]
+t: 140	 action: [-0.034  0.041 -0.103  0.003 -0.009  0.003 -1.032]
+t: 141	 action: [ 0.001  0.002 -0.071 -0.006  0.005  0.002 -1.039]
+t: 142	 action: [-3.709e-02  5.099e-02 -9.746e-02 -8.183e-05 -9.924e-03 -5.705e-04 -1.034e+00]
+t: 143	 action: [-1.712e-02  2.625e-02 -5.200e-02  7.656e-04 -7.062e-03  1.769e-03 -1.067e+00]
+t: 144	 action: [-3.494e-02  2.052e-02 -4.180e-02  5.585e-04 -4.274e-03 -1.417e-04 -1.031e+00]
+t: 145	 action: [-1.543e-02  1.571e-02  3.084e-03  4.771e-04 -2.520e-03 -7.339e-04 -1.062e+00]
+t: 146	 action: [ 0.008  0.008 -0.065  0.008 -0.014  0.006 -1.042]
+t: 147	 action: [ 0.013 -0.017 -0.041 -0.003 -0.006 -0.004 -1.047]
+t: 148	 action: [-0.005  0.02  -0.033  0.006 -0.012  0.007 -1.032]
+t: 149	 action: [ 2.133e-02 -1.253e-02  2.417e-02 -3.601e-03  3.742e-03 -7.738e-04 -1.041e+00]
+t: 150	 action: [-0.006  0.004 -0.032  0.004 -0.009  0.001 -1.039]
+t: 151	 action: [-0.019  0.02  -0.008  0.003 -0.013 -0.006 -1.073]
+t: 152	 action: [-2.134e-02  9.564e-03  7.814e-03  1.282e-03 -4.704e-03 -4.013e-04 -1.031e+00]
+t: 153	 action: [-0.022  0.028  0.009  0.003 -0.006 -0.003 -1.068]
+[07-31 01:19:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9966
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=154: Selected seed 195 with value = 0.9966
+t: 154	 action: [-0.036  0.029 -0.142  0.002 -0.004  0.005 -1.04 ]
+t: 155	 action: [ 6.675e-04 -1.843e-02 -1.274e-01 -3.748e-04  5.121e-03 -3.192e-04 -1.044e+00]
+t: 156	 action: [-2.026e-02  2.093e-02 -8.336e-02  3.503e-03 -4.672e-04  3.350e-03 -1.035e+00]
+t: 157	 action: [ 9.686e-03 -3.875e-02 -2.534e-02 -2.011e-03  1.030e-02 -3.374e-04 -1.038e+00]
+t: 158	 action: [-2.439e-02  1.243e-02 -7.496e-02  1.638e-03 -3.513e-04 -8.400e-05 -1.035e+00]
+t: 159	 action: [-2.147e-03 -9.049e-03 -2.795e-02  6.198e-03  6.400e-04 -1.340e-04 -1.067e+00]
+t: 160	 action: [-2.083e-02  1.705e-03 -2.168e-02  1.824e-03  5.000e-03 -4.248e-04 -1.033e+00]
+t: 161	 action: [-0.008 -0.013  0.012  0.006  0.006 -0.002 -1.061]
+t: 162	 action: [ 0.026 -0.016 -0.06   0.008 -0.005  0.005 -1.044]
+t: 163	 action: [ 2.462e-02 -3.639e-02 -3.440e-02 -3.720e-05  2.902e-03 -5.324e-03 -1.049e+00]
+t: 164	 action: [ 0.013  0.004 -0.027  0.007 -0.002  0.006 -1.035]
+t: 165	 action: [ 2.735e-02 -3.607e-02  2.846e-02 -5.418e-04  9.682e-03 -9.225e-04 -1.044e+00]
+t: 166	 action: [ 9.756e-03 -1.130e-02 -2.451e-02  5.128e-03  1.759e-04  8.380e-05 -1.041e+00]
+t: 167	 action: [-0.004 -0.001 -0.007  0.007 -0.004 -0.007 -1.072]
+t: 168	 action: [-5.535e-03 -8.759e-04  1.589e-02  3.009e-03  4.791e-03 -1.469e-03 -1.032e+00]
+t: 169	 action: [-0.016  0.002  0.02   0.007  0.003 -0.003 -1.068]
+[07-31 01:19:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9971
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=170: Selected seed 195 with value = 0.9971
+t: 170	 action: [-8.817e-03  1.775e-02 -1.098e-01  2.531e-03  5.713e-04  5.190e-03 -1.043e+00]
+t: 171	 action: [ 1.567e-02 -3.788e-02 -8.203e-02 -8.122e-04  9.312e-03 -2.325e-03 -1.044e+00]
+t: 172	 action: [ 0.002  0.011 -0.051  0.004  0.006  0.004 -1.035]
+t: 173	 action: [ 0.021 -0.049  0.013 -0.002  0.015 -0.002 -1.038]
+t: 174	 action: [-9.173e-03  6.833e-03 -4.428e-02  1.717e-03  4.960e-03  4.217e-04 -1.035e+00]
+t: 175	 action: [ 1.008e-02 -1.500e-02 -4.991e-03  6.256e-03  5.618e-03 -8.285e-04 -1.068e+00]
+t: 176	 action: [-7.119e-03 -9.809e-04  5.475e-03  1.862e-03  1.088e-02 -3.486e-04 -1.031e+00]
+t: 177	 action: [-0.004 -0.012  0.028  0.006  0.013 -0.003 -1.061]
+t: 178	 action: [ 4.053e-02 -9.361e-03 -4.290e-02  7.482e-03 -2.133e-04  3.960e-03 -1.048e+00]
+t: 179	 action: [ 3.606e-02 -3.447e-02 -2.319e-02 -5.345e-04  6.954e-03 -5.842e-03 -1.052e+00]
+t: 180	 action: [ 0.026  0.006 -0.01   0.006  0.004  0.005 -1.036]
+t: 181	 action: [ 3.137e-02 -3.873e-02  3.609e-02 -6.579e-04  1.248e-02 -1.041e-03 -1.046e+00]
+t: 182	 action: [ 2.221e-02 -6.655e-03 -8.582e-03  4.439e-03  6.021e-03 -2.219e-04 -1.042e+00]
+t: 183	 action: [ 3.158e-03 -6.446e-05 -5.008e-03  6.885e-03 -6.506e-04 -6.118e-03 -1.073e+00]
+t: 184	 action: [ 0.006  0.002  0.031  0.003  0.011 -0.002 -1.032]
+t: 185	 action: [-0.012  0.002  0.03   0.008  0.007 -0.001 -1.067]
+[07-31 01:19:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9966
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=186: Selected seed 195 with value = 0.9966
+t: 186	 action: [-0.008  0.014 -0.086  0.002  0.002  0.005 -1.043]
+t: 187	 action: [ 0.017 -0.042 -0.053 -0.002  0.011 -0.003 -1.045]
+t: 188	 action: [-6.016e-04  9.058e-03 -3.142e-02  3.465e-03  7.258e-03  3.740e-03 -1.035e+00]
+t: 189	 action: [ 0.021 -0.049  0.027 -0.003  0.017 -0.002 -1.038]
+t: 190	 action: [-1.238e-02  5.804e-03 -2.730e-02  1.467e-03  6.707e-03  6.475e-04 -1.036e+00]
+t: 191	 action: [ 0.004 -0.015  0.003  0.005  0.007 -0.001 -1.068]
+t: 192	 action: [-1.064e-02 -4.277e-04  1.923e-02  1.773e-03  1.241e-02 -3.119e-05 -1.032e+00]
+t: 193	 action: [-0.007 -0.009  0.039  0.006  0.014 -0.003 -1.061]
+t: 194	 action: [ 3.428e-02 -4.285e-03 -3.322e-02  6.190e-03  5.371e-04  3.799e-03 -1.049e+00]
+t: 195	 action: [ 0.033 -0.033 -0.016 -0.001  0.008 -0.006 -1.052]
+t: 196	 action: [ 0.02   0.009 -0.001  0.006  0.004  0.005 -1.035]
+t: 197	 action: [ 0.029 -0.037  0.038 -0.001  0.013 -0.001 -1.045]
+t: 198	 action: [ 1.775e-02 -2.803e-03 -1.361e-03  3.624e-03  6.784e-03  1.862e-04 -1.044e+00]
+t: 199	 action: [-1.328e-03  2.203e-03 -2.676e-03  6.248e-03 -3.745e-04 -5.595e-03 -1.072e+00]
+t: 200	 action: [ 0.001  0.004  0.037  0.002  0.012 -0.001 -1.031]
+t: 201	 action: [-1.330e-02  4.492e-03  3.303e-02  7.459e-03  6.681e-03 -9.592e-04 -1.066e+00]
+[07-31 01:19:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9953
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=202: Selected seed 195 with value = 0.9953
+t: 202	 action: [-0.016  0.012 -0.075  0.002 -0.001  0.005 -1.042]
+t: 203	 action: [ 0.013 -0.044 -0.039 -0.004  0.009 -0.003 -1.045]
+t: 204	 action: [-0.007  0.008 -0.025  0.003  0.004  0.004 -1.034]
+t: 205	 action: [ 0.02  -0.05   0.029 -0.004  0.014 -0.002 -1.037]
+t: 206	 action: [-1.947e-02  3.660e-03 -2.218e-02  1.160e-03  3.550e-03  8.361e-04 -1.036e+00]
+t: 207	 action: [-0.002 -0.019  0.005  0.004  0.004 -0.001 -1.069]
+t: 208	 action: [-1.471e-02 -7.777e-04  2.384e-02  1.349e-03  9.600e-03 -1.886e-04 -1.032e+00]
+t: 209	 action: [-0.009 -0.011  0.042  0.005  0.01  -0.003 -1.06 ]
+t: 210	 action: [ 0.026 -0.006 -0.032  0.005 -0.004  0.004 -1.047]
+t: 211	 action: [ 0.028 -0.035 -0.015 -0.003  0.005 -0.006 -1.053]
+t: 212	 action: [ 1.431e-02  7.651e-03  1.545e-03  4.731e-03  7.079e-05  5.519e-03 -1.035e+00]
+t: 213	 action: [ 2.689e-02 -3.882e-02  3.765e-02 -2.086e-03  1.018e-02 -9.489e-04 -1.045e+00]
+t: 214	 action: [ 1.293e-02 -3.347e-03 -3.283e-04  3.099e-03  2.629e-03  3.370e-04 -1.042e+00]
+t: 215	 action: [-0.006  0.001 -0.002  0.005 -0.004 -0.006 -1.072]
+t: 216	 action: [-0.001  0.005  0.039  0.002  0.008 -0.001 -1.032]
+t: 217	 action: [-1.500e-02  3.318e-03  3.280e-02  6.971e-03  3.101e-03 -7.609e-04 -1.064e+00]
+[07-31 01:19:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9951
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=218: Selected seed 195 with value = 0.9951
+t: 218	 action: [-0.023  0.013 -0.069  0.002 -0.003  0.005 -1.042]
+t: 219	 action: [ 0.01  -0.043 -0.027 -0.005  0.008 -0.001 -1.044]
+t: 220	 action: [-0.012  0.01  -0.018  0.003  0.002  0.004 -1.034]
+t: 221	 action: [ 1.748e-02 -5.013e-02  3.656e-02 -4.425e-03  1.262e-02 -2.991e-04 -1.036e+00]
+t: 222	 action: [-2.562e-02  4.290e-03 -1.418e-02  6.943e-04  1.365e-03  1.142e-03 -1.037e+00]
+t: 223	 action: [-5.740e-03 -1.927e-02  8.010e-03  3.272e-03  1.735e-03 -3.616e-05 -1.069e+00]
+t: 224	 action: [-1.889e-02 -6.338e-04  3.099e-02  1.095e-03  7.384e-03  2.173e-04 -1.032e+00]
+t: 225	 action: [-0.01  -0.013  0.05   0.005  0.008 -0.002 -1.06 ]
+t: 226	 action: [ 0.022 -0.007 -0.025  0.005 -0.006  0.005 -1.046]
+t: 227	 action: [ 0.026 -0.035 -0.006 -0.003  0.003 -0.004 -1.051]
+t: 228	 action: [ 0.01   0.007  0.008  0.005 -0.003  0.006 -1.034]
+t: 229	 action: [ 2.544e-02 -3.759e-02  4.240e-02 -2.256e-03  9.221e-03  3.384e-06 -1.044e+00]
+t: 230	 action: [ 1.030e-02 -4.293e-03  5.127e-03  2.973e-03  4.191e-05  1.093e-03 -1.043e+00]
+t: 231	 action: [-7.348e-03  1.462e-04  7.186e-05  4.805e-03 -5.210e-03 -4.455e-03 -1.072e+00]
+t: 232	 action: [-3.057e-03  4.060e-03  4.469e-02  2.093e-03  5.507e-03 -5.636e-04 -1.032e+00]
+t: 233	 action: [-1.517e-02  3.480e-03  3.968e-02  6.783e-03  1.507e-03  1.643e-05 -1.063e+00]
+[07-31 01:19:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.970 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=234: Selected seed 195 with value = 0.9950
+t: 234	 action: [-0.026  0.016 -0.056  0.001 -0.004  0.005 -1.041]
+t: 235	 action: [ 9.694e-03 -3.917e-02 -2.281e-02 -4.323e-03  7.209e-03 -7.335e-04 -1.044e+00]
+t: 236	 action: [-0.012  0.012 -0.016  0.003  0.001  0.003 -1.034]
+t: 237	 action: [ 1.656e-02 -4.890e-02  3.657e-02 -3.869e-03  1.177e-02 -3.552e-04 -1.035e+00]
+t: 238	 action: [-2.677e-02  5.239e-03 -1.064e-02  9.253e-04  1.176e-04  7.410e-04 -1.035e+00]
+t: 239	 action: [-5.495e-03 -1.744e-02  8.500e-03  3.606e-03  4.075e-04  2.093e-04 -1.068e+00]
+t: 240	 action: [-1.669e-02 -1.948e-04  3.023e-02  1.426e-03  6.260e-03 -3.666e-04 -1.032e+00]
+t: 241	 action: [-0.009 -0.014  0.047  0.006  0.006 -0.002 -1.059]
+t: 242	 action: [ 0.022 -0.005 -0.02   0.005 -0.009  0.005 -1.046]
+t: 243	 action: [ 2.600e-02 -3.401e-02  2.123e-04 -2.923e-03  1.416e-03 -4.380e-03 -1.051e+00]
+t: 244	 action: [ 0.013  0.006  0.01   0.005 -0.005  0.006 -1.033]
+t: 245	 action: [ 2.588e-02 -3.644e-02  4.339e-02 -1.620e-03  8.305e-03 -6.192e-04 -1.044e+00]
+t: 246	 action: [ 0.012 -0.005  0.007  0.004 -0.002  0.001 -1.042]
+t: 247	 action: [-5.557e-03  6.100e-04  1.609e-03  5.166e-03 -6.678e-03 -4.594e-03 -1.071e+00]
+t: 248	 action: [ 3.553e-04  3.255e-03  4.420e-02  2.519e-03  4.497e-03 -1.017e-03 -1.030e+00]
+t: 249	 action: [-1.362e-02  3.087e-03  3.895e-02  7.609e-03  6.112e-04 -7.239e-04 -1.064e+00]
+[07-31 01:19:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9948
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=250: Selected seed 195 with value = 0.9948
+t: 250	 action: [-0.023  0.018 -0.045  0.001 -0.005  0.005 -1.041]
+t: 251	 action: [ 1.138e-02 -3.323e-02 -1.407e-02 -4.806e-03  6.194e-03 -5.393e-04 -1.045e+00]
+t: 252	 action: [-8.919e-03  1.690e-02 -1.017e-02  2.624e-03 -6.637e-04  2.995e-03 -1.034e+00]
+t: 253	 action: [ 1.801e-02 -4.321e-02  3.804e-02 -4.467e-03  1.045e-02 -6.852e-04 -1.036e+00]
+t: 254	 action: [-2.303e-02  8.811e-03 -6.073e-03  8.968e-04 -2.165e-03  6.141e-04 -1.035e+00]
+t: 255	 action: [-3.814e-03 -1.336e-02  1.179e-02  2.861e-03 -1.468e-03  4.855e-04 -1.068e+00]
+t: 256	 action: [-1.420e-02  4.859e-03  3.137e-02  1.199e-03  3.897e-03 -3.728e-04 -1.032e+00]
+t: 257	 action: [-0.007 -0.01   0.05   0.005  0.004 -0.002 -1.059]
+t: 258	 action: [ 0.026 -0.004 -0.016  0.006 -0.012  0.005 -1.046]
+t: 259	 action: [ 0.029 -0.03   0.011 -0.003 -0.002 -0.005 -1.049]
+t: 260	 action: [ 0.018  0.008  0.012  0.005 -0.008  0.005 -1.033]
+t: 261	 action: [ 0.027 -0.031  0.046 -0.002  0.007 -0.001 -1.042]
+t: 262	 action: [ 1.549e-02 -3.797e-03  9.573e-03  3.975e-03 -4.960e-03  9.882e-04 -1.042e+00]
+t: 263	 action: [-0.003  0.005  0.005  0.005 -0.01  -0.005 -1.072]
+t: 264	 action: [ 0.004  0.004  0.045  0.003  0.001 -0.001 -1.029]
+t: 265	 action: [-0.012  0.009  0.045  0.007 -0.002 -0.001 -1.064]
+[07-31 01:19:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.012 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9952
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 1.012 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=266: Selected seed 195 with value = 0.9952
+t: 266	 action: [-0.021  0.021 -0.043  0.001 -0.006  0.005 -1.041]
+t: 267	 action: [ 1.193e-02 -2.571e-02 -1.493e-02 -6.744e-03  5.184e-03  6.784e-04 -1.043e+00]
+t: 268	 action: [-0.008  0.02  -0.005  0.003 -0.003  0.003 -1.035]
+t: 269	 action: [ 1.775e-02 -3.780e-02  3.897e-02 -5.727e-03  9.337e-03 -1.651e-05 -1.035e+00]
+t: 270	 action: [-2.198e-02  1.335e-02 -1.165e-03  1.624e-04 -4.047e-03  7.706e-04 -1.035e+00]
+t: 271	 action: [-4.123e-03 -6.417e-03  1.376e-02  8.919e-04 -2.698e-03  1.703e-03 -1.067e+00]
+t: 272	 action: [-1.295e-02  8.613e-03  3.642e-02  8.888e-04  1.785e-03 -2.385e-05 -1.032e+00]
+t: 273	 action: [-0.006 -0.005  0.055  0.004  0.002 -0.001 -1.059]
+t: 274	 action: [ 0.03  -0.001 -0.01   0.005 -0.014  0.005 -1.046]
+t: 275	 action: [ 0.031 -0.028  0.02  -0.004 -0.003 -0.004 -1.047]
+t: 276	 action: [ 0.02   0.011  0.017  0.005 -0.01   0.006 -1.034]
+t: 277	 action: [ 0.028 -0.027  0.049 -0.003  0.006 -0.001 -1.041]
+t: 278	 action: [ 0.017 -0.001  0.015  0.004 -0.008  0.001 -1.041]
+t: 279	 action: [-0.003  0.008  0.007  0.003 -0.011 -0.005 -1.071]
+t: 280	 action: [ 5.255e-03  7.180e-03  5.010e-02  2.318e-03 -1.348e-03 -1.026e-03 -1.030e+00]
+t: 281	 action: [-0.011  0.014  0.053  0.006 -0.003 -0.001 -1.064]
+[07-31 01:19:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9956
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 1.004 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=282: Selected seed 195 with value = 0.9956
+t: 282	 action: [-0.018  0.028 -0.044  0.001 -0.006  0.005 -1.041]
+t: 283	 action: [ 0.012 -0.012 -0.022 -0.007  0.005  0.002 -1.043]
+t: 284	 action: [-0.009  0.025 -0.009  0.002 -0.003  0.003 -1.035]
+t: 285	 action: [ 0.016 -0.028  0.036 -0.006  0.009  0.001 -1.035]
+t: 286	 action: [-2.062e-02  2.056e-02 -3.278e-03 -2.843e-04 -4.458e-03  6.273e-04 -1.034e+00]
+t: 287	 action: [-5.605e-03  3.335e-03  1.314e-02 -1.499e-04 -2.983e-03  2.974e-03 -1.067e+00]
+t: 288	 action: [-1.444e-02  1.193e-02  3.333e-02  6.475e-04  1.412e-03  2.083e-04 -1.031e+00]
+t: 289	 action: [-7.566e-03  5.298e-04  5.128e-02  2.491e-03  2.238e-03 -8.836e-05 -1.059e+00]
+t: 290	 action: [ 3.075e-02  2.116e-04 -7.492e-03  5.654e-03 -1.461e-02  6.177e-03 -1.046e+00]
+t: 291	 action: [ 0.03  -0.024  0.025 -0.004 -0.003 -0.003 -1.047]
+t: 292	 action: [ 0.02   0.013  0.017  0.005 -0.011  0.006 -1.033]
+t: 293	 action: [ 2.753e-02 -2.250e-02  5.108e-02 -2.828e-03  5.766e-03 -7.137e-04 -1.040e+00]
+t: 294	 action: [ 1.650e-02  4.517e-04  1.743e-02  3.445e-03 -8.332e-03  2.137e-03 -1.040e+00]
+t: 295	 action: [-0.002  0.011  0.009  0.003 -0.011 -0.004 -1.071]
+t: 296	 action: [ 3.175e-03  7.388e-03  5.157e-02  2.124e-03 -2.235e-03 -6.548e-04 -1.029e+00]
+t: 297	 action: [-0.012  0.018  0.058  0.005 -0.003 -0.001 -1.064]
+[07-31 01:19:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9958
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9958
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 17
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 34%|███▍      | 17/50 [08:58<17:21, 31.56s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 18...
+Query 1/1: Action query time = 0.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=298: Selected seed 195 with value = 0.9958
+t: 298	 action: [-0.022  0.036 -0.062  0.001 -0.007  0.004 -1.04 ]
+t: 299	 action: [ 8.928e-03  4.749e-04 -4.768e-02 -7.269e-03  4.173e-03  2.718e-03 -1.043e+00]
+t: 300	 action: [-0.015  0.03  -0.022  0.003 -0.005  0.003 -1.034]
+t: 301	 action: [ 0.014 -0.018  0.029 -0.007  0.008  0.002 -1.036]
+t: 302	 action: [-2.259e-02  2.814e-02 -1.616e-02 -1.887e-04 -5.538e-03  3.181e-04 -1.034e+00]
+t: 303	 action: [-7.585e-03  1.129e-02  7.887e-03 -3.938e-04 -3.678e-03  3.477e-03 -1.067e+00]
+t: 304	 action: [-1.902e-02  1.464e-02  2.314e-02  7.472e-04 -1.994e-04  1.913e-04 -1.031e+00]
+t: 305	 action: [-8.881e-03  5.392e-03  3.946e-02  1.845e-03  8.388e-04  4.106e-04 -1.060e+00]
+t: 306	 action: [ 3.084e-02  8.669e-04 -1.448e-02  6.278e-03 -1.553e-02  6.416e-03 -1.045e+00]
+t: 307	 action: [ 0.029 -0.023  0.023 -0.004 -0.004 -0.003 -1.046]
+t: 308	 action: [ 0.017  0.014  0.011  0.006 -0.012  0.006 -1.032]
+t: 309	 action: [ 2.728e-02 -1.912e-02  5.087e-02 -2.463e-03  5.184e-03 -6.195e-04 -1.040e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=17--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=17--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 17
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 18...
+[07-31 01:19:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.198 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4879
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4879
+Query 1/1: Action query time = 1.198 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4879
+t=10: Selected seed 195 with value = 0.4879
+t: 10	 action: [ 0.117  0.058 -0.011  0.003 -0.004 -0.002 -1.029]
+t: 11	 action: [ 2.301e-01  1.326e-01 -1.156e-03  1.112e-03 -2.253e-04 -3.318e-03 -1.024e+00]
+t: 12	 action: [ 3.684e-01  3.018e-01 -1.204e-02  7.707e-04 -3.679e-03 -7.587e-05 -1.038e+00]
+t: 13	 action: [ 4.778e-01  3.689e-01  3.989e-04 -5.324e-04 -7.861e-04 -2.991e-03 -1.030e+00]
+t: 14	 action: [ 0.557  0.476 -0.017 -0.004 -0.001 -0.004 -1.04 ]
+t: 15	 action: [ 6.463e-01  5.376e-01 -5.509e-03  9.095e-04 -3.343e-03 -2.905e-03 -1.057e+00]
+t: 16	 action: [ 0.722  0.594 -0.021 -0.006  0.004 -0.003 -1.03 ]
+t: 17	 action: [ 0.808  0.621 -0.014  0.002 -0.004 -0.004 -1.062]
+t: 18	 action: [ 0.716  0.603 -0.047  0.003  0.001  0.002 -1.042]
+t: 19	 action: [ 0.768  0.596 -0.063 -0.007  0.006  0.002 -1.034]
+t: 20	 action: [ 0.743  0.599 -0.067 -0.003 -0.002  0.003 -1.045]
+t: 21	 action: [ 0.794  0.6   -0.09  -0.008  0.007  0.002 -1.033]
+t: 22	 action: [ 7.871e-01  5.530e-01 -1.415e-01 -4.145e-03 -1.788e-03  2.935e-05 -1.023e+00]
+t: 23	 action: [ 8.255e-01  5.156e-01 -2.100e-01 -1.925e-03 -6.836e-03  1.531e-04 -1.053e+00]
+t: 24	 action: [ 0.772  0.482 -0.215 -0.006 -0.003 -0.002 -1.026]
+t: 25	 action: [ 8.320e-01  4.037e-01 -3.192e-01  1.385e-04 -6.182e-03  9.732e-04 -1.063e+00]
+[07-31 01:19:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.176 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5552
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5552
+Query 1/1: Action query time = 1.176 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5552
+t=26: Selected seed 195 with value = 0.5552
+t: 26	 action: [ 0.782  0.455 -0.207  0.002 -0.008  0.002 -1.038]
+t: 27	 action: [ 0.717  0.403 -0.202 -0.003 -0.002 -0.006 -1.036]
+t: 28	 action: [ 0.644  0.277 -0.299  0.003 -0.015 -0.002 -1.039]
+t: 29	 action: [ 0.571  0.184 -0.367  0.005 -0.007 -0.009 -1.041]
+t: 30	 action: [ 4.228e-01  1.143e-01 -5.079e-01  8.252e-04 -1.388e-02 -9.206e-03 -1.028e+00]
+t: 31	 action: [ 0.354  0.033 -0.588  0.013 -0.016 -0.013 -1.058]
+t: 32	 action: [ 0.29   0.053 -0.833  0.005 -0.02  -0.014 -1.031]
+t: 33	 action: [ 0.244  0.031 -0.913  0.016 -0.025 -0.017 -1.062]
+t: 34	 action: [ 0.139  0.017 -0.939  0.013 -0.036 -0.014 -1.038]
+t: 35	 action: [ 0.049 -0.026 -1.011  0.005 -0.03  -0.018 -1.03 ]
+t: 36	 action: [ 0.02   0.002 -0.964  0.008 -0.037 -0.008 -1.034]
+t: 37	 action: [-0.024 -0.04  -1.03   0.002 -0.027 -0.017 -1.033]
+t: 38	 action: [-8.085e-02  8.282e-04 -9.545e-01 -2.912e-04 -3.755e-02 -9.231e-03 -1.037e+00]
+t: 39	 action: [-0.125  0.019 -1.001  0.005 -0.032 -0.019 -1.047]
+t: 40	 action: [-0.2   -0.028 -0.944 -0.004 -0.035 -0.006 -1.03 ]
+t: 41	 action: [-2.395e-01 -1.221e-03 -9.912e-01  6.127e-04 -2.777e-02 -1.559e-02 -1.053e+00]
+[07-31 01:19:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.165 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5984
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5984
+Query 1/1: Action query time = 1.165 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5984
+t=42: Selected seed 195 with value = 0.5984
+t: 42	 action: [-0.073  0.066 -1.015  0.007 -0.01   0.009 -1.046]
+t: 43	 action: [-5.948e-02  6.315e-02 -9.663e-01  6.544e-03  6.338e-04  5.130e-03 -1.040e+00]
+t: 44	 action: [-0.085  0.074 -0.907  0.003  0.006  0.011 -1.035]
+t: 45	 action: [-0.073  0.075 -0.885  0.002  0.01   0.005 -1.04 ]
+t: 46	 action: [-9.290e-02  9.535e-02 -7.373e-01 -6.709e-03  1.262e-02 -5.247e-04 -1.036e+00]
+t: 47	 action: [-1.311e-01  1.338e-01 -7.735e-01 -1.884e-04  8.081e-03 -4.625e-03 -1.051e+00]
+t: 48	 action: [-0.127  0.082 -0.611 -0.015  0.018 -0.003 -1.029]
+t: 49	 action: [-0.188  0.121 -0.682 -0.005  0.012 -0.011 -1.05 ]
+t: 50	 action: [-0.2    0.026 -0.598 -0.012  0.023  0.001 -1.202]
+t: 51	 action: [-0.284  0.007 -0.6   -0.009  0.015  0.013 -1.15 ]
+t: 52	 action: [-0.274  0.003 -0.558 -0.011  0.03  -0.002 -1.207]
+t: 53	 action: [-0.334 -0.015 -0.522 -0.008  0.021  0.007 -1.123]
+t: 54	 action: [-0.328 -0.034 -0.535 -0.022  0.024 -0.019  1.104]
+t: 55	 action: [-0.313 -0.024 -0.435 -0.008  0.007 -0.01   1.194]
+t: 56	 action: [-0.268 -0.052 -0.428 -0.021  0.019 -0.026  1.095]
+t: 57	 action: [-0.209 -0.022 -0.27  -0.01   0.002 -0.01   1.159]
+[07-31 01:19:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.098 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7053
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7053
+Query 1/1: Action query time = 1.098 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7053
+t=58: Selected seed 195 with value = 0.7053
+t: 58	 action: [-0.357 -0.026 -0.486 -0.003  0.024 -0.006  0.991]
+t: 59	 action: [-0.279 -0.042 -0.312 -0.011  0.043 -0.022  1.02 ]
+t: 60	 action: [-0.197 -0.059 -0.227 -0.005  0.052 -0.014  0.989]
+t: 61	 action: [-0.075 -0.063 -0.086 -0.014  0.063 -0.026  1.02 ]
+t: 62	 action: [-0.032 -0.113 -0.035 -0.012  0.064 -0.026  1.002]
+t: 63	 action: [ 0.059 -0.099  0.086 -0.008  0.087 -0.03   1.021]
+t: 64	 action: [ 0.067 -0.099  0.263 -0.006  0.072 -0.042  1.   ]
+t: 65	 action: [ 0.071 -0.068  0.406 -0.002  0.089 -0.041  1.018]
+t: 66	 action: [ 0.055 -0.154  0.464 -0.003  0.072 -0.037  0.986]
+t: 67	 action: [ 0.084 -0.108  0.633 -0.009  0.054 -0.049  1.01 ]
+t: 68	 action: [ 0.094 -0.145  0.741 -0.006  0.051 -0.044  0.977]
+t: 69	 action: [ 0.082 -0.132  0.852 -0.003  0.035 -0.053  1.018]
+t: 70	 action: [-0.007 -0.124  0.923  0.005  0.034 -0.045  0.991]
+t: 71	 action: [-0.007 -0.129  0.941  0.014  0.034 -0.04   1.011]
+t: 72	 action: [-0.039 -0.236  0.914  0.015  0.017 -0.037  0.99 ]
+t: 73	 action: [-0.033 -0.262  0.93   0.026  0.02  -0.034  1.012]
+[07-31 01:19:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.112 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8543
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8543
+Query 1/1: Action query time = 1.112 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8543
+t=74: Selected seed 195 with value = 0.8543
+t: 74	 action: [-0.017 -0.728  0.563  0.08   0.026 -0.02   1.005]
+t: 75	 action: [-0.019 -0.793  0.471  0.072  0.022 -0.019  1.016]
+t: 76	 action: [-0.072 -0.792  0.25   0.073  0.027 -0.006  1.001]
+t: 77	 action: [-0.07  -0.814  0.168  0.067  0.023 -0.01   1.008]
+t: 78	 action: [-0.093 -0.83   0.059  0.073  0.03  -0.009  1.016]
+t: 79	 action: [-0.174 -0.837  0.007  0.058  0.006 -0.002  1.001]
+t: 80	 action: [-0.147 -0.802 -0.165  0.058  0.026 -0.002  1.009]
+t: 81	 action: [-1.854e-01 -7.342e-01 -2.169e-01  4.306e-02  4.263e-03  8.586e-04  1.010e+00]
+t: 82	 action: [-0.225 -0.735 -0.353  0.05   0.014  0.006  1.015]
+t: 83	 action: [-0.245 -0.604 -0.49   0.027  0.016  0.012  1.016]
+t: 84	 action: [-0.254 -0.555 -0.556  0.027  0.01   0.007  1.005]
+t: 85	 action: [-0.248 -0.399 -0.646  0.012  0.015  0.019  1.029]
+t: 86	 action: [-0.286 -0.269 -0.615  0.007  0.006  0.01   1.032]
+t: 87	 action: [-0.262 -0.142 -0.715 -0.003  0.004  0.026  1.012]
+t: 88	 action: [-2.264e-01 -1.171e-01 -6.364e-01  3.123e-04  1.071e-02  1.535e-02  1.018e+00]
+t: 89	 action: [-0.133  0.006 -0.658 -0.011  0.017  0.027  1.023]
+[07-31 01:19:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9658
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=90: Selected seed 195 with value = 0.9658
+t: 90	 action: [-0.13  -0.073 -0.357 -0.025  0.101  0.004  1.175]
+t: 91	 action: [-0.086 -0.066 -0.17  -0.035  0.107  0.008  1.004]
+t: 92	 action: [-0.107 -0.024 -0.102 -0.033  0.105  0.004 -1.033]
+t: 93	 action: [-0.064 -0.056  0.047 -0.033  0.105  0.002 -1.034]
+t: 94	 action: [-6.764e-02 -2.720e-02  9.480e-02 -4.466e-02  1.045e-01 -1.024e-03 -1.185e+00]
+t: 95	 action: [-0.062 -0.021  0.149 -0.034  0.105 -0.017 -1.098]
+t: 96	 action: [-0.031 -0.034  0.268 -0.023  0.097 -0.004 -1.031]
+t: 97	 action: [-0.015 -0.01   0.355 -0.019  0.092 -0.01  -1.061]
+t: 98	 action: [-0.025 -0.006  0.274 -0.019  0.073  0.006 -1.033]
+t: 99	 action: [-0.018 -0.042  0.327 -0.011  0.075 -0.003 -1.044]
+t: 100	 action: [ 0.008 -0.008  0.358 -0.002  0.068  0.003 -1.04 ]
+t: 101	 action: [ 0.011 -0.038  0.394 -0.003  0.081 -0.005 -1.026]
+t: 102	 action: [ 0.022 -0.003  0.362  0.006  0.069 -0.002 -1.045]
+t: 103	 action: [ 0.012 -0.005  0.402  0.009  0.074 -0.009 -1.053]
+t: 104	 action: [ 0.032 -0.003  0.369  0.002  0.071 -0.007 -1.044]
+t: 105	 action: [ 0.011 -0.007  0.387  0.012  0.083 -0.009 -1.059]
+[07-31 01:19:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.033 -0.009  0.099  0.002  0.034  0.003 -1.041]
+t: 107	 action: [ 0.024 -0.06   0.085  0.003  0.035  0.003 -1.042]
+t: 108	 action: [ 2.297e-02 -1.009e-02  8.678e-02  2.982e-03  3.725e-02  5.226e-04 -1.034e+00]
+t: 109	 action: [ 0.018 -0.056  0.087  0.006  0.044  0.004 -1.03 ]
+t: 110	 action: [ 1.871e-03 -1.073e-02  7.086e-02  3.116e-03  3.570e-02  1.098e-04 -1.034e+00]
+t: 111	 action: [-0.003 -0.02   0.115  0.011  0.04   0.005 -1.068]
+t: 112	 action: [ 5.101e-03 -4.786e-03  8.855e-02  3.997e-03  4.491e-02 -2.936e-04 -1.033e+00]
+t: 113	 action: [-0.005 -0.003  0.127  0.013  0.046  0.003 -1.06 ]
+t: 114	 action: [ 0.033 -0.012  0.093  0.007  0.037  0.005 -1.041]
+t: 115	 action: [ 0.019 -0.046  0.092  0.005  0.041  0.003 -1.048]
+t: 116	 action: [ 0.023  0.002  0.095  0.006  0.043  0.003 -1.034]
+t: 117	 action: [ 0.019 -0.041  0.098  0.007  0.053  0.003 -1.04 ]
+t: 118	 action: [ 0.021 -0.002  0.092  0.005  0.047  0.002 -1.04 ]
+t: 119	 action: [-0.002  0.003  0.118  0.011  0.042  0.002 -1.071]
+t: 120	 action: [ 1.430e-02 -4.452e-04  1.018e-01  4.714e-03  5.504e-02 -5.064e-04 -1.033e+00]
+t: 121	 action: [-0.003  0.008  0.133  0.013  0.055  0.003 -1.068]
+[07-31 01:19:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [-2.582e-02  1.748e-02 -3.402e-02  2.954e-03 -9.284e-04  5.180e-03 -1.032e+00]
+t: 123	 action: [-1.830e-03 -1.371e-02 -4.999e-03 -7.470e-03  1.727e-03  6.389e-04 -1.044e+00]
+t: 124	 action: [-3.522e-02  1.702e-02 -3.242e-02  3.565e-03 -2.820e-04  2.594e-03 -1.026e+00]
+t: 125	 action: [-0.009 -0.023  0.021 -0.005  0.007  0.002 -1.036]
+t: 126	 action: [-4.550e-02  9.273e-03 -4.466e-02  1.575e-04 -2.285e-03  4.835e-04 -1.036e+00]
+t: 127	 action: [-2.505e-02 -3.664e-03  6.093e-03  4.192e-04 -7.371e-03  3.129e-03 -1.073e+00]
+t: 128	 action: [-3.474e-02  9.002e-03 -2.644e-02  1.176e-03  3.046e-03 -4.736e-04 -1.029e+00]
+t: 129	 action: [-1.669e-02  1.987e-03  2.097e-02  2.175e-03 -1.920e-03  8.918e-04 -1.059e+00]
+t: 130	 action: [-0.007  0.003 -0.026  0.007 -0.002  0.007 -1.04 ]
+t: 131	 action: [ 4.101e-03 -2.309e-02  2.469e-02 -4.801e-03  1.452e-03  5.432e-04 -1.050e+00]
+t: 132	 action: [-1.990e-02  9.441e-03 -1.589e-02  5.324e-03  3.042e-04  5.210e-03 -1.032e+00]
+t: 133	 action: [ 0.009 -0.018  0.036 -0.004  0.007  0.004 -1.042]
+t: 134	 action: [-1.673e-02  1.577e-05 -2.457e-02  3.070e-03  3.769e-03  2.324e-03 -1.044e+00]
+t: 135	 action: [-2.371e-02  1.389e-02  1.720e-02  2.844e-03 -9.059e-03  4.576e-04 -1.075e+00]
+t: 136	 action: [-2.154e-02  6.691e-03 -7.509e-03  2.023e-03  8.995e-03 -8.382e-04 -1.033e+00]
+t: 137	 action: [-0.019  0.02   0.026  0.004 -0.001  0.003 -1.064]
+[07-31 01:19:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.170 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9976
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 1.170 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=138: Selected seed 195 with value = 0.9976
+t: 138	 action: [-0.04   0.015 -0.061  0.003 -0.005  0.005 -1.03 ]
+t: 139	 action: [-1.818e-02 -2.264e-02 -4.779e-02 -6.015e-03 -1.258e-03 -6.864e-04 -1.045e+00]
+t: 140	 action: [-0.05   0.015 -0.054  0.004 -0.004  0.003 -1.025]
+t: 141	 action: [-2.925e-02 -3.185e-02 -1.088e-02 -4.270e-03  5.435e-03  6.870e-04 -1.038e+00]
+t: 142	 action: [-6.065e-02  6.349e-03 -7.112e-02  1.127e-03 -5.707e-03  1.356e-04 -1.037e+00]
+t: 143	 action: [-0.034 -0.01  -0.018  0.001 -0.009  0.002 -1.076]
+t: 144	 action: [-4.768e-02  6.600e-03 -4.712e-02  1.578e-03 -2.528e-04 -8.931e-04 -1.029e+00]
+t: 145	 action: [-2.270e-02 -4.493e-03  3.196e-03  2.937e-03 -3.476e-03 -7.161e-04 -1.060e+00]
+t: 146	 action: [-0.023 -0.003 -0.052  0.007 -0.007  0.007 -1.038]
+t: 147	 action: [-3.867e-03 -3.477e-02 -1.135e-02 -3.741e-03 -3.977e-03 -9.526e-04 -1.050e+00]
+t: 148	 action: [-0.034  0.008 -0.04   0.006 -0.005  0.005 -1.031]
+t: 149	 action: [-3.768e-04 -2.769e-02  1.037e-02 -2.882e-03  5.623e-03  2.471e-03 -1.043e+00]
+t: 150	 action: [-0.03  -0.003 -0.052  0.003 -0.002  0.002 -1.046]
+t: 151	 action: [-3.158e-02  4.798e-03 -2.553e-03  4.093e-03 -1.244e-02 -7.160e-04 -1.077e+00]
+t: 152	 action: [-0.034  0.003 -0.03   0.002  0.004 -0.001 -1.033]
+t: 153	 action: [-0.028  0.012  0.004  0.005 -0.004  0.003 -1.064]
+[07-31 01:19:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.191 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.191 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=154: Selected seed 195 with value = 0.9959
+t: 154	 action: [-3.538e-02  1.068e-02 -4.846e-02  4.035e-03 -7.605e-04  5.440e-03 -1.030e+00]
+t: 155	 action: [-0.019 -0.036 -0.03  -0.005  0.004 -0.001 -1.047]
+t: 156	 action: [-4.382e-02  1.092e-02 -2.974e-02  4.532e-03  5.705e-04  3.097e-03 -1.023e+00]
+t: 157	 action: [-2.682e-02 -4.107e-02  1.862e-02 -4.114e-03  7.448e-03 -1.367e-04 -1.040e+00]
+t: 158	 action: [-5.847e-02  1.233e-03 -4.967e-02  1.606e-03  1.485e-03  1.390e-04 -1.037e+00]
+t: 159	 action: [-3.109e-02 -1.564e-02  7.933e-04  1.946e-03 -5.027e-03  5.882e-04 -1.077e+00]
+t: 160	 action: [-0.047  0.004 -0.018  0.002  0.007 -0.001 -1.028]
+t: 161	 action: [-1.940e-02 -5.080e-03  2.512e-02  2.822e-03 -3.980e-04 -2.543e-03 -1.064e+00]
+t: 162	 action: [-2.929e-02 -3.298e-03 -3.029e-02  5.607e-03 -7.400e-04  6.018e-03 -1.037e+00]
+t: 163	 action: [-0.008 -0.039  0.002 -0.004  0.004 -0.002 -1.051]
+t: 164	 action: [-3.809e-02  9.484e-03 -1.668e-02  4.713e-03  8.170e-04  4.397e-03 -1.030e+00]
+t: 165	 action: [-0.004 -0.034  0.027 -0.004  0.008  0.003 -1.042]
+t: 166	 action: [-3.643e-02 -2.210e-03 -3.168e-02  1.677e-03  4.918e-03  9.103e-04 -1.045e+00]
+t: 167	 action: [-3.260e-02  1.276e-04  5.089e-03  3.241e-03 -8.929e-03 -1.303e-03 -1.077e+00]
+t: 168	 action: [-0.038  0.004 -0.008  0.001  0.009 -0.002 -1.03 ]
+t: 169	 action: [-0.027  0.008  0.019  0.004 -0.003  0.004 -1.054]
+[07-31 01:19:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.191 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9938
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 1.191 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=170: Selected seed 195 with value = 0.9938
+t: 170	 action: [-0.039  0.009 -0.056  0.004 -0.003  0.005 -1.03 ]
+t: 171	 action: [-0.029 -0.044 -0.027 -0.005  0.004 -0.002 -1.052]
+t: 172	 action: [-4.453e-02  1.003e-02 -3.082e-02  4.238e-03 -6.248e-04  3.325e-03 -1.018e+00]
+t: 173	 action: [-3.218e-02 -4.460e-02  2.454e-02 -5.887e-03  6.594e-03 -7.588e-04 -1.051e+00]
+t: 174	 action: [-6.051e-02 -1.945e-03 -4.648e-02  1.524e-03  1.284e-03 -2.833e-04 -1.036e+00]
+t: 175	 action: [-3.135e-02 -1.986e-02  4.955e-03  8.267e-04 -5.251e-03 -7.727e-04 -1.078e+00]
+t: 176	 action: [-0.045  0.001 -0.009  0.002  0.006 -0.002 -1.018]
+t: 177	 action: [-1.665e-02 -6.355e-03  3.731e-02 -1.378e-04 -7.481e-04 -4.731e-03 -1.071e+00]
+t: 178	 action: [-0.039 -0.001 -0.04   0.005 -0.001  0.005 -1.034]
+t: 179	 action: [-1.377e-02 -4.110e-02 -2.334e-04 -5.471e-03  4.264e-03 -1.952e-03 -1.055e+00]
+t: 180	 action: [-4.119e-02  1.093e-02 -2.229e-02  3.307e-03  6.270e-05  3.956e-03 -1.021e+00]
+t: 181	 action: [-0.005 -0.038  0.029 -0.006  0.006  0.018 -0.965]
+t: 182	 action: [-4.213e-02 -2.516e-03 -3.248e-02  9.294e-04  4.466e-03 -2.184e-05 -1.042e+00]
+t: 183	 action: [-0.034 -0.003  0.006  0.001 -0.009 -0.002 -1.08 ]
+t: 184	 action: [-3.857e-02  1.934e-03 -4.356e-03 -2.883e-04  8.650e-03 -2.947e-03 -1.011e+00]
+t: 185	 action: [-0.023  0.004  0.025  0.001 -0.004  0.024  0.88 ]
+[07-31 01:20:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.198 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9953
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 1.198 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=186: Selected seed 195 with value = 0.9953
+t: 186	 action: [-0.043  0.014 -0.022  0.004 -0.005  0.005 -1.028]
+t: 187	 action: [-2.708e-02 -2.562e-02  1.473e-02 -3.803e-03 -4.763e-04 -1.749e-03 -1.048e+00]
+t: 188	 action: [-0.053  0.018  0.005  0.004 -0.002  0.003 -1.024]
+t: 189	 action: [-0.032 -0.025  0.047 -0.003  0.006 -0.002 -1.039]
+t: 190	 action: [-6.565e-02  1.825e-03 -1.370e-02  1.240e-03 -7.397e-04 -8.869e-05 -1.036e+00]
+t: 191	 action: [-3.329e-02 -8.127e-03  3.878e-02  2.489e-03 -7.703e-03 -2.235e-04 -1.079e+00]
+t: 192	 action: [-0.052  0.007  0.024  0.002  0.006 -0.002 -1.028]
+t: 193	 action: [-0.018  0.009  0.085  0.003 -0.002 -0.004 -1.063]
+t: 194	 action: [-0.041  0.006  0.002  0.005 -0.005  0.006 -1.034]
+t: 195	 action: [-1.425e-02 -2.315e-02  3.776e-02 -3.646e-03 -5.284e-04 -2.197e-03 -1.053e+00]
+t: 196	 action: [-0.047  0.015  0.021  0.004 -0.002  0.004 -1.028]
+t: 197	 action: [-5.148e-03 -1.637e-02  5.138e-02 -2.629e-03  6.140e-03 -1.517e-04 -1.046e+00]
+t: 198	 action: [-4.222e-02  1.492e-03  9.351e-03  2.132e-03  3.224e-03  8.079e-04 -1.043e+00]
+t: 199	 action: [-0.033  0.015  0.052  0.004 -0.011 -0.002 -1.08 ]
+t: 200	 action: [-0.039  0.008  0.037  0.002  0.009 -0.003 -1.029]
+t: 201	 action: [-2.255e-02  2.465e-02  8.420e-02  4.542e-03 -3.570e-03  4.516e-04 -1.062e+00]
+[07-31 01:20:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.181 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.181 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=202: Selected seed 195 with value = 0.9959
+t: 202	 action: [-0.041  0.019 -0.049  0.003 -0.009  0.004 -1.028]
+t: 203	 action: [-0.029 -0.008 -0.036 -0.005 -0.008 -0.003 -1.048]
+t: 204	 action: [-0.055  0.024 -0.024  0.004 -0.009  0.002 -1.025]
+t: 205	 action: [-4.107e-02 -1.295e-02  2.473e-02 -3.544e-03  9.598e-04 -3.518e-03 -1.040e+00]
+t: 206	 action: [-6.495e-02  5.185e-03 -4.513e-02 -2.361e-04 -1.036e-02 -8.146e-04 -1.038e+00]
+t: 207	 action: [-3.941e-02 -6.251e-04 -3.712e-03  1.952e-03 -1.578e-02 -1.781e-03 -1.079e+00]
+t: 208	 action: [-0.053  0.009 -0.004  0.001 -0.005 -0.003 -1.031]
+t: 209	 action: [-0.02   0.011  0.034  0.003 -0.008 -0.006 -1.063]
+t: 210	 action: [-3.361e-02  8.722e-04 -2.147e-02  5.122e-03 -1.188e-02  5.964e-03 -1.035e+00]
+t: 211	 action: [-0.012 -0.024  0.027 -0.005 -0.01  -0.003 -1.053]
+t: 212	 action: [-0.043  0.014 -0.005  0.004 -0.011  0.004 -1.031]
+t: 213	 action: [-5.179e-03 -1.215e-02  4.236e-02 -3.492e-03  1.399e-04 -9.907e-04 -1.046e+00]
+t: 214	 action: [-4.022e-02 -2.063e-03 -1.725e-02  1.608e-03 -7.729e-03  5.688e-04 -1.047e+00]
+t: 215	 action: [-0.032  0.013  0.026  0.003 -0.018 -0.003 -1.082]
+t: 216	 action: [-0.039  0.007  0.012  0.001 -0.002 -0.004 -1.033]
+t: 217	 action: [-0.021  0.027  0.055  0.004 -0.009 -0.001 -1.063]
+[07-31 01:20:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.171 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 1.171 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=218: Selected seed 195 with value = 0.9950
+t: 218	 action: [-0.04   0.017 -0.072  0.003 -0.007  0.004 -1.029]
+t: 219	 action: [-0.032 -0.011 -0.077 -0.005 -0.005 -0.005 -1.051]
+t: 220	 action: [-0.053  0.021 -0.041  0.004 -0.008  0.002 -1.027]
+t: 221	 action: [-0.046 -0.016  0.002 -0.004  0.002 -0.005 -1.044]
+t: 222	 action: [-6.318e-02  9.097e-03 -6.120e-02 -2.367e-04 -9.098e-03 -8.349e-04 -1.039e+00]
+t: 223	 action: [-3.836e-02  1.617e-04 -1.765e-02  1.236e-03 -1.394e-02 -3.476e-03 -1.080e+00]
+t: 224	 action: [-5.110e-02  1.064e-02 -1.594e-02  7.769e-04 -5.081e-03 -3.148e-03 -1.032e+00]
+t: 225	 action: [-0.022  0.011  0.014  0.002 -0.008 -0.007 -1.066]
+t: 226	 action: [-3.584e-02  4.924e-04 -4.682e-02  4.185e-03 -9.835e-03  5.055e-03 -1.037e+00]
+t: 227	 action: [-0.016 -0.028 -0.004 -0.006 -0.007 -0.004 -1.052]
+t: 228	 action: [-0.045  0.014 -0.026  0.003 -0.011  0.002 -1.033]
+t: 229	 action: [-1.075e-02 -1.696e-02  3.156e-02 -4.736e-03  2.935e-04 -3.751e-04 -1.041e+00]
+t: 230	 action: [-4.535e-02 -2.602e-03 -4.107e-02 -9.275e-04 -8.211e-03 -3.642e-04 -1.049e+00]
+t: 231	 action: [-3.550e-02  8.259e-03  6.550e-04  1.398e-03 -1.833e-02 -3.677e-03 -1.080e+00]
+t: 232	 action: [-4.412e-02  5.888e-03 -5.863e-03 -8.750e-04 -4.954e-03 -5.164e-03 -1.035e+00]
+t: 233	 action: [-2.542e-02  2.263e-02  2.560e-02  2.224e-03 -1.056e-02  7.943e-04 -1.043e+00]
+[07-31 01:20:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.136 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9927
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 1.136 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=234: Selected seed 195 with value = 0.9927
+t: 234	 action: [-0.037  0.013 -0.072  0.004 -0.006  0.002 -1.027]
+t: 235	 action: [-0.037 -0.022 -0.106 -0.002 -0.007 -0.008 -1.057]
+t: 236	 action: [-0.055  0.015 -0.04   0.005 -0.007  0.002 -1.028]
+t: 237	 action: [-0.053 -0.023 -0.01  -0.004  0.002 -0.007 -1.054]
+t: 238	 action: [-0.075  0.002 -0.065  0.002 -0.007 -0.002 -1.027]
+t: 239	 action: [-0.04  -0.009 -0.023  0.003 -0.011 -0.009 -1.084]
+t: 240	 action: [-0.052  0.007 -0.017  0.003 -0.004 -0.005 -1.026]
+t: 241	 action: [-0.021  0.008  0.016  0.002 -0.006 -0.012 -1.072]
+t: 242	 action: [-0.044 -0.001 -0.053  0.004 -0.007  0.003 -1.032]
+t: 243	 action: [-2.123e-02 -3.451e-02 -2.938e-02 -3.596e-03 -5.230e-03  9.474e-04 -9.996e-01]
+t: 244	 action: [-5.889e-02  1.081e-02 -3.257e-02  1.367e-03 -7.408e-03  4.501e-04 -1.118e+00]
+t: 245	 action: [-0.081 -0.024  0.02  -0.005  0.001  0.012 -1.11 ]
+t: 246	 action: [-5.935e-02 -2.669e-03 -4.964e-02 -8.007e-04 -6.789e-03 -2.687e-03 -1.029e+00]
+t: 247	 action: [-0.041 -0.002 -0.008  0.003 -0.016  0.001 -0.082]
+t: 248	 action: [-0.044  0.003 -0.014 -0.002 -0.004 -0.008  1.005]
+t: 249	 action: [-0.01   0.017  0.016  0.001 -0.01   0.015  1.126]
+[07-31 01:20:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.104 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.104 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=250: Selected seed 195 with value = 0.9973
+t: 250	 action: [ 2.108e-02  1.427e-02  5.962e-02 -8.851e-04  8.694e-03  8.247e-04 -1.013e+00]
+t: 251	 action: [ 0.014  0.005  0.046 -0.008 -0.007 -0.008 -1.03 ]
+t: 252	 action: [-1.429e-02  1.746e-02  6.508e-02 -8.396e-05 -3.457e-03 -9.733e-04 -1.026e+00]
+t: 253	 action: [-0.008 -0.004  0.081 -0.005 -0.005 -0.009 -1.044]
+t: 254	 action: [-0.045  0.004  0.026 -0.003 -0.009 -0.004 -1.035]
+t: 255	 action: [-0.033  0.022  0.075 -0.001 -0.015 -0.003 -1.085]
+t: 256	 action: [-4.323e-02  1.317e-02  4.456e-02  3.243e-04 -4.836e-03 -4.278e-03 -1.032e+00]
+t: 257	 action: [-0.022  0.033  0.101  0.002 -0.011 -0.008 -1.066]
+t: 258	 action: [-1.707e-02  1.657e-02  4.274e-02 -8.426e-04 -1.074e-02  6.389e-03 -1.026e+00]
+t: 259	 action: [ 4.553e-04  1.112e-02  7.326e-02 -8.818e-03 -1.825e-02 -2.498e-03 -1.054e+00]
+t: 260	 action: [-0.014  0.031  0.057 -0.001 -0.013  0.002 -1.036]
+t: 261	 action: [ 0.004  0.024  0.093 -0.007 -0.007 -0.005 -1.049]
+t: 262	 action: [ 5.557e-03  1.956e-02  4.611e-02 -2.399e-03 -9.455e-03  3.177e-04 -1.047e+00]
+t: 263	 action: [-5.092e-04  6.265e-02  1.240e-01 -1.805e-03 -1.943e-02 -2.922e-03 -1.082e+00]
+t: 264	 action: [ 0.016  0.039  0.069 -0.001 -0.004 -0.005 -1.037]
+t: 265	 action: [ 1.549e-02  7.422e-02  1.519e-01  7.260e-05 -1.254e-02 -5.385e-03 -1.067e+00]
+[07-31 01:20:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.083 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9938
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 1.083 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=266: Selected seed 195 with value = 0.9938
+t: 266	 action: [ 0.009  0.02  -0.068  0.005  0.005 -0.003 -1.03 ]
+t: 267	 action: [ 0.005  0.028 -0.13  -0.003 -0.003 -0.013 -1.05 ]
+t: 268	 action: [-0.028  0.022 -0.056  0.005 -0.005 -0.002 -1.031]
+t: 269	 action: [-0.031  0.012 -0.063 -0.003 -0.002 -0.012 -1.045]
+t: 270	 action: [-0.045  0.017 -0.084  0.002 -0.011 -0.005 -1.041]
+t: 271	 action: [-0.04   0.022 -0.066  0.004 -0.018 -0.01  -1.08 ]
+t: 272	 action: [-0.047  0.019 -0.05   0.002 -0.01  -0.006 -1.038]
+t: 273	 action: [-0.032  0.026 -0.017  0.005 -0.013 -0.013 -1.065]
+t: 274	 action: [-0.025  0.012 -0.071  0.004 -0.009  0.004 -1.037]
+t: 275	 action: [-0.017 -0.011 -0.036 -0.005 -0.013 -0.009 -1.052]
+t: 276	 action: [-4.216e-02  2.008e-02 -5.434e-02  9.419e-04 -1.542e-02  3.372e-04 -1.040e+00]
+t: 277	 action: [-1.578e-02  2.741e-04  1.790e-02 -4.459e-03 -7.847e-03 -7.861e-03 -1.046e+00]
+t: 278	 action: [-4.242e-02  5.904e-03 -7.027e-02 -4.246e-05 -1.567e-02 -1.344e-03 -1.052e+00]
+t: 279	 action: [-0.037  0.026 -0.012  0.003 -0.025 -0.009 -1.079]
+t: 280	 action: [-3.590e-02  1.666e-02 -3.621e-02 -9.229e-04 -1.520e-02 -6.991e-03 -1.045e+00]
+t: 281	 action: [-0.024  0.04   0.005  0.004 -0.018 -0.007 -1.063]
+[07-31 01:20:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.076 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9881
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 1.076 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=282: Selected seed 195 with value = 0.9881
+t: 282	 action: [ 2.044e-02  1.718e-02 -8.619e-02  5.495e-03  7.166e-03 -4.472e-04 -1.032e+00]
+t: 283	 action: [ 1.046e-03  1.448e-02 -1.630e-01 -5.735e-04  5.791e-04 -1.360e-02 -1.055e+00]
+t: 284	 action: [-2.357e-02  1.835e-02 -7.003e-02  6.389e-03  2.004e-04 -1.958e-03 -1.033e+00]
+t: 285	 action: [-0.035  0.002 -0.088 -0.003  0.004 -0.012 -1.056]
+t: 286	 action: [-0.048  0.011 -0.096  0.004 -0.004 -0.004 -1.041]
+t: 287	 action: [-0.041  0.015 -0.08   0.006 -0.011 -0.013 -1.074]
+t: 288	 action: [-0.041  0.016 -0.063  0.004 -0.005 -0.007 -1.036]
+t: 289	 action: [-0.026  0.021 -0.021  0.003 -0.007 -0.016 -1.065]
+t: 290	 action: [-3.755e-02  1.434e-02 -9.579e-02  4.673e-03 -1.284e-04  4.435e-05 -1.034e+00]
+t: 291	 action: [-0.031 -0.017 -0.073 -0.004 -0.002 -0.012 -1.044]
+t: 292	 action: [-5.488e-02  1.821e-02 -7.266e-02  1.622e-04 -5.906e-03 -6.024e-03 -1.137e+00]
+t: 293	 action: [-7.329e-02 -8.599e-03 -1.473e-02 -5.852e-03  6.606e-04  4.806e-03 -1.106e+00]
+t: 294	 action: [-5.789e-02  8.420e-03 -9.576e-02 -5.118e-04 -7.868e-03 -4.923e-03 -1.052e+00]
+t: 295	 action: [-0.044  0.014 -0.021  0.003 -0.017 -0.011 -1.047]
+t: 296	 action: [-0.03   0.013 -0.059 -0.001 -0.008 -0.012  0.873]
+t: 297	 action: [ 7.957e-04  2.765e-02 -8.613e-03  1.272e-03 -1.241e-02  1.059e-02  1.140e+00]
+[07-31 01:20:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.099 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9806
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9806
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 18
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 36%|███▌      | 18/50 [09:31<17:11, 32.24s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 19...
+Query 1/1: Action query time = 1.099 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=298: Selected seed 195 with value = 0.9806
+t: 298	 action: [ 0.072  0.011  0.004  0.005  0.031 -0.005 -1.011]
+t: 299	 action: [ 3.084e-02  2.086e-03 -4.848e-02 -3.334e-04  8.422e-03 -1.595e-02 -1.029e+00]
+t: 300	 action: [ 0.024  0.007  0.049  0.005  0.012 -0.01  -1.029]
+t: 301	 action: [-4.874e-03 -1.864e-02  4.564e-02  9.375e-05  5.297e-03 -1.695e-02 -1.056e+00]
+t: 302	 action: [-0.05  -0.002  0.008  0.003  0.003 -0.012 -1.037]
+t: 303	 action: [-0.041  0.015  0.002  0.003 -0.008 -0.012 -1.092]
+t: 304	 action: [-6.190e-02  6.856e-03  3.744e-02  3.288e-03  4.321e-04 -1.225e-02 -1.037e+00]
+t: 305	 action: [-0.052  0.021  0.064  0.006 -0.008 -0.015 -1.062]
+t: 306	 action: [-5.283e-02  1.781e-02  1.291e-02  4.071e-03 -4.899e-03  6.952e-04 -1.003e+00]
+t: 307	 action: [-0.025 -0.014  0.038 -0.007 -0.012 -0.011 -1.051]
+t: 308	 action: [-3.962e-02  2.227e-02  3.236e-02  9.942e-04 -1.387e-02 -7.770e-03 -1.034e+00]
+t: 309	 action: [-0.008 -0.003  0.059 -0.007 -0.009 -0.014 -1.059]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=18--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=18--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 18
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 19...
+[07-31 01:20:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.112 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4941
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 1.112 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=10: Selected seed 195 with value = 0.4941
+t: 10	 action: [ 1.390e-01  9.999e-02  2.220e-04  2.924e-03 -1.042e-03 -1.581e-03 -1.023e+00]
+t: 11	 action: [ 0.257  0.173  0.014  0.003  0.003  0.001 -1.021]
+t: 12	 action: [ 3.794e-01  3.402e-01  3.599e-03  1.320e-03  1.668e-03  6.248e-04 -1.027e+00]
+t: 13	 action: [ 0.51   0.399  0.018  0.001  0.003  0.002 -1.026]
+t: 14	 action: [ 0.615  0.497  0.01  -0.003  0.01  -0.001 -1.031]
+t: 15	 action: [ 0.706  0.553  0.007  0.003  0.002  0.004 -1.059]
+t: 16	 action: [ 0.769  0.583  0.006 -0.006  0.014 -0.001 -1.019]
+t: 17	 action: [ 8.281e-01  6.154e-01  2.636e-03  2.840e-03 -6.345e-04  1.966e-03 -1.064e+00]
+t: 18	 action: [ 0.783  0.596 -0.042 -0.004  0.004  0.004 -1.031]
+t: 19	 action: [ 0.844  0.588 -0.04  -0.012  0.009  0.004 -1.032]
+t: 20	 action: [ 0.818  0.589 -0.084 -0.013  0.002  0.005 -1.035]
+t: 21	 action: [ 0.882  0.583 -0.095 -0.013  0.01   0.003 -1.03 ]
+t: 22	 action: [ 8.670e-01  5.583e-01 -1.851e-01 -1.170e-02 -4.878e-04  8.149e-04 -1.015e+00]
+t: 23	 action: [ 0.902  0.512 -0.218 -0.007 -0.004  0.002 -1.052]
+t: 24	 action: [ 0.851  0.486 -0.309 -0.012 -0.003 -0.001 -1.02 ]
+t: 25	 action: [ 8.734e-01  3.853e-01 -3.710e-01 -4.302e-03 -3.903e-03  6.565e-04 -1.060e+00]
+[07-31 01:20:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.146 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5521
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5521
+Query 1/1: Action query time = 1.146 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5521
+t=26: Selected seed 195 with value = 0.5521
+t: 26	 action: [ 0.83   0.449 -0.231  0.002  0.003  0.005 -1.038]
+t: 27	 action: [ 0.76   0.386 -0.204 -0.002  0.002 -0.002 -1.038]
+t: 28	 action: [ 0.662  0.247 -0.358  0.004 -0.007  0.002 -1.041]
+t: 29	 action: [ 0.58   0.132 -0.461  0.007 -0.006 -0.006 -1.043]
+t: 30	 action: [ 4.161e-01  7.656e-02 -5.795e-01 -3.069e-04 -1.145e-02 -8.032e-03 -1.032e+00]
+t: 31	 action: [ 0.332 -0.017 -0.693  0.016 -0.021 -0.011 -1.061]
+t: 32	 action: [ 0.268  0.023 -0.906  0.006 -0.023 -0.015 -1.037]
+t: 33	 action: [ 0.194  0.003 -0.99   0.015 -0.037 -0.016 -1.065]
+t: 34	 action: [ 0.11  -0.027 -0.967  0.012 -0.042 -0.015 -1.04 ]
+t: 35	 action: [ 0.026 -0.057 -1.031  0.005 -0.039 -0.018 -1.03 ]
+t: 36	 action: [-0.008 -0.024 -0.981  0.006 -0.043 -0.009 -1.038]
+t: 37	 action: [-0.048 -0.061 -1.034  0.001 -0.036 -0.016 -1.031]
+t: 38	 action: [-1.048e-01 -1.064e-02 -9.633e-01 -2.746e-04 -4.037e-02 -1.082e-02 -1.039e+00]
+t: 39	 action: [-0.14   0.007 -1.003  0.004 -0.035 -0.018 -1.048]
+t: 40	 action: [-0.199 -0.019 -0.953 -0.005 -0.036 -0.006 -1.035]
+t: 41	 action: [-2.271e-01 -1.521e-03 -9.852e-01 -5.641e-04 -2.592e-02 -1.548e-02 -1.052e+00]
+[07-31 01:20:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.141 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6080
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6080
+Query 1/1: Action query time = 1.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6080
+t=42: Selected seed 195 with value = 0.6080
+t: 42	 action: [-0.202  0.023 -1.019  0.005 -0.019  0.01  -1.05 ]
+t: 43	 action: [-0.192  0.006 -0.97   0.005 -0.006  0.018 -1.04 ]
+t: 44	 action: [-2.057e-01  4.634e-02 -9.034e-01  4.790e-04 -2.508e-03  1.044e-02 -1.042e+00]
+t: 45	 action: [-1.716e-01  3.993e-02 -8.546e-01  1.917e-04  4.646e-03  1.879e-02 -1.042e+00]
+t: 46	 action: [-0.214  0.054 -0.731 -0.009  0.014  0.004 -1.041]
+t: 47	 action: [-0.212  0.113 -0.778 -0.002  0.004  0.011 -1.056]
+t: 48	 action: [-0.208  0.057 -0.595 -0.017  0.023  0.002 -1.033]
+t: 49	 action: [-0.228  0.108 -0.664 -0.01   0.009  0.004 -1.056]
+t: 50	 action: [-0.209  0.011 -0.649 -0.008  0.033  0.005 -1.242]
+t: 51	 action: [-0.247 -0.02  -0.514 -0.012  0.027  0.025 -1.151]
+t: 52	 action: [-0.173  0.002 -0.557 -0.014  0.038  0.006  0.989]
+t: 53	 action: [-0.141 -0.026 -0.392 -0.015  0.032 -0.001  1.02 ]
+t: 54	 action: [-0.209 -0.015 -0.389 -0.019  0.041 -0.015  1.105]
+t: 55	 action: [-0.133 -0.031 -0.266 -0.012  0.021 -0.005  1.171]
+t: 56	 action: [-0.113 -0.024 -0.215 -0.024  0.032 -0.023  1.008]
+t: 57	 action: [-0.06  -0.024 -0.098 -0.024  0.017 -0.031  1.029]
+[07-31 01:20:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7293
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7293
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7293
+t=58: Selected seed 195 with value = 0.7293
+t: 58	 action: [-0.105 -0.037 -0.134 -0.02   0.039  0.006  0.979]
+t: 59	 action: [-2.134e-04 -3.988e-02 -2.955e-02 -2.840e-02  6.174e-02  8.533e-03  1.014e+00]
+t: 60	 action: [-0.012  0.005  0.046 -0.015  0.056  0.003  0.974]
+t: 61	 action: [ 0.015 -0.002  0.174 -0.025  0.066  0.002  1.016]
+t: 62	 action: [ 0.037  0.011  0.38  -0.01   0.065 -0.006  0.989]
+t: 63	 action: [ 0.043  0.027  0.574 -0.014  0.053 -0.006  1.011]
+t: 64	 action: [ 0.076 -0.007  0.775  0.003  0.051 -0.021  0.986]
+t: 65	 action: [ 5.560e-02  4.443e-03  8.130e-01  4.390e-04  4.860e-02 -2.176e-02  1.017e+00]
+t: 66	 action: [ 0.084 -0.094  0.875  0.004  0.063 -0.02   0.989]
+t: 67	 action: [ 0.039 -0.186  0.93   0.013  0.061 -0.021  1.012]
+t: 68	 action: [ 0.031 -0.295  0.875  0.016  0.058 -0.025  0.985]
+t: 69	 action: [ 0.03  -0.438  0.918  0.033  0.052 -0.02   1.017]
+t: 70	 action: [-0.017 -0.436  0.888  0.035  0.041 -0.019  0.997]
+t: 71	 action: [-0.025 -0.564  0.828  0.041  0.037 -0.014  1.013]
+t: 72	 action: [-0.076 -0.595  0.711  0.041  0.023 -0.026  0.997]
+t: 73	 action: [-0.102 -0.687  0.521  0.046  0.019 -0.016  1.021]
+[07-31 01:20:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8374
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8374
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8374
+t=74: Selected seed 195 with value = 0.8374
+t: 74	 action: [-0.1   -0.771  0.463  0.071 -0.005 -0.016  0.995]
+t: 75	 action: [-0.135 -0.816  0.316  0.065 -0.003 -0.02   1.021]
+t: 76	 action: [-0.162 -0.839  0.107  0.075 -0.006 -0.015  0.987]
+t: 77	 action: [-0.193 -0.867  0.016  0.066 -0.002 -0.015  1.019]
+t: 78	 action: [-0.172 -0.843 -0.068  0.067  0.001 -0.014  1.004]
+t: 79	 action: [-0.248 -0.778 -0.133  0.065 -0.01  -0.01   1.011]
+t: 80	 action: [-0.212 -0.742 -0.307  0.046 -0.005 -0.01   0.999]
+t: 81	 action: [-0.263 -0.57  -0.465  0.043 -0.015 -0.008  1.022]
+t: 82	 action: [-0.217 -0.614 -0.476  0.039 -0.02   0.001  0.998]
+t: 83	 action: [-2.364e-01 -5.114e-01 -6.355e-01  1.919e-02 -2.407e-02 -7.106e-04  1.018e+00]
+t: 84	 action: [-0.211 -0.329 -0.657  0.012 -0.031  0.004  0.981]
+t: 85	 action: [-2.149e-01 -2.926e-01 -7.494e-01  9.890e-04 -2.594e-02  3.842e-03  1.025e+00]
+t: 86	 action: [-2.694e-01 -9.184e-02 -7.609e-01 -1.462e-03 -2.981e-02 -9.443e-04  1.011e+00]
+t: 87	 action: [-0.237 -0.037 -0.796 -0.013 -0.028  0.014  1.012]
+t: 88	 action: [-0.247  0.001 -0.735 -0.009 -0.026  0.001  0.998]
+t: 89	 action: [-0.174  0.047 -0.691 -0.019 -0.016  0.014  1.021]
+[07-31 01:20:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9649
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9649
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9649
+t=90: Selected seed 195 with value = 0.9649
+t: 90	 action: [-0.149 -0.05  -0.409 -0.008  0.083  0.01   1.17 ]
+t: 91	 action: [-0.073 -0.057 -0.191 -0.022  0.087  0.019  1.053]
+t: 92	 action: [-0.066  0.012 -0.116 -0.014  0.099  0.005  1.182]
+t: 93	 action: [-0.013 -0.021  0.027 -0.02   0.101  0.006 -1.036]
+t: 94	 action: [ 0.015  0.014  0.088 -0.036  0.113  0.002 -1.203]
+t: 95	 action: [-0.005  0.025  0.134 -0.023  0.117 -0.007 -1.131]
+t: 96	 action: [ 0.082  0.005  0.247 -0.015  0.114 -0.004 -1.201]
+t: 97	 action: [ 0.064  0.038  0.354 -0.009  0.112 -0.008 -1.064]
+t: 98	 action: [ 0.076  0.019  0.337 -0.005  0.081  0.004 -1.034]
+t: 99	 action: [ 0.063  0.017  0.391 -0.005  0.083 -0.006 -1.039]
+t: 100	 action: [ 8.673e-02  2.184e-02  4.189e-01 -8.529e-04  7.431e-02  7.845e-04 -1.038e+00]
+t: 101	 action: [ 0.09   0.023  0.483 -0.002  0.089 -0.009 -1.027]
+t: 102	 action: [ 0.098  0.026  0.477  0.004  0.094 -0.005 -1.042]
+t: 103	 action: [ 0.097  0.051  0.506  0.006  0.096 -0.011 -1.053]
+t: 104	 action: [ 0.113  0.019  0.498  0.002  0.086 -0.01  -1.04 ]
+t: 105	 action: [ 0.109  0.046  0.497  0.009  0.097 -0.012 -1.062]
+[07-31 01:20:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.065  0.013  0.112  0.005  0.019  0.004 -1.043]
+t: 107	 action: [ 5.764e-02 -3.345e-02  1.179e-01  1.277e-03  1.831e-02  2.165e-04 -1.042e+00]
+t: 108	 action: [ 0.044  0.012  0.099  0.004  0.022  0.002 -1.035]
+t: 109	 action: [ 3.116e-02 -4.183e-02  1.194e-01  5.321e-04  2.561e-02  3.431e-03 -1.033e+00]
+t: 110	 action: [ 2.838e-02 -5.123e-04  8.897e-02  4.200e-03  2.145e-02 -5.272e-04 -1.032e+00]
+t: 111	 action: [ 0.025 -0.013  0.121  0.009  0.018  0.004 -1.066]
+t: 112	 action: [ 0.026  0.004  0.106  0.002  0.028 -0.002 -1.032]
+t: 113	 action: [ 0.015 -0.002  0.151  0.008  0.024  0.005 -1.06 ]
+t: 114	 action: [ 0.054  0.011  0.12   0.009  0.019  0.006 -1.044]
+t: 115	 action: [ 0.039 -0.018  0.129  0.002  0.019  0.002 -1.045]
+t: 116	 action: [ 0.045  0.015  0.122  0.007  0.026  0.004 -1.034]
+t: 117	 action: [ 0.037 -0.023  0.137  0.002  0.029  0.001 -1.043]
+t: 118	 action: [ 0.043  0.011  0.126  0.005  0.03   0.002 -1.039]
+t: 119	 action: [ 0.025  0.021  0.158  0.009  0.019  0.002 -1.066]
+t: 120	 action: [ 0.04   0.011  0.134  0.003  0.037 -0.001 -1.031]
+t: 121	 action: [ 0.02   0.017  0.171  0.009  0.028  0.003 -1.069]
+[07-31 01:20:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.042  0.026 -0.12   0.006 -0.01   0.006 -1.041]
+t: 123	 action: [ 3.607e-02 -4.001e-03 -6.775e-02  8.979e-03  6.766e-04  4.304e-03 -1.043e+00]
+t: 124	 action: [ 0.024  0.023 -0.064  0.005 -0.006  0.003 -1.031]
+t: 125	 action: [ 0.021 -0.017  0.021  0.006  0.008  0.006 -1.036]
+t: 126	 action: [ 0.011  0.023 -0.065  0.006 -0.004  0.002 -1.034]
+t: 127	 action: [ 0.007  0.007 -0.01   0.013 -0.004  0.008 -1.069]
+t: 128	 action: [ 7.259e-04  1.730e-02 -1.360e-02  3.743e-03  1.197e-03  2.711e-03 -1.028e+00]
+t: 129	 action: [-0.007  0.015  0.02   0.01   0.002  0.008 -1.061]
+t: 130	 action: [ 0.044  0.014 -0.027  0.011 -0.006  0.009 -1.041]
+t: 131	 action: [ 0.028 -0.001  0.035  0.007  0.005  0.003 -1.048]
+t: 132	 action: [ 0.023  0.023 -0.006  0.009 -0.002  0.007 -1.028]
+t: 133	 action: [ 0.028 -0.004  0.049  0.005  0.011  0.006 -1.043]
+t: 134	 action: [ 0.018  0.018  0.007  0.007  0.003  0.004 -1.037]
+t: 135	 action: [-0.004  0.035  0.012  0.011 -0.001  0.002 -1.073]
+t: 136	 action: [ 0.002  0.023  0.034  0.004  0.008  0.001 -1.027]
+t: 137	 action: [-0.013  0.038  0.068  0.01   0.007  0.006 -1.068]
+[07-31 01:20:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=138: Selected seed 195 with value = 0.9979
+t: 138	 action: [ 0.015  0.022 -0.175  0.007 -0.013  0.007 -1.039]
+t: 139	 action: [ 0.018 -0.011 -0.133  0.01  -0.002  0.006 -1.043]
+t: 140	 action: [ 0.006  0.021 -0.11   0.005 -0.008  0.005 -1.03 ]
+t: 141	 action: [ 0.019 -0.023 -0.057  0.007  0.007  0.008 -1.037]
+t: 142	 action: [-0.003  0.02  -0.106  0.005 -0.004  0.004 -1.034]
+t: 143	 action: [-0.001  0.004 -0.051  0.015 -0.004  0.01  -1.07 ]
+t: 144	 action: [-0.011  0.015 -0.055  0.003  0.001  0.005 -1.029]
+t: 145	 action: [-0.012  0.006 -0.003  0.013  0.001  0.009 -1.061]
+t: 146	 action: [ 0.026  0.01  -0.076  0.01  -0.01   0.01  -1.04 ]
+t: 147	 action: [ 0.024 -0.013 -0.058  0.008  0.001  0.003 -1.047]
+t: 148	 action: [ 0.005  0.019 -0.055  0.008 -0.006  0.008 -1.029]
+t: 149	 action: [ 0.027 -0.016  0.002  0.007  0.009  0.007 -1.043]
+t: 150	 action: [ 3.075e-03  1.276e-02 -3.617e-02  6.561e-03 -3.099e-04  4.744e-03 -1.040e+00]
+t: 151	 action: [-0.019  0.02  -0.013  0.014 -0.004  0.004 -1.073]
+t: 152	 action: [-0.017  0.014 -0.014  0.004  0.004  0.002 -1.028]
+t: 153	 action: [-0.024  0.019 -0.003  0.013  0.002  0.008 -1.068]
+[07-31 01:20:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9975
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=154: Selected seed 195 with value = 0.9975
+t: 154	 action: [ 0.03   0.016 -0.121  0.006 -0.008  0.008 -1.041]
+t: 155	 action: [ 0.028 -0.026 -0.066  0.007  0.003  0.003 -1.044]
+t: 156	 action: [ 0.021  0.02  -0.064  0.005 -0.002  0.005 -1.031]
+t: 157	 action: [ 2.173e-02 -2.808e-02  2.527e-04  4.040e-03  1.006e-02  4.728e-03 -1.037e+00]
+t: 158	 action: [ 0.017  0.015 -0.06   0.004  0.002  0.004 -1.036]
+t: 159	 action: [ 0.016  0.003 -0.009  0.012  0.002  0.006 -1.067]
+t: 160	 action: [ 0.009  0.018 -0.022  0.003  0.008  0.002 -1.03 ]
+t: 161	 action: [-0.006  0.01   0.01   0.01   0.008  0.006 -1.059]
+t: 162	 action: [ 0.034  0.015 -0.074  0.009 -0.006  0.008 -1.044]
+t: 163	 action: [ 0.033 -0.017 -0.05   0.006  0.005  0.001 -1.049]
+t: 164	 action: [ 0.011  0.022 -0.051  0.007 -0.002  0.007 -1.034]
+t: 165	 action: [ 0.029 -0.025  0.004  0.005  0.01   0.005 -1.046]
+t: 166	 action: [ 0.017  0.018 -0.034  0.005  0.004  0.003 -1.044]
+t: 167	 action: [-8.909e-03  1.409e-02 -1.347e-02  1.255e-02 -2.222e-04  1.443e-03 -1.068e+00]
+t: 168	 action: [-5.635e-03  1.923e-02 -1.609e-02  2.826e-03  8.638e-03  5.721e-04 -1.032e+00]
+t: 169	 action: [-1.848e-02  1.293e-02  1.903e-04  1.104e-02  5.692e-03  6.217e-03 -1.063e+00]
+[07-31 01:20:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9935
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=170: Selected seed 195 with value = 0.9935
+t: 170	 action: [ 0.008  0.014 -0.168  0.005 -0.01   0.009 -1.038]
+t: 171	 action: [ 7.771e-03 -2.938e-02 -1.415e-01 -1.512e-03 -8.329e-04 -2.066e-03 -1.054e+00]
+t: 172	 action: [-0.006  0.015 -0.096  0.006 -0.006  0.008 -1.031]
+t: 173	 action: [ 6.886e-04 -3.277e-02 -6.572e-02 -2.672e-03  6.108e-03  4.320e-04 -1.047e+00]
+t: 174	 action: [-0.008  0.005 -0.088  0.003 -0.002  0.003 -1.026]
+t: 175	 action: [-5.113e-03 -1.855e-03 -3.143e-02  5.111e-03 -7.014e-04 -1.645e-03 -1.064e+00]
+t: 176	 action: [-0.007  0.012 -0.042  0.002  0.002  0.002 -1.026]
+t: 177	 action: [-1.977e-02  8.753e-04 -3.588e-03  4.080e-03  3.867e-03 -2.659e-03 -1.064e+00]
+t: 178	 action: [-0.005  0.01  -0.153  0.002 -0.006  0.006 -1.039]
+t: 179	 action: [ 0.016 -0.033 -0.126 -0.003  0.002  0.017 -1.118]
+t: 180	 action: [-4.494e-02  1.383e-02 -1.223e-01  6.237e-04 -4.742e-03  6.585e-03 -1.138e+00]
+t: 181	 action: [-0.064 -0.043 -0.084 -0.005  0.004  0.019 -1.115]
+t: 182	 action: [-2.816e-02  6.882e-03 -9.501e-02 -2.653e-03 -4.525e-04  1.374e-03 -1.030e+00]
+t: 183	 action: [-0.028 -0.003 -0.043  0.005 -0.005  0.017  1.16 ]
+t: 184	 action: [-4.654e-02  6.443e-03 -7.328e-02 -2.479e-03  1.795e-03 -5.978e-04  1.093e+00]
+t: 185	 action: [-0.012 -0.002 -0.021  0.002 -0.003  0.021  1.112]
+[07-31 01:20:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9789
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=186: Selected seed 195 with value = 0.9789
+t: 186	 action: [-9.288e-03 -2.497e-02  5.557e-02  1.548e-04  6.283e-03 -3.913e-03 -1.019e+00]
+t: 187	 action: [ 0.018 -0.032  0.054 -0.008  0.013 -0.006 -1.035]
+t: 188	 action: [ 0.005 -0.003  0.089  0.002  0.009 -0.002 -1.028]
+t: 189	 action: [ 0.017 -0.019  0.086 -0.007  0.014 -0.008 -1.036]
+t: 190	 action: [-3.299e-03 -1.377e-05  7.984e-02  4.850e-03  7.038e-03 -2.863e-03 -1.040e+00]
+t: 191	 action: [-0.022  0.01   0.087  0.003  0.006 -0.003 -1.076]
+t: 192	 action: [-0.002  0.01   0.106  0.005  0.011 -0.003 -1.037]
+t: 193	 action: [-0.019  0.024  0.108  0.005  0.009 -0.009 -1.057]
+t: 194	 action: [ 0.018  0.026  0.093  0.004 -0.001  0.003 -1.04 ]
+t: 195	 action: [ 0.026  0.025  0.109 -0.005  0.008 -0.004 -1.059]
+t: 196	 action: [ 0.028  0.034  0.106  0.006  0.004  0.002 -1.037]
+t: 197	 action: [ 0.032  0.024  0.117 -0.002  0.011 -0.005 -1.047]
+t: 198	 action: [ 2.522e-02  4.015e-02  1.030e-01  2.188e-03 -3.743e-04  5.654e-04 -1.053e+00]
+t: 199	 action: [-1.605e-03  6.386e-02  1.389e-01  3.256e-03 -4.697e-04 -2.204e-03 -1.070e+00]
+t: 200	 action: [ 0.034  0.044  0.123  0.002  0.011 -0.003 -1.045]
+t: 201	 action: [-0.007  0.06   0.153  0.005  0.006 -0.002 -1.064]
+[07-31 01:20:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.007 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9923
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 1.007 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=202: Selected seed 195 with value = 0.9923
+t: 202	 action: [ 0.025  0.009 -0.218  0.004 -0.013  0.008 -1.04 ]
+t: 203	 action: [ 0.019 -0.028 -0.176 -0.003 -0.005 -0.004 -1.054]
+t: 204	 action: [ 0.013  0.014 -0.122  0.004 -0.009  0.007 -1.033]
+t: 205	 action: [ 0.009 -0.032 -0.079 -0.005  0.004 -0.002 -1.049]
+t: 206	 action: [ 9.543e-03  3.918e-03 -1.138e-01  5.809e-04 -3.087e-03  2.638e-03 -1.030e+00]
+t: 207	 action: [ 1.025e-02  9.266e-04 -4.902e-02  3.281e-03 -2.778e-03 -4.213e-03 -1.066e+00]
+t: 208	 action: [ 1.087e-02  1.221e-02 -5.805e-02 -1.531e-03  4.104e-04  1.653e-03 -1.027e+00]
+t: 209	 action: [-1.450e-02  5.162e-03 -6.032e-03  8.066e-04  6.844e-04 -5.044e-03 -1.065e+00]
+t: 210	 action: [ 1.123e-02  1.210e-02 -1.697e-01  3.935e-05 -9.193e-03  4.926e-03 -1.041e+00]
+t: 211	 action: [ 2.848e-02 -3.004e-02 -1.417e-01 -4.683e-03 -9.193e-04  1.376e-02 -1.118e+00]
+t: 212	 action: [-0.025  0.017 -0.131 -0.003 -0.008  0.006 -1.129]
+t: 213	 action: [-0.034 -0.038 -0.086 -0.007  0.003  0.015 -1.116]
+t: 214	 action: [-7.609e-03  1.084e-02 -1.016e-01 -6.514e-03 -7.169e-04 -3.570e-04 -1.033e+00]
+t: 215	 action: [-0.018  0.003 -0.047  0.002 -0.007  0.014  1.157]
+t: 216	 action: [-0.027  0.01  -0.073 -0.007  0.001 -0.002  1.094]
+t: 217	 action: [ 1.403e-03  6.252e-03 -2.040e-02 -8.098e-05 -4.310e-03  1.740e-02  1.112e+00]
+[07-31 01:20:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9679
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=218: Selected seed 195 with value = 0.9679
+t: 218	 action: [-3.534e-02 -3.146e-02  8.925e-03 -1.940e-04  5.890e-03 -6.676e-04 -9.961e-01]
+t: 219	 action: [ 0.005 -0.029  0.012 -0.011  0.011 -0.004 -1.012]
+t: 220	 action: [-1.531e-02 -8.162e-03  5.644e-02 -2.142e-04  7.559e-03 -9.829e-04 -1.023e+00]
+t: 221	 action: [ 0.008 -0.017  0.051 -0.009  0.012 -0.008 -1.037]
+t: 222	 action: [-2.452e-02 -9.514e-04  4.164e-02  3.186e-03  3.726e-03 -2.195e-03 -1.039e+00]
+t: 223	 action: [-3.176e-02  7.755e-03  2.653e-02 -1.027e-03  2.178e-03 -2.640e-03 -1.079e+00]
+t: 224	 action: [-0.017  0.009  0.081  0.004  0.007 -0.003 -1.037]
+t: 225	 action: [-0.028  0.022  0.066  0.002  0.005 -0.01  -1.055]
+t: 226	 action: [ 0.006  0.021  0.067  0.001 -0.008  0.003 -1.032]
+t: 227	 action: [ 0.021  0.014  0.086 -0.007  0.005 -0.005 -1.06 ]
+t: 228	 action: [ 0.017  0.026  0.095  0.005 -0.005  0.001 -1.038]
+t: 229	 action: [ 0.026  0.012  0.104 -0.004  0.008 -0.007 -1.05 ]
+t: 230	 action: [ 8.366e-03  2.921e-02  8.874e-02  1.277e-03 -1.054e-02  3.767e-04 -1.052e+00]
+t: 231	 action: [-0.015  0.054  0.131  0.002 -0.006 -0.005 -1.068]
+t: 232	 action: [ 1.522e-02  3.233e-02  1.183e-01  2.180e-03  3.691e-04 -2.869e-03 -1.047e+00]
+t: 233	 action: [-1.950e-02  4.948e-02  1.483e-01  4.413e-03 -4.540e-04 -4.502e-03 -1.058e+00]
+[07-31 01:20:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9851
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=234: Selected seed 195 with value = 0.9851
+t: 234	 action: [ 0.01   0.016 -0.279  0.004 -0.012  0.009 -1.04 ]
+t: 235	 action: [ 0.005 -0.019 -0.261 -0.004 -0.005 -0.004 -1.052]
+t: 236	 action: [-0.002  0.016 -0.162  0.004 -0.01   0.008 -1.034]
+t: 237	 action: [ 0.002 -0.03  -0.149 -0.005  0.003 -0.004 -1.049]
+t: 238	 action: [ 0.002  0.004 -0.144 -0.001 -0.004  0.002 -1.032]
+t: 239	 action: [-0.006  0.009 -0.084  0.003 -0.004 -0.005 -1.064]
+t: 240	 action: [-1.801e-03  1.163e-02 -8.205e-02 -1.737e-03  5.253e-04  9.003e-04 -1.034e+00]
+t: 241	 action: [-0.037  0.002 -0.034  0.002 -0.002 -0.009 -1.066]
+t: 242	 action: [ 0.002  0.008 -0.262 -0.005 -0.007  0.006 -1.039]
+t: 243	 action: [ 0.019 -0.031 -0.231 -0.006 -0.001  0.015 -1.126]
+t: 244	 action: [-0.037  0.002 -0.189 -0.008 -0.007  0.007 -1.08 ]
+t: 245	 action: [-6.522e-02 -4.180e-02 -1.610e-01 -8.324e-03  3.322e-05  1.404e-02  8.297e-01]
+t: 246	 action: [-2.546e-02  5.190e-03 -1.586e-01 -1.217e-02 -8.980e-04 -2.466e-04 -1.031e+00]
+t: 247	 action: [-0.03   0.004 -0.083  0.002 -0.009  0.012  1.146]
+t: 248	 action: [-0.046  0.001 -0.108 -0.009  0.002 -0.002  1.089]
+t: 249	 action: [-0.019  0.001 -0.037 -0.002 -0.007  0.009  1.001]
+[07-31 01:20:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9393
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9393
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9393
+t=250: Selected seed 195 with value = 0.9393
+t: 250	 action: [-0.076 -0.077 -0.128 -0.023  0.006  0.005 -1.122]
+t: 251	 action: [-0.075 -0.062 -0.092 -0.024  0.011  0.019  0.761]
+t: 252	 action: [-0.033 -0.05   0.005 -0.018  0.016  0.004 -0.685]
+t: 253	 action: [ 0.012 -0.037  0.032 -0.017  0.017 -0.007 -1.021]
+t: 254	 action: [-1.489e-02 -5.342e-02 -4.594e-02 -1.242e-02  8.788e-03  1.617e-04  1.029e+00]
+t: 255	 action: [ 0.035 -0.036 -0.023 -0.018  0.005  0.02  -0.205]
+t: 256	 action: [ 0.007 -0.022  0.069  0.001  0.012 -0.006 -1.033]
+t: 257	 action: [-0.021 -0.005  0.055 -0.004  0.012 -0.015 -1.014]
+t: 258	 action: [ 0.021  0.016  0.021 -0.004  0.003  0.005  1.127]
+t: 259	 action: [ 0.02   0.004  0.071 -0.009  0.005 -0.006  0.622]
+t: 260	 action: [3.292e-02 2.520e-02 1.059e-01 6.763e-03 5.831e-05 1.277e-03 5.627e-01]
+t: 261	 action: [ 1.293e-02  8.829e-03  1.216e-01 -9.120e-04  8.722e-03 -1.179e-02 -1.035e+00]
+t: 262	 action: [ 4.011e-02  1.862e-02  1.028e-01  3.297e-03 -6.066e-05 -1.570e-03 -1.172e+00]
+t: 263	 action: [ 0.001  0.035  0.158  0.003 -0.006 -0.015 -1.096]
+t: 264	 action: [ 0.045  0.025  0.155  0.002  0.003 -0.006 -1.083]
+t: 265	 action: [-0.039  0.035  0.184  0.009 -0.001 -0.013 -1.053]
+[07-31 01:20:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9788
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=266: Selected seed 195 with value = 0.9788
+t: 266	 action: [-0.008 -0.01  -0.057  0.005  0.015 -0.003 -1.039]
+t: 267	 action: [ 0.011 -0.051  0.009 -0.003  0.022 -0.014 -1.044]
+t: 268	 action: [-9.537e-03 -8.390e-03  8.679e-04  6.716e-03  2.045e-02 -7.449e-04 -1.035e+00]
+t: 269	 action: [ 0.012 -0.048  0.041 -0.004  0.028 -0.014 -1.046]
+t: 270	 action: [-0.013 -0.021 -0.016  0.003  0.022 -0.008 -1.039]
+t: 271	 action: [-0.016 -0.029  0.015  0.004  0.026 -0.015 -1.061]
+t: 272	 action: [-1.013e-03 -1.550e-02  3.694e-02  3.071e-03  2.367e-02 -8.186e-03 -1.040e+00]
+t: 273	 action: [-0.025 -0.017  0.052  0.004  0.028 -0.017 -1.056]
+t: 274	 action: [ 0.019  0.003 -0.036  0.002  0.018 -0.009 -1.04 ]
+t: 275	 action: [ 0.022 -0.04   0.025 -0.003  0.019 -0.014 -1.045]
+t: 276	 action: [ 5.452e-03  3.420e-03  1.004e-02  1.003e-03  1.978e-02 -4.005e-03  1.114e+00]
+t: 277	 action: [ 0.014 -0.04   0.046 -0.004  0.019 -0.008  0.937]
+t: 278	 action: [ 0.016  0.005  0.01  -0.002  0.026 -0.008 -1.048]
+t: 279	 action: [-0.015 -0.003  0.023  0.005  0.017 -0.013 -1.051]
+t: 280	 action: [ 0.014  0.009  0.051 -0.001  0.027 -0.008 -1.162]
+t: 281	 action: [-2.267e-02  2.133e-04  6.626e-02  3.237e-03  1.727e-02 -1.812e-02 -1.111e+00]
+[07-31 01:20:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9862
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=282: Selected seed 195 with value = 0.9862
+t: 282	 action: [-0.013 -0.015 -0.095  0.006  0.007  0.002 -1.034]
+t: 283	 action: [ 0.01  -0.06  -0.034 -0.003  0.016 -0.009 -1.045]
+t: 284	 action: [-0.013 -0.017 -0.029  0.005  0.014  0.006 -1.029]
+t: 285	 action: [ 0.014 -0.06   0.028 -0.005  0.022 -0.008 -1.045]
+t: 286	 action: [-0.015 -0.029 -0.032  0.004  0.021 -0.003 -1.039]
+t: 287	 action: [-0.016 -0.037 -0.004  0.005  0.021 -0.009 -1.064]
+t: 288	 action: [-0.009 -0.022  0.026  0.001  0.023 -0.002 -1.037]
+t: 289	 action: [-0.027 -0.023  0.03   0.004  0.023 -0.01  -1.059]
+t: 290	 action: [ 1.151e-02 -6.349e-03 -6.422e-02  5.758e-04  1.207e-02 -3.220e-03 -1.037e+00]
+t: 291	 action: [ 0.023 -0.05  -0.021 -0.004  0.014 -0.009 -1.046]
+t: 292	 action: [-2.353e-04 -2.264e-03 -1.898e-02 -2.165e-03  1.433e-02  2.729e-03  1.094e+00]
+t: 293	 action: [ 0.016 -0.053  0.03  -0.005  0.015 -0.003  0.918]
+t: 294	 action: [ 0.011 -0.003 -0.006 -0.003  0.025 -0.004 -1.045]
+t: 295	 action: [-1.579e-02 -1.432e-02 -6.051e-04  5.043e-03  1.078e-02 -8.311e-03 -1.063e+00]
+t: 296	 action: [ 0.004  0.003  0.038 -0.003  0.026 -0.003 -1.146]
+t: 297	 action: [-0.034 -0.009  0.039  0.004  0.011 -0.012 -1.123]
+[07-31 01:20:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9877
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9877
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 19
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 38%|███▊      | 19/50 [10:03<16:34, 32.09s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 20...
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=298: Selected seed 195 with value = 0.9877
+t: 298	 action: [-0.028 -0.019 -0.078  0.005  0.005  0.002 -1.033]
+t: 299	 action: [ 0.005 -0.055 -0.007 -0.003  0.016 -0.009 -1.045]
+t: 300	 action: [-0.022 -0.013 -0.023  0.003  0.014  0.005 -1.028]
+t: 301	 action: [ 0.009 -0.052  0.041 -0.006  0.021 -0.009 -1.046]
+t: 302	 action: [-0.034 -0.029 -0.021  0.003  0.019 -0.004 -1.037]
+t: 303	 action: [-0.027 -0.033  0.003  0.005  0.019 -0.009 -1.067]
+t: 304	 action: [-2.190e-02 -2.094e-02  3.212e-02  1.012e-04  2.228e-02 -2.581e-03 -1.036e+00]
+t: 305	 action: [-0.035 -0.017  0.047  0.004  0.021 -0.011 -1.057]
+t: 306	 action: [ 0.002 -0.005 -0.024 -0.001  0.008 -0.004 -1.03 ]
+t: 307	 action: [ 0.019 -0.042  0.021 -0.004  0.012 -0.01  -1.048]
+t: 308	 action: [-8.178e-05  4.564e-04  6.138e-03 -3.783e-03  1.308e-02  2.069e-03  1.086e+00]
+t: 309	 action: [ 0.014 -0.041  0.044 -0.005  0.015 -0.007  0.657]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=19--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=19--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 19
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 20...
+[07-31 01:20:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4691
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=10: Selected seed 195 with value = 0.4691
+t: 10	 action: [ 0.303  0.101 -0.015  0.002  0.004 -0.001 -1.02 ]
+t: 11	 action: [ 0.447  0.152  0.007  0.001  0.003 -0.01  -1.029]
+t: 12	 action: [ 6.131e-01  3.010e-01 -5.579e-03 -2.488e-03  3.958e-03  1.476e-04 -1.023e+00]
+t: 13	 action: [ 0.717  0.349  0.02  -0.003  0.003 -0.009 -1.034]
+t: 14	 action: [ 0.82   0.472  0.018 -0.005  0.007 -0.001 -1.024]
+t: 15	 action: [ 8.404e-01  5.032e-01  1.136e-02 -9.282e-04 -1.585e-04 -9.369e-03 -1.056e+00]
+t: 16	 action: [ 0.877  0.547  0.017 -0.012  0.01  -0.001 -1.025]
+t: 17	 action: [ 0.897  0.583  0.016 -0.004 -0.001 -0.01  -1.056]
+t: 18	 action: [ 0.826  0.585  0.01  -0.009  0.007  0.004 -1.029]
+t: 19	 action: [ 0.856  0.577  0.011 -0.012  0.01  -0.005 -1.034]
+t: 20	 action: [ 0.841  0.607 -0.021 -0.017  0.006  0.006 -1.033]
+t: 21	 action: [ 0.87   0.582 -0.003 -0.012  0.011 -0.003 -1.031]
+t: 22	 action: [ 0.889  0.518 -0.128 -0.011  0.004  0.003 -1.015]
+t: 23	 action: [ 8.928e-01  4.785e-01 -1.215e-01 -3.901e-03  1.003e-03 -5.035e-03 -1.051e+00]
+t: 24	 action: [ 0.829  0.357 -0.282 -0.008  0.002  0.001 -1.023]
+t: 25	 action: [ 8.509e-01  2.952e-01 -3.063e-01  2.108e-03  9.620e-04 -2.618e-03 -1.056e+00]
+[07-31 01:20:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5731
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5731
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5731
+t=26: Selected seed 195 with value = 0.5731
+t: 26	 action: [ 0.769  0.503 -0.341  0.006 -0.025  0.007 -1.02 ]
+t: 27	 action: [ 0.628  0.438 -0.381  0.001 -0.016  0.003 -1.028]
+t: 28	 action: [ 0.498  0.309 -0.572  0.006 -0.032  0.008 -1.022]
+t: 29	 action: [ 3.133e-01  1.784e-01 -7.282e-01  7.807e-03 -2.330e-02  6.429e-04 -1.033e+00]
+t: 30	 action: [ 2.110e-01  1.420e-01 -7.571e-01  2.129e-03 -2.613e-02 -9.257e-04 -1.023e+00]
+t: 31	 action: [ 0.151  0.044 -0.811  0.015 -0.024 -0.002 -1.056]
+t: 32	 action: [ 0.076  0.056 -0.939  0.002 -0.027 -0.001 -1.021]
+t: 33	 action: [ 0.007  0.062 -0.987  0.01  -0.026 -0.005 -1.059]
+t: 34	 action: [-0.043 -0.008 -0.936  0.008 -0.039 -0.011 -1.035]
+t: 35	 action: [-0.11  -0.092 -1.012 -0.002 -0.036 -0.016 -1.03 ]
+t: 36	 action: [-0.196 -0.062 -0.944  0.007 -0.04  -0.011 -1.031]
+t: 37	 action: [-0.279 -0.123 -1.021 -0.003 -0.035 -0.016 -1.031]
+t: 38	 action: [-0.342 -0.157 -0.947  0.002 -0.036 -0.009 -1.034]
+t: 39	 action: [-0.421 -0.09  -0.969  0.006 -0.033 -0.02  -1.044]
+t: 40	 action: [-5.312e-01 -1.665e-01 -9.364e-01  1.213e-04 -3.111e-02 -8.662e-03 -1.022e+00]
+t: 41	 action: [-0.51  -0.09  -0.961  0.005 -0.026 -0.017 -1.047]
+[07-31 01:20:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6527
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6527
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6527
+t=42: Selected seed 195 with value = 0.6527
+t: 42	 action: [-2.160e-01  5.642e-02 -9.571e-01  8.339e-04 -1.567e-02  6.239e-03 -1.044e+00]
+t: 43	 action: [-0.169  0.064 -0.891 -0.003  0.003  0.013 -1.031]
+t: 44	 action: [-1.643e-01  2.415e-02 -7.840e-01 -5.075e-04  3.019e-03  5.907e-03 -1.045e+00]
+t: 45	 action: [-0.117  0.024 -0.755 -0.003  0.019  0.013 -1.037]
+t: 46	 action: [-0.146 -0.002 -0.567 -0.007  0.03   0.002 -1.036]
+t: 47	 action: [-0.135  0.046 -0.586  0.002  0.016  0.009 -1.047]
+t: 48	 action: [-1.931e-01 -1.589e-02 -4.728e-01 -7.387e-03  4.169e-02 -3.833e-04 -1.042e+00]
+t: 49	 action: [-0.203  0.02  -0.497  0.003  0.034  0.002 -1.047]
+t: 50	 action: [-0.2    0.007 -0.494 -0.003  0.02   0.002 -1.097]
+t: 51	 action: [-0.206 -0.036 -0.406 -0.006  0.046  0.001  0.996]
+t: 52	 action: [-0.157 -0.018 -0.354 -0.007  0.034  0.002  0.991]
+t: 53	 action: [-0.131 -0.058 -0.262 -0.008  0.052 -0.011  1.022]
+t: 54	 action: [-0.15  -0.047 -0.177 -0.004  0.054 -0.019  1.06 ]
+t: 55	 action: [-9.295e-02 -7.386e-02 -8.145e-02  5.854e-04  5.684e-02 -2.921e-02  1.012e+00]
+t: 56	 action: [-0.097 -0.093 -0.041 -0.006  0.052 -0.032  1.009]
+t: 57	 action: [-0.035 -0.091 -0.004 -0.002  0.056 -0.043  1.023]
+[07-31 01:20:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7326
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=58: Selected seed 195 with value = 0.7326
+t: 58	 action: [-0.062 -0.095 -0.038 -0.002  0.042 -0.009  0.989]
+t: 59	 action: [ 0.028 -0.096  0.045 -0.009  0.052 -0.025  1.015]
+t: 60	 action: [ 0.024 -0.057  0.22  -0.002  0.039 -0.023  0.982]
+t: 61	 action: [ 0.033 -0.065  0.394 -0.01   0.047 -0.031  1.014]
+t: 62	 action: [ 0.08  -0.002  0.56  -0.005  0.042 -0.026  0.991]
+t: 63	 action: [ 0.052  0.009  0.762 -0.005  0.044 -0.034  1.018]
+t: 64	 action: [ 0.113 -0.004  0.884  0.003  0.03  -0.033  0.987]
+t: 65	 action: [ 0.077 -0.007  0.906  0.004  0.031 -0.038  1.022]
+t: 66	 action: [ 0.081 -0.134  0.91  -0.005  0.041 -0.032  0.988]
+t: 67	 action: [ 0.035 -0.179  0.939  0.01   0.046 -0.033  1.012]
+t: 68	 action: [ 0.049 -0.279  0.888 -0.003  0.037 -0.025  0.986]
+t: 69	 action: [ 0.023 -0.38   0.912  0.016  0.037 -0.027  1.016]
+t: 70	 action: [ 0.013 -0.413  0.869  0.01   0.034 -0.018  0.999]
+t: 71	 action: [-0.035 -0.52   0.765  0.033  0.033 -0.016  1.023]
+t: 72	 action: [-0.031 -0.564  0.578  0.013  0.024 -0.015  1.004]
+t: 73	 action: [-0.119 -0.649  0.317  0.034  0.019 -0.014  1.028]
+[07-31 01:20:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8530
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8530
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8530
+t=74: Selected seed 195 with value = 0.8530
+t: 74	 action: [-0.071 -0.799  0.321  0.069  0.03  -0.027  0.979]
+t: 75	 action: [-0.083 -0.87   0.183  0.06   0.027 -0.031  1.006]
+t: 76	 action: [-0.124 -0.832  0.047  0.066  0.028 -0.018  0.973]
+t: 77	 action: [-0.152 -0.848 -0.057  0.053  0.022 -0.023  1.003]
+t: 78	 action: [-0.137 -0.774 -0.205  0.047  0.018 -0.016  0.987]
+t: 79	 action: [-2.420e-01 -6.565e-01 -3.198e-01  4.038e-02  7.301e-04 -1.767e-02  1.000e+00]
+t: 80	 action: [-0.186 -0.622 -0.459  0.02   0.006 -0.007  0.984]
+t: 81	 action: [-0.258 -0.405 -0.639  0.02  -0.002 -0.01   1.011]
+t: 82	 action: [-1.956e-01 -3.674e-01 -6.085e-01  7.847e-03 -7.720e-03  7.726e-04  9.918e-01]
+t: 83	 action: [-2.165e-01 -2.362e-01 -7.764e-01 -5.133e-04  5.276e-03  5.447e-03  1.013e+00]
+t: 84	 action: [-1.471e-01 -1.148e-01 -7.100e-01 -9.768e-04 -1.456e-03  2.756e-03  9.857e-01]
+t: 85	 action: [-0.129 -0.092 -0.777 -0.015  0.011  0.014  1.026]
+t: 86	 action: [-0.187 -0.048 -0.673 -0.006  0.003  0.009  0.998]
+t: 87	 action: [-0.116 -0.017 -0.742 -0.018  0.004  0.022  1.011]
+t: 88	 action: [-0.109 -0.029 -0.52  -0.019  0.021  0.013  0.992]
+t: 89	 action: [-0.041 -0.019 -0.432 -0.023  0.036  0.025  1.022]
+[07-31 01:20:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9670
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=90: Selected seed 195 with value = 0.9670
+t: 90	 action: [-3.636e-02 -1.933e-02 -1.417e-01 -1.971e-02  9.934e-02  8.325e-04  1.174e+00]
+t: 91	 action: [ 2.915e-04 -2.856e-02 -1.436e-02 -2.469e-02  1.050e-01  4.063e-03  9.916e-01]
+t: 92	 action: [ 1.324e-02  1.022e-02  8.919e-02 -2.134e-02  9.846e-02  2.308e-04 -1.047e+00]
+t: 93	 action: [ 4.775e-02 -5.019e-03  2.341e-01 -2.251e-02  1.003e-01 -1.004e-03 -1.039e+00]
+t: 94	 action: [ 0.08   0.018  0.312 -0.021  0.098 -0.004 -1.197]
+t: 95	 action: [ 0.072  0.08   0.393 -0.013  0.1   -0.021 -1.109]
+t: 96	 action: [ 0.111  0.013  0.458 -0.009  0.096 -0.009 -1.04 ]
+t: 97	 action: [ 0.131  0.055  0.438 -0.005  0.094 -0.012 -1.064]
+t: 98	 action: [ 1.825e-01  8.398e-03  4.754e-01  6.672e-04  9.861e-02  2.182e-03 -1.038e+00]
+t: 99	 action: [ 1.133e-01  1.243e-03  4.558e-01 -2.696e-03  1.025e-01  9.993e-04 -1.045e+00]
+t: 100	 action: [ 1.300e-01  9.918e-03  4.369e-01  1.368e-03  9.032e-02  6.455e-04 -1.045e+00]
+t: 101	 action: [ 8.484e-02  8.552e-03  4.054e-01 -1.742e-03  9.861e-02 -3.498e-04 -1.038e+00]
+t: 102	 action: [ 5.838e-02  1.062e-02  3.596e-01  2.400e-03  7.897e-02 -9.922e-04 -1.043e+00]
+t: 103	 action: [ 3.921e-02  4.030e-02  3.360e-01  1.216e-04  6.501e-02  3.842e-04 -1.062e+00]
+t: 104	 action: [ 0.034  0.018  0.297 -0.002  0.073 -0.004 -1.05 ]
+t: 105	 action: [ 1.266e-02  4.661e-02  2.742e-01 -6.324e-04  5.815e-02  6.087e-04 -1.069e+00]
+[07-31 01:20:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.07  -0.004  0.103  0.004  0.058  0.003 -1.046]
+t: 107	 action: [ 0.07  -0.053  0.094  0.001  0.059 -0.002 -1.046]
+t: 108	 action: [ 0.047 -0.006  0.088  0.003  0.056  0.001 -1.041]
+t: 109	 action: [ 0.034 -0.053  0.093  0.002  0.066 -0.001 -1.038]
+t: 110	 action: [ 0.024 -0.012  0.069  0.004  0.055 -0.002 -1.038]
+t: 111	 action: [ 4.051e-02 -1.869e-02  1.291e-01  7.827e-03  6.453e-02 -3.858e-04 -1.072e+00]
+t: 112	 action: [ 0.025 -0.002  0.088  0.004  0.061 -0.003 -1.038]
+t: 113	 action: [ 2.163e-02 -9.262e-04  1.426e-01  9.109e-03  6.828e-02 -2.912e-03 -1.065e+00]
+t: 114	 action: [ 0.065 -0.012  0.094  0.008  0.061  0.004 -1.047]
+t: 115	 action: [ 5.157e-02 -3.992e-02  1.014e-01  1.679e-03  6.565e-02 -1.025e-03 -1.052e+00]
+t: 116	 action: [ 0.045  0.007  0.098  0.005  0.064  0.002 -1.043]
+t: 117	 action: [ 3.732e-02 -3.508e-02  1.116e-01  2.794e-03  7.608e-02 -8.042e-04 -1.046e+00]
+t: 118	 action: [ 4.185e-02 -3.979e-03  9.340e-02  5.607e-03  6.947e-02  8.183e-04 -1.045e+00]
+t: 119	 action: [ 0.037  0.01   0.144  0.007  0.067 -0.003 -1.074]
+t: 120	 action: [ 3.361e-02  7.154e-04  1.062e-01  3.604e-03  7.331e-02 -3.209e-03 -1.041e+00]
+t: 121	 action: [ 0.022  0.018  0.166  0.009  0.077 -0.002 -1.071]
+[07-31 01:20:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9962
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=122: Selected seed 195 with value = 0.9962
+t: 122	 action: [-0.048  0.041 -0.09   0.002 -0.013  0.002 -1.044]
+t: 123	 action: [-0.008  0.005 -0.073 -0.01  -0.007 -0.007 -1.047]
+t: 124	 action: [-2.748e-02  5.335e-02 -6.112e-02  9.434e-04 -1.069e-02  2.742e-03 -1.036e+00]
+t: 125	 action: [ 0.001  0.008 -0.017 -0.011  0.002 -0.006 -1.041]
+t: 126	 action: [-3.393e-02  4.983e-02 -5.533e-02 -4.696e-04 -1.406e-02 -2.697e-03 -1.040e+00]
+t: 127	 action: [-0.012  0.024 -0.023 -0.003 -0.01  -0.008 -1.07 ]
+t: 128	 action: [-0.011  0.046 -0.023 -0.002 -0.007 -0.003 -1.034]
+t: 129	 action: [-0.004  0.031  0.006 -0.004 -0.005 -0.01  -1.063]
+t: 130	 action: [ 0.006  0.009 -0.054  0.005 -0.011  0.003 -1.049]
+t: 131	 action: [ 0.01  -0.007 -0.026 -0.01  -0.007 -0.009 -1.055]
+t: 132	 action: [ 3.066e-03  1.863e-02 -2.807e-02  7.589e-05 -8.337e-03  2.947e-03 -1.038e+00]
+t: 133	 action: [ 0.018  0.008  0.014 -0.01   0.003 -0.005 -1.049]
+t: 134	 action: [ 0.002  0.006 -0.033  0.001 -0.005 -0.002 -1.046]
+t: 135	 action: [-0.014  0.024 -0.007 -0.003 -0.011 -0.012 -1.078]
+t: 136	 action: [ 0.006  0.021 -0.003 -0.002 -0.001 -0.005 -1.035]
+t: 137	 action: [-0.01   0.038  0.003 -0.003 -0.006 -0.008 -1.069]
+[07-31 01:21:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9937
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=138: Selected seed 195 with value = 0.9937
+t: 138	 action: [-0.07   0.021 -0.119  0.003 -0.013  0.003 -1.04 ]
+t: 139	 action: [-0.029 -0.015 -0.127 -0.007 -0.005 -0.007 -1.047]
+t: 140	 action: [-0.042  0.038 -0.087  0.003 -0.011  0.003 -1.034]
+t: 141	 action: [-0.006 -0.008 -0.076 -0.009  0.003 -0.006 -1.041]
+t: 142	 action: [-0.045  0.038 -0.08   0.001 -0.013 -0.003 -1.04 ]
+t: 143	 action: [-1.492e-02  1.537e-02 -5.161e-02 -8.436e-04 -7.559e-03 -8.783e-03 -1.070e+00]
+t: 144	 action: [-1.781e-02  3.941e-02 -4.549e-02 -3.609e-05 -7.380e-03 -3.081e-03 -1.035e+00]
+t: 145	 action: [-0.006  0.02  -0.012 -0.002 -0.004 -0.011 -1.062]
+t: 146	 action: [-0.014  0.01  -0.089  0.004 -0.013  0.002 -1.047]
+t: 147	 action: [ 0.004 -0.019 -0.094 -0.007 -0.009 -0.01  -1.055]
+t: 148	 action: [-1.335e-02  1.727e-02 -5.789e-02  3.391e-04 -1.033e-02  2.233e-03 -1.039e+00]
+t: 149	 action: [ 0.013 -0.007 -0.063 -0.008  0.001 -0.005 -1.049]
+t: 150	 action: [-0.007  0.006 -0.063  0.002 -0.008 -0.004 -1.048]
+t: 151	 action: [-2.057e-02  1.336e-02 -2.946e-02  2.524e-04 -1.211e-02 -1.249e-02 -1.075e+00]
+t: 152	 action: [-1.757e-03  1.790e-02 -3.052e-02 -7.124e-04 -3.470e-03 -5.889e-03 -1.038e+00]
+t: 153	 action: [-1.613e-02  2.487e-02 -1.319e-02 -3.773e-04 -6.571e-03 -8.253e-03 -1.067e+00]
+[07-31 01:21:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.087 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9922
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 1.087 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=154: Selected seed 195 with value = 0.9922
+t: 154	 action: [-0.067  0.007 -0.106  0.004 -0.007  0.002 -1.035]
+t: 155	 action: [-0.024 -0.051 -0.102 -0.006  0.004 -0.008 -1.048]
+t: 156	 action: [-0.037  0.017 -0.063  0.003 -0.002  0.004 -1.026]
+t: 157	 action: [-0.004 -0.035 -0.035 -0.008  0.007 -0.007 -1.043]
+t: 158	 action: [-0.05   0.011 -0.066  0.002 -0.002 -0.003 -1.037]
+t: 159	 action: [-1.362e-02 -9.341e-03 -2.120e-02  3.952e-04  4.612e-04 -8.216e-03 -1.071e+00]
+t: 160	 action: [-0.019  0.015 -0.028  0.001  0.002 -0.003 -1.03 ]
+t: 161	 action: [-7.912e-03  3.615e-03  5.244e-03 -8.681e-04  2.573e-03 -1.024e-02 -1.068e+00]
+t: 162	 action: [-1.719e-02  1.144e-02 -7.437e-02  2.470e-03 -4.216e-03 -3.120e-04 -1.042e+00]
+t: 163	 action: [ 7.843e-04 -3.749e-02 -8.866e-02 -5.774e-03  1.705e-03 -9.534e-03 -1.057e+00]
+t: 164	 action: [-0.015  0.018 -0.046 -0.002 -0.002  0.001 -1.031]
+t: 165	 action: [ 0.013 -0.028 -0.049 -0.007  0.006 -0.002 -1.039]
+t: 166	 action: [-6.978e-03  8.170e-03 -5.277e-02  8.525e-04  2.083e-03 -4.457e-03 -1.045e+00]
+t: 167	 action: [-0.018  0.002 -0.024  0.001 -0.005 -0.01  -1.074]
+t: 168	 action: [-1.601e-03  1.928e-02 -2.008e-02 -9.121e-04  4.250e-03 -5.680e-03 -1.031e+00]
+t: 169	 action: [-1.659e-02  1.073e-02 -5.722e-03  4.460e-04 -2.964e-03 -9.450e-04 -1.016e+00]
+[07-31 01:21:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.067 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9897
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 1.067 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=170: Selected seed 195 with value = 0.9897
+t: 170	 action: [-0.058 -0.015 -0.098  0.007 -0.006 -0.001 -1.022]
+t: 171	 action: [-0.028 -0.072 -0.09  -0.005  0.007 -0.012 -1.059]
+t: 172	 action: [-3.447e-02  5.225e-03 -4.242e-02  5.022e-03  4.958e-04  3.478e-03 -1.021e+00]
+t: 173	 action: [-0.011 -0.054 -0.012 -0.006  0.009 -0.011 -1.052]
+t: 174	 action: [-0.048 -0.007 -0.057  0.005  0.007 -0.004 -1.016]
+t: 175	 action: [-0.013 -0.03  -0.007  0.001  0.005 -0.012 -1.073]
+t: 176	 action: [-1.485e-02 -6.694e-04 -5.352e-03  2.801e-03  8.780e-03 -4.226e-03 -1.024e+00]
+t: 177	 action: [-1.144e-02 -1.656e-02  9.883e-03  7.318e-04  6.088e-03 -1.427e-02 -1.067e+00]
+t: 178	 action: [-0.021  0.011 -0.065 -0.001 -0.001 -0.006 -1.025]
+t: 179	 action: [ 2.570e-04 -5.735e-02 -7.535e-02 -5.056e-03  2.891e-03  6.129e-03 -1.079e+00]
+t: 180	 action: [-1.752e-02  1.797e-02 -5.155e-02 -6.082e-03 -2.940e-06 -1.570e-03  1.040e+00]
+t: 181	 action: [-0.014 -0.046 -0.041 -0.006  0.006 -0.007  0.888]
+t: 182	 action: [-0.01   0.004 -0.045 -0.002  0.006 -0.007 -1.016]
+t: 183	 action: [-0.011 -0.019 -0.02   0.002 -0.005  0.012  1.073]
+t: 184	 action: [-2.114e-04  1.226e-02 -1.278e-02 -3.245e-03  6.407e-03 -8.170e-03 -1.115e+00]
+t: 185	 action: [-3.892e-02 -7.471e-03  4.188e-04 -1.210e-03 -4.522e-03 -1.603e-02 -1.108e+00]
+[07-31 01:21:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.118 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9937
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 1.118 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=186: Selected seed 195 with value = 0.9937
+t: 186	 action: [-4.884e-02  5.359e-03  1.066e-01 -3.470e-03 -2.138e-02 -1.099e-04 -1.009e+00]
+t: 187	 action: [-0.008 -0.027  0.111 -0.008 -0.013 -0.008 -1.038]
+t: 188	 action: [-4.968e-02  1.695e-02  1.104e-01 -5.268e-03 -2.560e-02  7.173e-04 -1.009e+00]
+t: 189	 action: [-0.005 -0.013  0.115 -0.006 -0.014 -0.006 -1.033]
+t: 190	 action: [-5.101e-02  3.364e-03  8.871e-02  4.781e-05 -3.271e-02 -2.896e-03 -1.016e+00]
+t: 191	 action: [-4.304e-02  2.077e-02  1.024e-01 -3.045e-04 -2.714e-02 -7.503e-03 -1.071e+00]
+t: 192	 action: [-4.198e-02  1.660e-02  1.094e-01 -3.662e-04 -2.716e-02 -2.777e-03 -1.016e+00]
+t: 193	 action: [-0.033  0.039  0.108  0.004 -0.021 -0.01  -1.06 ]
+t: 194	 action: [-0.003  0.018  0.11   0.002 -0.038  0.004 -1.017]
+t: 195	 action: [ 8.339e-03  1.681e-02  1.232e-01 -5.143e-04 -2.992e-02 -5.329e-03 -1.049e+00]
+t: 196	 action: [-0.011  0.027  0.114  0.004 -0.033  0.004 -1.011]
+t: 197	 action: [ 0.012  0.022  0.125  0.002 -0.018 -0.006 -1.037]
+t: 198	 action: [-0.004  0.028  0.106  0.002 -0.032 -0.001 -1.023]
+t: 199	 action: [-0.028  0.068  0.123  0.004 -0.03  -0.008 -1.077]
+t: 200	 action: [-0.003  0.039  0.129  0.002 -0.021 -0.004 -1.017]
+t: 201	 action: [-0.021  0.072  0.147  0.006 -0.018 -0.008 -1.066]
+[07-31 01:21:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.160 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9980
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 1.160 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=202: Selected seed 195 with value = 0.9980
+t: 202	 action: [-0.037  0.021 -0.046  0.002 -0.014  0.003 -1.043]
+t: 203	 action: [ 0.002 -0.009 -0.012 -0.009 -0.006 -0.006 -1.046]
+t: 204	 action: [-0.023  0.034 -0.022 -0.002 -0.011  0.003 -1.035]
+t: 205	 action: [ 7.846e-03  2.645e-04  2.856e-02 -1.019e-02  3.177e-03 -5.504e-03 -1.041e+00]
+t: 206	 action: [-0.025  0.032 -0.027 -0.002 -0.014 -0.002 -1.037]
+t: 207	 action: [-0.009  0.018  0.003 -0.003 -0.009 -0.006 -1.072]
+t: 208	 action: [-0.008  0.037  0.003 -0.003 -0.008 -0.003 -1.034]
+t: 209	 action: [-0.003  0.031  0.021 -0.004 -0.005 -0.008 -1.064]
+t: 210	 action: [ 9.646e-03  9.659e-03 -2.162e-02  2.422e-04 -1.216e-02  3.649e-03 -1.046e+00]
+t: 211	 action: [ 0.013 -0.001  0.011 -0.01  -0.004 -0.008 -1.051]
+t: 212	 action: [-2.358e-04  2.391e-02 -5.345e-04 -3.859e-03 -9.258e-03  2.923e-03 -1.037e+00]
+t: 213	 action: [ 0.018  0.01   0.036 -0.01   0.004 -0.004 -1.047]
+t: 214	 action: [ 0.007  0.013 -0.01  -0.002 -0.006 -0.002 -1.043]
+t: 215	 action: [-0.01   0.029  0.006 -0.003 -0.01  -0.009 -1.076]
+t: 216	 action: [ 0.008  0.031  0.015 -0.003 -0.002 -0.004 -1.033]
+t: 217	 action: [-0.007  0.041  0.017 -0.003 -0.005 -0.006 -1.071]
+[07-31 01:21:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.185 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9987
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 1.185 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=218: Selected seed 195 with value = 0.9987
+t: 218	 action: [-0.026  0.013 -0.052  0.003 -0.011  0.003 -1.044]
+t: 219	 action: [ 0.006 -0.02  -0.03  -0.008 -0.003 -0.007 -1.046]
+t: 220	 action: [-1.641e-02  2.066e-02 -3.263e-02 -2.768e-05 -9.100e-03  3.053e-03 -1.036e+00]
+t: 221	 action: [ 0.008 -0.014  0.008 -0.009  0.004 -0.005 -1.041]
+t: 222	 action: [-1.891e-02  1.755e-02 -3.746e-02  4.028e-04 -1.050e-02 -2.326e-03 -1.037e+00]
+t: 223	 action: [-0.004  0.006 -0.007 -0.002 -0.007 -0.007 -1.071]
+t: 224	 action: [-0.006  0.024 -0.013 -0.001 -0.006 -0.003 -1.035]
+t: 225	 action: [-0.001  0.017  0.01  -0.002 -0.004 -0.008 -1.064]
+t: 226	 action: [ 0.011  0.005 -0.037  0.002 -0.01   0.003 -1.047]
+t: 227	 action: [ 0.013 -0.016 -0.021 -0.008 -0.002 -0.008 -1.054]
+t: 228	 action: [-0.002  0.017 -0.017 -0.003 -0.008  0.003 -1.039]
+t: 229	 action: [ 0.018 -0.007  0.009 -0.008  0.004 -0.004 -1.048]
+t: 230	 action: [ 6.805e-03  5.965e-03 -2.780e-02 -2.830e-04 -4.959e-03 -2.311e-03 -1.044e+00]
+t: 231	 action: [-0.009  0.013 -0.006 -0.002 -0.01  -0.01  -1.075]
+t: 232	 action: [ 0.004  0.02  -0.005 -0.002 -0.003 -0.004 -1.036]
+t: 233	 action: [-0.008  0.023  0.002 -0.002 -0.006 -0.006 -1.069]
+[07-31 01:21:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.134 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9980
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 1.134 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=234: Selected seed 195 with value = 0.9980
+t: 234	 action: [-0.028  0.009 -0.056  0.004 -0.009  0.003 -1.041]
+t: 235	 action: [ 0.005 -0.028 -0.036 -0.007 -0.002 -0.006 -1.046]
+t: 236	 action: [-1.970e-02  1.642e-02 -3.277e-02  2.186e-04 -6.726e-03  3.325e-03 -1.035e+00]
+t: 237	 action: [ 0.008 -0.02   0.008 -0.009  0.005 -0.005 -1.041]
+t: 238	 action: [-2.299e-02  1.363e-02 -3.516e-02  1.008e-03 -8.189e-03 -1.999e-03 -1.036e+00]
+t: 239	 action: [-5.038e-03  1.499e-03 -4.483e-03 -9.440e-04 -6.069e-03 -6.546e-03 -1.070e+00]
+t: 240	 action: [-1.049e-02  2.040e-02 -8.520e-03 -8.420e-04 -4.593e-03 -2.547e-03 -1.034e+00]
+t: 241	 action: [-0.002  0.014  0.011 -0.002 -0.003 -0.008 -1.064]
+t: 242	 action: [ 0.002  0.007 -0.038  0.001 -0.007  0.003 -1.045]
+t: 243	 action: [ 0.011 -0.021 -0.026 -0.007 -0.001 -0.008 -1.054]
+t: 244	 action: [-0.008  0.017 -0.016 -0.003 -0.006  0.003 -1.038]
+t: 245	 action: [ 0.017 -0.014  0.008 -0.008  0.005 -0.004 -1.048]
+t: 246	 action: [ 8.552e-04  7.542e-03 -2.489e-02 -2.329e-04 -3.389e-03 -2.507e-03 -1.044e+00]
+t: 247	 action: [-1.055e-02  1.000e-02 -6.487e-03 -1.063e-03 -9.017e-03 -9.461e-03 -1.074e+00]
+t: 248	 action: [-4.127e-05  2.020e-02 -1.165e-03 -1.870e-03 -1.501e-03 -4.388e-03 -1.035e+00]
+t: 249	 action: [-0.01   0.019  0.002 -0.001 -0.005 -0.006 -1.067]
+[07-31 01:21:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=250: Selected seed 195 with value = 0.9977
+t: 250	 action: [-0.027  0.007 -0.046  0.004 -0.009  0.004 -1.041]
+t: 251	 action: [ 0.005 -0.033 -0.021 -0.008 -0.001 -0.005 -1.046]
+t: 252	 action: [-1.781e-02  1.500e-02 -1.873e-02 -6.348e-04 -5.983e-03  3.930e-03 -1.036e+00]
+t: 253	 action: [ 0.008 -0.021  0.022 -0.01   0.005 -0.004 -1.041]
+t: 254	 action: [-2.222e-02  1.067e-02 -2.354e-02  8.595e-04 -6.655e-03 -1.205e-03 -1.037e+00]
+t: 255	 action: [-2.350e-03  4.028e-04  3.704e-03 -1.179e-03 -5.121e-03 -5.305e-03 -1.070e+00]
+t: 256	 action: [-8.096e-03  1.926e-02  4.493e-03 -8.331e-04 -3.552e-03 -2.176e-03 -1.035e+00]
+t: 257	 action: [-3.451e-04  1.549e-02  1.911e-02 -2.139e-03 -2.723e-03 -7.228e-03 -1.064e+00]
+t: 258	 action: [ 6.662e-04  8.785e-03 -2.475e-02 -1.727e-04 -7.341e-03  3.844e-03 -1.046e+00]
+t: 259	 action: [ 1.135e-02 -2.101e-02 -1.333e-02 -8.014e-03 -5.778e-04 -6.498e-03 -1.054e+00]
+t: 260	 action: [-0.008  0.021 -0.004 -0.004 -0.006  0.003 -1.039]
+t: 261	 action: [ 0.017 -0.015  0.021 -0.009  0.005 -0.003 -1.048]
+t: 262	 action: [ 1.784e-03  1.083e-02 -1.301e-02 -8.280e-04 -3.133e-03 -2.147e-03 -1.044e+00]
+t: 263	 action: [-0.009  0.011 -0.002 -0.001 -0.008 -0.008 -1.074]
+t: 264	 action: [ 1.749e-03  2.403e-02  1.019e-02 -2.031e-03 -8.778e-04 -4.225e-03 -1.035e+00]
+t: 265	 action: [-0.009  0.02   0.008 -0.001 -0.005 -0.005 -1.067]
+[07-31 01:21:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9975
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=266: Selected seed 195 with value = 0.9975
+t: 266	 action: [-0.026  0.007 -0.042  0.003 -0.008  0.005 -1.041]
+t: 267	 action: [ 0.006 -0.031 -0.026 -0.008 -0.001 -0.004 -1.047]
+t: 268	 action: [-0.018  0.015 -0.018 -0.002 -0.005  0.004 -1.036]
+t: 269	 action: [ 0.007 -0.02   0.018 -0.01   0.005 -0.003 -1.04 ]
+t: 270	 action: [-2.325e-02  1.087e-02 -2.263e-02  1.221e-03 -6.521e-03 -7.357e-04 -1.036e+00]
+t: 271	 action: [-0.003  0.002  0.003 -0.001 -0.005 -0.004 -1.07 ]
+t: 272	 action: [-9.038e-03  2.084e-02  3.085e-03 -8.380e-04 -3.540e-03 -1.875e-03 -1.034e+00]
+t: 273	 action: [-4.918e-04  1.644e-02  1.655e-02 -2.646e-03 -2.408e-03 -6.616e-03 -1.063e+00]
+t: 274	 action: [ 6.315e-04  9.860e-03 -2.248e-02 -1.398e-03 -6.627e-03  4.202e-03 -1.045e+00]
+t: 275	 action: [ 1.125e-02 -1.963e-02 -1.592e-02 -8.382e-03 -2.765e-04 -5.777e-03 -1.053e+00]
+t: 276	 action: [-0.008  0.023 -0.003 -0.005 -0.005  0.004 -1.039]
+t: 277	 action: [ 0.015 -0.014  0.017 -0.009  0.005 -0.003 -1.048]
+t: 278	 action: [ 1.911e-03  1.323e-02 -1.293e-02 -7.754e-04 -2.792e-03 -1.708e-03 -1.044e+00]
+t: 279	 action: [-0.009  0.012 -0.003 -0.002 -0.008 -0.008 -1.073]
+t: 280	 action: [ 1.454e-03  2.761e-02  8.651e-03 -2.134e-03 -9.235e-04 -3.894e-03 -1.036e+00]
+t: 281	 action: [-0.009  0.021  0.006 -0.002 -0.005 -0.005 -1.066]
+[07-31 01:21:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=282: Selected seed 195 with value = 0.9973
+t: 282	 action: [-0.022  0.006 -0.036  0.003 -0.007  0.005 -1.041]
+t: 283	 action: [ 6.030e-03 -3.341e-02 -1.548e-02 -8.010e-03 -3.833e-04 -3.068e-03 -1.046e+00]
+t: 284	 action: [-0.017  0.014 -0.012 -0.002 -0.005  0.004 -1.036]
+t: 285	 action: [ 0.007 -0.022  0.024 -0.01   0.006 -0.003 -1.041]
+t: 286	 action: [-2.248e-02  9.647e-03 -1.821e-02  1.160e-03 -6.412e-03 -5.265e-04 -1.036e+00]
+t: 287	 action: [-2.161e-03 -2.071e-04  7.635e-03 -1.363e-03 -4.117e-03 -3.801e-03 -1.069e+00]
+t: 288	 action: [-8.729e-03  1.967e-02  6.343e-03 -8.586e-04 -3.526e-03 -1.712e-03 -1.035e+00]
+t: 289	 action: [-3.775e-04  1.499e-02  2.132e-02 -2.754e-03 -1.960e-03 -6.265e-03 -1.063e+00]
+t: 290	 action: [ 0.001  0.01  -0.018 -0.002 -0.006  0.004 -1.045]
+t: 291	 action: [ 1.135e-02 -2.226e-02 -8.979e-03 -8.096e-03  4.943e-04 -5.313e-03 -1.054e+00]
+t: 292	 action: [-8.438e-03  2.310e-02  2.455e-04 -5.702e-03 -4.988e-03  3.544e-03 -1.039e+00]
+t: 293	 action: [ 0.015 -0.017  0.023 -0.009  0.005 -0.003 -1.048]
+t: 294	 action: [ 1.616e-03  1.412e-02 -9.586e-03 -6.227e-04 -2.723e-03 -1.825e-03 -1.043e+00]
+t: 295	 action: [-8.895e-03  1.026e-02 -2.460e-04 -1.506e-03 -7.628e-03 -7.588e-03 -1.073e+00]
+t: 296	 action: [ 0.002  0.028  0.011 -0.002 -0.001 -0.004 -1.036]
+t: 297	 action: [-0.009  0.019  0.008 -0.002 -0.005 -0.005 -1.066]
+[07-31 01:21:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.076 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9973
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 20
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 40%|████      | 20/50 [10:35<16:03, 32.10s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 21...
+Query 1/1: Action query time = 1.076 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=298: Selected seed 195 with value = 0.9973
+t: 298	 action: [-0.022  0.006 -0.032  0.003 -0.008  0.005 -1.041]
+t: 299	 action: [ 6.559e-03 -3.312e-02 -1.570e-02 -8.221e-03 -4.316e-04 -2.494e-03 -1.047e+00]
+t: 300	 action: [-0.017  0.014 -0.009 -0.003 -0.006  0.005 -1.036]
+t: 301	 action: [ 0.007 -0.023  0.023 -0.011  0.006 -0.002 -1.041]
+t: 302	 action: [-2.307e-02  9.626e-03 -1.514e-02  9.116e-04 -7.383e-03 -6.118e-04 -1.036e+00]
+t: 303	 action: [-3.122e-03 -6.601e-04  8.247e-03 -1.578e-03 -3.985e-03 -3.448e-03 -1.068e+00]
+t: 304	 action: [-9.203e-03  1.886e-02  8.225e-03 -1.015e-03 -4.827e-03 -1.626e-03 -1.035e+00]
+t: 305	 action: [-0.001  0.014  0.022 -0.003 -0.002 -0.006 -1.063]
+t: 306	 action: [ 0.002  0.01  -0.013 -0.002 -0.006  0.004 -1.046]
+t: 307	 action: [ 1.179e-02 -2.283e-02 -6.237e-03 -8.361e-03  5.667e-04 -4.778e-03 -1.054e+00]
+t: 308	 action: [-0.008  0.022  0.003 -0.006 -0.006  0.004 -1.04 ]
+t: 309	 action: [ 0.014 -0.018  0.023 -0.009  0.005 -0.002 -1.048]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=20--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=20--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 20
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 21...
+[07-31 01:21:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4534
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4534
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4534
+t=10: Selected seed 195 with value = 0.4534
+t: 10	 action: [ 0.092  0.035 -0.018  0.004  0.007  0.001 -1.021]
+t: 11	 action: [ 2.251e-01  8.363e-02 -1.831e-03  2.324e-03  7.897e-03  3.352e-04 -1.026e+00]
+t: 12	 action: [ 0.357  0.211 -0.007  0.004  0.013  0.004 -1.026]
+t: 13	 action: [ 4.767e-01  2.820e-01  9.344e-03 -1.739e-04  1.055e-02  1.725e-03 -1.030e+00]
+t: 14	 action: [ 5.730e-01  3.761e-01 -3.750e-03  2.671e-04  1.128e-02 -1.231e-04 -1.039e+00]
+t: 15	 action: [ 0.671  0.453  0.003  0.003  0.006  0.001 -1.056]
+t: 16	 action: [ 0.747  0.532  0.008 -0.003  0.019  0.001 -1.029]
+t: 17	 action: [ 8.029e-01  5.701e-01  9.368e-03  6.721e-04  8.423e-03  1.828e-03 -1.059e+00]
+t: 18	 action: [ 0.76   0.551  0.022  0.005  0.018  0.007 -1.028]
+t: 19	 action: [ 8.086e-01  5.735e-01  1.937e-02 -4.782e-03  1.567e-02  8.429e-04 -1.030e+00]
+t: 20	 action: [ 0.796  0.575  0.02  -0.01   0.02   0.008 -1.025]
+t: 21	 action: [ 0.843  0.589  0.006 -0.01   0.021  0.003 -1.029]
+t: 22	 action: [ 8.390e-01  5.687e-01 -3.539e-02 -1.446e-04  1.820e-02  4.236e-03 -1.014e+00]
+t: 23	 action: [ 8.595e-01  5.673e-01 -2.210e-02 -5.860e-04  6.387e-03  5.368e-04 -1.048e+00]
+t: 24	 action: [ 0.849  0.526 -0.096 -0.009  0.021  0.002 -1.013]
+t: 25	 action: [ 0.88   0.49  -0.089 -0.005  0.011  0.003 -1.057]
+[07-31 01:21:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5401
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5401
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5401
+t=26: Selected seed 195 with value = 0.5401
+t: 26	 action: [ 0.846  0.523 -0.162  0.007  0.006  0.007 -1.034]
+t: 27	 action: [ 7.903e-01  4.935e-01 -1.845e-01  3.109e-03  7.438e-03  9.230e-04 -1.033e+00]
+t: 28	 action: [ 0.737  0.397 -0.27   0.01   0.001  0.008 -1.045]
+t: 29	 action: [ 0.607  0.295 -0.296  0.007  0.005 -0.003 -1.04 ]
+t: 30	 action: [ 4.527e-01  1.699e-01 -4.223e-01  1.678e-04  8.103e-04 -8.206e-04 -1.027e+00]
+t: 31	 action: [ 3.352e-01  9.586e-02 -5.314e-01  2.142e-02 -2.021e-04 -3.346e-03 -1.057e+00]
+t: 32	 action: [ 0.194  0.013 -0.711  0.006 -0.004 -0.003 -1.039]
+t: 33	 action: [ 0.118 -0.026 -0.834  0.025 -0.009 -0.008 -1.061]
+t: 34	 action: [ 0.017 -0.035 -0.841  0.005 -0.027 -0.01  -1.037]
+t: 35	 action: [-0.042 -0.119 -0.931  0.007 -0.031 -0.015 -1.034]
+t: 36	 action: [-0.171 -0.113 -0.914  0.003 -0.036 -0.011 -1.04 ]
+t: 37	 action: [-0.22  -0.158 -1.     0.005 -0.042 -0.015 -1.035]
+t: 38	 action: [-2.934e-01 -2.301e-01 -9.210e-01  4.886e-05 -4.318e-02 -6.654e-03 -1.035e+00]
+t: 39	 action: [-0.349 -0.14  -0.949  0.017 -0.053 -0.016 -1.05 ]
+t: 40	 action: [-0.442 -0.208 -0.924 -0.001 -0.045 -0.005 -1.034]
+t: 41	 action: [-0.435 -0.129 -0.946  0.014 -0.054 -0.012 -1.053]
+[07-31 01:21:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6304
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6304
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6304
+t=42: Selected seed 195 with value = 0.6304
+t: 42	 action: [-0.106  0.046 -1.014  0.011 -0.027  0.008 -1.048]
+t: 43	 action: [-0.14   0.026 -1.011  0.011 -0.023  0.013 -1.038]
+t: 44	 action: [-0.124  0.023 -0.992  0.006 -0.019  0.008 -1.04 ]
+t: 45	 action: [-0.138  0.019 -0.946  0.006 -0.011  0.013 -1.034]
+t: 46	 action: [-1.547e-01  2.691e-02 -8.506e-01 -1.415e-04 -8.307e-03  3.073e-03 -1.035e+00]
+t: 47	 action: [-1.770e-01  8.014e-02 -8.788e-01  6.724e-04 -7.215e-03  6.051e-03 -1.053e+00]
+t: 48	 action: [-0.173  0.026 -0.744 -0.006 -0.006  0.003 -1.031]
+t: 49	 action: [-0.224  0.075 -0.778 -0.004 -0.004 -0.002 -1.05 ]
+t: 50	 action: [-2.099e-01  1.163e-02 -7.452e-01 -2.919e-03 -1.007e-03  5.880e-03 -1.207e+00]
+t: 51	 action: [-0.308 -0.041 -0.693 -0.008  0.002  0.022 -1.172]
+t: 52	 action: [-0.257 -0.027 -0.664 -0.005  0.004  0.008 -1.189]
+t: 53	 action: [-0.301 -0.066 -0.576 -0.007  0.007  0.01   1.032]
+t: 54	 action: [-0.285 -0.006 -0.513 -0.012  0.007 -0.003  1.12 ]
+t: 55	 action: [-2.554e-01 -3.285e-02 -3.966e-01 -7.688e-03  3.707e-04  6.721e-03  1.187e+00]
+t: 56	 action: [-0.231 -0.023 -0.36  -0.015  0.011 -0.004  1.097]
+t: 57	 action: [-0.159 -0.05  -0.207 -0.008  0.006 -0.003  1.056]
+[07-31 01:21:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7168
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7168
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7168
+t=58: Selected seed 195 with value = 0.7168
+t: 58	 action: [-0.34  -0.038 -0.349 -0.011  0.019  0.004  0.971]
+t: 59	 action: [-0.231 -0.052 -0.17  -0.02   0.043  0.001  1.005]
+t: 60	 action: [-0.158 -0.061 -0.095 -0.007  0.047  0.002  0.97 ]
+t: 61	 action: [-0.035 -0.063  0.044 -0.019  0.065 -0.006  1.004]
+t: 62	 action: [-0.016 -0.036  0.16  -0.012  0.081 -0.007  0.989]
+t: 63	 action: [ 0.074 -0.039  0.316 -0.015  0.082 -0.008  1.014]
+t: 64	 action: [ 0.074 -0.018  0.56  -0.006  0.088 -0.013  0.988]
+t: 65	 action: [ 0.067 -0.011  0.678 -0.008  0.079 -0.023  1.016]
+t: 66	 action: [ 1.354e-01 -4.081e-02  8.040e-01  4.739e-04  9.195e-02 -4.515e-03  9.765e-01]
+t: 67	 action: [ 1.474e-01 -4.564e-02  8.874e-01 -7.367e-04  8.985e-02 -1.982e-02  9.993e-01]
+t: 68	 action: [ 0.184 -0.022  0.892 -0.004  0.067 -0.005  0.962]
+t: 69	 action: [ 0.149 -0.044  0.944  0.007  0.07  -0.019  1.003]
+t: 70	 action: [ 0.081 -0.081  0.929  0.01   0.053 -0.005  0.988]
+t: 71	 action: [ 0.003 -0.201  0.94   0.032  0.038 -0.01   1.017]
+t: 72	 action: [-0.016 -0.35   0.891  0.026  0.025 -0.002  0.985]
+t: 73	 action: [-0.095 -0.467  0.778  0.045  0.017 -0.004  1.022]
+[07-31 01:21:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8386
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8386
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8386
+t=74: Selected seed 195 with value = 0.8386
+t: 74	 action: [-4.746e-05 -6.930e-01  7.400e-01  5.835e-02  5.138e-02 -1.554e-02  9.920e-01]
+t: 75	 action: [-9.481e-04 -7.463e-01  5.655e-01  5.290e-02  4.971e-02 -1.972e-02  1.012e+00]
+t: 76	 action: [-0.045 -0.783  0.406  0.068  0.038 -0.017  0.982]
+t: 77	 action: [-0.044 -0.843  0.225  0.06   0.033 -0.019  1.007]
+t: 78	 action: [-0.057 -0.833  0.087  0.061  0.03  -0.01   0.996]
+t: 79	 action: [-0.115 -0.827  0.027  0.053  0.014 -0.007  1.008]
+t: 80	 action: [-0.101 -0.801 -0.125  0.051  0.015 -0.011  0.987]
+t: 81	 action: [-0.152 -0.726 -0.19   0.042  0.002 -0.009  1.012]
+t: 82	 action: [-9.321e-02 -7.098e-01 -2.731e-01  4.827e-02 -5.692e-04 -1.346e-03  9.882e-01]
+t: 83	 action: [-0.115 -0.64  -0.45   0.026 -0.006 -0.005  1.009]
+t: 84	 action: [-0.102 -0.469 -0.529  0.013 -0.016  0.001  0.971]
+t: 85	 action: [-0.134 -0.401 -0.694  0.004 -0.011 -0.004  1.014]
+t: 86	 action: [-0.174 -0.177 -0.69  -0.003 -0.032 -0.001  0.998]
+t: 87	 action: [-0.195 -0.142 -0.816 -0.011 -0.031  0.004  1.005]
+t: 88	 action: [-2.230e-01 -8.383e-02 -7.314e-01 -9.921e-03 -3.457e-02 -9.150e-04  9.826e-01]
+t: 89	 action: [-0.22  -0.052 -0.79  -0.02  -0.024  0.003  1.01 ]
+[07-31 01:21:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9505
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=90: Selected seed 195 with value = 0.9505
+t: 90	 action: [-2.136e-01 -1.203e-01 -6.562e-01 -1.911e-04  2.340e-02  6.192e-03  1.150e+00]
+t: 91	 action: [-0.108 -0.118 -0.561 -0.014  0.04   0.018  1.031]
+t: 92	 action: [-0.126 -0.026 -0.29  -0.003  0.052  0.005  1.155]
+t: 93	 action: [-0.049 -0.066 -0.18  -0.014  0.077  0.014 -0.867]
+t: 94	 action: [-0.01   0.013 -0.032 -0.016  0.097  0.001 -1.187]
+t: 95	 action: [-0.006  0.048  0.092 -0.014  0.115 -0.01  -1.112]
+t: 96	 action: [ 0.08  -0.003  0.165 -0.009  0.107 -0.004 -1.201]
+t: 97	 action: [ 0.064  0.041  0.233 -0.005  0.116 -0.01  -1.07 ]
+t: 98	 action: [ 0.085  0.015  0.281 -0.009  0.081  0.002 -1.04 ]
+t: 99	 action: [ 0.08  -0.002  0.362 -0.007  0.094 -0.01  -1.044]
+t: 100	 action: [ 0.112  0.017  0.39  -0.002  0.083 -0.003 -1.037]
+t: 101	 action: [ 0.12   0.007  0.466 -0.003  0.104 -0.017 -1.036]
+t: 102	 action: [ 1.156e-01  1.880e-02  4.345e-01  9.465e-04  1.120e-01 -8.366e-03 -1.045e+00]
+t: 103	 action: [ 0.153  0.05   0.497  0.005  0.117 -0.015 -1.053]
+t: 104	 action: [ 1.435e-01  1.119e-02  4.558e-01  4.883e-04  1.044e-01 -1.483e-02 -1.039e+00]
+t: 105	 action: [ 0.158  0.043  0.483  0.007  0.113 -0.018 -1.064]
+[07-31 01:21:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 1.157e-01 -7.294e-04  2.751e-01  3.579e-03  5.948e-02  3.018e-04 -1.038e+00]
+t: 107	 action: [ 1.025e-01 -2.726e-02  2.513e-01  5.387e-03  6.228e-02 -7.587e-04 -1.041e+00]
+t: 108	 action: [ 1.066e-01  3.356e-04  2.456e-01  3.645e-03  6.175e-02 -2.434e-03 -1.036e+00]
+t: 109	 action: [ 8.483e-02 -3.215e-02  2.360e-01  8.522e-03  7.004e-02 -3.157e-04 -1.032e+00]
+t: 110	 action: [ 0.063 -0.01   0.216  0.006  0.071 -0.002 -1.033]
+t: 111	 action: [ 0.068 -0.003  0.244  0.013  0.074  0.001 -1.061]
+t: 112	 action: [ 0.074 -0.002  0.215  0.006  0.077 -0.004 -1.034]
+t: 113	 action: [ 0.068  0.01   0.226  0.016  0.076 -0.002 -1.056]
+t: 114	 action: [ 0.129 -0.001  0.225  0.011  0.063  0.001 -1.035]
+t: 115	 action: [ 0.105 -0.026  0.222  0.011  0.067 -0.001 -1.043]
+t: 116	 action: [ 0.116  0.006  0.217  0.011  0.07  -0.001 -1.031]
+t: 117	 action: [ 0.1   -0.023  0.218  0.013  0.08  -0.003 -1.038]
+t: 118	 action: [ 1.049e-01  3.406e-03  2.219e-01  9.195e-03  8.416e-02 -1.032e-03 -1.035e+00]
+t: 119	 action: [ 0.087  0.026  0.237  0.016  0.078 -0.003 -1.061]
+t: 120	 action: [ 0.095  0.003  0.222  0.009  0.092 -0.005 -1.029]
+t: 121	 action: [ 0.077  0.03   0.238  0.017  0.089 -0.005 -1.063]
+[07-31 01:21:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9926
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=122: Selected seed 195 with value = 0.9926
+t: 122	 action: [-1.605e-03  8.046e-02 -8.184e-02 -3.684e-04 -8.406e-03  3.316e-03 -1.018e+00]
+t: 123	 action: [ 0.002  0.067 -0.095 -0.01  -0.018 -0.003 -1.028]
+t: 124	 action: [-0.016  0.071 -0.046  0.001 -0.013  0.001 -1.024]
+t: 125	 action: [-0.007  0.042 -0.025 -0.008 -0.014 -0.004 -1.035]
+t: 126	 action: [-0.022  0.085 -0.081 -0.003 -0.016 -0.002 -1.033]
+t: 127	 action: [-3.221e-02  6.017e-02 -4.666e-02 -2.857e-04 -2.876e-02 -5.837e-04 -1.065e+00]
+t: 128	 action: [-1.624e-02  4.511e-02 -3.503e-02 -7.369e-04 -1.454e-02 -2.877e-03 -1.028e+00]
+t: 129	 action: [-0.013  0.043  0.001  0.003 -0.021 -0.004 -1.056]
+t: 130	 action: [ 0.048  0.011 -0.021  0.006 -0.028  0.004 -1.037]
+t: 131	 action: [ 0.024 -0.014  0.023 -0.004 -0.032 -0.008 -1.046]
+t: 132	 action: [ 0.034  0.018 -0.015  0.006 -0.029  0.003 -1.033]
+t: 133	 action: [ 0.025 -0.007  0.04  -0.001 -0.023 -0.006 -1.039]
+t: 134	 action: [ 3.125e-02  9.745e-03 -1.077e-02  2.192e-03 -2.825e-02  1.458e-04 -1.044e+00]
+t: 135	 action: [-0.012  0.033  0.007  0.005 -0.038 -0.009 -1.071]
+t: 136	 action: [ 0.01   0.017  0.005  0.001 -0.025 -0.003 -1.033]
+t: 137	 action: [-0.018  0.044  0.028  0.007 -0.026 -0.006 -1.062]
+[07-31 01:21:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9877
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=138: Selected seed 195 with value = 0.9877
+t: 138	 action: [-1.678e-02  5.402e-02 -1.380e-01  2.396e-04 -1.294e-02  3.247e-03 -1.006e+00]
+t: 139	 action: [-0.02   0.055 -0.201 -0.011 -0.015 -0.003 -1.021]
+t: 140	 action: [-0.038  0.047 -0.081  0.002 -0.018  0.002 -1.022]
+t: 141	 action: [-0.041  0.03  -0.117 -0.008 -0.016 -0.004 -1.033]
+t: 142	 action: [-0.04   0.063 -0.124 -0.003 -0.023 -0.001 -1.031]
+t: 143	 action: [-5.162e-02  5.911e-02 -1.067e-01 -5.625e-04 -2.998e-02 -1.054e-03 -1.065e+00]
+t: 144	 action: [-0.03   0.033 -0.062 -0.002 -0.021 -0.002 -1.031]
+t: 145	 action: [-0.024  0.041 -0.034  0.002 -0.024 -0.004 -1.056]
+t: 146	 action: [ 0.014  0.012 -0.046  0.003 -0.037  0.005 -1.028]
+t: 147	 action: [ 0.008 -0.021 -0.033 -0.007 -0.039 -0.007 -1.041]
+t: 148	 action: [ 0.014  0.017 -0.032  0.004 -0.039  0.004 -1.033]
+t: 149	 action: [ 0.019 -0.01   0.005 -0.005 -0.032 -0.005 -1.036]
+t: 150	 action: [ 1.773e-02  1.005e-02 -3.184e-02 -1.002e-03 -3.909e-02  1.031e-03 -1.047e+00]
+t: 151	 action: [-0.016  0.032 -0.008  0.003 -0.044 -0.009 -1.07 ]
+t: 152	 action: [ 2.580e-03  1.711e-02 -9.285e-03 -9.414e-04 -3.370e-02 -1.849e-03 -1.039e+00]
+t: 153	 action: [-0.024  0.043  0.006  0.005 -0.032 -0.005 -1.061]
+[07-31 01:21:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9972
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=154: Selected seed 195 with value = 0.9972
+t: 154	 action: [ 0.008  0.026 -0.142  0.003 -0.009  0.005 -1.024]
+t: 155	 action: [ 0.01   0.015 -0.196 -0.007 -0.007  0.002 -1.036]
+t: 156	 action: [-0.004  0.026 -0.065  0.004 -0.012  0.002 -1.029]
+t: 157	 action: [ 0.005 -0.002 -0.061 -0.007 -0.003  0.002 -1.035]
+t: 158	 action: [-6.417e-03  2.708e-02 -8.678e-02 -6.927e-04 -1.212e-02  1.650e-03 -1.038e+00]
+t: 159	 action: [-1.743e-02  2.917e-02 -5.881e-02  9.820e-04 -1.689e-02  4.405e-03 -1.069e+00]
+t: 160	 action: [-9.669e-03  1.688e-02 -2.167e-02 -2.807e-04 -8.505e-03  1.157e-03 -1.036e+00]
+t: 161	 action: [-0.016  0.025  0.01   0.002 -0.01   0.002 -1.058]
+t: 162	 action: [ 0.044  0.003 -0.034  0.005 -0.019  0.007 -1.033]
+t: 163	 action: [ 0.027 -0.026 -0.01  -0.007 -0.015 -0.004 -1.044]
+t: 164	 action: [ 0.026  0.018 -0.01   0.005 -0.02   0.006 -1.034]
+t: 165	 action: [ 0.03  -0.016  0.032 -0.006 -0.007  0.001 -1.036]
+t: 166	 action: [ 2.621e-02  7.104e-03 -7.326e-03  6.547e-05 -1.745e-02  2.585e-03 -1.046e+00]
+t: 167	 action: [-0.009  0.023  0.001  0.002 -0.022 -0.004 -1.07 ]
+t: 168	 action: [ 4.680e-03  1.142e-02  2.409e-02 -2.571e-04 -1.322e-02 -1.509e-04 -1.038e+00]
+t: 169	 action: [-0.019  0.034  0.03   0.003 -0.013  0.002 -1.061]
+[07-31 01:21:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9990
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=170: Selected seed 195 with value = 0.9990
+t: 170	 action: [ 4.172e-02  1.782e-02 -9.701e-02  2.978e-03  2.400e-04  5.859e-03 -1.037e+00]
+t: 171	 action: [ 0.032 -0.008 -0.129 -0.005  0.004  0.002 -1.045]
+t: 172	 action: [ 3.103e-02  2.207e-02 -2.044e-02  3.653e-03  2.556e-04  3.345e-03 -1.029e+00]
+t: 173	 action: [ 0.024 -0.02   0.013 -0.007  0.008  0.003 -1.038]
+t: 174	 action: [ 2.328e-02  1.874e-02 -4.097e-02  1.121e-04  1.927e-03  2.985e-03 -1.040e+00]
+t: 175	 action: [ 0.014  0.018 -0.006  0.002 -0.002  0.005 -1.069]
+t: 176	 action: [ 1.090e-02  1.555e-02  1.819e-02 -7.898e-04  5.435e-03  2.023e-03 -1.032e+00]
+t: 177	 action: [-0.009  0.02   0.041  0.002  0.002  0.003 -1.062]
+t: 178	 action: [ 0.07   0.004 -0.016  0.005 -0.003  0.007 -1.042]
+t: 179	 action: [ 0.046 -0.026  0.004 -0.005  0.004 -0.002 -1.048]
+t: 180	 action: [ 0.044  0.018  0.016  0.003 -0.005  0.006 -1.032]
+t: 181	 action: [ 0.038 -0.022  0.04  -0.006  0.007  0.008 -1.015]
+t: 182	 action: [ 3.975e-02  1.184e-02  1.226e-02 -4.602e-04  4.030e-04  2.372e-03 -1.049e+00]
+t: 183	 action: [-0.002  0.019  0.008  0.003 -0.006 -0.001 -1.069]
+t: 184	 action: [ 1.437e-02  1.301e-02  4.547e-02 -9.050e-04  1.902e-03  1.575e-04 -1.034e+00]
+t: 185	 action: [-0.016  0.029  0.06   0.003 -0.001  0.011 -0.997]
+[07-31 01:21:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9970
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=186: Selected seed 195 with value = 0.9970
+t: 186	 action: [ 3.573e-02  1.234e-02 -1.474e-01  1.906e-03  4.050e-04  6.667e-03 -1.035e+00]
+t: 187	 action: [ 2.865e-02 -2.018e-02 -1.823e-01 -4.583e-03  4.336e-03  7.947e-04 -1.047e+00]
+t: 188	 action: [ 3.056e-02  1.317e-02 -6.003e-02  3.173e-03  6.852e-04  4.689e-03 -1.033e+00]
+t: 189	 action: [ 0.022 -0.033 -0.021 -0.007  0.008  0.001 -1.045]
+t: 190	 action: [ 9.504e-03  9.524e-03 -7.129e-02 -7.238e-05  2.697e-03  3.340e-03 -1.041e+00]
+t: 191	 action: [ 0.016  0.011 -0.022  0.002  0.001  0.002 -1.065]
+t: 192	 action: [ 0.014  0.009 -0.008 -0.002  0.004  0.002 -1.032]
+t: 193	 action: [-1.004e-02  1.363e-02  2.472e-02  1.264e-03  4.951e-03 -1.748e-04 -1.060e+00]
+t: 194	 action: [ 6.455e-02 -2.707e-03 -6.070e-02  3.927e-03  8.273e-04  7.580e-03 -1.040e+00]
+t: 195	 action: [ 0.046 -0.037 -0.065 -0.005  0.007 -0.003 -1.04 ]
+t: 196	 action: [ 0.036  0.011 -0.027  0.001 -0.001  0.006 -1.116]
+t: 197	 action: [ 0.049 -0.037  0.007 -0.007  0.008  0.018 -1.114]
+t: 198	 action: [ 0.023  0.011 -0.022 -0.003  0.003  0.002 -1.053]
+t: 199	 action: [-0.006  0.009 -0.003  0.003 -0.002 -0.004 -1.042]
+t: 200	 action: [ 1.000e-02  5.398e-03  1.131e-02 -1.899e-03  2.695e-03 -1.394e-05  1.055e+00]
+t: 201	 action: [3.224e-02 1.814e-02 1.254e-02 1.805e-03 8.824e-04 2.276e-02 1.131e+00]
+[07-31 01:21:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9993
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=202: Selected seed 195 with value = 0.9993
+t: 202	 action: [ 0.039  0.003 -0.05   0.001 -0.002  0.003 -1.028]
+t: 203	 action: [ 0.034 -0.015 -0.089 -0.011  0.004 -0.002 -1.045]
+t: 204	 action: [ 2.978e-02  1.225e-02  1.510e-02 -1.179e-04 -2.903e-03  3.028e-03 -1.027e+00]
+t: 205	 action: [ 0.027 -0.024  0.034 -0.013  0.007 -0.004 -1.034]
+t: 206	 action: [ 1.824e-02  1.344e-02  1.172e-03 -1.807e-03  1.218e-03  8.345e-04 -1.039e+00]
+t: 207	 action: [-0.002  0.022  0.012 -0.003 -0.003  0.001 -1.077]
+t: 208	 action: [ 1.804e-02  1.221e-02  6.067e-02 -8.795e-04  4.273e-03 -1.142e-05 -1.033e+00]
+t: 209	 action: [-0.002  0.027  0.079 -0.002  0.001 -0.003 -1.06 ]
+t: 210	 action: [ 0.082  0.018  0.061  0.005 -0.002  0.005 -1.035]
+t: 211	 action: [ 0.065 -0.02   0.071 -0.011  0.006 -0.005 -1.056]
+t: 212	 action: [ 0.075  0.024  0.089  0.005 -0.002  0.004 -1.032]
+t: 213	 action: [ 0.07  -0.016  0.09  -0.01   0.01  -0.006 -1.044]
+t: 214	 action: [ 7.002e-02  1.877e-02  9.029e-02  4.231e-04  3.726e-03  3.474e-04 -1.050e+00]
+t: 215	 action: [ 0.032  0.042  0.14  -0.003 -0.003 -0.005 -1.076]
+t: 216	 action: [ 6.166e-02  1.834e-02  1.233e-01  8.394e-04  9.232e-03 -2.419e-03 -1.039e+00]
+t: 217	 action: [ 0.014  0.048  0.171 -0.001  0.004 -0.004 -1.066]
+[07-31 01:21:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9958
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=218: Selected seed 195 with value = 0.9958
+t: 218	 action: [ 0.005  0.016 -0.175  0.002 -0.007  0.006 -1.03 ]
+t: 219	 action: [ 1.342e-02 -1.165e-02 -2.003e-01 -4.932e-03  3.908e-04 -2.236e-04 -1.048e+00]
+t: 220	 action: [ 0.018  0.014 -0.075  0.004 -0.005  0.004 -1.025]
+t: 221	 action: [ 0.022 -0.031 -0.037 -0.008  0.006 -0.002 -1.046]
+t: 222	 action: [ 0.01   0.013 -0.075  0.001 -0.002  0.002 -1.038]
+t: 223	 action: [ 3.287e-03  1.669e-02 -3.959e-02  1.829e-03 -3.423e-03  5.954e-04 -1.077e+00]
+t: 224	 action: [ 8.084e-03  6.715e-03 -4.299e-03  7.043e-04  3.517e-03  9.446e-04 -1.023e+00]
+t: 225	 action: [-9.282e-03  1.086e-02  1.563e-02  1.303e-03  1.035e-03 -3.670e-03 -1.071e+00]
+t: 226	 action: [ 0.059  0.005 -0.05   0.006 -0.006  0.007 -1.035]
+t: 227	 action: [ 0.043 -0.03  -0.026 -0.006  0.002 -0.005 -1.052]
+t: 228	 action: [ 0.044  0.014 -0.011  0.005 -0.007  0.007 -1.018]
+t: 229	 action: [ 0.045 -0.033  0.03  -0.007  0.006  0.012 -0.837]
+t: 230	 action: [ 3.742e-02  1.075e-02 -6.200e-04  1.030e-03 -1.798e-03  6.105e-04 -1.046e+00]
+t: 231	 action: [-0.007  0.017 -0.001  0.002 -0.006 -0.007 -1.078]
+t: 232	 action: [ 1.781e-02  7.101e-03  3.937e-02  5.294e-04  1.379e-03 -1.494e-03 -1.002e+00]
+t: 233	 action: [-0.015  0.02   0.031  0.002 -0.001  0.016  0.378]
+[07-31 01:21:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9935
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=234: Selected seed 195 with value = 0.9935
+t: 234	 action: [-1.108e-02  4.347e-04 -1.854e-01  2.298e-03 -8.877e-03  6.890e-03 -1.024e+00]
+t: 235	 action: [ 0.006 -0.031 -0.221 -0.009 -0.004 -0.003 -1.055]
+t: 236	 action: [ 0.011 -0.002 -0.092  0.004 -0.007  0.005 -1.029]
+t: 237	 action: [ 0.016 -0.048 -0.079 -0.01   0.004 -0.004 -1.05 ]
+t: 238	 action: [-7.041e-03 -3.522e-03 -7.253e-02  4.902e-04 -4.507e-03  3.248e-03 -1.026e+00]
+t: 239	 action: [ 0.003  0.003 -0.04  -0.001 -0.004 -0.004 -1.071]
+t: 240	 action: [ 9.050e-03 -1.042e-03 -1.642e-02  8.789e-04 -1.221e-03  1.399e-03 -1.025e+00]
+t: 241	 action: [-1.505e-02 -1.884e-03  9.390e-03 -1.049e-04 -1.274e-08 -6.402e-03 -1.066e+00]
+t: 242	 action: [ 3.803e-02 -4.995e-03 -9.863e-02  5.096e-04 -5.807e-03  6.504e-03 -1.027e+00]
+t: 243	 action: [ 3.632e-02 -4.682e-02 -9.437e-02 -1.069e-02  5.394e-04  1.187e-02 -1.106e+00]
+t: 244	 action: [ 1.370e-02  6.326e-05 -6.505e-02 -1.172e-03 -7.367e-03  5.589e-03 -1.117e+00]
+t: 245	 action: [ 0.027 -0.05  -0.029 -0.012  0.004  0.012 -1.109]
+t: 246	 action: [ 1.386e-02  2.414e-03 -3.871e-02 -3.478e-03 -2.514e-03  7.352e-05 -1.027e+00]
+t: 247	 action: [-0.012 -0.003 -0.013 -0.001 -0.007  0.013  1.162]
+t: 248	 action: [ 2.815e-03 -1.379e-03 -3.045e-03 -1.824e-03  2.558e-04 -2.301e-03  1.082e+00]
+t: 249	 action: [ 0.037  0.004 -0.001 -0.001 -0.003  0.016  1.115]
+[07-31 01:21:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9908
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=250: Selected seed 195 with value = 0.9908
+t: 250	 action: [-1.946e-02 -3.059e-02 -8.472e-02 -3.231e-03  1.119e-03  3.874e-03  1.119e+00]
+t: 251	 action: [-0.007 -0.024 -0.124 -0.007  0.003 -0.003  0.918]
+t: 252	 action: [-1.739e-02 -1.659e-03  2.203e-02 -4.967e-03 -1.336e-02  4.114e-04 -1.037e+00]
+t: 253	 action: [-0.01  -0.016  0.04  -0.008 -0.008 -0.009 -1.04 ]
+t: 254	 action: [-0.006 -0.006  0.014 -0.004 -0.018 -0.005 -1.148]
+t: 255	 action: [-3.961e-02  1.988e-02  7.345e-03 -1.038e-03 -2.537e-02 -7.661e-03 -1.108e+00]
+t: 256	 action: [-0.002  0.008  0.092  0.002 -0.019 -0.007 -1.05 ]
+t: 257	 action: [-0.029  0.032  0.084  0.005 -0.026 -0.014 -1.058]
+t: 258	 action: [ 0.037  0.042  0.092  0.005 -0.026  0.005 -1.032]
+t: 259	 action: [ 0.036  0.033  0.112 -0.003 -0.015 -0.001 -1.061]
+t: 260	 action: [ 0.046  0.04   0.096  0.006 -0.024  0.004 -1.051]
+t: 261	 action: [ 0.045  0.033  0.105 -0.002 -0.011 -0.005 -1.05 ]
+t: 262	 action: [ 3.735e-02  5.294e-02  1.012e-01  3.074e-03 -2.728e-02 -5.108e-04 -1.053e+00]
+t: 263	 action: [-0.001  0.076  0.13   0.005 -0.029 -0.005 -1.07 ]
+t: 264	 action: [ 0.044  0.053  0.115  0.003 -0.015 -0.005 -1.056]
+t: 265	 action: [-0.008  0.073  0.129  0.005 -0.018 -0.007 -1.061]
+[07-31 01:21:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9911
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=266: Selected seed 195 with value = 0.9911
+t: 266	 action: [-0.045 -0.008 -0.213  0.002 -0.005  0.005 -1.016]
+t: 267	 action: [-0.016 -0.024 -0.285 -0.012 -0.001  0.002 -1.052]
+t: 268	 action: [-0.027 -0.001 -0.099  0.004 -0.002  0.005 -1.022]
+t: 269	 action: [-1.144e-02 -4.038e-02 -1.202e-01 -1.287e-02  5.285e-03  9.653e-04 -1.042e+00]
+t: 270	 action: [-3.639e-02 -2.961e-03 -7.975e-02 -4.809e-05  7.392e-04  3.245e-03 -1.018e+00]
+t: 271	 action: [-1.645e-02  6.287e-03 -5.543e-02 -2.764e-03 -2.965e-03 -2.647e-04 -1.068e+00]
+t: 272	 action: [-2.146e-02 -7.918e-04 -1.314e-02  1.034e-03  2.595e-03  9.467e-04 -1.021e+00]
+t: 273	 action: [-3.288e-02 -3.119e-03  2.058e-03 -1.382e-03 -1.281e-04 -4.000e-03 -1.062e+00]
+t: 274	 action: [-1.918e-03  6.373e-04 -1.265e-01 -3.373e-03  6.184e-05  7.317e-03 -1.021e+00]
+t: 275	 action: [ 0.012 -0.045 -0.094 -0.014  0.003  0.016 -1.11 ]
+t: 276	 action: [-0.027 -0.008 -0.096 -0.004 -0.002  0.006 -1.097]
+t: 277	 action: [-0.014 -0.047 -0.03  -0.016  0.004  0.018 -1.08 ]
+t: 278	 action: [-0.018  0.004 -0.049 -0.004  0.003  0.002 -1.02 ]
+t: 279	 action: [-0.031 -0.003 -0.014 -0.004 -0.006  0.015  1.161]
+t: 280	 action: [-0.026 -0.005 -0.014 -0.003  0.004 -0.001  1.077]
+t: 281	 action: [ 0.026  0.004 -0.003 -0.005 -0.003  0.021  1.107]
+[07-31 01:21:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9903
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 1.006 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=282: Selected seed 195 with value = 0.9903
+t: 282	 action: [-0.02  -0.024 -0.103 -0.002 -0.002  0.005  1.093]
+t: 283	 action: [-0.005 -0.02  -0.11  -0.007  0.002 -0.003  0.918]
+t: 284	 action: [-0.017  0.005  0.015 -0.002 -0.013  0.001 -1.041]
+t: 285	 action: [-0.006 -0.012  0.042 -0.007 -0.007 -0.009 -1.035]
+t: 286	 action: [-0.004 -0.004  0.017 -0.002 -0.018 -0.004 -1.133]
+t: 287	 action: [-4.191e-02  1.884e-02  1.692e-02  8.398e-04 -2.290e-02 -6.581e-03 -1.119e+00]
+t: 288	 action: [-0.005  0.009  0.093  0.003 -0.017 -0.006 -1.052]
+t: 289	 action: [-0.032  0.029  0.087  0.007 -0.021 -0.014 -1.057]
+t: 290	 action: [ 0.038  0.046  0.108  0.006 -0.02   0.005 -1.036]
+t: 291	 action: [ 0.04   0.036  0.129 -0.002 -0.009 -0.002 -1.06 ]
+t: 292	 action: [ 0.048  0.041  0.11   0.006 -0.017  0.003 -1.054]
+t: 293	 action: [ 4.922e-02  3.422e-02  1.201e-01 -4.721e-04 -3.395e-03 -5.100e-03 -1.050e+00]
+t: 294	 action: [ 3.655e-02  5.570e-02  1.152e-01  4.358e-03 -1.986e-02 -9.122e-04 -1.055e+00]
+t: 295	 action: [-4.207e-04  7.281e-02  1.414e-01  6.357e-03 -2.204e-02 -5.305e-03 -1.069e+00]
+t: 296	 action: [ 0.044  0.051  0.128  0.004 -0.007 -0.006 -1.058]
+t: 297	 action: [-0.004  0.068  0.141  0.007 -0.012 -0.007 -1.06 ]
+[07-31 01:21:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.134 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9865
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9865
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 21
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 42%|████▏     | 21/50 [11:07<15:26, 31.94s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 22...
+Query 1/1: Action query time = 1.134 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=298: Selected seed 195 with value = 0.9865
+t: 298	 action: [-0.058 -0.007 -0.31   0.003 -0.002  0.007 -1.034]
+t: 299	 action: [-0.021 -0.023 -0.337 -0.008  0.007  0.004 -1.045]
+t: 300	 action: [-2.119e-02 -2.907e-04 -1.664e-01  4.244e-03  2.342e-03  7.029e-03 -1.032e+00]
+t: 301	 action: [-0.012 -0.039 -0.174 -0.008  0.01   0.003 -1.036]
+t: 302	 action: [-3.523e-02 -2.764e-03 -1.327e-01  4.101e-04  5.246e-03  4.771e-03 -1.029e+00]
+t: 303	 action: [-1.863e-02  7.461e-03 -7.623e-02  7.718e-04  4.845e-03  1.739e-03 -1.058e+00]
+t: 304	 action: [-2.099e-02 -2.674e-04 -5.230e-02  5.588e-04  1.028e-02  2.649e-03 -1.033e+00]
+t: 305	 action: [-0.042 -0.01  -0.016  0.002  0.009 -0.004 -1.058]
+t: 306	 action: [-0.032 -0.019 -0.267 -0.006  0.007  0.007 -1.162]
+t: 307	 action: [-0.049 -0.046 -0.197 -0.01   0.009  0.019 -1.122]
+t: 308	 action: [-0.017 -0.04  -0.185 -0.006  0.005  0.007  0.97 ]
+t: 309	 action: [ 0.044 -0.049 -0.071 -0.013  0.01   0.014  1.076]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=21--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=21--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 21
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 22...
+[07-31 01:21:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.020 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4906
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 1.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=10: Selected seed 195 with value = 0.4906
+t: 10	 action: [ 3.133e-01  2.328e-01 -2.561e-02  2.496e-03 -5.083e-04 -1.799e-03 -1.026e+00]
+t: 11	 action: [ 0.433  0.278  0.002  0.01   0.001 -0.002 -1.028]
+t: 12	 action: [ 5.432e-01  4.043e-01 -2.195e-02  1.688e-03  2.995e-03 -1.112e-04 -1.025e+00]
+t: 13	 action: [ 6.451e-01  4.428e-01  4.522e-03  1.043e-02 -3.947e-04 -1.464e-03 -1.032e+00]
+t: 14	 action: [ 0.708  0.519 -0.022 -0.002  0.004 -0.002 -1.035]
+t: 15	 action: [ 7.576e-01  5.502e-01  6.963e-04  1.303e-02 -2.904e-03  1.636e-03 -1.056e+00]
+t: 16	 action: [ 0.788  0.549 -0.02  -0.002  0.007 -0.001 -1.029]
+t: 17	 action: [ 0.84   0.574 -0.006  0.014 -0.005  0.001 -1.059]
+t: 18	 action: [ 0.78   0.559 -0.075  0.004 -0.006  0.005 -1.037]
+t: 19	 action: [ 8.409e-01  5.460e-01 -5.620e-02 -3.822e-05 -2.641e-03  1.573e-03 -1.028e+00]
+t: 20	 action: [ 0.804  0.563 -0.108 -0.002 -0.011  0.004 -1.034]
+t: 21	 action: [ 8.630e-01  5.313e-01 -1.085e-01 -5.865e-03 -7.576e-03  4.226e-04 -1.028e+00]
+t: 22	 action: [ 0.819  0.461 -0.221 -0.001 -0.012  0.002 -1.032]
+t: 23	 action: [ 8.392e-01  4.317e-01 -2.318e-01 -2.085e-03 -2.066e-02  4.591e-04 -1.045e+00]
+t: 24	 action: [ 7.844e-01  3.965e-01 -3.321e-01 -9.127e-03 -1.406e-02  6.951e-04 -1.033e+00]
+t: 25	 action: [ 8.178e-01  3.027e-01 -4.145e-01 -6.115e-03 -2.373e-02 -2.942e-04 -1.053e+00]
+[07-31 01:21:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5363
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5363
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5363
+t=26: Selected seed 195 with value = 0.5363
+t: 26	 action: [ 7.893e-01  4.651e-01 -2.502e-01  5.702e-03 -3.484e-04  7.734e-03 -1.042e+00]
+t: 27	 action: [ 0.716  0.415 -0.243  0.003  0.002  0.002 -1.041]
+t: 28	 action: [ 0.632  0.295 -0.408  0.008 -0.01   0.006 -1.044]
+t: 29	 action: [ 0.514  0.173 -0.526  0.01  -0.004 -0.001 -1.043]
+t: 30	 action: [ 0.372  0.059 -0.692  0.003 -0.011 -0.005 -1.035]
+t: 31	 action: [ 0.298 -0.036 -0.798  0.026 -0.013 -0.008 -1.06 ]
+t: 32	 action: [ 0.223 -0.011 -0.972  0.005 -0.017 -0.012 -1.039]
+t: 33	 action: [ 0.13  -0.035 -1.028  0.021 -0.027 -0.012 -1.064]
+t: 34	 action: [ 0.06  -0.103 -0.968  0.006 -0.045 -0.01  -1.049]
+t: 35	 action: [-0.011 -0.156 -1.022  0.004 -0.041 -0.017 -1.033]
+t: 36	 action: [-0.113 -0.174 -0.977  0.004 -0.05  -0.006 -1.049]
+t: 37	 action: [-0.174 -0.182 -1.029  0.002 -0.045 -0.014 -1.03 ]
+t: 38	 action: [-0.226 -0.191 -0.961  0.005 -0.048 -0.008 -1.044]
+t: 39	 action: [-0.314 -0.109 -0.985  0.012 -0.047 -0.02  -1.046]
+t: 40	 action: [-0.389 -0.138 -0.946 -0.002 -0.045 -0.004 -1.039]
+t: 41	 action: [-0.428 -0.086 -0.967  0.008 -0.041 -0.014 -1.048]
+[07-31 01:21:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6365
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6365
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6365
+t=42: Selected seed 195 with value = 0.6365
+t: 42	 action: [-0.171  0.068 -1.001  0.009 -0.02   0.009 -1.047]
+t: 43	 action: [-0.173  0.056 -0.958  0.005 -0.007  0.016 -1.032]
+t: 44	 action: [-0.159  0.044 -0.894  0.005 -0.005  0.01  -1.046]
+t: 45	 action: [-0.152  0.048 -0.831  0.002  0.005  0.016 -1.029]
+t: 46	 action: [-0.19   0.025 -0.69  -0.003  0.011  0.003 -1.033]
+t: 47	 action: [-0.203  0.113 -0.713  0.005  0.004  0.007 -1.047]
+t: 48	 action: [-2.302e-01  7.201e-03 -5.731e-01 -4.061e-03  1.781e-02  1.812e-04 -1.037e+00]
+t: 49	 action: [-2.482e-01  8.503e-02 -5.994e-01  8.539e-04  1.435e-02 -5.155e-04 -1.048e+00]
+t: 50	 action: [-0.294  0.025 -0.62   0.002  0.02   0.005 -1.22 ]
+t: 51	 action: [-0.357 -0.029 -0.515 -0.009  0.016  0.017 -1.16 ]
+t: 52	 action: [-0.312 -0.01  -0.512 -0.001  0.023  0.004  0.973]
+t: 53	 action: [-2.897e-01 -5.094e-02 -3.938e-01 -1.004e-02  2.232e-02 -7.828e-04  1.032e+00]
+t: 54	 action: [-3.035e-01  2.631e-04 -3.206e-01 -3.255e-03  2.433e-02 -2.572e-02  1.112e+00]
+t: 55	 action: [-0.189 -0.03  -0.203 -0.008  0.023 -0.014  1.179]
+t: 56	 action: [-0.204 -0.03  -0.126 -0.006  0.024 -0.039  0.99 ]
+t: 57	 action: [-0.116 -0.044 -0.031 -0.016  0.033 -0.038  1.038]
+[07-31 01:21:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7447
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7447
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7447
+t=58: Selected seed 195 with value = 0.7447
+t: 58	 action: [-0.04  -0.129 -0.031 -0.008  0.056 -0.031  0.989]
+t: 59	 action: [ 0.028 -0.118  0.058 -0.016  0.063 -0.042  1.02 ]
+t: 60	 action: [ 0.022 -0.082  0.272 -0.009  0.049 -0.047  0.983]
+t: 61	 action: [ 0.011 -0.081  0.488 -0.018  0.062 -0.048  1.022]
+t: 62	 action: [ 0.071 -0.015  0.691 -0.013  0.042 -0.056  0.991]
+t: 63	 action: [ 0.056 -0.029  0.856 -0.014  0.046 -0.058  1.022]
+t: 64	 action: [ 0.076 -0.02   0.943  0.002  0.032 -0.06   0.983]
+t: 65	 action: [ 3.025e-02 -5.901e-02  9.538e-01 -1.248e-04  3.526e-02 -5.797e-02  1.028e+00]
+t: 66	 action: [ 0.056 -0.223  0.903 -0.005  0.037 -0.033  0.99 ]
+t: 67	 action: [ 0.027 -0.27   0.94   0.007  0.038 -0.032  1.017]
+t: 68	 action: [ 3.025e-03 -3.974e-01  9.027e-01  4.175e-04  3.876e-02 -2.306e-02  9.841e-01]
+t: 69	 action: [-0.03  -0.495  0.904  0.012  0.034 -0.023  1.022]
+t: 70	 action: [-0.052 -0.571  0.819  0.013  0.034 -0.018  1.   ]
+t: 71	 action: [-0.144 -0.67   0.594  0.033  0.029 -0.017  1.024]
+t: 72	 action: [-0.105 -0.667  0.432  0.015  0.031 -0.012  1.001]
+t: 73	 action: [-0.236 -0.747  0.209  0.031  0.02  -0.012  1.03 ]
+[07-31 01:21:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8562
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8562
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8562
+t=74: Selected seed 195 with value = 0.8562
+t: 74	 action: [-0.227 -0.783  0.041  0.051  0.005  0.002  0.973]
+t: 75	 action: [-0.263 -0.802 -0.047  0.046 -0.001  0.002  1.014]
+t: 76	 action: [-0.328 -0.746 -0.193  0.049 -0.001  0.002  0.971]
+t: 77	 action: [-0.34  -0.665 -0.363  0.036 -0.001  0.009  1.015]
+t: 78	 action: [-3.303e-01 -5.615e-01 -4.720e-01  2.304e-02 -2.665e-03  5.521e-04  9.826e-01]
+t: 79	 action: [-0.392 -0.368 -0.628  0.027 -0.01   0.013  1.013]
+t: 80	 action: [-0.401 -0.318 -0.649  0.005 -0.015  0.006  0.985]
+t: 81	 action: [-0.39  -0.177 -0.755  0.009 -0.012  0.019  1.025]
+t: 82	 action: [-0.317 -0.272 -0.705  0.003 -0.016  0.011  0.988]
+t: 83	 action: [-3.394e-01 -1.806e-01 -6.665e-01 -6.684e-03  6.168e-04  2.271e-02  1.032e+00]
+t: 84	 action: [-0.294 -0.07  -0.596 -0.011  0.003  0.018  1.001]
+t: 85	 action: [-0.26  -0.062 -0.451 -0.015  0.025  0.028  1.02 ]
+t: 86	 action: [-0.254 -0.004 -0.369 -0.024  0.023  0.025  1.003]
+t: 87	 action: [-0.138  0.075 -0.186 -0.014  0.044  0.028  1.033]
+t: 88	 action: [-0.061  0.016 -0.093 -0.031  0.053  0.019  1.009]
+t: 89	 action: [ 0.017  0.083  0.041 -0.017  0.081  0.01  -0.966]
+[07-31 01:22:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9919
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=90: Selected seed 195 with value = 0.9919
+t: 90	 action: [ 0.066  0.016  0.199 -0.005  0.131  0.006  1.08 ]
+t: 91	 action: [ 0.102 -0.019  0.251  0.005  0.12  -0.003  0.824]
+t: 92	 action: [ 1.182e-01  2.956e-03  3.699e-01 -2.569e-04  1.189e-01  2.118e-03 -1.048e+00]
+t: 93	 action: [ 0.157 -0.025  0.419  0.011  0.108 -0.009 -1.041]
+t: 94	 action: [ 0.172 -0.007  0.362  0.003  0.062 -0.021 -1.126]
+t: 95	 action: [ 0.12   0.013  0.4    0.005  0.055 -0.015 -1.132]
+t: 96	 action: [ 0.139 -0.005  0.365  0.002  0.052 -0.033 -1.037]
+t: 97	 action: [ 0.122  0.008  0.375  0.014  0.043 -0.018 -1.067]
+t: 98	 action: [ 0.15   0.01   0.342  0.02   0.048  0.003 -1.03 ]
+t: 99	 action: [ 0.129 -0.026  0.326  0.02   0.044 -0.009 -1.05 ]
+t: 100	 action: [ 1.231e-01  1.067e-02  2.427e-01  1.686e-02  2.803e-02  9.114e-04 -1.034e+00]
+t: 101	 action: [ 0.115 -0.021  0.233  0.018  0.023 -0.007 -1.039]
+t: 102	 action: [ 0.088  0.006  0.162  0.01   0.009 -0.003 -1.03 ]
+t: 103	 action: [ 0.052  0.006  0.16   0.017  0.004 -0.009 -1.067]
+t: 104	 action: [ 6.936e-02  2.632e-03  1.188e-01  4.513e-03  7.301e-04 -5.646e-03 -1.034e+00]
+t: 105	 action: [ 0.032  0.01   0.117  0.015  0.002 -0.007 -1.069]
+[07-31 01:22:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.068  0.038  0.157  0.003 -0.006  0.002 -1.038]
+t: 107	 action: [ 0.045  0.021  0.136 -0.002 -0.004 -0.007 -1.041]
+t: 108	 action: [ 0.017  0.025  0.097  0.004 -0.015  0.001 -1.03 ]
+t: 109	 action: [ 1.568e-02  5.716e-03  1.040e-01  5.943e-04 -4.070e-03 -1.396e-03 -1.033e+00]
+t: 110	 action: [-4.669e-03  3.151e-02  6.978e-02  3.075e-03 -2.661e-02 -6.222e-04 -1.031e+00]
+t: 111	 action: [-0.017  0.043  0.066  0.004 -0.017 -0.003 -1.064]
+t: 112	 action: [-8.879e-04  1.994e-02  6.856e-02  2.482e-03 -2.250e-02 -1.813e-03 -1.030e+00]
+t: 113	 action: [-1.280e-02  4.004e-02  6.863e-02  5.875e-03 -1.444e-02 -5.726e-04 -1.061e+00]
+t: 114	 action: [ 0.012  0.028  0.028  0.007 -0.038  0.006 -1.034]
+t: 115	 action: [ 1.026e-02  2.039e-02  3.598e-02 -6.339e-04 -2.912e-02 -2.555e-04 -1.038e+00]
+t: 116	 action: [ 0.02   0.028  0.035  0.007 -0.031  0.004 -1.029]
+t: 117	 action: [ 2.276e-02  1.657e-02  4.471e-02 -9.567e-04 -1.702e-02  1.206e-03 -1.035e+00]
+t: 118	 action: [ 0.011  0.036  0.035  0.002 -0.033  0.002 -1.033]
+t: 119	 action: [-0.005  0.055  0.036  0.002 -0.027 -0.003 -1.065]
+t: 120	 action: [ 2.977e-02  3.084e-02  4.842e-02  8.388e-04 -2.449e-02 -1.508e-03 -1.029e+00]
+t: 121	 action: [ 1.116e-02  5.182e-02  5.558e-02  1.879e-03 -1.967e-02 -1.776e-04 -1.066e+00]
+[07-31 01:22:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.033  0.092  0.038  0.004 -0.042  0.004 -1.033]
+t: 123	 action: [ 0.022  0.048  0.056 -0.002 -0.034 -0.002 -1.038]
+t: 124	 action: [ 2.792e-03  6.081e-02  3.829e-02  4.501e-03 -4.243e-02  5.995e-04 -1.025e+00]
+t: 125	 action: [ 0.011  0.031  0.074 -0.002 -0.032  0.002 -1.035]
+t: 126	 action: [-7.867e-03  6.800e-02  2.643e-02  2.565e-03 -4.726e-02  5.580e-04 -1.024e+00]
+t: 127	 action: [-0.026  0.057  0.045  0.003 -0.036  0.002 -1.062]
+t: 128	 action: [-9.453e-03  4.598e-02  5.181e-02  1.508e-03 -4.258e-02 -6.361e-04 -1.024e+00]
+t: 129	 action: [-0.019  0.057  0.097  0.003 -0.028  0.003 -1.06 ]
+t: 130	 action: [ 0.013  0.06   0.03   0.005 -0.05   0.007 -1.032]
+t: 131	 action: [ 0.006  0.044  0.054 -0.003 -0.038  0.002 -1.04 ]
+t: 132	 action: [ 0.016  0.057  0.045  0.005 -0.044  0.005 -1.026]
+t: 133	 action: [ 0.014  0.04   0.075 -0.003 -0.027  0.004 -1.037]
+t: 134	 action: [ 3.596e-03  6.496e-02  4.569e-02  7.212e-04 -4.530e-02  2.639e-03 -1.027e+00]
+t: 135	 action: [-1.817e-02  7.484e-02  7.168e-02  3.219e-04 -3.301e-02  8.510e-04 -1.066e+00]
+t: 136	 action: [ 1.570e-02  6.313e-02  6.818e-02 -4.769e-04 -3.733e-02 -1.057e-03 -1.024e+00]
+t: 137	 action: [-9.636e-03  7.381e-02  1.185e-01 -3.961e-04 -2.553e-02  3.634e-03 -1.064e+00]
+[07-31 01:22:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9992
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=138: Selected seed 195 with value = 0.9992
+t: 138	 action: [ 0.005  0.08  -0.155  0.006 -0.029  0.002 -1.021]
+t: 139	 action: [ 1.949e-02  2.925e-02 -8.736e-02  7.008e-04 -2.098e-02 -2.900e-03 -1.034e+00]
+t: 140	 action: [-0.02   0.053 -0.107  0.005 -0.03   0.002 -1.021]
+t: 141	 action: [ 9.009e-03  1.950e-02  1.793e-02 -2.299e-03 -1.525e-02  3.286e-04 -1.037e+00]
+t: 142	 action: [-0.019  0.059 -0.115  0.002 -0.032 -0.002 -1.021]
+t: 143	 action: [-0.03   0.041 -0.042  0.005 -0.025  0.002 -1.061]
+t: 144	 action: [-0.029  0.041 -0.059  0.001 -0.028 -0.002 -1.022]
+t: 145	 action: [-0.028  0.045 -0.003  0.002 -0.018  0.003 -1.062]
+t: 146	 action: [-0.006  0.069 -0.078  0.007 -0.029  0.008 -1.027]
+t: 147	 action: [ 0.008  0.045  0.032 -0.002 -0.014  0.003 -1.043]
+t: 148	 action: [-0.02   0.06  -0.06   0.006 -0.029  0.005 -1.023]
+t: 149	 action: [ 0.014  0.034  0.042 -0.004 -0.006  0.002 -1.045]
+t: 150	 action: [-0.022  0.072 -0.052  0.002 -0.026  0.002 -1.026]
+t: 151	 action: [-3.576e-02  6.871e-02 -3.266e-03  9.106e-04 -1.932e-02  2.335e-03 -1.069e+00]
+t: 152	 action: [-2.377e-02  6.399e-02 -2.505e-02  1.632e-04 -2.307e-02 -1.141e-03 -1.023e+00]
+t: 153	 action: [-0.029  0.064  0.042 -0.002 -0.016  0.003 -1.071]
+[07-31 01:22:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9885
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=154: Selected seed 195 with value = 0.9885
+t: 154	 action: [-0.013  0.064 -0.255  0.004 -0.013  0.002 -1.019]
+t: 155	 action: [ 0.015  0.021 -0.207 -0.006 -0.002 -0.004 -1.034]
+t: 156	 action: [-0.038  0.047 -0.179  0.003 -0.01   0.004 -1.021]
+t: 157	 action: [-3.835e-03  1.022e-02 -1.048e-01 -8.294e-03  3.096e-03  1.008e-04 -1.034e+00]
+t: 158	 action: [-0.027  0.049 -0.188 -0.002 -0.013 -0.002 -1.026]
+t: 159	 action: [-3.794e-02  3.726e-02 -1.296e-01 -4.034e-04 -9.045e-03 -1.968e-03 -1.058e+00]
+t: 160	 action: [-0.04   0.037 -0.124 -0.002 -0.008 -0.002 -1.027]
+t: 161	 action: [-3.872e-02  3.515e-02 -3.389e-02 -3.442e-03 -4.372e-03  2.071e-04 -1.057e+00]
+t: 162	 action: [-0.027  0.048 -0.145  0.004 -0.011  0.007 -1.026]
+t: 163	 action: [ 0.005  0.023 -0.072 -0.009  0.003 -0.002 -1.041]
+t: 164	 action: [-0.052  0.037 -0.129  0.003 -0.011  0.006 -1.024]
+t: 165	 action: [ 0.003  0.013 -0.015 -0.012  0.004 -0.001 -1.045]
+t: 166	 action: [-0.042  0.054 -0.118 -0.002 -0.01   0.002 -1.031]
+t: 167	 action: [-0.049  0.049 -0.026 -0.004 -0.007 -0.005 -1.063]
+t: 168	 action: [-5.258e-02  3.929e-02 -9.878e-02 -2.894e-03 -7.361e-03 -8.253e-04 -1.029e+00]
+t: 169	 action: [-0.045  0.044 -0.015 -0.007 -0.006 -0.002 -1.068]
+[07-31 01:22:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9867
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 0.987 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=170: Selected seed 195 with value = 0.9867
+t: 170	 action: [-0.046  0.04  -0.138  0.001  0.008  0.001 -1.03 ]
+t: 171	 action: [-0.011  0.011 -0.14  -0.006  0.011 -0.008 -1.044]
+t: 172	 action: [-0.066  0.033 -0.107  0.001  0.015  0.004 -1.023]
+t: 173	 action: [-0.02  -0.003 -0.076 -0.009  0.016 -0.006 -1.047]
+t: 174	 action: [-0.067  0.031 -0.112 -0.003  0.008 -0.006 -1.03 ]
+t: 175	 action: [-5.398e-02  2.894e-02 -9.648e-02 -2.210e-04  7.379e-03 -1.108e-02 -1.059e+00]
+t: 176	 action: [-0.069  0.024 -0.077 -0.004  0.013 -0.004 -1.023]
+t: 177	 action: [-0.043  0.021 -0.03  -0.003  0.011 -0.012 -1.064]
+t: 178	 action: [-0.059  0.026 -0.135  0.002  0.013  0.002 -1.034]
+t: 179	 action: [-0.028  0.007 -0.128 -0.007  0.012 -0.01  -1.046]
+t: 180	 action: [-0.083  0.022 -0.115 -0.001  0.015  0.004 -1.031]
+t: 181	 action: [-0.03  -0.006 -0.079 -0.011  0.012  0.009 -1.061]
+t: 182	 action: [-0.087  0.016 -0.123 -0.005  0.012 -0.004 -1.037]
+t: 183	 action: [-0.084  0.028 -0.073 -0.001  0.003 -0.017 -1.057]
+t: 184	 action: [-0.094  0.007 -0.099 -0.008  0.013 -0.005 -1.022]
+t: 185	 action: [-0.072  0.021 -0.035 -0.006  0.003  0.012  1.023]
+[07-31 01:22:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9807
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=186: Selected seed 195 with value = 0.9807
+t: 186	 action: [ 2.038e-04  1.182e-02 -1.250e-01  1.352e-03  2.263e-02 -7.650e-03 -1.052e+00]
+t: 187	 action: [ 0.011 -0.018 -0.125 -0.007  0.032 -0.017 -1.049]
+t: 188	 action: [-0.009  0.012 -0.064  0.003  0.03  -0.008 -1.041]
+t: 189	 action: [ 0.006 -0.023 -0.013 -0.007  0.04  -0.018 -1.047]
+t: 190	 action: [-0.007 -0.001 -0.104 -0.005  0.03  -0.011 -1.037]
+t: 191	 action: [-0.026  0.004 -0.062 -0.004  0.038 -0.02  -1.055]
+t: 192	 action: [-1.529e-02  5.420e-03 -2.142e-02 -8.009e-04  3.389e-02 -1.137e-02 -1.041e+00]
+t: 193	 action: [-0.036  0.006  0.01  -0.005  0.036 -0.023 -1.062]
+t: 194	 action: [-8.446e-03  5.829e-03 -1.437e-01 -5.697e-04  3.997e-02 -4.526e-03 -1.149e+00]
+t: 195	 action: [-0.052 -0.032 -0.124 -0.009  0.037  0.002 -1.131]
+t: 196	 action: [-0.02   0.009 -0.08  -0.004  0.037 -0.004 -0.249]
+t: 197	 action: [-0.003 -0.033 -0.019 -0.013  0.035 -0.018  1.031]
+t: 198	 action: [-0.032 -0.003 -0.134 -0.014  0.038 -0.011  1.057]
+t: 199	 action: [-1.044e-02 -7.984e-03 -6.818e-02 -6.414e-03  2.569e-02 -9.870e-04  1.149e+00]
+t: 200	 action: [-0.034 -0.003 -0.045 -0.012  0.033 -0.012  0.944]
+t: 201	 action: [ 0.027  0.001 -0.003 -0.017  0.017 -0.01   0.513]
+[07-31 01:22:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9688
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=202: Selected seed 195 with value = 0.9688
+t: 202	 action: [ 0.057 -0.044 -0.203 -0.022  0.067  0.003  1.162]
+t: 203	 action: [ 5.621e-02 -4.589e-02 -1.737e-01 -1.414e-02  7.288e-02 -1.033e-03  1.040e+00]
+t: 204	 action: [ 0.08  -0.008 -0.04  -0.018  0.059  0.004  1.173]
+t: 205	 action: [ 0.076 -0.037  0.025 -0.011  0.06  -0.008 -1.042]
+t: 206	 action: [ 0.079 -0.03   0.061 -0.028  0.052 -0.005 -1.196]
+t: 207	 action: [ 0.059 -0.013  0.078 -0.02   0.043 -0.017 -1.136]
+t: 208	 action: [ 0.102 -0.03   0.133 -0.006  0.045 -0.011 -1.176]
+t: 209	 action: [ 0.06   0.001  0.168 -0.008  0.038 -0.017 -1.069]
+t: 210	 action: [ 0.097  0.009  0.144  0.004  0.056  0.002 -1.042]
+t: 211	 action: [ 0.038 -0.04   0.182  0.004  0.056 -0.011 -1.038]
+t: 212	 action: [ 6.576e-02  1.298e-02  1.779e-01  2.721e-03  5.705e-02 -2.365e-05 -1.050e+00]
+t: 213	 action: [ 0.032 -0.034  0.211  0.004  0.066 -0.013 -1.035]
+t: 214	 action: [ 0.012  0.004  0.161  0.002  0.057 -0.004 -1.053]
+t: 215	 action: [ 5.300e-04  1.313e-02  2.125e-01  3.223e-03  4.786e-02 -1.176e-02 -1.057e+00]
+t: 216	 action: [ 2.421e-02  4.191e-04  2.010e-01  3.951e-06  6.591e-02 -6.589e-03 -1.058e+00]
+t: 217	 action: [-1.061e-03  1.618e-02  2.329e-01  3.974e-03  5.954e-02 -1.085e-02 -1.065e+00]
+[07-31 01:22:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9851
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=218: Selected seed 195 with value = 0.9851
+t: 218	 action: [ 0.023 -0.034 -0.116  0.006  0.026  0.002 -1.037]
+t: 219	 action: [ 0.033 -0.057 -0.149  0.001  0.033 -0.011 -1.048]
+t: 220	 action: [ 0.005 -0.027 -0.042  0.006  0.029  0.006 -1.031]
+t: 221	 action: [ 1.746e-02 -5.744e-02 -2.945e-03  3.726e-04  3.857e-02 -1.035e-02 -1.046e+00]
+t: 222	 action: [ 0.004 -0.02  -0.044  0.004  0.037 -0.002 -1.028]
+t: 223	 action: [ 0.004 -0.016 -0.014  0.006  0.042 -0.011 -1.059]
+t: 224	 action: [-0.01  -0.006  0.024  0.003  0.042 -0.001 -1.033]
+t: 225	 action: [-0.027 -0.009  0.03   0.005  0.041 -0.013 -1.065]
+t: 226	 action: [ 0.003 -0.039 -0.133  0.006  0.035  0.003 -1.156]
+t: 227	 action: [-2.881e-03 -6.714e-02 -1.128e-01 -5.071e-04  3.465e-02  1.174e-02 -1.127e+00]
+t: 228	 action: [-0.022 -0.01  -0.061  0.004  0.033  0.005  0.866]
+t: 229	 action: [ 0.014 -0.058 -0.009 -0.004  0.036  0.004  1.074]
+t: 230	 action: [-0.022 -0.011 -0.069  0.003  0.043 -0.002  1.041]
+t: 231	 action: [ 0.008 -0.021 -0.025  0.004  0.027  0.013  1.143]
+t: 232	 action: [-5.004e-02 -5.370e-03 -2.890e-04  9.209e-04  3.948e-02 -3.003e-03  9.033e-01]
+t: 233	 action: [-0.003 -0.008  0.014 -0.003  0.023  0.003  0.834]
+[07-31 01:22:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9477
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9477
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9477
+t=234: Selected seed 195 with value = 0.9477
+t: 234	 action: [ 0.003 -0.228 -0.383 -0.024 -0.021  0.005  1.026]
+t: 235	 action: [-0.001 -0.154 -0.476 -0.035 -0.024  0.003  1.06 ]
+t: 236	 action: [ 0.029 -0.094 -0.371 -0.037 -0.031  0.006  1.06 ]
+t: 237	 action: [ 6.531e-03 -5.858e-02 -4.674e-01 -3.950e-02 -2.925e-02  9.158e-04  9.832e-01]
+t: 238	 action: [ 0.034 -0.034 -0.256 -0.045 -0.033 -0.001  1.027]
+t: 239	 action: [ 0.014 -0.019 -0.237 -0.049 -0.022  0.007  1.034]
+t: 240	 action: [ 0.032  0.003 -0.145 -0.038 -0.034 -0.004 -0.382]
+t: 241	 action: [ 0.008  0.038 -0.096 -0.039 -0.015 -0.019 -1.115]
+t: 242	 action: [ 5.805e-02  2.975e-02  2.107e-02 -9.857e-03 -2.070e-02 -2.653e-04 -1.054e+00]
+t: 243	 action: [ 0.028  0.014  0.088 -0.016 -0.015 -0.012 -1.037]
+t: 244	 action: [ 4.331e-02  3.401e-02  1.045e-01 -3.450e-03 -1.902e-02 -8.395e-04 -1.057e+00]
+t: 245	 action: [ 0.029  0.023  0.152 -0.011  0.002 -0.015 -1.035]
+t: 246	 action: [ 0.022  0.038  0.14  -0.009 -0.015 -0.007 -1.056]
+t: 247	 action: [ 0.01   0.094  0.222 -0.01  -0.012 -0.012 -1.06 ]
+t: 248	 action: [ 0.04   0.043  0.189 -0.004 -0.004 -0.006 -1.053]
+t: 249	 action: [ 0.01   0.092  0.26  -0.006 -0.008 -0.009 -1.061]
+[07-31 01:22:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9926
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=250: Selected seed 195 with value = 0.9926
+t: 250	 action: [ 1.492e-02 -4.359e-02  1.003e-01  7.502e-03  5.057e-02 -8.932e-04 -1.031e+00]
+t: 251	 action: [ 0.028 -0.077  0.074  0.007  0.037 -0.01  -1.044]
+t: 252	 action: [ 0.009 -0.04   0.053  0.005  0.038  0.002 -1.027]
+t: 253	 action: [ 0.024 -0.069  0.057  0.008  0.031 -0.005 -1.029]
+t: 254	 action: [-0.01  -0.039  0.009  0.004  0.028 -0.006 -1.03 ]
+t: 255	 action: [-0.008 -0.044  0.061  0.009  0.023 -0.008 -1.064]
+t: 256	 action: [-0.008 -0.031  0.031  0.004  0.028 -0.002 -1.031]
+t: 257	 action: [-0.015 -0.023  0.063  0.01   0.015 -0.006 -1.056]
+t: 258	 action: [ 0.045 -0.011  0.035  0.01   0.036  0.005 -1.035]
+t: 259	 action: [ 0.029 -0.045  0.05   0.008  0.027 -0.004 -1.052]
+t: 260	 action: [ 2.771e-02 -6.503e-04  5.282e-02  7.953e-03  3.239e-02  5.001e-03 -1.026e+00]
+t: 261	 action: [ 0.02  -0.043  0.064  0.009  0.03  -0.004 -1.043]
+t: 262	 action: [ 2.400e-02  5.228e-04  5.292e-02  7.546e-03  3.535e-02  2.047e-03 -1.040e+00]
+t: 263	 action: [-0.002  0.002  0.081  0.01   0.019 -0.006 -1.069]
+t: 264	 action: [ 1.318e-02  1.828e-03  7.572e-02  6.022e-03  3.640e-02  7.166e-05 -1.030e+00]
+t: 265	 action: [-0.013  0.006  0.104  0.01   0.022 -0.004 -1.067]
+[07-31 01:22:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9821
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=266: Selected seed 195 with value = 0.9821
+t: 266	 action: [-0.035 -0.023 -0.162  0.007  0.008 -0.009 -1.034]
+t: 267	 action: [ 9.854e-04 -5.741e-02 -2.038e-01  2.743e-03  1.363e-02 -1.801e-02 -1.051e+00]
+t: 268	 action: [-3.916e-03 -3.030e-02 -9.133e-02  7.074e-03  1.488e-02 -7.958e-04 -1.028e+00]
+t: 269	 action: [ 0.018 -0.073 -0.081  0.003  0.021 -0.014 -1.047]
+t: 270	 action: [-0.006 -0.015 -0.079  0.005  0.023 -0.007 -1.028]
+t: 271	 action: [ 0.006 -0.025 -0.018  0.009  0.023 -0.016 -1.06 ]
+t: 272	 action: [ 0.001 -0.017 -0.027  0.004  0.028 -0.003 -1.032]
+t: 273	 action: [-0.019 -0.038  0.004  0.009  0.029 -0.015 -1.067]
+t: 274	 action: [-0.01  -0.061 -0.166  0.004  0.016 -0.005 -1.18 ]
+t: 275	 action: [-0.029 -0.089 -0.137 -0.004  0.015  0.006 -1.124]
+t: 276	 action: [-3.191e-05 -5.954e-02 -1.343e-01  3.196e-03  1.689e-02  3.940e-03  9.528e-01]
+t: 277	 action: [ 0.037 -0.095 -0.068 -0.007  0.018 -0.002  1.072]
+t: 278	 action: [-0.018 -0.025 -0.109  0.002  0.021 -0.005  1.085]
+t: 279	 action: [ 0.02  -0.048 -0.025  0.002  0.009  0.011  1.15 ]
+t: 280	 action: [-2.910e-02 -2.909e-02 -6.362e-02  4.656e-04  2.284e-02 -2.143e-03  9.432e-01]
+t: 281	 action: [ 1.103e-02 -5.303e-02  3.813e-04 -2.416e-03  1.281e-02  9.798e-04  7.496e-01]
+[07-31 01:22:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9769
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=282: Selected seed 195 with value = 0.9769
+t: 282	 action: [-5.759e-02 -7.947e-02  1.719e-02 -3.413e-02 -2.148e-02  1.859e-04  3.923e-01]
+t: 283	 action: [-0.019 -0.077  0.062 -0.029 -0.035 -0.002  0.142]
+t: 284	 action: [-2.550e-02 -2.775e-02  1.055e-01 -1.370e-02 -2.699e-02  2.981e-04 -1.018e+00]
+t: 285	 action: [-0.003 -0.05   0.157 -0.016 -0.03  -0.007 -1.046]
+t: 286	 action: [ 1.363e-03 -1.198e-02  1.020e-01  1.158e-03 -3.593e-02 -6.691e-03 -1.186e+00]
+t: 287	 action: [-5.168e-02  1.242e-02  1.611e-01  1.057e-03 -2.234e-02 -1.044e-02 -1.094e+00]
+t: 288	 action: [-0.004  0.005  0.16   0.004 -0.025 -0.005 -1.025]
+t: 289	 action: [-0.016  0.028  0.21   0.007 -0.018 -0.01  -1.063]
+t: 290	 action: [ 0.041  0.018  0.2    0.005 -0.02   0.002 -1.027]
+t: 291	 action: [ 0.024  0.015  0.211  0.004 -0.01  -0.006 -1.056]
+t: 292	 action: [ 0.033  0.027  0.184  0.005 -0.018  0.003 -1.027]
+t: 293	 action: [ 0.03   0.021  0.197  0.003 -0.004 -0.007 -1.041]
+t: 294	 action: [ 2.232e-02  2.377e-02  1.718e-01  4.284e-03 -2.000e-02  5.691e-04 -1.037e+00]
+t: 295	 action: [-0.015  0.067  0.179  0.007 -0.024 -0.002 -1.065]
+t: 296	 action: [ 0.023  0.037  0.164  0.002 -0.016 -0.002 -1.034]
+t: 297	 action: [-0.014  0.07   0.179  0.005 -0.018 -0.003 -1.063]
+[07-31 01:22:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9979
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 22
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 44%|████▍     | 22/50 [11:38<14:49, 31.75s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 23...
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=298: Selected seed 195 with value = 0.9979
+t: 298	 action: [-0.02   0.007 -0.017  0.005  0.004  0.002 -1.041]
+t: 299	 action: [ 0.019 -0.034  0.03  -0.004  0.004 -0.007 -1.043]
+t: 300	 action: [-0.01   0.013 -0.008  0.005  0.003  0.003 -1.034]
+t: 301	 action: [ 0.021 -0.028  0.047 -0.006  0.008 -0.005 -1.035]
+t: 302	 action: [-3.418e-02  6.543e-03 -1.015e-02  4.105e-03 -1.288e-04 -9.466e-04 -1.034e+00]
+t: 303	 action: [ 6.753e-03 -7.946e-03  4.105e-02  8.125e-04 -9.916e-04 -4.010e-03 -1.065e+00]
+t: 304	 action: [-9.742e-03  1.256e-02  9.119e-03  3.454e-03  2.640e-03 -1.029e-03 -1.032e+00]
+t: 305	 action: [ 7.072e-03  8.214e-03  5.678e-02 -5.501e-04  1.089e-03 -4.230e-03 -1.058e+00]
+t: 306	 action: [ 1.989e-02  7.778e-03 -7.919e-04  7.895e-03 -9.145e-04  4.191e-03 -1.045e+00]
+t: 307	 action: [ 0.026 -0.019  0.031 -0.002  0.004 -0.007 -1.049]
+t: 308	 action: [ 1.383e-02  1.388e-02  1.631e-02  5.209e-03  5.548e-04  3.536e-03 -1.034e+00]
+t: 309	 action: [ 0.027 -0.015  0.046 -0.004  0.008 -0.005 -1.044]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=22--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=22--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 22
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 23...
+[07-31 01:22:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4760
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4760
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4760
+t=10: Selected seed 195 with value = 0.4760
+t: 10	 action: [ 1.156e-01  7.837e-02 -1.578e-02  3.430e-03 -1.174e-02 -3.994e-04 -1.024e+00]
+t: 11	 action: [ 2.132e-01  1.603e-01  5.417e-04  1.410e-03 -3.948e-05 -5.435e-03 -1.024e+00]
+t: 12	 action: [ 0.344  0.312 -0.009  0.002 -0.01   0.002 -1.025]
+t: 13	 action: [ 4.339e-01  3.905e-01  9.018e-03  9.433e-04 -1.918e-04 -4.337e-03 -1.027e+00]
+t: 14	 action: [ 0.527  0.486 -0.013 -0.004 -0.006 -0.002 -1.034]
+t: 15	 action: [ 6.008e-01  5.563e-01  4.354e-04  8.647e-04 -2.881e-03 -2.691e-03 -1.059e+00]
+t: 16	 action: [ 6.816e-01  5.908e-01 -4.085e-03 -4.378e-03  3.453e-04 -1.884e-03 -1.023e+00]
+t: 17	 action: [ 0.736  0.634  0.001  0.003 -0.004 -0.003 -1.064]
+t: 18	 action: [ 0.699  0.611 -0.032  0.002 -0.008  0.003 -1.033]
+t: 19	 action: [ 7.349e-01  6.153e-01 -3.623e-02 -8.201e-03  1.344e-03 -9.537e-04 -1.031e+00]
+t: 20	 action: [ 0.733  0.62  -0.056 -0.005 -0.005  0.005 -1.031]
+t: 21	 action: [ 0.768  0.623 -0.076 -0.012  0.005 -0.001 -1.028]
+t: 22	 action: [ 7.812e-01  5.859e-01 -1.167e-01 -5.631e-03 -4.946e-03 -3.833e-05 -1.022e+00]
+t: 23	 action: [ 0.803  0.582 -0.151 -0.007 -0.008 -0.001 -1.056]
+t: 24	 action: [ 7.839e-01  5.291e-01 -1.792e-01 -8.450e-03 -6.820e-04 -1.927e-03 -1.019e+00]
+t: 25	 action: [ 0.817  0.493 -0.243 -0.007 -0.005 -0.002 -1.065]
+[07-31 01:22:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5525
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=26: Selected seed 195 with value = 0.5525
+t: 26	 action: [ 0.779  0.453 -0.161 -0.003 -0.007  0.004 -1.033]
+t: 27	 action: [ 6.994e-01  3.905e-01 -1.165e-01 -6.299e-03 -5.780e-04 -3.134e-03 -1.036e+00]
+t: 28	 action: [ 6.230e-01  2.610e-01 -2.712e-01  3.390e-03 -1.547e-02  8.160e-04 -1.034e+00]
+t: 29	 action: [ 5.306e-01  1.686e-01 -2.643e-01  1.761e-04 -1.002e-02 -5.768e-03 -1.042e+00]
+t: 30	 action: [ 0.386  0.078 -0.422 -0.001 -0.014 -0.009 -1.026]
+t: 31	 action: [ 0.308  0.007 -0.468  0.01  -0.019 -0.011 -1.055]
+t: 32	 action: [ 0.249  0.021 -0.75   0.003 -0.022 -0.014 -1.028]
+t: 33	 action: [ 0.193 -0.006 -0.843  0.016 -0.03  -0.014 -1.058]
+t: 34	 action: [ 0.084 -0.04  -0.915  0.011 -0.038 -0.008 -1.033]
+t: 35	 action: [ 0.022 -0.067 -0.993  0.005 -0.035 -0.014 -1.031]
+t: 36	 action: [-0.015 -0.038 -0.957  0.007 -0.042 -0.004 -1.028]
+t: 37	 action: [-0.047 -0.069 -1.025  0.001 -0.034 -0.013 -1.031]
+t: 38	 action: [-0.104 -0.012 -0.953 -0.001 -0.041 -0.006 -1.034]
+t: 39	 action: [-0.133  0.01  -0.984  0.006 -0.037 -0.014 -1.044]
+t: 40	 action: [-0.194 -0.019 -0.951 -0.005 -0.038 -0.004 -1.027]
+t: 41	 action: [-2.155e-01  5.843e-04 -9.696e-01  1.908e-03 -3.005e-02 -1.238e-02 -1.049e+00]
+[07-31 01:22:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6021
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6021
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6021
+t=42: Selected seed 195 with value = 0.6021
+t: 42	 action: [ 0.05   0.047 -1.025  0.017 -0.013 -0.006 -1.044]
+t: 43	 action: [ 0.037  0.038 -0.997  0.014 -0.005 -0.022 -1.044]
+t: 44	 action: [ 0.02   0.055 -0.951  0.006 -0.002 -0.008 -1.032]
+t: 45	 action: [ 0.009  0.054 -0.938  0.007  0.005 -0.021 -1.045]
+t: 46	 action: [-0.016  0.072 -0.789 -0.004  0.007 -0.023 -1.028]
+t: 47	 action: [-0.061  0.14  -0.842  0.005  0.002 -0.031 -1.054]
+t: 48	 action: [-0.099  0.069 -0.681 -0.008  0.009 -0.026 -1.024]
+t: 49	 action: [-1.817e-01  1.332e-01 -7.685e-01  2.291e-04  6.397e-03 -3.588e-02 -1.053e+00]
+t: 50	 action: [-0.108  0.036 -0.667 -0.003  0.008 -0.013 -1.05 ]
+t: 51	 action: [-0.153  0.033 -0.681 -0.006  0.003 -0.006 -1.156]
+t: 52	 action: [-0.264  0.029 -0.61  -0.002  0.006 -0.019 -1.203]
+t: 53	 action: [-0.348 -0.004 -0.602 -0.004  0.003 -0.01  -1.158]
+t: 54	 action: [-0.358 -0.011 -0.6   -0.015  0.004 -0.026 -1.044]
+t: 55	 action: [-0.435 -0.002 -0.568 -0.005 -0.003 -0.017  1.227]
+t: 56	 action: [-0.337 -0.027 -0.52  -0.015  0.004 -0.028  1.11 ]
+t: 57	 action: [-0.286 -0.018 -0.396 -0.005 -0.004 -0.018  1.199]
+[07-31 01:22:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6991
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6991
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6991
+t=58: Selected seed 195 with value = 0.6991
+t: 58	 action: [-0.249 -0.028 -0.463 -0.007  0.029 -0.004  0.994]
+t: 59	 action: [-0.187 -0.042 -0.294 -0.015  0.029 -0.023  1.019]
+t: 60	 action: [-0.127 -0.05  -0.215 -0.014  0.048 -0.012  0.985]
+t: 61	 action: [-0.033 -0.062 -0.08  -0.022  0.039 -0.03   1.02 ]
+t: 62	 action: [-2.597e-03 -9.158e-02  4.477e-04 -1.792e-02  2.641e-02 -3.667e-02  1.003e+00]
+t: 63	 action: [ 0.037 -0.095  0.074 -0.017  0.044 -0.037  1.018]
+t: 64	 action: [ 0.062 -0.075  0.318 -0.012  0.025 -0.059  0.994]
+t: 65	 action: [ 0.05  -0.051  0.447 -0.015  0.044 -0.056  1.01 ]
+t: 66	 action: [ 0.034 -0.103  0.513 -0.009  0.032 -0.044  0.977]
+t: 67	 action: [ 0.056 -0.087  0.71  -0.014  0.022 -0.056  1.008]
+t: 68	 action: [ 0.073 -0.098  0.803 -0.009  0.022 -0.05   0.969]
+t: 69	 action: [ 0.058 -0.107  0.89  -0.01   0.012 -0.062  1.017]
+t: 70	 action: [ 2.536e-02 -6.372e-02  9.515e-01 -2.664e-04  2.074e-02 -5.159e-02  9.879e-01]
+t: 71	 action: [-0.003 -0.119  0.96   0.005  0.017 -0.045  1.011]
+t: 72	 action: [ 0.004 -0.175  0.942 -0.004  0.013 -0.049  0.987]
+t: 73	 action: [-0.02  -0.234  0.921  0.014  0.012 -0.042  1.011]
+[07-31 01:22:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8407
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8407
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8407
+t=74: Selected seed 195 with value = 0.8407
+t: 74	 action: [-0.049 -0.721  0.588  0.078  0.029 -0.047  1.   ]
+t: 75	 action: [-0.034 -0.787  0.495  0.068  0.026 -0.043  1.02 ]
+t: 76	 action: [-0.105 -0.78   0.255  0.068  0.031 -0.036  1.   ]
+t: 77	 action: [-0.083 -0.798  0.161  0.061  0.031 -0.032  1.011]
+t: 78	 action: [-0.117 -0.815  0.078  0.064  0.037 -0.028  1.009]
+t: 79	 action: [-0.153 -0.81   0.011  0.053  0.024 -0.02   1.005]
+t: 80	 action: [-0.167 -0.795 -0.137  0.047  0.037 -0.018  1.006]
+t: 81	 action: [-0.153 -0.724 -0.217  0.038  0.023 -0.016  1.013]
+t: 82	 action: [-0.202 -0.721 -0.335  0.038  0.019 -0.005  1.005]
+t: 83	 action: [-0.221 -0.602 -0.445  0.018  0.022 -0.008  1.015]
+t: 84	 action: [-0.227 -0.541 -0.553  0.011  0.013  0.003  0.994]
+t: 85	 action: [-2.076e-01 -3.865e-01 -6.056e-01  1.537e-03  1.842e-02  4.179e-04  1.025e+00]
+t: 86	 action: [-0.286 -0.245 -0.586 -0.001  0.004 -0.002  1.022]
+t: 87	 action: [-0.235 -0.153 -0.647 -0.007  0.008  0.012  1.01 ]
+t: 88	 action: [-2.262e-01 -9.986e-02 -6.094e-01 -6.229e-03  6.122e-03 -3.788e-04  1.008e+00]
+t: 89	 action: [-0.116  0.008 -0.596 -0.015  0.019  0.015  1.021]
+[07-31 01:22:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9587
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=90: Selected seed 195 with value = 0.9587
+t: 90	 action: [-0.108 -0.012 -0.266 -0.016  0.093  0.006  1.173]
+t: 91	 action: [-0.074 -0.032 -0.085 -0.025  0.088 -0.009  1.032]
+t: 92	 action: [-6.182e-02  3.344e-03 -4.249e-02 -9.024e-03  8.420e-02  7.943e-06  1.188e+00]
+t: 93	 action: [-0.03  -0.044  0.081 -0.016  0.081 -0.014 -1.034]
+t: 94	 action: [-0.038 -0.02   0.133 -0.011  0.1   -0.002 -1.192]
+t: 95	 action: [-0.062 -0.005  0.184 -0.012  0.092 -0.023 -1.126]
+t: 96	 action: [ 0.007 -0.018  0.264 -0.001  0.088 -0.01  -1.183]
+t: 97	 action: [-0.033  0.003  0.35   0.003  0.084 -0.019 -1.056]
+t: 98	 action: [-0.007  0.009  0.313  0.004  0.063 -0.002 -1.023]
+t: 99	 action: [-0.013 -0.012  0.396  0.007  0.062 -0.016 -1.035]
+t: 100	 action: [-0.001  0.014  0.386  0.003  0.053 -0.005 -1.028]
+t: 101	 action: [ 0.001 -0.008  0.443  0.009  0.064 -0.018 -1.019]
+t: 102	 action: [ 0.014  0.007  0.426  0.011  0.057 -0.009 -1.035]
+t: 103	 action: [-0.006  0.016  0.423  0.015  0.06  -0.015 -1.049]
+t: 104	 action: [ 0.026  0.003  0.437  0.006  0.05  -0.012 -1.033]
+t: 105	 action: [-0.001  0.017  0.416  0.015  0.062 -0.014 -1.056]
+[07-31 01:22:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.042  0.01   0.191  0.011  0.012  0.004 -1.042]
+t: 107	 action: [ 0.013 -0.025  0.173  0.007  0.005 -0.003 -1.045]
+t: 108	 action: [ 0.021  0.007  0.11   0.005  0.002  0.003 -1.034]
+t: 109	 action: [ 0.016 -0.024  0.137  0.006  0.007 -0.001 -1.039]
+t: 110	 action: [ 7.638e-03  5.161e-03  6.948e-02  6.077e-03 -6.656e-03 -4.179e-04 -1.039e+00]
+t: 111	 action: [-1.741e-02  1.318e-02  9.109e-02  9.415e-03 -6.954e-03  5.631e-04 -1.069e+00]
+t: 112	 action: [ 7.966e-03  7.112e-03  8.695e-02  4.564e-03 -2.474e-03 -4.203e-04 -1.038e+00]
+t: 113	 action: [-1.144e-02  1.718e-02  9.691e-02  9.840e-03 -4.493e-03  2.581e-04 -1.064e+00]
+t: 114	 action: [ 0.014  0.011  0.06   0.008 -0.009  0.007 -1.043]
+t: 115	 action: [ 9.539e-03 -1.925e-02  8.289e-02  5.314e-03  2.774e-04 -3.781e-03 -1.047e+00]
+t: 116	 action: [ 0.011  0.008  0.078  0.005 -0.008  0.005 -1.034]
+t: 117	 action: [ 0.018 -0.018  0.096  0.005  0.005 -0.002 -1.041]
+t: 118	 action: [ 0.007  0.012  0.06   0.005 -0.005  0.003 -1.044]
+t: 119	 action: [-0.015  0.018  0.074  0.008 -0.009 -0.003 -1.071]
+t: 120	 action: [ 1.068e-02  9.620e-03  8.546e-02  3.495e-03 -1.769e-03  1.942e-04 -1.037e+00]
+t: 121	 action: [-1.085e-02  1.854e-02  9.158e-02  8.006e-03 -6.854e-03 -7.177e-04 -1.069e+00]
+[07-31 01:22:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.023  0.012 -0.002  0.002 -0.004  0.007 -1.052]
+t: 123	 action: [ 1.237e-02 -2.473e-02  2.552e-02 -7.285e-04 -3.280e-03  9.153e-03 -1.046e+00]
+t: 124	 action: [ 1.003e-03  8.538e-03 -6.798e-03  1.860e-03 -1.118e-02  5.450e-03 -1.040e+00]
+t: 125	 action: [ 1.102e-02 -3.117e-02  3.743e-02 -1.590e-03  6.363e-04  1.088e-02 -1.042e+00]
+t: 126	 action: [-2.967e-04  9.636e-03 -1.403e-02  4.392e-04 -1.331e-02  6.373e-03 -1.042e+00]
+t: 127	 action: [-0.018 -0.004  0.026  0.003 -0.011  0.011 -1.071]
+t: 128	 action: [-6.140e-03  9.097e-03  4.520e-03  9.816e-04 -9.893e-03  6.288e-03 -1.038e+00]
+t: 129	 action: [-1.605e-02 -3.026e-04  4.120e-02  3.883e-03 -7.001e-03  1.006e-02 -1.065e+00]
+t: 130	 action: [ 0.009  0.006 -0.01   0.006 -0.015  0.01  -1.051]
+t: 131	 action: [ 7.588e-03 -2.654e-02  3.280e-02 -4.785e-04 -4.008e-03  6.792e-03 -1.047e+00]
+t: 132	 action: [-7.936e-03  7.778e-03 -6.557e-04  3.672e-03 -1.572e-02  7.515e-03 -1.042e+00]
+t: 133	 action: [ 0.012 -0.028  0.039 -0.001  0.002  0.009 -1.042]
+t: 134	 action: [-0.004  0.009 -0.008  0.003 -0.011  0.007 -1.046]
+t: 135	 action: [-2.191e-02 -1.903e-04  2.597e-02  2.857e-03 -9.715e-03  5.190e-03 -1.075e+00]
+t: 136	 action: [-0.01   0.009  0.01   0.001 -0.008  0.004 -1.041]
+t: 137	 action: [-0.019  0.001  0.035  0.003 -0.007  0.007 -1.07 ]
+[07-31 01:22:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [ 0.018  0.015 -0.04   0.002 -0.004  0.007 -1.051]
+t: 139	 action: [ 0.013 -0.019  0.002 -0.002 -0.006  0.009 -1.047]
+t: 140	 action: [-0.006  0.011 -0.036  0.003 -0.011  0.006 -1.038]
+t: 141	 action: [ 0.012 -0.027  0.033 -0.004 -0.002  0.011 -1.042]
+t: 142	 action: [-7.108e-03  1.223e-02 -3.915e-02  7.751e-04 -1.363e-02  6.557e-03 -1.040e+00]
+t: 143	 action: [-0.02  -0.002  0.002  0.002 -0.014  0.011 -1.072]
+t: 144	 action: [-1.497e-02  1.082e-02 -1.890e-02  9.305e-04 -9.886e-03  6.930e-03 -1.036e+00]
+t: 145	 action: [-0.018  0.002  0.019  0.002 -0.009  0.01  -1.066]
+t: 146	 action: [ 0.004  0.008 -0.037  0.006 -0.014  0.011 -1.051]
+t: 147	 action: [ 0.009 -0.021  0.025 -0.002 -0.006  0.007 -1.047]
+t: 148	 action: [-0.015  0.01  -0.026  0.004 -0.015  0.009 -1.041]
+t: 149	 action: [ 1.085e-02 -2.298e-02  3.872e-02 -3.054e-03  7.899e-04  9.002e-03 -1.042e+00]
+t: 150	 action: [-0.012  0.011 -0.031  0.002 -0.01   0.007 -1.045]
+t: 151	 action: [-0.024  0.004  0.005  0.001 -0.011  0.005 -1.074]
+t: 152	 action: [-0.02   0.01  -0.012  0.001 -0.008  0.004 -1.039]
+t: 153	 action: [-0.023  0.006  0.018  0.001 -0.008  0.007 -1.07 ]
+[07-31 01:22:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+t: 154	 action: [ 0.022  0.015 -0.058  0.003 -0.002  0.006 -1.049]
+t: 155	 action: [ 1.571e-02 -1.902e-02 -1.329e-02 -1.773e-03 -6.852e-04  7.687e-03 -1.045e+00]
+t: 156	 action: [-0.004  0.013 -0.049  0.003 -0.007  0.005 -1.036]
+t: 157	 action: [ 0.014 -0.026  0.027 -0.003  0.002  0.009 -1.04 ]
+t: 158	 action: [-5.944e-03  1.258e-02 -4.966e-02  9.309e-04 -1.078e-02  5.490e-03 -1.038e+00]
+t: 159	 action: [-1.828e-02 -3.364e-04 -3.792e-03  1.532e-03 -8.962e-03  9.599e-03 -1.069e+00]
+t: 160	 action: [-1.590e-02  1.185e-02 -2.833e-02  8.086e-04 -6.780e-03  5.635e-03 -1.035e+00]
+t: 161	 action: [-0.018  0.005  0.011  0.001 -0.005  0.008 -1.065]
+t: 162	 action: [ 0.004  0.01  -0.049  0.006 -0.01   0.011 -1.049]
+t: 163	 action: [ 0.01  -0.019  0.017 -0.003 -0.001  0.005 -1.047]
+t: 164	 action: [-0.016  0.012 -0.036  0.005 -0.01   0.008 -1.039]
+t: 165	 action: [ 0.014 -0.021  0.037 -0.003  0.004  0.008 -1.042]
+t: 166	 action: [-0.014  0.012 -0.04   0.002 -0.007  0.007 -1.044]
+t: 167	 action: [-2.442e-02  7.007e-03 -1.850e-03  4.076e-04 -9.037e-03  3.733e-03 -1.074e+00]
+t: 168	 action: [-2.309e-02  1.132e-02 -2.080e-02  8.286e-04 -4.629e-03  3.389e-03 -1.037e+00]
+t: 169	 action: [-2.238e-02  8.998e-03  9.478e-03  3.307e-04 -5.968e-03  5.985e-03 -1.071e+00]
+[07-31 01:22:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+t: 170	 action: [ 0.028  0.014 -0.058  0.003  0.003  0.006 -1.047]
+t: 171	 action: [ 0.018 -0.02  -0.01  -0.002  0.004  0.005 -1.045]
+t: 172	 action: [ 0.001  0.013 -0.048  0.003 -0.001  0.004 -1.036]
+t: 173	 action: [ 0.015 -0.025  0.029 -0.004  0.006  0.006 -1.041]
+t: 174	 action: [-3.099e-03  1.183e-02 -4.958e-02  7.985e-04 -6.037e-03  3.380e-03 -1.037e+00]
+t: 175	 action: [-1.750e-02 -7.878e-04 -2.370e-03  1.559e-03 -4.453e-03  7.254e-03 -1.069e+00]
+t: 176	 action: [-1.225e-02  1.206e-02 -2.827e-02  5.424e-04 -1.914e-03  3.238e-03 -1.034e+00]
+t: 177	 action: [-0.018  0.006  0.012  0.001 -0.002  0.006 -1.064]
+t: 178	 action: [ 0.009  0.011 -0.049  0.006 -0.003  0.01  -1.049]
+t: 179	 action: [ 0.011 -0.016  0.016 -0.003  0.004  0.003 -1.048]
+t: 180	 action: [-0.011  0.013 -0.035  0.005 -0.004  0.007 -1.039]
+t: 181	 action: [ 0.016 -0.018  0.037 -0.004  0.006  0.005 -1.044]
+t: 182	 action: [-0.012  0.012 -0.041  0.002 -0.002  0.005 -1.044]
+t: 183	 action: [-2.335e-02  8.057e-03 -1.982e-03  5.986e-04 -5.347e-03  1.563e-03 -1.072e+00]
+t: 184	 action: [-2.053e-02  1.214e-02 -2.074e-02  8.445e-04  5.517e-04  2.267e-03 -1.038e+00]
+t: 185	 action: [-2.191e-02  1.103e-02  9.023e-03  3.510e-04 -3.073e-03  3.780e-03 -1.070e+00]
+[07-31 01:22:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+t: 186	 action: [ 0.033  0.012 -0.047  0.003  0.007  0.006 -1.05 ]
+t: 187	 action: [ 2.083e-02 -2.193e-02  3.690e-03 -8.809e-04  6.211e-03  3.331e-03 -1.045e+00]
+t: 188	 action: [ 0.008  0.013 -0.035  0.003  0.004  0.004 -1.038]
+t: 189	 action: [ 0.015 -0.025  0.037 -0.003  0.007  0.004 -1.041]
+t: 190	 action: [ 0.003  0.01  -0.039  0.002 -0.001  0.002 -1.038]
+t: 191	 action: [-1.247e-02 -8.027e-04  2.451e-03  2.628e-03 -5.619e-04  5.826e-03 -1.070e+00]
+t: 192	 action: [-0.007  0.011 -0.016  0.001  0.003  0.002 -1.036]
+t: 193	 action: [-0.016  0.007  0.023  0.002  0.001  0.004 -1.065]
+t: 194	 action: [ 0.015  0.009 -0.04   0.007  0.002  0.009 -1.05 ]
+t: 195	 action: [ 0.012 -0.018  0.023 -0.001  0.007  0.001 -1.048]
+t: 196	 action: [-0.005  0.013 -0.025  0.005  0.001  0.007 -1.042]
+t: 197	 action: [ 0.017 -0.019  0.04  -0.003  0.008  0.003 -1.044]
+t: 198	 action: [-0.007  0.01  -0.032  0.003  0.003  0.004 -1.046]
+t: 199	 action: [-2.150e-02  6.891e-03  3.739e-03  1.671e-03 -2.340e-03  1.276e-04 -1.072e+00]
+t: 200	 action: [-0.016  0.01  -0.012  0.001  0.005  0.001 -1.04 ]
+t: 201	 action: [-1.970e-02  1.139e-02  1.919e-02  1.427e-03 -7.893e-04  2.515e-03 -1.071e+00]
+[07-31 01:22:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+t: 202	 action: [ 0.042  0.011 -0.037  0.004  0.011  0.007 -1.051]
+t: 203	 action: [ 2.772e-02 -2.419e-02  9.489e-03  6.066e-04  8.899e-03  1.546e-03 -1.045e+00]
+t: 204	 action: [ 0.017  0.012 -0.026  0.004  0.008  0.004 -1.039]
+t: 205	 action: [ 0.017 -0.026  0.039 -0.001  0.011  0.002 -1.041]
+t: 206	 action: [ 0.012  0.009 -0.031  0.002  0.003  0.002 -1.041]
+t: 207	 action: [-5.652e-03 -5.472e-04  7.483e-03  4.159e-03  3.669e-03  4.727e-03 -1.070e+00]
+t: 208	 action: [-3.274e-04  1.041e-02 -9.663e-03  1.501e-03  7.002e-03  1.026e-03 -1.037e+00]
+t: 209	 action: [-0.013  0.009  0.031  0.004  0.006  0.003 -1.065]
+t: 210	 action: [ 0.023  0.008 -0.036  0.007  0.006  0.009 -1.053]
+t: 211	 action: [ 1.512e-02 -1.997e-02  2.361e-02  5.707e-05  8.700e-03 -3.695e-04 -1.048e+00]
+t: 212	 action: [ 0.002  0.013 -0.019  0.005  0.005  0.007 -1.044]
+t: 213	 action: [ 0.018 -0.021  0.039 -0.001  0.01   0.002 -1.046]
+t: 214	 action: [-5.159e-04  8.022e-03 -2.722e-02  3.676e-03  7.319e-03  3.825e-03 -1.047e+00]
+t: 215	 action: [-1.842e-02  6.876e-03  6.291e-03  3.274e-03  5.697e-04 -7.471e-04 -1.072e+00]
+t: 216	 action: [-1.062e-02  8.417e-03 -7.794e-03  1.599e-03  8.373e-03  6.151e-04 -1.042e+00]
+t: 217	 action: [-0.018  0.012  0.025  0.003  0.003  0.002 -1.072]
+[07-31 01:22:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+t: 218	 action: [ 0.053  0.005 -0.033  0.005  0.015  0.007 -1.053]
+t: 219	 action: [ 0.037 -0.033  0.007  0.001  0.013  0.002 -1.044]
+t: 220	 action: [ 0.027  0.009 -0.023  0.004  0.012  0.005 -1.04 ]
+t: 221	 action: [ 1.936e-02 -3.297e-02  3.774e-02 -7.835e-04  1.751e-02  3.145e-03 -1.041e+00]
+t: 222	 action: [ 0.02   0.006 -0.027  0.003  0.009  0.002 -1.041]
+t: 223	 action: [ 0.004 -0.007  0.007  0.005  0.009  0.005 -1.07 ]
+t: 224	 action: [ 0.006  0.008 -0.008  0.002  0.012  0.001 -1.038]
+t: 225	 action: [-0.012  0.004  0.031  0.004  0.013  0.004 -1.065]
+t: 226	 action: [ 0.033  0.004 -0.035  0.008  0.01   0.009 -1.055]
+t: 227	 action: [ 1.964e-02 -2.839e-02  2.005e-02  6.407e-04  1.151e-02 -1.298e-04 -1.049e+00]
+t: 228	 action: [ 0.01   0.013 -0.019  0.006  0.009  0.007 -1.045]
+t: 229	 action: [ 1.949e-02 -2.853e-02  3.861e-02 -8.315e-04  1.469e-02  2.570e-03 -1.047e+00]
+t: 230	 action: [ 0.006  0.005 -0.026  0.004  0.012  0.004 -1.048]
+t: 231	 action: [-1.384e-02 -3.018e-04  2.893e-03  4.309e-03  4.293e-03 -1.146e-04 -1.072e+00]
+t: 232	 action: [-6.584e-03  6.969e-03 -7.711e-03  1.893e-03  1.247e-02  6.367e-04 -1.042e+00]
+t: 233	 action: [-0.017  0.006  0.022  0.004  0.008  0.003 -1.072]
+[07-31 01:22:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+t: 234	 action: [ 0.056  0.004 -0.034  0.005  0.014  0.008 -1.053]
+t: 235	 action: [ 4.165e-02 -3.604e-02  7.201e-04  9.385e-04  1.460e-02  2.360e-03 -1.045e+00]
+t: 236	 action: [ 0.032  0.008 -0.023  0.004  0.013  0.005 -1.042]
+t: 237	 action: [ 2.084e-02 -3.663e-02  3.635e-02 -8.645e-04  2.000e-02  3.657e-03 -1.040e+00]
+t: 238	 action: [ 0.025  0.005 -0.025  0.003  0.011  0.003 -1.042]
+t: 239	 action: [ 0.011 -0.009  0.004  0.006  0.012  0.006 -1.07 ]
+t: 240	 action: [ 0.01   0.007 -0.005  0.002  0.014  0.002 -1.039]
+t: 241	 action: [-0.009  0.002  0.03   0.005  0.017  0.005 -1.066]
+t: 242	 action: [ 3.791e-02  1.036e-03 -3.931e-02  8.328e-03  1.060e-02  8.631e-03 -1.056e+00]
+t: 243	 action: [ 2.281e-02 -3.336e-02  1.439e-02  7.557e-04  1.293e-02  3.032e-04 -1.049e+00]
+t: 244	 action: [ 0.015  0.012 -0.02   0.006  0.01   0.007 -1.046]
+t: 245	 action: [ 2.135e-02 -3.319e-02  3.833e-02 -1.040e-03  1.706e-02  3.292e-03 -1.046e+00]
+t: 246	 action: [ 0.011  0.004 -0.026  0.005  0.014  0.004 -1.05 ]
+t: 247	 action: [-1.063e-02 -2.996e-03 -1.633e-03  5.056e-03  6.561e-03  7.344e-04 -1.072e+00]
+t: 248	 action: [-3.482e-03  6.064e-03 -6.000e-03  2.063e-03  1.444e-02  7.835e-04 -1.043e+00]
+t: 249	 action: [-0.016  0.005  0.02   0.004  0.011  0.004 -1.072]
+[07-31 01:22:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.998 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+t: 250	 action: [ 0.054  0.002 -0.037  0.005  0.012  0.008 -1.053]
+t: 251	 action: [ 4.062e-02 -4.257e-02 -2.267e-03  7.502e-04  1.416e-02  3.121e-03 -1.044e+00]
+t: 252	 action: [ 0.031  0.006 -0.022  0.005  0.013  0.005 -1.041]
+t: 253	 action: [ 0.022 -0.043  0.037 -0.001  0.02   0.005 -1.04 ]
+t: 254	 action: [ 0.025  0.003 -0.019  0.003  0.012  0.003 -1.041]
+t: 255	 action: [ 0.016 -0.013  0.005  0.006  0.014  0.007 -1.071]
+t: 256	 action: [ 0.01   0.004  0.004  0.002  0.015  0.002 -1.038]
+t: 257	 action: [-0.008 -0.001  0.036  0.005  0.018  0.006 -1.067]
+t: 258	 action: [ 0.039 -0.005 -0.038  0.009  0.01   0.009 -1.057]
+t: 259	 action: [ 2.427e-02 -3.986e-02  9.121e-03  6.543e-04  1.314e-02  8.846e-04 -1.050e+00]
+t: 260	 action: [ 0.016  0.009 -0.017  0.006  0.01   0.007 -1.047]
+t: 261	 action: [ 0.022 -0.04   0.039 -0.001  0.018  0.005 -1.047]
+t: 262	 action: [ 1.358e-02  1.036e-03 -1.844e-02  4.674e-03  1.393e-02  4.066e-03 -1.051e+00]
+t: 263	 action: [-0.008 -0.007 -0.004  0.006  0.007  0.002 -1.072]
+t: 264	 action: [-0.003  0.003  0.003  0.002  0.015  0.001 -1.044]
+t: 265	 action: [-1.575e-02  1.070e-03  2.384e-02  4.398e-03  1.188e-02  5.903e-03 -1.072e+00]
+[07-31 01:22:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+t: 266	 action: [ 4.790e-02 -6.263e-04 -4.986e-02  5.251e-03  1.080e-02  8.889e-03 -1.051e+00]
+t: 267	 action: [ 4.058e-02 -4.834e-02 -7.703e-03 -9.964e-05  1.523e-02  3.756e-03 -1.043e+00]
+t: 268	 action: [ 0.03   0.002 -0.024  0.005  0.013  0.005 -1.041]
+t: 269	 action: [ 0.024 -0.048  0.036 -0.002  0.022  0.006 -1.039]
+t: 270	 action: [ 2.326e-02  3.186e-04 -1.936e-02  2.971e-03  1.319e-02  3.451e-03 -1.040e+00]
+t: 271	 action: [ 0.02  -0.018  0.006  0.006  0.016  0.009 -1.071]
+t: 272	 action: [ 0.01   0.002  0.009  0.002  0.016  0.003 -1.037]
+t: 273	 action: [-0.006 -0.004  0.042  0.004  0.02   0.008 -1.066]
+t: 274	 action: [ 0.041 -0.01  -0.04   0.009  0.01   0.009 -1.056]
+t: 275	 action: [ 2.794e-02 -4.421e-02  3.726e-03  1.368e-04  1.446e-02  1.960e-03 -1.050e+00]
+t: 276	 action: [ 0.019  0.006 -0.016  0.006  0.012  0.006 -1.046]
+t: 277	 action: [ 0.024 -0.046  0.04  -0.002  0.02   0.006 -1.047]
+t: 278	 action: [ 0.017 -0.002 -0.013  0.005  0.015  0.004 -1.051]
+t: 279	 action: [-0.005 -0.01  -0.004  0.006  0.009  0.003 -1.073]
+t: 280	 action: [-8.606e-04  1.407e-03  9.318e-03  1.832e-03  1.624e-02  1.357e-03 -1.043e+00]
+t: 281	 action: [-0.015 -0.002  0.029  0.005  0.014  0.008 -1.071]
+[07-31 01:22:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+t: 282	 action: [ 0.033 -0.003 -0.067  0.005  0.009  0.009 -1.049]
+t: 283	 action: [ 3.253e-02 -5.282e-02 -2.704e-02 -2.043e-04  1.467e-02  3.549e-03 -1.044e+00]
+t: 284	 action: [ 0.021  0.001 -0.034  0.005  0.012  0.006 -1.038]
+t: 285	 action: [ 0.024 -0.051  0.031 -0.002  0.022  0.006 -1.038]
+t: 286	 action: [ 0.012 -0.002 -0.028  0.003  0.012  0.004 -1.039]
+t: 287	 action: [ 0.015 -0.019  0.002  0.006  0.015  0.008 -1.072]
+t: 288	 action: [ 2.792e-03  9.602e-04  5.833e-03  1.719e-03  1.596e-02  3.545e-03 -1.035e+00]
+t: 289	 action: [-0.007 -0.005  0.033  0.004  0.02   0.008 -1.066]
+t: 290	 action: [ 0.035 -0.011 -0.047  0.009  0.009  0.008 -1.055]
+t: 291	 action: [ 2.620e-02 -4.632e-02 -1.438e-02  2.556e-04  1.391e-02  2.103e-03 -1.051e+00]
+t: 292	 action: [ 0.014  0.006 -0.02   0.006  0.011  0.006 -1.043]
+t: 293	 action: [ 0.024 -0.047  0.035 -0.001  0.02   0.007 -1.047]
+t: 294	 action: [ 0.012 -0.003 -0.017  0.004  0.014  0.004 -1.049]
+t: 295	 action: [-0.007 -0.009 -0.007  0.007  0.007  0.003 -1.074]
+t: 296	 action: [-0.006  0.001  0.009  0.002  0.016  0.002 -1.04 ]
+t: 297	 action: [-0.016 -0.002  0.019  0.006  0.013  0.008 -1.071]
+[07-31 01:22:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9993
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9993
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 23
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 46%|████▌     | 23/50 [12:10<14:14, 31.65s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 24...
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=298: Selected seed 195 with value = 0.9993
+t: 298	 action: [ 0.02  -0.011 -0.077  0.005  0.008  0.009 -1.048]
+t: 299	 action: [ 2.461e-02 -5.960e-02 -4.570e-02 -3.031e-04  1.450e-02  3.216e-03 -1.044e+00]
+t: 300	 action: [ 0.013 -0.004 -0.037  0.005  0.012  0.005 -1.036]
+t: 301	 action: [ 0.022 -0.055  0.025 -0.002  0.022  0.006 -1.037]
+t: 302	 action: [ 0.004 -0.006 -0.033  0.003  0.013  0.003 -1.038]
+t: 303	 action: [ 1.166e-02 -2.013e-02 -1.886e-04  5.746e-03  1.451e-02  8.416e-03 -1.071e+00]
+t: 304	 action: [-0.002 -0.002  0.006  0.001  0.018  0.004 -1.034]
+t: 305	 action: [-0.007 -0.005  0.026  0.005  0.021  0.008 -1.064]
+t: 306	 action: [ 0.028 -0.016 -0.051  0.008  0.008  0.008 -1.052]
+t: 307	 action: [ 2.338e-02 -4.960e-02 -3.140e-02  3.225e-04  1.388e-02  1.984e-03 -1.051e+00]
+t: 308	 action: [ 0.009  0.004 -0.022  0.006  0.012  0.006 -1.041]
+t: 309	 action: [ 2.390e-02 -5.135e-02  2.864e-02 -9.206e-04  2.074e-02  7.067e-03 -1.047e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=23--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=23--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 23
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 24...
+[07-31 01:22:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.165 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4794
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 1.165 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=10: Selected seed 195 with value = 0.4794
+t: 10	 action: [ 4.348e-03  2.237e-02 -1.099e-02  3.830e-03  1.343e-03 -2.569e-04 -1.022e+00]
+t: 11	 action: [ 0.101  0.046  0.003 -0.003  0.001 -0.003 -1.023]
+t: 12	 action: [ 0.279  0.205 -0.002  0.003  0.004  0.003 -1.03 ]
+t: 13	 action: [ 4.007e-01  2.574e-01  2.251e-02 -3.657e-03  1.090e-03 -2.825e-04 -1.026e+00]
+t: 14	 action: [ 5.055e-01  3.650e-01 -2.692e-04 -3.234e-03  6.928e-03 -1.413e-03 -1.036e+00]
+t: 15	 action: [ 6.603e-01  4.488e-01  3.856e-03 -2.741e-03 -2.423e-04 -1.125e-03 -1.056e+00]
+t: 16	 action: [ 7.525e-01  5.416e-01  9.144e-03 -4.111e-03  1.269e-02  2.866e-05 -1.027e+00]
+t: 17	 action: [ 8.347e-01  5.640e-01  1.037e-02 -1.234e-03  6.949e-04 -2.006e-04 -1.058e+00]
+t: 18	 action: [ 0.77   0.582  0.011  0.003  0.012  0.005 -1.027]
+t: 19	 action: [ 0.808  0.576  0.014 -0.007  0.011  0.002 -1.03 ]
+t: 20	 action: [ 0.817  0.599 -0.011 -0.001  0.011  0.007 -1.028]
+t: 21	 action: [ 8.433e-01  5.907e-01  9.067e-04 -5.908e-03  1.199e-02  3.644e-03 -1.029e+00]
+t: 22	 action: [ 8.584e-01  5.928e-01 -5.606e-02 -8.220e-04  1.326e-02  4.681e-03 -1.009e+00]
+t: 23	 action: [ 0.905  0.568 -0.04  -0.002  0.002  0.002 -1.05 ]
+t: 24	 action: [ 0.879  0.561 -0.125 -0.001  0.012  0.003 -1.011]
+t: 25	 action: [ 0.925  0.512 -0.116  0.001  0.003  0.004 -1.058]
+[07-31 01:22:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.007 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5269
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5269
+Query 1/1: Action query time = 1.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5269
+t=26: Selected seed 195 with value = 0.5269
+t: 26	 action: [ 0.832  0.503 -0.097 -0.002 -0.004  0.009 -1.028]
+t: 27	 action: [ 0.797  0.51  -0.092 -0.001  0.002  0.004 -1.029]
+t: 28	 action: [ 0.782  0.402 -0.2    0.006 -0.01   0.009 -1.032]
+t: 29	 action: [ 6.737e-01  3.031e-01 -1.990e-01  3.443e-04 -1.903e-04  2.617e-03 -1.035e+00]
+t: 30	 action: [ 5.490e-01  1.542e-01 -3.321e-01  1.167e-03 -4.897e-03 -2.198e-04 -1.022e+00]
+t: 31	 action: [ 0.428  0.098 -0.424  0.012 -0.005 -0.003 -1.049]
+t: 32	 action: [ 2.842e-01  3.107e-02 -6.440e-01  6.054e-04 -1.164e-02 -9.881e-04 -1.027e+00]
+t: 33	 action: [ 0.208 -0.013 -0.754  0.019 -0.017 -0.005 -1.053]
+t: 34	 action: [ 0.114 -0.024 -0.809  0.006 -0.033 -0.005 -1.026]
+t: 35	 action: [ 0.036 -0.1   -0.903  0.002 -0.037 -0.008 -1.028]
+t: 36	 action: [-0.067 -0.084 -0.912  0.006 -0.042 -0.004 -1.027]
+t: 37	 action: [-0.137 -0.121 -1.001  0.004 -0.047 -0.008 -1.029]
+t: 38	 action: [-0.208 -0.129 -0.941  0.005 -0.043 -0.003 -1.028]
+t: 39	 action: [-0.279 -0.061 -0.96   0.023 -0.052 -0.008 -1.042]
+t: 40	 action: [-0.366 -0.116 -0.937  0.005 -0.044 -0.002 -1.025]
+t: 41	 action: [-0.385 -0.06  -0.957  0.02  -0.049 -0.006 -1.046]
+[07-31 01:22:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6288
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6288
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6288
+t=42: Selected seed 195 with value = 0.6288
+t: 42	 action: [ 0.037  0.053 -1.029  0.036 -0.036  0.005 -1.042]
+t: 43	 action: [ 0.019  0.048 -1.046  0.025 -0.035 -0.005 -1.043]
+t: 44	 action: [ 0.005  0.037 -1.022  0.02  -0.027  0.005 -1.033]
+t: 45	 action: [-0.019  0.046 -1.009  0.018 -0.014 -0.002 -1.041]
+t: 46	 action: [-0.055  0.05  -0.905  0.005 -0.011 -0.004 -1.032]
+t: 47	 action: [-0.094  0.123 -0.945  0.013 -0.011 -0.012 -1.066]
+t: 48	 action: [-0.132  0.052 -0.829  0.001 -0.009 -0.004 -1.03 ]
+t: 49	 action: [-0.217  0.129 -0.864  0.006 -0.005 -0.014 -1.058]
+t: 50	 action: [-0.17   0.065 -0.754  0.005 -0.012  0.005 -1.048]
+t: 51	 action: [-2.622e-01  5.098e-02 -7.413e-01  4.080e-04 -8.202e-03  1.435e-02 -1.155e+00]
+t: 52	 action: [-0.342  0.039 -0.688  0.004 -0.012  0.003 -1.175]
+t: 53	 action: [-0.436  0.004 -0.674  0.002 -0.004  0.012 -1.161]
+t: 54	 action: [-0.475 -0.003 -0.624 -0.004 -0.01  -0.008 -1.046]
+t: 55	 action: [-0.504  0.006 -0.602  0.001 -0.01   0.006  1.239]
+t: 56	 action: [-0.451 -0.012 -0.528 -0.004 -0.007 -0.008  1.121]
+t: 57	 action: [-3.449e-01 -1.402e-02 -4.505e-01  1.216e-03 -8.987e-03  4.833e-03  1.217e+00]
+[07-31 01:23:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7002
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7002
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7002
+t=58: Selected seed 195 with value = 0.7002
+t: 58	 action: [-0.259  0.004 -0.507 -0.001  0.016 -0.009  0.974]
+t: 59	 action: [-0.176 -0.012 -0.315 -0.005  0.044 -0.017  1.015]
+t: 60	 action: [-0.13  -0.028 -0.259 -0.005  0.046 -0.02   0.969]
+t: 61	 action: [-0.048 -0.07  -0.101 -0.01   0.069 -0.025  1.018]
+t: 62	 action: [-0.022 -0.053 -0.004 -0.012  0.056 -0.04   0.996]
+t: 63	 action: [ 0.002 -0.101  0.066 -0.012  0.08  -0.036  1.018]
+t: 64	 action: [ 0.007 -0.082  0.209 -0.01   0.053 -0.057  0.99 ]
+t: 65	 action: [ 0.007 -0.08   0.27  -0.007  0.075 -0.05   1.023]
+t: 66	 action: [ 0.013 -0.11   0.403 -0.004  0.048 -0.045  0.986]
+t: 67	 action: [ 0.03  -0.107  0.596 -0.003  0.036 -0.047  1.006]
+t: 68	 action: [ 0.035 -0.069  0.743 -0.004  0.029 -0.042  0.977]
+t: 69	 action: [ 3.291e-02 -9.524e-02  8.686e-01 -5.763e-05  1.432e-02 -4.272e-02  1.012e+00]
+t: 70	 action: [ 8.258e-03 -4.426e-02  9.482e-01  8.865e-04  1.785e-02 -4.112e-02  9.992e-01]
+t: 71	 action: [-0.012 -0.092  0.946  0.014  0.008 -0.033  1.011]
+t: 72	 action: [-0.016 -0.18   0.944  0.005  0.006 -0.029  0.999]
+t: 73	 action: [-0.064 -0.224  0.946  0.031  0.004 -0.021  1.018]
+[07-31 01:23:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8130
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8130
+Query 1/1: Action query time = 1.002 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8130
+t=74: Selected seed 195 with value = 0.8130
+t: 74	 action: [-0.027 -0.54   0.907  0.041 -0.001 -0.009  0.997]
+t: 75	 action: [-0.023 -0.611  0.936  0.044  0.003 -0.005  1.03 ]
+t: 76	 action: [-8.859e-02 -6.574e-01  7.612e-01  4.378e-02  1.548e-03  8.626e-04  9.819e-01]
+t: 77	 action: [-0.113 -0.718  0.64   0.045  0.005  0.001  1.024]
+t: 78	 action: [-0.131 -0.778  0.402  0.038  0.014 -0.004  1.008]
+t: 79	 action: [-2.261e-01 -7.926e-01  2.471e-01  4.344e-02 -3.204e-04  4.281e-03  1.025e+00]
+t: 80	 action: [-0.227 -0.766  0.051  0.022  0.009 -0.001  0.99 ]
+t: 81	 action: [-0.278 -0.738 -0.099  0.028 -0.005  0.011  1.03 ]
+t: 82	 action: [-0.247 -0.678 -0.137  0.035 -0.018  0.006  0.992]
+t: 83	 action: [-0.301 -0.582 -0.259  0.024 -0.008  0.002  1.03 ]
+t: 84	 action: [-0.276 -0.524 -0.389  0.015 -0.015  0.006  0.974]
+t: 85	 action: [-0.314 -0.434 -0.523  0.011  0.006  0.006  1.038]
+t: 86	 action: [-3.413e-01 -2.857e-01 -5.188e-01  9.815e-04 -1.477e-02  4.074e-03  1.006e+00]
+t: 87	 action: [-0.27  -0.24  -0.627  0.007 -0.009  0.014  1.029]
+t: 88	 action: [-0.256 -0.108 -0.624 -0.004 -0.002  0.004  0.986]
+t: 89	 action: [-0.119 -0.08  -0.595 -0.004 -0.007  0.015  1.038]
+[07-31 01:23:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9212
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9212
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9212
+t=90: Selected seed 195 with value = 0.9212
+t: 90	 action: [-1.239e-01 -1.730e-01 -8.009e-01  3.203e-04 -8.247e-03 -1.735e-03  9.926e-01]
+t: 91	 action: [-0.106 -0.128 -0.631 -0.01  -0.003 -0.007  1.052]
+t: 92	 action: [-9.519e-02 -1.548e-02 -5.753e-01 -5.069e-03  4.092e-03 -8.181e-04  1.000e+00]
+t: 93	 action: [-0.084 -0.042 -0.394 -0.015  0.009 -0.006  1.044]
+t: 94	 action: [-0.094  0.013 -0.213 -0.024  0.034 -0.011  1.002]
+t: 95	 action: [-0.077  0.01  -0.107 -0.017  0.038 -0.009  1.023]
+t: 96	 action: [-0.062 -0.003 -0.025 -0.019  0.064 -0.013  1.011]
+t: 97	 action: [ 0.001  0.04   0.039 -0.011  0.08  -0.016  1.019]
+t: 98	 action: [-0.042  0.058  0.04  -0.005  0.066 -0.005  1.203]
+t: 99	 action: [-0.016  0.03   0.106 -0.008  0.076 -0.022 -1.013]
+t: 100	 action: [ 0.041  0.07   0.188 -0.006  0.071 -0.01  -1.053]
+t: 101	 action: [ 0.095  0.037  0.291 -0.007  0.084 -0.029 -1.025]
+t: 102	 action: [ 0.155  0.088  0.355 -0.012  0.085 -0.031 -1.197]
+t: 103	 action: [ 0.133  0.097  0.444 -0.004  0.092 -0.032 -1.041]
+t: 104	 action: [ 0.207  0.06   0.45  -0.008  0.078 -0.033 -1.035]
+t: 105	 action: [ 0.206  0.084  0.494 -0.001  0.094 -0.032 -1.045]
+[07-31 01:23:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9887
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=106: Selected seed 195 with value = 0.9887
+t: 106	 action: [ 9.847e-02  5.223e-02  8.184e-02 -4.961e-04  1.034e-01 -1.819e-02  1.158e+00]
+t: 107	 action: [ 0.08   0.034  0.085 -0.003  0.104 -0.034  0.973]
+t: 108	 action: [ 0.104  0.038  0.211 -0.002  0.085 -0.032 -1.043]
+t: 109	 action: [ 0.098  0.018  0.277 -0.002  0.085 -0.035 -1.033]
+t: 110	 action: [ 0.115  0.015  0.202 -0.006  0.066 -0.041 -1.187]
+t: 111	 action: [ 0.079  0.065  0.312 -0.005  0.065 -0.04  -1.104]
+t: 112	 action: [ 1.112e-01  1.242e-02  2.570e-01  7.624e-04  5.797e-02 -4.397e-02 -1.040e+00]
+t: 113	 action: [ 0.076  0.035  0.304  0.002  0.058 -0.04  -1.058]
+t: 114	 action: [ 0.116  0.031  0.268  0.011  0.051 -0.014 -1.033]
+t: 115	 action: [ 0.068 -0.021  0.256  0.007  0.049 -0.025 -1.043]
+t: 116	 action: [ 0.079  0.025  0.196  0.006  0.038 -0.018 -1.041]
+t: 117	 action: [ 0.051 -0.018  0.187  0.005  0.048 -0.025 -1.032]
+t: 118	 action: [ 0.054  0.021  0.143  0.004  0.031 -0.018 -1.042]
+t: 119	 action: [ 0.04   0.015  0.206  0.004  0.032 -0.021 -1.06 ]
+t: 120	 action: [ 4.623e-02  1.557e-02  1.080e-01  3.957e-04  2.936e-02 -1.732e-02 -1.045e+00]
+t: 121	 action: [ 0.024  0.018  0.162  0.003  0.036 -0.017 -1.062]
+[07-31 01:23:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.028  0.023  0.126  0.003  0.028  0.004 -1.043]
+t: 123	 action: [ 0.012 -0.01   0.111  0.002  0.011 -0.003 -1.047]
+t: 124	 action: [ 7.193e-03  1.918e-02  4.864e-02  2.294e-03  1.184e-02  6.225e-04 -1.039e+00]
+t: 125	 action: [ 0.002 -0.018  0.061  0.003  0.008 -0.007 -1.037]
+t: 126	 action: [-2.416e-03  1.498e-02  2.993e-02  6.832e-04 -3.520e-03 -2.827e-03 -1.043e+00]
+t: 127	 action: [-2.153e-02  1.361e-03  6.633e-02  7.557e-03 -4.974e-03 -1.038e-03 -1.063e+00]
+t: 128	 action: [-1.037e-02  1.536e-02  2.043e-02  3.647e-03  1.376e-05 -4.399e-03 -1.041e+00]
+t: 129	 action: [-0.021  0.007  0.046  0.011 -0.002 -0.008 -1.055]
+t: 130	 action: [ 0.01   0.013  0.031  0.006  0.003  0.006 -1.046]
+t: 131	 action: [ 0.003 -0.018  0.05   0.003  0.006 -0.008 -1.049]
+t: 132	 action: [-4.301e-03  1.459e-02  1.732e-02  3.990e-03 -1.015e-03  1.790e-03 -1.045e+00]
+t: 133	 action: [ 0.004 -0.017  0.042  0.004  0.007 -0.009 -1.041]
+t: 134	 action: [-0.003  0.013  0.014  0.003 -0.002 -0.002 -1.052]
+t: 135	 action: [-0.022  0.013  0.053  0.008 -0.006 -0.01  -1.065]
+t: 136	 action: [-7.819e-03  1.487e-02  1.558e-02  2.316e-03 -8.137e-04 -6.579e-03 -1.049e+00]
+t: 137	 action: [-0.021  0.017  0.048  0.01  -0.002 -0.01  -1.061]
+[07-31 01:23:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.012 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.012 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [-0.01   0.03   0.048  0.002  0.008  0.003 -1.04 ]
+t: 139	 action: [-0.002  0.005  0.046 -0.002  0.003  0.001 -1.045]
+t: 140	 action: [-2.438e-02  2.479e-02  1.277e-02  1.168e-03 -9.729e-04  1.061e-03 -1.038e+00]
+t: 141	 action: [-1.112e-02 -7.886e-03  3.443e-02 -2.698e-04  1.855e-03 -4.371e-04 -1.037e+00]
+t: 142	 action: [-2.625e-02  2.689e-02  6.157e-03  6.376e-04 -1.020e-02 -1.928e-04 -1.043e+00]
+t: 143	 action: [-0.034  0.014  0.034  0.004 -0.012  0.003 -1.062]
+t: 144	 action: [-0.034  0.021  0.007  0.001 -0.009 -0.002 -1.043]
+t: 145	 action: [-0.037  0.012  0.037  0.008 -0.009 -0.001 -1.054]
+t: 146	 action: [ 0.001  0.012  0.016  0.005 -0.006  0.007 -1.044]
+t: 147	 action: [-2.641e-03 -1.486e-02  4.043e-02  3.894e-04 -7.577e-04 -2.014e-03 -1.047e+00]
+t: 148	 action: [-0.02   0.014  0.006  0.003 -0.011  0.005 -1.045]
+t: 149	 action: [-0.005 -0.01   0.04   0.001  0.002 -0.002 -1.041]
+t: 150	 action: [-1.952e-02  1.143e-02  7.701e-03  2.798e-03 -8.785e-03  8.828e-04 -1.052e+00]
+t: 151	 action: [-0.036  0.016  0.055  0.006 -0.013 -0.006 -1.066]
+t: 152	 action: [-0.029  0.015  0.012  0.001 -0.01  -0.003 -1.05 ]
+t: 153	 action: [-0.036  0.023  0.054  0.007 -0.009 -0.005 -1.061]
+[07-31 01:23:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9978
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.991 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=154: Selected seed 195 with value = 0.9978
+t: 154	 action: [-0.008  0.036  0.011  0.002  0.005  0.004 -1.039]
+t: 155	 action: [-0.002  0.017  0.006 -0.004  0.002  0.001 -1.044]
+t: 156	 action: [-0.024  0.027 -0.013  0.002 -0.002  0.002 -1.038]
+t: 157	 action: [-1.403e-02  4.692e-04  1.044e-02 -1.299e-03  2.432e-04  6.853e-04 -1.039e+00]
+t: 158	 action: [-2.725e-02  3.212e-02 -2.350e-02  6.678e-04 -1.132e-02  4.656e-04 -1.045e+00]
+t: 159	 action: [-0.037  0.019  0.002  0.004 -0.014  0.004 -1.062]
+t: 160	 action: [-3.651e-02  2.229e-02 -1.821e-02  8.956e-04 -1.074e-02 -2.239e-04 -1.045e+00]
+t: 161	 action: [-4.338e-02  1.451e-02  9.472e-03  7.209e-03 -1.246e-02  9.549e-04 -1.055e+00]
+t: 162	 action: [-0.002  0.011 -0.009  0.005 -0.009  0.008 -1.043]
+t: 163	 action: [-6.101e-03 -1.108e-02  2.663e-02 -8.626e-04 -2.640e-03 -5.286e-05 -1.047e+00]
+t: 164	 action: [-0.025  0.015 -0.013  0.004 -0.014  0.005 -1.045]
+t: 165	 action: [-1.046e-02 -7.984e-03  3.242e-02  2.417e-05 -1.151e-03 -6.901e-04 -1.041e+00]
+t: 166	 action: [-0.027  0.012 -0.016  0.003 -0.013  0.002 -1.053]
+t: 167	 action: [-0.043  0.019  0.032  0.005 -0.017 -0.003 -1.066]
+t: 168	 action: [-3.566e-02  1.700e-02 -5.282e-03  9.541e-04 -1.470e-02 -2.546e-03 -1.052e+00]
+t: 169	 action: [-0.044  0.025  0.038  0.007 -0.013 -0.003 -1.062]
+[07-31 01:23:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9958
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.992 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=170: Selected seed 195 with value = 0.9958
+t: 170	 action: [-0.003  0.039 -0.006  0.002  0.005  0.005 -1.038]
+t: 171	 action: [ 6.115e-04  2.677e-02 -1.853e-02 -4.780e-03  2.391e-03 -1.358e-03 -1.041e+00]
+t: 172	 action: [-0.025  0.032 -0.019  0.002 -0.003  0.002 -1.038]
+t: 173	 action: [-1.653e-02  8.744e-03 -3.024e-03 -2.440e-03 -5.321e-04 -1.590e-03 -1.039e+00]
+t: 174	 action: [-3.027e-02  3.459e-02 -3.785e-02  1.122e-03 -1.110e-02  2.486e-04 -1.046e+00]
+t: 175	 action: [-0.04   0.025 -0.015  0.003 -0.013  0.002 -1.062]
+t: 176	 action: [-3.961e-02  2.464e-02 -2.632e-02  1.165e-03 -1.181e-02 -5.682e-04 -1.045e+00]
+t: 177	 action: [-4.955e-02  1.913e-02 -9.136e-05  6.883e-03 -1.345e-02 -8.167e-04 -1.056e+00]
+t: 178	 action: [-0.002  0.011 -0.021  0.006 -0.011  0.008 -1.044]
+t: 179	 action: [-6.625e-03 -1.252e-02  1.787e-02 -5.101e-04 -3.913e-03 -1.001e-03 -1.046e+00]
+t: 180	 action: [-0.027  0.015 -0.019  0.004 -0.018  0.004 -1.046]
+t: 181	 action: [-1.291e-02 -7.968e-03  2.990e-02 -2.494e-04 -3.305e-03 -2.271e-03 -1.042e+00]
+t: 182	 action: [-0.031  0.01  -0.026  0.003 -0.015  0.002 -1.055]
+t: 183	 action: [-0.046  0.018  0.021  0.006 -0.019 -0.003 -1.065]
+t: 184	 action: [-0.04   0.016 -0.01   0.001 -0.019 -0.003 -1.054]
+t: 185	 action: [-0.05   0.026  0.038  0.007 -0.016 -0.004 -1.062]
+[07-31 01:23:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9937
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=186: Selected seed 195 with value = 0.9937
+t: 186	 action: [ 0.016  0.03  -0.011  0.003  0.006  0.004 -1.039]
+t: 187	 action: [ 0.012  0.023 -0.037 -0.003  0.003 -0.005 -1.042]
+t: 188	 action: [-0.013  0.028 -0.028  0.003 -0.001  0.002 -1.037]
+t: 189	 action: [-8.655e-03  5.953e-03 -2.808e-02 -9.443e-04  2.589e-04 -4.838e-03 -1.039e+00]
+t: 190	 action: [-2.415e-02  2.746e-02 -5.225e-02  1.911e-03 -1.038e-02 -1.562e-04 -1.047e+00]
+t: 191	 action: [-3.744e-02  1.995e-02 -3.251e-02  4.784e-03 -1.314e-02 -2.575e-04 -1.062e+00]
+t: 192	 action: [-0.037  0.021 -0.049  0.002 -0.011 -0.001 -1.045]
+t: 193	 action: [-0.052  0.015 -0.021  0.008 -0.014 -0.003 -1.055]
+t: 194	 action: [-0.004  0.012 -0.043  0.007 -0.013  0.008 -1.043]
+t: 195	 action: [-0.008 -0.007 -0.011  0.001 -0.005 -0.003 -1.046]
+t: 196	 action: [-0.027  0.017 -0.039  0.006 -0.02   0.004 -1.044]
+t: 197	 action: [-0.011 -0.007  0.017  0.001 -0.005 -0.004 -1.041]
+t: 198	 action: [-0.032  0.013 -0.053  0.004 -0.018  0.002 -1.056]
+t: 199	 action: [-0.048  0.021 -0.002  0.007 -0.022 -0.004 -1.065]
+t: 200	 action: [-0.04   0.017 -0.034  0.002 -0.022 -0.004 -1.053]
+t: 201	 action: [-0.051  0.026  0.015  0.008 -0.019 -0.005 -1.06 ]
+[07-31 01:23:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9929
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=202: Selected seed 195 with value = 0.9929
+t: 202	 action: [ 0.032  0.03   0.013  0.003  0.006  0.004 -1.044]
+t: 203	 action: [ 0.019  0.023 -0.022 -0.001  0.004 -0.006 -1.043]
+t: 204	 action: [ 0.002  0.028 -0.009  0.004 -0.002  0.002 -1.04 ]
+t: 205	 action: [ 2.187e-03  5.621e-03 -1.649e-02 -1.231e-04  9.901e-04 -7.596e-03 -1.040e+00]
+t: 206	 action: [-1.035e-02  2.428e-02 -3.737e-02  1.963e-03 -9.985e-03 -6.610e-05 -1.050e+00]
+t: 207	 action: [-0.025  0.018 -0.024  0.006 -0.012 -0.001 -1.063]
+t: 208	 action: [-0.023  0.02  -0.041  0.002 -0.011 -0.002 -1.047]
+t: 209	 action: [-0.037  0.015 -0.018  0.009 -0.012 -0.005 -1.056]
+t: 210	 action: [ 0.007  0.012 -0.038  0.008 -0.014  0.008 -1.046]
+t: 211	 action: [ 5.991e-05 -9.709e-03 -7.614e-03  2.343e-03 -3.421e-03 -5.666e-03 -1.047e+00]
+t: 212	 action: [-0.015  0.018 -0.033  0.006 -0.02   0.003 -1.047]
+t: 213	 action: [-0.001 -0.009  0.019  0.002 -0.004 -0.007 -1.042]
+t: 214	 action: [-0.021  0.011 -0.053  0.004 -0.019  0.002 -1.058]
+t: 215	 action: [-3.852e-02  1.844e-02  8.885e-05  8.303e-03 -1.941e-02 -6.235e-03 -1.064e+00]
+t: 216	 action: [-0.027  0.015 -0.035  0.002 -0.021 -0.004 -1.054]
+t: 217	 action: [-0.039  0.023  0.02   0.009 -0.017 -0.007 -1.061]
+[07-31 01:23:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9924
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 1.001 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=218: Selected seed 195 with value = 0.9924
+t: 218	 action: [ 0.044  0.024  0.024  0.003  0.005  0.003 -1.045]
+t: 219	 action: [ 2.228e-02  1.526e-02 -1.523e-02  2.982e-04  6.083e-03 -8.384e-03 -1.043e+00]
+t: 220	 action: [ 1.031e-02  2.626e-02  7.281e-03  3.260e-03 -1.308e-03  6.256e-04 -1.043e+00]
+t: 221	 action: [ 6.134e-03  3.138e-03 -1.648e-03  8.393e-04  2.843e-03 -1.145e-02 -1.039e+00]
+t: 222	 action: [-2.011e-03  2.323e-02 -2.135e-02  2.561e-03 -7.527e-03 -6.747e-04 -1.052e+00]
+t: 223	 action: [-0.02   0.024 -0.01   0.007 -0.008 -0.004 -1.064]
+t: 224	 action: [-0.014  0.022 -0.027  0.002 -0.008 -0.002 -1.049]
+t: 225	 action: [-0.028  0.023 -0.003  0.01  -0.008 -0.008 -1.055]
+t: 226	 action: [ 0.017  0.013 -0.031  0.008 -0.013  0.008 -1.048]
+t: 227	 action: [ 4.260e-03 -6.715e-03 -4.906e-04  2.621e-03 -6.043e-04 -8.565e-03 -1.045e+00]
+t: 228	 action: [-0.004  0.02  -0.024  0.007 -0.02   0.002 -1.049]
+t: 229	 action: [ 0.005 -0.008  0.024  0.002 -0.001 -0.011 -1.042]
+t: 230	 action: [-0.008  0.014 -0.049  0.004 -0.017  0.001 -1.06 ]
+t: 231	 action: [-0.031  0.023  0.01   0.008 -0.015 -0.008 -1.062]
+t: 232	 action: [-0.016  0.016 -0.032  0.002 -0.019 -0.005 -1.055]
+t: 233	 action: [-0.032  0.029  0.035  0.008 -0.013 -0.009 -1.059]
+[07-31 01:23:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9923
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=234: Selected seed 195 with value = 0.9923
+t: 234	 action: [ 0.046  0.021  0.021  0.003  0.005  0.004 -1.045]
+t: 235	 action: [ 2.163e-02  1.069e-02 -3.011e-02  8.235e-04  7.394e-03 -7.971e-03 -1.041e+00]
+t: 236	 action: [ 1.731e-02  2.474e-02  3.844e-03  2.527e-03 -1.064e-03  3.377e-04 -1.044e+00]
+t: 237	 action: [ 7.723e-03  2.953e-03 -1.382e-02  3.981e-04  4.008e-03 -1.210e-02 -1.038e+00]
+t: 238	 action: [ 4.954e-03  2.074e-02 -1.859e-02  2.003e-03 -5.930e-03 -4.052e-04 -1.053e+00]
+t: 239	 action: [-0.019  0.028 -0.018  0.008 -0.006 -0.003 -1.064]
+t: 240	 action: [-0.004  0.024 -0.022  0.001 -0.006 -0.002 -1.049]
+t: 241	 action: [-0.022  0.029 -0.005  0.009 -0.006 -0.008 -1.057]
+t: 242	 action: [ 0.019  0.018 -0.03   0.007 -0.012  0.008 -1.049]
+t: 243	 action: [ 4.065e-03  7.593e-04  1.988e-03  1.408e-03  1.521e-03 -8.437e-03 -1.043e+00]
+t: 244	 action: [ 3.869e-05  2.365e-02 -2.283e-02  5.551e-03 -1.785e-02  3.160e-03 -1.051e+00]
+t: 245	 action: [ 7.361e-03 -4.588e-03  2.504e-02  7.256e-04  1.664e-03 -1.063e-02 -1.042e+00]
+t: 246	 action: [ 8.113e-04  1.943e-02 -4.497e-02  3.322e-03 -1.548e-02  1.567e-03 -1.062e+00]
+t: 247	 action: [-0.025  0.031  0.016  0.007 -0.012 -0.007 -1.062]
+t: 248	 action: [-0.006  0.023 -0.026  0.001 -0.017 -0.004 -1.055]
+t: 249	 action: [-0.025  0.035  0.05   0.007 -0.01  -0.008 -1.059]
+[07-31 01:23:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9920
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=250: Selected seed 195 with value = 0.9920
+t: 250	 action: [ 0.041  0.02   0.005  0.002  0.003  0.004 -1.045]
+t: 251	 action: [ 1.694e-02  1.472e-02 -5.778e-02 -2.474e-04  7.149e-03 -7.323e-03 -1.039e+00]
+t: 252	 action: [ 0.016  0.025 -0.011  0.002 -0.002  0.002 -1.045]
+t: 253	 action: [ 0.005  0.009 -0.039 -0.001  0.004 -0.01  -1.038]
+t: 254	 action: [ 9.080e-04  2.186e-02 -1.680e-02  2.025e-03 -5.929e-03  3.265e-04 -1.056e+00]
+t: 255	 action: [-0.023  0.034 -0.029  0.006 -0.005 -0.002 -1.065]
+t: 256	 action: [-3.237e-03  2.372e-02 -2.331e-02  7.546e-04 -5.769e-03 -1.546e-03 -1.052e+00]
+t: 257	 action: [-0.022  0.034 -0.019  0.007 -0.005 -0.006 -1.057]
+t: 258	 action: [ 0.014  0.019 -0.05   0.007 -0.014  0.009 -1.051]
+t: 259	 action: [ 3.532e-04  2.638e-03 -1.565e-02  1.871e-04  9.956e-04 -7.359e-03 -1.040e+00]
+t: 260	 action: [-0.001  0.024 -0.039  0.005 -0.018  0.005 -1.052]
+t: 261	 action: [ 5.251e-03 -3.655e-03  1.783e-02 -9.836e-04  2.581e-03 -8.100e-03 -1.041e+00]
+t: 262	 action: [-0.002  0.02  -0.054  0.003 -0.016  0.003 -1.064]
+t: 263	 action: [-0.025  0.034  0.007  0.005 -0.012 -0.006 -1.06 ]
+t: 264	 action: [-6.622e-03  2.159e-02 -3.274e-02  7.258e-04 -1.679e-02 -2.090e-03 -1.058e+00]
+t: 265	 action: [-0.025  0.037  0.052  0.005 -0.009 -0.005 -1.057]
+[07-31 01:23:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9911
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=266: Selected seed 195 with value = 0.9911
+t: 266	 action: [ 0.031  0.015 -0.008  0.003  0.001  0.005 -1.046]
+t: 267	 action: [ 0.008  0.009 -0.082  0.001  0.005 -0.007 -1.04 ]
+t: 268	 action: [ 0.005  0.023 -0.026  0.003 -0.003  0.002 -1.045]
+t: 269	 action: [-3.444e-03  5.811e-03 -6.407e-02 -6.051e-04  3.576e-03 -1.047e-02 -1.037e+00]
+t: 270	 action: [-1.131e-02  1.812e-02 -1.760e-02  1.990e-03 -7.805e-03  1.307e-04 -1.059e+00]
+t: 271	 action: [-0.032  0.038 -0.042  0.006 -0.007 -0.002 -1.064]
+t: 272	 action: [-1.307e-02  2.008e-02 -2.619e-02  9.431e-04 -7.325e-03 -1.524e-03 -1.053e+00]
+t: 273	 action: [-0.026  0.039 -0.032  0.005 -0.007 -0.005 -1.057]
+t: 274	 action: [ 0.003  0.02  -0.066  0.007 -0.014  0.009 -1.054]
+t: 275	 action: [-8.838e-03 -1.085e-03 -3.462e-02 -3.691e-04  1.069e-03 -7.650e-03 -1.041e+00]
+t: 276	 action: [-0.009  0.024 -0.054  0.005 -0.018  0.005 -1.053]
+t: 277	 action: [-2.135e-04 -6.997e-03  9.887e-03 -1.577e-03  2.279e-03 -8.514e-03 -1.042e+00]
+t: 278	 action: [-0.012  0.018 -0.066  0.003 -0.018  0.002 -1.066]
+t: 279	 action: [-0.032  0.036 -0.002  0.003 -0.014 -0.005 -1.06 ]
+t: 280	 action: [-1.607e-02  1.744e-02 -4.338e-02  3.397e-04 -1.833e-02 -1.744e-03 -1.058e+00]
+t: 281	 action: [-0.029  0.042  0.05   0.003 -0.011 -0.004 -1.057]
+[07-31 01:23:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9879
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=282: Selected seed 195 with value = 0.9879
+t: 282	 action: [ 3.279e-02  1.331e-02 -2.916e-02  2.638e-03  9.033e-05  4.153e-03 -1.052e+00]
+t: 283	 action: [ 0.005  0.009 -0.113 -0.002  0.003 -0.008 -1.045]
+t: 284	 action: [ 0.011  0.02  -0.052  0.003 -0.002  0.002 -1.044]
+t: 285	 action: [-0.004  0.004 -0.11  -0.005  0.003 -0.011 -1.053]
+t: 286	 action: [-1.100e-02  1.723e-02 -2.484e-02  1.170e-03 -9.498e-03 -8.037e-04 -1.061e+00]
+t: 287	 action: [-0.036  0.038 -0.069  0.002 -0.01  -0.004 -1.066]
+t: 288	 action: [-1.215e-02  1.685e-02 -3.603e-02  2.958e-04 -8.339e-03 -1.695e-03 -1.047e+00]
+t: 289	 action: [-3.056e-02  3.279e-02 -6.476e-02 -5.576e-04 -7.392e-03 -6.313e-03 -1.066e+00]
+t: 290	 action: [-0.007  0.023 -0.102  0.005 -0.013  0.008 -1.057]
+t: 291	 action: [-1.860e-02  1.560e-03 -7.029e-02 -4.452e-03  7.359e-04 -8.481e-03 -1.046e+00]
+t: 292	 action: [-0.012  0.025 -0.09   0.003 -0.015  0.005 -1.049]
+t: 293	 action: [-0.002 -0.006 -0.019 -0.007  0.001  0.01  -1.025]
+t: 294	 action: [-2.216e-02  1.825e-02 -9.206e-02 -3.527e-04 -1.899e-02  1.104e-03 -1.068e+00]
+t: 295	 action: [-0.046  0.035 -0.029 -0.002 -0.016 -0.006 -1.063]
+t: 296	 action: [-0.021  0.016 -0.065 -0.004 -0.018 -0.002 -1.04 ]
+t: 297	 action: [-0.037  0.036  0.018 -0.004 -0.014  0.019  0.973]
+[07-31 01:23:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9857
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9857
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 24
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 48%|████▊     | 24/50 [12:42<13:46, 31.79s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 25...
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=298: Selected seed 195 with value = 0.9857
+t: 298	 action: [ 0.016  0.014 -0.033  0.002  0.005  0.008 -1.053]
+t: 299	 action: [-0.006  0.016 -0.138 -0.007  0.003 -0.003 -1.044]
+t: 300	 action: [ 0.005  0.024 -0.068  0.002  0.001  0.006 -1.051]
+t: 301	 action: [-0.008  0.018 -0.132 -0.012  0.003 -0.007 -1.053]
+t: 302	 action: [-1.980e-02  2.107e-02 -3.360e-02  7.061e-05 -1.118e-02  1.811e-03 -1.069e+00]
+t: 303	 action: [-4.099e-02  4.315e-02 -8.464e-02 -7.241e-03 -1.041e-02 -4.433e-04 -1.061e+00]
+t: 304	 action: [-4.666e-03  2.163e-02 -4.041e-02 -2.517e-03 -1.315e-02  8.963e-04 -1.053e+00]
+t: 305	 action: [-0.03   0.046 -0.066 -0.012 -0.008 -0.003 -1.058]
+t: 306	 action: [-0.013  0.028 -0.102  0.003 -0.011  0.009 -1.059]
+t: 307	 action: [-2.427e-02  9.092e-03 -6.066e-02 -9.766e-03  3.706e-04 -4.446e-03 -1.038e+00]
+t: 308	 action: [-0.016  0.027 -0.101 -0.002 -0.013  0.007 -1.134]
+t: 309	 action: [-4.019e-02  8.709e-03 -4.204e-02 -1.406e-02  6.290e-04  1.317e-02 -1.097e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=24--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=24--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 24
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 25...
+[07-31 01:23:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4622
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4622
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4622
+t=10: Selected seed 195 with value = 0.4622
+t: 10	 action: [ 0.035 -0.008 -0.027  0.003 -0.005 -0.001 -1.011]
+t: 11	 action: [ 1.182e-01  4.585e-03 -4.463e-03  4.747e-05  1.887e-03 -8.948e-03 -1.020e+00]
+t: 12	 action: [ 2.332e-01  1.149e-01 -1.962e-02  2.113e-03 -4.198e-03 -2.657e-05 -1.023e+00]
+t: 13	 action: [ 3.475e-01  2.006e-01  2.131e-03 -1.539e-03  7.644e-04 -8.088e-03 -1.023e+00]
+t: 14	 action: [ 0.486  0.285 -0.015 -0.005 -0.002 -0.004 -1.03 ]
+t: 15	 action: [ 5.879e-01  4.350e-01  5.249e-03 -3.490e-03  5.672e-04 -9.763e-03 -1.057e+00]
+t: 16	 action: [ 6.769e-01  5.227e-01 -5.980e-04 -6.796e-03  5.246e-03 -4.312e-03 -1.025e+00]
+t: 17	 action: [ 7.442e-01  5.832e-01  1.057e-02 -3.265e-03 -9.850e-04 -1.030e-02 -1.061e+00]
+t: 18	 action: [ 7.368e-01  5.795e-01 -5.693e-03  2.170e-04  4.896e-03  2.794e-03 -1.030e+00]
+t: 19	 action: [ 0.776  0.585 -0.005 -0.011  0.008 -0.006 -1.029]
+t: 20	 action: [ 0.782  0.593 -0.018 -0.007  0.005  0.004 -1.032]
+t: 21	 action: [ 0.817  0.608 -0.015 -0.013  0.009 -0.006 -1.026]
+t: 22	 action: [ 0.821  0.58  -0.081 -0.006  0.004 -0.001 -1.017]
+t: 23	 action: [ 0.838  0.554 -0.085 -0.007  0.001 -0.009 -1.053]
+t: 24	 action: [ 0.835  0.538 -0.152 -0.006  0.003 -0.003 -1.022]
+t: 25	 action: [ 0.856  0.479 -0.177 -0.006  0.001 -0.008 -1.064]
+[07-31 01:23:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5328
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5328
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5328
+t=26: Selected seed 195 with value = 0.5328
+t: 26	 action: [ 0.808  0.515 -0.053 -0.01  -0.002  0.006 -1.022]
+t: 27	 action: [ 0.777  0.491 -0.076 -0.007  0.005 -0.002 -1.029]
+t: 28	 action: [ 0.744  0.382 -0.132  0.003 -0.008  0.006 -1.028]
+t: 29	 action: [ 0.653  0.278 -0.148 -0.003  0.003 -0.004 -1.034]
+t: 30	 action: [ 5.192e-01  9.473e-02 -2.550e-01  8.117e-04  4.098e-04 -3.160e-03 -1.017e+00]
+t: 31	 action: [ 0.411  0.033 -0.351  0.007 -0.002 -0.006 -1.053]
+t: 32	 action: [ 2.865e-01 -1.778e-02 -5.164e-01  7.952e-04 -6.081e-03 -4.420e-03 -1.024e+00]
+t: 33	 action: [ 0.242 -0.042 -0.637  0.014 -0.012 -0.009 -1.052]
+t: 34	 action: [ 0.135 -0.046 -0.75   0.01  -0.032 -0.008 -1.024]
+t: 35	 action: [ 0.054 -0.11  -0.89   0.003 -0.037 -0.011 -1.028]
+t: 36	 action: [-0.013 -0.066 -0.897  0.01  -0.046 -0.004 -1.021]
+t: 37	 action: [-0.056 -0.116 -0.995  0.002 -0.047 -0.011 -1.029]
+t: 38	 action: [-1.402e-01 -5.651e-02 -9.402e-01 -2.324e-05 -5.323e-02 -4.593e-03 -1.028e+00]
+t: 39	 action: [-0.144 -0.034 -0.963  0.009 -0.061 -0.011 -1.041]
+t: 40	 action: [-0.254 -0.044 -0.935 -0.003 -0.054 -0.002 -1.022]
+t: 41	 action: [-0.261 -0.029 -0.958  0.005 -0.056 -0.008 -1.046]
+[07-31 01:23:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6076
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6076
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=42: Selected seed 195 with value = 0.6076
+t: 42	 action: [-0.023  0.098 -1.011  0.007 -0.039  0.004 -1.034]
+t: 43	 action: [-2.835e-02  7.912e-02 -1.031e+00  7.144e-03 -3.214e-02 -2.583e-04 -1.038e+00]
+t: 44	 action: [-0.055  0.052 -1.016  0.008 -0.026  0.005 -1.024]
+t: 45	 action: [-0.067  0.055 -1.013  0.009 -0.011  0.005 -1.04 ]
+t: 46	 action: [-5.900e-02  3.724e-02 -9.167e-01 -3.122e-04 -6.357e-03 -3.019e-03 -1.031e+00]
+t: 47	 action: [-0.069  0.114 -0.962  0.007 -0.009 -0.006 -1.056]
+t: 48	 action: [-0.094  0.013 -0.846 -0.001 -0.004 -0.002 -1.025]
+t: 49	 action: [-0.137  0.099 -0.914  0.004 -0.003 -0.007 -1.052]
+t: 50	 action: [-0.158  0.024 -0.83   0.006 -0.003  0.007 -1.049]
+t: 51	 action: [-0.218 -0.008 -0.763 -0.004  0.003  0.022 -1.166]
+t: 52	 action: [-3.121e-01  5.999e-03 -7.678e-01  4.402e-03  1.064e-03  7.113e-03 -1.200e+00]
+t: 53	 action: [-0.353 -0.035 -0.686 -0.002  0.004  0.018 -1.165]
+t: 54	 action: [-0.362 -0.001 -0.58  -0.003  0.003 -0.007 -1.051]
+t: 55	 action: [-0.362  0.005 -0.585 -0.003 -0.002  0.009  1.242]
+t: 56	 action: [-0.255 -0.006 -0.449 -0.006  0.005 -0.009  1.104]
+t: 57	 action: [-1.955e-01 -8.962e-04 -3.881e-01 -4.525e-03 -2.369e-03  7.250e-03  1.211e+00]
+[07-31 01:23:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7174
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7174
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7174
+t=58: Selected seed 195 with value = 0.7174
+t: 58	 action: [-0.393 -0.024 -0.533 -0.006  0.008  0.005  0.974]
+t: 59	 action: [-0.289 -0.039 -0.352 -0.011  0.034 -0.001  1.007]
+t: 60	 action: [-0.194 -0.061 -0.236 -0.012  0.043  0.001  0.973]
+t: 61	 action: [-0.07  -0.07  -0.091 -0.019  0.064 -0.01   1.008]
+t: 62	 action: [-0.044 -0.048  0.043 -0.018  0.071 -0.016  0.997]
+t: 63	 action: [ 0.05  -0.081  0.165 -0.015  0.079 -0.021  1.014]
+t: 64	 action: [ 0.02  -0.063  0.392 -0.012  0.072 -0.031  0.994]
+t: 65	 action: [ 0.029 -0.065  0.555 -0.009  0.074 -0.038  1.015]
+t: 66	 action: [ 0.068 -0.105  0.672 -0.008  0.043 -0.04   0.984]
+t: 67	 action: [ 0.071 -0.132  0.835 -0.014  0.027 -0.051  0.998]
+t: 68	 action: [ 0.09  -0.103  0.875 -0.005  0.025 -0.037  0.976]
+t: 69	 action: [ 0.076 -0.166  0.933 -0.011  0.01  -0.048  1.004]
+t: 70	 action: [ 0.018 -0.162  0.962  0.004  0.007 -0.036  1.002]
+t: 71	 action: [ 0.003 -0.305  0.951  0.007  0.005 -0.034  1.01 ]
+t: 72	 action: [-0.018 -0.345  0.944  0.004 -0.005 -0.026  1.005]
+t: 73	 action: [-0.043 -0.447  0.911  0.022 -0.001 -0.023  1.014]
+[07-31 01:23:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8292
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8292
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8292
+t=74: Selected seed 195 with value = 0.8292
+t: 74	 action: [-0.068 -0.721  0.644  0.058  0.057 -0.025  0.988]
+t: 75	 action: [-0.046 -0.744  0.582  0.059  0.065 -0.022  1.017]
+t: 76	 action: [-0.109 -0.801  0.401  0.06   0.059 -0.022  0.98 ]
+t: 77	 action: [-0.074 -0.801  0.317  0.061  0.062 -0.021  1.014]
+t: 78	 action: [-0.098 -0.824  0.185  0.062  0.062 -0.018  0.99 ]
+t: 79	 action: [-0.141 -0.788  0.124  0.065  0.048 -0.013  1.003]
+t: 80	 action: [-0.123 -0.806  0.007  0.058  0.056 -0.016  0.982]
+t: 81	 action: [-0.147 -0.721 -0.071  0.058  0.041 -0.013  1.009]
+t: 82	 action: [-0.19  -0.745 -0.181  0.059  0.017 -0.002  0.987]
+t: 83	 action: [-0.194 -0.618 -0.327  0.036  0.016 -0.003  1.012]
+t: 84	 action: [-1.898e-01 -5.593e-01 -4.306e-01  2.820e-02  7.675e-03  2.431e-04  9.719e-01]
+t: 85	 action: [-0.164 -0.43  -0.572  0.017  0.014  0.002  1.02 ]
+t: 86	 action: [-0.187 -0.236 -0.609  0.002 -0.004 -0.002  0.992]
+t: 87	 action: [-0.143 -0.149 -0.705  0.007  0.002  0.005  1.001]
+t: 88	 action: [-0.133 -0.063 -0.706 -0.006 -0.002 -0.002  0.978]
+t: 89	 action: [-0.045  0.008 -0.706 -0.006  0.009  0.006  1.012]
+[07-31 01:23:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9387
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9387
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=90: Selected seed 195 with value = 0.9387
+t: 90	 action: [-0.141 -0.193 -0.661  0.002  0.029  0.006  0.932]
+t: 91	 action: [-0.113 -0.141 -0.586 -0.015  0.049  0.003  0.937]
+t: 92	 action: [-0.061 -0.016 -0.479 -0.003  0.049  0.005  1.152]
+t: 93	 action: [-0.037 -0.026 -0.371 -0.021  0.069  0.014  1.025]
+t: 94	 action: [-0.104  0.02  -0.212 -0.014  0.096  0.006  0.971]
+t: 95	 action: [-0.069  0.054 -0.109 -0.021  0.11   0.01   0.518]
+t: 96	 action: [-4.031e-02  2.487e-03 -3.698e-03 -1.616e-02  1.124e-01  8.336e-04 -1.202e+00]
+t: 97	 action: [-0.009  0.042  0.049 -0.016  0.119 -0.017 -1.142]
+t: 98	 action: [ 0.002  0.022  0.105 -0.013  0.089  0.003 -1.041]
+t: 99	 action: [ 0.002  0.003  0.18  -0.013  0.093 -0.011 -1.044]
+t: 100	 action: [ 4.358e-02  2.540e-02  2.516e-01 -9.384e-03  9.093e-02  1.003e-03 -1.034e+00]
+t: 101	 action: [ 0.052  0.003  0.337 -0.011  0.101 -0.016 -1.033]
+t: 102	 action: [ 0.048  0.025  0.398 -0.004  0.113 -0.008 -1.046]
+t: 103	 action: [ 0.1    0.048  0.463 -0.005  0.11  -0.019 -1.05 ]
+t: 104	 action: [ 0.091  0.007  0.471 -0.003  0.104 -0.013 -1.034]
+t: 105	 action: [ 1.205e-01  3.350e-02  4.805e-01 -8.920e-04  1.048e-01 -1.931e-02 -1.061e+00]
+[07-31 01:23:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.055 -0.009  0.3   -0.003  0.08   0.003 -1.032]
+t: 107	 action: [ 0.053 -0.038  0.284 -0.005  0.071  0.002 -1.039]
+t: 108	 action: [ 6.115e-02 -1.537e-02  2.965e-01  1.711e-04  7.245e-02  1.653e-03 -1.026e+00]
+t: 109	 action: [ 4.477e-02 -4.053e-02  2.806e-01  3.097e-04  7.009e-02  4.747e-03 -1.032e+00]
+t: 110	 action: [ 0.019 -0.027  0.227  0.003  0.068 -0.003 -1.031]
+t: 111	 action: [ 0.01  -0.017  0.249  0.006  0.063  0.003 -1.06 ]
+t: 112	 action: [ 0.016 -0.019  0.211  0.003  0.067 -0.003 -1.029]
+t: 113	 action: [ 0.011 -0.005  0.218  0.011  0.059  0.001 -1.057]
+t: 114	 action: [ 0.081  0.003  0.203  0.007  0.064  0.004 -1.029]
+t: 115	 action: [ 0.069 -0.03   0.197  0.007  0.063  0.002 -1.042]
+t: 116	 action: [ 0.072  0.013  0.196  0.005  0.065  0.002 -1.021]
+t: 117	 action: [ 0.062 -0.021  0.195  0.008  0.071  0.002 -1.035]
+t: 118	 action: [ 5.152e-02  6.622e-03  1.891e-01  5.924e-03  7.524e-02  7.465e-04 -1.035e+00]
+t: 119	 action: [ 3.646e-02  1.853e-02  2.098e-01  1.125e-02  6.915e-02  8.658e-05 -1.061e+00]
+t: 120	 action: [ 0.051  0.008  0.199  0.005  0.081 -0.002 -1.025]
+t: 121	 action: [ 3.085e-02  2.556e-02  2.223e-01  1.231e-02  7.608e-02  2.548e-04 -1.065e+00]
+[07-31 01:23:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9990
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=122: Selected seed 195 with value = 0.9990
+t: 122	 action: [ 0.002  0.03  -0.04   0.003 -0.002  0.002 -1.032]
+t: 123	 action: [ 0.009  0.008 -0.021 -0.007 -0.006 -0.005 -1.046]
+t: 124	 action: [-0.007  0.025 -0.044  0.003 -0.003  0.002 -1.026]
+t: 125	 action: [ 0.005 -0.006 -0.001 -0.005  0.002 -0.004 -1.037]
+t: 126	 action: [-1.775e-02  2.666e-02 -5.606e-02  6.766e-04 -9.062e-03 -1.441e-03 -1.032e+00]
+t: 127	 action: [-1.665e-02  1.308e-02 -1.099e-02  7.338e-04 -1.571e-02 -2.363e-03 -1.071e+00]
+t: 128	 action: [-1.181e-02  1.807e-02 -4.036e-02  9.352e-04 -3.610e-03 -2.116e-03 -1.027e+00]
+t: 129	 action: [-0.013  0.013  0.004  0.003 -0.008 -0.005 -1.059]
+t: 130	 action: [ 3.755e-02 -1.865e-04 -3.922e-02  7.364e-03 -5.653e-03  5.551e-03 -1.039e+00]
+t: 131	 action: [ 0.019 -0.022  0.015 -0.005 -0.007 -0.005 -1.05 ]
+t: 132	 action: [ 0.015  0.01  -0.028  0.006 -0.005  0.004 -1.031]
+t: 133	 action: [ 0.017 -0.01   0.029 -0.003  0.004 -0.002 -1.042]
+t: 134	 action: [ 0.011 -0.001 -0.036  0.004 -0.003  0.002 -1.039]
+t: 135	 action: [-0.016  0.018  0.009  0.003 -0.015 -0.005 -1.075]
+t: 136	 action: [-1.703e-04  7.265e-03 -1.646e-02  2.160e-03  1.820e-03 -2.002e-03 -1.029e+00]
+t: 137	 action: [-0.016  0.029  0.015  0.004 -0.006 -0.002 -1.065]
+[07-31 01:23:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9960
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=138: Selected seed 195 with value = 0.9960
+t: 138	 action: [-0.027  0.025 -0.074  0.003 -0.008  0.003 -1.031]
+t: 139	 action: [-2.940e-03 -8.033e-04 -7.203e-02 -7.225e-03 -1.346e-02 -5.846e-03 -1.045e+00]
+t: 140	 action: [-0.032  0.025 -0.072  0.003 -0.009  0.002 -1.025]
+t: 141	 action: [-0.007 -0.01  -0.048 -0.006 -0.003 -0.004 -1.037]
+t: 142	 action: [-4.035e-02  2.853e-02 -8.351e-02  7.518e-04 -1.279e-02 -8.586e-04 -1.034e+00]
+t: 143	 action: [-2.544e-02  1.229e-02 -4.088e-02  2.114e-04 -1.717e-02 -3.059e-03 -1.072e+00]
+t: 144	 action: [-2.790e-02  2.134e-02 -6.204e-02  5.349e-04 -6.645e-03 -1.374e-03 -1.027e+00]
+t: 145	 action: [-0.017  0.013 -0.013  0.001 -0.009 -0.004 -1.059]
+t: 146	 action: [ 0.009  0.002 -0.07   0.007 -0.012  0.005 -1.037]
+t: 147	 action: [ 0.009 -0.027 -0.035 -0.005 -0.014 -0.006 -1.05 ]
+t: 148	 action: [-0.005  0.011 -0.054  0.005 -0.011  0.004 -1.03 ]
+t: 149	 action: [ 0.014 -0.014 -0.017 -0.004 -0.001 -0.001 -1.041]
+t: 150	 action: [-3.875e-03  4.110e-04 -6.447e-02  3.022e-03 -8.633e-03  1.197e-03 -1.041e+00]
+t: 151	 action: [-0.024  0.014 -0.011  0.002 -0.018 -0.006 -1.075]
+t: 152	 action: [-0.011  0.009 -0.041  0.001 -0.003 -0.002 -1.03 ]
+t: 153	 action: [-2.177e-02  2.452e-02 -4.652e-03  3.397e-03 -8.358e-03 -1.034e-03 -1.063e+00]
+[07-31 01:23:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.027 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9963
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 1.027 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=154: Selected seed 195 with value = 0.9963
+t: 154	 action: [-1.162e-02  8.808e-03 -6.512e-02  2.813e-03 -1.131e-04  4.650e-03 -1.031e+00]
+t: 155	 action: [ 4.661e-03 -3.393e-02 -5.130e-02 -4.722e-03  6.860e-05 -3.110e-03 -1.045e+00]
+t: 156	 action: [-0.014  0.012 -0.057  0.003  0.002  0.003 -1.025]
+t: 157	 action: [ 0.004 -0.036 -0.018 -0.005  0.007 -0.001 -1.036]
+t: 158	 action: [-2.614e-02  6.345e-03 -6.695e-02  1.348e-03 -6.225e-05  3.191e-04 -1.033e+00]
+t: 159	 action: [-1.383e-02 -1.186e-02 -1.847e-02  2.019e-03 -6.235e-03 -1.204e-04 -1.073e+00]
+t: 160	 action: [-1.567e-02  8.241e-03 -4.578e-02  6.897e-04  5.609e-03 -3.962e-04 -1.028e+00]
+t: 161	 action: [-1.107e-02 -1.552e-03  5.889e-04  2.473e-03 -1.006e-03 -1.429e-03 -1.060e+00]
+t: 162	 action: [ 1.647e-02 -4.527e-03 -5.754e-02  7.046e-03 -8.557e-04  5.267e-03 -1.037e+00]
+t: 163	 action: [ 1.278e-02 -3.778e-02 -2.608e-02 -3.591e-03  9.388e-04 -3.772e-03 -1.049e+00]
+t: 164	 action: [ 0.002  0.011 -0.044  0.005  0.001  0.005 -1.029]
+t: 165	 action: [ 0.018 -0.03  -0.011 -0.003  0.008  0.001 -1.041]
+t: 166	 action: [ 4.626e-03 -6.378e-04 -5.291e-02  3.172e-03  4.456e-03  1.408e-03 -1.040e+00]
+t: 167	 action: [-0.017  0.002 -0.008  0.003 -0.008 -0.002 -1.073]
+t: 168	 action: [-0.003  0.007 -0.033  0.001  0.009 -0.001 -1.029]
+t: 169	 action: [-0.017  0.011 -0.001  0.004 -0.002  0.003 -1.062]
+[07-31 01:23:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.100 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9946
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 1.100 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=170: Selected seed 195 with value = 0.9946
+t: 170	 action: [ 0.003 -0.002 -0.047  0.004  0.007  0.005 -1.03 ]
+t: 171	 action: [ 0.009 -0.055 -0.017 -0.004  0.008 -0.004 -1.044]
+t: 172	 action: [ 0.002  0.003 -0.036  0.003  0.011  0.004 -1.025]
+t: 173	 action: [ 0.008 -0.049  0.015 -0.004  0.012 -0.002 -1.036]
+t: 174	 action: [-1.503e-02 -1.904e-03 -4.867e-02  2.186e-03  1.135e-02  2.972e-04 -1.032e+00]
+t: 175	 action: [-5.533e-03 -2.554e-02  3.537e-03  3.247e-03  3.137e-03 -5.292e-04 -1.073e+00]
+t: 176	 action: [-5.418e-03  2.852e-03 -2.786e-02  1.605e-03  1.793e-02 -3.729e-04 -1.028e+00]
+t: 177	 action: [-0.007 -0.008  0.017  0.004  0.009 -0.002 -1.061]
+t: 178	 action: [ 0.024 -0.007 -0.042  0.007  0.007  0.005 -1.035]
+t: 179	 action: [ 0.017 -0.047 -0.007 -0.003  0.009 -0.004 -1.049]
+t: 180	 action: [ 0.011  0.011 -0.028  0.005  0.011  0.004 -1.029]
+t: 181	 action: [ 0.019 -0.042  0.005 -0.003  0.011  0.001 -1.04 ]
+t: 182	 action: [ 1.193e-02  1.281e-03 -3.732e-02  3.772e-03  1.566e-02  9.989e-04 -1.038e+00]
+t: 183	 action: [-1.158e-02 -6.760e-03  1.433e-04  4.296e-03 -1.048e-04 -1.737e-03 -1.071e+00]
+t: 184	 action: [ 0.005  0.009 -0.021  0.002  0.021 -0.001 -1.029]
+t: 185	 action: [-0.013  0.002  0.006  0.005  0.005  0.004 -1.055]
+[07-31 01:23:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.207 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9919
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 1.207 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=186: Selected seed 195 with value = 0.9919
+t: 186	 action: [ 0.001 -0.015 -0.044  0.004  0.008  0.004 -1.027]
+t: 187	 action: [ 6.627e-03 -6.630e-02 -6.709e-04 -1.932e-03  1.079e-02 -4.389e-03 -1.045e+00]
+t: 188	 action: [ 4.620e-04 -5.215e-03 -2.858e-02  3.589e-03  1.369e-02  3.482e-03 -1.020e+00]
+t: 189	 action: [ 0.007 -0.056  0.027 -0.001  0.017 -0.004 -1.037]
+t: 190	 action: [-1.897e-02 -8.995e-03 -4.168e-02  2.681e-03  1.539e-02 -2.667e-05 -1.030e+00]
+t: 191	 action: [-0.009 -0.032  0.015  0.004  0.007 -0.002 -1.074]
+t: 192	 action: [-8.894e-03 -2.064e-03 -1.857e-02  2.293e-03  2.301e-02 -9.604e-04 -1.025e+00]
+t: 193	 action: [-0.009 -0.012  0.03   0.006  0.014 -0.004 -1.064]
+t: 194	 action: [ 0.018 -0.009 -0.037  0.007  0.01   0.003 -1.031]
+t: 195	 action: [ 0.015 -0.051  0.001 -0.001  0.01  -0.006 -1.049]
+t: 196	 action: [ 0.007  0.01  -0.024  0.005  0.015  0.003 -1.023]
+t: 197	 action: [ 1.747e-02 -4.682e-02  1.331e-02 -5.524e-04  1.281e-02  1.673e-04 -1.034e+00]
+t: 198	 action: [ 8.140e-03  1.588e-03 -2.828e-02  4.639e-03  2.018e-02  1.838e-04 -1.036e+00]
+t: 199	 action: [-0.013 -0.01   0.007  0.006  0.002 -0.003 -1.072]
+t: 200	 action: [ 0.003  0.008 -0.013  0.003  0.026 -0.002 -1.023]
+t: 201	 action: [-0.014 -0.001  0.013  0.007  0.008  0.004 -1.038]
+[07-31 01:23:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.122 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9896
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 1.122 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=202: Selected seed 195 with value = 0.9896
+t: 202	 action: [ 0.002 -0.011 -0.024  0.005  0.007  0.004 -1.023]
+t: 203	 action: [ 0.006 -0.061  0.026 -0.002  0.01  -0.004 -1.046]
+t: 204	 action: [ 8.832e-04 -1.166e-03 -4.557e-03  3.528e-03  1.262e-02  3.461e-03 -1.017e+00]
+t: 205	 action: [ 6.505e-03 -5.024e-02  4.649e-02 -3.985e-04  1.523e-02 -3.528e-03 -1.037e+00]
+t: 206	 action: [-2.215e-02 -7.774e-03 -2.357e-02  3.149e-03  1.396e-02 -1.327e-05 -1.028e+00]
+t: 207	 action: [-0.013 -0.026  0.044  0.005  0.005 -0.002 -1.075]
+t: 208	 action: [-9.980e-03  4.375e-04  3.015e-03  3.109e-03  2.148e-02 -1.197e-03 -1.021e+00]
+t: 209	 action: [-0.007 -0.005  0.061  0.007  0.012 -0.004 -1.063]
+t: 210	 action: [ 0.013  0.001 -0.013  0.007  0.008  0.003 -1.026]
+t: 211	 action: [ 0.015 -0.044  0.024 -0.001  0.009 -0.005 -1.049]
+t: 212	 action: [ 0.007  0.013 -0.001  0.004  0.013  0.003 -1.018]
+t: 213	 action: [ 1.734e-02 -3.886e-02  3.052e-02  3.955e-04  1.107e-02 -5.529e-04 -1.034e+00]
+t: 214	 action: [ 4.962e-03  7.005e-03 -7.347e-03  4.965e-03  1.824e-02  1.902e-04 -1.032e+00]
+t: 215	 action: [-1.290e-02 -2.514e-03  2.419e-02  6.513e-03  6.223e-04 -2.541e-03 -1.072e+00]
+t: 216	 action: [ 0.004  0.013  0.009  0.003  0.025 -0.002 -1.017]
+t: 217	 action: [-0.011  0.006  0.03   0.008  0.006  0.003 -1.042]
+[07-31 01:23:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.076 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9880
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 1.076 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=218: Selected seed 195 with value = 0.9880
+t: 218	 action: [-0.007 -0.001 -0.018  0.004  0.002  0.004 -1.021]
+t: 219	 action: [-4.934e-04 -5.254e-02  2.875e-02 -3.675e-03  7.229e-03 -3.198e-03 -1.047e+00]
+t: 220	 action: [-0.007  0.007  0.002  0.003  0.007  0.003 -1.016]
+t: 221	 action: [ 0.002 -0.043  0.051 -0.002  0.01  -0.004 -1.038]
+t: 222	 action: [-3.037e-02 -4.412e-03 -1.856e-02  2.374e-03  8.056e-03 -5.754e-04 -1.028e+00]
+t: 223	 action: [-1.918e-02 -2.222e-02  4.963e-02  2.821e-03 -4.747e-04 -2.157e-03 -1.077e+00]
+t: 224	 action: [-0.015  0.004  0.011  0.003  0.015 -0.002 -1.02 ]
+t: 225	 action: [-0.007 -0.002  0.072  0.005  0.005 -0.006 -1.064]
+t: 226	 action: [ 0.004  0.007 -0.007  0.006  0.002  0.003 -1.022]
+t: 227	 action: [ 0.01  -0.037  0.028 -0.003  0.005 -0.005 -1.05 ]
+t: 228	 action: [-4.581e-04  1.462e-02  5.969e-03  4.074e-03  5.999e-03  2.013e-03 -1.014e+00]
+t: 229	 action: [ 1.360e-02 -3.040e-02  3.479e-02 -9.218e-04  7.964e-03 -1.275e-03 -1.038e+00]
+t: 230	 action: [-4.836e-04  9.028e-03 -7.369e-04  4.191e-03  1.089e-02 -5.057e-04 -1.032e+00]
+t: 231	 action: [-0.018  0.003  0.029  0.005 -0.004 -0.003 -1.073]
+t: 232	 action: [-3.147e-05  1.409e-02  1.792e-02  2.897e-03  1.745e-02 -3.163e-03 -1.016e+00]
+t: 233	 action: [-1.131e-02  1.194e-02  3.633e-02  6.756e-03  4.844e-04  1.106e-03 -1.047e+00]
+[07-31 01:23:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9873
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 1.002 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=234: Selected seed 195 with value = 0.9873
+t: 234	 action: [-0.01   0.002 -0.018  0.004 -0.003  0.005 -1.022]
+t: 235	 action: [-0.004 -0.045  0.029 -0.004  0.003 -0.003 -1.05 ]
+t: 236	 action: [-8.773e-03  1.115e-02 -5.887e-04  2.669e-03  4.080e-04  2.763e-03 -1.018e+00]
+t: 237	 action: [ 8.287e-05 -3.408e-02  5.066e-02 -2.050e-03  7.165e-03 -3.886e-03 -1.038e+00]
+t: 238	 action: [-3.199e-02 -1.763e-03 -2.007e-02  2.172e-03  1.054e-03 -7.258e-04 -1.031e+00]
+t: 239	 action: [-0.021 -0.018  0.045  0.002 -0.006 -0.002 -1.081]
+t: 240	 action: [-0.013  0.008  0.008  0.002  0.008 -0.003 -1.022]
+t: 241	 action: [-0.005  0.003  0.067  0.004 -0.002 -0.007 -1.064]
+t: 242	 action: [-0.003  0.01  -0.011  0.006 -0.006  0.003 -1.022]
+t: 243	 action: [ 0.007 -0.028  0.027 -0.003 -0.002 -0.005 -1.051]
+t: 244	 action: [-0.003  0.016  0.004  0.004 -0.002  0.001 -1.016]
+t: 245	 action: [ 1.284e-02 -2.125e-02  3.437e-02 -7.917e-04  4.945e-03 -1.993e-03 -1.043e+00]
+t: 246	 action: [-2.847e-03  1.112e-02 -5.690e-03  3.872e-03  2.891e-03 -9.390e-04 -1.033e+00]
+t: 247	 action: [-0.021  0.01   0.026  0.004 -0.011 -0.004 -1.076]
+t: 248	 action: [ 0.002  0.017  0.015  0.003  0.009 -0.005 -1.018]
+t: 249	 action: [-1.084e-02  1.823e-02  3.323e-02  6.480e-03 -3.927e-03 -4.481e-04 -1.052e+00]
+[07-31 01:23:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9883
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=250: Selected seed 195 with value = 0.9883
+t: 250	 action: [-0.014  0.007 -0.015  0.003 -0.008  0.005 -1.024]
+t: 251	 action: [-0.004 -0.034  0.027 -0.006 -0.001 -0.003 -1.05 ]
+t: 252	 action: [-0.011  0.015 -0.004  0.003 -0.004  0.002 -1.021]
+t: 253	 action: [-5.435e-04 -2.526e-02  4.583e-02 -3.422e-03  5.263e-03 -4.712e-03 -1.039e+00]
+t: 254	 action: [-3.173e-02  3.391e-03 -2.310e-02  2.114e-03 -5.214e-03 -8.229e-04 -1.032e+00]
+t: 255	 action: [-2.031e-02 -1.017e-02  3.804e-02  5.860e-04 -1.070e-02 -2.655e-03 -1.081e+00]
+t: 256	 action: [-0.01   0.012  0.003  0.002  0.001 -0.003 -1.025]
+t: 257	 action: [-0.003  0.008  0.056  0.003 -0.005 -0.008 -1.064]
+t: 258	 action: [-0.005  0.01  -0.015  0.006 -0.012  0.003 -1.025]
+t: 259	 action: [ 0.006 -0.021  0.024 -0.005 -0.01  -0.006 -1.053]
+t: 260	 action: [-3.505e-03  1.628e-02 -1.069e-03  4.365e-03 -8.118e-03  5.456e-04 -1.018e+00]
+t: 261	 action: [ 1.241e-02 -1.260e-02  3.212e-02 -2.630e-03  6.676e-04 -3.153e-03 -1.044e+00]
+t: 262	 action: [-0.002  0.01  -0.013  0.004 -0.004 -0.001 -1.035]
+t: 263	 action: [-0.02   0.016  0.021  0.003 -0.017 -0.005 -1.077]
+t: 264	 action: [ 0.004  0.018  0.01   0.003  0.003 -0.006 -1.02 ]
+t: 265	 action: [-0.009  0.025  0.027  0.005 -0.008 -0.002 -1.058]
+[07-31 01:23:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9893
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.993 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=266: Selected seed 195 with value = 0.9893
+t: 266	 action: [-0.01   0.009 -0.012  0.003 -0.01   0.005 -1.026]
+t: 267	 action: [ 3.860e-04 -2.481e-02  2.558e-02 -7.557e-03 -4.759e-03 -3.496e-03 -1.049e+00]
+t: 268	 action: [-0.008  0.016 -0.002  0.002 -0.007  0.002 -1.021]
+t: 269	 action: [ 0.001 -0.019  0.043 -0.005  0.003 -0.005 -1.039]
+t: 270	 action: [-2.595e-02  6.547e-03 -1.957e-02  1.377e-03 -9.865e-03 -7.502e-04 -1.033e+00]
+t: 271	 action: [-1.679e-02 -3.172e-03  3.418e-02 -3.748e-04 -1.539e-02 -2.477e-03 -1.079e+00]
+t: 272	 action: [-0.005  0.013  0.008  0.002 -0.003 -0.003 -1.025]
+t: 273	 action: [-0.001  0.012  0.052  0.002 -0.008 -0.007 -1.063]
+t: 274	 action: [ 0.005  0.008 -0.011  0.006 -0.015  0.004 -1.026]
+t: 275	 action: [ 0.009 -0.019  0.027 -0.007 -0.015 -0.006 -1.053]
+t: 276	 action: [ 2.426e-03  1.393e-02  4.162e-03  4.443e-03 -1.173e-02  8.250e-04 -1.020e+00]
+t: 277	 action: [ 0.014 -0.009  0.035 -0.004 -0.003 -0.003 -1.045]
+t: 278	 action: [ 4.206e-03  7.739e-03 -9.618e-03  3.711e-03 -9.120e-03 -8.054e-04 -1.035e+00]
+t: 279	 action: [-0.017  0.019  0.024  0.001 -0.022 -0.005 -1.078]
+t: 280	 action: [ 0.008  0.016  0.016  0.002 -0.001 -0.005 -1.02 ]
+t: 281	 action: [-0.008  0.028  0.03   0.004 -0.011 -0.002 -1.06 ]
+[07-31 01:23:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9915
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.989 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=282: Selected seed 195 with value = 0.9915
+t: 282	 action: [-0.003  0.009 -0.015  0.002 -0.011  0.004 -1.029]
+t: 283	 action: [ 0.006 -0.017  0.017 -0.009 -0.008 -0.003 -1.048]
+t: 284	 action: [-0.002  0.016 -0.009  0.002 -0.009  0.002 -1.024]
+t: 285	 action: [ 0.005 -0.016  0.035 -0.007  0.001 -0.004 -1.037]
+t: 286	 action: [-1.835e-02  1.036e-02 -2.582e-02  5.578e-04 -1.317e-02 -6.044e-04 -1.033e+00]
+t: 287	 action: [-0.014  0.003  0.021 -0.002 -0.019 -0.002 -1.076]
+t: 288	 action: [-1.574e-03  1.502e-02 -2.751e-04  9.718e-04 -6.394e-03 -2.535e-03 -1.026e+00]
+t: 289	 action: [-2.594e-03  1.353e-02  3.587e-02  7.290e-04 -9.838e-03 -5.944e-03 -1.061e+00]
+t: 290	 action: [ 0.018  0.006 -0.017  0.006 -0.017  0.005 -1.031]
+t: 291	 action: [ 0.013 -0.019  0.023 -0.009 -0.019 -0.005 -1.052]
+t: 292	 action: [ 0.01   0.012 -0.002  0.004 -0.014  0.002 -1.024]
+t: 293	 action: [ 0.017 -0.008  0.032 -0.006 -0.007 -0.003 -1.043]
+t: 294	 action: [ 9.719e-03  5.158e-03 -1.738e-02  2.671e-03 -1.249e-02 -1.341e-04 -1.036e+00]
+t: 295	 action: [-1.667e-02  2.061e-02  1.868e-02 -2.489e-05 -2.452e-02 -5.081e-03 -1.077e+00]
+t: 296	 action: [ 0.009  0.013  0.008  0.002 -0.005 -0.005 -1.023]
+t: 297	 action: [-0.01   0.03   0.024  0.002 -0.014 -0.002 -1.061]
+[07-31 01:23:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9943
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9943
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 25
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 50%|█████     | 25/50 [13:14<13:21, 32.05s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 26...
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=298: Selected seed 195 with value = 0.9943
+t: 298	 action: [-0.002  0.014 -0.017  0.002 -0.01   0.004 -1.031]
+t: 299	 action: [ 0.008 -0.009  0.015 -0.009 -0.01  -0.003 -1.046]
+t: 300	 action: [ 3.336e-04  1.891e-02 -1.039e-02  2.274e-03 -8.290e-03  2.634e-03 -1.026e+00]
+t: 301	 action: [ 6.513e-03 -1.144e-02  3.289e-02 -6.451e-03  2.887e-04 -3.066e-03 -1.036e+00]
+t: 302	 action: [-1.386e-02  1.770e-02 -2.596e-02  1.512e-04 -1.303e-02 -5.639e-04 -1.032e+00]
+t: 303	 action: [-0.013  0.009  0.019 -0.001 -0.019 -0.001 -1.074]
+t: 304	 action: [ 6.223e-04  1.828e-02 -2.100e-03  8.089e-04 -5.863e-03 -1.902e-03 -1.027e+00]
+t: 305	 action: [-0.003  0.015  0.033  0.001 -0.01  -0.004 -1.059]
+t: 306	 action: [ 0.029  0.005 -0.017  0.006 -0.016  0.005 -1.034]
+t: 307	 action: [ 0.016 -0.019  0.025 -0.009 -0.018 -0.005 -1.05 ]
+t: 308	 action: [ 0.016  0.011 -0.003  0.005 -0.012  0.003 -1.027]
+t: 309	 action: [ 0.018 -0.007  0.035 -0.006 -0.004 -0.002 -1.042]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=25--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=25--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 26...
+[07-31 01:24:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.030 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5059
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.5059
+Query 1/1: Action query time = 1.030 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5059
+t=10: Selected seed 195 with value = 0.5059
+t: 10	 action: [ 4.934e-02  4.003e-03 -4.542e-02  7.003e-03 -4.375e-03  8.443e-04 -1.004e+00]
+t: 11	 action: [ 0.143  0.013 -0.018  0.01  -0.001 -0.006 -1.028]
+t: 12	 action: [ 0.32   0.106 -0.045  0.005 -0.003  0.003 -1.019]
+t: 13	 action: [ 0.47   0.167 -0.019  0.008 -0.003 -0.005 -1.03 ]
+t: 14	 action: [ 5.989e-01  3.182e-01 -6.099e-02 -4.762e-04 -8.840e-03 -1.729e-03 -1.022e+00]
+t: 15	 action: [ 0.731  0.427 -0.041  0.006 -0.006 -0.007 -1.056]
+t: 16	 action: [ 0.798  0.539 -0.068 -0.002 -0.004 -0.003 -1.019]
+t: 17	 action: [ 0.852  0.554 -0.06   0.006 -0.008 -0.008 -1.059]
+t: 18	 action: [ 0.783  0.572 -0.125  0.007 -0.012  0.003 -1.028]
+t: 19	 action: [ 0.828  0.56  -0.13   0.006 -0.003 -0.004 -1.037]
+t: 20	 action: [ 0.816  0.604 -0.166  0.005 -0.015  0.007 -1.036]
+t: 21	 action: [ 0.873  0.594 -0.156  0.003 -0.007 -0.003 -1.033]
+t: 22	 action: [ 8.446e-01  5.873e-01 -2.191e-01  3.291e-03 -1.903e-02  4.568e-06 -1.008e+00]
+t: 23	 action: [ 0.89   0.57  -0.267  0.011 -0.014 -0.007 -1.051]
+t: 24	 action: [ 0.835  0.551 -0.335  0.002 -0.023 -0.001 -1.015]
+t: 25	 action: [ 0.891  0.509 -0.36   0.014 -0.024 -0.006 -1.058]
+[07-31 01:24:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5565
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5565
+Query 1/1: Action query time = 1.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5565
+t=26: Selected seed 195 with value = 0.5565
+t: 26	 action: [ 0.799  0.481 -0.207 -0.013 -0.025  0.005 -1.036]
+t: 27	 action: [ 0.771  0.446 -0.221 -0.006 -0.016 -0.006 -1.027]
+t: 28	 action: [ 0.752  0.394 -0.323  0.005 -0.029  0.003 -1.035]
+t: 29	 action: [ 0.669  0.26  -0.323  0.002 -0.013 -0.009 -1.034]
+t: 30	 action: [ 0.541  0.16  -0.414 -0.002 -0.018 -0.007 -1.026]
+t: 31	 action: [ 0.446  0.082 -0.457  0.005 -0.014 -0.01  -1.05 ]
+t: 32	 action: [ 0.317  0.061 -0.687 -0.002 -0.018 -0.011 -1.031]
+t: 33	 action: [ 0.248  0.009 -0.791  0.012 -0.019 -0.014 -1.056]
+t: 34	 action: [ 0.137  0.01  -0.847  0.008 -0.036 -0.005 -1.031]
+t: 35	 action: [ 0.046 -0.056 -0.907  0.003 -0.029 -0.013 -1.023]
+t: 36	 action: [-0.045 -0.04  -0.922  0.007 -0.041 -0.007 -1.026]
+t: 37	 action: [-0.122 -0.091 -0.983  0.003 -0.032 -0.011 -1.026]
+t: 38	 action: [-0.158 -0.104 -0.943  0.002 -0.044 -0.007 -1.037]
+t: 39	 action: [-0.222 -0.041 -0.96   0.012 -0.043 -0.019 -1.042]
+t: 40	 action: [-2.982e-01 -1.028e-01 -9.452e-01 -8.439e-04 -4.039e-02 -9.374e-03 -1.030e+00]
+t: 41	 action: [-0.348 -0.049 -0.967  0.009 -0.038 -0.015 -1.049]
+[07-31 01:24:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6156
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6156
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6156
+t=42: Selected seed 195 with value = 0.6156
+t: 42	 action: [-0.006  0.097 -0.964  0.002 -0.019  0.005 -1.049]
+t: 43	 action: [-9.138e-03  1.181e-01 -9.064e-01  4.901e-04 -2.773e-03 -4.120e-03 -1.038e+00]
+t: 44	 action: [-1.638e-02  1.197e-01 -8.442e-01 -8.559e-05 -4.062e-03  6.532e-03 -1.035e+00]
+t: 45	 action: [-0.021  0.134 -0.805 -0.001  0.005 -0.002 -1.041]
+t: 46	 action: [-5.393e-02  1.336e-01 -6.485e-01 -1.145e-02  1.769e-04 -6.969e-03 -1.045e+00]
+t: 47	 action: [-1.080e-01  1.955e-01 -6.966e-01 -1.906e-03  7.464e-04 -1.571e-02 -1.050e+00]
+t: 48	 action: [-0.125  0.119 -0.57  -0.015  0.002 -0.009 -1.035]
+t: 49	 action: [-0.195  0.176 -0.626 -0.005  0.002 -0.019 -1.052]
+t: 50	 action: [-0.198  0.054 -0.549 -0.004  0.013  0.005 -1.196]
+t: 51	 action: [-0.313  0.043 -0.577 -0.009  0.007  0.011 -1.153]
+t: 52	 action: [-0.307  0.025 -0.508 -0.003  0.014  0.005 -1.169]
+t: 53	 action: [-0.394  0.003 -0.508 -0.01   0.01  -0.004  1.033]
+t: 54	 action: [-0.323 -0.007 -0.485 -0.005  0.009 -0.02   1.107]
+t: 55	 action: [-0.324 -0.019 -0.403 -0.007  0.007 -0.015  1.179]
+t: 56	 action: [-0.293 -0.034 -0.381 -0.004  0.01  -0.023  1.094]
+t: 57	 action: [-0.242 -0.033 -0.255 -0.013  0.012 -0.025  1.063]
+[07-31 01:24:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7205
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7205
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7205
+t=58: Selected seed 195 with value = 0.7205
+t: 58	 action: [-0.366 -0.006 -0.448 -0.007  0.024  0.004  0.991]
+t: 59	 action: [-0.327 -0.026 -0.268 -0.024  0.034 -0.011  1.018]
+t: 60	 action: [-0.18  -0.019 -0.139 -0.017  0.052 -0.002  0.996]
+t: 61	 action: [-0.058 -0.03  -0.03  -0.029  0.053 -0.011  1.021]
+t: 62	 action: [ 0.009 -0.028  0.08  -0.034  0.059 -0.018  1.001]
+t: 63	 action: [ 0.091 -0.033  0.193 -0.031  0.069 -0.019  1.02 ]
+t: 64	 action: [ 0.093 -0.056  0.462 -0.012  0.064 -0.032  0.999]
+t: 65	 action: [ 0.07  -0.025  0.617 -0.015  0.075 -0.03   1.017]
+t: 66	 action: [ 0.083 -0.113  0.703 -0.002  0.063 -0.021  0.994]
+t: 67	 action: [ 6.787e-02 -1.258e-01  7.768e-01 -8.060e-04  4.801e-02 -3.345e-02  1.006e+00]
+t: 68	 action: [ 0.079 -0.146  0.824 -0.004  0.044 -0.023  0.984]
+t: 69	 action: [ 0.062 -0.19   0.902  0.007  0.035 -0.031  1.012]
+t: 70	 action: [ 9.073e-07 -1.769e-01  9.059e-01  1.354e-02  4.374e-02 -2.479e-02  9.985e-01]
+t: 71	 action: [-0.061 -0.194  0.933  0.028  0.044 -0.024  1.015]
+t: 72	 action: [-0.055 -0.349  0.892  0.025  0.032 -0.022  0.994]
+t: 73	 action: [-0.09  -0.373  0.883  0.041  0.033 -0.02   1.017]
+[07-31 01:24:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8401
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8401
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8401
+t=74: Selected seed 195 with value = 0.8401
+t: 74	 action: [-0.066 -0.748  0.572  0.071  0.025 -0.027  0.986]
+t: 75	 action: [-0.081 -0.792  0.503  0.062  0.028 -0.023  1.018]
+t: 76	 action: [-0.132 -0.807  0.266  0.072  0.03  -0.019  0.982]
+t: 77	 action: [-0.133 -0.817  0.179  0.063  0.032 -0.018  1.012]
+t: 78	 action: [-0.14  -0.828  0.07   0.064  0.031 -0.017  0.993]
+t: 79	 action: [-0.21  -0.812  0.005  0.06   0.018 -0.013  1.01 ]
+t: 80	 action: [-0.188 -0.805 -0.124  0.052  0.03  -0.01   0.99 ]
+t: 81	 action: [-0.219 -0.718 -0.194  0.047  0.018 -0.01   1.017]
+t: 82	 action: [-2.494e-01 -7.321e-01 -2.987e-01  5.995e-02  1.472e-02  9.923e-04  9.937e-01]
+t: 83	 action: [-0.279 -0.637 -0.453  0.033  0.012  0.002  1.011]
+t: 84	 action: [-0.285 -0.548 -0.513  0.031  0.01   0.002  0.983]
+t: 85	 action: [-0.278 -0.453 -0.647  0.016  0.012  0.007  1.021]
+t: 86	 action: [-2.971e-01 -2.322e-01 -6.411e-01  2.981e-03  1.735e-03  4.841e-04  1.007e+00]
+t: 87	 action: [-2.686e-01 -1.483e-01 -7.079e-01  2.252e-03  6.834e-04  1.090e-02  1.010e+00]
+t: 88	 action: [-0.265 -0.086 -0.692 -0.004  0.005  0.002  0.998]
+t: 89	 action: [-0.164  0.002 -0.678 -0.007  0.008  0.012  1.024]
+[07-31 01:24:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9514
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=90: Selected seed 195 with value = 0.9514
+t: 90	 action: [-0.073 -0.065 -0.509 -0.003  0.067  0.003  1.166]
+t: 91	 action: [-0.041 -0.049 -0.382 -0.018  0.092  0.004  1.046]
+t: 92	 action: [-0.033  0.007 -0.198 -0.006  0.083  0.002  1.184]
+t: 93	 action: [-0.006 -0.035 -0.076 -0.018  0.106 -0.003 -1.031]
+t: 94	 action: [-0.03   0.006  0.002 -0.02   0.125 -0.002 -1.2  ]
+t: 95	 action: [-0.026  0.02   0.084 -0.021  0.134 -0.021 -1.12 ]
+t: 96	 action: [ 0.016 -0.008  0.165 -0.01   0.128 -0.007 -1.2  ]
+t: 97	 action: [ 0.019  0.015  0.277 -0.012  0.13  -0.018 -1.058]
+t: 98	 action: [ 0.034  0.015  0.236 -0.012  0.087  0.002 -1.036]
+t: 99	 action: [ 0.026 -0.008  0.328 -0.01   0.096 -0.011 -1.035]
+t: 100	 action: [ 5.370e-02  1.718e-02  3.623e-01 -4.241e-03  8.729e-02 -5.640e-04 -1.040e+00]
+t: 101	 action: [ 0.056 -0.008  0.455 -0.007  0.104 -0.013 -1.022]
+t: 102	 action: [ 0.071  0.016  0.477  0.001  0.11  -0.009 -1.046]
+t: 103	 action: [ 0.097  0.028  0.499  0.002  0.115 -0.016 -1.046]
+t: 104	 action: [ 8.878e-02  5.050e-03  5.041e-01 -7.181e-04  1.018e-01 -1.253e-02 -1.044e+00]
+t: 105	 action: [ 0.1    0.017  0.488  0.006  0.112 -0.015 -1.058]
+[07-31 01:24:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.107 -0.007  0.244  0.003  0.072  0.002 -1.035]
+t: 107	 action: [ 7.970e-02 -4.069e-02  2.087e-01  1.795e-03  6.777e-02  4.537e-04 -1.047e+00]
+t: 108	 action: [ 0.083 -0.003  0.194  0.002  0.066 -0.001 -1.035]
+t: 109	 action: [ 0.052 -0.038  0.179  0.003  0.071  0.004 -1.034]
+t: 110	 action: [ 0.03  -0.013  0.146  0.001  0.067 -0.001 -1.037]
+t: 111	 action: [ 0.037 -0.01   0.197  0.008  0.071  0.004 -1.069]
+t: 112	 action: [ 0.036  0.001  0.142  0.001  0.069 -0.001 -1.038]
+t: 113	 action: [ 0.031  0.01   0.169  0.011  0.072  0.004 -1.062]
+t: 114	 action: [ 0.085  0.002  0.164  0.006  0.067  0.004 -1.037]
+t: 115	 action: [ 0.068 -0.032  0.164  0.005  0.067  0.005 -1.047]
+t: 116	 action: [ 6.790e-02  1.184e-02  1.531e-01  4.585e-03  6.658e-02  2.994e-04 -1.035e+00]
+t: 117	 action: [ 0.056 -0.019  0.157  0.006  0.075  0.004 -1.039]
+t: 118	 action: [ 0.064  0.007  0.156  0.004  0.077  0.004 -1.044]
+t: 119	 action: [ 0.055  0.026  0.195  0.01   0.072  0.004 -1.067]
+t: 120	 action: [ 0.061  0.012  0.153  0.002  0.082 -0.001 -1.039]
+t: 121	 action: [ 0.047  0.039  0.197  0.011  0.082  0.004 -1.067]
+[07-31 01:24:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9971
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=122: Selected seed 195 with value = 0.9971
+t: 122	 action: [-0.017  0.024 -0.038  0.002 -0.011  0.004 -1.027]
+t: 123	 action: [-0.001  0.002 -0.047 -0.01  -0.018 -0.005 -1.043]
+t: 124	 action: [-0.025  0.023 -0.044  0.003 -0.015  0.002 -1.023]
+t: 125	 action: [-0.009 -0.009 -0.03  -0.008 -0.011 -0.003 -1.037]
+t: 126	 action: [-0.033  0.018 -0.066 -0.002 -0.021 -0.001 -1.033]
+t: 127	 action: [-0.026  0.011 -0.034 -0.002 -0.028 -0.002 -1.071]
+t: 128	 action: [-1.939e-02  1.500e-02 -4.455e-02 -3.429e-04 -1.599e-02 -2.114e-03 -1.028e+00]
+t: 129	 action: [-1.393e-02  1.278e-02 -1.006e-02  3.550e-04 -1.945e-02 -4.640e-03 -1.060e+00]
+t: 130	 action: [ 0.021  0.003 -0.04   0.004 -0.02   0.006 -1.035]
+t: 131	 action: [ 0.01  -0.028  0.007 -0.008 -0.021 -0.004 -1.049]
+t: 132	 action: [ 0.006  0.009 -0.029  0.004 -0.02   0.004 -1.031]
+t: 133	 action: [ 0.012 -0.014  0.018 -0.006 -0.011 -0.001 -1.041]
+t: 134	 action: [ 2.194e-03  2.306e-04 -4.546e-02 -4.246e-04 -1.976e-02  1.072e-03 -1.042e+00]
+t: 135	 action: [-2.152e-02  1.785e-02  4.375e-03  3.875e-04 -2.744e-02 -5.039e-03 -1.075e+00]
+t: 136	 action: [-8.787e-04  7.456e-03 -2.316e-02 -3.658e-04 -1.456e-02 -3.201e-03 -1.031e+00]
+t: 137	 action: [-0.017  0.029  0.008  0.002 -0.018 -0.002 -1.064]
+[07-31 01:24:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.008 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9963
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 1.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=138: Selected seed 195 with value = 0.9963
+t: 138	 action: [-0.023  0.018 -0.064  0.003 -0.011  0.004 -1.027]
+t: 139	 action: [-0.005 -0.009 -0.072 -0.01  -0.016 -0.004 -1.043]
+t: 140	 action: [-0.023  0.02  -0.061  0.003 -0.014  0.002 -1.022]
+t: 141	 action: [-0.008 -0.016 -0.047 -0.008 -0.008 -0.003 -1.035]
+t: 142	 action: [-3.077e-02  1.875e-02 -7.704e-02 -6.485e-05 -1.952e-02 -6.760e-04 -1.034e+00]
+t: 143	 action: [-0.022  0.008 -0.04  -0.002 -0.025 -0.002 -1.07 ]
+t: 144	 action: [-1.345e-02  1.553e-02 -5.099e-02 -9.204e-05 -1.357e-02 -1.774e-03 -1.027e+00]
+t: 145	 action: [-1.153e-02  8.922e-03 -1.189e-02 -2.852e-04 -1.558e-02 -4.007e-03 -1.058e+00]
+t: 146	 action: [ 0.024  0.003 -0.057  0.005 -0.019  0.006 -1.035]
+t: 147	 action: [ 0.011 -0.032 -0.018 -0.008 -0.018 -0.005 -1.046]
+t: 148	 action: [ 0.009  0.009 -0.041  0.004 -0.018  0.004 -1.029]
+t: 149	 action: [ 1.369e-02 -1.881e-02 -2.432e-03 -6.938e-03 -8.050e-03 -8.425e-04 -1.038e+00]
+t: 150	 action: [ 9.326e-03  1.206e-03 -5.515e-02  4.441e-04 -1.820e-02  9.198e-04 -1.042e+00]
+t: 151	 action: [-2.059e-02  1.338e-02 -5.452e-03  1.222e-04 -2.465e-02 -5.461e-03 -1.073e+00]
+t: 152	 action: [ 3.829e-03  8.769e-03 -2.845e-02 -4.827e-04 -1.235e-02 -2.622e-03 -1.031e+00]
+t: 153	 action: [-1.834e-02  2.342e-02 -9.180e-04  1.455e-03 -1.477e-02 -1.133e-03 -1.061e+00]
+[07-31 01:24:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9990
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=154: Selected seed 195 with value = 0.9990
+t: 154	 action: [-0.003  0.011 -0.043  0.003 -0.002  0.005 -1.032]
+t: 155	 action: [ 0.008 -0.024 -0.017 -0.007 -0.001 -0.002 -1.045]
+t: 156	 action: [-0.005  0.013 -0.04   0.003 -0.002  0.002 -1.027]
+t: 157	 action: [ 3.726e-03 -2.707e-02  5.493e-03 -6.392e-03  5.537e-03  1.780e-04 -1.035e+00]
+t: 158	 action: [-1.360e-02  1.147e-02 -5.007e-02  6.450e-04 -4.637e-03  5.696e-04 -1.033e+00]
+t: 159	 action: [-9.072e-03 -1.924e-03 -1.164e-03  1.093e-04 -9.194e-03  8.286e-04 -1.071e+00]
+t: 160	 action: [-4.247e-03  1.240e-02 -3.157e-02 -2.450e-05  1.222e-03 -4.267e-04 -1.029e+00]
+t: 161	 action: [-8.315e-03  7.069e-03  8.081e-03  8.993e-04 -3.625e-03 -2.313e-04 -1.059e+00]
+t: 162	 action: [ 0.029  0.006 -0.039  0.006 -0.004  0.006 -1.037]
+t: 163	 action: [ 1.561e-02 -2.595e-02  7.572e-03 -6.316e-03  3.777e-04 -2.385e-03 -1.048e+00]
+t: 164	 action: [ 0.012  0.01  -0.025  0.004 -0.003  0.004 -1.032]
+t: 165	 action: [ 0.016 -0.019  0.019 -0.005  0.006  0.002 -1.039]
+t: 166	 action: [ 1.426e-02  4.994e-03 -3.794e-02  1.989e-03 -3.051e-04  1.974e-03 -1.040e+00]
+t: 167	 action: [-1.247e-02  1.503e-02  5.803e-03  8.678e-04 -9.734e-03 -1.691e-03 -1.073e+00]
+t: 168	 action: [ 7.315e-03  1.191e-02 -1.673e-02  1.454e-04  4.493e-03 -1.078e-03 -1.031e+00]
+t: 169	 action: [-0.015  0.021  0.007  0.002 -0.004  0.003 -1.062]
+[07-31 01:24:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9986
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=170: Selected seed 195 with value = 0.9986
+t: 170	 action: [ 0.003  0.007 -0.046  0.003  0.002  0.005 -1.032]
+t: 171	 action: [ 0.01  -0.035 -0.012 -0.004  0.003 -0.002 -1.046]
+t: 172	 action: [ 0.002  0.01  -0.038  0.003  0.003  0.003 -1.027]
+t: 173	 action: [ 5.806e-03 -3.631e-02  1.452e-02 -4.368e-03  7.659e-03  1.872e-04 -1.036e+00]
+t: 174	 action: [-1.002e-02  6.398e-03 -4.742e-02  1.186e-03  2.031e-03  8.193e-04 -1.033e+00]
+t: 175	 action: [-0.006 -0.01   0.004  0.002 -0.004  0.001 -1.072]
+t: 176	 action: [-1.612e-03  8.392e-03 -2.710e-02  3.692e-04  8.033e-03 -2.564e-04 -1.029e+00]
+t: 177	 action: [-7.892e-03  2.108e-03  1.383e-02  2.546e-03  1.240e-03 -2.163e-04 -1.060e+00]
+t: 178	 action: [ 0.031  0.004 -0.037  0.007  0.001  0.006 -1.037]
+t: 179	 action: [ 0.017 -0.032  0.011 -0.004  0.005 -0.002 -1.049]
+t: 180	 action: [ 0.013  0.011 -0.023  0.005  0.003  0.004 -1.031]
+t: 181	 action: [ 0.017 -0.028  0.023 -0.004  0.008  0.003 -1.039]
+t: 182	 action: [ 0.015  0.004 -0.034  0.003  0.007  0.002 -1.04 ]
+t: 183	 action: [-1.253e-02  9.470e-03  7.280e-03  2.987e-03 -4.721e-03 -8.810e-04 -1.072e+00]
+t: 184	 action: [ 7.227e-03  9.734e-03 -1.473e-02  8.546e-04  1.116e-02 -1.143e-03 -1.031e+00]
+t: 185	 action: [-1.502e-02  1.538e-02  1.028e-02  3.914e-03  5.100e-04  3.850e-03 -1.062e+00]
+[07-31 01:24:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=186: Selected seed 195 with value = 0.9979
+t: 186	 action: [ 0.006  0.004 -0.042  0.003  0.004  0.005 -1.032]
+t: 187	 action: [ 0.012 -0.045 -0.005 -0.004  0.005 -0.002 -1.045]
+t: 188	 action: [ 0.006  0.008 -0.032  0.003  0.007  0.003 -1.027]
+t: 189	 action: [ 7.444e-03 -4.289e-02  2.143e-02 -4.244e-03  9.226e-03 -5.509e-04 -1.036e+00]
+t: 190	 action: [-7.918e-03  3.491e-03 -4.261e-02  1.400e-03  5.647e-03  7.632e-04 -1.032e+00]
+t: 191	 action: [-2.406e-03 -1.564e-02  1.021e-02  2.442e-03 -1.648e-03  4.752e-04 -1.072e+00]
+t: 192	 action: [ 1.347e-03  6.371e-03 -2.195e-02  5.145e-04  1.190e-02 -2.795e-04 -1.029e+00]
+t: 193	 action: [-5.735e-03 -1.255e-03  2.048e-02  2.869e-03  3.690e-03 -9.706e-04 -1.060e+00]
+t: 194	 action: [ 0.032  0.003 -0.033  0.007  0.004  0.006 -1.036]
+t: 195	 action: [ 0.019 -0.037  0.011 -0.004  0.006 -0.003 -1.049]
+t: 196	 action: [ 0.017  0.011 -0.019  0.005  0.007  0.004 -1.031]
+t: 197	 action: [ 0.018 -0.033  0.022 -0.003  0.009  0.002 -1.04 ]
+t: 198	 action: [ 0.017  0.003 -0.031  0.003  0.01   0.002 -1.04 ]
+t: 199	 action: [-0.01   0.005  0.009  0.003 -0.003 -0.001 -1.072]
+t: 200	 action: [ 0.011  0.01  -0.012  0.001  0.015 -0.001 -1.031]
+t: 201	 action: [-0.013  0.011  0.012  0.004  0.002  0.004 -1.06 ]
+[07-31 01:24:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9970
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=202: Selected seed 195 with value = 0.9970
+t: 202	 action: [ 1.296e-02  6.528e-04 -3.507e-02  3.182e-03  7.160e-03  5.052e-03 -1.032e+00]
+t: 203	 action: [ 0.015 -0.053  0.007 -0.003  0.007 -0.003 -1.045]
+t: 204	 action: [ 0.011  0.007 -0.024  0.002  0.01   0.003 -1.026]
+t: 205	 action: [ 0.009 -0.048  0.029 -0.003  0.011 -0.001 -1.034]
+t: 206	 action: [-5.880e-03  1.186e-03 -3.540e-02  1.690e-03  9.522e-03  4.912e-04 -1.032e+00]
+t: 207	 action: [-4.210e-04 -2.137e-02  2.039e-02  3.957e-03  2.229e-03  3.834e-04 -1.072e+00]
+t: 208	 action: [ 3.767e-03  5.211e-03 -1.497e-02  9.337e-04  1.639e-02 -4.359e-04 -1.029e+00]
+t: 209	 action: [-0.005 -0.004  0.03   0.005  0.008 -0.002 -1.059]
+t: 210	 action: [ 0.035  0.001 -0.026  0.007  0.007  0.005 -1.036]
+t: 211	 action: [ 0.021 -0.041  0.015 -0.002  0.008 -0.003 -1.049]
+t: 212	 action: [ 0.02   0.012 -0.014  0.004  0.011  0.004 -1.03 ]
+t: 213	 action: [ 0.019 -0.036  0.026 -0.002  0.011  0.001 -1.04 ]
+t: 214	 action: [ 0.019  0.003 -0.024  0.004  0.014  0.002 -1.038]
+t: 215	 action: [-7.853e-03  1.529e-03  1.360e-02  4.796e-03  5.669e-06 -1.415e-03 -1.072e+00]
+t: 216	 action: [ 0.014  0.01  -0.006  0.002  0.02  -0.001 -1.029]
+t: 217	 action: [-0.012  0.009  0.017  0.006  0.006  0.003 -1.059]
+[07-31 01:24:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=218: Selected seed 195 with value = 0.9959
+t: 218	 action: [ 0.01  -0.003 -0.028  0.003  0.006  0.005 -1.03 ]
+t: 219	 action: [ 0.011 -0.059  0.009 -0.004  0.007 -0.003 -1.045]
+t: 220	 action: [ 0.01   0.004 -0.02   0.003  0.009  0.003 -1.025]
+t: 221	 action: [ 0.008 -0.052  0.028 -0.003  0.011 -0.002 -1.035]
+t: 222	 action: [-9.395e-03 -1.065e-03 -3.366e-02  1.600e-03  9.024e-03  3.611e-04 -1.031e+00]
+t: 223	 action: [-3.359e-03 -2.603e-02  2.171e-02  3.203e-03  1.946e-03 -4.605e-04 -1.072e+00]
+t: 224	 action: [ 2.687e-03  3.705e-03 -1.353e-02  1.113e-03  1.564e-02 -5.523e-04 -1.028e+00]
+t: 225	 action: [-0.004 -0.008  0.03   0.004  0.007 -0.003 -1.06 ]
+t: 226	 action: [ 0.03   0.002 -0.023  0.007  0.006  0.005 -1.034]
+t: 227	 action: [ 0.018 -0.044  0.013 -0.003  0.008 -0.004 -1.048]
+t: 228	 action: [ 0.018  0.01  -0.012  0.005  0.01   0.004 -1.028]
+t: 229	 action: [ 1.774e-02 -3.960e-02  2.197e-02 -2.448e-03  1.018e-02  6.269e-04 -1.039e+00]
+t: 230	 action: [ 0.018  0.005 -0.023  0.004  0.014  0.001 -1.037]
+t: 231	 action: [-9.315e-03 -2.223e-03  1.246e-02  4.308e-03 -5.529e-04 -2.034e-03 -1.071e+00]
+t: 232	 action: [ 0.015  0.01  -0.006  0.002  0.019 -0.001 -1.028]
+t: 233	 action: [-0.011  0.006  0.015  0.006  0.005  0.003 -1.058]
+[07-31 01:24:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9945
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=234: Selected seed 195 with value = 0.9945
+t: 234	 action: [ 0.011 -0.003 -0.016  0.003  0.006  0.005 -1.028]
+t: 235	 action: [ 0.012 -0.057  0.02  -0.005  0.007 -0.003 -1.044]
+t: 236	 action: [ 0.011  0.004 -0.007  0.003  0.009  0.003 -1.024]
+t: 237	 action: [ 0.008 -0.049  0.035 -0.005  0.011 -0.003 -1.034]
+t: 238	 action: [-8.903e-03 -2.108e-04 -2.115e-02  1.554e-03  8.446e-03  1.633e-04 -1.030e+00]
+t: 239	 action: [-3.877e-03 -2.333e-02  3.251e-02  2.018e-03  1.185e-03 -8.646e-04 -1.072e+00]
+t: 240	 action: [ 4.762e-03  4.519e-03 -1.513e-03  1.287e-03  1.572e-02 -7.215e-04 -1.027e+00]
+t: 241	 action: [-0.003 -0.006  0.04   0.003  0.006 -0.003 -1.06 ]
+t: 242	 action: [ 0.027  0.004 -0.012  0.007  0.005  0.005 -1.031]
+t: 243	 action: [ 0.019 -0.04   0.022 -0.005  0.007 -0.005 -1.048]
+t: 244	 action: [ 1.829e-02  1.051e-02 -7.488e-04  4.342e-03  8.803e-03  3.980e-03 -1.026e+00]
+t: 245	 action: [ 1.747e-02 -3.567e-02  2.822e-02 -3.258e-03  9.656e-03 -2.876e-04 -1.039e+00]
+t: 246	 action: [ 1.848e-02  6.941e-03 -1.032e-02  3.458e-03  1.293e-02  9.393e-04 -1.035e+00]
+t: 247	 action: [-0.009  0.002  0.02   0.003 -0.001 -0.003 -1.071]
+t: 248	 action: [ 0.017  0.013  0.006  0.002  0.019 -0.002 -1.026]
+t: 249	 action: [-0.01   0.009  0.021  0.005  0.004  0.002 -1.058]
+[07-31 01:24:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9931
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=250: Selected seed 195 with value = 0.9931
+t: 250	 action: [ 0.005  0.002 -0.014  0.003  0.003  0.005 -1.027]
+t: 251	 action: [ 0.009 -0.048  0.023 -0.006  0.007 -0.004 -1.045]
+t: 252	 action: [ 0.006  0.009 -0.006  0.003  0.007  0.003 -1.022]
+t: 253	 action: [ 0.007 -0.04   0.036 -0.006  0.009 -0.003 -1.034]
+t: 254	 action: [-1.201e-02  3.953e-03 -1.945e-02  1.341e-03  6.014e-03  1.051e-04 -1.030e+00]
+t: 255	 action: [-6.710e-03 -1.651e-02  3.382e-02  7.240e-04 -1.409e-03 -1.219e-03 -1.072e+00]
+t: 256	 action: [ 3.596e-03  9.111e-03  7.071e-04  1.065e-03  1.297e-02 -8.158e-04 -1.026e+00]
+t: 257	 action: [-2.233e-03  7.955e-04  3.993e-02  2.155e-03  3.078e-03 -3.509e-03 -1.059e+00]
+t: 258	 action: [ 0.024  0.007 -0.009  0.006  0.002  0.005 -1.03 ]
+t: 259	 action: [ 0.017 -0.03   0.025 -0.006  0.006 -0.005 -1.049]
+t: 260	 action: [ 0.016  0.013  0.003  0.004  0.006  0.004 -1.025]
+t: 261	 action: [ 1.590e-02 -2.495e-02  3.014e-02 -4.081e-03  8.575e-03 -8.865e-04 -1.040e+00]
+t: 262	 action: [ 1.819e-02  9.136e-03 -7.052e-03  3.186e-03  1.028e-02  9.264e-04 -1.034e+00]
+t: 263	 action: [-0.01   0.011  0.022  0.002 -0.004 -0.003 -1.071]
+t: 264	 action: [ 0.017  0.016  0.01   0.002  0.017 -0.002 -1.024]
+t: 265	 action: [-0.009  0.017  0.023  0.004  0.002  0.001 -1.058]
+[07-31 01:24:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9925
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=266: Selected seed 195 with value = 0.9925
+t: 266	 action: [-3.978e-03  4.825e-03 -1.963e-02  3.042e-03  6.325e-04  4.427e-03 -1.025e+00]
+t: 267	 action: [ 0.005 -0.042  0.018 -0.007  0.005 -0.003 -1.044]
+t: 268	 action: [-8.629e-04  1.167e-02 -1.180e-02  2.914e-03  3.217e-03  3.042e-03 -1.022e+00]
+t: 269	 action: [ 0.004 -0.034  0.033 -0.006  0.008 -0.003 -1.034]
+t: 270	 action: [-1.803e-02  7.196e-03 -2.545e-02  1.252e-03  2.368e-03 -5.347e-05 -1.029e+00]
+t: 271	 action: [-1.002e-02 -1.323e-02  2.658e-02 -2.088e-04 -4.202e-03 -1.464e-03 -1.072e+00]
+t: 272	 action: [ 8.493e-05  1.258e-02 -5.754e-03  1.313e-03  9.316e-03 -1.052e-03 -1.026e+00]
+t: 273	 action: [-2.603e-03  2.959e-03  3.367e-02  1.417e-03  2.232e-04 -3.994e-03 -1.059e+00]
+t: 274	 action: [ 1.749e-02  7.717e-03 -1.606e-02  6.198e-03 -9.074e-04  4.798e-03 -1.028e+00]
+t: 275	 action: [ 0.013 -0.027  0.021 -0.007  0.003 -0.005 -1.048]
+t: 276	 action: [ 0.01   0.014 -0.003  0.005  0.002  0.003 -1.023]
+t: 277	 action: [ 0.014 -0.019  0.028 -0.005  0.008 -0.001 -1.04 ]
+t: 278	 action: [ 1.397e-02  9.827e-03 -1.431e-02  3.101e-03  6.469e-03  7.343e-04 -1.034e+00]
+t: 279	 action: [-0.013  0.013  0.017  0.001 -0.007 -0.004 -1.072]
+t: 280	 action: [ 0.014  0.018  0.005  0.002  0.013 -0.002 -1.023]
+t: 281	 action: [-9.864e-03  2.065e-02  1.922e-02  3.402e-03 -6.406e-04  2.309e-04 -1.059e+00]
+[07-31 01:24:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9920
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=282: Selected seed 195 with value = 0.9920
+t: 282	 action: [-6.577e-03  6.768e-03 -1.941e-02  2.954e-03 -1.877e-04  4.657e-03 -1.026e+00]
+t: 283	 action: [ 0.003 -0.038  0.018 -0.008  0.004 -0.003 -1.045]
+t: 284	 action: [-0.002  0.013 -0.011  0.003  0.002  0.003 -1.022]
+t: 285	 action: [ 0.003 -0.032  0.034 -0.007  0.008 -0.003 -1.035]
+t: 286	 action: [-1.866e-02  7.987e-03 -2.632e-02  1.037e-03  9.165e-04 -8.680e-05 -1.029e+00]
+t: 287	 action: [-1.069e-02 -1.166e-02  2.645e-02 -7.047e-04 -4.655e-03 -1.066e-03 -1.072e+00]
+t: 288	 action: [ 3.266e-04  1.366e-02 -4.664e-03  1.221e-03  8.028e-03 -1.150e-03 -1.026e+00]
+t: 289	 action: [-2.344e-03  3.418e-03  3.464e-02  1.087e-03 -6.612e-04 -3.917e-03 -1.059e+00]
+t: 290	 action: [ 0.016  0.008 -0.015  0.006 -0.003  0.005 -1.027]
+t: 291	 action: [ 0.012 -0.024  0.022 -0.007  0.002 -0.005 -1.048]
+t: 292	 action: [ 9.475e-03  1.507e-02 -1.552e-03  4.352e-03  8.401e-04  3.420e-03 -1.023e+00]
+t: 293	 action: [ 1.335e-02 -1.631e-02  2.941e-02 -5.325e-03  7.336e-03 -8.934e-04 -1.040e+00]
+t: 294	 action: [ 1.339e-02  9.399e-03 -1.325e-02  2.835e-03  4.642e-03  8.363e-04 -1.033e+00]
+t: 295	 action: [-1.374e-02  1.499e-02  1.834e-02  9.399e-04 -7.186e-03 -3.860e-03 -1.072e+00]
+t: 296	 action: [ 0.014  0.019  0.006  0.002  0.011 -0.003 -1.023]
+t: 297	 action: [-9.483e-03  2.251e-02  1.972e-02  3.245e-03 -1.115e-03  5.556e-05 -1.059e+00]
+[07-31 01:24:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9919
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9919
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 26
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 52%|█████▏    | 26/50 [13:46<12:48, 32.02s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 27...
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=298: Selected seed 195 with value = 0.9919
+t: 298	 action: [-0.009  0.007 -0.025  0.003 -0.001  0.005 -1.025]
+t: 299	 action: [ 0.002 -0.035  0.013 -0.009  0.003 -0.003 -1.045]
+t: 300	 action: [-0.005  0.014 -0.015  0.003  0.001  0.003 -1.022]
+t: 301	 action: [ 0.002 -0.03   0.032 -0.007  0.007 -0.002 -1.034]
+t: 302	 action: [-2.099e-02  9.441e-03 -3.112e-02  9.429e-04 -8.499e-04  1.507e-05 -1.029e+00]
+t: 303	 action: [-1.197e-02 -1.022e-02  2.119e-02 -1.109e-03 -5.953e-03 -6.749e-04 -1.072e+00]
+t: 304	 action: [-2.096e-03  1.404e-02 -8.774e-03  1.032e-03  6.520e-03 -9.963e-04 -1.025e+00]
+t: 305	 action: [-3.551e-03  3.440e-03  2.987e-02  4.855e-04 -1.593e-03 -3.609e-03 -1.058e+00]
+t: 306	 action: [ 0.014  0.008 -0.019  0.006 -0.004  0.005 -1.028]
+t: 307	 action: [ 1.146e-02 -2.394e-02  1.878e-02 -7.508e-03  7.035e-04 -4.117e-03 -1.048e+00]
+t: 308	 action: [ 7.029e-03  1.410e-02 -5.474e-03  4.245e-03 -5.098e-04  3.813e-03 -1.022e+00]
+t: 309	 action: [ 1.275e-02 -1.538e-02  2.713e-02 -5.852e-03  6.836e-03 -4.856e-04 -1.040e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=26--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=26--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 26
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 27...
+[07-31 01:24:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5115
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.5115
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5115
+t=10: Selected seed 195 with value = 0.5115
+t: 10	 action: [ 0.357  0.207  0.001  0.002 -0.003 -0.01  -1.026]
+t: 11	 action: [ 4.884e-01  2.709e-01  1.177e-02  8.197e-05  2.991e-03 -1.685e-02 -1.026e+00]
+t: 12	 action: [ 0.659  0.396  0.001 -0.004 -0.006 -0.01  -1.029]
+t: 13	 action: [ 0.743  0.422  0.011 -0.004  0.003 -0.016 -1.028]
+t: 14	 action: [ 0.815  0.481  0.006 -0.007 -0.005 -0.007 -1.028]
+t: 15	 action: [ 8.150e-01  4.909e-01 -3.446e-03 -9.924e-04 -2.297e-03 -1.761e-02 -1.052e+00]
+t: 16	 action: [ 0.864  0.511 -0.019 -0.014 -0.006 -0.01  -1.031]
+t: 17	 action: [ 0.872  0.516 -0.017 -0.003 -0.003 -0.018 -1.052]
+t: 18	 action: [ 8.231e-01  5.536e-01 -3.904e-02 -6.363e-03 -8.688e-03  7.902e-04 -1.039e+00]
+t: 19	 action: [ 8.411e-01  5.179e-01 -7.515e-02 -9.877e-03 -8.052e-04 -1.200e-02 -1.032e+00]
+t: 20	 action: [ 0.831  0.558 -0.086 -0.01  -0.011  0.002 -1.039]
+t: 21	 action: [ 0.854  0.499 -0.139 -0.01   0.002 -0.009 -1.03 ]
+t: 22	 action: [ 0.866  0.479 -0.139 -0.005 -0.014 -0.003 -1.03 ]
+t: 23	 action: [ 8.687e-01  4.139e-01 -1.919e-01  2.744e-04 -9.555e-03 -1.292e-02 -1.047e+00]
+t: 24	 action: [ 0.822  0.348 -0.275 -0.003 -0.014 -0.004 -1.037]
+t: 25	 action: [ 0.835  0.286 -0.369  0.005 -0.007 -0.01  -1.053]
+[07-31 01:24:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5876
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5876
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5876
+t=26: Selected seed 195 with value = 0.5876
+t: 26	 action: [ 0.805  0.449 -0.307  0.001 -0.015 -0.006 -1.035]
+t: 27	 action: [ 0.743  0.373 -0.336 -0.01  -0.009 -0.016 -1.03 ]
+t: 28	 action: [ 0.622  0.259 -0.486  0.008 -0.023 -0.008 -1.033]
+t: 29	 action: [ 0.489  0.115 -0.602  0.003 -0.017 -0.019 -1.032]
+t: 30	 action: [ 0.307  0.031 -0.712  0.004 -0.028 -0.011 -1.035]
+t: 31	 action: [ 0.226 -0.017 -0.802  0.015 -0.034 -0.017 -1.055]
+t: 32	 action: [ 0.12  -0.015 -0.963  0.013 -0.034 -0.013 -1.035]
+t: 33	 action: [ 0.043  0.005 -0.98   0.013 -0.041 -0.02  -1.056]
+t: 34	 action: [ 0.005 -0.056 -0.956  0.016 -0.051 -0.011 -1.037]
+t: 35	 action: [-0.066 -0.075 -0.994  0.005 -0.059 -0.016 -1.031]
+t: 36	 action: [-0.124 -0.055 -0.955  0.012 -0.052 -0.011 -1.032]
+t: 37	 action: [-2.069e-01 -7.344e-02 -1.000e+00  2.674e-04 -6.201e-02 -1.594e-02 -1.033e+00]
+t: 38	 action: [-0.253 -0.074 -0.946  0.005 -0.058 -0.005 -1.037]
+t: 39	 action: [-0.306 -0.021 -0.978  0.003 -0.059 -0.016 -1.042]
+t: 40	 action: [-0.389 -0.085 -0.922  0.004 -0.047 -0.004 -1.027]
+t: 41	 action: [-0.396 -0.024 -0.968 -0.002 -0.05  -0.012 -1.047]
+[07-31 01:24:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6114
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6114
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6114
+t=42: Selected seed 195 with value = 0.6114
+t: 42	 action: [-0.073  0.057 -0.883 -0.006 -0.006  0.004 -1.073]
+t: 43	 action: [-0.053  0.095 -0.776 -0.012  0.002 -0.004 -1.031]
+t: 44	 action: [-0.067  0.067 -0.751 -0.01   0.007  0.007 -1.059]
+t: 45	 action: [-0.051  0.095 -0.656 -0.016  0.011  0.018 -1.125]
+t: 46	 action: [-0.147  0.096 -0.551 -0.031  0.011 -0.003 -1.065]
+t: 47	 action: [-0.198  0.149 -0.58  -0.012  0.005 -0.005 -1.049]
+t: 48	 action: [-0.163  0.084 -0.474 -0.035  0.015 -0.002 -1.038]
+t: 49	 action: [-0.229  0.109 -0.485 -0.014  0.013  0.008  1.103]
+t: 50	 action: [-0.097  0.05  -0.355 -0.043  0.027  0.001  0.98 ]
+t: 51	 action: [-0.109  0.038 -0.28  -0.022  0.033 -0.014  1.01 ]
+t: 52	 action: [-9.046e-02  4.013e-02 -2.133e-01 -4.793e-02  3.368e-02  7.397e-04  9.649e-01]
+t: 53	 action: [-0.098  0.017 -0.063 -0.022  0.036 -0.016  1.004]
+t: 54	 action: [-0.071  0.017 -0.069 -0.039  0.026 -0.029  0.991]
+t: 55	 action: [-0.06  -0.006 -0.013 -0.015  0.028 -0.026  1.001]
+t: 56	 action: [-4.902e-02  7.096e-04  4.968e-02 -2.086e-02  2.310e-02 -3.037e-02  9.942e-01]
+t: 57	 action: [-0.017 -0.017  0.059 -0.013  0.025 -0.028  1.008]
+[07-31 01:24:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6283
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6283
+Query 1/1: Action query time = 0.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6283
+t=58: Selected seed 195 with value = 0.6283
+t: 58	 action: [ 0.058  0.016  0.108 -0.022 -0.007 -0.034  0.973]
+t: 59	 action: [ 0.075 -0.009  0.285 -0.022  0.008 -0.039  1.024]
+t: 60	 action: [ 0.083  0.025  0.485 -0.006  0.002 -0.036  0.983]
+t: 61	 action: [ 0.087  0.017  0.715 -0.011  0.014 -0.038  1.032]
+t: 62	 action: [ 0.118  0.021  0.821  0.003  0.02  -0.05   0.998]
+t: 63	 action: [ 0.094 -0.006  0.892  0.008  0.026 -0.052  1.038]
+t: 64	 action: [ 0.083  0.002  0.917  0.012  0.037 -0.047  1.005]
+t: 65	 action: [ 0.031 -0.069  0.938  0.035  0.046 -0.047  1.032]
+t: 66	 action: [ 0.054 -0.121  0.842  0.043  0.059 -0.022  0.987]
+t: 67	 action: [ 0.025 -0.181  0.764  0.032  0.091 -0.027  1.017]
+t: 68	 action: [ 0.052 -0.172  0.49   0.027  0.095 -0.014  1.086]
+t: 69	 action: [-0.037 -0.226  0.273  0.022  0.126 -0.028  1.017]
+t: 70	 action: [ 0.012 -0.219  0.086  0.037  0.101 -0.01   1.02 ]
+t: 71	 action: [-0.028 -0.15  -0.055  0.036  0.1   -0.017  1.05 ]
+t: 72	 action: [ 0.005 -0.149 -0.274  0.021  0.106 -0.01  -1.03 ]
+t: 73	 action: [-0.043 -0.085 -0.404  0.023  0.099 -0.024 -1.024]
+[07-31 01:24:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6596
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6596
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6596
+t=74: Selected seed 195 with value = 0.6596
+t: 74	 action: [ 0.004  0.062 -0.557  0.022 -0.007  0.006  1.147]
+t: 75	 action: [-0.045  0.066 -0.608  0.033 -0.003  0.004  0.983]
+t: 76	 action: [-0.006  0.116 -0.65   0.027  0.005  0.006 -1.01 ]
+t: 77	 action: [-0.039  0.12  -0.689  0.036  0.009  0.008 -1.041]
+t: 78	 action: [ 0.027  0.086 -0.627  0.031  0.002  0.005 -1.098]
+t: 79	 action: [-8.744e-02  1.311e-01 -7.039e-01  3.783e-02 -3.078e-04 -1.754e-03 -1.078e+00]
+t: 80	 action: [-0.056  0.155 -0.652  0.029  0.018  0.002 -1.041]
+t: 81	 action: [-0.099  0.172 -0.717  0.038  0.018  0.005 -1.079]
+t: 82	 action: [-0.193  0.061 -0.809  0.013  0.037  0.025 -0.89 ]
+t: 83	 action: [-0.315  0.069 -0.811  0.01   0.028  0.043 -1.102]
+t: 84	 action: [-0.309  0.026 -0.783  0.008  0.059  0.022 -1.108]
+t: 85	 action: [-0.375  0.026 -0.746  0.005  0.051  0.038 -1.08 ]
+t: 86	 action: [-0.434  0.03  -0.654  0.001  0.044  0.024 -0.846]
+t: 87	 action: [-0.389  0.063 -0.62   0.006  0.039  0.036  1.188]
+t: 88	 action: [-3.430e-01  1.099e-02 -4.403e-01 -4.964e-04  4.908e-02  7.487e-03  1.110e+00]
+t: 89	 action: [-0.273  0.046 -0.354 -0.004  0.052  0.028  1.156]
+[07-31 01:24:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7099
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7099
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7099
+t=90: Selected seed 195 with value = 0.7099
+t: 90	 action: [-0.199  0.01  -0.522 -0.009  0.012  0.007  0.985]
+t: 91	 action: [-0.227 -0.01  -0.393 -0.027  0.024  0.016  1.016]
+t: 92	 action: [-0.208 -0.026 -0.275 -0.003  0.027  0.008  0.984]
+t: 93	 action: [-0.204 -0.039 -0.103 -0.025  0.037  0.013  1.021]
+t: 94	 action: [-1.400e-01 -5.493e-02 -2.813e-02 -2.665e-04  3.862e-02 -6.063e-04  1.001e+00]
+t: 95	 action: [-0.095 -0.065  0.08  -0.016  0.07   0.006  1.012]
+t: 96	 action: [-0.052 -0.055  0.258  0.004  0.041 -0.007  0.998]
+t: 97	 action: [ 0.001 -0.027  0.442  0.002  0.076 -0.007  1.017]
+t: 98	 action: [-0.011 -0.082  0.688  0.003  0.024 -0.002  0.985]
+t: 99	 action: [ 7.247e-03 -4.848e-02  7.848e-01 -2.200e-04  2.508e-02 -4.549e-03  1.007e+00]
+t: 100	 action: [ 2.038e-02 -1.235e-01  8.539e-01  4.473e-03  1.982e-02  8.668e-05  9.816e-01]
+t: 101	 action: [ 0.022 -0.138  0.91   0.021  0.02  -0.004  1.015]
+t: 102	 action: [-0.01  -0.189  0.9    0.026  0.021 -0.002  0.994]
+t: 103	 action: [-5.458e-02 -3.739e-01  8.958e-01  4.066e-02  2.244e-02  7.982e-06  1.004e+00]
+t: 104	 action: [-0.065 -0.532  0.861  0.069  0.017 -0.001  0.998]
+t: 105	 action: [-0.102 -0.62   0.84   0.065  0.02   0.002  1.007]
+[07-31 01:24:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8219
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8219
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8219
+t=106: Selected seed 195 with value = 0.8219
+t: 106	 action: [-0.046 -0.627  0.754  0.062  0.003 -0.017  0.98 ]
+t: 107	 action: [-0.067 -0.679  0.575  0.055  0.002 -0.024  1.018]
+t: 108	 action: [-0.122 -0.729  0.352  0.072 -0.004 -0.011  0.976]
+t: 109	 action: [-1.306e-01 -7.388e-01  1.233e-01  5.927e-02  6.891e-04 -2.123e-02  1.016e+00]
+t: 110	 action: [-0.185 -0.788 -0.044  0.053 -0.002 -0.006  0.992]
+t: 111	 action: [-0.251 -0.755 -0.186  0.037 -0.018 -0.007  1.011]
+t: 112	 action: [-0.24  -0.707 -0.326  0.04  -0.016 -0.004  0.992]
+t: 113	 action: [-0.261 -0.541 -0.529  0.02  -0.035 -0.009  1.021]
+t: 114	 action: [-0.243 -0.584 -0.577  0.031 -0.07   0.004  1.001]
+t: 115	 action: [-0.263 -0.422 -0.74   0.013 -0.073  0.006  1.026]
+t: 116	 action: [-0.266 -0.388 -0.734  0.008 -0.077  0.004  0.991]
+t: 117	 action: [-0.253 -0.276 -0.802 -0.006 -0.078  0.009  1.037]
+t: 118	 action: [-0.286 -0.198 -0.787 -0.002 -0.077  0.008  1.017]
+t: 119	 action: [-0.242 -0.113 -0.782 -0.021 -0.077  0.013  1.024]
+t: 120	 action: [-0.242 -0.107 -0.705 -0.012 -0.061  0.009  1.009]
+t: 121	 action: [-0.153 -0.045 -0.656 -0.03  -0.056  0.014  1.03 ]
+[07-31 01:24:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9648
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=122: Selected seed 195 with value = 0.9648
+t: 122	 action: [-0.139 -0.096 -0.229 -0.041  0.062  0.008  1.176]
+t: 123	 action: [-0.101 -0.105 -0.112 -0.035  0.062  0.022  1.047]
+t: 124	 action: [-0.101 -0.032 -0.033 -0.025  0.058  0.003  1.156]
+t: 125	 action: [-0.039 -0.069  0.073 -0.025  0.067  0.008 -1.036]
+t: 126	 action: [-0.005 -0.038  0.144 -0.048  0.068  0.002 -1.19 ]
+t: 127	 action: [-0.005  0.007  0.197 -0.028  0.075 -0.002 -1.136]
+t: 128	 action: [ 0.094 -0.01   0.346 -0.008  0.077 -0.003 -1.173]
+t: 129	 action: [ 0.054  0.049  0.42  -0.008  0.084 -0.001 -1.068]
+t: 130	 action: [ 0.112  0.015  0.409  0.002  0.07   0.003 -1.052]
+t: 131	 action: [ 0.079  0.005  0.462  0.002  0.085  0.001 -1.039]
+t: 132	 action: [ 0.126  0.015  0.474 -0.001  0.076  0.001 -1.054]
+t: 133	 action: [ 0.11   0.002  0.496  0.007  0.098 -0.002 -1.032]
+t: 134	 action: [ 0.096  0.007  0.455  0.005  0.083 -0.002 -1.061]
+t: 135	 action: [ 0.077  0.038  0.45   0.016  0.09  -0.001 -1.053]
+t: 136	 action: [ 0.112  0.005  0.439  0.004  0.09  -0.005 -1.062]
+t: 137	 action: [ 0.077  0.03   0.429  0.018  0.098 -0.003 -1.06 ]
+[07-31 01:24:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [ 0.036  0.006  0.034  0.006  0.034  0.003 -1.048]
+t: 139	 action: [ 0.027 -0.041  0.051  0.003  0.044 -0.003 -1.039]
+t: 140	 action: [ 3.063e-02  2.150e-05  7.611e-02  4.739e-03  4.219e-02  4.237e-03 -1.040e+00]
+t: 141	 action: [ 0.015 -0.047  0.098  0.002  0.056 -0.003 -1.035]
+t: 142	 action: [ 1.926e-02 -9.048e-03  5.668e-02  4.894e-03  5.546e-02 -3.696e-04 -1.042e+00]
+t: 143	 action: [ 0.022 -0.004  0.112  0.008  0.055 -0.001 -1.065]
+t: 144	 action: [ 1.751e-02 -2.182e-03  1.067e-01  3.576e-03  6.302e-02 -6.549e-04 -1.040e+00]
+t: 145	 action: [-0.001  0.009  0.181  0.008  0.06  -0.004 -1.061]
+t: 146	 action: [ 0.028 -0.005  0.05   0.008  0.04   0.005 -1.051]
+t: 147	 action: [ 0.02  -0.042  0.079  0.002  0.049 -0.005 -1.05 ]
+t: 148	 action: [ 0.016  0.004  0.09   0.005  0.046  0.005 -1.045]
+t: 149	 action: [ 0.017 -0.045  0.119  0.002  0.06  -0.003 -1.05 ]
+t: 150	 action: [ 1.627e-02  1.835e-04  7.527e-02  5.009e-03  5.783e-02  9.377e-04 -1.049e+00]
+t: 151	 action: [ 0.006  0.007  0.146  0.008  0.051 -0.005 -1.067]
+t: 152	 action: [ 0.008  0.004  0.118  0.003  0.064 -0.001 -1.043]
+t: 153	 action: [-0.005  0.011  0.195  0.007  0.061 -0.001 -1.068]
+[07-31 01:24:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=154: Selected seed 195 with value = 0.9979
+t: 154	 action: [-0.011  0.01  -0.222  0.005 -0.008  0.003 -1.045]
+t: 155	 action: [ 0.001 -0.019 -0.279 -0.002 -0.001 -0.007 -1.047]
+t: 156	 action: [-0.021  0.008 -0.17   0.005 -0.009  0.006 -1.036]
+t: 157	 action: [-0.002 -0.029 -0.205 -0.005  0.002 -0.002 -1.049]
+t: 158	 action: [-2.638e-02  6.825e-05 -1.701e-01  2.315e-03 -5.075e-03 -1.244e-03 -1.045e+00]
+t: 159	 action: [-0.013  0.01  -0.162  0.004 -0.006 -0.005 -1.068]
+t: 160	 action: [-1.918e-02 -8.082e-05 -1.178e-01  5.004e-04 -7.383e-03  1.559e-04 -1.035e+00]
+t: 161	 action: [-0.024  0.011 -0.085  0.001 -0.006 -0.004 -1.067]
+t: 162	 action: [-0.011 -0.007 -0.183  0.007 -0.01   0.003 -1.051]
+t: 163	 action: [ 0.006 -0.038 -0.205 -0.002 -0.005 -0.008 -1.048]
+t: 164	 action: [-0.035  0.003 -0.144  0.004 -0.012  0.005 -1.173]
+t: 165	 action: [-0.032 -0.04  -0.167 -0.005 -0.001  0.017 -1.113]
+t: 166	 action: [-0.028 -0.006 -0.147  0.001 -0.008 -0.002 -1.055]
+t: 167	 action: [-0.03   0.004 -0.098  0.005 -0.013 -0.009 -1.066]
+t: 168	 action: [-0.037 -0.006 -0.104 -0.001 -0.01  -0.002  0.668]
+t: 169	 action: [-0.03   0.007 -0.063  0.002 -0.011  0.023  1.15 ]
+[07-31 01:24:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9896
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=170: Selected seed 195 with value = 0.9896
+t: 170	 action: [-0.041 -0.026 -0.124  0.006  0.007 -0.003 -1.028]
+t: 171	 action: [-3.849e-03 -4.859e-02 -9.203e-02 -5.212e-04  1.341e-02 -1.151e-02 -1.042e+00]
+t: 172	 action: [-3.398e-02 -1.747e-02 -1.602e-02  4.678e-03  9.395e-03 -1.025e-03 -1.026e+00]
+t: 173	 action: [ 9.421e-04 -4.649e-02  3.709e-02 -9.645e-04  1.537e-02 -1.126e-02 -1.035e+00]
+t: 174	 action: [-0.042 -0.02  -0.025  0.003  0.015 -0.006 -1.029]
+t: 175	 action: [-0.02  -0.013 -0.006  0.006  0.01  -0.01  -1.072]
+t: 176	 action: [-0.027 -0.012  0.057  0.002  0.017 -0.005 -1.028]
+t: 177	 action: [-0.016  0.005  0.078  0.007  0.012 -0.012 -1.064]
+t: 178	 action: [ 0.003  0.003  0.024  0.004  0.011 -0.004 -1.033]
+t: 179	 action: [ 0.012 -0.038  0.053 -0.004  0.012 -0.014 -1.055]
+t: 180	 action: [-5.651e-03  1.431e-02  6.603e-02  3.785e-03  1.207e-02 -4.053e-04 -1.029e+00]
+t: 181	 action: [ 0.015 -0.033  0.079 -0.002  0.013 -0.011 -1.05 ]
+t: 182	 action: [ 0.007  0.007  0.061  0.001  0.019 -0.005 -1.039]
+t: 183	 action: [-0.012  0.017  0.089  0.005  0.007 -0.012 -1.079]
+t: 184	 action: [ 0.002  0.01   0.104  0.001  0.024 -0.005 -1.031]
+t: 185	 action: [-0.017  0.024  0.141  0.007  0.01  -0.008 -1.069]
+[07-31 01:24:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=186: Selected seed 195 with value = 0.9905
+t: 186	 action: [-0.038 -0.025 -0.175  0.007 -0.002  0.004 -1.027]
+t: 187	 action: [-0.014 -0.062 -0.136 -0.006  0.008 -0.008 -1.057]
+t: 188	 action: [-0.048 -0.019 -0.084  0.005  0.002  0.006 -1.03 ]
+t: 189	 action: [-0.029 -0.053 -0.027 -0.005  0.01  -0.005 -1.049]
+t: 190	 action: [-4.872e-02 -2.311e-02 -8.674e-02  3.223e-03  1.174e-02 -6.029e-04 -1.020e+00]
+t: 191	 action: [-2.503e-02 -1.738e-02 -2.986e-02  4.338e-05  4.894e-03 -6.293e-03 -1.073e+00]
+t: 192	 action: [-4.811e-02 -1.416e-02 -6.275e-03  1.279e-03  1.238e-02 -9.843e-04 -1.033e+00]
+t: 193	 action: [-0.04  -0.004  0.011  0.001  0.005 -0.007 -1.068]
+t: 194	 action: [-3.175e-02 -1.129e-02 -1.432e-01  9.907e-04  6.099e-03 -2.392e-03 -1.030e+00]
+t: 195	 action: [ 3.000e-04 -5.878e-02 -1.042e-01 -5.641e-03  7.713e-03  1.101e-02 -1.100e+00]
+t: 196	 action: [-5.782e-02  2.292e-03 -1.001e-01  1.660e-04  4.660e-03  2.476e-03  9.819e-01]
+t: 197	 action: [-0.021 -0.048 -0.034 -0.007  0.008 -0.002  0.878]
+t: 198	 action: [-0.034 -0.002 -0.072 -0.004  0.015 -0.003 -1.02 ]
+t: 199	 action: [-0.026 -0.01  -0.028  0.002 -0.001  0.018  1.153]
+t: 200	 action: [-5.364e-02 -6.623e-04 -9.584e-03 -3.670e-03  1.352e-02 -3.743e-03 -8.458e-01]
+t: 201	 action: [-5.020e-02  6.941e-03  1.411e-02 -1.041e-03 -1.301e-03 -9.353e-03 -1.047e+00]
+[07-31 01:24:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9868
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=202: Selected seed 195 with value = 0.9868
+t: 202	 action: [-7.309e-02 -5.598e-02  3.849e-02  4.367e-03  6.027e-04  6.311e-04 -1.003e+00]
+t: 203	 action: [-0.038 -0.061  0.038 -0.001  0.01  -0.005 -1.014]
+t: 204	 action: [-6.658e-02 -2.287e-02  5.134e-02  2.295e-03 -7.444e-04  1.366e-03 -1.017e+00]
+t: 205	 action: [-2.921e-02 -4.735e-02  6.292e-02  3.585e-04  1.126e-02 -3.941e-03 -1.031e+00]
+t: 206	 action: [-0.069 -0.013  0.035  0.005  0.004 -0.003 -1.019]
+t: 207	 action: [-0.048 -0.006  0.059  0.007  0.005 -0.002 -1.07 ]
+t: 208	 action: [-0.04   0.004  0.079  0.004  0.009 -0.002 -1.021]
+t: 209	 action: [-0.023  0.019  0.096  0.01   0.007 -0.005 -1.06 ]
+t: 210	 action: [ 0.039  0.013  0.147  0.005  0.012  0.002 -1.022]
+t: 211	 action: [ 2.150e-02 -1.958e-02  1.795e-01  5.107e-04  1.374e-02 -4.559e-03 -1.050e+00]
+t: 212	 action: [ 0.034  0.021  0.169  0.005  0.018  0.002 -1.024]
+t: 213	 action: [ 0.022 -0.013  0.198  0.004  0.018 -0.006 -1.041]
+t: 214	 action: [ 0.036  0.013  0.156  0.004  0.019 -0.001 -1.029]
+t: 215	 action: [-0.002  0.042  0.209  0.009  0.011 -0.005 -1.076]
+t: 216	 action: [ 0.033  0.014  0.172  0.003  0.031 -0.004 -1.023]
+t: 217	 action: [-0.009  0.044  0.204  0.012  0.019 -0.005 -1.066]
+[07-31 01:24:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9934
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=218: Selected seed 195 with value = 0.9934
+t: 218	 action: [-0.041  0.008 -0.08   0.005 -0.013  0.004 -1.037]
+t: 219	 action: [-0.022 -0.038 -0.066 -0.006 -0.006 -0.005 -1.05 ]
+t: 220	 action: [-0.043  0.01  -0.038  0.004 -0.01   0.003 -1.025]
+t: 221	 action: [-0.023 -0.034 -0.002 -0.006  0.003 -0.004 -1.049]
+t: 222	 action: [-5.141e-02  2.532e-04 -6.246e-02  1.689e-03 -7.314e-03 -1.618e-03 -1.039e+00]
+t: 223	 action: [-0.025 -0.008 -0.026  0.001 -0.009 -0.004 -1.079]
+t: 224	 action: [-4.050e-02  2.347e-03 -1.350e-02  7.446e-04 -5.301e-03 -2.989e-03 -1.026e+00]
+t: 225	 action: [-1.858e-02  5.255e-03  8.649e-03  9.644e-04 -5.440e-03 -6.841e-03 -1.078e+00]
+t: 226	 action: [-4.023e-02 -5.956e-03 -7.288e-02  4.501e-03 -1.217e-02 -6.579e-04 -1.045e+00]
+t: 227	 action: [-0.009 -0.042 -0.048 -0.006 -0.013 -0.008 -1.059]
+t: 228	 action: [-4.126e-02  8.221e-03 -3.476e-02  2.854e-03 -1.135e-02  3.474e-04 -1.033e+00]
+t: 229	 action: [-0.004 -0.033 -0.005 -0.006 -0.006  0.004 -1.028]
+t: 230	 action: [-3.196e-02  1.106e-03 -5.708e-02 -1.414e-04 -6.075e-03 -3.901e-03 -1.047e+00]
+t: 231	 action: [-0.027  0.001 -0.018  0.002 -0.018 -0.006 -1.081]
+t: 232	 action: [-3.164e-02  5.229e-03 -1.324e-02 -7.765e-04 -4.044e-03 -5.963e-03 -1.027e+00]
+t: 233	 action: [-0.025  0.012  0.003  0.002 -0.012  0.007 -0.873]
+[07-31 01:24:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9912
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=234: Selected seed 195 with value = 0.9912
+t: 234	 action: [-0.044 -0.008 -0.096  0.006 -0.011  0.006 -1.03 ]
+t: 235	 action: [-2.721e-02 -5.206e-02 -8.910e-02 -7.572e-03 -6.057e-05 -3.922e-03 -1.062e+00]
+t: 236	 action: [-0.048 -0.007 -0.033  0.005 -0.005  0.005 -1.027]
+t: 237	 action: [-0.028 -0.045 -0.011 -0.007  0.006 -0.003 -1.056]
+t: 238	 action: [-5.519e-02 -9.543e-03 -6.935e-02  2.806e-03  3.155e-04 -1.116e-05 -1.021e+00]
+t: 239	 action: [-0.023 -0.02  -0.027 -0.002 -0.004 -0.004 -1.081]
+t: 240	 action: [-0.038 -0.004 -0.005  0.002  0.004 -0.002 -1.025]
+t: 241	 action: [-0.02  -0.006  0.009 -0.002 -0.002 -0.008 -1.076]
+t: 242	 action: [-0.041 -0.013 -0.092  0.003 -0.005  0.001 -1.034]
+t: 243	 action: [-0.01  -0.054 -0.071 -0.009 -0.003  0.016 -1.097]
+t: 244	 action: [-0.052  0.004 -0.047  0.001 -0.001  0.002 -1.091]
+t: 245	 action: [-0.038 -0.043 -0.024 -0.009  0.003  0.019 -1.06 ]
+t: 246	 action: [-0.039 -0.002 -0.07  -0.003  0.002 -0.003 -1.023]
+t: 247	 action: [-0.024 -0.015 -0.028 -0.002 -0.013  0.019  1.145]
+t: 248	 action: [-0.034  0.002 -0.017 -0.002  0.005 -0.005  0.563]
+t: 249	 action: [-0.004 -0.001 -0.001 -0.003 -0.007  0.024  1.072]
+[07-31 01:24:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=250: Selected seed 195 with value = 0.9905
+t: 250	 action: [-6.179e-02 -2.336e-03  5.295e-02  3.462e-04 -7.572e-03  9.791e-04 -9.497e-01]
+t: 251	 action: [-0.028 -0.025  0.045 -0.01  -0.002 -0.005 -0.954]
+t: 252	 action: [-0.068  0.005  0.068 -0.001 -0.013  0.001 -1.017]
+t: 253	 action: [-3.214e-02 -2.394e-02  7.699e-02 -7.319e-03 -2.289e-04 -2.503e-03 -1.034e+00]
+t: 254	 action: [-7.383e-02 -3.257e-03  4.251e-02 -1.443e-04 -8.351e-03 -1.769e-03 -1.019e+00]
+t: 255	 action: [-4.843e-02  1.158e-02  8.000e-02 -9.707e-04 -6.781e-03  1.413e-03 -1.081e+00]
+t: 256	 action: [-5.007e-02  7.208e-03  8.127e-02  1.231e-03 -2.736e-03 -9.921e-04 -1.024e+00]
+t: 257	 action: [-0.027  0.026  0.114  0.004 -0.003 -0.002 -1.063]
+t: 258	 action: [ 2.116e-02  7.181e-03  1.168e-01  5.026e-03 -1.429e-04  4.835e-03 -1.020e+00]
+t: 259	 action: [ 1.102e-02 -2.279e-02  1.584e-01 -7.734e-04  5.926e-03  1.667e-03 -1.051e+00]
+t: 260	 action: [ 0.014  0.016  0.131  0.005  0.003  0.003 -1.029]
+t: 261	 action: [ 0.013 -0.015  0.166  0.001  0.008 -0.002 -1.042]
+t: 262	 action: [ 1.791e-02  3.893e-03  1.036e-01  2.845e-03  5.626e-03  5.791e-04 -1.033e+00]
+t: 263	 action: [-0.01   0.038  0.162  0.005 -0.003  0.001 -1.078]
+t: 264	 action: [ 0.019  0.009  0.124  0.002  0.014 -0.003 -1.029]
+t: 265	 action: [-0.01   0.044  0.17   0.008  0.002 -0.003 -1.067]
+[07-31 01:24:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=266: Selected seed 195 with value = 0.9950
+t: 266	 action: [-0.029  0.021 -0.074  0.004 -0.017  0.001 -1.033]
+t: 267	 action: [-0.014  0.007 -0.095 -0.008 -0.014 -0.008 -1.044]
+t: 268	 action: [-4.778e-02  2.294e-02 -5.046e-02  3.304e-03 -1.665e-02  7.925e-04 -1.033e+00]
+t: 269	 action: [-0.027 -0.004 -0.035 -0.006 -0.005 -0.007 -1.043]
+t: 270	 action: [-4.946e-02  1.033e-02 -7.149e-02 -4.625e-04 -1.717e-02 -2.671e-03 -1.040e+00]
+t: 271	 action: [-2.745e-02  1.872e-02 -5.078e-02 -1.104e-04 -1.831e-02 -7.347e-03 -1.075e+00]
+t: 272	 action: [-4.216e-02  1.209e-02 -2.877e-02 -1.110e-04 -1.373e-02 -4.349e-03 -1.036e+00]
+t: 273	 action: [-1.784e-02  1.975e-02 -4.663e-03  9.938e-04 -1.092e-02 -1.019e-02 -1.065e+00]
+t: 274	 action: [-3.774e-02 -6.092e-03 -7.619e-02  4.184e-03 -1.962e-02  6.572e-04 -1.037e+00]
+t: 275	 action: [-0.008 -0.027 -0.048 -0.008 -0.021 -0.01  -1.046]
+t: 276	 action: [-4.125e-02  9.986e-03 -4.062e-02  2.246e-03 -1.907e-02 -6.298e-04 -1.036e+00]
+t: 277	 action: [ 0.001 -0.013 -0.004 -0.007 -0.01  -0.006 -1.043]
+t: 278	 action: [-3.537e-02 -4.020e-03 -6.452e-02 -6.591e-04 -1.626e-02 -3.309e-03 -1.045e+00]
+t: 279	 action: [-2.731e-02  1.136e-02 -1.678e-02  4.516e-04 -2.494e-02 -9.622e-03 -1.077e+00]
+t: 280	 action: [-0.035  0.006 -0.02  -0.001 -0.012 -0.007 -1.034]
+t: 281	 action: [-2.085e-02  2.342e-02 -1.044e-03  2.033e-03 -1.495e-02 -6.101e-03 -1.062e+00]
+[07-31 01:24:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9943
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=282: Selected seed 195 with value = 0.9943
+t: 282	 action: [-0.026  0.014 -0.065  0.005 -0.01   0.004 -1.034]
+t: 283	 action: [-0.015 -0.013 -0.082 -0.007 -0.007 -0.005 -1.05 ]
+t: 284	 action: [-0.043  0.015 -0.036  0.004 -0.008  0.003 -1.024]
+t: 285	 action: [-0.025 -0.02  -0.014 -0.007  0.003 -0.004 -1.054]
+t: 286	 action: [-4.889e-02  3.628e-03 -5.721e-02  7.991e-04 -7.360e-03 -9.591e-04 -1.038e+00]
+t: 287	 action: [-2.573e-02  5.956e-03 -3.341e-02  1.031e-03 -1.122e-02 -4.357e-03 -1.078e+00]
+t: 288	 action: [-4.310e-02  6.568e-03 -1.373e-02  4.737e-04 -5.046e-03 -2.934e-03 -1.021e+00]
+t: 289	 action: [-1.654e-02  1.108e-02  6.367e-03  2.201e-04 -5.737e-03 -8.159e-03 -1.077e+00]
+t: 290	 action: [-0.041 -0.008 -0.071  0.004 -0.01   0.002 -1.039]
+t: 291	 action: [-0.01  -0.032 -0.046 -0.008 -0.011 -0.007 -1.053]
+t: 292	 action: [-4.584e-02  8.217e-03 -3.399e-02  9.636e-04 -9.435e-03  8.312e-04 -1.027e+00]
+t: 293	 action: [-0.002 -0.024  0.001 -0.007 -0.002  0.01  -0.891]
+t: 294	 action: [-0.044 -0.003 -0.058 -0.001 -0.007 -0.002 -1.043]
+t: 295	 action: [-2.955e-02  4.671e-03 -1.510e-02  7.528e-04 -1.779e-02 -6.327e-03 -1.080e+00]
+t: 296	 action: [-0.043  0.005 -0.013 -0.002 -0.004 -0.006 -1.014]
+t: 297	 action: [-0.021  0.014  0.003  0.001 -0.011  0.016  0.654]
+[07-31 01:24:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9937
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9937
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 27
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 54%|█████▍    | 27/50 [14:18<12:11, 31.80s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 28...
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=298: Selected seed 195 with value = 0.9937
+t: 298	 action: [-0.042  0.012 -0.046  0.005 -0.005  0.006 -1.029]
+t: 299	 action: [-0.028 -0.019 -0.045 -0.006 -0.003 -0.003 -1.052]
+t: 300	 action: [-0.052  0.016 -0.006  0.003 -0.004  0.004 -1.02 ]
+t: 301	 action: [-0.032 -0.02   0.027 -0.007  0.005 -0.004 -1.054]
+t: 302	 action: [-6.180e-02  3.475e-03 -3.286e-02  4.650e-04 -1.561e-03 -4.348e-04 -1.034e+00]
+t: 303	 action: [-2.834e-02  6.315e-03 -4.715e-03  8.928e-04 -8.080e-03 -2.718e-03 -1.078e+00]
+t: 304	 action: [-5.225e-02  8.357e-03  1.748e-02 -1.888e-04  1.216e-03 -2.838e-03 -1.017e+00]
+t: 305	 action: [-1.662e-02  1.634e-02  4.799e-02 -5.853e-04 -4.148e-03 -7.897e-03 -1.077e+00]
+t: 306	 action: [-0.053  0.002 -0.045  0.002 -0.005  0.003 -1.035]
+t: 307	 action: [-1.951e-02 -2.831e-02  1.419e-05 -8.301e-03 -3.486e-03 -6.065e-03 -1.052e+00]
+t: 308	 action: [-0.057  0.013 -0.003 -0.002 -0.004  0.001 -1.023]
+t: 309	 action: [-0.011 -0.022  0.034 -0.008  0.003  0.01  -0.886]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=27--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=27--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 28...
+[07-31 01:25:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4612
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4612
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4612
+t=10: Selected seed 195 with value = 0.4612
+t: 10	 action: [ 1.621e-01  6.543e-02 -1.167e-02  3.310e-03  3.189e-03 -2.254e-04 -1.018e+00]
+t: 11	 action: [ 0.328  0.104  0.007  0.004  0.002 -0.007 -1.03 ]
+t: 12	 action: [ 4.662e-01  2.164e-01 -6.304e-03  5.570e-04  4.781e-03 -1.357e-03 -1.029e+00]
+t: 13	 action: [ 6.073e-01  2.723e-01  8.383e-03 -8.434e-04  1.116e-03 -6.741e-03 -1.032e+00]
+t: 14	 action: [ 0.727  0.362  0.01  -0.003  0.005 -0.002 -1.033]
+t: 15	 action: [ 8.023e-01  4.116e-01 -8.399e-05  1.136e-03 -1.004e-03 -6.806e-03 -1.056e+00]
+t: 16	 action: [ 0.855  0.481  0.002 -0.011  0.008 -0.004 -1.032]
+t: 17	 action: [ 8.990e-01  5.031e-01 -3.912e-05 -2.163e-03 -2.690e-03 -7.743e-03 -1.059e+00]
+t: 18	 action: [ 0.843  0.51  -0.013 -0.006  0.006  0.003 -1.031]
+t: 19	 action: [ 0.879  0.511 -0.011 -0.01   0.009 -0.003 -1.032]
+t: 20	 action: [ 0.877  0.54  -0.035 -0.017  0.007  0.005 -1.031]
+t: 21	 action: [ 0.919  0.528 -0.038 -0.014  0.008 -0.002 -1.032]
+t: 22	 action: [ 0.92   0.533 -0.083 -0.01   0.007  0.003 -1.012]
+t: 23	 action: [ 9.496e-01  5.032e-01 -8.543e-02 -3.166e-03  3.671e-04 -3.264e-03 -1.050e+00]
+t: 24	 action: [ 9.152e-01  4.932e-01 -1.789e-01 -1.197e-02  8.039e-03  5.256e-04 -1.019e+00]
+t: 25	 action: [ 9.485e-01  4.221e-01 -2.104e-01 -2.639e-03 -3.000e-04 -1.370e-03 -1.059e+00]
+[07-31 01:25:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5753
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5753
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5753
+t=26: Selected seed 195 with value = 0.5753
+t: 26	 action: [ 0.83   0.476 -0.353  0.01  -0.022  0.007 -1.029]
+t: 27	 action: [ 0.701  0.385 -0.439  0.002 -0.018 -0.006 -1.028]
+t: 28	 action: [ 0.576  0.308 -0.493  0.008 -0.034  0.006 -1.03 ]
+t: 29	 action: [ 0.384  0.171 -0.598  0.008 -0.027 -0.008 -1.033]
+t: 30	 action: [ 0.223  0.103 -0.703  0.003 -0.031 -0.004 -1.027]
+t: 31	 action: [ 0.139  0.036 -0.763  0.012 -0.028 -0.009 -1.054]
+t: 32	 action: [ 0.037 -0.01  -0.89   0.004 -0.034 -0.006 -1.029]
+t: 33	 action: [-0.015  0.012 -0.945  0.009 -0.032 -0.01  -1.058]
+t: 34	 action: [-0.097 -0.079 -0.89   0.008 -0.052 -0.01  -1.031]
+t: 35	 action: [-0.154 -0.133 -0.942  0.004 -0.046 -0.018 -1.031]
+t: 36	 action: [-0.262 -0.149 -0.928  0.009 -0.053 -0.008 -1.031]
+t: 37	 action: [-0.311 -0.162 -0.992  0.003 -0.044 -0.015 -1.031]
+t: 38	 action: [-0.346 -0.224 -0.92   0.003 -0.052 -0.006 -1.03 ]
+t: 39	 action: [-0.364 -0.097 -0.946  0.011 -0.044 -0.019 -1.043]
+t: 40	 action: [-0.43  -0.183 -0.919  0.002 -0.042 -0.004 -1.023]
+t: 41	 action: [-0.426 -0.094 -0.937  0.01  -0.034 -0.014 -1.047]
+[07-31 01:25:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6621
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6621
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6621
+t=42: Selected seed 195 with value = 0.6621
+t: 42	 action: [-0.363  0.02  -1.007 -0.01  -0.03   0.009 -1.064]
+t: 43	 action: [-0.342  0.045 -0.934 -0.024 -0.015  0.009 -1.028]
+t: 44	 action: [-0.284  0.05  -0.872 -0.019 -0.02   0.009 -1.055]
+t: 45	 action: [-0.231  0.092 -0.8   -0.029  0.003  0.008 -1.035]
+t: 46	 action: [-0.245  0.096 -0.673 -0.048  0.002  0.002 -1.059]
+t: 47	 action: [-0.211  0.185 -0.666 -0.024  0.001  0.001 -1.05 ]
+t: 48	 action: [-0.141  0.137 -0.528 -0.052  0.013  0.002 -1.057]
+t: 49	 action: [-0.183  0.171 -0.53  -0.029  0.025 -0.005 -1.05 ]
+t: 50	 action: [-0.184  0.038 -0.565 -0.047  0.02   0.006 -1.207]
+t: 51	 action: [-2.198e-01 -1.857e-04 -4.229e-01 -3.298e-02  4.393e-02 -5.638e-04  1.011e+00]
+t: 52	 action: [-0.149 -0.002 -0.366 -0.048  0.032  0.008  0.979]
+t: 53	 action: [-1.308e-01 -3.238e-02 -2.287e-01 -3.422e-02  5.141e-02  6.360e-04  1.023e+00]
+t: 54	 action: [-0.135 -0.025 -0.215 -0.052  0.042 -0.009  1.093]
+t: 55	 action: [-0.085 -0.026 -0.11  -0.026  0.056 -0.015  1.03 ]
+t: 56	 action: [-0.096 -0.03  -0.05  -0.034  0.036 -0.014  1.007]
+t: 57	 action: [-0.067 -0.031 -0.011 -0.026  0.05  -0.017  1.029]
+[07-31 01:25:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6346
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6346
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6346
+t=58: Selected seed 195 with value = 0.6346
+t: 58	 action: [ 0.028  0.046 -0.079 -0.038 -0.002  0.005  0.977]
+t: 59	 action: [ 0.015  0.026  0.017 -0.029  0.023 -0.005  1.021]
+t: 60	 action: [ 0.064  0.057  0.073 -0.024  0.014 -0.003  0.971]
+t: 61	 action: [ 0.03   0.028  0.186 -0.016  0.045 -0.009  1.022]
+t: 62	 action: [ 0.088  0.05   0.378 -0.016  0.044 -0.005  1.002]
+t: 63	 action: [ 0.037  0.057  0.535 -0.016  0.057 -0.013  1.019]
+t: 64	 action: [ 0.091  0.058  0.71   0.004  0.058 -0.013  1.001]
+t: 65	 action: [ 0.029  0.053  0.742  0.004  0.068 -0.021  1.027]
+t: 66	 action: [ 0.043 -0.002  0.88   0.021  0.09  -0.032  0.987]
+t: 67	 action: [ 0.018 -0.02   0.899  0.03   0.106 -0.032  1.023]
+t: 68	 action: [ 0.059 -0.068  0.903  0.027  0.097 -0.025  0.989]
+t: 69	 action: [ 0.031 -0.107  0.815  0.035  0.112 -0.022  1.027]
+t: 70	 action: [-0.007 -0.104  0.726  0.039  0.075 -0.015  1.003]
+t: 71	 action: [-0.062 -0.134  0.445  0.045  0.093 -0.015  1.031]
+t: 72	 action: [-0.096 -0.164  0.218  0.04   0.062 -0.008  1.015]
+t: 73	 action: [-0.112 -0.199  0.054  0.045  0.075 -0.006  1.042]
+[07-31 01:25:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7584
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7584
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7584
+t=74: Selected seed 195 with value = 0.7584
+t: 74	 action: [ 0.015  0.073 -0.015  0.008  0.002 -0.006  0.961]
+t: 75	 action: [-0.028  0.066 -0.044  0.02  -0.002 -0.007  0.98 ]
+t: 76	 action: [-0.029  0.111 -0.117  0.007 -0.001 -0.017  0.837]
+t: 77	 action: [-0.123  0.106 -0.181  0.027 -0.002 -0.01   0.737]
+t: 78	 action: [-0.119  0.078 -0.174  0.007 -0.003 -0.004  0.936]
+t: 79	 action: [-0.218  0.094 -0.212  0.033 -0.008 -0.002  0.966]
+t: 80	 action: [-0.25   0.166 -0.279  0.012 -0.014 -0.015  0.632]
+t: 81	 action: [-0.272  0.133 -0.363  0.036 -0.008 -0.01   0.027]
+t: 82	 action: [-0.364  0.041 -0.473  0.022  0.005  0.031  0.801]
+t: 83	 action: [-4.525e-01 -1.054e-02 -4.841e-01  2.566e-02 -1.777e-04  3.851e-02  9.595e-01]
+t: 84	 action: [-0.38   0.041 -0.54   0.012  0.009  0.031  0.977]
+t: 85	 action: [-0.43  -0.008 -0.483  0.02   0.002  0.043  1.068]
+t: 86	 action: [-0.415  0.063 -0.511  0.004 -0.009  0.038  0.965]
+t: 87	 action: [-0.433  0.038 -0.498 -0.015 -0.007  0.04   1.053]
+t: 88	 action: [-0.353  0.058 -0.471  0.005 -0.019  0.022  1.005]
+t: 89	 action: [-0.332  0.031 -0.361 -0.029 -0.008  0.038  1.097]
+[07-31 01:25:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8042
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8042
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8042
+t=90: Selected seed 195 with value = 0.8042
+t: 90	 action: [ 0.008 -0.001  0.313  0.001  0.014 -0.005  1.003]
+t: 91	 action: [-2.464e-03 -5.094e-02  2.807e-01  4.087e-04  6.203e-03 -1.504e-02  1.037e+00]
+t: 92	 action: [-0.006 -0.007  0.357  0.002  0.019 -0.02   1.   ]
+t: 93	 action: [-0.076 -0.076  0.246  0.009  0.024 -0.015  1.038]
+t: 94	 action: [-0.085 -0.067  0.306  0.01   0.027 -0.006  1.022]
+t: 95	 action: [-0.144 -0.07   0.205  0.028  0.021 -0.008  1.061]
+t: 96	 action: [-0.186 -0.077  0.144  0.02   0.032 -0.011  1.005]
+t: 97	 action: [-0.24  -0.174  0.05   0.032  0.037 -0.008  1.05 ]
+t: 98	 action: [-0.22  -0.06  -0.237  0.005  0.052  0.003  0.949]
+t: 99	 action: [-0.34  -0.141 -0.264  0.008  0.022  0.02   0.993]
+t: 100	 action: [-0.272 -0.049 -0.342  0.003  0.043  0.004  0.967]
+t: 101	 action: [-0.381 -0.122 -0.345 -0.003  0.008  0.021  1.055]
+t: 102	 action: [-0.341 -0.04  -0.385 -0.006  0.004  0.01   1.007]
+t: 103	 action: [-0.409 -0.1   -0.352 -0.027 -0.008  0.03   1.062]
+t: 104	 action: [-0.321 -0.076 -0.331 -0.007 -0.023  0.001  1.005]
+t: 105	 action: [-0.354 -0.096 -0.293 -0.029 -0.022  0.023  1.069]
+[07-31 01:25:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.079 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9258
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9258
+Query 1/1: Action query time = 1.079 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=106: Selected seed 195 with value = 0.9258
+t: 106	 action: [-0.115  0.082  0.476 -0.02  -0.026 -0.028  1.014]
+t: 107	 action: [-0.084  0.11   0.473 -0.021 -0.016 -0.032  1.029]
+t: 108	 action: [-0.216  0.15   0.513 -0.01  -0.025 -0.031  1.019]
+t: 109	 action: [-0.248  0.096  0.425 -0.018 -0.006 -0.024  1.02 ]
+t: 110	 action: [-0.247  0.112  0.391 -0.004 -0.016 -0.02   1.02 ]
+t: 111	 action: [-0.319  0.104  0.283 -0.009 -0.016 -0.021  1.047]
+t: 112	 action: [-0.374  0.163  0.22  -0.004 -0.011 -0.022  1.017]
+t: 113	 action: [-0.365  0.055  0.107 -0.006 -0.011 -0.016  1.04 ]
+t: 114	 action: [-0.288  0.23  -0.029 -0.023  0.022 -0.018  0.866]
+t: 115	 action: [-0.136  0.155 -0.023 -0.022  0.003 -0.025  0.651]
+t: 116	 action: [-0.095  0.163 -0.137 -0.014  0.027 -0.024  1.096]
+t: 117	 action: [-0.051  0.097 -0.019 -0.018  0.002 -0.034  0.957]
+t: 118	 action: [ 0.032  0.133 -0.107 -0.017  0.027 -0.008 -0.589]
+t: 119	 action: [ 0.022  0.045 -0.033 -0.031 -0.004 -0.002  0.143]
+t: 120	 action: [ 0.05   0.056 -0.048 -0.007  0.031 -0.014 -1.121]
+t: 121	 action: [ 0.013 -0.004  0.048 -0.026 -0.005 -0.024 -1.097]
+[07-31 01:25:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.083 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9514
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 1.083 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=122: Selected seed 195 with value = 0.9514
+t: 122	 action: [-0.322  0.415 -0.032 -0.045  0.008 -0.011  1.02 ]
+t: 123	 action: [-0.226  0.411 -0.053 -0.034  0.004 -0.03   1.022]
+t: 124	 action: [-0.194  0.417 -0.072 -0.022  0.01  -0.021  1.009]
+t: 125	 action: [-0.096  0.361 -0.149 -0.024  0.003 -0.03   1.025]
+t: 126	 action: [-0.049  0.373 -0.069 -0.012  0.021 -0.02   1.005]
+t: 127	 action: [-0.016  0.302 -0.097 -0.012 -0.003 -0.031  1.012]
+t: 128	 action: [ 0.026  0.331 -0.158 -0.004  0.031 -0.036  0.995]
+t: 129	 action: [ 0.022  0.219 -0.199 -0.004  0.03  -0.036  1.022]
+t: 130	 action: [-0.016  0.257 -0.217  0.005  0.034 -0.033  1.18 ]
+t: 131	 action: [-0.035  0.205 -0.278 -0.004  0.029 -0.046  1.003]
+t: 132	 action: [ 0.031  0.181 -0.046 -0.006  0.029 -0.049 -0.934]
+t: 133	 action: [ 0.036  0.11  -0.001 -0.012  0.024 -0.053 -1.03 ]
+t: 134	 action: [ 0.037  0.155  0.002 -0.002  0.026 -0.052 -1.144]
+t: 135	 action: [-0.029  0.115  0.064 -0.007  0.028 -0.053 -1.034]
+t: 136	 action: [ 0.019  0.118  0.161 -0.007  0.018 -0.059 -1.016]
+t: 137	 action: [-0.041  0.1    0.254 -0.012  0.012 -0.055 -1.042]
+[07-31 01:25:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.076 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9558
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 1.076 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=138: Selected seed 195 with value = 0.9558
+t: 138	 action: [-0.071 -0.062  0.172  0.009  0.1   -0.037  0.955]
+t: 139	 action: [-0.022 -0.059  0.228  0.014  0.096 -0.052  0.978]
+t: 140	 action: [-0.033 -0.056  0.328  0.026  0.095 -0.052  1.175]
+t: 141	 action: [-0.04  -0.062  0.382  0.02   0.091 -0.065  0.929]
+t: 142	 action: [-0.004 -0.09   0.344  0.013  0.084 -0.045  0.943]
+t: 143	 action: [ 0.066 -0.043  0.394  0.017  0.085 -0.052 -1.054]
+t: 144	 action: [ 0.05  -0.059  0.423  0.027  0.082 -0.063 -1.16 ]
+t: 145	 action: [ 0.065 -0.036  0.467  0.021  0.084 -0.063 -1.074]
+t: 146	 action: [-0.024 -0.09   0.387  0.038  0.084 -0.041  1.143]
+t: 147	 action: [-0.034 -0.078  0.375  0.023  0.09  -0.055  0.972]
+t: 148	 action: [ 0.002 -0.058  0.37   0.034  0.084 -0.049  1.167]
+t: 149	 action: [ 0.002 -0.071  0.379  0.021  0.082 -0.062  0.958]
+t: 150	 action: [ 0.033 -0.072  0.39   0.028  0.079 -0.044 -1.157]
+t: 151	 action: [ 0.021 -0.039  0.422  0.024  0.073 -0.053 -1.071]
+t: 152	 action: [ 0.06  -0.049  0.403  0.025  0.075 -0.055 -1.152]
+t: 153	 action: [ 0.09  -0.035  0.451  0.021  0.07  -0.06  -1.077]
+[07-31 01:25:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.074 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9581
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 1.074 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=154: Selected seed 195 with value = 0.9581
+t: 154	 action: [-0.038  0.058 -0.352  0.005  0.045  0.002  1.   ]
+t: 155	 action: [ 0.011  0.087 -0.448  0.005  0.045  0.004  1.014]
+t: 156	 action: [ 0.033  0.069 -0.472  0.005  0.042  0.005  1.002]
+t: 157	 action: [ 0.042  0.12  -0.526  0.005  0.043  0.005  1.019]
+t: 158	 action: [ 0.038  0.051 -0.511 -0.006  0.038 -0.004  0.997]
+t: 159	 action: [ 0.044  0.128 -0.517 -0.003  0.005  0.008  1.012]
+t: 160	 action: [ 0.028  0.083 -0.451 -0.005  0.031 -0.006  1.   ]
+t: 161	 action: [ 0.027  0.136 -0.41  -0.005  0.003  0.005  1.016]
+t: 162	 action: [ 0.033  0.064 -0.342  0.004  0.009  0.008  1.185]
+t: 163	 action: [-2.796e-04  4.925e-02 -2.537e-01 -3.289e-03  7.314e-03 -1.731e-02  1.036e+00]
+t: 164	 action: [ 0.02   0.068 -0.166  0.002 -0.01   0.002  1.182]
+t: 165	 action: [ 0.002  0.037 -0.07  -0.006  0.004 -0.024  1.032]
+t: 166	 action: [-0.036  0.046  0.04  -0.002 -0.022 -0.04  -1.189]
+t: 167	 action: [-0.043  0.078  0.16  -0.004 -0.016 -0.051 -1.092]
+t: 168	 action: [ 6.057e-03  4.031e-02  2.298e-01 -3.211e-05 -2.072e-02 -5.590e-02 -1.174e+00]
+t: 169	 action: [-0.002  0.089  0.424 -0.002 -0.013 -0.057 -1.086]
+[07-31 01:25:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9958
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=170: Selected seed 195 with value = 0.9958
+t: 170	 action: [-2.234e-02 -3.140e-02 -4.611e-01  1.244e-02  4.949e-02 -3.758e-04  1.177e+00]
+t: 171	 action: [-0.006  0.006 -0.416  0.01   0.025 -0.027  1.023]
+t: 172	 action: [-0.035  0.004 -0.143  0.007  0.028 -0.02   1.196]
+t: 173	 action: [-0.03  -0.013 -0.046  0.008  0.018 -0.041 -1.037]
+t: 174	 action: [-0.047 -0.033 -0.035  0.013  0.015 -0.041 -1.166]
+t: 175	 action: [-7.698e-02  1.251e-02  1.643e-02  1.128e-02 -3.261e-04 -4.716e-02 -1.092e+00]
+t: 176	 action: [-0.027 -0.006  0.109  0.009  0.009 -0.055 -1.175]
+t: 177	 action: [-0.059  0.032  0.122  0.014  0.001 -0.053 -1.06 ]
+t: 178	 action: [-0.012  0.062  0.153  0.007  0.003 -0.035 -1.033]
+t: 179	 action: [-0.007  0.056  0.198  0.002  0.011 -0.045 -1.043]
+t: 180	 action: [-1.326e-04  9.138e-02  2.069e-01  3.675e-03 -1.896e-03 -3.776e-02 -1.047e+00]
+t: 181	 action: [ 4.548e-03  6.210e-02  2.426e-01  9.396e-04  1.377e-02 -4.567e-02 -1.036e+00]
+t: 182	 action: [ 0.014  0.066  0.22   0.002  0.011 -0.044 -1.04 ]
+t: 183	 action: [-0.01   0.094  0.277  0.004  0.001 -0.048 -1.051]
+t: 184	 action: [ 3.285e-02  7.591e-02  2.643e-01  4.973e-04  8.758e-03 -4.569e-02 -1.044e+00]
+t: 185	 action: [ 0.002  0.096  0.31   0.005  0.003 -0.046 -1.057]
+[07-31 01:25:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=186: Selected seed 195 with value = 0.9936
+t: 186	 action: [ 0.027  0.021  0.304  0.011  0.017 -0.037 -1.042]
+t: 187	 action: [ 0.03   0.012  0.334  0.015  0.01  -0.05  -1.028]
+t: 188	 action: [ 0.036  0.012  0.298  0.009  0.008 -0.049 -1.042]
+t: 189	 action: [ 0.045  0.016  0.33   0.015  0.011 -0.06  -1.037]
+t: 190	 action: [ 0.042  0.009  0.291  0.013  0.01  -0.044 -1.047]
+t: 191	 action: [ 0.036  0.04   0.296  0.021 -0.004 -0.052 -1.05 ]
+t: 192	 action: [ 0.057  0.007  0.314  0.012  0.005 -0.056 -1.041]
+t: 193	 action: [ 0.069  0.045  0.32   0.021 -0.003 -0.063 -1.058]
+t: 194	 action: [ 0.031  0.01   0.325  0.011  0.011 -0.045 -1.037]
+t: 195	 action: [ 0.021  0.011  0.332  0.015  0.011 -0.051 -1.031]
+t: 196	 action: [ 0.039  0.008  0.312  0.008  0.007 -0.055 -1.037]
+t: 197	 action: [ 0.042  0.015  0.322  0.015  0.011 -0.06  -1.038]
+t: 198	 action: [ 0.048  0.002  0.325  0.012  0.008 -0.052 -1.045]
+t: 199	 action: [ 0.032  0.04   0.298  0.021 -0.005 -0.053 -1.048]
+t: 200	 action: [ 0.06   0.005  0.328  0.011  0.006 -0.064 -1.034]
+t: 201	 action: [ 0.067  0.044  0.32   0.02  -0.003 -0.062 -1.06 ]
+[07-31 01:25:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9874
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=202: Selected seed 195 with value = 0.9874
+t: 202	 action: [ 0.031  0.013  0.179  0.009  0.017 -0.031 -1.025]
+t: 203	 action: [ 0.041  0.001  0.207  0.01   0.01  -0.04  -0.987]
+t: 204	 action: [ 4.486e-02 -1.733e-04  8.740e-02  4.164e-03  7.808e-03 -3.995e-02 -1.042e+00]
+t: 205	 action: [ 0.056  0.01   0.139  0.008  0.012 -0.049 -1.046]
+t: 206	 action: [ 4.117e-02  1.156e-02  1.625e-01  7.777e-03 -4.651e-04 -2.884e-02 -1.044e+00]
+t: 207	 action: [ 0.041  0.025  0.141  0.014 -0.005 -0.037 -1.039]
+t: 208	 action: [ 6.211e-02 -8.639e-04  1.011e-01  4.161e-03 -2.524e-05 -3.841e-02 -1.037e+00]
+t: 209	 action: [ 0.087  0.037  0.096  0.013 -0.003 -0.048 -1.067]
+t: 210	 action: [ 0.04  -0.001  0.171  0.007 -0.006 -0.042 -1.027]
+t: 211	 action: [ 0.031  0.001  0.174  0.007  0.007 -0.044 -1.013]
+t: 212	 action: [ 0.051 -0.001  0.089  0.004 -0.004 -0.049 -1.041]
+t: 213	 action: [ 0.049  0.008  0.104  0.006  0.01  -0.05  -1.048]
+t: 214	 action: [ 0.049 -0.008  0.161  0.006 -0.01  -0.042 -1.04 ]
+t: 215	 action: [ 0.028  0.03   0.122  0.012 -0.014 -0.041 -1.041]
+t: 216	 action: [ 0.064 -0.004  0.099  0.003 -0.006 -0.049 -1.031]
+t: 217	 action: [ 0.065  0.038  0.081  0.01  -0.008 -0.047 -1.071]
+[07-31 01:25:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9773
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=218: Selected seed 195 with value = 0.9773
+t: 218	 action: [ 0.025  0.006  0.151  0.009  0.025 -0.028 -0.997]
+t: 219	 action: [ 0.038 -0.003  0.197  0.014  0.015 -0.034 -0.951]
+t: 220	 action: [ 0.04  -0.005  0.075  0.003  0.015 -0.036 -1.031]
+t: 221	 action: [ 0.047  0.001  0.137  0.012  0.014 -0.043 -1.047]
+t: 222	 action: [ 3.241e-02  7.611e-04  1.444e-01  8.919e-03  3.925e-03 -2.461e-02 -1.041e+00]
+t: 223	 action: [ 0.025  0.02   0.141  0.02  -0.002 -0.03  -1.049]
+t: 224	 action: [ 0.055 -0.009  0.089  0.005  0.004 -0.032 -1.029]
+t: 225	 action: [ 7.213e-02  2.647e-02  8.961e-02  1.816e-02 -6.002e-04 -3.986e-02 -1.069e+00]
+t: 226	 action: [ 0.029 -0.008  0.153  0.007 -0.006 -0.039 -1.019]
+t: 227	 action: [ 0.028 -0.019  0.16   0.01   0.008 -0.04  -1.021]
+t: 228	 action: [ 0.036 -0.006  0.073  0.004 -0.005 -0.045 -1.034]
+t: 229	 action: [ 0.035 -0.014  0.093  0.008  0.011 -0.044 -1.048]
+t: 230	 action: [ 0.033 -0.018  0.139  0.006 -0.014 -0.036 -1.036]
+t: 231	 action: [ 0.013  0.014  0.111  0.014 -0.013 -0.037 -1.048]
+t: 232	 action: [ 0.043 -0.012  0.079  0.004 -0.009 -0.043 -1.023]
+t: 233	 action: [ 0.035  0.02   0.068  0.012 -0.008 -0.04  -1.07 ]
+[07-31 01:25:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9673
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 0.992 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=234: Selected seed 195 with value = 0.9673
+t: 234	 action: [ 4.470e-02 -1.853e-04  1.677e-01  8.570e-03  3.388e-02 -2.938e-02 -9.712e-01]
+t: 235	 action: [ 0.064 -0.008  0.205  0.016  0.024 -0.034 -0.922]
+t: 236	 action: [ 0.065 -0.006  0.085  0.004  0.022 -0.034 -1.02 ]
+t: 237	 action: [ 0.077 -0.005  0.144  0.015  0.015 -0.039 -1.047]
+t: 238	 action: [ 0.042 -0.006  0.136  0.011  0.009 -0.023 -1.041]
+t: 239	 action: [ 3.674e-02  1.534e-02  1.370e-01  2.214e-02 -5.319e-04 -2.878e-02 -1.064e+00]
+t: 240	 action: [ 0.07  -0.01   0.078  0.008  0.008 -0.027 -1.022]
+t: 241	 action: [ 0.091  0.018  0.078  0.021  0.001 -0.035 -1.069]
+t: 242	 action: [ 0.045 -0.018  0.094  0.01  -0.004 -0.035 -1.015]
+t: 243	 action: [ 0.038 -0.033  0.096  0.015  0.008 -0.038 -1.03 ]
+t: 244	 action: [ 0.05  -0.014  0.033  0.005 -0.004 -0.04  -1.028]
+t: 245	 action: [ 0.048 -0.028  0.049  0.013  0.011 -0.04  -1.048]
+t: 246	 action: [ 0.035 -0.023  0.073  0.009 -0.016 -0.03  -1.037]
+t: 247	 action: [ 0.009  0.004  0.05   0.02  -0.015 -0.033 -1.054]
+t: 248	 action: [ 0.044 -0.012  0.03   0.005 -0.013 -0.035 -1.019]
+t: 249	 action: [ 0.032  0.009  0.029  0.017 -0.01  -0.034 -1.067]
+[07-31 01:25:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9452
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9452
+Query 1/1: Action query time = 0.993 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9452
+t=250: Selected seed 195 with value = 0.9452
+t: 250	 action: [ 0.051 -0.002  0.141  0.008  0.039 -0.031  1.032]
+t: 251	 action: [ 0.054 -0.028  0.192  0.013  0.037 -0.046  0.858]
+t: 252	 action: [ 0.097 -0.008  0.106  0.003  0.031 -0.033 -1.032]
+t: 253	 action: [ 0.135 -0.012  0.18   0.011  0.02  -0.036 -1.066]
+t: 254	 action: [ 0.088 -0.014  0.178  0.009  0.016 -0.023 -1.136]
+t: 255	 action: [ 2.039e-02 -5.710e-03  1.927e-01  1.688e-02 -7.228e-05 -3.561e-02 -1.087e+00]
+t: 256	 action: [ 0.12  -0.013  0.107  0.008  0.013 -0.024 -1.018]
+t: 257	 action: [ 1.501e-01  7.158e-04  1.079e-01  1.825e-02  1.697e-03 -2.932e-02 -1.072e+00]
+t: 258	 action: [ 0.082 -0.067  0.096  0.012 -0.003 -0.031 -1.006]
+t: 259	 action: [ 0.086 -0.068  0.086  0.016  0.007 -0.035 -1.028]
+t: 260	 action: [ 0.088 -0.066  0.033  0.008 -0.004 -0.033 -1.042]
+t: 261	 action: [ 0.096 -0.065  0.019  0.014  0.009 -0.035 -1.067]
+t: 262	 action: [ 0.055 -0.048  0.059  0.012 -0.02  -0.026 -1.031]
+t: 263	 action: [ 0.024 -0.03   0.025  0.021 -0.019 -0.029 -1.058]
+t: 264	 action: [ 0.062 -0.024  0.011  0.007 -0.017 -0.027 -1.014]
+t: 265	 action: [ 0.051 -0.027 -0.009  0.017 -0.015 -0.028 -1.063]
+[07-31 01:25:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8925
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 0.994 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=266: Selected seed 195 with value = 0.8925
+t: 266	 action: [ 0.017  0.002  0.14   0.004  0.038 -0.03   1.082]
+t: 267	 action: [ 0.026 -0.019  0.195  0.008  0.045 -0.054  0.965]
+t: 268	 action: [ 7.232e-02 -8.599e-04  1.410e-01  2.805e-03  3.603e-02 -3.105e-02  8.980e-01]
+t: 269	 action: [ 0.066 -0.017  0.22   0.009  0.034 -0.036 -1.019]
+t: 270	 action: [ 0.067 -0.021  0.206  0.008  0.024 -0.02  -1.135]
+t: 271	 action: [ 0.017 -0.012  0.227  0.013  0.006 -0.041 -1.074]
+t: 272	 action: [ 0.121 -0.013  0.156  0.007  0.022 -0.02  -1.065]
+t: 273	 action: [ 0.069  0.002  0.175  0.015  0.007 -0.028 -1.059]
+t: 274	 action: [ 0.121 -0.109  0.067  0.015 -0.003 -0.024  0.823]
+t: 275	 action: [ 0.099 -0.116  0.042  0.017  0.006 -0.03  -0.805]
+t: 276	 action: [ 0.126 -0.115  0.013  0.011 -0.006 -0.025 -0.992]
+t: 277	 action: [ 0.151 -0.096 -0.016  0.014  0.006 -0.031 -1.05 ]
+t: 278	 action: [ 0.078 -0.118  0.037  0.018 -0.025 -0.018 -1.072]
+t: 279	 action: [-0.013 -0.079 -0.014  0.021 -0.022 -0.023 -1.066]
+t: 280	 action: [ 0.071 -0.036 -0.023  0.008 -0.025 -0.018 -1.002]
+t: 281	 action: [ 0.058 -0.042 -0.096  0.017 -0.021 -0.021 -1.045]
+[07-31 01:25:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8202
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8202
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8202
+t=282: Selected seed 195 with value = 0.8202
+t: 282	 action: [ 0.008  0.008  0.143  0.004  0.031 -0.029  1.06 ]
+t: 283	 action: [ 0.017  0.002  0.192  0.008  0.04  -0.055  0.934]
+t: 284	 action: [ 0.055  0.003  0.161  0.004  0.036 -0.027  0.989]
+t: 285	 action: [ 3.536e-02 -3.391e-04  2.232e-01  1.021e-02  4.132e-02 -3.703e-02 -6.543e-01]
+t: 286	 action: [ 0.058 -0.014  0.205  0.006  0.027 -0.015 -0.967]
+t: 287	 action: [ 0.018  0.011  0.218  0.01   0.008 -0.04  -0.913]
+t: 288	 action: [ 1.092e-01  1.618e-04  1.742e-01  4.722e-03  2.779e-02 -1.480e-02 -1.087e+00]
+t: 289	 action: [ 0.053  0.028  0.188  0.013  0.016 -0.028 -1.031]
+t: 290	 action: [ 0.086 -0.117  0.059  0.013  0.004 -0.022  1.   ]
+t: 291	 action: [ 0.064 -0.124  0.043  0.016  0.004 -0.032  0.23 ]
+t: 292	 action: [ 0.131 -0.135 -0.001  0.009 -0.001 -0.023 -0.631]
+t: 293	 action: [ 0.176 -0.102 -0.02   0.012  0.004 -0.031 -0.986]
+t: 294	 action: [ 0.059 -0.147  0.024  0.015 -0.02  -0.014 -1.111]
+t: 295	 action: [-0.014 -0.087 -0.022  0.017 -0.026 -0.029 -1.038]
+t: 296	 action: [ 0.066 -0.013 -0.031  0.004 -0.023 -0.014 -0.993]
+t: 297	 action: [ 0.058 -0.011 -0.094  0.011 -0.022 -0.02  -1.04 ]
+[07-31 01:25:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8023
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8023
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 28
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 56%|█████▌    | 28/50 [14:49<11:38, 31.73s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 29...
+Query 1/1: Action query time = 0.988 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8023
+t=298: Selected seed 195 with value = 0.8023
+t: 298	 action: [ 0.003  0.017  0.081  0.004  0.022 -0.028  0.963]
+t: 299	 action: [ 3.939e-02  9.328e-03  1.651e-01  2.207e-04  2.645e-02 -6.126e-02  9.575e-01]
+t: 300	 action: [ 0.036  0.017  0.096  0.004  0.032 -0.023  1.01 ]
+t: 301	 action: [ 0.007  0.032  0.174  0.003  0.034 -0.052  0.53 ]
+t: 302	 action: [ 0.029  0.015  0.164  0.002  0.021 -0.011  0.877]
+t: 303	 action: [ 6.655e-02  4.055e-02  1.644e-01  4.187e-04 -1.179e-04 -3.016e-02  4.154e-01]
+t: 304	 action: [ 0.082  0.033  0.124  0.002  0.027 -0.01  -1.056]
+t: 305	 action: [ 0.018  0.08   0.132  0.004  0.012 -0.037 -1.067]
+t: 306	 action: [ 0.057 -0.099  0.003  0.008  0.002 -0.019  1.037]
+t: 307	 action: [ 0.027 -0.116  0.025  0.009  0.002 -0.042  0.744]
+t: 308	 action: [ 0.099 -0.131 -0.031  0.006  0.002 -0.019  0.855]
+t: 309	 action: [ 0.064 -0.101 -0.011  0.005  0.001 -0.035 -0.071]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=28--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=28--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 28
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 29...
+[07-31 01:25:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4854
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4854
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4854
+t=10: Selected seed 195 with value = 0.4854
+t: 10	 action: [ 1.401e-02 -8.254e-03 -2.821e-02  7.673e-03  1.321e-03  7.249e-04 -1.006e+00]
+t: 11	 action: [ 0.1   -0.011 -0.002  0.011  0.002 -0.002 -1.022]
+t: 12	 action: [ 0.23   0.057 -0.032  0.005  0.004  0.003 -1.013]
+t: 13	 action: [ 3.856e-01  1.397e-01  5.320e-04  9.919e-03  1.332e-04 -1.491e-05 -1.025e+00]
+t: 14	 action: [ 5.137e-01  2.389e-01 -2.779e-02  6.126e-04  4.838e-03 -1.064e-03 -1.020e+00]
+t: 15	 action: [ 6.923e-01  3.970e-01 -1.213e-02  7.925e-03  8.614e-04 -1.629e-03 -1.050e+00]
+t: 16	 action: [ 0.756  0.515 -0.036 -0.002  0.009 -0.001 -1.009]
+t: 17	 action: [ 8.402e-01  5.402e-01 -1.504e-02  8.996e-03 -1.622e-03 -7.060e-04 -1.055e+00]
+t: 18	 action: [ 7.764e-01  5.765e-01 -6.051e-02  7.863e-03  9.924e-04  4.513e-03 -1.014e+00]
+t: 19	 action: [ 0.825  0.57  -0.078  0.003  0.003 -0.001 -1.031]
+t: 20	 action: [ 0.817  0.616 -0.105  0.005 -0.006  0.005 -1.02 ]
+t: 21	 action: [ 8.618e-01  6.030e-01 -1.261e-01  1.868e-03  9.292e-05  1.105e-03 -1.031e+00]
+t: 22	 action: [ 0.865  0.628 -0.148  0.004 -0.009  0.003 -0.992]
+t: 23	 action: [ 0.905  0.608 -0.211  0.009 -0.008 -0.002 -1.046]
+t: 24	 action: [ 8.698e-01  6.083e-01 -2.585e-01  1.684e-03 -1.569e-02  2.075e-04 -9.973e-01]
+t: 25	 action: [ 9.114e-01  5.464e-01 -3.454e-01  1.200e-02 -1.263e-02  7.329e-04 -1.055e+00]
+[07-31 01:25:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5600
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5600
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5600
+t=26: Selected seed 195 with value = 0.5600
+t: 26	 action: [ 8.253e-01  4.823e-01 -2.432e-01  3.214e-04 -5.094e-03  9.105e-03 -1.039e+00]
+t: 27	 action: [ 0.78   0.429 -0.335  0.001  0.002 -0.003 -1.032]
+t: 28	 action: [ 0.722  0.376 -0.368  0.01  -0.009  0.007 -1.043]
+t: 29	 action: [ 0.611  0.233 -0.438  0.007  0.002 -0.007 -1.04 ]
+t: 30	 action: [ 4.616e-01  1.507e-01 -4.713e-01 -1.869e-04 -3.285e-03 -3.370e-03 -1.031e+00]
+t: 31	 action: [ 0.353  0.079 -0.576  0.013 -0.001 -0.008 -1.053]
+t: 32	 action: [ 0.236  0.02  -0.748  0.003 -0.005 -0.008 -1.039]
+t: 33	 action: [ 1.511e-01 -3.490e-04 -8.313e-01  1.817e-02 -6.993e-03 -1.204e-02 -1.059e+00]
+t: 34	 action: [ 0.047 -0.033 -0.884  0.007 -0.036 -0.009 -1.038]
+t: 35	 action: [-0.029 -0.095 -0.933  0.01  -0.034 -0.02  -1.027]
+t: 36	 action: [-0.106 -0.102 -0.939  0.007 -0.048 -0.01  -1.039]
+t: 37	 action: [-0.175 -0.127 -0.998  0.008 -0.044 -0.019 -1.031]
+t: 38	 action: [-0.191 -0.181 -0.946  0.007 -0.056 -0.012 -1.042]
+t: 39	 action: [-0.252 -0.091 -0.965  0.018 -0.052 -0.027 -1.041]
+t: 40	 action: [-0.304 -0.134 -0.946  0.002 -0.054 -0.014 -1.039]
+t: 41	 action: [-0.329 -0.082 -0.964  0.014 -0.048 -0.023 -1.047]
+[07-31 01:25:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6390
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=42: Selected seed 195 with value = 0.6390
+t: 42	 action: [-0.293 -0.003 -0.961  0.01  -0.009  0.021 -1.051]
+t: 43	 action: [-0.233  0.041 -0.922  0.003  0.004  0.022 -1.035]
+t: 44	 action: [-0.25   0.058 -0.822  0.003  0.008  0.027 -1.043]
+t: 45	 action: [-0.177  0.107 -0.795 -0.003  0.022  0.022 -1.038]
+t: 46	 action: [-0.176  0.118 -0.636 -0.026  0.016  0.01  -1.047]
+t: 47	 action: [-0.15   0.187 -0.63  -0.012  0.026  0.009 -1.053]
+t: 48	 action: [-0.102  0.188 -0.5   -0.04   0.023  0.007 -1.044]
+t: 49	 action: [-0.14   0.196 -0.505 -0.017  0.037  0.003 -1.054]
+t: 50	 action: [-0.183  0.07  -0.561 -0.017  0.018  0.011 -1.185]
+t: 51	 action: [-0.289  0.057 -0.544 -0.019  0.018  0.025 -1.16 ]
+t: 52	 action: [-0.255  0.043 -0.527 -0.029  0.02   0.01  -1.18 ]
+t: 53	 action: [-0.321  0.015 -0.44  -0.025  0.023  0.017  1.035]
+t: 54	 action: [-0.253  0.011 -0.459 -0.033  0.025 -0.003  1.11 ]
+t: 55	 action: [-0.235  0.023 -0.323 -0.02   0.024  0.006  1.175]
+t: 56	 action: [-0.198 -0.008 -0.351 -0.034  0.026 -0.005  1.099]
+t: 57	 action: [-0.162 -0.006 -0.168 -0.035  0.027  0.006  1.077]
+[07-31 01:25:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7204
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=58: Selected seed 195 with value = 0.7204
+t: 58	 action: [-0.089  0.014 -0.158 -0.02   0.015  0.005  0.985]
+t: 59	 action: [-0.058 -0.03  -0.041 -0.029  0.031 -0.002  1.012]
+t: 60	 action: [-0.076  0.006 -0.051 -0.015  0.02   0.004  0.978]
+t: 61	 action: [-0.029 -0.033  0.046 -0.023  0.035 -0.001  1.007]
+t: 62	 action: [-0.067  0.005  0.121 -0.011  0.035 -0.003  0.998]
+t: 63	 action: [ 0.01   0.015  0.229 -0.017  0.033 -0.006  1.017]
+t: 64	 action: [-0.017  0.014  0.43  -0.005  0.032 -0.007  0.993]
+t: 65	 action: [ 0.021  0.054  0.581 -0.01   0.031 -0.015  1.022]
+t: 66	 action: [ 5.041e-02  2.345e-02  8.038e-01  1.043e-03  4.954e-02 -1.461e-04  9.781e-01]
+t: 67	 action: [ 0.045  0.053  0.879  0.007  0.049 -0.013  1.001]
+t: 68	 action: [ 8.412e-02  4.203e-02  8.460e-01 -3.541e-04  3.392e-02 -5.655e-04  9.718e-01]
+t: 69	 action: [ 0.046  0.057  0.87   0.016  0.026 -0.008  1.013]
+t: 70	 action: [ 2.477e-02 -1.748e-02  8.876e-01  1.068e-02  3.801e-02 -9.577e-04  9.933e-01]
+t: 71	 action: [-0.01  -0.116  0.899  0.028  0.033 -0.003  1.018]
+t: 72	 action: [-0.004 -0.235  0.772  0.015  0.023 -0.002  0.995]
+t: 73	 action: [-0.036 -0.383  0.594  0.038  0.014 -0.001  1.031]
+[07-31 01:25:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7251
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7251
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7251
+t=74: Selected seed 195 with value = 0.7251
+t: 74	 action: [ 9.422e-04  6.644e-02 -1.625e-01  5.490e-03  3.757e-03 -4.321e-03  1.015e+00]
+t: 75	 action: [-4.858e-02  6.391e-02 -1.851e-01  2.064e-02 -3.715e-04 -2.925e-03  9.966e-01]
+t: 76	 action: [-0.035  0.084 -0.307  0.011  0.002 -0.007  1.11 ]
+t: 77	 action: [-0.178  0.058 -0.4    0.029  0.001 -0.007  0.932]
+t: 78	 action: [-8.498e-02  4.628e-02 -3.609e-01  1.458e-02  4.990e-03  1.856e-05  1.002e+00]
+t: 79	 action: [-0.184  0.064 -0.398  0.033 -0.003  0.001  0.933]
+t: 80	 action: [-0.164  0.093 -0.47   0.027  0.002 -0.005 -0.888]
+t: 81	 action: [-0.207  0.098 -0.595  0.037  0.001 -0.017 -0.971]
+t: 82	 action: [-0.267  0.01  -0.658  0.029  0.033  0.036 -1.057]
+t: 83	 action: [-0.335 -0.04  -0.664  0.021  0.021  0.047 -1.018]
+t: 84	 action: [-0.294  0.008 -0.691  0.018  0.04   0.041  0.619]
+t: 85	 action: [-0.342 -0.052 -0.613  0.017  0.02   0.05   1.01 ]
+t: 86	 action: [-0.358  0.014 -0.606  0.005  0.023  0.043  0.884]
+t: 87	 action: [-0.3    0.021 -0.602 -0.003  0.009  0.045  1.151]
+t: 88	 action: [-2.926e-01  2.846e-03 -4.929e-01  9.206e-04  6.416e-03  2.766e-02  9.273e-01]
+t: 89	 action: [-0.269  0.009 -0.358 -0.017  0.002  0.042  1.099]
+[07-31 01:25:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7920
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7920
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7920
+t=90: Selected seed 195 with value = 0.7920
+t: 90	 action: [ 0.032  0.004  0.059 -0.023  0.006 -0.006  1.027]
+t: 91	 action: [ 0.032 -0.011  0.129 -0.022  0.022 -0.009  1.052]
+t: 92	 action: [-0.045  0.008  0.195 -0.008  0.03  -0.021  1.158]
+t: 93	 action: [-0.089 -0.045  0.22  -0.01   0.058 -0.044  0.988]
+t: 94	 action: [-0.055 -0.034  0.392  0.007  0.038 -0.015  1.048]
+t: 95	 action: [-0.081 -0.045  0.463  0.007  0.047 -0.019  1.055]
+t: 96	 action: [-0.095 -0.092  0.438  0.008  0.074 -0.027 -1.161]
+t: 97	 action: [-0.069 -0.098  0.396  0.024  0.085 -0.047 -1.114]
+t: 98	 action: [-6.954e-02 -7.156e-02  1.024e-01  1.966e-02  1.131e-01 -4.433e-04  1.150e+00]
+t: 99	 action: [-0.076 -0.154  0.031  0.019  0.131 -0.013 -0.998]
+t: 100	 action: [ 0.013 -0.065  0.07   0.021  0.122 -0.003 -1.07 ]
+t: 101	 action: [ 0.049 -0.127  0.024  0.015  0.121 -0.02  -1.07 ]
+t: 102	 action: [-0.004 -0.111  0.03   0.004  0.108 -0.003 -1.181]
+t: 103	 action: [-0.037 -0.133 -0.008  0.014  0.079 -0.016 -1.005]
+t: 104	 action: [-0.028 -0.066  0.068 -0.001  0.09  -0.016 -1.051]
+t: 105	 action: [-0.025 -0.111  0.021  0.009  0.06  -0.024 -1.025]
+[07-31 01:25:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7472
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7472
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7472
+t=106: Selected seed 195 with value = 0.7472
+t: 106	 action: [-0.062 -0.102  0.05  -0.003  0.062 -0.002  1.001]
+t: 107	 action: [-0.091 -0.141  0.125 -0.012  0.046 -0.014  1.014]
+t: 108	 action: [-0.053 -0.207  0.333  0.004  0.048 -0.009  0.993]
+t: 109	 action: [-7.423e-02 -3.308e-01  3.197e-01 -7.541e-04  3.540e-02 -1.244e-02  1.006e+00]
+t: 110	 action: [-0.046 -0.31   0.32   0.009  0.039 -0.014  1.009]
+t: 111	 action: [-0.052 -0.441  0.351  0.008  0.007 -0.013  1.025]
+t: 112	 action: [-0.032 -0.335  0.266  0.025  0.016 -0.018  1.001]
+t: 113	 action: [-0.004 -0.438  0.232  0.024 -0.003 -0.012  1.027]
+t: 114	 action: [-0.187 -0.402 -0.071  0.019 -0.007  0.007  1.009]
+t: 115	 action: [-0.231 -0.437 -0.173  0.026 -0.014  0.018  1.019]
+t: 116	 action: [-0.209 -0.257 -0.338  0.008 -0.019  0.006  0.997]
+t: 117	 action: [-0.213 -0.177 -0.497  0.013 -0.023  0.016  1.016]
+t: 118	 action: [-0.175 -0.145 -0.29  -0.003 -0.027  0.007  1.02 ]
+t: 119	 action: [-0.138 -0.16  -0.385 -0.017 -0.045  0.016  1.039]
+t: 120	 action: [-0.139 -0.069 -0.376 -0.009 -0.032  0.002  1.011]
+t: 121	 action: [-0.076 -0.048 -0.442 -0.025 -0.04   0.012  1.035]
+[07-31 01:25:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8812
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=122: Selected seed 195 with value = 0.8812
+t: 122	 action: [ 0.042  0.088  0.703 -0.005  0.02  -0.006  0.997]
+t: 123	 action: [ 0.018  0.145  0.778 -0.007 -0.003 -0.022  1.018]
+t: 124	 action: [ 2.296e-02  2.043e-01  7.549e-01 -1.189e-03  7.213e-04 -6.974e-03  9.934e-01]
+t: 125	 action: [-0.075  0.254  0.736 -0.006 -0.003 -0.015  1.007]
+t: 126	 action: [-0.138  0.304  0.667  0.004 -0.014 -0.005  1.004]
+t: 127	 action: [-0.188  0.364  0.655 -0.002 -0.015 -0.006  1.041]
+t: 128	 action: [-3.333e-01  4.914e-01  4.063e-01  7.930e-04 -2.070e-02 -5.240e-03  9.928e-01]
+t: 129	 action: [-0.347  0.496  0.345 -0.005 -0.015  0.001  1.032]
+t: 130	 action: [-0.325  0.615  0.267  0.002 -0.022 -0.004  1.011]
+t: 131	 action: [-0.331  0.664  0.192 -0.008 -0.023  0.002  1.014]
+t: 132	 action: [-0.263  0.606  0.06  -0.017 -0.021  0.002  1.008]
+t: 133	 action: [-0.266  0.674 -0.011 -0.02  -0.022  0.003  1.03 ]
+t: 134	 action: [-0.344  0.668 -0.016  0.003 -0.034 -0.006  1.006]
+t: 135	 action: [-0.269  0.679 -0.039 -0.014 -0.038  0.016  1.043]
+t: 136	 action: [-0.236  0.636 -0.141 -0.02  -0.032 -0.005  1.001]
+t: 137	 action: [-0.091  0.676 -0.184 -0.02  -0.028  0.016  1.042]
+[07-31 01:25:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9771
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=138: Selected seed 195 with value = 0.9771
+t: 138	 action: [-1.424e-01  4.428e-01 -8.934e-02 -2.367e-02  2.800e-02 -7.989e-04  9.968e-01]
+t: 139	 action: [-0.062  0.446 -0.17  -0.029  0.017 -0.01   1.006]
+t: 140	 action: [-4.316e-02  3.662e-01 -2.992e-01 -1.475e-02  2.728e-02 -9.457e-04  9.952e-01]
+t: 141	 action: [-0.022  0.286 -0.413 -0.021  0.031 -0.006  1.009]
+t: 142	 action: [-0.04   0.267 -0.419 -0.006  0.032 -0.001  1.004]
+t: 143	 action: [-2.057e-02  1.981e-01 -6.010e-01 -2.211e-02  8.786e-03 -3.794e-04  1.023e+00]
+t: 144	 action: [-0.053  0.137 -0.587 -0.006  0.035 -0.002  1.003]
+t: 145	 action: [-0.027  0.113 -0.671 -0.016  0.022 -0.002  1.026]
+t: 146	 action: [-0.016  0.085 -0.626 -0.009  0.027  0.012  1.163]
+t: 147	 action: [-0.043  0.054 -0.605 -0.018  0.015  0.005  1.008]
+t: 148	 action: [-0.014  0.044 -0.474 -0.023  0.035  0.016  1.15 ]
+t: 149	 action: [-0.043 -0.011 -0.308 -0.02   0.015 -0.002  1.035]
+t: 150	 action: [-0.054  0.02  -0.276 -0.029  0.008 -0.003 -1.156]
+t: 151	 action: [-0.041 -0.004 -0.156 -0.021 -0.001 -0.018 -1.067]
+t: 152	 action: [-5.691e-02 -2.568e-04 -1.777e-02 -3.244e-02 -5.734e-03 -2.646e-02 -1.161e+00]
+t: 153	 action: [-0.036 -0.01   0.071 -0.022 -0.004 -0.035 -1.086]
+[07-31 01:25:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9842
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=154: Selected seed 195 with value = 0.9842
+t: 154	 action: [-0.216 -0.071 -0.224  0.006  0.073 -0.006  1.198]
+t: 155	 action: [-0.188 -0.058 -0.082  0.001  0.042 -0.024  0.999]
+t: 156	 action: [-0.146 -0.021  0.066  0.005  0.041 -0.036 -1.03 ]
+t: 157	 action: [-0.117 -0.039  0.198  0.004  0.019 -0.045 -1.038]
+t: 158	 action: [-0.07  -0.026  0.171  0.005  0.025 -0.046 -1.185]
+t: 159	 action: [-0.06   0.023  0.274  0.002  0.013 -0.048 -1.083]
+t: 160	 action: [-0.02  -0.004  0.355  0.008  0.021 -0.064 -1.02 ]
+t: 161	 action: [-0.022  0.029  0.412  0.011  0.007 -0.055 -1.046]
+t: 162	 action: [ 0.002  0.021  0.46   0.012  0.035 -0.045 -1.045]
+t: 163	 action: [-0.008  0.011  0.471  0.007  0.015 -0.049 -1.037]
+t: 164	 action: [ 0.008  0.027  0.42   0.01   0.023 -0.049 -1.037]
+t: 165	 action: [ 0.013  0.022  0.414  0.008  0.013 -0.052 -1.035]
+t: 166	 action: [ 0.02   0.011  0.419  0.014  0.028 -0.056 -1.04 ]
+t: 167	 action: [-0.008  0.042  0.419  0.01   0.004 -0.057 -1.034]
+t: 168	 action: [ 0.027  0.025  0.392  0.009  0.018 -0.059 -1.023]
+t: 169	 action: [-0.004  0.044  0.374  0.01   0.003 -0.057 -1.043]
+[07-31 01:25:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=170: Selected seed 195 with value = 0.9959
+t: 170	 action: [ 0.061  0.095  0.259  0.003  0.01  -0.056 -1.044]
+t: 171	 action: [ 0.066  0.067  0.295  0.002  0.009 -0.067 -1.026]
+t: 172	 action: [ 0.067  0.08   0.227  0.002  0.004 -0.067 -1.041]
+t: 173	 action: [ 0.075  0.073  0.281  0.001  0.011 -0.078 -1.03 ]
+t: 174	 action: [ 0.08   0.09   0.234  0.002  0.007 -0.061 -1.043]
+t: 175	 action: [ 0.084  0.1    0.258  0.005 -0.005 -0.069 -1.042]
+t: 176	 action: [ 9.113e-02  7.844e-02  2.304e-01  2.472e-04  3.013e-03 -7.339e-02 -1.039e+00]
+t: 177	 action: [ 0.107  0.106  0.28   0.005 -0.003 -0.082 -1.052]
+t: 178	 action: [ 0.061  0.07   0.266  0.003  0.006 -0.063 -1.043]
+t: 179	 action: [ 0.056  0.068  0.282  0.002  0.01  -0.068 -1.027]
+t: 180	 action: [ 0.068  0.069  0.238  0.001  0.003 -0.072 -1.037]
+t: 181	 action: [ 0.074  0.074  0.27   0.002  0.011 -0.078 -1.03 ]
+t: 182	 action: [ 0.081  0.07   0.252  0.002  0.006 -0.069 -1.044]
+t: 183	 action: [ 0.076  0.101  0.254  0.006 -0.005 -0.07  -1.041]
+t: 184	 action: [ 9.141e-02  7.305e-02  2.417e-01  5.184e-04  3.818e-03 -7.802e-02 -1.031e+00]
+t: 185	 action: [ 0.105  0.107  0.279  0.005 -0.003 -0.08  -1.053]
+[07-31 01:25:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=186: Selected seed 195 with value = 0.9950
+t: 186	 action: [ 0.014  0.023  0.195  0.009  0.004 -0.036 -1.044]
+t: 187	 action: [ 0.01   0.011  0.189  0.014  0.004 -0.045 -1.037]
+t: 188	 action: [ 0.012  0.003  0.135  0.005 -0.009 -0.046 -1.042]
+t: 189	 action: [ 0.01   0.01   0.158  0.013  0.003 -0.053 -1.045]
+t: 190	 action: [ 0.019  0.007  0.157  0.007 -0.01  -0.039 -1.043]
+t: 191	 action: [ 0.002  0.035  0.118  0.017 -0.019 -0.045 -1.055]
+t: 192	 action: [ 2.609e-02 -3.016e-04  1.421e-01  5.695e-03 -1.520e-02 -4.673e-02 -1.039e+00]
+t: 193	 action: [ 0.024  0.04   0.121  0.016 -0.017 -0.055 -1.062]
+t: 194	 action: [ 1.696e-02 -8.730e-04  1.769e-01  8.109e-03 -1.050e-02 -4.526e-02 -1.044e+00]
+t: 195	 action: [ 0.011 -0.013  0.183  0.012  0.003 -0.05  -1.043]
+t: 196	 action: [ 0.016 -0.001  0.136  0.005 -0.014 -0.052 -1.04 ]
+t: 197	 action: [ 0.02  -0.007  0.154  0.011  0.005 -0.054 -1.046]
+t: 198	 action: [ 0.03  -0.011  0.173  0.008 -0.013 -0.049 -1.042]
+t: 199	 action: [ 0.007  0.013  0.138  0.015 -0.018 -0.05  -1.057]
+t: 200	 action: [ 0.031 -0.005  0.151  0.005 -0.016 -0.055 -1.032]
+t: 201	 action: [ 0.025  0.023  0.135  0.013 -0.014 -0.054 -1.065]
+[07-31 01:25:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9847
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=202: Selected seed 195 with value = 0.9847
+t: 202	 action: [ 0.024  0.011  0.09   0.01   0.02  -0.03  -1.03 ]
+t: 203	 action: [ 0.024  0.008  0.059  0.017  0.008 -0.038 -1.016]
+t: 204	 action: [ 2.476e-02 -6.936e-03  1.103e-02  4.679e-03  1.208e-05 -4.000e-02 -1.032e+00]
+t: 205	 action: [ 0.021 -0.005  0.033  0.015  0.005 -0.045 -1.046]
+t: 206	 action: [ 0.031 -0.016  0.048  0.008 -0.007 -0.03  -1.035]
+t: 207	 action: [ 0.004  0.014  0.021  0.019 -0.018 -0.036 -1.062]
+t: 208	 action: [ 0.036 -0.018  0.015  0.006 -0.012 -0.038 -1.026]
+t: 209	 action: [ 0.027  0.007  0.011  0.018 -0.019 -0.045 -1.069]
+t: 210	 action: [ 0.026 -0.029  0.038  0.008 -0.013 -0.038 -1.038]
+t: 211	 action: [ 0.023 -0.053  0.043  0.011  0.002 -0.043 -1.047]
+t: 212	 action: [ 0.022 -0.026  0.008  0.005 -0.019 -0.044 -1.035]
+t: 213	 action: [ 0.028 -0.05   0.033  0.01   0.004 -0.046 -1.048]
+t: 214	 action: [ 0.026 -0.036  0.039  0.006 -0.021 -0.037 -1.036]
+t: 215	 action: [ 0.005 -0.021  0.026  0.015 -0.023 -0.041 -1.065]
+t: 216	 action: [ 0.023 -0.025  0.021  0.005 -0.023 -0.042 -1.022]
+t: 217	 action: [ 0.016 -0.021  0.017  0.013 -0.019 -0.043 -1.071]
+[07-31 01:25:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9758
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=218: Selected seed 195 with value = 0.9758
+t: 218	 action: [ 0.025  0.008  0.128  0.013  0.029 -0.026 -1.017]
+t: 219	 action: [ 0.029  0.007  0.108  0.019  0.013 -0.036 -0.987]
+t: 220	 action: [ 0.036 -0.01   0.029  0.007  0.01  -0.034 -1.027]
+t: 221	 action: [ 0.034 -0.011  0.04   0.018  0.01  -0.042 -1.045]
+t: 222	 action: [ 3.628e-02 -1.850e-02  7.334e-02  1.196e-02 -9.348e-04 -2.356e-02 -1.034e+00]
+t: 223	 action: [ 0.007  0.005  0.039  0.023 -0.006 -0.032 -1.059]
+t: 224	 action: [ 0.05  -0.022  0.02   0.009 -0.005 -0.03  -1.024]
+t: 225	 action: [ 0.048 -0.007  0.014  0.021 -0.008 -0.039 -1.07 ]
+t: 226	 action: [ 0.032 -0.049  0.049  0.01  -0.014 -0.036 -1.035]
+t: 227	 action: [ 0.028 -0.063  0.047  0.014  0.005 -0.041 -1.044]
+t: 228	 action: [ 0.03  -0.042  0.006  0.006 -0.018 -0.041 -1.032]
+t: 229	 action: [ 0.033 -0.059  0.023  0.013  0.007 -0.043 -1.046]
+t: 230	 action: [ 0.029 -0.05   0.037  0.009 -0.024 -0.033 -1.036]
+t: 231	 action: [ 0.003 -0.031  0.022  0.017 -0.02  -0.037 -1.061]
+t: 232	 action: [ 0.027 -0.033  0.008  0.006 -0.023 -0.037 -1.02 ]
+t: 233	 action: [ 0.015 -0.034 -0.002  0.015 -0.015 -0.038 -1.068]
+[07-31 01:25:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9614
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=234: Selected seed 195 with value = 0.9614
+t: 234	 action: [ 0.029  0.005  0.185  0.013  0.037 -0.023 -0.965]
+t: 235	 action: [ 0.048  0.002  0.189  0.02   0.03  -0.032 -0.908]
+t: 236	 action: [ 0.053 -0.011  0.068  0.007  0.024 -0.029 -1.016]
+t: 237	 action: [ 0.069 -0.013  0.085  0.018  0.018 -0.035 -1.047]
+t: 238	 action: [ 0.052 -0.023  0.131  0.015  0.013 -0.018 -1.036]
+t: 239	 action: [ 0.032 -0.013  0.099  0.025  0.002 -0.025 -1.063]
+t: 240	 action: [ 0.077 -0.025  0.048  0.011  0.008 -0.022 -1.021]
+t: 241	 action: [ 0.099 -0.023  0.023  0.023  0.002 -0.03  -1.073]
+t: 242	 action: [ 0.053 -0.091  0.054  0.013 -0.009 -0.031 -1.03 ]
+t: 243	 action: [ 0.042 -0.087  0.03   0.018  0.009 -0.035 -1.046]
+t: 244	 action: [ 0.051 -0.074 -0.005  0.008 -0.013 -0.035 -1.03 ]
+t: 245	 action: [ 0.048 -0.077 -0.027  0.015  0.011 -0.037 -1.047]
+t: 246	 action: [ 0.039 -0.083  0.021  0.012 -0.024 -0.026 -1.036]
+t: 247	 action: [ 4.653e-03 -5.700e-02 -1.432e-04  2.077e-02 -1.621e-02 -2.907e-02 -1.059e+00]
+t: 248	 action: [ 0.034 -0.047 -0.02   0.006 -0.022 -0.029 -1.021]
+t: 249	 action: [ 0.014 -0.051 -0.075  0.017 -0.012 -0.03  -1.066]
+[07-31 01:25:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9429
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9429
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9429
+t=250: Selected seed 195 with value = 0.9429
+t: 250	 action: [ 0.021 -0.002  0.238  0.012  0.044 -0.023 -0.496]
+t: 251	 action: [ 0.056 -0.014  0.253  0.018  0.047 -0.038 -0.199]
+t: 252	 action: [ 0.065 -0.018  0.121  0.007  0.033 -0.026 -1.005]
+t: 253	 action: [ 0.093 -0.032  0.17   0.017  0.029 -0.032 -1.052]
+t: 254	 action: [ 0.052 -0.031  0.209  0.018  0.022 -0.015 -1.126]
+t: 255	 action: [ 0.033 -0.042  0.185  0.026  0.009 -0.028 -1.067]
+t: 256	 action: [ 0.096 -0.036  0.107  0.014  0.016 -0.018 -1.022]
+t: 257	 action: [ 0.123 -0.051  0.065  0.023  0.005 -0.025 -1.074]
+t: 258	 action: [ 0.077 -0.128  0.09   0.016 -0.008 -0.027 -1.031]
+t: 259	 action: [ 0.068 -0.112  0.029  0.021  0.008 -0.03  -1.047]
+t: 260	 action: [ 0.079 -0.105  0.013  0.01  -0.013 -0.03  -1.032]
+t: 261	 action: [ 0.074 -0.098 -0.047  0.018  0.009 -0.033 -1.049]
+t: 262	 action: [ 0.054 -0.108  0.033  0.016 -0.026 -0.021 -1.037]
+t: 263	 action: [ 0.011 -0.081 -0.02   0.024 -0.018 -0.023 -1.054]
+t: 264	 action: [ 0.05  -0.055 -0.017  0.009 -0.026 -0.023 -1.023]
+t: 265	 action: [ 0.02  -0.061 -0.119  0.018 -0.015 -0.025 -1.059]
+[07-31 01:25:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.130 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9243
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9243
+Query 1/1: Action query time = 1.130 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9243
+t=266: Selected seed 195 with value = 0.9243
+t: 266	 action: [ 0.023 -0.005  0.232  0.014  0.046 -0.027  0.811]
+t: 267	 action: [ 0.049 -0.037  0.238  0.018  0.059 -0.04   0.653]
+t: 268	 action: [ 0.063 -0.032  0.127  0.008  0.04  -0.025 -1.014]
+t: 269	 action: [ 0.082 -0.057  0.179  0.017  0.041 -0.03  -1.062]
+t: 270	 action: [ 0.053 -0.044  0.215  0.019  0.032 -0.015 -1.088]
+t: 271	 action: [-0.007 -0.069  0.214  0.023  0.019 -0.025 -1.12 ]
+t: 272	 action: [ 0.082 -0.048  0.115  0.015  0.024 -0.014 -1.024]
+t: 273	 action: [ 0.096 -0.072  0.072  0.022  0.011 -0.021 -1.074]
+t: 274	 action: [ 0.092 -0.185  0.065  0.022 -0.01  -0.02  -1.029]
+t: 275	 action: [ 0.082 -0.144 -0.005  0.024  0.004 -0.024 -1.039]
+t: 276	 action: [ 0.099 -0.163 -0.009  0.015 -0.016 -0.021 -1.04 ]
+t: 277	 action: [ 0.087 -0.134 -0.116  0.02   0.003 -0.026 -1.055]
+t: 278	 action: [ 0.052 -0.139  0.002  0.02  -0.031 -0.015 -1.039]
+t: 279	 action: [ 0.006 -0.097 -0.094  0.025 -0.026 -0.018 -1.059]
+t: 280	 action: [ 0.047 -0.069 -0.046  0.01  -0.032 -0.015 -1.024]
+t: 281	 action: [ 0.015 -0.071 -0.194  0.019 -0.023 -0.018 -1.054]
+[07-31 01:25:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.184 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8914
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8914
+Query 1/1: Action query time = 1.184 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=282: Selected seed 195 with value = 0.8914
+t: 282	 action: [-5.966e-05 -1.017e-02  2.538e-01  1.127e-02  4.191e-02 -3.426e-02  1.034e+00]
+t: 283	 action: [ 0.015 -0.063  0.239  0.013  0.06  -0.049  0.904]
+t: 284	 action: [ 0.042 -0.042  0.163  0.009  0.044 -0.03  -0.821]
+t: 285	 action: [ 0.052 -0.081  0.203  0.015  0.049 -0.03  -1.042]
+t: 286	 action: [ 0.045 -0.043  0.243  0.016  0.037 -0.014 -1.134]
+t: 287	 action: [-0.017 -0.082  0.244  0.016  0.026 -0.03  -1.055]
+t: 288	 action: [ 0.067 -0.045  0.147  0.014  0.035 -0.012 -1.04 ]
+t: 289	 action: [ 0.036 -0.073  0.099  0.018  0.02  -0.02  -1.071]
+t: 290	 action: [ 0.106 -0.242  0.038  0.027 -0.011 -0.016 -0.995]
+t: 291	 action: [ 0.091 -0.182 -0.046  0.025 -0.001 -0.02  -1.022]
+t: 292	 action: [ 0.115 -0.207 -0.03   0.022 -0.018 -0.014 -1.028]
+t: 293	 action: [ 0.09  -0.164 -0.16   0.02  -0.003 -0.02  -1.047]
+t: 294	 action: [ 0.045 -0.139 -0.036  0.021 -0.037 -0.011 -1.038]
+t: 295	 action: [-0.004 -0.101 -0.166  0.023 -0.034 -0.014 -1.048]
+t: 296	 action: [ 0.042 -0.054 -0.087  0.009 -0.039 -0.009 -1.025]
+t: 297	 action: [ 0.006 -0.058 -0.259  0.016 -0.033 -0.012 -1.044]
+[07-31 01:25:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.217 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8457
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8457
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 29
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 58%|█████▊    | 29/50 [15:21<11:06, 31.75s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 30...
+Query 1/1: Action query time = 1.217 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8457
+t=298: Selected seed 195 with value = 0.8457
+t: 298	 action: [ 0.005 -0.079  0.309  0.009  0.024 -0.032  0.999]
+t: 299	 action: [ 0.028 -0.154  0.311  0.011  0.04  -0.035  1.01 ]
+t: 300	 action: [ 0.025 -0.107  0.273  0.009  0.038 -0.027  1.01 ]
+t: 301	 action: [ 0.006 -0.161  0.288  0.012  0.056 -0.047  0.693]
+t: 302	 action: [ 0.022 -0.134  0.305  0.015  0.036 -0.013  1.012]
+t: 303	 action: [ 0.049 -0.235  0.325  0.012  0.021 -0.02   0.994]
+t: 304	 action: [ 0.059 -0.112  0.253  0.011  0.045 -0.011 -1.052]
+t: 305	 action: [ 0.005 -0.162  0.217  0.012  0.038 -0.029 -1.094]
+t: 306	 action: [ 0.062 -0.33   0.03   0.028 -0.004 -0.023  1.067]
+t: 307	 action: [ 0.023 -0.333 -0.044  0.026 -0.006 -0.03   0.889]
+t: 308	 action: [ 0.069 -0.312 -0.033  0.019 -0.008 -0.02   1.007]
+t: 309	 action: [ 0.021 -0.28  -0.128  0.017 -0.008 -0.033  0.884]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=29--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=29--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 29
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 30...
+[07-31 01:26:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5195
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.5195
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5195
+t=10: Selected seed 195 with value = 0.5195
+t: 10	 action: [ 0.41   0.2   -0.014  0.005  0.005  0.004 -1.022]
+t: 11	 action: [ 0.536  0.285  0.002 -0.003  0.009 -0.009 -1.004]
+t: 12	 action: [ 6.490e-01  4.098e-01 -2.067e-02 -9.376e-04  8.886e-03  2.379e-03 -1.026e+00]
+t: 13	 action: [ 0.742  0.455 -0.014 -0.008  0.003 -0.012 -1.016]
+t: 14	 action: [ 8.238e-01  4.838e-01 -1.484e-02 -5.251e-03  1.616e-02 -5.361e-04 -1.030e+00]
+t: 15	 action: [ 0.864  0.52  -0.013 -0.007  0.012 -0.007 -1.032]
+t: 16	 action: [ 0.857  0.52  -0.036 -0.015  0.017 -0.003 -1.029]
+t: 17	 action: [ 8.918e-01  5.369e-01 -5.470e-02 -1.195e-02  3.693e-04 -1.057e-02 -1.040e+00]
+t: 18	 action: [ 0.871  0.579 -0.074 -0.032 -0.009  0.002 -1.052]
+t: 19	 action: [ 0.877  0.541 -0.114 -0.029 -0.007 -0.013 -1.029]
+t: 20	 action: [ 0.883  0.554 -0.217 -0.028 -0.019  0.002 -1.054]
+t: 21	 action: [ 0.887  0.483 -0.236 -0.026 -0.013 -0.013 -1.029]
+t: 22	 action: [ 0.863  0.361 -0.336 -0.031 -0.026 -0.002 -1.039]
+t: 23	 action: [ 0.828  0.286 -0.435 -0.02  -0.024 -0.012 -1.046]
+t: 24	 action: [ 0.719  0.171 -0.614 -0.013 -0.036 -0.003 -1.043]
+t: 25	 action: [ 0.664  0.101 -0.692 -0.012 -0.026 -0.011 -1.05 ]
+[07-31 01:26:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.059 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5866
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5866
+Query 1/1: Action query time = 1.059 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5866
+t=26: Selected seed 195 with value = 0.5866
+t: 26	 action: [ 0.651  0.328 -0.433  0.008 -0.021 -0.006 -1.02 ]
+t: 27	 action: [ 0.525  0.228 -0.488 -0.004 -0.017 -0.015 -1.031]
+t: 28	 action: [ 0.343  0.138 -0.641  0.005 -0.032 -0.007 -1.019]
+t: 29	 action: [ 0.164  0.04  -0.745  0.007 -0.029 -0.016 -1.033]
+t: 30	 action: [ 0.076 -0.001 -0.893  0.005 -0.037 -0.006 -1.029]
+t: 31	 action: [-0.008 -0.032 -0.895  0.013 -0.041 -0.013 -1.061]
+t: 32	 action: [-0.072 -0.037 -1.     0.005 -0.043 -0.004 -1.023]
+t: 33	 action: [-0.117 -0.023 -1.02   0.01  -0.045 -0.012 -1.064]
+t: 34	 action: [-1.929e-01 -1.309e-01 -9.570e-01  9.209e-03 -3.569e-02  7.668e-04 -1.031e+00]
+t: 35	 action: [-0.29  -0.191 -1.019  0.005 -0.031 -0.008 -1.036]
+t: 36	 action: [-0.402 -0.165 -0.96   0.01  -0.037  0.009 -1.029]
+t: 37	 action: [-0.448 -0.19  -1.032  0.003 -0.026 -0.006 -1.035]
+t: 38	 action: [-0.527 -0.147 -0.957 -0.002 -0.034  0.002 -1.026]
+t: 39	 action: [-4.976e-01 -6.026e-02 -9.855e-01  5.373e-03 -2.773e-02  2.635e-04 -1.049e+00]
+t: 40	 action: [-0.537 -0.084 -0.932 -0.001 -0.027  0.002 -1.018]
+t: 41	 action: [-0.488 -0.026 -0.962  0.002 -0.016  0.005 -1.051]
+[07-31 01:26:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.196 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6687
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6687
+Query 1/1: Action query time = 1.196 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6687
+t=42: Selected seed 195 with value = 0.6687
+t: 42	 action: [-4.240e-01 -3.726e-02 -9.911e-01  7.126e-04 -2.307e-02  3.873e-02 -1.071e+00]
+t: 43	 action: [-0.405 -0.021 -0.893 -0.007 -0.005  0.036 -1.029]
+t: 44	 action: [-0.385  0.003 -0.906 -0.006 -0.007  0.05  -1.075]
+t: 45	 action: [-0.323  0.017 -0.793 -0.016  0.007  0.061 -1.148]
+t: 46	 action: [-0.366  0.012 -0.731 -0.024  0.021  0.045 -1.066]
+t: 47	 action: [-0.278  0.086 -0.678 -0.008  0.004  0.033 -1.051]
+t: 48	 action: [-0.211  0.014 -0.537 -0.043  0.035  0.045 -1.032]
+t: 49	 action: [-0.179  0.091 -0.501 -0.013  0.036  0.043  1.18 ]
+t: 50	 action: [-0.207  0.028 -0.457 -0.039  0.027  0.04   0.981]
+t: 51	 action: [-0.148 -0.01  -0.214 -0.031  0.05   0.029  1.015]
+t: 52	 action: [-0.154  0.016 -0.253 -0.05   0.038  0.037  0.973]
+t: 53	 action: [-0.087 -0.032 -0.077 -0.038  0.046  0.028  1.006]
+t: 54	 action: [-0.074 -0.025 -0.003 -0.026  0.059  0.013  0.996]
+t: 55	 action: [-0.013 -0.017  0.066 -0.016  0.051  0.015  1.017]
+t: 56	 action: [-0.054 -0.009  0.212 -0.008  0.043  0.005  1.007]
+t: 57	 action: [ 0.001  0.025  0.411 -0.012  0.034  0.015  1.017]
+[07-31 01:26:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.190 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7121
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 1.190 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=58: Selected seed 195 with value = 0.7121
+t: 58	 action: [ 2.454e-02  3.041e-02  1.547e-01 -3.692e-02  3.873e-04  4.111e-04  9.768e-01]
+t: 59	 action: [ 5.381e-02 -4.164e-04  3.014e-01 -2.902e-02  2.459e-02  1.361e-03  1.031e+00]
+t: 60	 action: [ 0.074  0.043  0.47  -0.009  0.02  -0.004  0.99 ]
+t: 61	 action: [ 0.064  0.021  0.63  -0.015  0.044 -0.004  1.034]
+t: 62	 action: [ 0.14   0.046  0.799 -0.003  0.053 -0.005  1.011]
+t: 63	 action: [ 0.116  0.039  0.826 -0.012  0.058 -0.007  1.037]
+t: 64	 action: [ 0.158  0.056  0.929  0.004  0.053 -0.014  1.016]
+t: 65	 action: [ 0.099  0.03   0.897  0.005  0.059 -0.012  1.031]
+t: 66	 action: [ 0.203  0.054  0.916  0.013  0.062 -0.016  1.017]
+t: 67	 action: [ 0.173  0.063  0.817  0.007  0.079 -0.022  1.014]
+t: 68	 action: [ 0.194 -0.009  0.667  0.012  0.081 -0.02   1.142]
+t: 69	 action: [ 0.035 -0.027  0.294  0.009  0.106 -0.03   1.028]
+t: 70	 action: [ 0.056 -0.124  0.14   0.024  0.077 -0.004  0.981]
+t: 71	 action: [-0.036 -0.054 -0.139  0.025  0.073 -0.003  0.978]
+t: 72	 action: [-0.03  -0.116 -0.254  0.017  0.063 -0.009 -1.162]
+t: 73	 action: [-0.089 -0.052 -0.35   0.02   0.057 -0.023 -1.109]
+[07-31 01:26:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.194 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7769
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7769
+Query 1/1: Action query time = 1.194 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7769
+t=74: Selected seed 195 with value = 0.7769
+t: 74	 action: [ 0.077  0.177  0.316 -0.011  0.004  0.004  1.005]
+t: 75	 action: [ 0.026  0.218  0.155  0.002 -0.003  0.005  1.03 ]
+t: 76	 action: [0.022 0.233 0.121 0.007 0.004 0.004 0.991]
+t: 77	 action: [-0.169  0.239  0.015  0.014 -0.002  0.008  1.014]
+t: 78	 action: [-0.213  0.083 -0.034  0.005  0.004  0.003  0.99 ]
+t: 79	 action: [-0.347  0.105 -0.073  0.015 -0.007  0.008  1.023]
+t: 80	 action: [-0.42   0.171 -0.15   0.002  0.001  0.002  0.969]
+t: 81	 action: [-0.475  0.144 -0.268  0.02  -0.007  0.011  1.01 ]
+t: 82	 action: [-0.445  0.125 -0.282  0.011  0.009  0.034  0.966]
+t: 83	 action: [-0.502  0.1   -0.338  0.01   0.002  0.046  1.02 ]
+t: 84	 action: [-0.457  0.111 -0.347  0.005  0.01   0.047  0.991]
+t: 85	 action: [-0.487  0.079 -0.362  0.003  0.003  0.055  1.054]
+t: 86	 action: [-4.556e-01  1.794e-01 -3.641e-01 -5.037e-04 -8.483e-03  3.872e-02  1.003e+00]
+t: 87	 action: [-4.558e-01  7.540e-02 -3.762e-01 -7.683e-03 -8.041e-04  4.911e-02  1.053e+00]
+t: 88	 action: [-0.38   0.173 -0.366  0.001 -0.017  0.038  1.013]
+t: 89	 action: [-0.349  0.1   -0.302 -0.015 -0.004  0.053  1.074]
+[07-31 01:26:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.148 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8110
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8110
+Query 1/1: Action query time = 1.148 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8110
+t=90: Selected seed 195 with value = 0.8110
+t: 90	 action: [-0.027  0.088 -0.1    0.006  0.025  0.001  0.998]
+t: 91	 action: [-6.203e-02  5.538e-02 -9.890e-02  7.102e-03  1.144e-02  8.843e-04  1.020e+00]
+t: 92	 action: [-0.036  0.103 -0.207  0.004  0.022  0.002  0.994]
+t: 93	 action: [-0.126  0.051 -0.282  0.013  0.01   0.004  1.015]
+t: 94	 action: [-0.146  0.031 -0.241  0.008  0.026  0.005  1.014]
+t: 95	 action: [-0.239 -0.006 -0.308  0.024  0.003  0.011  1.05 ]
+t: 96	 action: [-0.256  0.048 -0.336  0.014  0.021  0.003  1.007]
+t: 97	 action: [-3.318e-01  3.487e-02 -4.919e-01  2.555e-02 -9.692e-04  8.585e-03  1.052e+00]
+t: 98	 action: [-0.298  0.013 -0.506  0.008  0.034  0.026  0.962]
+t: 99	 action: [-0.419 -0.052 -0.591  0.007  0.003  0.033  1.009]
+t: 100	 action: [-3.200e-01  4.408e-04 -5.276e-01  2.495e-03  2.880e-02  2.038e-02  9.881e-01]
+t: 101	 action: [-4.123e-01 -4.821e-02 -5.473e-01  7.812e-04  1.562e-03  3.032e-02  1.048e+00]
+t: 102	 action: [-0.343  0.002 -0.464  0.002  0.003  0.022  1.011]
+t: 103	 action: [-0.402 -0.006 -0.534 -0.009 -0.005  0.03   1.071]
+t: 104	 action: [-2.848e-01 -1.234e-02 -3.831e-01  4.987e-04 -2.259e-02  5.821e-03  1.021e+00]
+t: 105	 action: [-0.294 -0.006 -0.326 -0.016 -0.028  0.02   1.086]
+[07-31 01:26:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.143 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8873
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8873
+Query 1/1: Action query time = 1.143 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8873
+t=106: Selected seed 195 with value = 0.8873
+t: 106	 action: [-4.761e-02  1.799e-02 -6.634e-02 -5.303e-02 -2.020e-02 -8.721e-04  1.018e+00]
+t: 107	 action: [-7.513e-02 -1.694e-02  2.865e-02 -3.166e-02 -3.759e-03  7.482e-04  1.054e+00]
+t: 108	 action: [-0.111  0.017  0.136 -0.031 -0.007 -0.005  1.028]
+t: 109	 action: [-0.16  -0.039  0.156 -0.02   0.008 -0.027  0.934]
+t: 110	 action: [-0.17  -0.02   0.311 -0.029  0.014 -0.005  1.031]
+t: 111	 action: [-0.226 -0.03   0.354 -0.02   0.008  0.002  1.067]
+t: 112	 action: [-0.233 -0.056  0.417  0.004  0.036 -0.016  0.99 ]
+t: 113	 action: [-0.206 -0.052  0.393  0.004  0.052 -0.031  0.448]
+t: 114	 action: [-0.19   0.014  0.039  0.002  0.087 -0.006  1.171]
+t: 115	 action: [-0.189 -0.068  0.073  0.015  0.083 -0.024 -0.074]
+t: 116	 action: [-0.08  -0.018  0.081  0.007  0.088 -0.019 -0.966]
+t: 117	 action: [-0.012 -0.082  0.111  0.014  0.065 -0.032 -1.033]
+t: 118	 action: [-0.096 -0.067 -0.021  0.002  0.07  -0.007 -1.164]
+t: 119	 action: [-0.074 -0.084  0.089 -0.007  0.029 -0.03  -0.813]
+t: 120	 action: [-0.089 -0.073  0.066  0.005  0.04  -0.017 -0.889]
+t: 121	 action: [-0.026 -0.073  0.19  -0.006  0.009 -0.022 -0.552]
+[07-31 01:26:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.174 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7860
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7860
+Query 1/1: Action query time = 1.174 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7860
+t=122: Selected seed 195 with value = 0.7860
+t: 122	 action: [-0.008 -0.059  0.217  0.004  0.039 -0.037  1.   ]
+t: 123	 action: [ 0.01  -0.055  0.406 -0.004  0.037 -0.045  1.02 ]
+t: 124	 action: [ 0.046 -0.124  0.618  0.009  0.04  -0.046  0.983]
+t: 125	 action: [ 0.024 -0.184  0.716  0.01   0.036 -0.043  1.011]
+t: 126	 action: [ 0.032 -0.211  0.709  0.018  0.048 -0.054  1.004]
+t: 127	 action: [ 0.023 -0.256  0.766  0.033  0.035 -0.04   1.007]
+t: 128	 action: [ 0.028 -0.409  0.543  0.041  0.047 -0.046  0.991]
+t: 129	 action: [ 0.035 -0.475  0.528  0.046  0.028 -0.033  1.01 ]
+t: 130	 action: [-4.117e-02 -6.571e-01  3.231e-01  5.211e-02  1.355e-02 -3.419e-04  1.006e+00]
+t: 131	 action: [-0.05  -0.686  0.17   0.044  0.004 -0.008  1.018]
+t: 132	 action: [-2.471e-02 -5.577e-01 -1.224e-01  3.560e-02  7.373e-03 -1.262e-04  9.905e-01]
+t: 133	 action: [-0.039 -0.529 -0.206  0.035  0.005 -0.008  1.02 ]
+t: 134	 action: [-0.065 -0.406 -0.165  0.027 -0.002 -0.005  1.01 ]
+t: 135	 action: [-0.053 -0.483 -0.2    0.031 -0.006 -0.006  1.016]
+t: 136	 action: [-0.054 -0.256 -0.324  0.005 -0.008 -0.006  0.999]
+t: 137	 action: [-0.015 -0.204 -0.348  0.019 -0.009 -0.007  1.02 ]
+[07-31 01:26:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.125 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9114
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 1.125 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=138: Selected seed 195 with value = 0.9114
+t: 138	 action: [-1.390e-01  6.134e-01  7.150e-01  1.673e-03 -1.017e-02 -1.939e-04  9.938e-01]
+t: 139	 action: [-0.146  0.612  0.619 -0.003 -0.011 -0.011  1.018]
+t: 140	 action: [-1.748e-01  6.556e-01  5.593e-01  8.923e-04 -1.157e-02 -1.427e-03  9.985e-01]
+t: 141	 action: [-0.19   0.649  0.434 -0.008 -0.01  -0.012  1.021]
+t: 142	 action: [-0.267  0.711  0.221 -0.003 -0.023 -0.004  1.004]
+t: 143	 action: [-0.25   0.691  0.148 -0.009 -0.03  -0.001  1.048]
+t: 144	 action: [-0.31   0.724  0.05  -0.002 -0.02  -0.005  1.008]
+t: 145	 action: [-0.246  0.714 -0.023 -0.01  -0.028 -0.003  1.047]
+t: 146	 action: [-0.29   0.761 -0.065 -0.012 -0.008  0.007  0.996]
+t: 147	 action: [-0.242  0.731 -0.189 -0.022  0.004  0.009  1.032]
+t: 148	 action: [-0.169  0.672 -0.235 -0.016 -0.004  0.009  0.995]
+t: 149	 action: [-0.085  0.597 -0.421 -0.025  0.008  0.01   1.045]
+t: 150	 action: [-0.112  0.546 -0.418 -0.016 -0.01   0.001  1.   ]
+t: 151	 action: [-0.018  0.554 -0.471 -0.022 -0.008  0.02   1.061]
+t: 152	 action: [-0.026  0.375 -0.501 -0.016  0.003  0.003  1.   ]
+t: 153	 action: [ 2.465e-02  3.811e-01 -5.587e-01 -2.099e-02  8.721e-04  2.128e-02  1.069e+00]
+[07-31 01:26:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.175 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9867
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 1.175 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=154: Selected seed 195 with value = 0.9867
+t: 154	 action: [ 0.014  0.179 -0.649  0.004  0.038  0.003  0.982]
+t: 155	 action: [ 0.019  0.189 -0.582 -0.003  0.052 -0.002  1.027]
+t: 156	 action: [ 0.043  0.12  -0.593 -0.001  0.047  0.003  1.002]
+t: 157	 action: [ 0.026  0.136 -0.505 -0.002  0.063 -0.005  0.996]
+t: 158	 action: [ 0.063  0.082 -0.323 -0.005  0.07  -0.005  0.994]
+t: 159	 action: [ 0.038  0.109 -0.363  0.003  0.068 -0.008  1.015]
+t: 160	 action: [ 0.036  0.062 -0.161 -0.005  0.076 -0.01   1.005]
+t: 161	 action: [ 0.033  0.078 -0.139  0.001  0.075 -0.03  -1.094]
+t: 162	 action: [-2.837e-02  5.858e-02  4.561e-03  7.887e-04  4.907e-02 -1.595e-02 -1.051e+00]
+t: 163	 action: [-0.022 -0.003  0.107 -0.009  0.031 -0.043 -1.035]
+t: 164	 action: [-4.372e-02  7.657e-02  1.408e-01 -4.572e-04  2.955e-02 -4.494e-02 -1.054e+00]
+t: 165	 action: [-0.025  0.005  0.235 -0.009  0.021 -0.054 -1.025]
+t: 166	 action: [-0.047  0.063  0.352 -0.002  0.028 -0.062 -1.049]
+t: 167	 action: [-0.013  0.069  0.408 -0.008  0.025 -0.056 -1.038]
+t: 168	 action: [-0.027  0.083  0.418 -0.004  0.031 -0.064 -1.047]
+t: 169	 action: [-0.002  0.067  0.416 -0.004  0.032 -0.06  -1.043]
+[07-31 01:26:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.177 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9897
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 1.177 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=170: Selected seed 195 with value = 0.9897
+t: 170	 action: [ 0.126  0.106  0.412  0.003  0.069 -0.04  -1.055]
+t: 171	 action: [ 0.137  0.058  0.406 -0.002  0.051 -0.053 -1.037]
+t: 172	 action: [ 0.124  0.089  0.361  0.004  0.055 -0.052 -1.049]
+t: 173	 action: [ 1.436e-01  6.211e-02  3.752e-01 -9.378e-04  5.163e-02 -5.907e-02 -1.032e+00]
+t: 174	 action: [ 1.498e-01  1.029e-01  3.441e-01  8.042e-05  5.585e-02 -5.121e-02 -1.052e+00]
+t: 175	 action: [ 1.498e-01  9.386e-02  3.629e-01  6.123e-04  3.589e-02 -5.501e-02 -1.055e+00]
+t: 176	 action: [ 1.490e-01  8.815e-02  3.364e-01 -2.103e-04  4.989e-02 -6.035e-02 -1.049e+00]
+t: 177	 action: [ 0.162  0.097  0.366  0.002  0.038 -0.063 -1.059]
+t: 178	 action: [ 0.126  0.085  0.373  0.007  0.051 -0.047 -1.053]
+t: 179	 action: [ 1.281e-01  6.018e-02  3.728e-01 -4.732e-04  4.278e-02 -5.502e-02 -1.034e+00]
+t: 180	 action: [ 0.122  0.082  0.353  0.005  0.044 -0.055 -1.047]
+t: 181	 action: [ 1.406e-01  7.041e-02  3.572e-01 -2.712e-04  4.168e-02 -5.956e-02 -1.034e+00]
+t: 182	 action: [ 0.142  0.088  0.359  0.003  0.048 -0.057 -1.051]
+t: 183	 action: [ 0.145  0.093  0.361  0.002  0.027 -0.057 -1.055]
+t: 184	 action: [ 1.457e-01  8.707e-02  3.485e-01  8.990e-04  4.304e-02 -6.351e-02 -1.042e+00]
+t: 185	 action: [ 0.16   0.103  0.371  0.002  0.03  -0.062 -1.062]
+[07-31 01:26:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.992 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+t: 186	 action: [ 0.012  0.092  0.14   0.008  0.032 -0.015 -1.043]
+t: 187	 action: [ 0.003  0.048  0.151  0.006  0.008 -0.029 -1.042]
+t: 188	 action: [-0.005  0.033  0.115  0.002  0.001 -0.027 -1.04 ]
+t: 189	 action: [-0.002  0.034  0.181  0.004  0.006 -0.033 -1.036]
+t: 190	 action: [ 2.267e-02  6.194e-02  1.296e-01  2.171e-03  5.995e-04 -2.221e-02 -1.042e+00]
+t: 191	 action: [-0.006  0.062  0.162  0.007 -0.011 -0.028 -1.061]
+t: 192	 action: [ 1.310e-02  2.130e-02  1.389e-01  1.870e-04 -8.952e-03 -2.949e-02 -1.040e+00]
+t: 193	 action: [-1.238e-04  5.605e-02  2.183e-01  4.886e-03 -1.197e-02 -3.424e-02 -1.059e+00]
+t: 194	 action: [-0.004  0.027  0.156  0.001 -0.007 -0.033 -1.046]
+t: 195	 action: [ 0.003  0.02   0.179 -0.002  0.003 -0.034 -1.043]
+t: 196	 action: [-1.222e-02  2.080e-02  1.387e-01 -3.293e-04 -1.392e-02 -3.794e-02 -1.041e+00]
+t: 197	 action: [ 0.008  0.024  0.189 -0.002  0.004 -0.036 -1.038]
+t: 198	 action: [ 0.012  0.019  0.168 -0.002 -0.01  -0.036 -1.044]
+t: 199	 action: [-7.508e-03  4.493e-02  2.090e-01  3.601e-05 -1.445e-02 -3.496e-02 -1.062e+00]
+t: 200	 action: [ 0.007  0.018  0.163 -0.003 -0.016 -0.04  -1.037]
+t: 201	 action: [-1.586e-04  4.875e-02  2.392e-01 -6.647e-04 -1.268e-02 -3.511e-02 -1.062e+00]
+[07-31 01:26:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=202: Selected seed 195 with value = 0.9950
+t: 202	 action: [-0.028  0.039  0.07   0.005  0.042 -0.014 -1.03 ]
+t: 203	 action: [-0.008  0.04   0.036  0.01   0.01  -0.027 -1.039]
+t: 204	 action: [-0.032  0.011 -0.009  0.002  0.007 -0.026 -1.027]
+t: 205	 action: [-0.007  0.019  0.013  0.007  0.005 -0.033 -1.045]
+t: 206	 action: [-0.027  0.013 -0.007  0.001 -0.007 -0.02  -1.04 ]
+t: 207	 action: [-0.044  0.038 -0.01   0.011 -0.01  -0.026 -1.074]
+t: 208	 action: [-2.567e-02 -2.275e-03 -1.626e-02  3.325e-04 -1.572e-02 -2.824e-02 -1.029e+00]
+t: 209	 action: [-0.025  0.027 -0.012  0.009 -0.019 -0.034 -1.066]
+t: 210	 action: [-0.043  0.004 -0.056  0.003 -0.018 -0.024 -1.039]
+t: 211	 action: [-0.029 -0.014 -0.035 -0.002 -0.009 -0.031 -1.05 ]
+t: 212	 action: [-0.046  0.006 -0.049  0.002 -0.027 -0.03  -1.034]
+t: 213	 action: [-0.012 -0.006  0.004 -0.002 -0.01  -0.033 -1.046]
+t: 214	 action: [-3.089e-02 -8.843e-03 -3.876e-02 -1.015e-03 -2.210e-02 -2.515e-02 -1.043e+00]
+t: 215	 action: [-0.043  0.015 -0.022  0.002 -0.028 -0.032 -1.07 ]
+t: 216	 action: [-0.037 -0.002 -0.023 -0.002 -0.028 -0.031 -1.03 ]
+t: 217	 action: [-0.028  0.024  0.005  0.001 -0.027 -0.032 -1.069]
+[07-31 01:26:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9945
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.997 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=218: Selected seed 195 with value = 0.9945
+t: 218	 action: [-0.03   0.026  0.075  0.008  0.043 -0.018 -1.03 ]
+t: 219	 action: [-0.007  0.032  0.032  0.012  0.009 -0.031 -1.035]
+t: 220	 action: [-0.031  0.009 -0.018  0.002  0.005 -0.029 -1.028]
+t: 221	 action: [-0.006  0.018  0.008  0.009  0.003 -0.036 -1.044]
+t: 222	 action: [-0.029  0.006 -0.012  0.003 -0.011 -0.022 -1.041]
+t: 223	 action: [-0.04   0.036 -0.014  0.014 -0.015 -0.03  -1.073]
+t: 224	 action: [-2.411e-02 -3.464e-03 -2.903e-02  8.452e-04 -1.784e-02 -2.935e-02 -1.030e+00]
+t: 225	 action: [-0.022  0.03  -0.022  0.011 -0.023 -0.037 -1.066]
+t: 226	 action: [-0.035  0.005 -0.052  0.004 -0.021 -0.028 -1.039]
+t: 227	 action: [-0.018 -0.009 -0.03   0.002 -0.012 -0.035 -1.048]
+t: 228	 action: [-0.04   0.007 -0.054  0.003 -0.029 -0.034 -1.033]
+t: 229	 action: [-0.007 -0.003 -0.006  0.001 -0.011 -0.036 -1.045]
+t: 230	 action: [-2.635e-02 -7.872e-03 -4.107e-02  8.492e-04 -2.404e-02 -2.821e-02 -1.042e+00]
+t: 231	 action: [-0.038  0.018 -0.029  0.005 -0.031 -0.035 -1.068]
+t: 232	 action: [-3.232e-02 -1.338e-03 -3.539e-02 -8.312e-05 -2.875e-02 -3.309e-02 -1.028e+00]
+t: 233	 action: [-0.027  0.024 -0.006  0.004 -0.028 -0.035 -1.068]
+[07-31 01:26:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9948
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=234: Selected seed 195 with value = 0.9948
+t: 234	 action: [-0.026  0.017  0.11   0.01   0.039 -0.023 -1.033]
+t: 235	 action: [ 9.732e-04  2.378e-02  5.338e-02  1.407e-02  7.641e-03 -3.580e-02 -1.032e+00]
+t: 236	 action: [-0.022  0.004  0.009  0.003  0.003 -0.033 -1.03 ]
+t: 237	 action: [ 0.002  0.011  0.026  0.012  0.001 -0.041 -1.044]
+t: 238	 action: [-0.02  -0.002  0.02   0.006 -0.013 -0.025 -1.041]
+t: 239	 action: [-0.03   0.033  0.008  0.017 -0.022 -0.034 -1.071]
+t: 240	 action: [-0.008 -0.008 -0.003  0.003 -0.02  -0.032 -1.03 ]
+t: 241	 action: [-0.011  0.027 -0.004  0.015 -0.028 -0.04  -1.065]
+t: 242	 action: [-0.009 -0.001 -0.004  0.006 -0.023 -0.034 -1.041]
+t: 243	 action: [ 0.009 -0.022  0.016  0.007 -0.013 -0.04  -1.048]
+t: 244	 action: [-0.011 -0.001 -0.02   0.004 -0.029 -0.039 -1.035]
+t: 245	 action: [ 0.017 -0.019  0.021  0.007 -0.01  -0.041 -1.045]
+t: 246	 action: [-0.002 -0.016  0.001  0.004 -0.027 -0.034 -1.042]
+t: 247	 action: [-1.780e-02  5.681e-03 -2.051e-05  1.116e-02 -3.349e-02 -3.910e-02 -1.067e+00]
+t: 248	 action: [-0.006 -0.01  -0.004  0.003 -0.029 -0.038 -1.028]
+t: 249	 action: [-0.011  0.009  0.006  0.009 -0.029 -0.04  -1.069]
+[07-31 01:26:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9922
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 0.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=250: Selected seed 195 with value = 0.9922
+t: 250	 action: [-0.019  0.01   0.129  0.011  0.039 -0.028 -1.032]
+t: 251	 action: [ 0.009  0.011  0.06   0.015  0.008 -0.039 -1.027]
+t: 252	 action: [-6.958e-03 -1.117e-04  1.834e-02  3.725e-03  5.331e-03 -3.655e-02 -1.031e+00]
+t: 253	 action: [ 0.006 -0.004  0.025  0.014  0.002 -0.044 -1.044]
+t: 254	 action: [-0.006 -0.011  0.025  0.008 -0.011 -0.027 -1.04 ]
+t: 255	 action: [-0.02   0.02   0.011  0.019 -0.022 -0.036 -1.071]
+t: 256	 action: [ 0.01  -0.012 -0.005  0.005 -0.016 -0.033 -1.029]
+t: 257	 action: [-0.003  0.012 -0.007  0.018 -0.027 -0.042 -1.066]
+t: 258	 action: [ 0.006 -0.015 -0.017  0.009 -0.022 -0.036 -1.041]
+t: 259	 action: [ 0.015 -0.042  0.007  0.011 -0.011 -0.042 -1.046]
+t: 260	 action: [ 8.051e-04 -1.556e-02 -3.433e-02  6.061e-03 -2.784e-02 -4.099e-02 -1.034e+00]
+t: 261	 action: [ 0.02  -0.038  0.004  0.01  -0.009 -0.044 -1.044]
+t: 262	 action: [ 0.008 -0.026 -0.014  0.007 -0.027 -0.035 -1.041]
+t: 263	 action: [-0.011 -0.011 -0.013  0.015 -0.033 -0.04  -1.066]
+t: 264	 action: [ 0.002 -0.019 -0.022  0.005 -0.029 -0.039 -1.025]
+t: 265	 action: [-0.006 -0.007 -0.013  0.014 -0.028 -0.041 -1.069]
+[07-31 01:26:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9854
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.998 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=266: Selected seed 195 with value = 0.9854
+t: 266	 action: [-0.004  0.007  0.179  0.013  0.038 -0.031 -1.022]
+t: 267	 action: [ 0.02   0.007  0.129  0.015  0.008 -0.042 -1.01 ]
+t: 268	 action: [ 0.012 -0.004  0.063  0.005  0.009 -0.039 -1.028]
+t: 269	 action: [ 0.016 -0.009  0.057  0.014  0.003 -0.046 -1.047]
+t: 270	 action: [ 0.006 -0.014  0.076  0.013 -0.007 -0.027 -1.04 ]
+t: 271	 action: [-0.012  0.015  0.046  0.022 -0.021 -0.036 -1.069]
+t: 272	 action: [ 0.027 -0.014  0.031  0.008 -0.014 -0.032 -1.028]
+t: 273	 action: [ 0.005  0.009  0.018  0.02  -0.025 -0.041 -1.068]
+t: 274	 action: [ 0.016 -0.022  0.025  0.013 -0.021 -0.037 -1.038]
+t: 275	 action: [ 0.021 -0.051  0.027  0.014 -0.007 -0.043 -1.047]
+t: 276	 action: [ 0.008 -0.017 -0.007  0.008 -0.026 -0.041 -1.032]
+t: 277	 action: [ 0.024 -0.044  0.016  0.012 -0.006 -0.045 -1.049]
+t: 278	 action: [ 0.012 -0.031  0.016  0.012 -0.029 -0.034 -1.042]
+t: 279	 action: [-0.011 -0.017  0.009  0.019 -0.033 -0.039 -1.064]
+t: 280	 action: [ 0.008 -0.019 -0.003  0.008 -0.03  -0.038 -1.023]
+t: 281	 action: [-0.004 -0.013 -0.007  0.016 -0.028 -0.04  -1.07 ]
+[07-31 01:26:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9743
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=282: Selected seed 195 with value = 0.9743
+t: 282	 action: [ 0.016  0.004  0.219  0.012  0.042 -0.033 -0.376]
+t: 283	 action: [ 0.042 -0.001  0.196  0.015  0.016 -0.051 -0.176]
+t: 284	 action: [ 0.04  -0.008  0.124  0.008  0.022 -0.039 -1.021]
+t: 285	 action: [ 0.04  -0.02   0.132  0.015  0.008 -0.044 -1.056]
+t: 286	 action: [ 0.018 -0.017  0.141  0.015  0.005 -0.026 -1.133]
+t: 287	 action: [-0.014 -0.003  0.117  0.023 -0.004 -0.042 -1.099]
+t: 288	 action: [ 5.298e-02 -1.882e-02  7.955e-02  1.306e-02 -8.929e-04 -3.041e-02 -1.024e+00]
+t: 289	 action: [ 0.02  -0.014  0.042  0.023 -0.005 -0.037 -1.069]
+t: 290	 action: [ 0.031 -0.055  0.037  0.016 -0.012 -0.033 -1.031]
+t: 291	 action: [ 2.989e-02 -7.250e-02  1.787e-02  1.837e-02  2.797e-04 -3.979e-02 -1.044e+00]
+t: 292	 action: [ 0.027 -0.041 -0.01   0.011 -0.017 -0.037 -1.034]
+t: 293	 action: [ 3.437e-02 -6.076e-02 -3.069e-02  1.592e-02  1.008e-03 -4.121e-02 -1.057e+00]
+t: 294	 action: [ 0.021 -0.047  0.011  0.016 -0.025 -0.028 -1.04 ]
+t: 295	 action: [-0.01  -0.038 -0.016  0.023 -0.028 -0.033 -1.057]
+t: 296	 action: [ 0.02  -0.024 -0.023  0.011 -0.026 -0.03  -1.022]
+t: 297	 action: [-0.005 -0.027 -0.079  0.019 -0.023 -0.033 -1.065]
+[07-31 01:26:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9557
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9557
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 30
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 60%|██████    | 30/50 [15:54<10:41, 32.08s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 31...
+Query 1/1: Action query time = 0.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=298: Selected seed 195 with value = 0.9557
+t: 298	 action: [ 0.027 -0.009  0.201  0.01   0.041 -0.03   1.08 ]
+t: 299	 action: [ 0.053 -0.026  0.214  0.012  0.034 -0.053  0.914]
+t: 300	 action: [ 0.077 -0.027  0.15   0.007  0.03  -0.035 -1.012]
+t: 301	 action: [ 0.1   -0.039  0.192  0.013  0.014 -0.039 -1.062]
+t: 302	 action: [ 0.086 -0.042  0.188  0.013  0.012 -0.024 -1.155]
+t: 303	 action: [ 0.027 -0.039  0.182  0.016 -0.005 -0.043 -1.073]
+t: 304	 action: [ 0.103 -0.039  0.111  0.011  0.006 -0.026 -1.023]
+t: 305	 action: [ 6.896e-02 -4.290e-02  7.583e-02  1.847e-02  4.121e-04 -3.184e-02 -1.067e+00]
+t: 306	 action: [ 0.06  -0.104  0.056  0.019 -0.009 -0.028 -1.03 ]
+t: 307	 action: [ 0.052 -0.105  0.016  0.02   0.001 -0.035 -1.039]
+t: 308	 action: [ 0.055 -0.084 -0.002  0.013 -0.014 -0.031 -1.044]
+t: 309	 action: [ 0.054 -0.092 -0.057  0.017  0.002 -0.035 -1.06 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=30--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=30--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 30
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 31...
+[07-31 01:26:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4821
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4821
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4821
+t=10: Selected seed 195 with value = 0.4821
+t: 10	 action: [ 1.764e-02  3.554e-02  2.451e-03  4.859e-04 -5.885e-03 -1.036e-03 -1.015e+00]
+t: 11	 action: [ 0.115  0.102  0.018 -0.001  0.002 -0.004 -1.017]
+t: 12	 action: [ 0.242  0.272  0.008 -0.002 -0.004  0.001 -1.022]
+t: 13	 action: [ 0.348  0.353  0.033 -0.004  0.002 -0.002 -1.025]
+t: 14	 action: [ 0.479  0.441  0.015 -0.01   0.003 -0.003 -1.027]
+t: 15	 action: [ 6.135e-01  5.388e-01  2.105e-02 -5.928e-03 -3.413e-04 -3.204e-03 -1.054e+00]
+t: 16	 action: [ 0.689  0.605  0.021 -0.014  0.01  -0.002 -1.022]
+t: 17	 action: [ 7.545e-01  6.490e-01  3.149e-02 -5.435e-03  7.232e-04 -3.395e-03 -1.059e+00]
+t: 18	 action: [ 0.743  0.613  0.021 -0.017  0.009  0.004 -1.022]
+t: 19	 action: [ 8.055e-01  6.094e-01  2.561e-02 -1.786e-02  7.960e-03 -4.555e-04 -1.027e+00]
+t: 20	 action: [ 0.816  0.626  0.006 -0.026  0.009  0.005 -1.026]
+t: 21	 action: [ 8.486e-01  6.248e-01  1.658e-02 -1.857e-02  9.969e-03  1.470e-04 -1.029e+00]
+t: 22	 action: [ 0.856  0.619 -0.047 -0.017  0.013  0.001 -1.008]
+t: 23	 action: [ 0.892  0.602 -0.027 -0.015  0.006 -0.002 -1.052]
+t: 24	 action: [ 8.926e-01  5.468e-01 -1.175e-01 -1.417e-02  1.058e-02 -3.465e-04 -1.016e+00]
+t: 25	 action: [ 0.896  0.5   -0.092 -0.011  0.005 -0.002 -1.063]
+[07-31 01:26:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5467
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5467
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5467
+t=26: Selected seed 195 with value = 0.5467
+t: 26	 action: [ 7.631e-01  4.455e-01 -7.248e-02 -1.045e-02 -7.406e-04  6.849e-03 -1.027e+00]
+t: 27	 action: [ 7.305e-01  3.791e-01 -1.040e-01 -7.016e-03  6.325e-03 -7.263e-04 -1.029e+00]
+t: 28	 action: [ 0.668  0.252 -0.186  0.007 -0.01   0.007 -1.033]
+t: 29	 action: [ 5.820e-01  1.511e-01 -2.024e-01  1.761e-03 -1.339e-04 -2.263e-03 -1.031e+00]
+t: 30	 action: [ 4.497e-01  2.101e-02 -2.364e-01  1.731e-03 -7.710e-03 -7.817e-04 -1.033e+00]
+t: 31	 action: [ 0.368 -0.038 -0.348  0.014 -0.013 -0.001 -1.054]
+t: 32	 action: [ 2.527e-01 -5.063e-02 -4.945e-01  1.109e-02 -1.618e-02 -5.073e-04 -1.035e+00]
+t: 33	 action: [ 0.229 -0.075 -0.605  0.024 -0.025 -0.004 -1.053]
+t: 34	 action: [ 0.122 -0.069 -0.746  0.021 -0.053  0.004 -1.029]
+t: 35	 action: [ 0.067 -0.12  -0.828  0.012 -0.053 -0.003 -1.03 ]
+t: 36	 action: [ 0.019 -0.059 -0.888  0.019 -0.064  0.005 -1.03 ]
+t: 37	 action: [ 0.019 -0.101 -0.959  0.007 -0.057 -0.003 -1.028]
+t: 38	 action: [-0.056 -0.019 -0.93   0.006 -0.069  0.001 -1.032]
+t: 39	 action: [-0.035 -0.006 -0.947  0.012 -0.064 -0.004 -1.044]
+t: 40	 action: [-1.335e-01 -4.612e-03 -9.231e-01  4.889e-04 -6.474e-02  2.066e-03 -1.030e+00]
+t: 41	 action: [-0.111  0.016 -0.942  0.005 -0.056 -0.002 -1.048]
+[07-31 01:26:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6263
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=42: Selected seed 195 with value = 0.6263
+t: 42	 action: [ 0.131  0.041 -1.04   0.043 -0.035 -0.007 -1.038]
+t: 43	 action: [ 0.05   0.042 -1.021  0.034 -0.035 -0.017 -1.031]
+t: 44	 action: [ 0.02   0.065 -1.033  0.023 -0.034 -0.006 -1.028]
+t: 45	 action: [-0.004  0.081 -1.002  0.022 -0.029 -0.014 -1.031]
+t: 46	 action: [-0.038  0.123 -0.951  0.007 -0.026 -0.02  -1.04 ]
+t: 47	 action: [-0.045  0.169 -0.988  0.015 -0.028 -0.024 -1.051]
+t: 48	 action: [-8.205e-02  1.466e-01 -8.909e-01 -5.133e-04 -2.661e-02 -1.652e-02 -1.032e+00]
+t: 49	 action: [-0.128  0.175 -0.953  0.009 -0.021 -0.024 -1.042]
+t: 50	 action: [-0.143  0.135 -0.889  0.006 -0.023  0.006 -1.046]
+t: 51	 action: [-0.185  0.096 -0.776 -0.004 -0.013 -0.012 -1.017]
+t: 52	 action: [-0.235  0.086 -0.822  0.004 -0.021  0.005 -1.164]
+t: 53	 action: [-0.282  0.055 -0.734 -0.004 -0.006  0.012 -1.162]
+t: 54	 action: [-0.338  0.057 -0.639 -0.007 -0.017 -0.008 -1.067]
+t: 55	 action: [-0.374  0.06  -0.657 -0.003 -0.01  -0.023 -1.04 ]
+t: 56	 action: [-0.316  0.012 -0.554 -0.009 -0.009 -0.011  1.079]
+t: 57	 action: [-0.221  0.035 -0.547 -0.004 -0.008  0.005  1.245]
+[07-31 01:26:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.009 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7134
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7134
+Query 1/1: Action query time = 1.009 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7134
+t=58: Selected seed 195 with value = 0.7134
+t: 58	 action: [-0.371  0.019 -0.775 -0.002 -0.003  0.013  0.979]
+t: 59	 action: [-0.303  0.013 -0.566 -0.022  0.018  0.014  1.017]
+t: 60	 action: [-0.233  0.001 -0.465 -0.015  0.026  0.013  0.98 ]
+t: 61	 action: [-0.154 -0.017 -0.248 -0.029  0.036  0.007  1.019]
+t: 62	 action: [-0.123 -0.028 -0.146 -0.022  0.028 -0.006  1.005]
+t: 63	 action: [-0.019 -0.023 -0.032 -0.024  0.025 -0.007  1.019]
+t: 64	 action: [-0.05  -0.05   0.026 -0.012  0.027 -0.016  1.004]
+t: 65	 action: [ 0.006 -0.038  0.076 -0.018  0.029 -0.021  1.021]
+t: 66	 action: [-0.049 -0.078  0.114 -0.005  0.005 -0.017  0.997]
+t: 67	 action: [-0.012 -0.101  0.238 -0.019  0.007 -0.034  1.009]
+t: 68	 action: [-0.048 -0.072  0.417 -0.004 -0.009 -0.026  0.982]
+t: 69	 action: [ 0.004 -0.106  0.674 -0.014  0.002 -0.04   1.011]
+t: 70	 action: [-0.039 -0.015  0.852 -0.003 -0.011 -0.04   1.001]
+t: 71	 action: [-6.432e-02 -6.336e-02  9.351e-01 -2.819e-03  8.552e-04 -3.873e-02  1.002e+00]
+t: 72	 action: [-8.479e-02 -6.801e-02  9.599e-01 -5.979e-04 -1.672e-02 -4.029e-02  1.001e+00]
+t: 73	 action: [-0.072 -0.162  0.99   0.017  0.004 -0.036  1.008]
+[07-31 01:26:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.070 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7938
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7938
+Query 1/1: Action query time = 1.070 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7938
+t=74: Selected seed 195 with value = 0.7938
+t: 74	 action: [ 0.047 -0.422  0.844  0.042  0.029 -0.034  0.994]
+t: 75	 action: [ 0.028 -0.526  0.894  0.046  0.044 -0.033  1.015]
+t: 76	 action: [ 0.007 -0.607  0.752  0.062  0.035 -0.026  0.988]
+t: 77	 action: [ 0.007 -0.679  0.731  0.058  0.05  -0.025  1.012]
+t: 78	 action: [-0.035 -0.74   0.585  0.071  0.042 -0.02   0.997]
+t: 79	 action: [-0.077 -0.768  0.485  0.068  0.045 -0.017  1.007]
+t: 80	 action: [-0.059 -0.782  0.33   0.072  0.044 -0.012  0.994]
+t: 81	 action: [-0.062 -0.75   0.223  0.066  0.046 -0.013  1.013]
+t: 82	 action: [-0.118 -0.768  0.139  0.068  0.033 -0.006  0.993]
+t: 83	 action: [-0.116 -0.799  0.072  0.058  0.042 -0.014  1.016]
+t: 84	 action: [-0.134 -0.761 -0.083  0.066  0.025 -0.001  0.982]
+t: 85	 action: [-0.114 -0.706 -0.187  0.052  0.033 -0.009  1.026]
+t: 86	 action: [-0.14  -0.642 -0.261  0.044  0.016 -0.004  1.004]
+t: 87	 action: [-0.154 -0.543 -0.38   0.04   0.014 -0.005  1.013]
+t: 88	 action: [-0.135 -0.424 -0.528  0.022  0.005 -0.004  0.993]
+t: 89	 action: [-1.006e-01 -2.923e-01 -6.147e-01  2.549e-02  8.813e-03 -9.967e-04  1.024e+00]
+[07-31 01:26:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.113 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9228
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9228
+Query 1/1: Action query time = 1.113 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=90: Selected seed 195 with value = 0.9228
+t: 90	 action: [-1.327e-01 -5.702e-01 -6.027e-01  3.057e-02  2.020e-02 -4.926e-04  9.961e-01]
+t: 91	 action: [-1.217e-01 -4.071e-01 -6.771e-01  2.085e-02  1.316e-02  7.380e-04  1.021e+00]
+t: 92	 action: [-8.620e-02 -3.236e-01 -7.486e-01  9.812e-03  1.630e-02  1.961e-04  9.876e-01]
+t: 93	 action: [-0.072 -0.177 -0.738  0.007  0.009  0.007  1.024]
+t: 94	 action: [-2.272e-03 -5.512e-02 -6.497e-01 -4.043e-03  2.362e-02 -1.773e-04  9.928e-01]
+t: 95	 action: [-0.013  0.011 -0.638 -0.005  0.016  0.012  1.004]
+t: 96	 action: [ 0.001  0.043 -0.567 -0.012  0.028  0.001  0.993]
+t: 97	 action: [-0.007  0.075 -0.478 -0.013  0.017  0.012  1.016]
+t: 98	 action: [ 0.009  0.049 -0.336 -0.019  0.039  0.011  1.17 ]
+t: 99	 action: [-0.037  0.043 -0.184 -0.019  0.044  0.011  1.046]
+t: 100	 action: [-0.008  0.06  -0.133 -0.029  0.045  0.01   1.198]
+t: 101	 action: [-0.03   0.033 -0.029 -0.019  0.045  0.002 -1.027]
+t: 102	 action: [-7.905e-02  4.917e-02  3.418e-02 -3.119e-02  2.526e-02 -8.957e-04 -1.196e+00]
+t: 103	 action: [-0.078  0.056  0.122 -0.017  0.026 -0.017 -1.112]
+t: 104	 action: [-0.045  0.023  0.184 -0.021  0.017 -0.008 -1.185]
+t: 105	 action: [-0.04   0.064  0.305 -0.013  0.026 -0.013 -1.056]
+[07-31 01:26:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.160 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9895
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 1.160 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=106: Selected seed 195 with value = 0.9895
+t: 106	 action: [-4.791e-03  1.840e-02  8.745e-04 -2.255e-02  1.297e-01  4.800e-03  1.187e+00]
+t: 107	 action: [ 0.023 -0.011  0.211 -0.02   0.126  0.005  0.982]
+t: 108	 action: [ 3.242e-02  2.189e-02  2.321e-01 -1.121e-02  1.155e-01  9.864e-04 -1.045e+00]
+t: 109	 action: [ 4.815e-02 -4.963e-04  4.212e-01 -1.352e-02  1.147e-01 -1.935e-03 -1.031e+00]
+t: 110	 action: [ 0.109  0.019  0.406 -0.006  0.091 -0.004 -1.194]
+t: 111	 action: [ 0.072  0.056  0.474 -0.003  0.102 -0.016 -1.116]
+t: 112	 action: [ 0.114  0.025  0.508  0.004  0.084 -0.013 -1.037]
+t: 113	 action: [ 0.093  0.045  0.512  0.005  0.091 -0.011 -1.05 ]
+t: 114	 action: [ 0.123  0.057  0.478  0.002  0.065  0.008 -1.022]
+t: 115	 action: [ 1.095e-01  3.134e-02  5.233e-01 -8.796e-04  7.058e-02  7.491e-03 -1.034e+00]
+t: 116	 action: [ 0.131  0.039  0.51   0.004  0.062  0.005 -1.026]
+t: 117	 action: [ 1.363e-01  2.296e-02  5.384e-01  5.586e-04  7.290e-02  6.719e-03 -1.021e+00]
+t: 118	 action: [ 1.458e-01  3.255e-02  5.155e-01  3.232e-03  6.354e-02  6.294e-04 -1.027e+00]
+t: 119	 action: [ 0.119  0.048  0.536  0.007  0.068  0.002 -1.04 ]
+t: 120	 action: [ 0.144  0.023  0.522  0.004  0.065 -0.002 -1.028]
+t: 121	 action: [ 0.119  0.038  0.508  0.009  0.069  0.002 -1.045]
+[07-31 01:26:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.165 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.165 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.027  0.035  0.059  0.004 -0.028  0.004 -1.041]
+t: 123	 action: [ 2.017e-02  6.883e-03  7.189e-02 -9.963e-04 -1.787e-02 -2.996e-03 -1.042e+00]
+t: 124	 action: [ 8.070e-04  2.508e-02  6.649e-02  4.083e-03 -2.276e-02  3.374e-03 -1.030e+00]
+t: 125	 action: [ 0.014 -0.005  0.101 -0.002 -0.007 -0.002 -1.038]
+t: 126	 action: [-6.583e-03  1.846e-02  5.275e-02  2.512e-03 -2.323e-02  6.229e-04 -1.029e+00]
+t: 127	 action: [-1.618e-02  2.582e-02  9.277e-02  3.376e-03 -1.652e-02 -4.610e-04 -1.068e+00]
+t: 128	 action: [-1.396e-02  1.590e-02  8.166e-02  1.597e-03 -1.500e-02 -7.308e-04 -1.028e+00]
+t: 129	 action: [-0.011  0.032  0.151  0.002 -0.009 -0.002 -1.063]
+t: 130	 action: [ 8.088e-04  2.633e-02  7.936e-02  5.407e-03 -2.819e-02  7.880e-03 -1.038e+00]
+t: 131	 action: [ 0.008  0.019  0.109 -0.005 -0.011 -0.001 -1.044]
+t: 132	 action: [-0.009  0.028  0.089  0.005 -0.019  0.006 -1.03 ]
+t: 133	 action: [ 1.516e-02  1.322e-02  1.289e-01 -5.399e-03  7.831e-04 -1.451e-03 -1.040e+00]
+t: 134	 action: [-1.216e-02  3.019e-02  8.763e-02  5.603e-04 -1.844e-02  2.971e-03 -1.033e+00]
+t: 135	 action: [-0.015  0.054  0.147 -0.002 -0.012 -0.003 -1.07 ]
+t: 136	 action: [-1.133e-02  3.003e-02  1.064e-01  3.112e-06 -7.790e-03 -6.741e-04 -1.030e+00]
+t: 137	 action: [-0.008  0.05   0.183 -0.003 -0.008 -0.002 -1.07 ]
+[07-31 01:26:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.187 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 1.187 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=138: Selected seed 195 with value = 0.9997
+t: 138	 action: [ 0.03   0.06  -0.164  0.005 -0.023  0.005 -1.032]
+t: 139	 action: [ 2.391e-02  3.641e-02 -1.704e-01  4.564e-03 -1.734e-02  9.545e-04 -1.039e+00]
+t: 140	 action: [ 0.003  0.046 -0.112  0.005 -0.022  0.004 -1.025]
+t: 141	 action: [ 0.017  0.021 -0.084  0.002 -0.011  0.002 -1.038]
+t: 142	 action: [-0.004  0.055 -0.122  0.002 -0.025  0.001 -1.027]
+t: 143	 action: [-0.017  0.046 -0.073  0.009 -0.021  0.004 -1.066]
+t: 144	 action: [-0.019  0.041 -0.07   0.002 -0.02   0.002 -1.024]
+t: 145	 action: [-0.022  0.047 -0.004  0.006 -0.014  0.003 -1.063]
+t: 146	 action: [ 0.009  0.029 -0.07   0.008 -0.019  0.011 -1.035]
+t: 147	 action: [ 0.011  0.024 -0.005  0.002 -0.009  0.005 -1.043]
+t: 148	 action: [-0.012  0.037 -0.054  0.007 -0.017  0.009 -1.026]
+t: 149	 action: [ 1.642e-02  2.162e-02  3.563e-02 -3.627e-04 -2.021e-04  5.044e-03 -1.041e+00]
+t: 150	 action: [-0.023  0.039 -0.044  0.004 -0.015  0.006 -1.034]
+t: 151	 action: [-0.031  0.059 -0.006  0.004 -0.014  0.003 -1.072]
+t: 152	 action: [-0.034  0.049 -0.024  0.001 -0.012  0.003 -1.027]
+t: 153	 action: [-0.031  0.06   0.016  0.002 -0.009  0.004 -1.069]
+[07-31 01:26:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.159 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9990
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 1.159 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=154: Selected seed 195 with value = 0.9990
+t: 154	 action: [ 0.007  0.037 -0.159  0.005 -0.013  0.006 -1.035]
+t: 155	 action: [ 1.229e-02  2.929e-03 -1.596e-01  2.564e-03 -8.353e-03  5.758e-04 -1.039e+00]
+t: 156	 action: [-0.016  0.035 -0.106  0.005 -0.01   0.004 -1.03 ]
+t: 157	 action: [ 5.588e-03 -5.288e-03 -6.981e-02 -8.350e-04 -1.392e-05  1.345e-03 -1.033e+00]
+t: 158	 action: [-0.023  0.037 -0.111  0.002 -0.012  0.001 -1.031]
+t: 159	 action: [-0.027  0.027 -0.068  0.008 -0.012  0.005 -1.061]
+t: 160	 action: [-3.954e-02  3.463e-02 -6.900e-02  1.289e-03 -6.951e-03  4.909e-04 -1.031e+00]
+t: 161	 action: [-0.031  0.032 -0.008  0.004 -0.006  0.003 -1.055]
+t: 162	 action: [-0.007  0.028 -0.088  0.008 -0.013  0.009 -1.037]
+t: 163	 action: [ 6.654e-03  8.892e-03 -3.139e-02 -5.893e-04 -1.370e-03  5.086e-05 -1.043e+00]
+t: 164	 action: [-0.036  0.034 -0.079  0.006 -0.012  0.008 -1.033]
+t: 165	 action: [ 3.716e-03  9.123e-04  9.032e-03 -3.772e-03  2.890e-03  1.279e-03 -1.044e+00]
+t: 166	 action: [-0.045  0.036 -0.076  0.004 -0.011  0.004 -1.039]
+t: 167	 action: [-4.105e-02  4.136e-02 -1.329e-02  2.735e-03 -1.115e-02 -5.503e-04 -1.064e+00]
+t: 168	 action: [-0.064  0.041 -0.062  0.002 -0.008  0.001 -1.033]
+t: 169	 action: [-4.253e-02  4.072e-02  1.780e-03 -9.304e-04 -7.405e-03  1.680e-03 -1.065e+00]
+[07-31 01:26:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.145 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9891
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 1.145 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=170: Selected seed 195 with value = 0.9891
+t: 170	 action: [-0.01   0.031 -0.245  0.002 -0.009  0.006 -1.029]
+t: 171	 action: [-4.423e-03  3.071e-04 -2.962e-01 -1.022e-02 -2.492e-03 -4.762e-03 -1.047e+00]
+t: 172	 action: [-0.025  0.031 -0.187  0.004 -0.008  0.007 -1.03 ]
+t: 173	 action: [-0.028 -0.009 -0.195 -0.013  0.001 -0.003 -1.04 ]
+t: 174	 action: [-4.286e-02  2.289e-02 -1.904e-01 -2.974e-03 -7.836e-03  8.940e-04 -1.023e+00]
+t: 175	 action: [-0.041  0.031 -0.144 -0.006 -0.009 -0.002 -1.059]
+t: 176	 action: [-0.042  0.029 -0.135 -0.002 -0.007  0.001 -1.025]
+t: 177	 action: [-0.062  0.028 -0.056 -0.01  -0.004 -0.004 -1.056]
+t: 178	 action: [-0.041  0.02  -0.222  0.003 -0.01   0.008 -1.032]
+t: 179	 action: [-0.022 -0.014 -0.226 -0.014 -0.002  0.014 -1.118]
+t: 180	 action: [-7.048e-02  2.349e-02 -2.000e-01 -9.741e-04 -1.147e-02  6.583e-03 -1.150e+00]
+t: 181	 action: [-0.089 -0.024 -0.177 -0.017 -0.002  0.018 -1.126]
+t: 182	 action: [-0.079  0.013 -0.189 -0.005 -0.01   0.003 -1.027]
+t: 183	 action: [-0.08   0.023 -0.106 -0.014 -0.014  0.019  1.169]
+t: 184	 action: [-7.803e-02  1.506e-02 -1.486e-01 -7.399e-03 -1.111e-02  1.553e-04  1.091e+00]
+t: 185	 action: [-0.035  0.027 -0.049 -0.019 -0.012  0.025  1.14 ]
+[07-31 01:26:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9763
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=186: Selected seed 195 with value = 0.9763
+t: 186	 action: [-0.047 -0.025  0.03  -0.006  0.007 -0.01  -1.009]
+t: 187	 action: [-0.014 -0.045 -0.023 -0.008  0.009 -0.008 -1.024]
+t: 188	 action: [-0.047 -0.015  0.051 -0.008  0.004 -0.006 -1.019]
+t: 189	 action: [-0.02  -0.047  0.041 -0.01   0.009 -0.01  -1.042]
+t: 190	 action: [-0.048 -0.017  0.01  -0.005  0.001 -0.008 -1.034]
+t: 191	 action: [-6.333e-02 -1.300e-02 -1.360e-03 -7.267e-03  2.488e-04 -8.794e-03 -1.075e+00]
+t: 192	 action: [-5.673e-02 -1.314e-02  4.553e-02  1.133e-04  5.497e-03 -5.532e-03 -1.032e+00]
+t: 193	 action: [-0.051 -0.01   0.041 -0.007  0.003 -0.013 -1.065]
+t: 194	 action: [-4.466e-02  1.999e-02  5.383e-02  1.061e-03  1.035e-02 -2.133e-04 -1.042e+00]
+t: 195	 action: [-0.015 -0.014  0.074 -0.008  0.008 -0.01  -1.048]
+t: 196	 action: [-0.032  0.024  0.088  0.003  0.014 -0.001 -1.041]
+t: 197	 action: [ 0.003 -0.016  0.109 -0.007  0.014 -0.01  -1.045]
+t: 198	 action: [-0.025  0.016  0.076 -0.001  0.019 -0.005 -1.049]
+t: 199	 action: [-0.02   0.03   0.126 -0.004  0.005 -0.012 -1.065]
+t: 200	 action: [-1.111e-02  1.890e-02  1.098e-01 -2.375e-05  2.669e-02 -7.351e-03 -1.045e+00]
+t: 201	 action: [-0.009  0.025  0.16  -0.004  0.012 -0.011 -1.069]
+[07-31 01:26:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9958
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=202: Selected seed 195 with value = 0.9958
+t: 202	 action: [ 0.028  0.017 -0.056  0.005  0.01   0.002 -1.034]
+t: 203	 action: [ 0.008 -0.02  -0.061 -0.009  0.012 -0.007 -1.049]
+t: 204	 action: [ 0.017  0.014 -0.004  0.005  0.014  0.005 -1.029]
+t: 205	 action: [ 0.006 -0.031  0.038 -0.009  0.021 -0.007 -1.044]
+t: 206	 action: [ 0.005  0.004 -0.019  0.002  0.021 -0.001 -1.018]
+t: 207	 action: [-0.012  0.009 -0.006 -0.005  0.017 -0.004 -1.06 ]
+t: 208	 action: [ 5.936e-03  1.158e-02  2.994e-02  2.059e-03  2.288e-02 -7.609e-04 -1.024e+00]
+t: 209	 action: [-0.018  0.02   0.095 -0.004  0.023 -0.007 -1.062]
+t: 210	 action: [ 0.006  0.007 -0.069  0.003  0.013  0.005 -1.038]
+t: 211	 action: [ 0.005 -0.033  0.005 -0.011  0.014  0.013 -1.115]
+t: 212	 action: [-0.01   0.013 -0.015  0.002  0.015  0.005 -1.135]
+t: 213	 action: [-0.028 -0.039  0.038 -0.012  0.018  0.014 -1.118]
+t: 214	 action: [-1.038e-02  6.372e-03 -3.413e-02 -2.214e-03  2.288e-02  7.001e-04 -1.024e+00]
+t: 215	 action: [-2.626e-02  3.433e-03  7.849e-04 -8.091e-03  8.772e-03  1.718e-02  1.158e+00]
+t: 216	 action: [-0.008  0.008  0.013 -0.001  0.023 -0.002  1.055]
+t: 217	 action: [ 0.017  0.017  0.081 -0.01   0.01   0.021  1.12 ]
+[07-31 01:26:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9864
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=218: Selected seed 195 with value = 0.9864
+t: 218	 action: [ 4.528e-02 -1.964e-02  1.648e-02  9.032e-04  1.302e-02 -3.269e-02 -1.020e+00]
+t: 219	 action: [ 0.039 -0.033 -0.077 -0.002  0.011 -0.023 -1.031]
+t: 220	 action: [ 2.217e-02 -1.963e-02  1.519e-03  3.064e-04  6.769e-03 -2.861e-02 -1.022e+00]
+t: 221	 action: [ 0.02  -0.041 -0.051 -0.003  0.01  -0.023 -1.04 ]
+t: 222	 action: [ 0.006 -0.023 -0.037  0.002  0.006 -0.014 -1.036]
+t: 223	 action: [-1.649e-02 -7.260e-03 -7.599e-02  4.410e-04  3.190e-03 -1.757e-02 -1.081e+00]
+t: 224	 action: [-0.007 -0.017 -0.006  0.002  0.011 -0.01  -1.033]
+t: 225	 action: [-0.017 -0.008 -0.029  0.002  0.005 -0.02  -1.068]
+t: 226	 action: [ 0.028  0.011  0.054  0.004  0.023 -0.004 -1.041]
+t: 227	 action: [ 0.02  -0.026  0.082 -0.004  0.023 -0.014 -1.051]
+t: 228	 action: [ 0.034  0.014  0.113  0.004  0.028 -0.006 -1.038]
+t: 229	 action: [ 0.03  -0.021  0.141 -0.004  0.035 -0.015 -1.046]
+t: 230	 action: [ 2.773e-02  1.040e-02  1.066e-01 -6.840e-05  4.179e-02 -6.629e-03 -1.048e+00]
+t: 231	 action: [ 0.017  0.033  0.177  0.002  0.035 -0.014 -1.072]
+t: 232	 action: [ 3.934e-02  1.080e-02  1.603e-01 -2.394e-04  5.337e-02 -1.024e-02 -1.044e+00]
+t: 233	 action: [ 0.015  0.032  0.213  0.002  0.047 -0.014 -1.073]
+[07-31 01:26:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+t: 234	 action: [ 0.041  0.011 -0.032  0.007  0.018  0.004 -1.047]
+t: 235	 action: [ 0.028 -0.03  -0.02   0.002  0.024 -0.005 -1.039]
+t: 236	 action: [ 0.02   0.01   0.009  0.005  0.022  0.006 -1.038]
+t: 237	 action: [ 1.421e-02 -3.642e-02  3.678e-02  9.280e-05  3.242e-02 -4.150e-03 -1.037e+00]
+t: 238	 action: [ 1.121e-02  9.523e-04 -5.433e-03  5.427e-03  2.663e-02  3.310e-04 -1.040e+00]
+t: 239	 action: [ 6.003e-03  2.428e-03  6.879e-03  8.909e-03  2.964e-02 -6.690e-04 -1.065e+00]
+t: 240	 action: [-6.842e-04  6.101e-03  3.640e-02  3.296e-03  2.927e-02 -3.064e-05 -1.039e+00]
+t: 241	 action: [-0.015  0.013  0.079  0.007  0.033 -0.002 -1.062]
+t: 242	 action: [ 0.018 -0.003 -0.028  0.009  0.018  0.005 -1.053]
+t: 243	 action: [ 1.390e-02 -3.581e-02  1.481e-02  1.035e-03  2.177e-02 -7.176e-03 -1.049e+00]
+t: 244	 action: [-0.002  0.011  0.011  0.006  0.02   0.006 -1.045]
+t: 245	 action: [ 1.416e-02 -3.955e-02  4.118e-02 -4.694e-04  2.927e-02 -3.281e-03 -1.050e+00]
+t: 246	 action: [-0.004  0.002 -0.004  0.006  0.027  0.001 -1.05 ]
+t: 247	 action: [-0.016  0.003  0.013  0.008  0.02  -0.005 -1.067]
+t: 248	 action: [-0.02   0.008  0.031  0.002  0.028 -0.001 -1.046]
+t: 249	 action: [-2.193e-02  1.176e-02  8.068e-02  6.180e-03  2.573e-02  5.168e-04 -1.066e+00]
+[07-31 01:27:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9937
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=250: Selected seed 195 with value = 0.9937
+t: 250	 action: [-0.004 -0.009 -0.179  0.006  0.006  0.008 -1.039]
+t: 251	 action: [ 3.194e-03 -2.813e-02 -2.565e-01 -9.360e-04  8.721e-03 -4.931e-03 -1.055e+00]
+t: 252	 action: [-0.012 -0.006 -0.106  0.006  0.004  0.008 -1.033]
+t: 253	 action: [-0.004 -0.039 -0.145 -0.004  0.01  -0.001 -1.053]
+t: 254	 action: [-0.032 -0.009 -0.115  0.003  0.009  0.001 -1.027]
+t: 255	 action: [-0.02   0.004 -0.122  0.005  0.006 -0.003 -1.072]
+t: 256	 action: [-2.280e-02 -3.683e-03 -5.393e-02  1.576e-03  6.390e-03  9.062e-04 -1.029e+00]
+t: 257	 action: [-0.035  0.005 -0.035  0.003  0.005 -0.003 -1.071]
+t: 258	 action: [-0.015 -0.023 -0.185  0.007  0.006  0.006 -1.042]
+t: 259	 action: [ 0.005 -0.048 -0.186 -0.003  0.007  0.017 -1.116]
+t: 260	 action: [-0.047 -0.011 -0.122  0.005  0.003  0.006 -1.153]
+t: 261	 action: [-0.092 -0.053 -0.115 -0.007  0.007  0.019 -1.115]
+t: 262	 action: [-4.675e-02 -9.974e-03 -1.332e-01  2.101e-03  5.488e-03 -9.671e-04 -1.034e+00]
+t: 263	 action: [-0.04  -0.007 -0.073  0.003 -0.005  0.019  1.151]
+t: 264	 action: [-5.230e-02 -7.488e-03 -7.287e-02 -3.438e-04  2.318e-03 -2.758e-03  1.063e+00]
+t: 265	 action: [-0.051  0.003 -0.024 -0.002 -0.004  0.023  1.114]
+[07-31 01:27:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9801
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=266: Selected seed 195 with value = 0.9801
+t: 266	 action: [ 1.597e-02 -5.330e-02  1.170e-02  8.112e-04  1.626e-02 -6.528e-03 -1.012e+00]
+t: 267	 action: [ 0.009 -0.051 -0.052 -0.002  0.014 -0.011 -1.019]
+t: 268	 action: [ 1.309e-02 -4.208e-02  2.944e-02  5.928e-04  1.224e-02 -3.033e-03 -1.021e+00]
+t: 269	 action: [ 0.005 -0.05   0.016 -0.001  0.014 -0.008 -1.033]
+t: 270	 action: [-0.003 -0.033  0.013  0.002  0.018 -0.004 -1.027]
+t: 271	 action: [-0.021 -0.015 -0.001  0.006  0.015 -0.005 -1.077]
+t: 272	 action: [ 0.012 -0.01   0.059  0.002  0.022 -0.003 -1.027]
+t: 273	 action: [-0.01   0.004  0.037  0.008  0.016 -0.006 -1.064]
+t: 274	 action: [ 0.068  0.011  0.155  0.003  0.033  0.002 -1.034]
+t: 275	 action: [ 0.044 -0.017  0.193 -0.001  0.031 -0.006 -1.053]
+t: 276	 action: [ 6.303e-02  1.410e-02  2.124e-01  4.573e-03  4.061e-02  4.472e-04 -1.036e+00]
+t: 277	 action: [ 0.045 -0.008  0.24   0.002  0.042 -0.008 -1.044]
+t: 278	 action: [ 0.053  0.015  0.192  0.002  0.044 -0.002 -1.043]
+t: 279	 action: [ 0.021  0.046  0.266  0.007  0.035 -0.005 -1.077]
+t: 280	 action: [ 0.056  0.017  0.226  0.002  0.056 -0.005 -1.04 ]
+t: 281	 action: [ 0.015  0.045  0.261  0.01   0.044 -0.006 -1.07 ]
+[07-31 01:27:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9920
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=282: Selected seed 195 with value = 0.9920
+t: 282	 action: [-0.027 -0.015 -0.161  0.006 -0.003  0.007 -1.032]
+t: 283	 action: [-0.008 -0.036 -0.242 -0.004  0.002 -0.005 -1.058]
+t: 284	 action: [-0.036 -0.014 -0.109  0.005 -0.003  0.006 -1.029]
+t: 285	 action: [-0.018 -0.038 -0.156 -0.005  0.006 -0.002 -1.054]
+t: 286	 action: [-5.044e-02 -1.485e-02 -1.222e-01  2.539e-03  8.667e-04 -2.401e-04 -1.025e+00]
+t: 287	 action: [-2.240e-02 -9.519e-05 -1.184e-01  2.530e-03 -3.562e-03 -5.914e-03 -1.075e+00]
+t: 288	 action: [-3.419e-02 -7.653e-03 -5.824e-02  7.978e-04 -1.450e-04 -7.923e-04 -1.026e+00]
+t: 289	 action: [-2.689e-02  8.669e-03 -3.727e-02  6.212e-04 -2.996e-03 -5.915e-03 -1.073e+00]
+t: 290	 action: [-3.324e-02 -2.455e-02 -1.777e-01  4.234e-03 -8.645e-04  4.098e-03 -1.037e+00]
+t: 291	 action: [ 1.098e-03 -4.774e-02 -1.702e-01 -4.697e-03  1.954e-03  1.796e-02 -1.111e+00]
+t: 292	 action: [-0.054 -0.006 -0.123  0.001 -0.003  0.004 -1.139]
+t: 293	 action: [-0.096 -0.046 -0.111 -0.007  0.004  0.018 -1.104]
+t: 294	 action: [-4.583e-02 -9.009e-03 -1.337e-01 -1.869e-03  2.624e-04 -2.818e-03 -1.030e+00]
+t: 295	 action: [-0.033 -0.003 -0.073  0.002 -0.011  0.018  1.147]
+t: 296	 action: [-0.043 -0.004 -0.067 -0.003 -0.001 -0.004  1.07 ]
+t: 297	 action: [-3.948e-02  1.043e-02 -2.344e-02 -8.177e-04 -8.203e-03  2.059e-02  1.110e+00]
+[07-31 01:27:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9809
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9809
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 31
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 62%|██████▏   | 31/50 [16:26<10:11, 32.18s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 32...
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=298: Selected seed 195 with value = 0.9809
+t: 298	 action: [-4.084e-02 -7.215e-02  2.758e-03  1.812e-03  8.432e-03  5.303e-04 -9.979e-01]
+t: 299	 action: [-0.012 -0.061 -0.02  -0.002  0.012 -0.007 -1.004]
+t: 300	 action: [-3.267e-02 -4.959e-02  4.395e-02  1.420e-03  4.926e-03  9.624e-04 -1.016e+00]
+t: 301	 action: [-7.459e-03 -5.648e-02  4.504e-02 -4.519e-04  1.205e-02 -5.629e-03 -1.029e+00]
+t: 302	 action: [-0.037 -0.033  0.037  0.002  0.012 -0.003 -1.02 ]
+t: 303	 action: [-0.03  -0.013  0.03   0.006  0.008 -0.003 -1.073]
+t: 304	 action: [-0.012 -0.008  0.092  0.003  0.016 -0.002 -1.021]
+t: 305	 action: [-0.014  0.011  0.107  0.01   0.011 -0.005 -1.061]
+t: 306	 action: [ 0.057  0.008  0.176  0.004  0.025  0.002 -1.023]
+t: 307	 action: [ 0.035 -0.021  0.215  0.001  0.022 -0.006 -1.048]
+t: 308	 action: [ 4.691e-02  1.557e-02  2.041e-01  4.599e-03  3.152e-02  4.921e-05 -1.027e+00]
+t: 309	 action: [ 0.034 -0.012  0.237  0.004  0.031 -0.008 -1.041]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=31--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=31--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 31
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 32...
+[07-31 01:27:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4816
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4816
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4816
+t=10: Selected seed 195 with value = 0.4816
+t: 10	 action: [ 1.196e-01  6.864e-02  8.582e-03  6.418e-04  3.170e-03 -4.972e-04 -1.023e+00]
+t: 11	 action: [ 0.265  0.122  0.021 -0.004  0.004 -0.003 -1.026]
+t: 12	 action: [ 0.408  0.284  0.022 -0.002  0.006  0.003 -1.027]
+t: 13	 action: [ 0.519  0.349  0.033 -0.009  0.004 -0.003 -1.032]
+t: 14	 action: [ 0.619  0.435  0.023 -0.007  0.009 -0.005 -1.031]
+t: 15	 action: [ 0.704  0.499  0.023 -0.006  0.003 -0.004 -1.059]
+t: 16	 action: [ 0.77   0.549  0.032 -0.012  0.014 -0.003 -1.026]
+t: 17	 action: [ 0.836  0.578  0.016 -0.009  0.001 -0.006 -1.064]
+t: 18	 action: [ 0.814  0.551  0.016 -0.002  0.012  0.005 -1.037]
+t: 19	 action: [ 8.439e-01  5.524e-01  4.768e-03 -1.618e-02  1.081e-02 -3.092e-04 -1.031e+00]
+t: 20	 action: [ 0.855  0.568 -0.007 -0.011  0.01   0.007 -1.037]
+t: 21	 action: [ 0.868  0.556 -0.004 -0.016  0.012 -0.001 -1.031]
+t: 22	 action: [ 8.590e-01  4.816e-01 -6.653e-02 -7.017e-03  9.767e-03 -2.775e-04 -1.026e+00]
+t: 23	 action: [ 0.869  0.467 -0.073 -0.012 -0.001 -0.005 -1.049]
+t: 24	 action: [ 8.503e-01  3.882e-01 -1.484e-01 -9.256e-03  4.171e-03 -7.197e-04 -1.027e+00]
+t: 25	 action: [ 0.868  0.368 -0.175 -0.011 -0.003 -0.005 -1.06 ]
+[07-31 01:27:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5581
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5581
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5581
+t=26: Selected seed 195 with value = 0.5581
+t: 26	 action: [ 0.764  0.411 -0.166  0.006 -0.012  0.008 -1.027]
+t: 27	 action: [ 0.664  0.34  -0.162 -0.001 -0.006  0.008 -1.029]
+t: 28	 action: [ 0.582  0.201 -0.295  0.007 -0.022  0.009 -1.032]
+t: 29	 action: [ 0.456  0.116 -0.316  0.001 -0.017  0.008 -1.032]
+t: 30	 action: [ 3.160e-01  2.229e-02 -4.231e-01  1.688e-03 -1.934e-02  8.058e-04 -1.027e+00]
+t: 31	 action: [ 0.238 -0.029 -0.532  0.013 -0.025  0.004 -1.053]
+t: 32	 action: [ 0.147 -0.025 -0.748  0.006 -0.028  0.002 -1.03 ]
+t: 33	 action: [ 0.094 -0.032 -0.857  0.014 -0.034  0.003 -1.057]
+t: 34	 action: [ 0.048 -0.078 -0.867  0.006 -0.05   0.007 -1.031]
+t: 35	 action: [-6.989e-03 -9.653e-02 -9.268e-01 -8.588e-04 -5.007e-02  3.052e-03 -1.029e+00]
+t: 36	 action: [-0.107 -0.069 -0.932  0.004 -0.057  0.007 -1.027]
+t: 37	 action: [-0.147 -0.084 -0.979 -0.003 -0.054  0.003 -1.029]
+t: 38	 action: [-1.936e-01 -2.993e-02 -9.495e-01 -6.157e-04 -5.271e-02  3.392e-03 -1.034e+00]
+t: 39	 action: [-2.205e-01  4.680e-03 -9.639e-01  6.891e-03 -4.956e-02  5.633e-04 -1.047e+00]
+t: 40	 action: [-0.277 -0.013 -0.948 -0.004 -0.048  0.004 -1.026]
+t: 41	 action: [-0.27   0.021 -0.953  0.004 -0.04   0.002 -1.051]
+[07-31 01:27:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6139
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6139
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6139
+t=42: Selected seed 195 with value = 0.6139
+t: 42	 action: [ 0.034  0.04  -1.043  0.033 -0.043  0.003 -1.04 ]
+t: 43	 action: [ 0.009  0.044 -1.02   0.021 -0.034 -0.007 -1.038]
+t: 44	 action: [-0.005  0.049 -1.008  0.016 -0.03   0.005 -1.03 ]
+t: 45	 action: [-0.02   0.074 -0.977  0.014 -0.015 -0.003 -1.039]
+t: 46	 action: [-0.066  0.103 -0.863  0.002 -0.014 -0.007 -1.033]
+t: 47	 action: [-0.086  0.167 -0.902  0.011 -0.012 -0.015 -1.059]
+t: 48	 action: [-0.121  0.134 -0.745 -0.002 -0.012 -0.006 -1.028]
+t: 49	 action: [-0.177  0.176 -0.827  0.004 -0.006 -0.017 -1.054]
+t: 50	 action: [-0.12   0.081 -0.744  0.004 -0.009  0.007 -1.051]
+t: 51	 action: [-1.709e-01  5.883e-02 -6.838e-01  5.788e-05 -8.699e-04  1.868e-02 -1.160e+00]
+t: 52	 action: [-0.268  0.041 -0.67   0.003 -0.007  0.007 -1.198]
+t: 53	 action: [-0.347  0.011 -0.629  0.002  0.003  0.017 -1.166]
+t: 54	 action: [-0.355 -0.002 -0.584 -0.002 -0.004 -0.007 -1.05 ]
+t: 55	 action: [-0.362  0.002 -0.547  0.002 -0.002  0.006  1.242]
+t: 56	 action: [-3.327e-01 -1.064e-02 -4.878e-01 -2.346e-03  5.506e-04 -8.520e-03  1.111e+00]
+t: 57	 action: [-0.246 -0.019 -0.408  0.002  0.002  0.006  1.222]
+[07-31 01:27:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7082
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7082
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7082
+t=58: Selected seed 195 with value = 0.7082
+t: 58	 action: [-0.434 -0.009 -0.555 -0.005 -0.014  0.012  0.971]
+t: 59	 action: [-0.371 -0.021 -0.358 -0.017  0.022  0.019  1.009]
+t: 60	 action: [-0.242 -0.023 -0.281 -0.021  0.03   0.008  0.977]
+t: 61	 action: [-0.151 -0.043 -0.123 -0.03   0.055  0.012  1.012]
+t: 62	 action: [-4.413e-02 -4.486e-02  9.221e-04 -3.796e-02  6.419e-02 -7.949e-03  1.003e+00]
+t: 63	 action: [ 0.049 -0.049  0.119 -0.031  0.072 -0.007  1.017]
+t: 64	 action: [ 0.041 -0.038  0.276 -0.032  0.075 -0.019  1.006]
+t: 65	 action: [ 0.043 -0.029  0.412 -0.033  0.075 -0.036  1.019]
+t: 66	 action: [ 0.102 -0.073  0.548 -0.018  0.044 -0.041  0.99 ]
+t: 67	 action: [ 0.085 -0.092  0.775 -0.026  0.038 -0.049  1.001]
+t: 68	 action: [ 0.113 -0.075  0.846 -0.013  0.023 -0.04   0.98 ]
+t: 69	 action: [ 0.086 -0.122  0.934 -0.023  0.018 -0.049  1.007]
+t: 70	 action: [ 0.03  -0.106  0.969 -0.002  0.003 -0.037  1.005]
+t: 71	 action: [-0.006 -0.247  0.966  0.002  0.007 -0.035  1.007]
+t: 72	 action: [-0.024 -0.297  0.943  0.002 -0.015 -0.027  1.009]
+t: 73	 action: [-0.057 -0.418  0.944  0.019  0.003 -0.025  1.012]
+[07-31 01:27:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8242
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=74: Selected seed 195 with value = 0.8242
+t: 74	 action: [-0.013 -0.631  0.813  0.062  0.036 -0.013  0.987]
+t: 75	 action: [-0.015 -0.687  0.774  0.062  0.043 -0.011  1.016]
+t: 76	 action: [-0.083 -0.759  0.558  0.068  0.039 -0.009  0.978]
+t: 77	 action: [-0.071 -0.789  0.435  0.067  0.041 -0.01   1.009]
+t: 78	 action: [-0.126 -0.836  0.247  0.062  0.041 -0.01   0.992]
+t: 79	 action: [-0.163 -0.814  0.193  0.063  0.026 -0.003  1.004]
+t: 80	 action: [-0.178 -0.815  0.027  0.058  0.036 -0.008  0.983]
+t: 81	 action: [-0.188 -0.76  -0.049  0.056  0.018 -0.005  1.012]
+t: 82	 action: [-2.481e-01 -7.982e-01 -1.854e-01  6.295e-02  8.078e-03  7.796e-04  9.881e-01]
+t: 83	 action: [-0.259 -0.702 -0.322  0.042  0.004 -0.002  1.01 ]
+t: 84	 action: [-0.268 -0.635 -0.406  0.035 -0.004  0.002  0.973]
+t: 85	 action: [-2.475e-01 -5.000e-01 -5.549e-01  2.337e-02  4.207e-03  7.953e-04  1.018e+00]
+t: 86	 action: [-2.595e-01 -2.756e-01 -5.773e-01  1.374e-02 -1.824e-02 -6.902e-05  9.964e-01]
+t: 87	 action: [-0.224 -0.213 -0.685  0.012 -0.01   0.004  1.003]
+t: 88	 action: [-1.937e-01 -1.087e-01 -6.935e-01 -1.276e-03 -1.977e-02 -4.323e-04  9.822e-01]
+t: 89	 action: [-0.091 -0.027 -0.706 -0.001 -0.009  0.004  1.017]
+[07-31 01:27:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9383
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=90: Selected seed 195 with value = 0.9383
+t: 90	 action: [-8.672e-02 -2.607e-03 -5.718e-01  8.958e-04  2.188e-02  3.838e-03  9.873e-01]
+t: 91	 action: [-0.034  0.007 -0.455 -0.009  0.033  0.013  1.048]
+t: 92	 action: [-0.034  0.057 -0.361 -0.001  0.041  0.006  1.145]
+t: 93	 action: [-0.01   0.053 -0.211 -0.013  0.044  0.009  1.022]
+t: 94	 action: [ 1.645e-02  2.470e-02 -1.351e-01 -6.716e-03  4.232e-02 -1.730e-04  1.006e+00]
+t: 95	 action: [ 0.03   0.09  -0.044 -0.008  0.053  0.011  1.025]
+t: 96	 action: [ 0.08   0.052  0.035 -0.005  0.047 -0.005 -1.196]
+t: 97	 action: [ 0.036  0.065  0.071 -0.004  0.053 -0.02  -1.138]
+t: 98	 action: [ 0.058  0.032  0.242  0.002  0.025 -0.009 -1.049]
+t: 99	 action: [ 6.072e-02  2.608e-02  2.732e-01 -5.622e-04  1.709e-02 -2.377e-02 -1.045e+00]
+t: 100	 action: [ 0.067  0.033  0.308  0.001  0.011 -0.017 -1.034]
+t: 101	 action: [ 7.925e-02  2.243e-02  3.265e-01  9.770e-05  1.537e-02 -2.813e-02 -1.033e+00]
+t: 102	 action: [ 0.052  0.027  0.34   0.002  0.015 -0.03  -1.047]
+t: 103	 action: [ 0.059  0.068  0.353  0.007  0.014 -0.031 -1.053]
+t: 104	 action: [ 0.07   0.022  0.342 -0.002  0.012 -0.031 -1.033]
+t: 105	 action: [ 0.058  0.06   0.335  0.006  0.011 -0.029 -1.06 ]
+[07-31 01:27:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9990
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=106: Selected seed 195 with value = 0.9990
+t: 106	 action: [ 5.844e-03  3.056e-02  3.064e-01 -5.406e-04  2.004e-02 -7.017e-03 -1.029e+00]
+t: 107	 action: [ 0.004  0.005  0.275 -0.003  0.011 -0.011 -1.045]
+t: 108	 action: [-0.012  0.024  0.256  0.002  0.006 -0.005 -1.022]
+t: 109	 action: [ 3.301e-03 -6.424e-04  2.507e-01 -2.348e-03  8.620e-03 -9.654e-03 -1.036e+00]
+t: 110	 action: [-0.011  0.011  0.176  0.002 -0.004 -0.013 -1.03 ]
+t: 111	 action: [-0.028  0.018  0.175  0.003 -0.002 -0.013 -1.064]
+t: 112	 action: [-0.014  0.015  0.184  0.002 -0.003 -0.01  -1.03 ]
+t: 113	 action: [-0.022  0.021  0.173  0.005 -0.003 -0.014 -1.063]
+t: 114	 action: [-1.274e-02  2.326e-02  1.604e-01  5.564e-03 -9.567e-03  7.022e-04 -1.026e+00]
+t: 115	 action: [ 0.004  0.005  0.158 -0.001  0.002 -0.011 -1.039]
+t: 116	 action: [-0.021  0.028  0.156  0.005 -0.012 -0.001 -1.023]
+t: 117	 action: [ 0.011  0.004  0.157 -0.002  0.006 -0.01  -1.035]
+t: 118	 action: [-0.002  0.022  0.159  0.002 -0.005 -0.006 -1.029]
+t: 119	 action: [-0.016  0.037  0.169  0.002 -0.003 -0.014 -1.066]
+t: 120	 action: [-1.855e-03  2.786e-02  1.744e-01  3.810e-04 -4.956e-03 -9.719e-03 -1.028e+00]
+t: 121	 action: [-0.012  0.036  0.189  0.001 -0.005 -0.012 -1.07 ]
+[07-31 01:27:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.032  0.065  0.021  0.005 -0.027  0.003 -1.034]
+t: 123	 action: [ 0.024  0.041  0.044 -0.005 -0.021 -0.004 -1.037]
+t: 124	 action: [ 0.007  0.045  0.026  0.005 -0.029  0.002 -1.032]
+t: 125	 action: [ 0.013  0.028  0.071 -0.007 -0.017 -0.003 -1.034]
+t: 126	 action: [ 0.004  0.045  0.029  0.001 -0.028 -0.003 -1.029]
+t: 127	 action: [-0.022  0.054  0.04  -0.002 -0.025 -0.005 -1.061]
+t: 128	 action: [-3.723e-03  3.370e-02  5.268e-02  1.017e-03 -2.664e-02 -3.717e-03 -1.030e+00]
+t: 129	 action: [-0.02   0.05   0.093 -0.003 -0.02  -0.005 -1.059]
+t: 130	 action: [ 0.017  0.055  0.053  0.004 -0.029  0.006 -1.035]
+t: 131	 action: [ 0.007  0.036  0.075 -0.007 -0.013 -0.005 -1.04 ]
+t: 132	 action: [ 0.004  0.043  0.056  0.004 -0.03   0.005 -1.032]
+t: 133	 action: [ 0.015  0.028  0.096 -0.008 -0.008 -0.004 -1.038]
+t: 134	 action: [ 4.553e-03  5.498e-02  6.555e-02 -2.713e-04 -2.640e-02 -1.916e-03 -1.030e+00]
+t: 135	 action: [-0.025  0.058  0.087 -0.006 -0.019 -0.009 -1.066]
+t: 136	 action: [ 4.145e-04  4.495e-02  7.852e-02 -5.384e-04 -2.447e-02 -4.144e-03 -1.030e+00]
+t: 137	 action: [-0.021  0.052  0.124 -0.008 -0.017 -0.006 -1.066]
+[07-31 01:27:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9919
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=138: Selected seed 195 with value = 0.9919
+t: 138	 action: [ 0.028  0.061 -0.183  0.006 -0.012 -0.002 -1.011]
+t: 139	 action: [ 0.031  0.025 -0.14  -0.001 -0.004 -0.007 -1.025]
+t: 140	 action: [ 2.597e-04  4.137e-02 -1.512e-01  5.450e-03 -1.255e-02  2.945e-04 -1.022e+00]
+t: 141	 action: [ 0.018  0.012 -0.076 -0.005  0.001 -0.005 -1.029]
+t: 142	 action: [ 0.001  0.039 -0.129  0.001 -0.015 -0.005 -1.024]
+t: 143	 action: [-0.025  0.028 -0.087  0.003 -0.01  -0.005 -1.057]
+t: 144	 action: [-1.671e-02  2.875e-02 -9.370e-02  5.394e-04 -1.240e-02 -4.445e-03 -1.027e+00]
+t: 145	 action: [-3.262e-02  2.465e-02 -2.874e-02 -7.569e-04 -5.786e-03 -4.890e-03 -1.056e+00]
+t: 146	 action: [ 0.014  0.046 -0.091  0.006 -0.014  0.006 -1.026]
+t: 147	 action: [ 0.013  0.025 -0.009 -0.007  0.001 -0.005 -1.036]
+t: 148	 action: [-0.013  0.038 -0.089  0.006 -0.015  0.005 -1.025]
+t: 149	 action: [ 0.014  0.014  0.026 -0.009  0.004 -0.004 -1.038]
+t: 150	 action: [-1.119e-02  5.677e-02 -6.199e-02  6.628e-04 -1.415e-02 -1.280e-03 -1.029e+00]
+t: 151	 action: [-0.039  0.046 -0.017 -0.004 -0.008 -0.008 -1.064]
+t: 152	 action: [-2.867e-02  4.557e-02 -5.273e-02 -2.641e-04 -1.218e-02 -2.953e-03 -1.027e+00]
+t: 153	 action: [-0.042  0.035 -0.006 -0.007 -0.007 -0.006 -1.066]
+[07-31 01:27:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9964
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=154: Selected seed 195 with value = 0.9964
+t: 154	 action: [ 1.478e-02  4.545e-02 -1.033e-01  4.576e-03  7.916e-04 -1.566e-03 -1.021e+00]
+t: 155	 action: [ 0.02   0.016 -0.075 -0.007  0.007 -0.009 -1.032]
+t: 156	 action: [-1.202e-02  3.151e-02 -7.880e-02  4.120e-03 -5.760e-04 -6.732e-05 -1.026e+00]
+t: 157	 action: [ 0.012  0.005  0.001 -0.01   0.007 -0.006 -1.026]
+t: 158	 action: [-5.259e-03  2.614e-02 -5.856e-02 -4.794e-04 -3.676e-03 -6.292e-03 -1.027e+00]
+t: 159	 action: [-2.682e-02  2.604e-02 -3.532e-02 -2.831e-03 -8.433e-04 -7.788e-03 -1.057e+00]
+t: 160	 action: [-0.021  0.019 -0.031 -0.001 -0.002 -0.006 -1.03 ]
+t: 161	 action: [-3.305e-02  2.481e-02 -5.572e-03 -5.405e-03  4.587e-05 -6.700e-03 -1.052e+00]
+t: 162	 action: [ 0.002  0.032 -0.048  0.004 -0.002  0.003 -1.028]
+t: 163	 action: [ 0.01   0.016  0.017 -0.01   0.007 -0.009 -1.038]
+t: 164	 action: [-0.026  0.026 -0.049  0.004 -0.005  0.003 -1.028]
+t: 165	 action: [ 0.01   0.005  0.037 -0.012  0.007 -0.008 -1.037]
+t: 166	 action: [-1.584e-02  3.714e-02 -2.161e-02 -7.914e-04 -3.076e-03 -3.402e-03 -1.031e+00]
+t: 167	 action: [-0.039  0.04  -0.008 -0.006 -0.002 -0.012 -1.061]
+t: 168	 action: [-0.033  0.024 -0.015 -0.001 -0.003 -0.005 -1.03 ]
+t: 169	 action: [-0.043  0.031  0.019 -0.008 -0.002 -0.009 -1.062]
+[07-31 01:27:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9988
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 1.001 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=170: Selected seed 195 with value = 0.9988
+t: 170	 action: [ 0.011  0.034 -0.086  0.005  0.004 -0.007 -1.023]
+t: 171	 action: [ 0.022  0.005 -0.069 -0.005  0.008 -0.013 -1.035]
+t: 172	 action: [-1.892e-02  2.709e-02 -6.690e-02  4.387e-03  7.730e-04 -3.457e-03 -1.023e+00]
+t: 173	 action: [ 0.013 -0.006 -0.005 -0.008  0.008 -0.009 -1.027]
+t: 174	 action: [-1.632e-02  1.599e-02 -5.016e-02  1.959e-04 -2.700e-03 -9.271e-03 -1.026e+00]
+t: 175	 action: [-2.729e-02  1.799e-02 -3.425e-02  1.439e-04 -5.642e-04 -1.100e-02 -1.056e+00]
+t: 176	 action: [-3.278e-02  1.303e-02 -2.607e-02 -4.366e-04 -2.398e-03 -7.256e-03 -1.027e+00]
+t: 177	 action: [-3.488e-02  1.648e-02 -5.351e-03 -2.363e-03 -3.075e-05 -8.777e-03 -1.050e+00]
+t: 178	 action: [-1.036e-03  2.666e-02 -5.995e-02  5.522e-03  1.594e-03  6.131e-04 -1.028e+00]
+t: 179	 action: [ 0.014  0.006 -0.018 -0.007  0.008 -0.013 -1.039]
+t: 180	 action: [-0.031  0.022 -0.054  0.005 -0.002  0.001 -1.026]
+t: 181	 action: [ 0.007 -0.006  0.021 -0.009  0.008 -0.011 -1.038]
+t: 182	 action: [-2.719e-02  2.205e-02 -3.380e-02  5.070e-04 -1.341e-03 -4.415e-03 -1.031e+00]
+t: 183	 action: [-0.039  0.026 -0.015 -0.002 -0.002 -0.014 -1.061]
+t: 184	 action: [-4.474e-02  1.223e-02 -2.292e-02 -5.725e-04 -2.375e-03 -5.590e-03 -1.028e+00]
+t: 185	 action: [-4.677e-02  1.681e-02 -8.459e-04 -4.358e-03 -2.004e-03 -1.103e-02 -1.061e+00]
+[07-31 01:27:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+t: 186	 action: [ 0.008  0.025 -0.042  0.004  0.007 -0.01  -1.029]
+t: 187	 action: [ 0.02  -0.003 -0.023 -0.003  0.008 -0.015 -1.037]
+t: 188	 action: [-0.025  0.023 -0.034  0.004  0.003 -0.005 -1.024]
+t: 189	 action: [ 0.01  -0.013  0.02  -0.006  0.009 -0.012 -1.027]
+t: 190	 action: [-2.385e-02  8.719e-03 -2.105e-02  6.536e-04 -4.625e-04 -1.063e-02 -1.026e+00]
+t: 191	 action: [-2.801e-02  1.193e-02 -1.414e-02  2.859e-03  7.906e-05 -1.299e-02 -1.056e+00]
+t: 192	 action: [-4.027e-02  9.327e-03 -1.512e-03 -3.374e-04 -6.910e-04 -8.036e-03 -1.025e+00]
+t: 193	 action: [-3.555e-02  1.184e-02  1.157e-02  1.764e-04  4.596e-05 -1.095e-02 -1.050e+00]
+t: 194	 action: [-0.009  0.022 -0.036  0.005  0.004 -0.001 -1.032]
+t: 195	 action: [ 1.108e-02  4.455e-05 -4.340e-03 -4.255e-03  8.499e-03 -1.528e-02 -1.040e+00]
+t: 196	 action: [-3.992e-02  2.005e-02 -2.993e-02  4.121e-03 -1.387e-04 -3.827e-04 -1.029e+00]
+t: 197	 action: [-1.177e-04 -1.234e-02  2.365e-02 -6.921e-03  7.912e-03 -1.322e-02 -1.039e+00]
+t: 198	 action: [-3.730e-02  1.321e-02 -1.965e-02  7.512e-04  3.410e-04 -5.384e-03 -1.031e+00]
+t: 199	 action: [-4.085e-02  1.862e-02 -9.049e-03  1.059e-03 -2.057e-03 -1.686e-02 -1.059e+00]
+t: 200	 action: [-5.434e-02  5.673e-03 -6.599e-03 -7.843e-04 -1.500e-03 -6.470e-03 -1.028e+00]
+t: 201	 action: [-0.048  0.013  0.008 -0.002 -0.003 -0.013 -1.059]
+[07-31 01:27:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+t: 202	 action: [ 0.015  0.019 -0.027  0.004  0.01  -0.01  -1.032]
+t: 203	 action: [ 1.940e-02 -6.422e-03 -2.214e-02 -7.626e-04  8.885e-03 -1.477e-02 -1.039e+00]
+t: 204	 action: [-0.021  0.019 -0.021  0.003  0.004 -0.005 -1.025]
+t: 205	 action: [ 0.011 -0.017  0.021 -0.004  0.008 -0.011 -1.03 ]
+t: 206	 action: [-0.028  0.004 -0.012  0.001 -0.001 -0.009 -1.026]
+t: 207	 action: [-2.777e-02  6.995e-03 -1.505e-02  5.378e-03 -4.732e-05 -1.231e-02 -1.057e+00]
+t: 208	 action: [-4.376e-02  5.662e-03  8.340e-03  2.483e-04 -2.360e-03 -6.772e-03 -1.026e+00]
+t: 209	 action: [-3.491e-02  5.940e-03  9.084e-03  2.782e-03 -3.159e-04 -9.624e-03 -1.052e+00]
+t: 210	 action: [-6.502e-03  1.806e-02 -2.491e-02  5.365e-03  5.294e-03 -6.778e-06 -1.036e+00]
+t: 211	 action: [ 0.011 -0.003 -0.014 -0.001  0.009 -0.014 -1.041]
+t: 212	 action: [-3.704e-02  1.655e-02 -1.748e-02  3.984e-03 -6.936e-05  8.661e-04 -1.031e+00]
+t: 213	 action: [ 0.002 -0.016  0.021 -0.004  0.008 -0.012 -1.04 ]
+t: 214	 action: [-4.143e-02  7.875e-03 -1.268e-02  1.403e-03 -7.128e-04 -3.907e-03 -1.032e+00]
+t: 215	 action: [-0.039  0.012 -0.013  0.004 -0.003 -0.016 -1.06 ]
+t: 216	 action: [-5.679e-02  2.170e-03  4.501e-03 -1.051e-04 -3.376e-03 -5.006e-03 -1.028e+00]
+t: 217	 action: [-0.046  0.007  0.002  0.001 -0.003 -0.011 -1.06 ]
+[07-31 01:27:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+t: 218	 action: [ 0.012  0.018 -0.016  0.004  0.009 -0.005 -1.038]
+t: 219	 action: [ 1.724e-02 -1.051e-02 -1.594e-04 -1.740e-04  7.749e-03 -1.260e-02 -1.040e+00]
+t: 220	 action: [-2.262e-02  1.835e-02 -8.790e-03  3.301e-03  2.324e-03 -1.863e-04 -1.028e+00]
+t: 221	 action: [ 0.009 -0.019  0.036 -0.003  0.007 -0.007 -1.032]
+t: 222	 action: [-2.808e-02  4.564e-03 -3.447e-03  8.253e-04 -2.319e-03 -5.878e-03 -1.029e+00]
+t: 223	 action: [-2.693e-02  5.797e-03 -3.447e-03  5.801e-03 -8.521e-04 -9.546e-03 -1.060e+00]
+t: 224	 action: [-4.184e-02  6.490e-03  2.015e-02  2.213e-04 -3.535e-03 -3.811e-03 -1.027e+00]
+t: 225	 action: [-0.031  0.005  0.022  0.004 -0.001 -0.006 -1.055]
+t: 226	 action: [-0.007  0.019 -0.014  0.005  0.004  0.003 -1.039]
+t: 227	 action: [ 9.229e-03 -6.228e-03  5.287e-03 -7.587e-04  7.755e-03 -1.206e-02 -1.044e+00]
+t: 228	 action: [-0.037  0.018 -0.006  0.004 -0.002  0.004 -1.033]
+t: 229	 action: [ 0.002 -0.018  0.033 -0.003  0.007 -0.009 -1.041]
+t: 230	 action: [-0.04   0.007 -0.005  0.001 -0.002 -0.001 -1.034]
+t: 231	 action: [-0.037  0.01  -0.006  0.005 -0.003 -0.013 -1.062]
+t: 232	 action: [-5.355e-02  3.945e-03  1.601e-02 -1.014e-04 -4.732e-03 -2.462e-03 -1.030e+00]
+t: 233	 action: [-0.04   0.006  0.011  0.003 -0.004 -0.008 -1.062]
+[07-31 01:27:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+t: 234	 action: [ 0.015  0.019 -0.015  0.003  0.013 -0.002 -1.041]
+t: 235	 action: [ 1.692e-02 -1.090e-02 -4.574e-03  5.573e-04  8.806e-03 -1.064e-02 -1.041e+00]
+t: 236	 action: [-0.02   0.018 -0.008  0.003  0.004  0.002 -1.03 ]
+t: 237	 action: [ 0.01  -0.02   0.035 -0.003  0.008 -0.005 -1.035]
+t: 238	 action: [-2.442e-02  6.806e-03 -6.223e-03  6.890e-04 -9.746e-04 -3.653e-03 -1.032e+00]
+t: 239	 action: [-2.615e-02  3.234e-03 -6.661e-03  6.303e-03  2.499e-04 -7.274e-03 -1.063e+00]
+t: 240	 action: [-3.792e-02  8.742e-03  1.924e-02  1.280e-04 -1.977e-03 -2.324e-03 -1.030e+00]
+t: 241	 action: [-2.908e-02  1.559e-03  1.776e-02  4.035e-03 -3.544e-04 -3.434e-03 -1.057e+00]
+t: 242	 action: [-0.003  0.021 -0.015  0.005  0.005  0.004 -1.041]
+t: 243	 action: [ 9.442e-03 -6.538e-03  2.943e-03 -3.573e-04  8.151e-03 -1.000e-02 -1.044e+00]
+t: 244	 action: [-0.033  0.019 -0.005  0.003 -0.001  0.005 -1.035]
+t: 245	 action: [ 0.004 -0.018  0.034 -0.003  0.008 -0.006 -1.042]
+t: 246	 action: [-3.593e-02  9.187e-03 -6.923e-03  1.265e-03 -6.905e-04  8.849e-05 -1.037e+00]
+t: 247	 action: [-0.036  0.008 -0.009  0.005 -0.002 -0.011 -1.065]
+t: 248	 action: [-4.907e-02  6.927e-03  1.582e-02 -1.327e-05 -3.319e-03 -1.225e-03 -1.031e+00]
+t: 249	 action: [-0.038  0.003  0.008  0.003 -0.003 -0.005 -1.064]
+[07-31 01:27:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+t: 250	 action: [ 0.022  0.016 -0.008  0.004  0.016 -0.004 -1.042]
+t: 251	 action: [ 0.018 -0.017 -0.013  0.002  0.01  -0.012 -1.041]
+t: 252	 action: [-1.562e-02  1.505e-02 -6.843e-03  2.167e-03  5.814e-03  6.493e-04 -1.032e+00]
+t: 253	 action: [ 0.012 -0.027  0.027 -0.001  0.009 -0.007 -1.036]
+t: 254	 action: [-2.117e-02  3.922e-03 -1.111e-02  1.695e-03  7.817e-04 -4.023e-03 -1.033e+00]
+t: 255	 action: [-0.024 -0.004 -0.014  0.008  0.001 -0.008 -1.064]
+t: 256	 action: [-3.555e-02  6.718e-03  1.679e-02  4.533e-04 -6.658e-04 -2.694e-03 -1.032e+00]
+t: 257	 action: [-2.737e-02 -4.576e-03  9.278e-03  5.483e-03  1.051e-04 -5.068e-03 -1.058e+00]
+t: 258	 action: [-7.144e-04  1.691e-02 -1.682e-02  5.114e-03  7.199e-03  3.476e-03 -1.042e+00]
+t: 259	 action: [ 0.011 -0.011 -0.014  0.001  0.009 -0.012 -1.045]
+t: 260	 action: [-2.982e-02  1.630e-02 -4.621e-03  3.292e-03  4.729e-05  4.018e-03 -1.036e+00]
+t: 261	 action: [ 0.008 -0.024  0.025 -0.001  0.008 -0.008 -1.043]
+t: 262	 action: [-3.576e-02  6.714e-03 -1.211e-02  1.870e-03  1.215e-03 -1.788e-04 -1.037e+00]
+t: 263	 action: [-0.032  0.002 -0.015  0.006 -0.001 -0.012 -1.065]
+t: 264	 action: [-4.761e-02  5.337e-03  1.455e-02  5.706e-04 -2.543e-03 -1.510e-03 -1.034e+00]
+t: 265	 action: [-3.573e-02 -3.475e-03 -2.522e-04  4.315e-03 -2.454e-03 -6.870e-03 -1.067e+00]
+[07-31 01:27:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+t: 266	 action: [ 2.256e-02  1.452e-02  2.137e-02  2.667e-03  2.023e-02  3.206e-04 -1.045e+00]
+t: 267	 action: [ 1.647e-02 -1.950e-02  5.634e-03  6.783e-04  1.129e-02 -1.017e-02 -1.044e+00]
+t: 268	 action: [-0.019  0.015  0.014  0.002  0.008  0.002 -1.036]
+t: 269	 action: [ 0.009 -0.03   0.035 -0.003  0.009 -0.005 -1.038]
+t: 270	 action: [-0.021  0.005  0.003  0.001  0.003 -0.002 -1.035]
+t: 271	 action: [-0.024 -0.005 -0.005  0.007  0.002 -0.006 -1.067]
+t: 272	 action: [-3.579e-02  8.552e-03  3.066e-02  4.570e-04  8.365e-04 -1.650e-03 -1.035e+00]
+t: 273	 action: [-2.810e-02 -4.502e-03  2.318e-02  4.766e-03  4.870e-04 -3.520e-03 -1.062e+00]
+t: 274	 action: [-0.005  0.017  0.001  0.004  0.009  0.005 -1.045]
+t: 275	 action: [ 8.588e-03 -1.480e-02  6.316e-03 -2.053e-04  9.344e-03 -9.767e-03 -1.047e+00]
+t: 276	 action: [-0.033  0.016  0.013  0.003  0.001  0.005 -1.04 ]
+t: 277	 action: [ 0.004 -0.027  0.035 -0.003  0.008 -0.006 -1.044]
+t: 278	 action: [-3.603e-02  7.423e-03  5.866e-04  1.551e-03  2.839e-03  9.758e-04 -1.039e+00]
+t: 279	 action: [-3.337e-02 -2.225e-03 -7.945e-03  5.335e-03 -9.274e-04 -9.583e-03 -1.068e+00]
+t: 280	 action: [-4.776e-02  7.222e-03  2.787e-02  2.231e-04 -1.185e-03 -7.208e-04 -1.037e+00]
+t: 281	 action: [-0.037 -0.004  0.014  0.004 -0.002 -0.005 -1.068]
+[07-31 01:27:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+t: 282	 action: [ 0.023  0.017  0.032  0.003  0.024  0.001 -1.046]
+t: 283	 action: [ 1.561e-02 -1.712e-02 -9.617e-04  4.976e-04  1.226e-02 -9.337e-03 -1.046e+00]
+t: 284	 action: [-0.022  0.016  0.012  0.002  0.009  0.003 -1.037]
+t: 285	 action: [ 0.005 -0.029  0.025 -0.003  0.009 -0.004 -1.04 ]
+t: 286	 action: [-0.025  0.007 -0.006  0.002  0.002 -0.001 -1.037]
+t: 287	 action: [-0.025 -0.006 -0.015  0.006  0.002 -0.005 -1.069]
+t: 288	 action: [-3.960e-02  1.016e-02  2.137e-02  4.781e-04  3.300e-04 -7.875e-04 -1.037e+00]
+t: 289	 action: [-3.136e-02 -6.335e-03  1.031e-02  4.211e-03  2.046e-04 -2.247e-03 -1.064e+00]
+t: 290	 action: [-0.01   0.017 -0.002  0.004  0.009  0.006 -1.046]
+t: 291	 action: [ 5.294e-03 -1.261e-02 -4.989e-03 -4.773e-04  8.999e-03 -8.452e-03 -1.049e+00]
+t: 292	 action: [-3.768e-02  1.620e-02  9.275e-03  3.157e-03  2.989e-04  5.150e-03 -1.041e+00]
+t: 293	 action: [-6.037e-04 -2.508e-02  2.643e-02 -2.812e-03  7.340e-03 -4.729e-03 -1.045e+00]
+t: 294	 action: [-0.04   0.008 -0.007  0.002  0.003  0.002 -1.042]
+t: 295	 action: [-0.037 -0.002 -0.014  0.005 -0.001 -0.008 -1.071]
+t: 296	 action: [-5.139e-02  8.508e-03  1.887e-02  2.574e-04 -1.622e-03  1.546e-05 -1.039e+00]
+t: 297	 action: [-0.04  -0.005  0.003  0.003 -0.003 -0.003 -1.07 ]
+[07-31 01:27:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 1.0000
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 32
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 64%|██████▍   | 32/50 [16:58<09:34, 31.92s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 33...
+Query 1/1: Action query time = 0.989 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+t: 298	 action: [ 3.501e-02  1.858e-02  5.490e-02  2.966e-03  3.244e-02  6.084e-04 -1.049e+00]
+t: 299	 action: [ 0.019 -0.018  0.01   0.002  0.017 -0.011 -1.047]
+t: 300	 action: [-0.015  0.017  0.024  0.002  0.014  0.002 -1.04 ]
+t: 301	 action: [ 0.008 -0.029  0.026 -0.002  0.011 -0.006 -1.041]
+t: 302	 action: [-1.962e-02  9.296e-03 -4.816e-04  2.353e-03  5.682e-03 -1.319e-03 -1.039e+00]
+t: 303	 action: [-0.021 -0.006 -0.012  0.007  0.005 -0.006 -1.071]
+t: 304	 action: [-3.623e-02  1.351e-02  2.756e-02  7.231e-04  3.241e-03 -1.178e-03 -1.039e+00]
+t: 305	 action: [-0.029 -0.006  0.015  0.005  0.002 -0.003 -1.065]
+t: 306	 action: [-0.006  0.017  0.007  0.004  0.012  0.005 -1.049]
+t: 307	 action: [ 5.719e-03 -1.518e-02  5.505e-03  5.226e-05  9.813e-03 -9.291e-03 -1.050e+00]
+t: 308	 action: [-0.034  0.018  0.021  0.003  0.003  0.005 -1.044]
+t: 309	 action: [ 0.001 -0.026  0.029 -0.003  0.008 -0.006 -1.047]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=32--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=32--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 33...
+[07-31 01:27:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5030
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.5030
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5030
+t=10: Selected seed 195 with value = 0.5030
+t: 10	 action: [ 1.703e-01  1.165e-01  6.179e-03  3.428e-03 -2.209e-03  3.287e-04 -1.023e+00]
+t: 11	 action: [ 2.728e-01  2.079e-01  1.196e-02  6.138e-03  1.041e-04 -4.390e-03 -1.020e+00]
+t: 12	 action: [ 3.818e-01  3.588e-01  6.495e-03  2.713e-03 -2.422e-04  9.954e-04 -1.019e+00]
+t: 13	 action: [ 0.493  0.417  0.012  0.006 -0.002 -0.004 -1.026]
+t: 14	 action: [ 0.591  0.505  0.004 -0.003  0.006 -0.002 -1.033]
+t: 15	 action: [ 6.887e-01  5.866e-01  8.432e-03  4.667e-03  5.822e-04 -2.227e-03 -1.053e+00]
+t: 16	 action: [ 0.735  0.606  0.008 -0.004  0.012 -0.002 -1.02 ]
+t: 17	 action: [ 7.776e-01  6.410e-01  1.911e-05  6.280e-03 -2.166e-03 -2.500e-03 -1.058e+00]
+t: 18	 action: [ 7.505e-01  6.378e-01 -1.978e-02  2.896e-03  1.022e-03  4.545e-03 -1.026e+00]
+t: 19	 action: [ 8.005e-01  6.150e-01 -1.568e-02 -3.239e-03  6.125e-03  7.941e-04 -1.031e+00]
+t: 20	 action: [ 0.8    0.634 -0.073 -0.004 -0.002  0.003 -1.027]
+t: 21	 action: [ 8.307e-01  5.975e-01 -8.137e-02 -5.711e-03  5.709e-03  9.720e-04 -1.032e+00]
+t: 22	 action: [ 8.389e-01  5.895e-01 -1.399e-01 -3.466e-03 -8.502e-04  1.884e-03 -1.015e+00]
+t: 23	 action: [ 8.553e-01  5.525e-01 -1.807e-01  6.191e-04 -3.492e-03  2.528e-03 -1.050e+00]
+t: 24	 action: [ 0.844  0.518 -0.278 -0.007 -0.003 -0.001 -1.017]
+t: 25	 action: [ 0.859  0.431 -0.367  0.002 -0.005  0.003 -1.059]
+[07-31 01:27:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5410
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5410
+Query 1/1: Action query time = 1.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5410
+t=26: Selected seed 195 with value = 0.5410
+t: 26	 action: [ 0.703  0.457 -0.133 -0.006 -0.009  0.007 -1.025]
+t: 27	 action: [ 0.609  0.366 -0.146 -0.008 -0.006 -0.001 -1.029]
+t: 28	 action: [ 0.521  0.219 -0.255  0.003 -0.019  0.006 -1.025]
+t: 29	 action: [ 4.178e-01  1.089e-01 -3.237e-01 -4.100e-03 -1.110e-02 -8.449e-04 -1.030e+00]
+t: 30	 action: [ 2.938e-01  1.375e-02 -4.568e-01 -6.288e-04 -1.820e-02 -2.702e-03 -1.023e+00]
+t: 31	 action: [ 0.242 -0.042 -0.592  0.007 -0.02  -0.005 -1.057]
+t: 32	 action: [ 0.17  -0.023 -0.816  0.001 -0.027 -0.004 -1.024]
+t: 33	 action: [ 0.122 -0.04  -0.952  0.008 -0.029 -0.005 -1.059]
+t: 34	 action: [ 0.034 -0.088 -0.915  0.006 -0.047  0.003 -1.032]
+t: 35	 action: [-0.009 -0.116 -0.992 -0.002 -0.038 -0.005 -1.031]
+t: 36	 action: [-0.089 -0.09  -0.952  0.005 -0.051  0.007 -1.028]
+t: 37	 action: [-0.122 -0.121 -1.023 -0.004 -0.04  -0.003 -1.031]
+t: 38	 action: [-1.754e-01 -4.186e-02 -9.478e-01 -3.767e-03 -4.910e-02  5.024e-04 -1.031e+00]
+t: 39	 action: [-2.084e-01 -1.721e-02 -9.702e-01 -4.009e-05 -4.199e-02 -1.730e-03 -1.050e+00]
+t: 40	 action: [-0.269 -0.032 -0.942 -0.007 -0.043  0.001 -1.023]
+t: 41	 action: [-0.274 -0.012 -0.957 -0.003 -0.034  0.002 -1.055]
+[07-31 01:27:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6253
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6253
+Query 1/1: Action query time = 0.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6253
+t=42: Selected seed 195 with value = 0.6253
+t: 42	 action: [-5.743e-02  3.731e-02 -1.067e+00  3.744e-02 -3.536e-02  9.850e-04 -1.041e+00]
+t: 43	 action: [-0.039  0.06  -1.007  0.024 -0.019 -0.009 -1.038]
+t: 44	 action: [-0.046  0.078 -1.006  0.012 -0.02   0.002 -1.033]
+t: 45	 action: [-2.370e-02  1.091e-01 -9.378e-01  1.036e-02 -1.074e-04 -6.229e-03 -1.039e+00]
+t: 46	 action: [-0.038  0.175 -0.83  -0.002  0.003 -0.011 -1.039]
+t: 47	 action: [-0.029  0.206 -0.862  0.005 -0.002 -0.02  -1.06 ]
+t: 48	 action: [-0.06   0.229 -0.694 -0.006  0.004 -0.011 -1.035]
+t: 49	 action: [-1.023e-01  2.132e-01 -7.651e-01 -9.116e-04  4.400e-03 -2.170e-02 -1.055e+00]
+t: 50	 action: [-0.076  0.13  -0.714  0.002  0.01   0.006 -1.052]
+t: 51	 action: [-0.11   0.105 -0.624 -0.006  0.008  0.014 -1.152]
+t: 52	 action: [-0.244  0.088 -0.635  0.002  0.01   0.007 -1.198]
+t: 53	 action: [-0.309  0.053 -0.593 -0.004  0.013  0.013 -1.155]
+t: 54	 action: [-0.31   0.049 -0.555 -0.009  0.01  -0.012 -1.053]
+t: 55	 action: [-3.604e-01  4.255e-02 -5.449e-01 -4.596e-03  3.795e-03 -7.215e-04  1.234e+00]
+t: 56	 action: [-0.301  0.009 -0.469 -0.01   0.011 -0.012  1.119]
+t: 57	 action: [-2.384e-01  2.137e-02 -4.226e-01 -4.652e-03  5.543e-03  6.698e-04  1.212e+00]
+[07-31 01:27:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.055 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7030
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7030
+Query 1/1: Action query time = 1.055 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7030
+t=58: Selected seed 195 with value = 0.7030
+t: 58	 action: [-0.456  0.009 -0.632 -0.003 -0.002  0.007  0.969]
+t: 59	 action: [-0.355  0.011 -0.464 -0.019  0.021  0.007  1.012]
+t: 60	 action: [-0.293 -0.003 -0.353 -0.013  0.029  0.009  0.971]
+t: 61	 action: [-0.188 -0.014 -0.189 -0.029  0.044  0.004  1.014]
+t: 62	 action: [-0.117 -0.007 -0.083 -0.026  0.048 -0.008  0.998]
+t: 63	 action: [-0.015 -0.003  0.026 -0.031  0.059 -0.003  1.017]
+t: 64	 action: [-0.025 -0.013  0.122 -0.021  0.048 -0.017  0.998]
+t: 65	 action: [ 0.02  -0.003  0.173 -0.029  0.062 -0.02   1.021]
+t: 66	 action: [-5.707e-04 -9.576e-02  2.839e-01 -1.237e-02  2.382e-02 -3.081e-02  9.901e-01]
+t: 67	 action: [ 0.026 -0.089  0.442 -0.021  0.016 -0.038  1.003]
+t: 68	 action: [ 0.022 -0.096  0.656 -0.006  0.01  -0.033  0.975]
+t: 69	 action: [ 0.043 -0.103  0.824 -0.014  0.004 -0.036  1.009]
+t: 70	 action: [ 0.007 -0.044  0.918 -0.004 -0.009 -0.041  0.999]
+t: 71	 action: [-0.013 -0.129  0.934 -0.002  0.002 -0.036  1.007]
+t: 72	 action: [-2.643e-02 -1.892e-01  9.459e-01 -4.028e-04 -2.071e-02 -3.387e-02  9.973e-01]
+t: 73	 action: [-0.045 -0.295  0.978  0.017 -0.007 -0.028  1.011]
+[07-31 01:27:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.067 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8159
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8159
+Query 1/1: Action query time = 1.067 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8159
+t=74: Selected seed 195 with value = 0.8159
+t: 74	 action: [ 0.025 -0.619  0.846  0.063  0.034 -0.026  0.99 ]
+t: 75	 action: [ 0.015 -0.697  0.826  0.056  0.049 -0.022  1.019]
+t: 76	 action: [-0.024 -0.733  0.613  0.068  0.045 -0.018  0.986]
+t: 77	 action: [-0.02  -0.776  0.529  0.061  0.059 -0.018  1.011]
+t: 78	 action: [-0.066 -0.829  0.334  0.064  0.05  -0.013  0.999]
+t: 79	 action: [-0.118 -0.808  0.251  0.061  0.049 -0.009  1.008]
+t: 80	 action: [-0.107 -0.84   0.091  0.062  0.052 -0.009  0.997]
+t: 81	 action: [-0.113 -0.772  0.026  0.059  0.05  -0.01   1.009]
+t: 82	 action: [-1.370e-01 -8.069e-01 -7.735e-02  7.042e-02  3.235e-02  3.944e-04  9.930e-01]
+t: 83	 action: [-0.164 -0.824 -0.129  0.053  0.038 -0.002  1.013]
+t: 84	 action: [-0.195 -0.742 -0.245  0.061  0.026  0.001  0.981]
+t: 85	 action: [-0.195 -0.661 -0.357  0.043  0.028  0.001  1.024]
+t: 86	 action: [-2.388e-01 -5.137e-01 -4.301e-01  3.089e-02  1.024e-02 -2.207e-04  1.006e+00]
+t: 87	 action: [-0.255 -0.422 -0.531  0.024  0.007  0.004  1.009]
+t: 88	 action: [-2.357e-01 -2.913e-01 -5.932e-01  1.031e-02  1.895e-04 -5.873e-04  9.947e-01]
+t: 89	 action: [-0.2   -0.158 -0.653  0.011  0.003  0.004  1.019]
+[07-31 01:27:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.100 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9313
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9313
+Query 1/1: Action query time = 1.100 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9313
+t=90: Selected seed 195 with value = 0.9313
+t: 90	 action: [-0.254 -0.364 -0.65   0.01   0.016  0.01   0.976]
+t: 91	 action: [-0.239 -0.294 -0.632 -0.002  0.028  0.011  1.051]
+t: 92	 action: [-2.054e-01 -1.177e-01 -6.175e-01  8.165e-04  3.731e-02  8.619e-03  9.956e-01]
+t: 93	 action: [-0.148 -0.095 -0.539 -0.014  0.049  0.017  1.003]
+t: 94	 action: [-0.14  -0.015 -0.355 -0.013  0.084  0.007  1.017]
+t: 95	 action: [-0.113  0.035 -0.275 -0.021  0.088  0.021  1.025]
+t: 96	 action: [-0.051  0.008 -0.154 -0.024  0.1    0.012  1.016]
+t: 97	 action: [ 0.018  0.052 -0.069 -0.021  0.102 -0.003 -1.124]
+t: 98	 action: [ 0.004  0.022  0.052 -0.013  0.096  0.006 -1.046]
+t: 99	 action: [ 6.582e-04  5.108e-04  1.294e-01 -1.308e-02  8.722e-02 -2.053e-03 -1.044e+00]
+t: 100	 action: [ 0.026  0.022  0.196 -0.008  0.089  0.004 -1.039]
+t: 101	 action: [ 2.242e-02 -9.137e-04  2.550e-01 -1.159e-02  8.754e-02 -8.881e-03 -1.031e+00]
+t: 102	 action: [ 5.884e-04  2.409e-02  3.249e-01 -9.726e-03  9.506e-02 -5.745e-03 -1.048e+00]
+t: 103	 action: [ 0.038  0.066  0.402 -0.007  0.089 -0.015 -1.049]
+t: 104	 action: [ 0.036  0.007  0.395 -0.008  0.083 -0.01  -1.035]
+t: 105	 action: [ 0.053  0.053  0.422 -0.006  0.086 -0.015 -1.059]
+[07-31 01:27:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.106 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9978
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 1.106 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=106: Selected seed 195 with value = 0.9978
+t: 106	 action: [ 0.067  0.012  0.336 -0.011  0.111  0.005 -1.038]
+t: 107	 action: [ 0.083 -0.008  0.373 -0.012  0.091  0.004 -1.038]
+t: 108	 action: [ 1.037e-01  4.079e-03  4.114e-01 -4.456e-04  1.012e-01  3.733e-03 -1.030e+00]
+t: 109	 action: [ 0.088 -0.014  0.412 -0.005  0.091  0.005 -1.033]
+t: 110	 action: [ 0.071 -0.002  0.362  0.004  0.097 -0.001 -1.031]
+t: 111	 action: [ 6.948e-02  1.245e-02  3.648e-01 -3.084e-04  8.697e-02  3.541e-03 -1.057e+00]
+t: 112	 action: [ 6.535e-02  4.972e-04  3.425e-01  3.772e-03  9.294e-02 -2.061e-03 -1.026e+00]
+t: 113	 action: [ 5.936e-02  1.718e-02  3.388e-01  3.302e-03  7.769e-02  3.700e-04 -1.055e+00]
+t: 114	 action: [ 0.093  0.006  0.324  0.005  0.051  0.006 -1.031]
+t: 115	 action: [ 0.062 -0.013  0.298  0.002  0.04   0.001 -1.041]
+t: 116	 action: [ 0.079  0.013  0.287  0.005  0.048  0.004 -1.02 ]
+t: 117	 action: [ 5.778e-02 -5.411e-03  2.718e-01  2.915e-03  4.668e-02 -3.644e-05 -1.036e+00]
+t: 118	 action: [ 0.035  0.012  0.236  0.006  0.05   0.001 -1.033]
+t: 119	 action: [ 1.917e-02  2.774e-02  2.364e-01  6.620e-03  3.660e-02 -4.334e-05 -1.055e+00]
+t: 120	 action: [ 0.039  0.015  0.218  0.003  0.051 -0.003 -1.023]
+t: 121	 action: [ 0.02   0.032  0.224  0.007  0.039 -0.002 -1.061]
+[07-31 01:27:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.078 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.078 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.026  0.064 -0.056  0.004 -0.003  0.004 -1.048]
+t: 123	 action: [ 2.270e-02  2.834e-02 -8.607e-03 -4.149e-03 -2.792e-04 -3.324e-03 -1.044e+00]
+t: 124	 action: [ 0.005  0.038 -0.032  0.004 -0.004  0.003 -1.037]
+t: 125	 action: [ 1.297e-02  4.591e-03  3.852e-02 -5.315e-03  5.505e-03 -7.711e-04 -1.040e+00]
+t: 126	 action: [-0.011  0.039 -0.041  0.002 -0.008 -0.002 -1.038]
+t: 127	 action: [-0.007  0.023  0.009  0.002 -0.011 -0.002 -1.068]
+t: 128	 action: [-0.014  0.02  -0.002  0.001 -0.004 -0.001 -1.03 ]
+t: 129	 action: [-1.023e-02  2.173e-02  4.895e-02  2.190e-04 -4.998e-03 -2.102e-03 -1.061e+00]
+t: 130	 action: [ 0.029  0.003 -0.014  0.009 -0.008  0.006 -1.049]
+t: 131	 action: [ 0.019 -0.007  0.044 -0.006 -0.004 -0.004 -1.049]
+t: 132	 action: [ 0.013  0.014  0.007  0.006 -0.006  0.006 -1.037]
+t: 133	 action: [ 2.318e-02 -7.738e-04  5.284e-02 -6.059e-03  5.655e-03  4.637e-07 -1.043e+00]
+t: 134	 action: [ 2.820e-03  5.565e-04  5.357e-03  4.704e-03 -2.859e-03  1.387e-03 -1.041e+00]
+t: 135	 action: [-7.884e-03  2.669e-02  3.156e-02  5.883e-04 -1.422e-02 -5.124e-03 -1.072e+00]
+t: 136	 action: [-9.773e-03  9.517e-03  3.601e-02  1.432e-03  7.273e-04 -1.087e-03 -1.031e+00]
+t: 137	 action: [-1.158e-02  3.667e-02  9.329e-02  1.547e-04 -5.920e-03 -1.981e-03 -1.067e+00]
+[07-31 01:27:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.092 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.092 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [ 0.015  0.064 -0.11   0.004 -0.007  0.003 -1.048]
+t: 139	 action: [ 0.013  0.028 -0.095 -0.003 -0.006 -0.005 -1.043]
+t: 140	 action: [-0.003  0.037 -0.087  0.004 -0.009  0.003 -1.037]
+t: 141	 action: [ 9.925e-03  9.460e-05 -3.439e-02 -4.216e-03  7.945e-04 -2.025e-03 -1.040e+00]
+t: 142	 action: [-0.019  0.035 -0.096  0.002 -0.013 -0.003 -1.041]
+t: 143	 action: [-0.018  0.016 -0.044  0.003 -0.017 -0.004 -1.068]
+t: 144	 action: [-0.021  0.016 -0.053  0.002 -0.01  -0.002 -1.033]
+t: 145	 action: [-0.015  0.01   0.004  0.002 -0.01  -0.004 -1.062]
+t: 146	 action: [ 0.025 -0.007 -0.068  0.009 -0.015  0.005 -1.051]
+t: 147	 action: [ 0.014 -0.023 -0.031 -0.004 -0.016 -0.006 -1.049]
+t: 148	 action: [ 0.014  0.012 -0.047  0.007 -0.014  0.006 -1.039]
+t: 149	 action: [ 2.394e-02 -1.392e-02  2.540e-02 -4.311e-03 -1.944e-03 -6.515e-04 -1.045e+00]
+t: 150	 action: [-1.705e-03 -4.157e-03 -4.774e-02  5.055e-03 -1.134e-02  4.678e-04 -1.046e+00]
+t: 151	 action: [-0.019  0.011 -0.007  0.004 -0.023 -0.008 -1.072]
+t: 152	 action: [-0.014  0.006 -0.017  0.002 -0.008 -0.001 -1.034]
+t: 153	 action: [-0.019  0.021  0.011  0.003 -0.012 -0.003 -1.067]
+[07-31 01:27:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.136 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.136 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+t: 154	 action: [ 0.018  0.027 -0.087  0.004  0.001  0.005 -1.049]
+t: 155	 action: [ 1.728e-02 -7.284e-03 -6.189e-02 -2.242e-04  4.434e-03 -2.376e-03 -1.046e+00]
+t: 156	 action: [ 0.004  0.021 -0.061  0.005  0.002  0.004 -1.035]
+t: 157	 action: [ 0.015 -0.024  0.005 -0.002  0.01   0.001 -1.039]
+t: 158	 action: [-1.625e-02  1.062e-02 -6.748e-02  3.168e-03 -7.112e-04 -4.470e-04 -1.039e+00]
+t: 159	 action: [-8.690e-03 -5.070e-03 -1.588e-02  5.531e-03 -3.443e-03  3.317e-04 -1.068e+00]
+t: 160	 action: [-1.850e-02  9.064e-03 -2.764e-02  2.585e-03  3.403e-03  1.410e-04 -1.030e+00]
+t: 161	 action: [-1.278e-02 -1.069e-03  1.812e-02  3.913e-03  1.640e-03  6.358e-04 -1.060e+00]
+t: 162	 action: [ 0.026 -0.005 -0.051  0.01  -0.003  0.006 -1.05 ]
+t: 163	 action: [ 0.018 -0.025 -0.018 -0.001  0.002 -0.003 -1.049]
+t: 164	 action: [ 1.182e-02  1.422e-02 -2.876e-02  7.475e-03 -6.113e-05  6.532e-03 -1.038e+00]
+t: 165	 action: [ 0.025 -0.023  0.035 -0.002  0.009  0.003 -1.044]
+t: 166	 action: [-0.003 -0.002 -0.03   0.006  0.003  0.001 -1.044]
+t: 167	 action: [-0.014  0.005 -0.002  0.005 -0.007 -0.003 -1.07 ]
+t: 168	 action: [-1.512e-02  7.414e-03 -9.792e-04  2.728e-03  6.271e-03 -3.890e-04 -1.032e+00]
+t: 169	 action: [-1.736e-02  1.211e-02  2.326e-02  4.463e-03 -5.105e-04  1.651e-03 -1.065e+00]
+[07-31 01:27:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.152 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.152 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+t: 170	 action: [ 0.024  0.015 -0.07   0.005  0.003  0.006 -1.047]
+t: 171	 action: [ 0.024 -0.026 -0.043  0.001  0.007 -0.002 -1.045]
+t: 172	 action: [ 0.014  0.016 -0.048  0.005  0.006  0.004 -1.034]
+t: 173	 action: [ 1.864e-02 -3.599e-02  1.766e-02 -7.493e-04  1.321e-02  2.116e-03 -1.039e+00]
+t: 174	 action: [-7.282e-03  3.813e-03 -5.553e-02  4.134e-03  4.180e-03  5.880e-04 -1.037e+00]
+t: 175	 action: [ 1.577e-03 -1.457e-02 -6.728e-03  6.772e-03  5.001e-04  1.533e-03 -1.069e+00]
+t: 176	 action: [-1.004e-02  6.133e-03 -1.773e-02  2.938e-03  8.455e-03  4.925e-04 -1.030e+00]
+t: 177	 action: [-0.01  -0.005  0.025  0.005  0.006  0.002 -1.061]
+t: 178	 action: [ 0.033 -0.009 -0.048  0.01   0.001  0.006 -1.05 ]
+t: 179	 action: [ 2.637e-02 -3.268e-02 -1.895e-02  3.748e-04  6.147e-03 -2.634e-03 -1.050e+00]
+t: 180	 action: [ 0.019  0.013 -0.024  0.007  0.005  0.006 -1.037]
+t: 181	 action: [ 2.798e-02 -3.188e-02  3.302e-02 -7.595e-04  1.183e-02  3.203e-03 -1.045e+00]
+t: 182	 action: [ 0.006 -0.002 -0.027  0.006  0.008  0.002 -1.043]
+t: 183	 action: [-0.006 -0.001 -0.003  0.007 -0.004 -0.002 -1.071]
+t: 184	 action: [-8.115e-03  6.822e-03  1.096e-03  3.202e-03  1.142e-02 -1.654e-04 -1.031e+00]
+t: 185	 action: [-0.014  0.005  0.024  0.006  0.003  0.004 -1.065]
+[07-31 01:27:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+t: 186	 action: [ 0.027  0.011 -0.047  0.006  0.004  0.007 -1.045]
+t: 187	 action: [ 2.735e-02 -3.606e-02 -1.869e-02  1.736e-03  8.939e-03 -6.891e-04 -1.044e+00]
+t: 188	 action: [ 0.019  0.014 -0.03   0.005  0.008  0.005 -1.033]
+t: 189	 action: [ 2.207e-02 -4.046e-02  3.065e-02 -6.732e-04  1.513e-02  3.019e-03 -1.039e+00]
+t: 190	 action: [-0.004  0.001 -0.039  0.005  0.007  0.001 -1.035]
+t: 191	 action: [ 0.007 -0.019  0.004  0.007  0.003  0.003 -1.069]
+t: 192	 action: [-0.006  0.005 -0.004  0.003  0.012  0.001 -1.029]
+t: 193	 action: [-0.008 -0.006  0.042  0.006  0.01   0.003 -1.06 ]
+t: 194	 action: [ 0.036 -0.008 -0.038  0.009  0.003  0.007 -1.05 ]
+t: 195	 action: [ 3.035e-02 -3.501e-02 -1.050e-02  9.051e-04  7.890e-03 -1.614e-03 -1.050e+00]
+t: 196	 action: [ 0.022  0.012 -0.014  0.007  0.007  0.006 -1.037]
+t: 197	 action: [ 2.969e-02 -3.561e-02  3.567e-02 -2.920e-04  1.346e-02  4.314e-03 -1.046e+00]
+t: 198	 action: [ 0.01  -0.001 -0.018  0.006  0.01   0.002 -1.044]
+t: 199	 action: [-2.439e-03 -3.573e-03  1.465e-03  7.520e-03 -2.136e-03 -1.995e-04 -1.070e+00]
+t: 200	 action: [-5.089e-03  7.705e-03  1.031e-02  3.268e-03  1.426e-02  2.272e-04 -1.031e+00]
+t: 201	 action: [-0.013  0.003  0.034  0.007  0.006  0.005 -1.064]
+[07-31 01:28:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9994
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=202: Selected seed 195 with value = 0.9994
+t: 202	 action: [ 0.023  0.008 -0.038  0.006  0.002  0.007 -1.045]
+t: 203	 action: [ 2.479e-02 -3.890e-02 -7.913e-03  1.348e-03  8.002e-03 -1.582e-04 -1.045e+00]
+t: 204	 action: [ 0.016  0.012 -0.018  0.005  0.007  0.005 -1.033]
+t: 205	 action: [ 2.215e-02 -4.289e-02  3.599e-02 -7.198e-04  1.407e-02  3.341e-03 -1.039e+00]
+t: 206	 action: [-6.073e-03 -4.336e-04 -3.080e-02  4.729e-03  6.486e-03  1.606e-03 -1.036e+00]
+t: 207	 action: [ 0.004 -0.019  0.011  0.007  0.001  0.003 -1.069]
+t: 208	 action: [-0.008  0.003  0.007  0.003  0.012  0.002 -1.029]
+t: 209	 action: [-0.009 -0.006  0.055  0.006  0.008  0.003 -1.061]
+t: 210	 action: [ 0.034 -0.01  -0.03   0.009  0.002  0.007 -1.049]
+t: 211	 action: [ 2.934e-02 -3.682e-02 -1.114e-03  4.494e-04  6.703e-03 -1.328e-03 -1.051e+00]
+t: 212	 action: [ 0.019  0.01  -0.004  0.007  0.006  0.006 -1.037]
+t: 213	 action: [ 2.940e-02 -3.746e-02  3.913e-02 -5.113e-04  1.229e-02  4.529e-03 -1.046e+00]
+t: 214	 action: [ 0.009 -0.003 -0.01   0.006  0.01   0.002 -1.043]
+t: 215	 action: [-4.285e-03 -4.681e-03  5.636e-03  7.337e-03 -3.338e-03  2.918e-04 -1.070e+00]
+t: 216	 action: [-6.444e-03  6.781e-03  1.909e-02  3.285e-03  1.421e-02  1.933e-04 -1.032e+00]
+t: 217	 action: [-0.014  0.002  0.045  0.007  0.004  0.006 -1.064]
+[07-31 01:28:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9991
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=218: Selected seed 195 with value = 0.9991
+t: 218	 action: [ 1.996e-02  8.214e-03 -2.888e-02  5.881e-03  5.935e-04  6.871e-03 -1.045e+00]
+t: 219	 action: [ 2.144e-02 -3.744e-02 -4.928e-03  6.486e-04  6.673e-03  2.190e-04 -1.045e+00]
+t: 220	 action: [ 0.013  0.012 -0.015  0.005  0.005  0.004 -1.032]
+t: 221	 action: [ 0.021 -0.042  0.036 -0.001  0.013  0.004 -1.039]
+t: 222	 action: [-8.956e-03 -4.319e-04 -2.726e-02  4.632e-03  4.879e-03  1.632e-03 -1.036e+00]
+t: 223	 action: [ 6.462e-04 -1.871e-02  1.137e-02  6.794e-03 -7.508e-04  3.360e-03 -1.069e+00]
+t: 224	 action: [-0.011  0.003  0.008  0.003  0.01   0.001 -1.029]
+t: 225	 action: [-0.01  -0.007  0.054  0.006  0.006  0.004 -1.06 ]
+t: 226	 action: [ 2.948e-02 -9.047e-03 -2.654e-02  8.620e-03 -8.007e-04  6.575e-03 -1.049e+00]
+t: 227	 action: [ 2.610e-02 -3.533e-02  1.617e-03 -1.565e-04  4.424e-03 -1.031e-03 -1.052e+00]
+t: 228	 action: [ 0.016  0.01  -0.002  0.007  0.004  0.007 -1.036]
+t: 229	 action: [ 2.795e-02 -3.610e-02  3.972e-02 -9.222e-04  1.096e-02  4.618e-03 -1.046e+00]
+t: 230	 action: [ 0.006 -0.002 -0.009  0.005  0.007  0.002 -1.043]
+t: 231	 action: [-6.258e-03 -3.857e-03  6.691e-03  6.833e-03 -6.000e-03  2.609e-04 -1.070e+00]
+t: 232	 action: [-9.309e-03  7.188e-03  2.093e-02  3.269e-03  1.260e-02  3.490e-04 -1.031e+00]
+t: 233	 action: [-0.014  0.003  0.045  0.007  0.002  0.006 -1.064]
+[07-31 01:28:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9991
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=234: Selected seed 195 with value = 0.9991
+t: 234	 action: [ 2.101e-02  8.701e-03 -2.718e-02  6.074e-03 -9.674e-04  6.896e-03 -1.045e+00]
+t: 235	 action: [ 2.155e-02 -3.584e-02 -6.626e-03  1.246e-03  4.699e-03  5.337e-04 -1.045e+00]
+t: 236	 action: [ 0.012  0.012 -0.013  0.005  0.003  0.004 -1.032]
+t: 237	 action: [ 1.996e-02 -4.057e-02  3.704e-02 -5.296e-04  1.100e-02  3.499e-03 -1.038e+00]
+t: 238	 action: [-1.015e-02 -5.872e-04 -2.557e-02  5.071e-03  2.715e-03  1.459e-03 -1.036e+00]
+t: 239	 action: [-0.001 -0.019  0.01   0.007 -0.003  0.003 -1.069]
+t: 240	 action: [-0.012  0.002  0.01   0.003  0.008  0.001 -1.029]
+t: 241	 action: [-0.01  -0.007  0.055  0.006  0.004  0.003 -1.06 ]
+t: 242	 action: [ 0.03  -0.009 -0.023  0.009 -0.003  0.006 -1.048]
+t: 243	 action: [ 2.678e-02 -3.360e-02  4.480e-03  2.890e-04  1.152e-03 -1.201e-03 -1.051e+00]
+t: 244	 action: [ 1.604e-02  1.092e-02  1.841e-03  6.902e-03  9.847e-04  6.543e-03 -1.035e+00]
+t: 245	 action: [ 2.829e-02 -3.421e-02  4.173e-02 -2.485e-04  9.893e-03  4.445e-03 -1.045e+00]
+t: 246	 action: [ 0.006 -0.002 -0.005  0.006  0.005  0.002 -1.042]
+t: 247	 action: [-6.620e-03 -2.072e-03  7.075e-03  7.581e-03 -7.959e-03 -2.520e-04 -1.070e+00]
+t: 248	 action: [-1.006e-02  7.207e-03  2.549e-02  3.345e-03  1.007e-02  3.125e-04 -1.029e+00]
+t: 249	 action: [-1.439e-02  4.113e-03  4.830e-02  7.432e-03  5.768e-04  5.046e-03 -1.063e+00]
+[07-31 01:28:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9996
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=250: Selected seed 195 with value = 0.9996
+t: 250	 action: [ 0.025  0.011 -0.024  0.006 -0.002  0.007 -1.045]
+t: 251	 action: [ 2.351e-02 -2.816e-02 -2.063e-03  2.156e-04  3.136e-03  7.308e-04 -1.044e+00]
+t: 252	 action: [ 0.015  0.015 -0.01   0.004  0.001  0.004 -1.034]
+t: 253	 action: [ 0.02  -0.034  0.039 -0.002  0.01   0.004 -1.038]
+t: 254	 action: [-7.756e-03  2.203e-03 -2.354e-02  4.312e-03  9.666e-04  1.480e-03 -1.036e+00]
+t: 255	 action: [-2.878e-04 -1.356e-02  1.349e-02  6.659e-03 -4.298e-03  3.196e-03 -1.067e+00]
+t: 256	 action: [-0.011  0.005  0.014  0.003  0.006  0.001 -1.029]
+t: 257	 action: [-0.01  -0.003  0.062  0.005  0.002  0.004 -1.06 ]
+t: 258	 action: [ 0.033 -0.007 -0.017  0.009 -0.005  0.006 -1.048]
+t: 259	 action: [ 0.028 -0.029  0.015 -0.001 -0.002 -0.001 -1.051]
+t: 260	 action: [ 0.019  0.012  0.008  0.007 -0.002  0.007 -1.035]
+t: 261	 action: [ 0.029 -0.028  0.045 -0.002  0.009  0.004 -1.045]
+t: 262	 action: [ 8.714e-03  2.725e-04  7.689e-05  5.202e-03  2.916e-03  2.357e-03 -1.041e+00]
+t: 263	 action: [-5.551e-03  4.574e-03  1.257e-02  6.322e-03 -9.906e-03 -3.131e-04 -1.069e+00]
+t: 264	 action: [-8.374e-03  9.217e-03  3.141e-02  2.841e-03  7.848e-03  4.723e-04 -1.029e+00]
+t: 265	 action: [-0.014  0.011  0.058  0.006 -0.001  0.005 -1.064]
+[07-31 01:28:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+t: 266	 action: [ 0.028  0.013 -0.024  0.006 -0.003  0.007 -1.047]
+t: 267	 action: [ 2.691e-02 -1.870e-02 -8.232e-03  6.647e-04 -1.297e-04  9.471e-04 -1.044e+00]
+t: 268	 action: [ 1.655e-02  1.728e-02 -1.081e-02  4.384e-03 -6.990e-04  3.933e-03 -1.034e+00]
+t: 269	 action: [ 0.021 -0.027  0.036 -0.001  0.008  0.004 -1.038]
+t: 270	 action: [-0.006  0.006 -0.026  0.005 -0.001  0.001 -1.036]
+t: 271	 action: [ 7.142e-04 -6.249e-03  7.489e-03  7.209e-03 -6.551e-03  3.212e-03 -1.067e+00]
+t: 272	 action: [-0.009  0.007  0.011  0.003  0.003  0.001 -1.029]
+t: 273	 action: [-8.718e-03  1.270e-03  5.266e-02  5.679e-03  1.032e-05  3.351e-03 -1.060e+00]
+t: 274	 action: [ 0.036 -0.003 -0.016  0.009 -0.008  0.006 -1.049]
+t: 275	 action: [ 2.974e-02 -2.279e-02  1.651e-02 -7.738e-04 -6.196e-03 -1.167e-03 -1.049e+00]
+t: 276	 action: [ 0.021  0.014  0.008  0.007 -0.004  0.007 -1.036]
+t: 277	 action: [ 0.029 -0.021  0.046 -0.001  0.007  0.004 -1.045]
+t: 278	 action: [ 1.154e-02  2.365e-03  4.055e-04  5.575e-03  3.356e-04  2.563e-03 -1.041e+00]
+t: 279	 action: [-4.124e-03  1.008e-02  1.186e-02  6.614e-03 -1.145e-02 -7.253e-04 -1.069e+00]
+t: 280	 action: [-5.636e-03  1.058e-02  3.258e-02  3.012e-03  5.274e-03  5.297e-04 -1.029e+00]
+t: 281	 action: [-0.014  0.015  0.056  0.006 -0.003  0.004 -1.064]
+[07-31 01:28:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+t: 282	 action: [ 0.036  0.018 -0.031  0.006 -0.004  0.007 -1.048]
+t: 283	 action: [ 3.339e-02 -1.132e-02 -1.625e-02  1.898e-03 -3.733e-04  1.614e-03 -1.043e+00]
+t: 284	 action: [ 0.023  0.02  -0.017  0.004 -0.002  0.004 -1.036]
+t: 285	 action: [ 2.241e-02 -2.204e-02  3.352e-02 -4.501e-04  8.182e-03  4.327e-03 -1.038e+00]
+t: 286	 action: [ 0.002  0.012 -0.033  0.005 -0.002  0.001 -1.036]
+t: 287	 action: [ 8.070e-03  9.384e-04  3.268e-03  8.090e-03 -6.252e-03  3.646e-03 -1.066e+00]
+t: 288	 action: [-0.002  0.01   0.007  0.003  0.003  0.001 -1.03 ]
+t: 289	 action: [-5.480e-03  6.379e-03  4.812e-02  6.272e-03  1.472e-04  3.748e-03 -1.059e+00]
+t: 290	 action: [ 4.407e-02  7.320e-04 -1.764e-02  8.818e-03 -8.232e-03  6.702e-03 -1.049e+00]
+t: 291	 action: [ 3.658e-02 -1.759e-02  1.883e-02  3.219e-04 -5.077e-03 -8.479e-04 -1.048e+00]
+t: 292	 action: [ 0.029  0.016  0.005  0.007 -0.005  0.007 -1.035]
+t: 293	 action: [ 3.204e-02 -1.620e-02  4.692e-02 -5.643e-04  7.129e-03  4.308e-03 -1.044e+00]
+t: 294	 action: [ 1.840e-02  6.021e-03 -9.605e-04  5.231e-03  6.498e-05  2.553e-03 -1.041e+00]
+t: 295	 action: [ 2.944e-03  1.677e-02  1.276e-02  7.415e-03 -1.005e-02 -6.120e-04 -1.069e+00]
+t: 296	 action: [ 1.858e-03  1.370e-02  3.129e-02  2.555e-03  4.669e-03  5.729e-04 -1.029e+00]
+t: 297	 action: [-0.011  0.022  0.06   0.007 -0.002  0.004 -1.064]
+[07-31 01:28:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 1.0000
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 33
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 66%|██████▌   | 33/50 [17:30<09:04, 32.02s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 34...
+Query 1/1: Action query time = 0.993 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+t: 298	 action: [ 0.045  0.017 -0.044  0.005 -0.002  0.007 -1.049]
+t: 299	 action: [ 0.046 -0.012 -0.025  0.002  0.003  0.003 -1.043]
+t: 300	 action: [ 3.219e-02  1.943e-02 -1.796e-02  4.530e-03 -3.209e-04  4.129e-03 -1.037e+00]
+t: 301	 action: [ 0.028 -0.022  0.035 -0.001  0.01   0.005 -1.038]
+t: 302	 action: [ 1.219e-02  1.293e-02 -3.642e-02  3.264e-03  7.005e-04  1.749e-03 -1.037e+00]
+t: 303	 action: [ 0.021  0.002  0.004  0.008 -0.002  0.005 -1.065]
+t: 304	 action: [ 0.006  0.011  0.011  0.002  0.005  0.002 -1.031]
+t: 305	 action: [ 9.056e-04  9.384e-03  5.530e-02  5.260e-03  3.397e-03  5.420e-03 -1.060e+00]
+t: 306	 action: [ 0.056  0.003 -0.017  0.009 -0.005  0.008 -1.049]
+t: 307	 action: [ 4.967e-02 -1.484e-02  2.322e-02  3.327e-04  2.716e-04  2.430e-04 -1.048e+00]
+t: 308	 action: [ 0.041  0.017  0.012  0.007 -0.003  0.007 -1.036]
+t: 309	 action: [ 3.854e-02 -1.577e-02  4.858e-02 -9.604e-04  9.604e-03  5.479e-03 -1.044e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=33--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=33--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 34...
+[07-31 01:28:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4659
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4659
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4659
+t=10: Selected seed 195 with value = 0.4659
+t: 10	 action: [ 6.502e-02  3.872e-02 -4.708e-04  5.749e-03  5.659e-03  5.454e-04 -1.026e+00]
+t: 11	 action: [ 1.873e-01  1.097e-01  6.037e-03  1.258e-02 -1.254e-03  9.233e-04 -1.027e+00]
+t: 12	 action: [ 0.279  0.233  0.004  0.004  0.01   0.003 -1.023]
+t: 13	 action: [ 0.393  0.326  0.016  0.011 -0.002  0.003 -1.029]
+t: 14	 action: [ 4.820e-01  3.939e-01 -5.498e-03  9.062e-04  9.395e-03 -7.261e-05 -1.037e+00]
+t: 15	 action: [ 6.327e-01  5.005e-01  3.689e-03  1.064e-02  5.828e-04  1.937e-03 -1.053e+00]
+t: 16	 action: [ 6.970e-01  5.569e-01  3.908e-03 -2.486e-04  1.691e-02  1.036e-03 -1.025e+00]
+t: 17	 action: [ 0.789  0.616  0.009  0.011  0.001  0.003 -1.057]
+t: 18	 action: [ 0.764  0.602 -0.01   0.006  0.019  0.006 -1.026]
+t: 19	 action: [ 8.198e-01  6.186e-01  4.473e-03  2.436e-04  1.493e-02  2.056e-03 -1.033e+00]
+t: 20	 action: [ 0.807  0.629 -0.017 -0.004  0.02   0.007 -1.02 ]
+t: 21	 action: [ 0.854  0.643 -0.006 -0.006  0.018  0.004 -1.033]
+t: 22	 action: [ 0.844  0.636 -0.051  0.002  0.018  0.005 -1.009]
+t: 23	 action: [ 0.877  0.644 -0.038  0.002  0.006  0.002 -1.045]
+t: 24	 action: [ 0.867  0.626 -0.104 -0.007  0.019  0.003 -1.006]
+t: 25	 action: [ 0.902  0.594 -0.089 -0.004  0.008  0.004 -1.055]
+[07-31 01:28:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5362
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5362
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5362
+t=26: Selected seed 195 with value = 0.5362
+t: 26	 action: [ 0.806  0.515 -0.103  0.002  0.01   0.007 -1.03 ]
+t: 27	 action: [ 7.595e-01  4.950e-01 -1.226e-01  7.877e-04  1.022e-02 -9.927e-05 -1.030e+00]
+t: 28	 action: [ 0.719  0.418 -0.213  0.007  0.004  0.007 -1.039]
+t: 29	 action: [ 0.614  0.338 -0.213  0.003  0.008 -0.004 -1.036]
+t: 30	 action: [ 0.475  0.202 -0.325  0.002  0.007 -0.001 -1.024]
+t: 31	 action: [ 0.387  0.134 -0.419  0.014  0.002 -0.005 -1.051]
+t: 32	 action: [ 2.582e-01  7.275e-02 -5.952e-01  4.964e-05  7.901e-05 -4.011e-03 -1.034e+00]
+t: 33	 action: [ 0.208  0.013 -0.69   0.018 -0.003 -0.01  -1.054]
+t: 34	 action: [ 0.084 -0.005 -0.783  0.005 -0.025 -0.012 -1.032]
+t: 35	 action: [ 0.018 -0.093 -0.895  0.001 -0.025 -0.019 -1.029]
+t: 36	 action: [-0.08  -0.087 -0.9    0.003 -0.034 -0.015 -1.033]
+t: 37	 action: [-0.138 -0.141 -0.997  0.001 -0.036 -0.021 -1.031]
+t: 38	 action: [-0.206 -0.175 -0.933 -0.002 -0.042 -0.014 -1.033]
+t: 39	 action: [-0.257 -0.11  -0.96   0.011 -0.052 -0.024 -1.044]
+t: 40	 action: [-0.369 -0.181 -0.934 -0.003 -0.044 -0.014 -1.03 ]
+t: 41	 action: [-0.372 -0.111 -0.963  0.01  -0.053 -0.022 -1.047]
+[07-31 01:28:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6155
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6155
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6155
+t=42: Selected seed 195 with value = 0.6155
+t: 42	 action: [ 0.018  0.069 -1.024  0.007 -0.036  0.006 -1.044]
+t: 43	 action: [-0.012  0.049 -1.039  0.006 -0.034  0.008 -1.041]
+t: 44	 action: [-0.005  0.037 -1.011  0.007 -0.026  0.007 -1.032]
+t: 45	 action: [-0.04   0.033 -0.999  0.006 -0.016  0.011 -1.039]
+t: 46	 action: [-6.249e-02  2.729e-02 -8.845e-01  8.810e-05 -1.473e-02  1.757e-03 -1.037e+00]
+t: 47	 action: [-0.131  0.089 -0.928  0.004 -0.013  0.004 -1.053]
+t: 48	 action: [-0.175  0.016 -0.8   -0.002 -0.013  0.003 -1.027]
+t: 49	 action: [-2.714e-01  8.183e-02 -8.719e-01  3.567e-05 -8.267e-03  5.150e-04 -1.049e+00]
+t: 50	 action: [-0.226  0.018 -0.793  0.001 -0.01   0.007 -1.163]
+t: 51	 action: [-0.334 -0.023 -0.759 -0.006 -0.004  0.025 -1.164]
+t: 52	 action: [-3.575e-01 -6.252e-03 -7.292e-01  1.865e-04 -6.552e-03  7.472e-03 -1.201e+00]
+t: 53	 action: [-4.121e-01 -4.453e-02 -6.747e-01 -4.895e-03 -8.391e-04  2.266e-02 -1.166e+00]
+t: 54	 action: [-4.235e-01 -6.750e-03 -5.628e-01 -6.429e-03 -5.993e-03 -8.018e-04  1.087e+00]
+t: 55	 action: [-0.416 -0.02  -0.53  -0.006 -0.007  0.013  1.217]
+t: 56	 action: [-0.344 -0.011 -0.43  -0.009 -0.004 -0.003  1.099]
+t: 57	 action: [-0.254 -0.03  -0.328 -0.007 -0.006  0.011  1.197]
+[07-31 01:28:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7149
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7149
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7149
+t=58: Selected seed 195 with value = 0.7149
+t: 58	 action: [-0.362 -0.035 -0.365 -0.009  0.02   0.006  0.967]
+t: 59	 action: [-0.228 -0.049 -0.18  -0.009  0.05   0.005  1.005]
+t: 60	 action: [-0.174 -0.087 -0.113 -0.007  0.05   0.002  0.967]
+t: 61	 action: [-0.043 -0.086  0.033 -0.01   0.07  -0.005  1.003]
+t: 62	 action: [ 0.019 -0.085  0.197 -0.01   0.079 -0.01   0.986]
+t: 63	 action: [ 0.062 -0.095  0.299 -0.005  0.086 -0.009  1.018]
+t: 64	 action: [ 0.072 -0.077  0.549 -0.008  0.079 -0.018  0.987]
+t: 65	 action: [ 0.039 -0.065  0.666  0.002  0.076 -0.023  1.018]
+t: 66	 action: [ 0.13  -0.081  0.77  -0.005  0.087 -0.019  0.979]
+t: 67	 action: [ 0.141 -0.104  0.885 -0.006  0.09  -0.029  1.   ]
+t: 68	 action: [ 0.159 -0.063  0.892 -0.005  0.062 -0.018  0.969]
+t: 69	 action: [ 0.123 -0.118  0.951 -0.003  0.067 -0.027  1.   ]
+t: 70	 action: [ 0.071 -0.139  0.929  0.005  0.041 -0.013  0.994]
+t: 71	 action: [ 0.006 -0.242  0.951  0.024  0.027 -0.011  1.019]
+t: 72	 action: [-0.001 -0.357  0.912  0.01   0.019 -0.008  0.997]
+t: 73	 action: [-0.068 -0.432  0.837  0.036  0.01  -0.002  1.023]
+[07-31 01:28:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8334
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=74: Selected seed 195 with value = 0.8334
+t: 74	 action: [-0.041 -0.713  0.712  0.055  0.059 -0.007  0.981]
+t: 75	 action: [-0.048 -0.758  0.517  0.053  0.065 -0.008  1.011]
+t: 76	 action: [-0.102 -0.825  0.368  0.063  0.047 -0.004  0.972]
+t: 77	 action: [-0.121 -0.875  0.176  0.059  0.049 -0.007  1.006]
+t: 78	 action: [-0.114 -0.851  0.043  0.056  0.04  -0.003  0.986]
+t: 79	 action: [-0.23  -0.842 -0.034  0.05   0.028  0.002  1.011]
+t: 80	 action: [-0.167 -0.806 -0.18   0.045  0.021 -0.003  0.976]
+t: 81	 action: [-2.646e-01 -7.107e-01 -2.707e-01  3.734e-02  8.641e-03  8.803e-04  1.016e+00]
+t: 82	 action: [-0.177 -0.708 -0.337  0.038 -0.004  0.001  0.985]
+t: 83	 action: [-0.193 -0.576 -0.562  0.017 -0.006  0.008  1.01 ]
+t: 84	 action: [-0.16  -0.435 -0.582  0.01  -0.019  0.003  0.966]
+t: 85	 action: [-0.159 -0.339 -0.767 -0.005 -0.008  0.009  1.016]
+t: 86	 action: [-0.151 -0.123 -0.737 -0.007 -0.031  0.005  0.993]
+t: 87	 action: [-0.146 -0.084 -0.834 -0.02  -0.024  0.014  1.009]
+t: 88	 action: [-0.168 -0.028 -0.724 -0.024 -0.032  0.003  0.979]
+t: 89	 action: [-0.125 -0.007 -0.716 -0.03  -0.019  0.012  1.014]
+[07-31 01:28:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9709
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=90: Selected seed 195 with value = 0.9709
+t: 90	 action: [-0.027  0.009 -0.323 -0.01   0.049  0.006  1.159]
+t: 91	 action: [ 0.021 -0.028 -0.133 -0.018  0.061  0.008  1.04 ]
+t: 92	 action: [ 0.04   0.022 -0.025 -0.006  0.066  0.002  1.178]
+t: 93	 action: [ 0.068 -0.01   0.091 -0.013  0.078 -0.008 -1.044]
+t: 94	 action: [ 0.132  0.011  0.159 -0.02   0.089 -0.001 -1.213]
+t: 95	 action: [ 0.107  0.044  0.254 -0.011  0.094 -0.017 -1.134]
+t: 96	 action: [ 0.172  0.003  0.282 -0.004  0.082 -0.017 -1.193]
+t: 97	 action: [ 0.131  0.042  0.372 -0.002  0.078 -0.02  -1.065]
+t: 98	 action: [ 0.14   0.017  0.391  0.004  0.057 -0.013 -1.036]
+t: 99	 action: [ 0.149  0.016  0.424 -0.003  0.057 -0.022 -1.04 ]
+t: 100	 action: [ 0.122  0.018  0.394  0.004  0.048 -0.016 -1.042]
+t: 101	 action: [ 0.143  0.021  0.423 -0.003  0.058 -0.025 -1.032]
+t: 102	 action: [ 0.107  0.02   0.395  0.005  0.06  -0.025 -1.041]
+t: 103	 action: [ 0.12   0.054  0.422  0.004  0.062 -0.023 -1.061]
+t: 104	 action: [ 0.118  0.017  0.383  0.001  0.05  -0.026 -1.043]
+t: 105	 action: [ 0.11   0.054  0.387  0.003  0.052 -0.021 -1.069]
+[07-31 01:28:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.112  0.011  0.179  0.005  0.017 -0.016 -1.039]
+t: 107	 action: [ 0.108 -0.017  0.14   0.003  0.012 -0.017 -1.045]
+t: 108	 action: [ 0.078  0.011  0.125  0.004  0.011 -0.011 -1.032]
+t: 109	 action: [ 0.063 -0.025  0.115  0.004  0.011 -0.015 -1.035]
+t: 110	 action: [ 0.055 -0.001  0.105  0.005  0.003 -0.01  -1.031]
+t: 111	 action: [ 0.045  0.005  0.1    0.011  0.003 -0.014 -1.067]
+t: 112	 action: [ 0.049  0.003  0.109  0.004  0.009 -0.009 -1.032]
+t: 113	 action: [ 0.035  0.014  0.105  0.012  0.005 -0.014 -1.063]
+t: 114	 action: [ 0.084  0.017  0.112  0.009  0.006 -0.003 -1.04 ]
+t: 115	 action: [ 0.068  0.006  0.105  0.004  0.009 -0.013 -1.044]
+t: 116	 action: [ 0.083  0.017  0.113  0.007  0.011 -0.006 -1.034]
+t: 117	 action: [ 0.071  0.003  0.112  0.005  0.012 -0.014 -1.039]
+t: 118	 action: [ 0.073  0.025  0.119  0.005  0.014 -0.006 -1.038]
+t: 119	 action: [ 0.06   0.052  0.127  0.009  0.004 -0.014 -1.068]
+t: 120	 action: [ 0.08   0.019  0.13   0.004  0.02  -0.01  -1.034]
+t: 121	 action: [ 0.057  0.049  0.14   0.009  0.012 -0.013 -1.069]
+[07-31 01:28:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.03   0.055 -0.021  0.003 -0.021  0.003 -1.03 ]
+t: 123	 action: [ 0.023  0.024  0.001 -0.002 -0.012  0.002 -1.039]
+t: 124	 action: [ 0.01   0.045 -0.001  0.004 -0.017  0.002 -1.031]
+t: 125	 action: [ 0.01   0.012  0.049 -0.002 -0.002  0.001 -1.032]
+t: 126	 action: [ 1.074e-02  5.175e-02  3.988e-03  9.490e-04 -1.529e-02  2.748e-04 -1.030e+00]
+t: 127	 action: [-0.01   0.037  0.004  0.003 -0.017  0.006 -1.071]
+t: 128	 action: [-1.580e-03  3.596e-02  3.282e-02  1.193e-03 -7.702e-03 -7.121e-04 -1.031e+00]
+t: 129	 action: [-0.015  0.042  0.05   0.003 -0.007  0.003 -1.059]
+t: 130	 action: [ 0.031  0.048  0.045  0.007 -0.014  0.007 -1.04 ]
+t: 131	 action: [ 0.014  0.033  0.057 -0.001 -0.003 -0.002 -1.044]
+t: 132	 action: [ 0.011  0.051  0.052  0.006 -0.009  0.006 -1.035]
+t: 133	 action: [ 1.295e-02  3.033e-02  6.637e-02 -1.731e-03  4.386e-03  1.791e-04 -1.036e+00]
+t: 134	 action: [ 0.017  0.059  0.063  0.003 -0.008  0.002 -1.04 ]
+t: 135	 action: [-0.014  0.068  0.091  0.001 -0.009 -0.001 -1.072]
+t: 136	 action: [ 0.006  0.059  0.081  0.001 -0.001 -0.001 -1.036]
+t: 137	 action: [-0.017  0.069  0.128  0.002 -0.004  0.001 -1.065]
+[07-31 01:28:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9961
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=138: Selected seed 195 with value = 0.9961
+t: 138	 action: [ 0.002  0.056 -0.172  0.002 -0.013  0.004 -1.009]
+t: 139	 action: [ 0.011  0.034 -0.194 -0.002 -0.003  0.007 -1.03 ]
+t: 140	 action: [-0.017  0.049 -0.09   0.003 -0.011  0.002 -1.023]
+t: 141	 action: [ 0.001  0.012 -0.041 -0.003  0.003  0.005 -1.032]
+t: 142	 action: [-0.017  0.057 -0.086 -0.002 -0.007  0.004 -1.026]
+t: 143	 action: [-0.021  0.042 -0.043  0.005 -0.009  0.011 -1.066]
+t: 144	 action: [-3.037e-02  3.639e-02 -1.984e-02 -1.261e-04 -3.121e-03  4.094e-03 -1.028e+00]
+t: 145	 action: [-0.026  0.035  0.01   0.004 -0.002  0.008 -1.057]
+t: 146	 action: [ 0.014  0.027 -0.001  0.006 -0.007  0.009 -1.027]
+t: 147	 action: [ 1.270e-02  8.640e-03  4.199e-02 -1.026e-03  3.379e-03  3.460e-03 -1.045e+00]
+t: 148	 action: [-0.012  0.035  0.008  0.005 -0.009  0.007 -1.03 ]
+t: 149	 action: [ 0.012  0.006  0.046 -0.002  0.007  0.005 -1.038]
+t: 150	 action: [-0.01   0.036  0.028  0.002 -0.007  0.004 -1.04 ]
+t: 151	 action: [-0.033  0.046  0.041  0.003 -0.006  0.003 -1.069]
+t: 152	 action: [-2.646e-02  3.834e-02  4.882e-02  8.486e-04 -3.621e-03  9.958e-04 -1.036e+00]
+t: 153	 action: [-0.034  0.05   0.09   0.003 -0.001  0.005 -1.063]
+[07-31 01:28:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9944
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=154: Selected seed 195 with value = 0.9944
+t: 154	 action: [ 0.015  0.037 -0.221  0.003 -0.006  0.005 -1.015]
+t: 155	 action: [ 1.549e-02  1.815e-02 -2.470e-01 -1.837e-03  9.463e-04  2.478e-03 -1.035e+00]
+t: 156	 action: [-0.008  0.039 -0.134  0.003 -0.004  0.003 -1.028]
+t: 157	 action: [ 0.006  0.005 -0.107 -0.005  0.005  0.001 -1.031]
+t: 158	 action: [-0.014  0.048 -0.115 -0.001 -0.003  0.002 -1.032]
+t: 159	 action: [-0.021  0.039 -0.083  0.005 -0.004  0.007 -1.066]
+t: 160	 action: [-3.310e-02  4.234e-02 -5.538e-02 -2.268e-03  6.272e-06  2.459e-03 -1.033e+00]
+t: 161	 action: [-3.409e-02  3.346e-02 -1.741e-03  2.473e-03  9.601e-04  4.148e-03 -1.054e+00]
+t: 162	 action: [ 0.017  0.033 -0.058  0.006 -0.005  0.009 -1.029]
+t: 163	 action: [ 1.657e-02  1.143e-02 -7.282e-03 -3.783e-03  3.897e-03 -9.430e-04 -1.043e+00]
+t: 164	 action: [-0.011  0.038 -0.049  0.005 -0.008  0.007 -1.035]
+t: 165	 action: [ 0.014  0.004  0.027 -0.005  0.007  0.002 -1.039]
+t: 166	 action: [-1.553e-02  4.585e-02 -1.883e-02  4.189e-04 -6.300e-03  2.904e-03 -1.044e+00]
+t: 167	 action: [-0.036  0.044 -0.001  0.003 -0.006 -0.002 -1.067]
+t: 168	 action: [-3.740e-02  4.864e-02  1.493e-04 -1.542e-03 -4.368e-03  4.496e-04 -1.038e+00]
+t: 169	 action: [-4.291e-02  4.426e-02  2.713e-02  8.194e-04 -2.198e-03  2.806e-03 -1.060e+00]
+[07-31 01:28:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9876
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=170: Selected seed 195 with value = 0.9876
+t: 170	 action: [-1.201e-02  2.331e-02 -3.414e-01  1.625e-03 -7.436e-04  7.716e-03 -1.021e+00]
+t: 171	 action: [-1.533e-02  6.092e-03 -3.985e-01 -5.690e-03  2.237e-03 -8.371e-04 -1.043e+00]
+t: 172	 action: [-0.026  0.028 -0.243  0.003  0.002  0.007 -1.027]
+t: 173	 action: [-3.043e-02 -3.478e-03 -2.678e-01 -7.543e-03  6.775e-03  1.689e-04 -1.038e+00]
+t: 174	 action: [-4.248e-02  1.983e-02 -2.126e-01 -2.410e-03  1.949e-04  2.629e-03 -1.027e+00]
+t: 175	 action: [-3.054e-02  3.392e-02 -1.604e-01  1.687e-03  6.281e-04  1.404e-03 -1.058e+00]
+t: 176	 action: [-0.036  0.02  -0.148 -0.003  0.002  0.002 -1.024]
+t: 177	 action: [-5.293e-02  2.257e-02 -7.275e-02 -6.846e-04  4.927e-03 -1.423e-03 -1.053e+00]
+t: 178	 action: [-3.489e-02  1.881e-02 -2.673e-01 -4.746e-04  1.957e-03  7.653e-03 -1.025e+00]
+t: 179	 action: [-0.012 -0.015 -0.268 -0.008  0.005  0.021 -1.114]
+t: 180	 action: [-6.513e-02  1.886e-02 -2.285e-01 -3.478e-03  8.824e-04  5.829e-03 -1.153e+00]
+t: 181	 action: [-0.075 -0.023 -0.202 -0.01   0.006  0.024 -1.117]
+t: 182	 action: [-0.075  0.01  -0.187 -0.006  0.001  0.002 -1.03 ]
+t: 183	 action: [-6.332e-02  1.923e-02 -1.019e-01  1.404e-04 -4.016e-03  2.245e-02  1.168e+00]
+t: 184	 action: [-6.762e-02  3.732e-03 -1.423e-01 -6.460e-03  1.936e-03 -4.130e-04  1.093e+00]
+t: 185	 action: [ 0.003  0.019 -0.036 -0.003 -0.002  0.027  1.133]
+[07-31 01:28:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9471
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9471
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=186: Selected seed 195 with value = 0.9471
+t: 186	 action: [ 2.184e-03 -8.891e-02 -2.603e-01 -1.674e-02  4.697e-03 -3.730e-04 -1.097e+00]
+t: 187	 action: [-0.066 -0.061 -0.288 -0.022  0.007  0.004  0.272]
+t: 188	 action: [ 0.016 -0.06  -0.128 -0.02   0.009  0.003 -1.042]
+t: 189	 action: [-0.019 -0.043 -0.068 -0.019  0.012  0.007 -0.954]
+t: 190	 action: [ 0.009 -0.036 -0.13  -0.024  0.008 -0.001  1.062]
+t: 191	 action: [ 0.098 -0.018 -0.037 -0.019  0.006  0.013  0.64 ]
+t: 192	 action: [ 0.046 -0.021 -0.023 -0.009  0.007 -0.003  0.996]
+t: 193	 action: [ 0.1    0.011  0.012 -0.012  0.01   0.004  0.768]
+t: 194	 action: [ 0.086  0.014  0.003 -0.011  0.007  0.001 -0.878]
+t: 195	 action: [ 0.069 -0.021  0.057 -0.017  0.005  0.005 -1.116]
+t: 196	 action: [ 0.093  0.008  0.067  0.006  0.001 -0.001 -0.426]
+t: 197	 action: [ 0.081 -0.02   0.084 -0.009  0.006 -0.007  0.745]
+t: 198	 action: [ 2.794e-02  1.429e-02  6.471e-02 -5.710e-03  5.274e-04 -4.760e-03 -7.802e-01]
+t: 199	 action: [ 0.011  0.03   0.134 -0.009 -0.008  0.004  1.155]
+t: 200	 action: [ 0.031  0.012  0.096  0.004 -0.001 -0.01  -0.544]
+t: 201	 action: [-0.003  0.032  0.137 -0.002 -0.006 -0.017 -1.107]
+[07-31 01:28:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9727
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 0.990 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=202: Selected seed 195 with value = 0.9727
+t: 202	 action: [-0.077 -0.067 -0.214 -0.052 -0.012  0.011  0.89 ]
+t: 203	 action: [-0.017 -0.052 -0.223 -0.041 -0.002  0.009  0.997]
+t: 204	 action: [-1.050e-03 -2.242e-02 -9.077e-02 -4.468e-02 -1.628e-02  9.299e-03  1.144e+00]
+t: 205	 action: [ 0.016 -0.037 -0.008 -0.038 -0.003  0.004  0.976]
+t: 206	 action: [ 3.904e-02 -4.421e-02 -3.769e-02 -3.128e-02 -2.252e-02  5.134e-04  9.106e-01]
+t: 207	 action: [ 0.071 -0.035  0.021 -0.03  -0.012 -0.001 -1.095]
+t: 208	 action: [ 0.051 -0.033  0.065 -0.004 -0.024 -0.006 -1.193]
+t: 209	 action: [ 0.019 -0.01   0.093 -0.011 -0.008 -0.015 -1.135]
+t: 210	 action: [ 0.039  0.023  0.106 -0.002 -0.019 -0.004 -1.039]
+t: 211	 action: [ 0.027 -0.008  0.149 -0.004 -0.009 -0.014 -1.042]
+t: 212	 action: [ 0.023  0.026  0.141  0.006 -0.018 -0.007 -1.044]
+t: 213	 action: [ 0.026 -0.011  0.168  0.002  0.005 -0.019 -1.039]
+t: 214	 action: [-0.014  0.024  0.132  0.008 -0.019 -0.011 -1.054]
+t: 215	 action: [-0.023  0.046  0.21   0.01  -0.011 -0.014 -1.049]
+t: 216	 action: [ 7.781e-04  1.775e-02  1.612e-01  9.369e-03 -8.116e-03 -1.122e-02 -1.059e+00]
+t: 217	 action: [-0.022  0.04   0.217  0.012 -0.003 -0.014 -1.056]
+[07-31 01:28:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9774
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=218: Selected seed 195 with value = 0.9774
+t: 218	 action: [-0.002  0.008 -0.211  0.004  0.016  0.005 -1.038]
+t: 219	 action: [ 0.006 -0.043 -0.17  -0.004  0.019 -0.007 -1.04 ]
+t: 220	 action: [ 0.008  0.008 -0.095  0.005  0.023  0.005 -1.035]
+t: 221	 action: [ 0.006 -0.05  -0.022 -0.003  0.025 -0.007 -1.038]
+t: 222	 action: [-2.266e-03 -1.221e-02 -9.101e-02  2.944e-03  1.954e-02 -6.761e-04 -1.028e+00]
+t: 223	 action: [-2.203e-02 -2.409e-02 -2.888e-02  1.051e-03  2.017e-02 -9.409e-03 -1.053e+00]
+t: 224	 action: [-0.002 -0.006 -0.012  0.002  0.025 -0.003 -1.034]
+t: 225	 action: [-0.043 -0.031 -0.004  0.004  0.026 -0.014 -1.051]
+t: 226	 action: [ 0.01  -0.034 -0.182  0.003  0.029  0.005 -0.947]
+t: 227	 action: [ 0.002 -0.055 -0.116 -0.006  0.024  0.011 -0.089]
+t: 228	 action: [ 0.009 -0.042 -0.068  0.003  0.031  0.007  1.115]
+t: 229	 action: [ 9.148e-03 -5.467e-02 -4.322e-04 -8.016e-03  2.710e-02  1.835e-03  9.741e-01]
+t: 230	 action: [ 4.871e-04 -2.000e-02 -6.470e-02 -1.672e-03  3.214e-02  1.015e-03  1.052e+00]
+t: 231	 action: [ 6.030e-02 -2.068e-02 -2.387e-02 -1.743e-05  1.653e-02  1.422e-02  1.053e+00]
+t: 232	 action: [ 0.002 -0.022  0.013 -0.001  0.032 -0.002 -1.141]
+t: 233	 action: [-0.025 -0.022  0.013 -0.002  0.021 -0.012 -1.082]
+[07-31 01:28:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9878
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=234: Selected seed 195 with value = 0.9878
+t: 234	 action: [-0.014 -0.029 -0.088 -0.04  -0.011  0.011  1.175]
+t: 235	 action: [ 6.317e-04 -3.180e-02 -4.447e-02 -2.513e-02 -7.780e-03  1.117e-02  9.688e-01]
+t: 236	 action: [ 0.004 -0.009  0.022 -0.018 -0.024  0.006 -1.04 ]
+t: 237	 action: [-0.005 -0.032  0.071 -0.015 -0.021 -0.002 -1.04 ]
+t: 238	 action: [ 0.048 -0.015  0.032 -0.011 -0.034 -0.002 -1.183]
+t: 239	 action: [-0.001 -0.01   0.038 -0.006 -0.027 -0.005 -1.101]
+t: 240	 action: [ 0.028 -0.008  0.097  0.003 -0.028 -0.006 -1.048]
+t: 241	 action: [-0.034 -0.002  0.136  0.009 -0.022 -0.011 -1.055]
+t: 242	 action: [ 0.021  0.021  0.131  0.006 -0.024 -0.004 -1.034]
+t: 243	 action: [ 0.012  0.006  0.155  0.005 -0.019 -0.012 -1.048]
+t: 244	 action: [ 3.362e-04  2.616e-02  1.310e-01  6.864e-03 -1.996e-02 -4.908e-03 -1.046e+00]
+t: 245	 action: [ 0.013  0.008  0.138  0.007 -0.005 -0.014 -1.037]
+t: 246	 action: [-0.006  0.023  0.136  0.008 -0.02  -0.008 -1.05 ]
+t: 247	 action: [-0.031  0.048  0.179  0.014 -0.016 -0.012 -1.065]
+t: 248	 action: [-0.006  0.023  0.145  0.009 -0.009 -0.009 -1.056]
+t: 249	 action: [-0.03   0.046  0.17   0.014 -0.007 -0.011 -1.064]
+[07-31 01:28:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9851
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=250: Selected seed 195 with value = 0.9851
+t: 250	 action: [-0.002  0.002 -0.13   0.004  0.018  0.005 -1.035]
+t: 251	 action: [-0.001 -0.044 -0.102 -0.002  0.021 -0.006 -1.043]
+t: 252	 action: [-0.003  0.007 -0.073  0.005  0.023  0.006 -1.033]
+t: 253	 action: [-4.628e-04 -4.555e-02 -1.266e-02 -9.630e-04  2.733e-02 -5.341e-03 -1.034e+00]
+t: 254	 action: [-4.271e-03 -8.537e-03 -7.539e-02  2.744e-03  1.831e-02 -8.296e-04 -1.021e+00]
+t: 255	 action: [-0.007 -0.032 -0.022  0.004  0.02  -0.008 -1.053]
+t: 256	 action: [ 0.003 -0.007 -0.015  0.002  0.023 -0.003 -1.03 ]
+t: 257	 action: [-0.024 -0.032 -0.003  0.005  0.026 -0.013 -1.054]
+t: 258	 action: [ 0.013 -0.016 -0.14   0.004  0.026  0.003 -1.161]
+t: 259	 action: [ 0.007 -0.047 -0.07  -0.002  0.02   0.01  -1.12 ]
+t: 260	 action: [-6.298e-04 -1.143e-02 -8.217e-02  3.125e-03  2.626e-02  5.870e-03  1.112e+00]
+t: 261	 action: [ 1.427e-04 -4.620e-02 -8.148e-03 -3.743e-03  2.262e-02  1.569e-03  9.654e-01]
+t: 262	 action: [ 7.323e-04 -8.324e-03 -7.940e-02  1.229e-03  2.672e-02 -5.314e-04  1.086e+00]
+t: 263	 action: [ 0.041 -0.023 -0.028  0.005  0.01   0.011  1.157]
+t: 264	 action: [-1.086e-04 -9.542e-03 -2.183e-02 -4.594e-04  2.719e-02 -4.266e-03 -1.161e+00]
+t: 265	 action: [-0.033 -0.027 -0.01   0.002  0.016 -0.013 -1.091]
+[07-31 01:28:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9894
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=266: Selected seed 195 with value = 0.9894
+t: 266	 action: [-0.005 -0.031 -0.082 -0.03  -0.011  0.008  1.175]
+t: 267	 action: [ 0.004 -0.029 -0.038 -0.017 -0.012  0.003  0.969]
+t: 268	 action: [ 0.004 -0.004  0.022 -0.01  -0.028  0.002 -1.04 ]
+t: 269	 action: [-0.007 -0.023  0.074 -0.01  -0.027 -0.009 -1.036]
+t: 270	 action: [ 0.039 -0.012  0.033 -0.006 -0.037 -0.005 -1.182]
+t: 271	 action: [-2.091e-02 -9.343e-04  3.477e-02 -7.074e-04 -3.300e-02 -8.798e-03 -1.102e+00]
+t: 272	 action: [ 1.748e-02 -1.005e-03  9.003e-02  1.532e-03 -3.118e-02 -7.626e-03 -1.049e+00]
+t: 273	 action: [-0.042  0.008  0.125  0.012 -0.027 -0.014 -1.053]
+t: 274	 action: [ 0.016  0.026  0.127  0.007 -0.033 -0.005 -1.038]
+t: 275	 action: [ 0.012  0.016  0.147  0.007 -0.029 -0.013 -1.048]
+t: 276	 action: [-0.003  0.03   0.117  0.008 -0.028 -0.006 -1.047]
+t: 277	 action: [ 0.012  0.018  0.122  0.008 -0.017 -0.016 -1.036]
+t: 278	 action: [-0.002  0.031  0.131  0.008 -0.029 -0.009 -1.053]
+t: 279	 action: [-0.029  0.053  0.157  0.015 -0.023 -0.013 -1.067]
+t: 280	 action: [-0.001  0.032  0.132  0.008 -0.016 -0.01  -1.056]
+t: 281	 action: [-0.028  0.05   0.143  0.014 -0.012 -0.012 -1.064]
+[07-31 01:28:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=282: Selected seed 195 with value = 0.9936
+t: 282	 action: [ 0.007  0.012  0.004  0.006  0.017  0.005 -1.038]
+t: 283	 action: [ 0.003 -0.032  0.012  0.002  0.015 -0.001 -1.039]
+t: 284	 action: [-1.091e-03  1.043e-02 -8.555e-05  5.198e-03  2.147e-02  3.959e-03 -1.036e+00]
+t: 285	 action: [ 0.003 -0.033  0.039  0.001  0.021 -0.002 -1.025]
+t: 286	 action: [ 4.434e-04  4.819e-03  1.457e-02  5.799e-03  1.497e-02 -2.393e-03 -1.033e+00]
+t: 287	 action: [-0.007 -0.017  0.01   0.009  0.009 -0.002 -1.063]
+t: 288	 action: [-0.005  0.004  0.029  0.005  0.021 -0.004 -1.036]
+t: 289	 action: [-0.015 -0.008  0.035  0.009  0.018 -0.007 -1.054]
+t: 290	 action: [ 0.023  0.013 -0.002  0.009  0.015  0.004 -1.047]
+t: 291	 action: [ 0.008 -0.019  0.026  0.003  0.012 -0.004 -1.05 ]
+t: 292	 action: [ 3.520e-03  1.737e-02  6.355e-04  6.819e-03  2.011e-02  3.794e-03 -1.042e+00]
+t: 293	 action: [ 0.007 -0.024  0.038  0.002  0.017 -0.003 -1.042]
+t: 294	 action: [ 0.015  0.014  0.018  0.007  0.015 -0.002 -1.047]
+t: 295	 action: [-0.018  0.007  0.014  0.009  0.004 -0.008 -1.064]
+t: 296	 action: [ 9.212e-04  1.159e-02  2.946e-02  4.900e-03  2.237e-02 -5.041e-03 -1.040e+00]
+t: 297	 action: [-0.022  0.005  0.03   0.008  0.013 -0.007 -1.064]
+[07-31 01:28:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9957
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9957
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 34
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 68%|██████▊   | 34/50 [18:01<08:28, 31.79s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 35...
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=298: Selected seed 195 with value = 0.9957
+t: 298	 action: [ 0.025  0.012 -0.039  0.005  0.014  0.006 -1.041]
+t: 299	 action: [ 1.517e-02 -3.980e-02  5.836e-04  2.064e-04  1.571e-02 -2.333e-03 -1.041e+00]
+t: 300	 action: [ 0.01   0.01  -0.011  0.005  0.021  0.005 -1.033]
+t: 301	 action: [ 1.220e-02 -4.024e-02  3.983e-02  6.090e-05  2.469e-02 -1.736e-03 -1.030e+00]
+t: 302	 action: [ 1.271e-02  4.838e-03  4.778e-04  4.178e-03  1.603e-02 -3.281e-05 -1.036e+00]
+t: 303	 action: [ 0.002 -0.012  0.006  0.008  0.015 -0.002 -1.065]
+t: 304	 action: [ 0.002  0.003  0.031  0.003  0.024 -0.002 -1.033]
+t: 305	 action: [-0.014 -0.001  0.046  0.007  0.024 -0.005 -1.058]
+t: 306	 action: [ 0.031  0.009 -0.032  0.008  0.016  0.004 -1.047]
+t: 307	 action: [ 2.049e-02 -3.159e-02  1.756e-02  6.532e-04  1.666e-02 -4.152e-03 -1.055e+00]
+t: 308	 action: [ 0.006  0.015 -0.012  0.006  0.021  0.005 -1.04 ]
+t: 309	 action: [ 1.790e-02 -3.594e-02  4.160e-02 -2.884e-04  2.361e-02 -1.577e-03 -1.047e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=34--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=34--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 35...
+[07-31 01:28:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.177 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4986
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4986
+Query 1/1: Action query time = 1.177 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4986
+t=10: Selected seed 195 with value = 0.4986
+t: 10	 action: [ 1.845e-01  8.549e-02 -1.342e-02  3.824e-03 -5.615e-03 -8.810e-04 -1.014e+00]
+t: 11	 action: [ 0.283  0.17   0.002  0.008  0.001 -0.005 -1.025]
+t: 12	 action: [ 4.331e-01  3.109e-01 -6.909e-03  2.199e-03 -3.155e-03  6.543e-04 -1.020e+00]
+t: 13	 action: [ 5.187e-01  3.774e-01  1.345e-02  3.885e-03  6.203e-04 -3.699e-03 -1.026e+00]
+t: 14	 action: [ 0.611  0.458 -0.003 -0.002  0.001 -0.005 -1.026]
+t: 15	 action: [ 6.827e-01  5.391e-01  9.264e-03  2.802e-03 -3.568e-04 -5.107e-03 -1.057e+00]
+t: 16	 action: [ 0.735  0.565 -0.003 -0.004  0.007 -0.004 -1.023]
+t: 17	 action: [ 7.642e-01  6.061e-01  5.569e-03  1.626e-03 -2.641e-04 -6.018e-03 -1.058e+00]
+t: 18	 action: [ 0.743  0.602 -0.008  0.005  0.006  0.004 -1.022]
+t: 19	 action: [ 0.771  0.586 -0.008 -0.003  0.007 -0.006 -1.032]
+t: 20	 action: [ 0.792  0.604 -0.027  0.001  0.008  0.005 -1.031]
+t: 21	 action: [ 0.803  0.585 -0.026 -0.006  0.009 -0.006 -1.028]
+t: 22	 action: [ 8.297e-01  5.769e-01 -1.049e-01 -8.304e-05  5.320e-03 -2.177e-03 -1.013e+00]
+t: 23	 action: [ 8.467e-01  5.213e-01 -1.158e-01 -1.678e-04  1.665e-04 -9.306e-03 -1.054e+00]
+t: 24	 action: [ 0.834  0.51  -0.198 -0.001  0.007 -0.004 -1.026]
+t: 25	 action: [ 8.337e-01  4.160e-01 -2.494e-01  2.496e-03  6.096e-04 -9.355e-03 -1.060e+00]
+[07-31 01:28:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.126 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5461
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5461
+Query 1/1: Action query time = 1.126 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5461
+t=26: Selected seed 195 with value = 0.5461
+t: 26	 action: [ 0.775  0.461 -0.114 -0.021  0.001  0.003 -1.024]
+t: 27	 action: [ 0.71   0.386 -0.143 -0.014  0.004 -0.007 -1.036]
+t: 28	 action: [ 0.642  0.291 -0.22  -0.002 -0.008  0.002 -1.028]
+t: 29	 action: [ 0.522  0.151 -0.251 -0.008 -0.002 -0.008 -1.037]
+t: 30	 action: [ 3.863e-01  3.961e-02 -3.604e-01 -6.527e-04 -7.967e-03 -5.229e-03 -1.023e+00]
+t: 31	 action: [ 0.288 -0.027 -0.499  0.007 -0.018 -0.011 -1.056]
+t: 32	 action: [ 1.902e-01 -3.615e-02 -7.086e-01 -4.943e-04 -1.929e-02 -7.681e-03 -1.028e+00]
+t: 33	 action: [ 0.122 -0.06  -0.849  0.014 -0.035 -0.012 -1.056]
+t: 34	 action: [ 0.046 -0.057 -0.863  0.004 -0.044 -0.005 -1.029]
+t: 35	 action: [ 2.109e-04 -1.292e-01 -9.568e-01 -3.956e-03 -4.265e-02 -1.184e-02 -1.029e+00]
+t: 36	 action: [-0.081 -0.099 -0.921  0.005 -0.056 -0.004 -1.026]
+t: 37	 action: [-0.127 -0.144 -1.009 -0.004 -0.05  -0.012 -1.03 ]
+t: 38	 action: [-0.185 -0.109 -0.938 -0.005 -0.058 -0.002 -1.031]
+t: 39	 action: [-2.200e-01 -6.924e-02 -9.774e-01  5.507e-04 -6.088e-02 -1.052e-02 -1.041e+00]
+t: 40	 action: [-2.974e-01 -9.216e-02 -9.335e-01 -6.102e-03 -5.761e-02 -7.933e-04 -1.025e+00]
+t: 41	 action: [-0.3   -0.06  -0.968 -0.001 -0.053 -0.008 -1.048]
+[07-31 01:28:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.114 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6319
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6319
+Query 1/1: Action query time = 1.114 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6319
+t=42: Selected seed 195 with value = 0.6319
+t: 42	 action: [-0.136  0.091 -1.057  0.016 -0.029  0.006 -1.047]
+t: 43	 action: [-0.108  0.092 -0.99   0.012 -0.011  0.001 -1.032]
+t: 44	 action: [-0.118  0.1   -1.024  0.006 -0.013  0.007 -1.035]
+t: 45	 action: [-0.076  0.101 -0.934  0.005  0.002  0.005 -1.033]
+t: 46	 action: [-0.038  0.152 -0.833 -0.004  0.009 -0.004 -1.048]
+t: 47	 action: [-1.771e-02  1.766e-01 -8.634e-01  2.514e-03  4.307e-04 -7.944e-03 -1.056e+00]
+t: 48	 action: [-0.041  0.168 -0.698 -0.008  0.013 -0.004 -1.04 ]
+t: 49	 action: [-0.075  0.171 -0.768 -0.003  0.009 -0.011 -1.05 ]
+t: 50	 action: [-9.852e-02  4.229e-02 -7.229e-01  9.348e-04  1.436e-02  5.532e-03 -1.193e+00]
+t: 51	 action: [-0.18   0.05  -0.643 -0.007  0.012  0.019 -1.156]
+t: 52	 action: [-2.079e-01  3.594e-02 -6.282e-01  2.054e-04  1.971e-02  8.201e-03 -1.213e+00]
+t: 53	 action: [-0.257  0.03  -0.575 -0.005  0.021  0.016 -1.149]
+t: 54	 action: [-0.235  0.038 -0.49  -0.011  0.02  -0.009  1.098]
+t: 55	 action: [-0.195  0.053 -0.482 -0.006  0.005  0.003  1.215]
+t: 56	 action: [-0.195  0.023 -0.362 -0.013  0.018 -0.012  1.106]
+t: 57	 action: [-0.146  0.043 -0.309 -0.007  0.009  0.003  1.197]
+[07-31 01:28:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.225 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7148
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7148
+Query 1/1: Action query time = 1.225 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7148
+t=58: Selected seed 195 with value = 0.7148
+t: 58	 action: [-0.191 -0.016 -0.344 -0.013  0.016  0.002  0.989]
+t: 59	 action: [-0.12  -0.028 -0.226 -0.024  0.024 -0.012  1.01 ]
+t: 60	 action: [-0.081 -0.014 -0.119 -0.019  0.032 -0.003  0.981]
+t: 61	 action: [ 5.013e-04 -2.792e-02 -2.493e-02 -2.702e-02  3.829e-02 -1.323e-02  1.009e+00]
+t: 62	 action: [-0.018 -0.042  0.084 -0.025  0.046 -0.016  0.999]
+t: 63	 action: [ 0.036 -0.04   0.183 -0.023  0.044 -0.019  1.016]
+t: 64	 action: [ 0.045 -0.039  0.514 -0.016  0.052 -0.024  0.991]
+t: 65	 action: [ 0.044 -0.018  0.664 -0.019  0.039 -0.028  1.014]
+t: 66	 action: [ 0.052 -0.081  0.814  0.001  0.058 -0.019  0.983]
+t: 67	 action: [ 0.051 -0.112  0.881  0.002  0.054 -0.027  1.   ]
+t: 68	 action: [ 0.059 -0.146  0.883 -0.002  0.041 -0.017  0.97 ]
+t: 69	 action: [ 0.054 -0.246  0.931  0.013  0.036 -0.024  1.004]
+t: 70	 action: [ 0.023 -0.245  0.945  0.014  0.037 -0.018  0.995]
+t: 71	 action: [-0.017 -0.38   0.941  0.035  0.028 -0.02   1.014]
+t: 72	 action: [-0.034 -0.43   0.928  0.025  0.022 -0.013  0.988]
+t: 73	 action: [-0.053 -0.562  0.864  0.046  0.012 -0.015  1.015]
+[07-31 01:28:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.180 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8272
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8272
+Query 1/1: Action query time = 1.180 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8272
+t=74: Selected seed 195 with value = 0.8272
+t: 74	 action: [-0.04  -0.7    0.769  0.074  0.027 -0.014  0.986]
+t: 75	 action: [-0.063 -0.76   0.674  0.07   0.034 -0.014  1.016]
+t: 76	 action: [-0.113 -0.788  0.433  0.078  0.029 -0.014  0.981]
+t: 77	 action: [-0.119 -0.821  0.3    0.073  0.034 -0.015  1.01 ]
+t: 78	 action: [-0.144 -0.841  0.148  0.067  0.034 -0.009  0.994]
+t: 79	 action: [-0.21  -0.817  0.082  0.065  0.021 -0.005  1.007]
+t: 80	 action: [-0.199 -0.826 -0.088  0.062  0.03  -0.009  0.99 ]
+t: 81	 action: [-0.212 -0.747 -0.161  0.06   0.017 -0.008  1.014]
+t: 82	 action: [-1.882e-01 -7.641e-01 -2.512e-01  6.966e-02  1.214e-02  2.972e-04  9.951e-01]
+t: 83	 action: [-2.152e-01 -6.949e-01 -4.224e-01  4.497e-02  4.455e-03  9.507e-04  1.009e+00]
+t: 84	 action: [-2.097e-01 -5.891e-01 -4.753e-01  3.783e-02  8.512e-04  8.356e-04  9.792e-01]
+t: 85	 action: [-0.208 -0.491 -0.648  0.027  0.003  0.002  1.015]
+t: 86	 action: [-0.237 -0.257 -0.677  0.005 -0.015 -0.001  1.006]
+t: 87	 action: [-0.215 -0.175 -0.78   0.009 -0.01   0.01   1.008]
+t: 88	 action: [-0.204 -0.099 -0.75  -0.007 -0.017 -0.001  0.991]
+t: 89	 action: [-0.128 -0.021 -0.77  -0.003 -0.011  0.008  1.015]
+[07-31 01:28:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.149 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9411
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9411
+Query 1/1: Action query time = 1.149 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9411
+t=90: Selected seed 195 with value = 0.9411
+t: 90	 action: [-0.271 -0.209 -0.78   0.002  0.013  0.009  0.981]
+t: 91	 action: [-0.271 -0.153 -0.708 -0.018  0.021  0.011  1.053]
+t: 92	 action: [-0.146 -0.043 -0.58  -0.005  0.036  0.003  1.14 ]
+t: 93	 action: [-0.058 -0.027 -0.466 -0.024  0.052  0.009  1.025]
+t: 94	 action: [-0.095  0.005 -0.271 -0.029  0.078  0.003  1.018]
+t: 95	 action: [-0.024  0.068 -0.166 -0.028  0.093  0.017  1.027]
+t: 96	 action: [ 3.380e-02  1.729e-02 -2.480e-02 -3.265e-02  1.038e-01  3.848e-04 -1.193e+00]
+t: 97	 action: [ 0.046  0.076  0.062 -0.024  0.108 -0.013 -1.129]
+t: 98	 action: [ 0.1    0.03   0.191 -0.01   0.087  0.004 -1.044]
+t: 99	 action: [ 0.085  0.012  0.267 -0.009  0.083 -0.01  -1.039]
+t: 100	 action: [ 1.287e-01  2.912e-02  3.278e-01 -4.026e-03  7.477e-02  7.741e-04 -1.034e+00]
+t: 101	 action: [ 0.132  0.016  0.385 -0.007  0.084 -0.015 -1.03 ]
+t: 102	 action: [ 0.097  0.026  0.396 -0.002  0.085 -0.01  -1.05 ]
+t: 103	 action: [ 1.264e-01  7.206e-02  4.486e-01 -5.350e-04  8.625e-02 -1.675e-02 -1.050e+00]
+t: 104	 action: [ 0.122  0.022  0.436 -0.003  0.075 -0.015 -1.037]
+t: 105	 action: [ 0.126  0.065  0.455  0.002  0.084 -0.016 -1.061]
+[07-31 01:28:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.170 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.170 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.127  0.003  0.252 -0.012  0.096  0.003 -1.041]
+t: 107	 action: [ 0.107 -0.032  0.29  -0.014  0.082  0.005 -1.042]
+t: 108	 action: [ 1.201e-01 -1.413e-02  3.481e-01 -8.006e-04  8.621e-02  2.356e-03 -1.031e+00]
+t: 109	 action: [ 0.07  -0.045  0.342 -0.007  0.083  0.006 -1.033]
+t: 110	 action: [ 0.061 -0.018  0.299  0.003  0.093 -0.002 -1.035]
+t: 111	 action: [ 0.044 -0.014  0.317 -0.002  0.08   0.005 -1.057]
+t: 112	 action: [ 0.044 -0.014  0.336  0.004  0.09  -0.002 -1.031]
+t: 113	 action: [ 0.03  -0.008  0.329  0.003  0.072  0.003 -1.056]
+t: 114	 action: [ 0.086  0.01   0.346  0.005  0.058  0.004 -1.036]
+t: 115	 action: [ 0.056 -0.016  0.336 -0.004  0.057  0.005 -1.044]
+t: 116	 action: [ 0.084  0.015  0.342  0.004  0.065  0.003 -1.025]
+t: 117	 action: [ 0.061 -0.012  0.332 -0.003  0.071  0.004 -1.038]
+t: 118	 action: [ 0.057  0.012  0.313  0.005  0.078  0.001 -1.035]
+t: 119	 action: [ 0.043  0.024  0.319  0.001  0.068  0.002 -1.058]
+t: 120	 action: [ 0.066  0.013  0.31   0.002  0.086 -0.002 -1.024]
+t: 121	 action: [ 0.05   0.023  0.309  0.002  0.075  0.001 -1.062]
+[07-31 01:28:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.202 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.202 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 1.738e-02  8.605e-02 -5.315e-02  4.191e-03 -6.350e-03 -2.133e-04 -1.044e+00]
+t: 123	 action: [ 0.017  0.048 -0.026 -0.003 -0.007 -0.007 -1.043]
+t: 124	 action: [-0.008  0.048 -0.048  0.005 -0.009  0.002 -1.033]
+t: 125	 action: [ 9.473e-03  1.346e-02  1.932e-02 -3.621e-03 -9.260e-04 -4.340e-03 -1.037e+00]
+t: 126	 action: [-0.022  0.052 -0.063  0.003 -0.012 -0.003 -1.037]
+t: 127	 action: [-0.016  0.029 -0.007  0.003 -0.021 -0.006 -1.066]
+t: 128	 action: [-0.026  0.021 -0.026  0.002 -0.01  -0.002 -1.028]
+t: 129	 action: [-0.015  0.018  0.025  0.003 -0.013 -0.005 -1.058]
+t: 130	 action: [ 1.287e-02  5.180e-04 -3.399e-02  8.749e-03 -1.660e-02  4.827e-03 -1.045e+00]
+t: 131	 action: [ 0.01  -0.014  0.032 -0.006 -0.019 -0.007 -1.046]
+t: 132	 action: [ 8.112e-04  1.297e-02 -1.342e-02  5.947e-03 -1.656e-02  5.391e-03 -1.035e+00]
+t: 133	 action: [ 0.018 -0.008  0.046 -0.006 -0.006 -0.002 -1.041]
+t: 134	 action: [-1.197e-02 -2.836e-03 -1.333e-02  4.674e-03 -1.249e-02  9.060e-04 -1.040e+00]
+t: 135	 action: [-0.02   0.022  0.019  0.001 -0.028 -0.007 -1.068]
+t: 136	 action: [-2.194e-02  5.887e-03  1.905e-02  4.774e-04 -9.532e-03 -1.251e-03 -1.030e+00]
+t: 137	 action: [-1.862e-02  3.137e-02  7.759e-02  8.874e-04 -1.629e-02 -3.010e-03 -1.063e+00]
+[07-31 01:29:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.171 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.171 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [ 0.008  0.092 -0.133  0.003 -0.011  0.002 -1.043]
+t: 139	 action: [ 0.013  0.055 -0.142 -0.002 -0.013 -0.007 -1.043]
+t: 140	 action: [-0.022  0.051 -0.112  0.004 -0.014  0.003 -1.031]
+t: 141	 action: [-5.823e-04  1.670e-02 -8.644e-02 -2.849e-03 -7.854e-03 -3.337e-03 -1.039e+00]
+t: 142	 action: [-0.033  0.051 -0.134  0.002 -0.017 -0.002 -1.04 ]
+t: 143	 action: [-0.027  0.034 -0.091  0.005 -0.024 -0.005 -1.067]
+t: 144	 action: [-3.910e-02  1.932e-02 -8.334e-02  1.806e-03 -1.471e-02 -8.640e-04 -1.031e+00]
+t: 145	 action: [-0.023  0.016 -0.018  0.004 -0.017 -0.004 -1.059]
+t: 146	 action: [ 0.007 -0.011 -0.095  0.009 -0.022  0.006 -1.045]
+t: 147	 action: [ 0.009 -0.028 -0.072 -0.002 -0.027 -0.006 -1.047]
+t: 148	 action: [-0.005  0.014 -0.067  0.007 -0.022  0.007 -1.036]
+t: 149	 action: [ 1.812e-02 -1.724e-02 -4.128e-03 -3.174e-03 -1.416e-02  1.407e-04 -1.042e+00]
+t: 150	 action: [-0.019 -0.004 -0.069  0.005 -0.018  0.002 -1.045]
+t: 151	 action: [-0.028  0.015 -0.013  0.005 -0.031 -0.007 -1.07 ]
+t: 152	 action: [-3.182e-02  4.278e-03 -2.994e-02  9.484e-04 -1.500e-02 -7.255e-05 -1.035e+00]
+t: 153	 action: [-0.029  0.023  0.003  0.004 -0.019 -0.002 -1.064]
+[07-31 01:29:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.190 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.190 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+t: 154	 action: [ 0.016  0.035 -0.078  0.006  0.003  0.005 -1.046]
+t: 155	 action: [ 0.018  0.01  -0.06   0.003  0.005 -0.002 -1.043]
+t: 156	 action: [-0.002  0.026 -0.058  0.005  0.004  0.005 -1.032]
+t: 157	 action: [ 0.014 -0.01   0.003  0.001  0.01   0.001 -1.036]
+t: 158	 action: [-2.462e-02  1.623e-02 -7.300e-02  4.288e-03  4.002e-03  8.040e-04 -1.038e+00]
+t: 159	 action: [-0.012  0.011 -0.02   0.009 -0.002  0.002 -1.065]
+t: 160	 action: [-0.024  0.015 -0.029  0.004  0.007  0.001 -1.029]
+t: 161	 action: [-0.016  0.012  0.02   0.007  0.003  0.002 -1.057]
+t: 162	 action: [ 1.288e-02  4.996e-04 -5.581e-02  1.013e-02 -2.573e-04  5.961e-03 -1.047e+00]
+t: 163	 action: [ 0.016 -0.015 -0.021  0.002  0.003 -0.003 -1.048]
+t: 164	 action: [ 1.016e-03  1.755e-02 -2.508e-02  8.151e-03  2.299e-03  6.814e-03 -1.037e+00]
+t: 165	 action: [ 2.339e-02 -1.301e-02  3.117e-02  8.249e-04  9.596e-03  3.423e-03 -1.044e+00]
+t: 166	 action: [-0.013  0.003 -0.029  0.006  0.007  0.002 -1.043]
+t: 167	 action: [-1.753e-02  1.784e-02  3.501e-04  7.915e-03 -6.544e-03 -1.414e-03 -1.067e+00]
+t: 168	 action: [-2.218e-02  1.247e-02  6.079e-03  3.571e-03  1.017e-02  4.062e-04 -1.032e+00]
+t: 169	 action: [-2.040e-02  2.233e-02  2.984e-02  6.883e-03  6.957e-04  3.913e-03 -1.062e+00]
+[07-31 01:29:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.176 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.176 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+t: 170	 action: [ 0.016  0.022 -0.08   0.006  0.006  0.006 -1.045]
+t: 171	 action: [ 0.019 -0.006 -0.065  0.004  0.008 -0.002 -1.044]
+t: 172	 action: [ 0.003  0.02  -0.055  0.006  0.009  0.006 -1.03 ]
+t: 173	 action: [ 0.016 -0.02   0.002  0.003  0.014  0.002 -1.038]
+t: 174	 action: [-0.018  0.007 -0.072  0.004  0.012  0.002 -1.038]
+t: 175	 action: [-0.005  0.007 -0.02   0.01   0.003  0.003 -1.066]
+t: 176	 action: [-0.018  0.01  -0.031  0.004  0.015  0.002 -1.029]
+t: 177	 action: [-0.015  0.012  0.022  0.008  0.01   0.003 -1.058]
+t: 178	 action: [ 0.017 -0.007 -0.07   0.01   0.006  0.006 -1.049]
+t: 179	 action: [ 0.02  -0.022 -0.043  0.004  0.007 -0.003 -1.05 ]
+t: 180	 action: [ 0.004  0.014 -0.035  0.008  0.008  0.007 -1.037]
+t: 181	 action: [ 0.025 -0.022  0.015  0.002  0.012  0.004 -1.046]
+t: 182	 action: [-0.005  0.001 -0.045  0.006  0.014  0.002 -1.045]
+t: 183	 action: [-1.394e-02  1.250e-02 -5.425e-03  1.021e-02 -2.245e-03 -3.423e-05 -1.067e+00]
+t: 184	 action: [-1.872e-02  9.889e-03 -1.157e-02  3.433e-03  1.643e-02  1.984e-04 -1.033e+00]
+t: 185	 action: [-0.022  0.016  0.018  0.009  0.005  0.006 -1.061]
+[07-31 01:29:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.241 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.241 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=186: Selected seed 195 with value = 0.9977
+t: 186	 action: [ 0.005  0.01  -0.106  0.005  0.003  0.008 -1.042]
+t: 187	 action: [ 7.598e-03 -2.049e-02 -1.017e-01  1.934e-03  6.174e-03  9.241e-04 -1.050e+00]
+t: 188	 action: [-0.003  0.009 -0.058  0.006  0.007  0.007 -1.026]
+t: 189	 action: [ 9.912e-03 -2.988e-02 -8.248e-03 -9.597e-04  1.089e-02  4.676e-03 -1.052e+00]
+t: 190	 action: [-2.096e-02 -4.984e-04 -8.805e-02  3.502e-03  1.289e-02  2.835e-03 -1.036e+00]
+t: 191	 action: [-0.009  0.003 -0.035  0.008  0.003  0.004 -1.069]
+t: 192	 action: [-0.018  0.004 -0.03   0.003  0.016  0.003 -1.021]
+t: 193	 action: [-0.018  0.008  0.023  0.006  0.009  0.003 -1.063]
+t: 194	 action: [ 0.002 -0.013 -0.106  0.007  0.005  0.006 -1.047]
+t: 195	 action: [ 1.582e-02 -3.150e-02 -8.715e-02  1.019e-03  4.392e-03  4.118e-04 -1.054e+00]
+t: 196	 action: [-0.005  0.005 -0.053  0.006  0.007  0.007 -1.023]
+t: 197	 action: [ 0.018 -0.034 -0.012 -0.001  0.008  0.024 -1.086]
+t: 198	 action: [-0.017 -0.002 -0.08   0.002  0.015  0.002 -1.045]
+t: 199	 action: [-0.022  0.004 -0.023  0.009 -0.004  0.003 -1.067]
+t: 200	 action: [-2.898e-02  4.558e-03 -2.727e-02  1.520e-03  1.646e-02  9.672e-04 -9.684e-01]
+t: 201	 action: [-2.981e-02  7.986e-03  8.604e-03  5.991e-03 -1.122e-04  3.078e-02  1.120e+00]
+[07-31 01:29:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.117 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9931
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 1.117 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=202: Selected seed 195 with value = 0.9931
+t: 202	 action: [-0.009 -0.003 -0.156  0.005  0.002  0.009 -1.034]
+t: 203	 action: [-0.001 -0.033 -0.146 -0.004  0.007  0.002 -1.057]
+t: 204	 action: [-0.017 -0.005 -0.061  0.006  0.005  0.008 -1.028]
+t: 205	 action: [-0.001 -0.037  0.003 -0.006  0.011  0.005 -1.053]
+t: 206	 action: [-0.032 -0.015 -0.097  0.002  0.014  0.003 -1.026]
+t: 207	 action: [-0.015 -0.005 -0.031  0.002  0.005  0.002 -1.07 ]
+t: 208	 action: [-0.02  -0.005 -0.005  0.001  0.017  0.003 -1.023]
+t: 209	 action: [-0.023  0.008  0.044  0.002  0.01   0.001 -1.067]
+t: 210	 action: [-0.009 -0.022 -0.152  0.002  0.007  0.007 -1.039]
+t: 211	 action: [ 0.012 -0.04  -0.116 -0.006  0.006  0.025 -1.104]
+t: 212	 action: [-2.644e-02 -5.660e-03 -6.724e-02  9.358e-04  8.690e-03  6.386e-03 -1.121e+00]
+t: 213	 action: [-0.058 -0.04  -0.001 -0.007  0.008  0.025 -1.097]
+t: 214	 action: [-0.026 -0.008 -0.089 -0.005  0.018  0.002 -1.03 ]
+t: 215	 action: [-0.022 -0.004 -0.022  0.003 -0.002  0.026  1.141]
+t: 216	 action: [-3.007e-02 -7.610e-04 -1.164e-02 -2.383e-03  2.063e-02  4.372e-04  1.082e+00]
+t: 217	 action: [-0.015  0.011  0.026  0.001  0.002  0.028  1.102]
+[07-31 01:29:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.108 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9826
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 1.108 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=218: Selected seed 195 with value = 0.9826
+t: 218	 action: [ 4.707e-03  8.425e-03 -2.245e-02 -4.098e-03  1.067e-02  5.360e-04 -9.776e-01]
+t: 219	 action: [ 0.006 -0.007  0.004 -0.01   0.013 -0.007 -0.979]
+t: 220	 action: [-6.004e-03  1.119e-02  5.541e-02 -3.087e-03  8.006e-03  8.580e-04 -1.016e+00]
+t: 221	 action: [-0.004 -0.014  0.064 -0.007  0.012 -0.008 -1.036]
+t: 222	 action: [-0.029  0.006  0.051 -0.009  0.009 -0.003 -1.024]
+t: 223	 action: [-0.028  0.031  0.056 -0.005  0.002 -0.003 -1.082]
+t: 224	 action: [ 0.003  0.012  0.14  -0.001  0.013 -0.003 -1.022]
+t: 225	 action: [-0.011  0.043  0.187  0.001  0.006 -0.007 -1.061]
+t: 226	 action: [ 5.562e-02 -2.947e-03  2.162e-01  7.688e-04  8.835e-03  1.537e-03 -1.022e+00]
+t: 227	 action: [ 0.037 -0.029  0.252 -0.004  0.013 -0.006 -1.051]
+t: 228	 action: [ 0.061  0.013  0.272  0.004  0.014 -0.001 -1.025]
+t: 229	 action: [ 4.197e-02 -1.836e-02  2.878e-01  2.060e-04  1.951e-02 -9.479e-03 -1.045e+00]
+t: 230	 action: [ 0.045  0.005  0.255  0.003  0.018 -0.002 -1.029]
+t: 231	 action: [ 0.005  0.041  0.301  0.007  0.011 -0.004 -1.07 ]
+t: 232	 action: [ 0.044  0.01   0.284  0.003  0.031 -0.006 -1.026]
+t: 233	 action: [ 0.002  0.046  0.289  0.011  0.022 -0.006 -1.063]
+[07-31 01:29:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.119 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9930
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 1.119 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=234: Selected seed 195 with value = 0.9930
+t: 234	 action: [ 0.023  0.05  -0.184  0.004 -0.013  0.006 -1.04 ]
+t: 235	 action: [ 1.087e-02  4.582e-02 -2.329e-01 -2.855e-03 -2.040e-02  2.162e-04 -1.045e+00]
+t: 236	 action: [-0.023  0.04  -0.119  0.004 -0.017  0.006 -1.027]
+t: 237	 action: [-1.588e-02  1.855e-02 -1.200e-01 -4.830e-03 -1.801e-02  4.367e-04 -1.045e+00]
+t: 238	 action: [-3.006e-02  2.560e-02 -1.800e-01  9.579e-04 -1.494e-02  1.244e-03 -1.038e+00]
+t: 239	 action: [-3.528e-02  4.934e-02 -1.520e-01  4.901e-03 -2.680e-02  1.227e-04 -1.069e+00]
+t: 240	 action: [-4.342e-02  1.447e-02 -9.075e-02 -6.599e-04 -1.536e-02  2.026e-04 -1.025e+00]
+t: 241	 action: [-0.036  0.033 -0.039  0.003 -0.021 -0.003 -1.069]
+t: 242	 action: [-0.04   0.001 -0.164  0.004 -0.023  0.007 -1.044]
+t: 243	 action: [-0.008 -0.02  -0.154 -0.005 -0.036 -0.003 -1.046]
+t: 244	 action: [-0.04   0.015 -0.094  0.001 -0.028  0.007 -1.035]
+t: 245	 action: [ 0.005 -0.008 -0.065 -0.007 -0.03   0.008 -1.012]
+t: 246	 action: [-0.045  0.005 -0.134 -0.002 -0.022  0.002 -1.049]
+t: 247	 action: [-0.033  0.025 -0.054  0.004 -0.038 -0.003 -1.068]
+t: 248	 action: [-4.852e-02  7.809e-03 -5.535e-02 -3.719e-03 -2.118e-02 -4.974e-04 -1.030e+00]
+t: 249	 action: [-0.036  0.033 -0.009  0.003 -0.03   0.011 -0.86 ]
+[07-31 01:29:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.177 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9862
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 1.177 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=250: Selected seed 195 with value = 0.9862
+t: 250	 action: [-0.023  0.009 -0.274  0.005 -0.007  0.01  -1.033]
+t: 251	 action: [-0.02  -0.016 -0.284 -0.002 -0.005  0.005 -1.054]
+t: 252	 action: [-0.037  0.006 -0.142  0.004 -0.007  0.009 -1.032]
+t: 253	 action: [-2.363e-02 -2.598e-02 -8.333e-02 -3.646e-03 -6.980e-04  5.948e-03 -1.052e+00]
+t: 254	 action: [-4.647e-02 -7.509e-04 -1.764e-01 -4.290e-04  9.810e-04  4.017e-03 -1.027e+00]
+t: 255	 action: [-0.029  0.015 -0.104  0.003 -0.007  0.003 -1.068]
+t: 256	 action: [-0.034  0.003 -0.049 -0.002  0.003  0.003 -1.027]
+t: 257	 action: [-3.559e-02  1.946e-02  1.258e-02  1.951e-03 -5.609e-03  5.335e-04 -1.067e+00]
+t: 258	 action: [-3.037e-02 -1.743e-02 -2.532e-01 -8.099e-04 -2.782e-03  8.099e-03 -1.039e+00]
+t: 259	 action: [ 0.004 -0.032 -0.225 -0.003 -0.008  0.028 -1.102]
+t: 260	 action: [-0.044  0.001 -0.129 -0.003 -0.004  0.008 -1.12 ]
+t: 261	 action: [-0.079 -0.031 -0.072 -0.005 -0.004  0.027 -1.086]
+t: 262	 action: [-0.048 -0.003 -0.164 -0.01   0.004  0.003 -1.032]
+t: 263	 action: [-0.036  0.007 -0.077  0.004 -0.016  0.025  1.134]
+t: 264	 action: [-4.274e-02  5.580e-03 -3.890e-02 -7.405e-03  5.871e-03  3.775e-04  1.087e+00]
+t: 265	 action: [-0.029  0.023  0.009  0.001 -0.012  0.027  1.097]
+[07-31 01:29:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.111 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9641
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 1.111 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=266: Selected seed 195 with value = 0.9641
+t: 266	 action: [ 4.136e-02 -4.918e-03 -8.461e-02 -3.293e-03  2.273e-02  8.346e-04 -1.010e+00]
+t: 267	 action: [ 0.007 -0.034  0.005 -0.007  0.019 -0.01  -1.01 ]
+t: 268	 action: [ 9.724e-03 -5.781e-03  4.343e-02  4.924e-04  2.195e-02 -1.591e-03 -1.026e+00]
+t: 269	 action: [-0.007 -0.035  0.099 -0.002  0.017 -0.013 -1.037]
+t: 270	 action: [-0.059  0.008  0.046 -0.014  0.022 -0.005 -1.029]
+t: 271	 action: [-0.05   0.041  0.102 -0.003  0.012 -0.008 -1.079]
+t: 272	 action: [-0.036  0.018  0.196  0.002  0.024 -0.008 -1.031]
+t: 273	 action: [-0.041  0.067  0.292  0.007  0.012 -0.012 -1.034]
+t: 274	 action: [ 0.063  0.019  0.231  0.002  0.014 -0.006 -1.03 ]
+t: 275	 action: [ 3.386e-02  5.333e-03  2.683e-01 -8.108e-04  1.147e-02 -1.676e-02 -1.053e+00]
+t: 276	 action: [ 0.085  0.025  0.295  0.005  0.017 -0.011 -1.043]
+t: 277	 action: [ 0.054  0.015  0.303  0.006  0.014 -0.021 -1.052]
+t: 278	 action: [ 0.052  0.025  0.281  0.006  0.019 -0.009 -1.045]
+t: 279	 action: [ 0.002  0.072  0.318  0.012  0.008 -0.014 -1.07 ]
+t: 280	 action: [ 0.05   0.034  0.276  0.007  0.028 -0.013 -1.042]
+t: 281	 action: [-0.004  0.075  0.281  0.017  0.012 -0.016 -1.058]
+[07-31 01:29:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.074 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9690
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 1.074 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=282: Selected seed 195 with value = 0.9690
+t: 282	 action: [-0.006  0.045 -0.39   0.002 -0.015  0.009 -1.038]
+t: 283	 action: [-0.028  0.05  -0.449 -0.005 -0.021  0.003 -1.055]
+t: 284	 action: [-4.618e-02  3.408e-02 -2.478e-01 -5.995e-04 -2.192e-02  7.961e-03 -1.038e+00]
+t: 285	 action: [-0.048  0.014 -0.221 -0.008 -0.023  0.006 -1.053]
+t: 286	 action: [-0.059  0.03  -0.279 -0.007 -0.02   0.004 -1.033]
+t: 287	 action: [-4.863e-02  6.606e-02 -2.208e-01 -2.227e-03 -2.930e-02  5.412e-04 -1.068e+00]
+t: 288	 action: [-0.052  0.017 -0.138 -0.008 -0.024  0.002 -1.032]
+t: 289	 action: [-0.044  0.042 -0.047 -0.004 -0.028 -0.001 -1.064]
+t: 290	 action: [-0.063 -0.013 -0.331 -0.005 -0.019  0.009 -1.045]
+t: 291	 action: [-0.021 -0.017 -0.291 -0.007 -0.031  0.027 -1.106]
+t: 292	 action: [-0.068  0.009 -0.211 -0.009 -0.026  0.008 -1.125]
+t: 293	 action: [-0.089 -0.009 -0.142 -0.009 -0.032  0.024 -1.101]
+t: 294	 action: [-0.083  0.01  -0.236 -0.017 -0.023  0.004 -1.04 ]
+t: 295	 action: [-0.056  0.023 -0.117 -0.002 -0.042  0.021  1.141]
+t: 296	 action: [-5.678e-02  1.063e-02 -9.670e-02 -1.371e-02 -2.315e-02  3.332e-04  1.100e+00]
+t: 297	 action: [-0.024  0.039 -0.015 -0.004 -0.038  0.022  1.117]
+[07-31 01:29:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.077 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9197
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9197
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 35
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 70%|███████   | 35/50 [18:36<08:09, 32.66s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 36...
+Query 1/1: Action query time = 1.077 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=298: Selected seed 195 with value = 0.9197
+t: 298	 action: [-0.066 -0.082 -0.328 -0.008  0.012  0.006 -1.123]
+t: 299	 action: [-0.124 -0.076 -0.228 -0.011  0.007  0.02  -0.963]
+t: 300	 action: [-0.07  -0.049 -0.116 -0.012  0.014  0.004 -0.967]
+t: 301	 action: [-0.078 -0.047  0.016 -0.009  0.005  0.013 -0.97 ]
+t: 302	 action: [-0.107 -0.026 -0.105 -0.035  0.006 -0.002  1.077]
+t: 303	 action: [-0.023  0.006 -0.003 -0.021 -0.005  0.015  1.074]
+t: 304	 action: [ 0.016  0.023  0.104 -0.014  0.001 -0.011  0.985]
+t: 305	 action: [ 0.031  0.079  0.252 -0.01  -0.007  0.004  1.039]
+t: 306	 action: [ 4.058e-02  3.290e-02 -7.389e-02 -1.594e-02 -1.153e-02 -9.734e-04  1.150e+00]
+t: 307	 action: [ 0.009  0.025  0.049 -0.013 -0.018 -0.016  0.97 ]
+t: 308	 action: [ 9.358e-02  3.853e-02  5.648e-02 -1.011e-03 -1.401e-02 -8.408e-03  1.113e+00]
+t: 309	 action: [ 0.02   0.032  0.132 -0.005 -0.018 -0.025  1.002]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=35--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=35--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 35
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 36...
+[07-31 01:29:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.067 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4724
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4724
+Query 1/1: Action query time = 1.067 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4724
+t=10: Selected seed 195 with value = 0.4724
+t: 10	 action: [ 0.197  0.116  0.01   0.004  0.004 -0.004 -1.028]
+t: 11	 action: [ 0.325  0.176  0.022  0.01   0.003 -0.013 -1.022]
+t: 12	 action: [ 0.485  0.347  0.01   0.003  0.004 -0.004 -1.031]
+t: 13	 action: [ 0.578  0.397  0.022  0.006  0.002 -0.012 -1.022]
+t: 14	 action: [ 6.810e-01  4.807e-01  1.712e-02  7.671e-04  6.508e-03 -2.371e-03 -1.032e+00]
+t: 15	 action: [ 7.388e-01  5.254e-01  1.383e-02  8.341e-03 -4.482e-04 -1.179e-02 -1.049e+00]
+t: 16	 action: [ 0.783  0.566  0.008 -0.001  0.009 -0.004 -1.027]
+t: 17	 action: [ 0.831  0.596  0.011  0.006 -0.002 -0.012 -1.05 ]
+t: 18	 action: [ 7.474e-01  5.951e-01 -2.018e-02  4.558e-03  6.149e-03 -7.539e-04 -1.041e+00]
+t: 19	 action: [ 0.775  0.569 -0.029  0.001  0.008 -0.012 -1.028]
+t: 20	 action: [ 7.560e-01  5.911e-01 -3.426e-02  1.940e-03  3.053e-03 -1.890e-04 -1.037e+00]
+t: 21	 action: [ 0.779  0.566 -0.059 -0.002  0.008 -0.009 -1.027]
+t: 22	 action: [ 7.720e-01  5.301e-01 -1.084e-01  1.064e-03 -9.025e-04 -1.863e-04 -1.027e+00]
+t: 23	 action: [ 0.765  0.447 -0.165  0.007 -0.002 -0.011 -1.045]
+t: 24	 action: [ 0.705  0.418 -0.228 -0.002 -0.003 -0.003 -1.027]
+t: 25	 action: [ 0.734  0.292 -0.355  0.007 -0.003 -0.008 -1.053]
+[07-31 01:29:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.052 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5628
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5628
+Query 1/1: Action query time = 1.052 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5628
+t=26: Selected seed 195 with value = 0.5628
+t: 26	 action: [ 0.822  0.582 -0.153  0.004 -0.017  0.001 -1.034]
+t: 27	 action: [ 0.773  0.551 -0.165 -0.002 -0.007 -0.006 -1.026]
+t: 28	 action: [ 0.759  0.49  -0.242  0.006 -0.021  0.001 -1.035]
+t: 29	 action: [ 0.658  0.412 -0.259  0.006 -0.006 -0.007 -1.029]
+t: 30	 action: [ 0.502  0.254 -0.431  0.005 -0.016 -0.005 -1.02 ]
+t: 31	 action: [ 0.425  0.169 -0.501  0.014 -0.01  -0.007 -1.053]
+t: 32	 action: [ 0.304  0.152 -0.725  0.013 -0.017 -0.006 -1.025]
+t: 33	 action: [ 0.247  0.069 -0.868  0.022 -0.015 -0.009 -1.054]
+t: 34	 action: [ 0.191  0.04  -0.83   0.018 -0.019 -0.002 -1.036]
+t: 35	 action: [ 0.091  0.018 -0.92   0.013 -0.009 -0.009 -1.024]
+t: 36	 action: [ 0.024  0.009 -0.907  0.022 -0.024  0.001 -1.032]
+t: 37	 action: [-0.049 -0.037 -0.971  0.012 -0.013 -0.008 -1.026]
+t: 38	 action: [-0.143 -0.041 -0.922  0.014 -0.033 -0.005 -1.036]
+t: 39	 action: [-0.198 -0.016 -0.967  0.017 -0.03  -0.012 -1.041]
+t: 40	 action: [-0.342 -0.128 -0.929  0.01  -0.034 -0.004 -1.03 ]
+t: 41	 action: [-0.382 -0.047 -0.966  0.013 -0.03  -0.009 -1.048]
+[07-31 01:29:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.086 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6211
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6211
+Query 1/1: Action query time = 1.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6211
+t=42: Selected seed 195 with value = 0.6211
+t: 42	 action: [-0.24   0.025 -1.024  0.005 -0.026  0.007 -1.047]
+t: 43	 action: [-0.214  0.014 -0.973  0.002 -0.037  0.005 -1.04 ]
+t: 44	 action: [-0.193 -0.003 -0.921  0.004 -0.015  0.009 -1.035]
+t: 45	 action: [-0.182 -0.02  -0.892 -0.003 -0.018  0.006 -1.037]
+t: 46	 action: [-2.368e-01 -5.767e-02 -7.243e-01 -3.582e-03 -5.564e-03  6.997e-04 -1.040e+00]
+t: 47	 action: [-2.426e-01 -5.578e-03 -7.315e-01  3.967e-03  3.051e-04 -8.798e-04 -1.051e+00]
+t: 48	 action: [-0.298 -0.073 -0.606 -0.007 -0.003 -0.001 -1.032]
+t: 49	 action: [-0.317 -0.023 -0.639 -0.003  0.001 -0.007 -1.049]
+t: 50	 action: [-3.116e-01 -4.080e-02 -7.047e-01 -9.099e-05  7.414e-03  3.259e-03 -1.187e+00]
+t: 51	 action: [-0.378 -0.046 -0.599 -0.005  0.002  0.012 -1.158]
+t: 52	 action: [-4.114e-01 -7.784e-02 -6.294e-01 -4.189e-04  1.278e-02  2.946e-03 -1.175e+00]
+t: 53	 action: [-0.418 -0.057 -0.52  -0.005  0.005  0.006 -1.157]
+t: 54	 action: [-0.416 -0.062 -0.501 -0.004  0.009 -0.014  1.045]
+t: 55	 action: [-0.349 -0.058 -0.353 -0.003  0.002 -0.013  1.207]
+t: 56	 action: [-0.264 -0.075 -0.345 -0.007  0.014 -0.02   1.116]
+t: 57	 action: [-0.176 -0.043 -0.166 -0.008  0.007 -0.013  1.186]
+[07-31 01:29:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.143 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7421
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7421
+Query 1/1: Action query time = 1.143 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7421
+t=58: Selected seed 195 with value = 0.7421
+t: 58	 action: [-0.204 -0.068 -0.282 -0.006  0.045 -0.036  0.975]
+t: 59	 action: [-0.092 -0.087 -0.118 -0.008  0.063 -0.047  1.009]
+t: 60	 action: [-0.07  -0.105 -0.069 -0.006  0.063 -0.053  0.967]
+t: 61	 action: [-0.002 -0.118  0.068 -0.012  0.074 -0.057  1.012]
+t: 62	 action: [ 0.03  -0.095  0.224 -0.012  0.059 -0.061  0.986]
+t: 63	 action: [ 0.024 -0.094  0.341 -0.011  0.073 -0.055  1.004]
+t: 64	 action: [ 0.045 -0.06   0.562 -0.012  0.053 -0.072  0.982]
+t: 65	 action: [ 0.029 -0.049  0.701 -0.006  0.055 -0.066  1.008]
+t: 66	 action: [ 0.066 -0.065  0.819 -0.005  0.056 -0.057  0.981]
+t: 67	 action: [ 0.077 -0.093  0.907 -0.008  0.046 -0.062  1.003]
+t: 68	 action: [ 0.083 -0.101  0.888 -0.006  0.039 -0.044  0.975]
+t: 69	 action: [ 0.057 -0.151  0.943 -0.001  0.025 -0.051  1.007]
+t: 70	 action: [ 0.007 -0.205  0.899  0.003  0.021 -0.027  0.991]
+t: 71	 action: [-0.025 -0.316  0.919  0.024  0.006 -0.022  1.009]
+t: 72	 action: [-0.06  -0.426  0.872  0.014  0.014 -0.014  0.995]
+t: 73	 action: [-0.117 -0.487  0.771  0.039  0.004 -0.012  1.015]
+[07-31 01:29:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.148 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8217
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8217
+Query 1/1: Action query time = 1.148 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8217
+t=74: Selected seed 195 with value = 0.8217
+t: 74	 action: [-0.078 -0.747  0.653  0.066  0.046 -0.026  0.985]
+t: 75	 action: [-0.08  -0.782  0.517  0.061  0.053 -0.021  1.013]
+t: 76	 action: [-0.144 -0.797  0.298  0.064  0.047 -0.015  0.974]
+t: 77	 action: [-0.163 -0.825  0.155  0.059  0.053 -0.014  1.011]
+t: 78	 action: [-0.161 -0.783  0.019  0.054  0.053 -0.011  0.99 ]
+t: 79	 action: [-0.263 -0.746 -0.085  0.054  0.043 -0.006  1.011]
+t: 80	 action: [-0.232 -0.698 -0.207  0.041  0.041 -0.007  0.978]
+t: 81	 action: [-0.309 -0.602 -0.296  0.039  0.029 -0.002  1.021]
+t: 82	 action: [-0.262 -0.501 -0.425  0.022 -0.005  0.003  0.988]
+t: 83	 action: [-0.303 -0.369 -0.585  0.008 -0.003  0.007  1.016]
+t: 84	 action: [-0.268 -0.215 -0.642  0.004 -0.013  0.003  0.976]
+t: 85	 action: [-0.301 -0.167 -0.75  -0.01   0.005  0.015  1.026]
+t: 86	 action: [-0.342 -0.088 -0.687 -0.006 -0.017  0.009  0.996]
+t: 87	 action: [-0.319 -0.034 -0.782 -0.019 -0.009  0.024  1.016]
+t: 88	 action: [-0.273 -0.026 -0.671 -0.017 -0.005  0.016  0.985]
+t: 89	 action: [-0.208 -0.002 -0.691 -0.03  -0.005  0.028  1.023]
+[07-31 01:29:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.149 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9446
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 1.149 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=90: Selected seed 195 with value = 0.9446
+t: 90	 action: [-0.05  -0.027 -0.488 -0.008  0.052  0.004  0.914]
+t: 91	 action: [-0.009 -0.024 -0.374 -0.017  0.064  0.006  1.013]
+t: 92	 action: [-0.034  0.01  -0.216 -0.017  0.055  0.005  1.154]
+t: 93	 action: [-0.013 -0.004 -0.075 -0.02   0.066  0.009  1.002]
+t: 94	 action: [-1.670e-02  1.022e-02 -2.338e-02 -3.907e-02  8.094e-02  7.158e-04  9.580e-01]
+t: 95	 action: [ 0.029  0.036  0.058 -0.021  0.078 -0.007 -1.094]
+t: 96	 action: [ 0.025  0.009  0.114 -0.026  0.068 -0.003 -1.209]
+t: 97	 action: [ 0.033  0.051  0.25  -0.013  0.068 -0.019 -1.14 ]
+t: 98	 action: [ 0.074  0.023  0.223 -0.009  0.069  0.007 -1.031]
+t: 99	 action: [ 4.287e-02 -6.430e-04  2.874e-01 -3.757e-03  5.431e-02 -8.001e-03 -1.036e+00]
+t: 100	 action: [ 0.102  0.023  0.324 -0.005  0.055  0.002 -1.026]
+t: 101	 action: [ 0.099  0.002  0.386 -0.003  0.052 -0.015 -1.026]
+t: 102	 action: [ 0.066  0.026  0.398 -0.002  0.038 -0.015 -1.039]
+t: 103	 action: [ 1.008e-01  3.961e-02  4.387e-01  9.457e-04  4.355e-02 -1.844e-02 -1.038e+00]
+t: 104	 action: [ 0.103  0.019  0.448 -0.001  0.022 -0.027 -1.031]
+t: 105	 action: [ 0.136  0.033  0.453  0.003  0.036 -0.021 -1.047]
+[07-31 01:29:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.158 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.158 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.122 -0.012  0.31   0.004  0.097 -0.004 -1.044]
+t: 107	 action: [ 0.101 -0.048  0.237  0.005  0.078 -0.016 -1.045]
+t: 108	 action: [ 0.092 -0.006  0.192  0.002  0.076 -0.002 -1.039]
+t: 109	 action: [ 0.065 -0.044  0.168  0.006  0.074 -0.011 -1.039]
+t: 110	 action: [ 0.061 -0.011  0.107  0.002  0.058 -0.008 -1.044]
+t: 111	 action: [ 0.04  -0.014  0.135  0.011  0.072 -0.014 -1.069]
+t: 112	 action: [ 4.952e-02 -2.595e-04  1.054e-01  1.753e-03  5.809e-02 -5.813e-03 -1.044e+00]
+t: 113	 action: [ 2.797e-02  1.123e-05  1.065e-01  1.218e-02  7.054e-02 -1.180e-02 -1.066e+00]
+t: 114	 action: [ 0.068  0.011  0.07   0.008  0.059  0.004 -1.042]
+t: 115	 action: [ 0.049 -0.023  0.063  0.005  0.06  -0.008 -1.046]
+t: 116	 action: [ 0.059  0.011  0.082  0.006  0.055  0.003 -1.039]
+t: 117	 action: [ 0.041 -0.017  0.078  0.006  0.064 -0.006 -1.04 ]
+t: 118	 action: [ 5.216e-02  8.053e-03  6.571e-02  4.986e-03  5.336e-02  6.249e-04 -1.047e+00]
+t: 119	 action: [ 0.034  0.012  0.07   0.007  0.061 -0.009 -1.07 ]
+t: 120	 action: [ 0.053  0.01   0.092  0.003  0.057 -0.002 -1.042]
+t: 121	 action: [ 0.03   0.019  0.106  0.008  0.071 -0.006 -1.071]
+[07-31 01:29:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.167 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.167 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 3.589e-02 -1.391e-03 -9.164e-06  3.303e-03  5.034e-03  5.304e-03 -1.046e+00]
+t: 123	 action: [ 0.033 -0.042  0.029 -0.006  0.007 -0.003 -1.045]
+t: 124	 action: [ 0.019  0.004  0.005  0.002  0.004  0.003 -1.039]
+t: 125	 action: [ 0.018 -0.033  0.038 -0.006  0.008 -0.002 -1.039]
+t: 126	 action: [ 6.131e-03 -2.380e-03 -8.281e-03 -1.440e-04  1.891e-03 -5.326e-04 -1.038e+00]
+t: 127	 action: [ 1.024e-02 -8.982e-03  2.970e-02  2.605e-04 -7.620e-04 -1.690e-03 -1.070e+00]
+t: 128	 action: [ 4.919e-03  3.585e-03  9.472e-03 -7.704e-04  3.740e-03 -1.668e-03 -1.037e+00]
+t: 129	 action: [-2.925e-03  7.862e-03  4.089e-02  7.055e-04  2.437e-04 -3.596e-03 -1.064e+00]
+t: 130	 action: [ 0.038  0.002  0.002  0.003  0.003  0.005 -1.05 ]
+t: 131	 action: [ 0.026 -0.027  0.029 -0.006  0.008 -0.005 -1.05 ]
+t: 132	 action: [ 0.013  0.008  0.014  0.002  0.003  0.003 -1.043]
+t: 133	 action: [ 0.021 -0.023  0.036 -0.006  0.008 -0.001 -1.045]
+t: 134	 action: [ 1.732e-02  2.990e-03 -1.923e-03  3.518e-05  5.737e-03 -1.470e-04 -1.045e+00]
+t: 135	 action: [ 3.311e-04  8.609e-03  2.210e-02  3.453e-04 -2.326e-03 -4.596e-03 -1.074e+00]
+t: 136	 action: [ 9.051e-03  1.071e-02  1.413e-02 -8.291e-04  6.127e-03 -2.806e-03 -1.039e+00]
+t: 137	 action: [-5.890e-03  1.654e-02  3.267e-02  1.683e-03 -1.066e-03 -1.044e-03 -1.069e+00]
+[07-31 01:29:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.180 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.180 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [ 0.006  0.002 -0.049  0.002 -0.007  0.006 -1.046]
+t: 139	 action: [ 1.729e-02 -3.677e-02 -1.500e-02 -9.442e-03 -1.019e-03 -3.368e-03 -1.044e+00]
+t: 140	 action: [ 0.002  0.008 -0.03   0.001 -0.007  0.004 -1.038]
+t: 141	 action: [ 0.014 -0.027  0.014 -0.01   0.005 -0.002 -1.038]
+t: 142	 action: [-6.562e-03  4.696e-03 -3.781e-02 -9.486e-04 -9.079e-03 -1.256e-05 -1.037e+00]
+t: 143	 action: [ 0.001 -0.006 -0.002 -0.002 -0.007 -0.002 -1.069]
+t: 144	 action: [ 1.022e-03  1.061e-02 -1.331e-02 -1.355e-03 -5.331e-03 -1.228e-03 -1.036e+00]
+t: 145	 action: [-0.002  0.01   0.011 -0.002 -0.004 -0.004 -1.062]
+t: 146	 action: [ 2.455e-02  5.163e-03 -3.263e-02  1.037e-03 -8.164e-03  5.222e-03 -1.049e+00]
+t: 147	 action: [ 1.922e-02 -2.045e-02 -6.834e-03 -9.452e-03  5.546e-04 -4.830e-03 -1.049e+00]
+t: 148	 action: [ 6.099e-03  1.371e-02 -1.554e-02 -1.734e-04 -7.638e-03  3.967e-03 -1.041e+00]
+t: 149	 action: [ 2.147e-02 -1.588e-02  1.606e-02 -8.945e-03  5.034e-03 -7.176e-04 -1.044e+00]
+t: 150	 action: [ 1.367e-02  7.891e-03 -2.847e-02 -1.612e-03 -5.138e-03 -9.546e-05 -1.045e+00]
+t: 151	 action: [-0.006  0.012 -0.003 -0.002 -0.009 -0.006 -1.073]
+t: 152	 action: [ 0.009  0.019 -0.007 -0.002 -0.003 -0.003 -1.037]
+t: 153	 action: [-6.436e-03  1.989e-02  4.488e-03 -8.270e-04 -5.977e-03 -1.572e-03 -1.068e+00]
+[07-31 01:29:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.165 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9996
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 1.165 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=154: Selected seed 195 with value = 0.9996
+t: 154	 action: [ 0.006  0.001 -0.048  0.003 -0.004  0.006 -1.044]
+t: 155	 action: [ 0.02  -0.038 -0.007 -0.009  0.002 -0.003 -1.044]
+t: 156	 action: [ 0.002  0.008 -0.027  0.001 -0.004  0.004 -1.036]
+t: 157	 action: [ 0.016 -0.027  0.022 -0.009  0.006 -0.002 -1.038]
+t: 158	 action: [-6.716e-03  3.956e-03 -3.287e-02 -1.904e-04 -5.590e-03  2.355e-04 -1.036e+00]
+t: 159	 action: [ 0.005 -0.005  0.005 -0.002 -0.004 -0.002 -1.069]
+t: 160	 action: [ 9.165e-04  1.139e-02 -9.171e-03 -1.084e-03 -2.172e-03 -9.193e-04 -1.033e+00]
+t: 161	 action: [ 0.002  0.013  0.016 -0.002 -0.002 -0.004 -1.062]
+t: 162	 action: [ 0.021  0.007 -0.029  0.002 -0.005  0.005 -1.046]
+t: 163	 action: [ 0.02  -0.02  -0.003 -0.008  0.004 -0.005 -1.049]
+t: 164	 action: [ 4.284e-03  1.785e-02 -1.252e-02 -2.042e-04 -4.203e-03  3.988e-03 -1.039e+00]
+t: 165	 action: [ 2.145e-02 -1.584e-02  2.078e-02 -8.190e-03  6.663e-03 -8.056e-04 -1.044e+00]
+t: 166	 action: [ 1.217e-02  1.155e-02 -2.424e-02 -1.119e-03 -1.705e-03 -3.806e-05 -1.043e+00]
+t: 167	 action: [-3.388e-03  1.290e-02  4.742e-04 -1.584e-03 -5.715e-03 -5.552e-03 -1.072e+00]
+t: 168	 action: [ 8.568e-03  2.366e-02 -3.792e-03 -1.656e-03 -2.249e-04 -2.387e-03 -1.036e+00]
+t: 169	 action: [-5.137e-03  2.112e-02  6.927e-03 -6.185e-04 -3.437e-03 -1.878e-03 -1.067e+00]
+[07-31 01:29:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.166 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9992
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 1.166 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=170: Selected seed 195 with value = 0.9992
+t: 170	 action: [ 6.604e-03  6.516e-04 -4.917e-02  3.171e-03 -2.140e-03  5.928e-03 -1.043e+00]
+t: 171	 action: [ 0.02  -0.04  -0.005 -0.008  0.004 -0.004 -1.043]
+t: 172	 action: [ 0.002  0.008 -0.024  0.002 -0.001  0.004 -1.036]
+t: 173	 action: [ 0.015 -0.027  0.027 -0.009  0.007 -0.002 -1.037]
+t: 174	 action: [-6.660e-03  2.876e-03 -2.955e-02  9.378e-05 -2.353e-03  2.697e-04 -1.035e+00]
+t: 175	 action: [ 0.006 -0.007  0.007 -0.002 -0.001 -0.003 -1.068]
+t: 176	 action: [ 1.624e-03  1.131e-02 -4.606e-03 -8.778e-04  8.948e-04 -8.514e-04 -1.033e+00]
+t: 177	 action: [ 2.906e-03  1.225e-02  1.991e-02 -1.789e-03  3.219e-04 -4.258e-03 -1.062e+00]
+t: 178	 action: [ 0.019  0.008 -0.028  0.002 -0.002  0.005 -1.046]
+t: 179	 action: [ 0.019 -0.022 -0.003 -0.008  0.005 -0.005 -1.049]
+t: 180	 action: [ 4.625e-03  2.036e-02 -9.121e-03 -3.777e-05 -1.547e-03  3.996e-03 -1.038e+00]
+t: 181	 action: [ 0.021 -0.017  0.024 -0.008  0.007 -0.001 -1.045]
+t: 182	 action: [ 1.199e-02  1.405e-02 -2.058e-02 -7.734e-04  1.222e-03 -2.322e-04 -1.042e+00]
+t: 183	 action: [-2.547e-03  1.101e-02 -3.088e-04 -1.080e-03 -3.877e-03 -5.835e-03 -1.071e+00]
+t: 184	 action: [ 0.01   0.026  0.001 -0.001  0.003 -0.002 -1.035]
+t: 185	 action: [-4.111e-03  1.923e-02  8.672e-03 -4.957e-04 -2.023e-03 -2.189e-03 -1.066e+00]
+[07-31 01:29:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.154 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9987
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 1.154 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=186: Selected seed 195 with value = 0.9987
+t: 186	 action: [ 2.893e-03  8.187e-05 -4.732e-02  3.328e-03 -1.252e-03  5.977e-03 -1.042e+00]
+t: 187	 action: [ 1.847e-02 -4.105e-02  4.080e-04 -7.915e-03  4.073e-03 -3.402e-03 -1.044e+00]
+t: 188	 action: [ 1.196e-04  7.481e-03 -1.960e-02  1.785e-03  1.233e-04  4.372e-03 -1.035e+00]
+t: 189	 action: [ 0.015 -0.027  0.03  -0.009  0.007 -0.003 -1.038]
+t: 190	 action: [-8.722e-03  2.939e-03 -2.480e-02  2.567e-04 -1.082e-03  5.218e-04 -1.034e+00]
+t: 191	 action: [ 6.474e-03 -6.795e-03  1.066e-02 -1.665e-03 -8.115e-04 -2.876e-03 -1.068e+00]
+t: 192	 action: [ 1.283e-03  1.176e-02  1.267e-03 -7.510e-04  2.455e-03 -7.358e-04 -1.033e+00]
+t: 193	 action: [ 0.004  0.013  0.024 -0.002  0.001 -0.005 -1.061]
+t: 194	 action: [ 1.557e-02  9.777e-03 -2.548e-02  2.159e-03 -6.401e-04  5.142e-03 -1.046e+00]
+t: 195	 action: [ 1.870e-02 -2.141e-02  9.963e-04 -7.610e-03  6.047e-03 -5.179e-03 -1.049e+00]
+t: 196	 action: [ 2.305e-03  2.271e-02 -5.132e-03 -1.364e-04  1.839e-04  4.068e-03 -1.038e+00]
+t: 197	 action: [ 0.021 -0.018  0.028 -0.008  0.008 -0.002 -1.045]
+t: 198	 action: [ 1.086e-02  1.683e-02 -1.547e-02 -6.293e-04  2.699e-03 -3.457e-04 -1.043e+00]
+t: 199	 action: [-0.003  0.011  0.002 -0.001 -0.003 -0.006 -1.071]
+t: 200	 action: [ 0.009  0.029  0.006 -0.001  0.004 -0.002 -1.034]
+t: 201	 action: [-3.576e-03  1.952e-02  1.119e-02 -6.378e-04 -1.500e-03 -2.466e-03 -1.066e+00]
+[07-31 01:29:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.181 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9983
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 1.181 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=202: Selected seed 195 with value = 0.9983
+t: 202	 action: [ 5.998e-03 -8.196e-04 -5.247e-02  3.187e-03 -3.047e-04  6.348e-03 -1.042e+00]
+t: 203	 action: [ 0.02  -0.045 -0.004 -0.008  0.005 -0.003 -1.045]
+t: 204	 action: [ 2.814e-03  7.324e-03 -2.299e-02  1.534e-03  9.048e-04  4.624e-03 -1.035e+00]
+t: 205	 action: [ 0.016 -0.03   0.028 -0.009  0.008 -0.002 -1.038]
+t: 206	 action: [-7.391e-03  1.872e-03 -2.804e-02  2.654e-04 -2.509e-06  1.000e-03 -1.034e+00]
+t: 207	 action: [ 8.818e-03 -9.782e-03  9.251e-03 -1.706e-03 -6.294e-05 -2.170e-03 -1.068e+00]
+t: 208	 action: [ 2.862e-03  1.077e-02 -1.804e-03 -9.411e-04  3.138e-03 -5.384e-04 -1.033e+00]
+t: 209	 action: [ 0.005  0.01   0.022 -0.002  0.002 -0.004 -1.061]
+t: 210	 action: [ 1.803e-02  9.213e-03 -2.931e-02  1.986e-03  2.844e-04  5.366e-03 -1.046e+00]
+t: 211	 action: [ 0.02  -0.026 -0.006 -0.008  0.006 -0.004 -1.05 ]
+t: 212	 action: [ 3.847e-03  2.215e-02 -9.118e-03 -7.158e-04  9.128e-04  4.233e-03 -1.038e+00]
+t: 213	 action: [ 2.122e-02 -2.148e-02  2.256e-02 -8.202e-03  7.831e-03 -7.519e-04 -1.045e+00]
+t: 214	 action: [ 1.188e-02  1.552e-02 -1.820e-02 -7.882e-04  3.122e-03 -2.718e-05 -1.042e+00]
+t: 215	 action: [-1.379e-03  7.887e-03 -8.937e-04 -1.098e-03 -2.942e-03 -5.571e-03 -1.071e+00]
+t: 216	 action: [ 0.01   0.028  0.002 -0.001  0.005 -0.002 -1.035]
+t: 217	 action: [-3.174e-03  1.595e-02  8.090e-03 -8.591e-04 -1.203e-03 -1.670e-03 -1.066e+00]
+[07-31 01:29:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.162 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9980
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 1.162 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=218: Selected seed 195 with value = 0.9980
+t: 218	 action: [ 4.549e-03 -1.294e-03 -4.829e-02  3.615e-03  1.393e-04  6.422e-03 -1.042e+00]
+t: 219	 action: [ 0.02  -0.047  0.004 -0.008  0.005 -0.003 -1.044]
+t: 220	 action: [ 0.002  0.008 -0.018  0.002  0.002  0.005 -1.035]
+t: 221	 action: [ 0.016 -0.032  0.033 -0.01   0.008 -0.002 -1.038]
+t: 222	 action: [-8.709e-03  9.275e-04 -2.336e-02  7.464e-04  7.981e-04  1.002e-03 -1.035e+00]
+t: 223	 action: [ 9.474e-03 -1.131e-02  1.394e-02 -1.694e-03  2.496e-04 -2.100e-03 -1.068e+00]
+t: 224	 action: [ 2.475e-03  9.882e-03  3.600e-03 -6.304e-04  4.055e-03 -4.021e-04 -1.033e+00]
+t: 225	 action: [ 0.007  0.01   0.029 -0.002  0.003 -0.004 -1.061]
+t: 226	 action: [ 0.017  0.011 -0.025  0.002  0.001  0.005 -1.046]
+t: 227	 action: [ 2.011e-02 -2.755e-02 -4.508e-04 -7.718e-03  6.526e-03 -4.221e-03 -1.051e+00]
+t: 228	 action: [ 3.821e-03  2.427e-02 -4.417e-03 -9.500e-04  1.780e-03  4.231e-03 -1.039e+00]
+t: 229	 action: [ 0.021 -0.023  0.028 -0.008  0.008 -0.001 -1.046]
+t: 230	 action: [ 1.142e-02  1.648e-02 -1.328e-02 -3.998e-04  4.118e-03 -6.660e-06 -1.043e+00]
+t: 231	 action: [-9.544e-04  6.623e-03  1.701e-03 -1.081e-03 -2.666e-03 -5.629e-03 -1.071e+00]
+t: 232	 action: [ 0.01   0.03   0.007 -0.001  0.006 -0.002 -1.036]
+t: 233	 action: [-1.729e-03  1.492e-02  1.226e-02 -9.869e-04 -1.093e-03 -2.044e-03 -1.065e+00]
+[07-31 01:29:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.163 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9978
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 1.163 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=234: Selected seed 195 with value = 0.9978
+t: 234	 action: [ 4.242e-03 -1.648e-03 -4.178e-02  3.809e-03  3.730e-04  6.155e-03 -1.042e+00]
+t: 235	 action: [ 0.02  -0.049  0.012 -0.008  0.005 -0.003 -1.045]
+t: 236	 action: [ 0.003  0.008 -0.014  0.002  0.002  0.005 -1.034]
+t: 237	 action: [ 0.016 -0.033  0.037 -0.01   0.008 -0.002 -1.038]
+t: 238	 action: [-9.390e-03  3.745e-04 -1.835e-02  1.100e-03  1.847e-03  8.916e-04 -1.034e+00]
+t: 239	 action: [ 1.061e-02 -1.273e-02  1.982e-02 -1.632e-03  2.716e-04 -2.199e-03 -1.068e+00]
+t: 240	 action: [ 2.149e-03  9.786e-03  6.557e-03 -4.583e-04  4.754e-03 -4.915e-04 -1.031e+00]
+t: 241	 action: [ 0.007  0.009  0.036 -0.002  0.003 -0.005 -1.061]
+t: 242	 action: [ 0.017  0.011 -0.019  0.002  0.001  0.005 -1.046]
+t: 243	 action: [ 0.02  -0.029  0.006 -0.008  0.006 -0.004 -1.051]
+t: 244	 action: [ 4.109e-03  2.503e-02 -7.215e-04 -1.026e-03  2.282e-03  4.236e-03 -1.038e+00]
+t: 245	 action: [ 0.021 -0.024  0.031 -0.008  0.008 -0.001 -1.047]
+t: 246	 action: [ 1.105e-02  1.731e-02 -8.534e-03 -1.610e-04  4.438e-03 -1.913e-04 -1.042e+00]
+t: 247	 action: [-4.863e-04  5.240e-03  4.758e-03 -1.233e-03 -3.218e-03 -5.669e-03 -1.071e+00]
+t: 248	 action: [ 0.011  0.032  0.01  -0.001  0.006 -0.002 -1.035]
+t: 249	 action: [-6.574e-04  1.478e-02  1.662e-02 -9.906e-04 -1.287e-03 -2.044e-03 -1.065e+00]
+[07-31 01:29:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.115 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.115 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=250: Selected seed 195 with value = 0.9977
+t: 250	 action: [ 2.078e-03 -8.673e-04 -3.443e-02  3.380e-03 -1.634e-03  6.933e-03 -1.041e+00]
+t: 251	 action: [ 1.917e-02 -4.562e-02  1.782e-02 -8.641e-03  3.955e-03 -9.822e-04 -1.045e+00]
+t: 252	 action: [-8.898e-04  8.164e-03 -8.497e-03  1.016e-03  2.629e-04  4.755e-03 -1.034e+00]
+t: 253	 action: [ 1.528e-02 -3.077e-02  3.908e-02 -1.015e-02  7.692e-03 -6.024e-04 -1.038e+00]
+t: 254	 action: [-1.329e-02  2.130e-03 -1.302e-02  8.686e-04 -4.479e-04  1.329e-03 -1.033e+00]
+t: 255	 action: [ 7.510e-03 -1.083e-02  2.451e-02 -2.211e-03 -1.249e-03 -7.436e-04 -1.068e+00]
+t: 256	 action: [-1.034e-03  1.160e-02  1.023e-02 -6.073e-04  2.931e-03 -1.526e-04 -1.032e+00]
+t: 257	 action: [ 0.006  0.011  0.041 -0.003  0.001 -0.003 -1.061]
+t: 258	 action: [ 1.376e-02  1.186e-02 -1.232e-02  1.500e-03 -5.345e-04  5.565e-03 -1.046e+00]
+t: 259	 action: [ 0.019 -0.027  0.013 -0.008  0.005 -0.003 -1.051]
+t: 260	 action: [ 1.543e-03  2.754e-02  4.449e-03 -1.834e-03  3.109e-04  4.525e-03 -1.038e+00]
+t: 261	 action: [ 2.021e-02 -2.124e-02  3.484e-02 -8.875e-03  7.274e-03 -1.920e-04 -1.046e+00]
+t: 262	 action: [ 8.760e-03  1.891e-02 -3.050e-03 -3.059e-04  2.644e-03  4.932e-04 -1.041e+00]
+t: 263	 action: [-0.002  0.007  0.008 -0.002 -0.005 -0.005 -1.071]
+t: 264	 action: [ 0.009  0.035  0.014 -0.001  0.005 -0.002 -1.034]
+t: 265	 action: [-0.002  0.016  0.021 -0.002 -0.002 -0.002 -1.065]
+[07-31 01:29:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.206 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.206 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=266: Selected seed 195 with value = 0.9977
+t: 266	 action: [ 2.281e-04  9.392e-04 -4.207e-02  3.410e-03 -1.461e-03  6.678e-03 -1.042e+00]
+t: 267	 action: [ 1.879e-02 -4.359e-02  1.066e-02 -8.454e-03  4.024e-03 -1.030e-03 -1.045e+00]
+t: 268	 action: [-1.093e-03  8.779e-03 -1.483e-02  7.812e-04  2.802e-04  4.536e-03 -1.034e+00]
+t: 269	 action: [ 1.535e-02 -2.983e-02  3.756e-02 -1.009e-02  7.656e-03 -3.358e-04 -1.038e+00]
+t: 270	 action: [-1.428e-02  4.364e-03 -1.813e-02  7.919e-04 -8.944e-04  1.328e-03 -1.034e+00]
+t: 271	 action: [ 8.008e-03 -9.215e-03  1.960e-02 -2.176e-03 -1.381e-03 -6.904e-04 -1.068e+00]
+t: 272	 action: [-2.025e-03  1.336e-02  6.937e-03 -5.698e-04  2.286e-03 -4.390e-05 -1.032e+00]
+t: 273	 action: [ 6.892e-03  1.122e-02  3.760e-02 -2.915e-03  9.972e-04 -3.015e-03 -1.061e+00]
+t: 274	 action: [ 1.467e-02  1.208e-02 -1.700e-02  1.709e-03 -8.623e-05  5.840e-03 -1.047e+00]
+t: 275	 action: [ 0.018 -0.025  0.008 -0.008  0.005 -0.003 -1.051]
+t: 276	 action: [ 2.747e-03  2.717e-02  4.410e-04 -1.641e-03  3.557e-04  4.502e-03 -1.038e+00]
+t: 277	 action: [ 2.040e-02 -1.965e-02  3.455e-02 -8.753e-03  7.333e-03 -2.678e-04 -1.046e+00]
+t: 278	 action: [ 8.987e-03  1.854e-02 -6.327e-03 -1.840e-04  2.717e-03  6.573e-04 -1.042e+00]
+t: 279	 action: [-0.002  0.009  0.006 -0.002 -0.005 -0.005 -1.071]
+t: 280	 action: [ 0.009  0.035  0.012 -0.001  0.004 -0.002 -1.034]
+t: 281	 action: [-0.001  0.018  0.019 -0.001 -0.003 -0.002 -1.065]
+[07-31 01:29:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.014 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.014 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=282: Selected seed 195 with value = 0.9977
+t: 282	 action: [-0.002  0.001 -0.044  0.003 -0.001  0.007 -1.041]
+t: 283	 action: [ 1.828e-02 -4.229e-02  9.640e-03 -8.426e-03  3.972e-03 -7.010e-04 -1.045e+00]
+t: 284	 action: [-3.210e-03  8.867e-03 -1.674e-02  9.538e-04 -1.386e-04  4.419e-03 -1.034e+00]
+t: 285	 action: [ 1.495e-02 -2.906e-02  3.700e-02 -1.023e-02  7.550e-03 -9.124e-05 -1.038e+00]
+t: 286	 action: [-1.723e-02  5.544e-03 -1.801e-02  8.665e-04 -1.216e-03  1.391e-03 -1.033e+00]
+t: 287	 action: [ 6.154e-03 -7.632e-03  1.968e-02 -2.455e-03 -1.505e-03 -3.739e-04 -1.067e+00]
+t: 288	 action: [-4.380e-03  1.514e-02  5.734e-03 -5.663e-04  1.854e-03  1.325e-04 -1.032e+00]
+t: 289	 action: [ 5.885e-03  1.256e-02  3.774e-02 -3.318e-03  9.108e-04 -2.781e-03 -1.060e+00]
+t: 290	 action: [ 1.302e-02  1.175e-02 -1.795e-02  2.017e-03 -7.416e-06  5.946e-03 -1.046e+00]
+t: 291	 action: [ 0.018 -0.023  0.009 -0.008  0.005 -0.003 -1.052]
+t: 292	 action: [ 1.807e-03  2.764e-02 -2.013e-04 -1.455e-03  2.977e-05  4.428e-03 -1.037e+00]
+t: 293	 action: [ 2.048e-02 -1.839e-02  3.542e-02 -8.804e-03  7.344e-03  9.779e-05 -1.045e+00]
+t: 294	 action: [ 7.002e-03  1.871e-02 -6.022e-03 -6.914e-07  2.528e-03  7.572e-04 -1.042e+00]
+t: 295	 action: [-0.002  0.01   0.006 -0.002 -0.005 -0.005 -1.072]
+t: 296	 action: [ 0.007  0.035  0.012 -0.001  0.004 -0.002 -1.034]
+t: 297	 action: [-0.002  0.019  0.019 -0.002 -0.003 -0.002 -1.064]
+[07-31 01:29:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9975
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9975
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 36
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 72%|███████▏  | 36/50 [19:10<07:44, 33.20s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 37...
+Query 1/1: Action query time = 1.000 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=298: Selected seed 195 with value = 0.9975
+t: 298	 action: [-3.811e-03  2.011e-03 -5.117e-02  3.446e-03 -5.124e-04  6.727e-03 -1.041e+00]
+t: 299	 action: [ 1.708e-02 -4.297e-02 -1.193e-04 -7.897e-03  4.748e-03 -7.304e-05 -1.045e+00]
+t: 300	 action: [-4.699e-03  9.211e-03 -2.530e-02  8.645e-04  3.885e-04  4.652e-03 -1.033e+00]
+t: 301	 action: [ 1.482e-02 -3.140e-02  3.162e-02 -1.006e-02  7.735e-03  5.907e-04 -1.038e+00]
+t: 302	 action: [-1.889e-02  6.716e-03 -2.434e-02  9.025e-04 -1.384e-03  1.557e-03 -1.033e+00]
+t: 303	 action: [ 4.753e-03 -8.863e-03  1.563e-02 -2.067e-03 -6.036e-04 -4.814e-05 -1.066e+00]
+t: 304	 action: [-5.883e-03  1.549e-02 -1.388e-03 -4.816e-04  1.827e-03  3.307e-04 -1.032e+00]
+t: 305	 action: [ 0.005  0.01   0.031 -0.003  0.001 -0.002 -1.06 ]
+t: 306	 action: [ 1.264e-02  1.125e-02 -2.475e-02  2.447e-03  1.044e-03  6.254e-03 -1.045e+00]
+t: 307	 action: [ 1.848e-02 -2.461e-02 -3.861e-04 -7.438e-03  6.133e-03 -2.455e-03 -1.051e+00]
+t: 308	 action: [ 1.783e-03  2.640e-02 -6.646e-03 -1.288e-03  6.099e-04  4.628e-03 -1.037e+00]
+t: 309	 action: [ 2.067e-02 -2.053e-02  2.949e-02 -8.450e-03  7.605e-03  2.627e-04 -1.045e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=36--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=36--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 36
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 37...
+[07-31 01:29:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.036 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4638
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4638
+Query 1/1: Action query time = 1.036 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4638
+t=10: Selected seed 195 with value = 0.4638
+t: 10	 action: [ 0.148  0.055 -0.025  0.003 -0.003 -0.002 -1.023]
+t: 11	 action: [ 0.321  0.093  0.005  0.002  0.003 -0.01  -1.026]
+t: 12	 action: [ 0.476  0.223 -0.008 -0.003 -0.001 -0.005 -1.032]
+t: 13	 action: [ 0.603  0.279  0.016 -0.004  0.002 -0.01  -1.03 ]
+t: 14	 action: [ 0.716  0.38   0.025 -0.005  0.002 -0.004 -1.03 ]
+t: 15	 action: [ 7.930e-01  4.143e-01  5.888e-03 -7.412e-04 -5.257e-04 -9.046e-03 -1.053e+00]
+t: 16	 action: [ 0.837  0.489  0.016 -0.015  0.004 -0.006 -1.03 ]
+t: 17	 action: [ 0.894  0.499  0.005 -0.005 -0.002 -0.01  -1.053]
+t: 18	 action: [ 8.283e-01  5.120e-01  2.570e-02 -1.293e-02 -8.801e-04  7.627e-04 -1.038e+00]
+t: 19	 action: [ 0.849  0.513  0.015 -0.015  0.005 -0.007 -1.03 ]
+t: 20	 action: [ 0.852  0.541 -0.013 -0.023 -0.006  0.003 -1.037]
+t: 21	 action: [ 0.874  0.52  -0.016 -0.018  0.005 -0.005 -1.029]
+t: 22	 action: [ 8.689e-01  5.211e-01 -7.467e-02 -1.238e-02 -7.517e-03  5.108e-04 -1.018e+00]
+t: 23	 action: [ 0.886  0.48  -0.059 -0.008 -0.007 -0.006 -1.047]
+t: 24	 action: [ 0.821  0.456 -0.21  -0.011 -0.012 -0.002 -1.022]
+t: 25	 action: [ 0.871  0.386 -0.205 -0.008 -0.008 -0.004 -1.051]
+[07-31 01:29:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.021 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5672
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5672
+Query 1/1: Action query time = 1.021 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5672
+t=26: Selected seed 195 with value = 0.5672
+t: 26	 action: [ 0.794  0.497 -0.26   0.006 -0.029  0.007 -1.032]
+t: 27	 action: [ 0.669  0.436 -0.337 -0.007 -0.023  0.004 -1.029]
+t: 28	 action: [ 0.528  0.287 -0.395  0.008 -0.039  0.008 -1.03 ]
+t: 29	 action: [ 3.430e-01  1.943e-01 -5.020e-01 -4.076e-04 -3.172e-02  5.983e-03 -1.033e+00]
+t: 30	 action: [ 0.232  0.098 -0.604  0.002 -0.032  0.002 -1.031]
+t: 31	 action: [ 0.167  0.024 -0.69   0.007 -0.027  0.006 -1.056]
+t: 32	 action: [ 6.268e-02 -1.725e-04 -8.523e-01  2.891e-03 -3.376e-02  4.131e-03 -1.029e+00]
+t: 33	 action: [ 0.013  0.01  -0.916  0.008 -0.024  0.007 -1.059]
+t: 34	 action: [-0.053 -0.098 -0.871  0.009 -0.039  0.011 -1.033]
+t: 35	 action: [-0.094 -0.148 -0.932  0.004 -0.036  0.005 -1.034]
+t: 36	 action: [-0.182 -0.142 -0.925  0.011 -0.035  0.011 -1.029]
+t: 37	 action: [-0.224 -0.165 -1.002  0.004 -0.026  0.005 -1.035]
+t: 38	 action: [-0.289 -0.183 -0.931  0.002 -0.031  0.006 -1.035]
+t: 39	 action: [-0.298 -0.086 -0.954  0.008 -0.025  0.006 -1.046]
+t: 40	 action: [-0.378 -0.157 -0.928  0.002 -0.019  0.005 -1.023]
+t: 41	 action: [-0.372 -0.085 -0.943  0.007 -0.015  0.007 -1.051]
+[07-31 01:29:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6477
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6477
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6477
+t=42: Selected seed 195 with value = 0.6477
+t: 42	 action: [-0.242  0.02  -1.025 -0.002 -0.036  0.008 -1.056]
+t: 43	 action: [-0.234  0.041 -0.951 -0.014 -0.021  0.009 -1.026]
+t: 44	 action: [-0.208  0.068 -0.919 -0.008 -0.024  0.01  -1.048]
+t: 45	 action: [-1.805e-01  1.007e-01 -8.442e-01 -1.892e-02 -7.491e-04  1.042e-02 -1.028e+00]
+t: 46	 action: [-1.903e-01  1.462e-01 -7.050e-01 -3.159e-02 -5.069e-03  4.874e-04 -1.055e+00]
+t: 47	 action: [-1.863e-01  2.235e-01 -7.404e-01 -1.545e-02 -5.047e-03  1.561e-04 -1.048e+00]
+t: 48	 action: [-1.360e-01  1.884e-01 -5.767e-01 -3.618e-02  2.362e-03  1.482e-04 -1.052e+00]
+t: 49	 action: [-0.182  0.204 -0.626 -0.02   0.007 -0.005 -1.053]
+t: 50	 action: [-0.15   0.044 -0.644 -0.024  0.016  0.007 -1.242]
+t: 51	 action: [-0.197  0.016 -0.476 -0.021  0.037  0.02  -1.15 ]
+t: 52	 action: [-0.132  0.012 -0.461 -0.024  0.025  0.009  0.965]
+t: 53	 action: [-0.134 -0.023 -0.299 -0.02   0.047  0.003  1.026]
+t: 54	 action: [-0.137 -0.008 -0.287 -0.026  0.031 -0.011  1.086]
+t: 55	 action: [-0.098 -0.01  -0.159 -0.013  0.038 -0.002  1.163]
+t: 56	 action: [-0.116 -0.041 -0.113 -0.015  0.026 -0.021  0.989]
+t: 57	 action: [-0.102 -0.033 -0.023 -0.012  0.043 -0.026  1.032]
+[07-31 01:30:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7032
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7032
+Query 1/1: Action query time = 1.002 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7032
+t=58: Selected seed 195 with value = 0.7032
+t: 58	 action: [-0.021  0.026 -0.131 -0.024  0.009  0.005  0.981]
+t: 59	 action: [ 0.012 -0.005 -0.026 -0.025  0.038 -0.002  1.017]
+t: 60	 action: [ 3.233e-02  3.070e-02  9.046e-02 -2.164e-02  3.081e-02 -6.507e-04  9.732e-01]
+t: 61	 action: [ 0.011  0.002  0.225 -0.021  0.059 -0.006  1.016]
+t: 62	 action: [ 0.06   0.016  0.438 -0.013  0.059 -0.008  0.999]
+t: 63	 action: [ 0.045  0.048  0.631 -0.017  0.072 -0.022  1.019]
+t: 64	 action: [ 0.068  0.04   0.757 -0.004  0.057 -0.019  0.998]
+t: 65	 action: [ 0.027  0.051  0.81  -0.005  0.065 -0.029  1.025]
+t: 66	 action: [ 0.087 -0.012  0.891  0.004  0.072 -0.025  0.977]
+t: 67	 action: [ 0.039 -0.027  0.896  0.013  0.076 -0.024  1.012]
+t: 68	 action: [ 0.119 -0.095  0.881  0.011  0.067 -0.018  0.979]
+t: 69	 action: [ 0.052 -0.157  0.856  0.025  0.076 -0.015  1.016]
+t: 70	 action: [ 0.027 -0.168  0.863  0.037  0.056 -0.012  0.995]
+t: 71	 action: [-0.033 -0.225  0.725  0.043  0.07  -0.012  1.023]
+t: 72	 action: [-0.04  -0.33   0.489  0.047  0.039 -0.005  1.006]
+t: 73	 action: [-0.082 -0.364  0.236  0.051  0.056 -0.004  1.035]
+[07-31 01:30:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.019 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7858
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7858
+Query 1/1: Action query time = 1.019 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7858
+t=74: Selected seed 195 with value = 0.7858
+t: 74	 action: [0.004 0.214 0.067 0.003 0.009 0.001 1.004]
+t: 75	 action: [-0.055  0.213  0.004  0.009  0.002 -0.001  1.017]
+t: 76	 action: [-0.026  0.261 -0.05   0.007  0.009 -0.004  0.967]
+t: 77	 action: [-0.158  0.255 -0.109  0.019  0.003 -0.002  0.964]
+t: 78	 action: [-1.406e-01  2.208e-01 -1.061e-01  6.006e-03  7.625e-03 -3.613e-04  9.864e-01]
+t: 79	 action: [-2.533e-01  1.968e-01 -1.589e-01  1.806e-02 -4.652e-03 -9.745e-04  1.009e+00]
+t: 80	 action: [-0.302  0.295 -0.213  0.003  0.003 -0.006  0.939]
+t: 81	 action: [-0.334  0.224 -0.333  0.024 -0.005 -0.002  0.939]
+t: 82	 action: [-0.394  0.108 -0.376  0.026  0.017  0.039  0.94 ]
+t: 83	 action: [-0.465  0.073 -0.429  0.027  0.007  0.047  1.005]
+t: 84	 action: [-0.399  0.102 -0.458  0.015  0.025  0.045  0.992]
+t: 85	 action: [-0.446  0.053 -0.429  0.021  0.009  0.052  1.054]
+t: 86	 action: [-0.426  0.159 -0.46   0.005  0.004  0.045  0.994]
+t: 87	 action: [-4.158e-01  9.496e-02 -4.667e-01 -7.701e-03  8.280e-04  4.800e-02  1.058e+00]
+t: 88	 action: [-0.357  0.17  -0.457  0.003 -0.007  0.035  1.014]
+t: 89	 action: [-0.318  0.083 -0.346 -0.021 -0.003  0.048  1.084]
+[07-31 01:30:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8198
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8198
+Query 1/1: Action query time = 1.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8198
+t=90: Selected seed 195 with value = 0.8198
+t: 90	 action: [-0.029  0.03  -0.049  0.006  0.026 -0.003  1.005]
+t: 91	 action: [-0.058 -0.031 -0.042  0.005  0.012 -0.01   1.024]
+t: 92	 action: [-0.058  0.027 -0.177  0.002  0.026 -0.006  0.996]
+t: 93	 action: [-0.144 -0.038 -0.246  0.009  0.018 -0.004  1.027]
+t: 94	 action: [-0.169 -0.014 -0.196  0.009  0.029  0.003  1.025]
+t: 95	 action: [-0.229 -0.056 -0.221  0.021  0.008  0.004  1.053]
+t: 96	 action: [-0.286  0.004 -0.314  0.013  0.029  0.001  1.012]
+t: 97	 action: [-0.335 -0.017 -0.459  0.019  0.011  0.007  1.058]
+t: 98	 action: [-0.281  0.012 -0.544  0.003  0.048  0.014  0.965]
+t: 99	 action: [-0.383 -0.048 -0.572  0.003  0.014  0.032  1.012]
+t: 100	 action: [-0.304  0.002 -0.538 -0.001  0.047  0.014  0.987]
+t: 101	 action: [-0.38  -0.054 -0.533 -0.002  0.006  0.032  1.056]
+t: 102	 action: [-0.288 -0.004 -0.429 -0.003  0.025  0.024  1.016]
+t: 103	 action: [-3.405e-01 -2.981e-02 -4.983e-01 -1.915e-02  1.890e-04  3.642e-02  1.074e+00]
+t: 104	 action: [-0.242 -0.029 -0.31  -0.005  0.003  0.011  1.017]
+t: 105	 action: [-0.259 -0.051 -0.289 -0.025 -0.011  0.027  1.072]
+[07-31 01:30:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=106: Selected seed 195 with value = 0.8936
+t: 106	 action: [-0.061 -0.002  0.029 -0.06  -0.026 -0.003  0.997]
+t: 107	 action: [-9.475e-02 -3.660e-02  8.886e-02 -3.933e-02 -1.550e-04 -6.083e-03  1.042e+00]
+t: 108	 action: [-0.129  0.002  0.236 -0.033 -0.017 -0.015  1.01 ]
+t: 109	 action: [-0.195 -0.057  0.259 -0.023  0.002 -0.01   1.039]
+t: 110	 action: [-0.225 -0.041  0.397 -0.025  0.005 -0.015  1.009]
+t: 111	 action: [-0.292 -0.053  0.423 -0.02   0.006 -0.009  1.051]
+t: 112	 action: [-0.322 -0.069  0.494  0.005  0.032 -0.029  1.016]
+t: 113	 action: [-0.294 -0.087  0.43   0.008  0.068 -0.02   1.048]
+t: 114	 action: [-0.208 -0.028  0.172  0.002  0.093 -0.018  1.166]
+t: 115	 action: [-0.203 -0.069  0.147  0.012  0.1   -0.027  1.016]
+t: 116	 action: [-0.087 -0.03   0.174  0.007  0.106 -0.025  1.105]
+t: 117	 action: [-0.086 -0.076  0.143  0.016  0.095 -0.035 -0.736]
+t: 118	 action: [-0.093 -0.049  0.103  0.006  0.097 -0.012 -1.17 ]
+t: 119	 action: [-0.065 -0.063  0.181  0.001  0.052 -0.023 -1.067]
+t: 120	 action: [-0.029 -0.031  0.207  0.012  0.076 -0.018 -1.132]
+t: 121	 action: [-0.021 -0.051  0.28   0.002  0.035 -0.027 -1.018]
+[07-31 01:30:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9047
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9047
+Query 1/1: Action query time = 1.006 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=122: Selected seed 195 with value = 0.9047
+t: 122	 action: [-1.126e-01 -4.075e-02 -1.330e-01 -9.712e-04  4.038e-02 -2.641e-02  1.022e+00]
+t: 123	 action: [-0.103 -0.094 -0.109 -0.015  0.032 -0.026  1.024]
+t: 124	 action: [-0.1   -0.045 -0.12   0.002  0.043 -0.024  1.014]
+t: 125	 action: [-0.107 -0.059 -0.119 -0.01   0.022 -0.025  1.015]
+t: 126	 action: [-0.127 -0.073 -0.076  0.001  0.047 -0.033  1.014]
+t: 127	 action: [-0.086 -0.089 -0.064 -0.003  0.011 -0.025  1.02 ]
+t: 128	 action: [-9.133e-02 -4.809e-02 -9.283e-02 -9.056e-04  3.444e-02 -4.050e-02  1.003e+00]
+t: 129	 action: [-0.047 -0.031 -0.103 -0.007  0.007 -0.03   1.018]
+t: 130	 action: [-4.263e-02  2.631e-02 -1.819e-01  1.051e-03  3.688e-02 -2.552e-02  1.186e+00]
+t: 131	 action: [-7.375e-02  5.593e-02 -1.763e-01  7.934e-04  6.619e-03 -3.644e-02  1.058e+00]
+t: 132	 action: [-0.003  0.05  -0.031 -0.002  0.015 -0.042  1.168]
+t: 133	 action: [-0.045  0.038  0.029 -0.004  0.002 -0.046 -1.041]
+t: 134	 action: [-0.034  0.032 -0.029 -0.004 -0.013 -0.063 -1.179]
+t: 135	 action: [-0.052  0.071  0.026 -0.013 -0.014 -0.055 -1.115]
+t: 136	 action: [-8.528e-04  3.458e-02  1.321e-01 -5.794e-03 -2.532e-02 -7.013e-02 -1.146e+00]
+t: 137	 action: [-0.036  0.075  0.243 -0.011 -0.024 -0.051 -1.043]
+[07-31 01:30:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.015 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9447
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9447
+Query 1/1: Action query time = 1.015 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9447
+t=138: Selected seed 195 with value = 0.9447
+t: 138	 action: [-0.171 -0.023 -0.454 -0.008  0.047 -0.017  1.022]
+t: 139	 action: [-0.096 -0.034 -0.319 -0.014  0.029 -0.023  1.05 ]
+t: 140	 action: [-0.1   -0.01  -0.268 -0.011  0.036 -0.028  1.02 ]
+t: 141	 action: [-0.025 -0.008 -0.075 -0.018  0.02  -0.046  0.992]
+t: 142	 action: [ 0.002 -0.033 -0.051 -0.005  0.041 -0.023  1.021]
+t: 143	 action: [ 0.029 -0.053  0.009 -0.021  0.004 -0.026  1.036]
+t: 144	 action: [ 0.02  -0.015  0.068 -0.002  0.022 -0.043  1.002]
+t: 145	 action: [ 0.018 -0.003  0.076 -0.018 -0.002 -0.05  -1.069]
+t: 146	 action: [ 3.995e-02  3.806e-02  8.822e-02  8.007e-04 -3.454e-03 -2.469e-02  1.172e+00]
+t: 147	 action: [ 0.013  0.019  0.116 -0.009 -0.001 -0.034 -1.009]
+t: 148	 action: [ 3.583e-02  3.339e-02  1.387e-01  3.729e-05 -2.050e-02 -3.515e-02 -1.060e+00]
+t: 149	 action: [ 0.015  0.003  0.187 -0.005 -0.01  -0.042 -1.043]
+t: 150	 action: [ 6.585e-02  6.442e-03  1.378e-01 -3.744e-04 -2.598e-02 -4.626e-02 -1.155e+00]
+t: 151	 action: [ 0.006  0.037  0.178 -0.008 -0.034 -0.038 -1.02 ]
+t: 152	 action: [ 0.04   0.007  0.145 -0.003 -0.037 -0.052 -1.058]
+t: 153	 action: [-0.02   0.025  0.217 -0.005 -0.04  -0.039 -1.042]
+[07-31 01:30:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.045 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9148
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9148
+Query 1/1: Action query time = 1.045 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=154: Selected seed 195 with value = 0.9148
+t: 154	 action: [ 0.013 -0.041  0.072  0.002  0.056 -0.022  1.032]
+t: 155	 action: [ 0.05  -0.082  0.108 -0.01   0.044 -0.027  1.032]
+t: 156	 action: [ 0.03  -0.052  0.132  0.004  0.057 -0.039  1.138]
+t: 157	 action: [ 0.009 -0.073  0.167 -0.008  0.054 -0.053  0.984]
+t: 158	 action: [ 0.076 -0.11   0.161  0.005  0.047 -0.026  1.035]
+t: 159	 action: [ 0.125 -0.11   0.192 -0.008  0.032 -0.029  1.017]
+t: 160	 action: [ 0.118 -0.097  0.184  0.004  0.051 -0.046 -1.095]
+t: 161	 action: [ 0.114 -0.079  0.183 -0.005  0.039 -0.052 -1.059]
+t: 162	 action: [ 0.066 -0.081  0.082  0.008  0.019 -0.043  1.169]
+t: 163	 action: [ 0.029 -0.098  0.055  0.01   0.008 -0.046  0.947]
+t: 164	 action: [ 0.062 -0.067  0.042  0.003  0.005 -0.054  1.172]
+t: 165	 action: [ 0.023 -0.103  0.019  0.007  0.005 -0.058  1.019]
+t: 166	 action: [ 0.093 -0.09   0.068  0.004  0.011 -0.046 -1.141]
+t: 167	 action: [ 0.07  -0.075  0.023  0.011 -0.002 -0.05  -1.018]
+t: 168	 action: [ 8.801e-02 -6.262e-02  7.185e-02  9.725e-04  4.135e-04 -6.199e-02 -1.139e+00]
+t: 169	 action: [ 0.06  -0.083  0.012  0.009 -0.006 -0.058 -1.068]
+[07-31 01:30:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.059 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9703
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 1.059 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=170: Selected seed 195 with value = 0.9703
+t: 170	 action: [-1.620e-01  8.502e-03  4.906e-02 -2.280e-03  1.187e-03 -9.181e-05  1.024e+00]
+t: 171	 action: [-0.133  0.002  0.02  -0.012  0.004 -0.015  1.016]
+t: 172	 action: [-1.168e-01  4.937e-02  1.251e-03 -4.423e-03  7.993e-04 -5.275e-03  1.024e+00]
+t: 173	 action: [-0.09   0.046 -0.012 -0.015  0.001 -0.023  1.018]
+t: 174	 action: [-0.1    0.028 -0.037  0.003  0.007 -0.011  1.014]
+t: 175	 action: [-0.038  0.044 -0.018 -0.021 -0.009 -0.016  1.021]
+t: 176	 action: [-0.029  0.059 -0.089 -0.002  0.005 -0.021  1.007]
+t: 177	 action: [ 0.006  0.077 -0.053 -0.027 -0.007 -0.026  1.026]
+t: 178	 action: [ 0.009  0.093 -0.355 -0.003  0.012 -0.017  1.176]
+t: 179	 action: [ 0.008  0.085 -0.315 -0.013  0.005 -0.035  1.038]
+t: 180	 action: [ 0.059  0.094 -0.193 -0.022  0.005 -0.036  1.159]
+t: 181	 action: [ 0.025  0.057 -0.047 -0.022  0.003 -0.05   1.047]
+t: 182	 action: [ 2.440e-02  7.997e-02 -1.249e-01 -1.840e-02  5.089e-04 -4.303e-02 -1.160e+00]
+t: 183	 action: [ 0.017  0.069 -0.057 -0.032 -0.003 -0.053 -1.094]
+t: 184	 action: [ 0.042  0.065  0.056 -0.02  -0.009 -0.067 -1.169]
+t: 185	 action: [ 0.023  0.072  0.108 -0.031 -0.008 -0.066 -1.092]
+[07-31 01:30:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.034 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9782
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 1.034 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=186: Selected seed 195 with value = 0.9782
+t: 186	 action: [-0.107 -0.053 -0.1   -0.019  0.016 -0.005  1.027]
+t: 187	 action: [-0.086 -0.068  0.009 -0.015  0.01  -0.025  1.033]
+t: 188	 action: [-0.091 -0.034 -0.026 -0.01   0.012 -0.02   1.027]
+t: 189	 action: [-0.045 -0.056  0.035 -0.016  0.006 -0.03   1.031]
+t: 190	 action: [-0.08  -0.051  0.041  0.001  0.016 -0.028  1.023]
+t: 191	 action: [-0.019 -0.048  0.037 -0.023 -0.002 -0.034  1.026]
+t: 192	 action: [ 1.232e-02 -1.460e-02  7.521e-02 -1.048e-04  1.485e-02 -4.750e-02  1.012e+00]
+t: 193	 action: [ 0.023 -0.012  0.081 -0.02   0.007 -0.044  1.024]
+t: 194	 action: [ 0.027  0.021 -0.082  0.003  0.046 -0.029  1.174]
+t: 195	 action: [ 0.023 -0.014  0.001  0.004  0.035 -0.043  1.037]
+t: 196	 action: [ 0.107  0.026  0.072 -0.001  0.042 -0.048  0.321]
+t: 197	 action: [ 0.118 -0.025  0.116  0.002  0.034 -0.052 -1.036]
+t: 198	 action: [ 0.075  0.009  0.05   0.003  0.028 -0.048 -1.173]
+t: 199	 action: [ 0.035 -0.003  0.063 -0.01   0.009 -0.056 -1.118]
+t: 200	 action: [ 0.068  0.01   0.177  0.002  0.025 -0.061 -1.05 ]
+t: 201	 action: [ 0.013  0.019  0.282 -0.007  0.003 -0.054 -1.048]
+[07-31 01:30:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.019 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9560
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9560
+Query 1/1: Action query time = 1.019 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9560
+t=202: Selected seed 195 with value = 0.9560
+t: 202	 action: [-0.049 -0.053  0.011 -0.009  0.021 -0.003  1.029]
+t: 203	 action: [-0.014 -0.078  0.064 -0.015  0.014 -0.013  1.041]
+t: 204	 action: [-3.385e-02 -5.522e-02  7.713e-02 -3.212e-04  1.542e-02 -1.384e-02  1.034e+00]
+t: 205	 action: [-0.004 -0.084  0.096 -0.012  0.01  -0.017  1.035]
+t: 206	 action: [ 0.009 -0.084  0.084  0.003  0.015 -0.014  1.03 ]
+t: 207	 action: [ 0.022 -0.094  0.093 -0.014  0.005 -0.019  1.042]
+t: 208	 action: [ 4.830e-02 -6.195e-02  1.412e-01  4.584e-04  1.408e-02 -3.270e-02  1.029e+00]
+t: 209	 action: [ 0.037 -0.068  0.148 -0.009  0.009 -0.029  1.007]
+t: 210	 action: [ 0.065 -0.084 -0.123  0.005  0.018 -0.008  1.174]
+t: 211	 action: [ 0.045 -0.099 -0.055  0.003  0.006 -0.022  1.023]
+t: 212	 action: [ 1.060e-01 -8.661e-02 -4.104e-02 -9.418e-04  1.781e-02 -1.676e-02  1.151e+00]
+t: 213	 action: [ 7.745e-02 -1.144e-01  1.633e-02 -4.088e-04  4.504e-03 -3.000e-02  1.014e+00]
+t: 214	 action: [ 6.605e-02 -2.306e-02 -3.848e-02  2.551e-03 -1.061e-03 -1.931e-02 -1.177e+00]
+t: 215	 action: [ 0.031 -0.052 -0.006 -0.006 -0.008 -0.04  -1.103]
+t: 216	 action: [ 0.075 -0.008  0.06   0.004 -0.011 -0.043 -1.166]
+t: 217	 action: [ 0.025 -0.038  0.117 -0.007 -0.011 -0.05  -1.108]
+[07-31 01:30:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9564
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9564
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=218: Selected seed 195 with value = 0.9564
+t: 218	 action: [-0.101 -0.037  0.01   0.004 -0.002 -0.007  1.012]
+t: 219	 action: [-9.716e-02 -4.146e-02  6.594e-02 -6.291e-03 -4.454e-04 -1.868e-02  1.023e+00]
+t: 220	 action: [-0.096  0.013  0.081  0.002 -0.006 -0.021  1.016]
+t: 221	 action: [-0.084 -0.015  0.118 -0.005 -0.003 -0.027  1.022]
+t: 222	 action: [-0.048  0.014  0.107  0.003 -0.001 -0.018  1.015]
+t: 223	 action: [-0.034  0.043  0.122 -0.012 -0.011 -0.024  1.028]
+t: 224	 action: [ 2.844e-02  4.463e-02  1.634e-01  1.510e-03  1.004e-03 -3.130e-02  1.010e+00]
+t: 225	 action: [ 0.009  0.065  0.176 -0.013 -0.01  -0.034  1.033]
+t: 226	 action: [ 0.034  0.03  -0.117  0.001  0.01  -0.011  1.036]
+t: 227	 action: [ 0.092 -0.003 -0.027 -0.007  0.003 -0.017  1.044]
+t: 228	 action: [ 0.111  0.046 -0.009 -0.002  0.018 -0.034  1.138]
+t: 229	 action: [ 0.087 -0.007  0.044 -0.012  0.005 -0.041  1.033]
+t: 230	 action: [ 0.111  0.021  0.009 -0.002  0.005 -0.021  1.04 ]
+t: 231	 action: [ 0.164 -0.005  0.009 -0.023 -0.007 -0.024  1.034]
+t: 232	 action: [ 0.105  0.036  0.14  -0.003 -0.002 -0.048 -1.162]
+t: 233	 action: [ 0.073  0.017  0.225 -0.024 -0.007 -0.057 -1.106]
+[07-31 01:30:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9429
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9429
+Query 1/1: Action query time = 1.001 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9429
+t=234: Selected seed 195 with value = 0.9429
+t: 234	 action: [-0.162  0.047  0.122 -0.011 -0.011 -0.01   0.986]
+t: 235	 action: [-0.143  0.043  0.209 -0.006 -0.002 -0.016  1.018]
+t: 236	 action: [-0.127  0.106  0.318  0.006 -0.008 -0.024  0.994]
+t: 237	 action: [-0.096  0.103  0.322  0.011 -0.003 -0.022  1.019]
+t: 238	 action: [-0.024  0.09   0.317  0.004 -0.001 -0.008  0.995]
+t: 239	 action: [-0.009  0.143  0.237  0.01  -0.014 -0.009  1.029]
+t: 240	 action: [ 0.035  0.2    0.255  0.006  0.004 -0.013  0.997]
+t: 241	 action: [ 0.01   0.154  0.155  0.023 -0.012 -0.011  1.033]
+t: 242	 action: [ 0.02   0.081 -0.205  0.008  0.006  0.005  1.   ]
+t: 243	 action: [ 0.046  0.096 -0.259  0.006  0.008  0.003  1.052]
+t: 244	 action: [ 1.253e-01  1.280e-01 -2.599e-01  4.245e-03  2.509e-02  1.994e-04  1.129e+00]
+t: 245	 action: [ 0.07   0.081 -0.249 -0.005  0.015 -0.012  1.032]
+t: 246	 action: [ 0.055  0.077 -0.154 -0.004  0.018  0.001  1.008]
+t: 247	 action: [ 0.075  0.081 -0.13  -0.021  0.003  0.007  1.064]
+t: 248	 action: [ 0.074  0.123 -0.066 -0.02   0.025 -0.008 -1.134]
+t: 249	 action: [ 0.043  0.066  0.03  -0.03   0.012 -0.024 -1.09 ]
+[07-31 01:30:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9536
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9536
+Query 1/1: Action query time = 0.992 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9536
+t=250: Selected seed 195 with value = 0.9536
+t: 250	 action: [-0.159  0.092  0.01  -0.003 -0.014 -0.006  0.99 ]
+t: 251	 action: [-0.104  0.078  0.078 -0.01  -0.004 -0.013  1.016]
+t: 252	 action: [-0.111  0.156  0.077  0.008 -0.013 -0.014  0.994]
+t: 253	 action: [-0.055  0.117  0.069  0.003 -0.004 -0.018  1.02 ]
+t: 254	 action: [-0.017  0.136  0.104  0.002 -0.008 -0.007  0.998]
+t: 255	 action: [ 0.002  0.123  0.041  0.002 -0.017 -0.009  1.026]
+t: 256	 action: [ 0.032  0.171  0.048  0.004 -0.004 -0.011  0.996]
+t: 257	 action: [ 0.019  0.123  0.008  0.012 -0.013 -0.012  1.031]
+t: 258	 action: [-0.004  0.091 -0.403  0.009 -0.011  0.005  0.992]
+t: 259	 action: [ 0.025  0.097 -0.456  0.006  0.004  0.012  1.045]
+t: 260	 action: [ 0.117  0.114 -0.339  0.006  0.01   0.007  1.134]
+t: 261	 action: [ 0.08   0.067 -0.308 -0.005  0.011 -0.005  1.038]
+t: 262	 action: [ 0.09   0.09  -0.162 -0.004  0.008  0.002  1.   ]
+t: 263	 action: [ 0.1    0.081 -0.104 -0.02  -0.007  0.01   1.062]
+t: 264	 action: [ 0.105  0.103 -0.04  -0.02   0.021 -0.003 -1.127]
+t: 265	 action: [ 0.063  0.061  0.052 -0.029  0.012 -0.021 -1.09 ]
+[07-31 01:30:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.135 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9497
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9497
+Query 1/1: Action query time = 1.135 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=266: Selected seed 195 with value = 0.9497
+t: 266	 action: [-0.12   0.067 -0.111 -0.019 -0.004 -0.004  0.99 ]
+t: 267	 action: [-0.075  0.042  0.041 -0.02   0.003 -0.013  1.018]
+t: 268	 action: [-0.106  0.102  0.007  0.009 -0.005 -0.015  0.992]
+t: 269	 action: [-0.071  0.065  0.076 -0.002  0.005 -0.019  1.026]
+t: 270	 action: [-0.045  0.067  0.088  0.002  0.001 -0.007  1.002]
+t: 271	 action: [-0.014  0.067  0.051 -0.001 -0.01  -0.006  1.026]
+t: 272	 action: [-0.012  0.089  0.129  0.005  0.01  -0.013  0.997]
+t: 273	 action: [ 0.011  0.075  0.098  0.013 -0.007 -0.012  1.034]
+t: 274	 action: [-0.031  0.044 -0.273  0.013  0.012  0.003  1.001]
+t: 275	 action: [ 0.001  0.025 -0.251  0.011  0.018  0.006  1.047]
+t: 276	 action: [ 0.084  0.054 -0.199  0.006  0.037  0.004  1.15 ]
+t: 277	 action: [ 6.005e-02  1.446e-02 -7.372e-02  6.559e-04  3.834e-02 -1.357e-02  1.034e+00]
+t: 278	 action: [ 7.510e-02  3.563e-02 -5.396e-02 -3.946e-04  3.668e-02 -2.273e-04  1.016e+00]
+t: 279	 action: [ 0.106  0.032  0.004 -0.014  0.037  0.007  1.063]
+t: 280	 action: [ 0.073  0.041  0.044 -0.005  0.051 -0.005 -1.152]
+t: 281	 action: [ 0.047  0.031  0.115 -0.018  0.049 -0.026 -1.096]
+[07-31 01:30:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9515
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 0.996 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=282: Selected seed 195 with value = 0.9515
+t: 282	 action: [-0.085  0.055 -0.175 -0.026  0.008  0.003  0.992]
+t: 283	 action: [-0.041  0.027  0.032 -0.025  0.01  -0.006  1.023]
+t: 284	 action: [-0.057  0.08  -0.023  0.008  0.006 -0.007  0.992]
+t: 285	 action: [-0.034  0.046  0.073 -0.006  0.01  -0.014  1.033]
+t: 286	 action: [-0.033  0.045  0.058  0.001  0.009 -0.003  1.004]
+t: 287	 action: [-0.002  0.039  0.034 -0.005 -0.007  0.001  1.026]
+t: 288	 action: [-0.01   0.06   0.164  0.004  0.015 -0.01   0.998]
+t: 289	 action: [ 0.016  0.056  0.185  0.012 -0.002 -0.007  1.036]
+t: 290	 action: [-0.018  0.038 -0.171  0.009  0.017  0.002  1.01 ]
+t: 291	 action: [-0.007  0.015 -0.055  0.007  0.024  0.008  1.045]
+t: 292	 action: [ 0.06   0.038 -0.094  0.004  0.038  0.005  1.156]
+t: 293	 action: [ 3.455e-02  3.428e-03  9.887e-03  8.637e-04  4.255e-02 -1.455e-02  1.034e+00]
+t: 294	 action: [ 6.011e-02  2.155e-02  4.045e-02 -6.724e-04  4.034e-02 -2.358e-03  1.028e+00]
+t: 295	 action: [ 0.101  0.031  0.09  -0.009  0.039  0.007  1.063]
+t: 296	 action: [ 5.227e-02  1.989e-02  1.319e-01 -9.702e-04  5.302e-02 -6.390e-03 -1.162e+00]
+t: 297	 action: [ 0.035  0.03   0.255 -0.008  0.054 -0.027 -1.094]
+[07-31 01:30:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.179 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9573
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9573
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 37
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 74%|███████▍  | 37/50 [19:42<07:07, 32.89s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 38...
+Query 1/1: Action query time = 1.179 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=298: Selected seed 195 with value = 0.9573
+t: 298	 action: [-0.059  0.049 -0.225 -0.031  0.015  0.003  0.99 ]
+t: 299	 action: [-0.01   0.022 -0.02  -0.031  0.015  0.007  1.024]
+t: 300	 action: [-0.01   0.066 -0.047  0.004  0.012  0.004  0.988]
+t: 301	 action: [ 4.884e-03  3.475e-02  6.644e-02 -1.316e-02  1.178e-02 -8.909e-04  1.034e+00]
+t: 302	 action: [-9.805e-03  3.173e-02  3.569e-02 -5.849e-04  1.262e-02  1.019e-03  9.999e-01]
+t: 303	 action: [ 0.017  0.02   0.02  -0.009 -0.007  0.013  1.024]
+t: 304	 action: [ 1.939e-02  3.789e-02  1.700e-01 -6.233e-04  1.269e-02 -4.099e-03  9.943e-01]
+t: 305	 action: [ 0.028  0.033  0.211  0.009 -0.002  0.003  1.035]
+t: 306	 action: [-0.004  0.034 -0.16   0.006  0.013  0.007  1.009]
+t: 307	 action: [-0.001  0.008 -0.054 -0.002  0.022  0.018  1.044]
+t: 308	 action: [ 0.051  0.028 -0.083  0.005  0.029  0.005  1.158]
+t: 309	 action: [ 0.023 -0.009  0.018 -0.004  0.038 -0.004  1.031]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=37--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=37--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 37
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 38...
+[07-31 01:30:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.017 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4756
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4756
+Query 1/1: Action query time = 1.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4756
+t=10: Selected seed 195 with value = 0.4756
+t: 10	 action: [ 5.031e-02  4.617e-02 -2.624e-02 -4.057e-03  3.562e-03  4.086e-05 -1.010e+00]
+t: 11	 action: [ 1.938e-01  7.658e-02  1.017e-03 -1.092e-02  2.364e-03 -9.506e-03 -1.026e+00]
+t: 12	 action: [ 4.071e-01  2.113e-01 -9.728e-03 -1.721e-02  4.928e-03 -2.864e-04 -1.026e+00]
+t: 13	 action: [ 0.572  0.275  0.02  -0.016  0.003 -0.009 -1.029]
+t: 14	 action: [ 0.733  0.346  0.031 -0.02   0.008 -0.004 -1.022]
+t: 15	 action: [ 8.286e-01  3.975e-01  3.731e-03 -1.241e-02 -1.572e-04 -1.043e-02 -1.055e+00]
+t: 16	 action: [ 0.892  0.472  0.022 -0.031  0.011 -0.006 -1.022]
+t: 17	 action: [ 0.922  0.485  0.006 -0.016 -0.001 -0.011 -1.055]
+t: 18	 action: [ 8.734e-01  4.877e-01  2.740e-02 -2.877e-02  5.684e-03  2.340e-04 -1.034e+00]
+t: 19	 action: [ 0.905  0.508  0.016 -0.026  0.007 -0.009 -1.03 ]
+t: 20	 action: [ 0.897  0.528  0.006 -0.039  0.003  0.002 -1.036]
+t: 21	 action: [ 0.926  0.536  0.002 -0.027  0.009 -0.007 -1.028]
+t: 22	 action: [ 0.932  0.52  -0.034 -0.024  0.003 -0.002 -1.014]
+t: 23	 action: [ 0.958  0.515 -0.038 -0.014 -0.002 -0.009 -1.05 ]
+t: 24	 action: [ 0.9    0.494 -0.117 -0.021  0.001 -0.003 -1.022]
+t: 25	 action: [ 0.933  0.46  -0.123 -0.009 -0.001 -0.007 -1.055]
+[07-31 01:30:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.022 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5805
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5805
+Query 1/1: Action query time = 1.022 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5805
+t=26: Selected seed 195 with value = 0.5805
+t: 26	 action: [ 0.799  0.421 -0.257  0.002 -0.015  0.007 -1.038]
+t: 27	 action: [ 0.702  0.354 -0.249 -0.016 -0.009  0.006 -1.035]
+t: 28	 action: [ 0.559  0.19  -0.381  0.008 -0.026  0.008 -1.04 ]
+t: 29	 action: [ 3.866e-01  1.039e-01 -4.152e-01 -8.960e-04 -1.993e-02  5.219e-03 -1.039e+00]
+t: 30	 action: [ 0.252  0.01  -0.566  0.002 -0.028  0.002 -1.035]
+t: 31	 action: [ 0.147 -0.036 -0.641  0.017 -0.038  0.007 -1.061]
+t: 32	 action: [ 0.063 -0.037 -0.821  0.016 -0.035  0.003 -1.038]
+t: 33	 action: [-0.004 -0.033 -0.839  0.022 -0.043  0.006 -1.064]
+t: 34	 action: [-0.071 -0.13  -0.901  0.018 -0.054  0.009 -1.035]
+t: 35	 action: [-0.116 -0.144 -0.933  0.014 -0.055  0.005 -1.039]
+t: 36	 action: [-0.171 -0.103 -0.948  0.019 -0.054  0.009 -1.033]
+t: 37	 action: [-0.204 -0.115 -1.006  0.011 -0.05   0.003 -1.038]
+t: 38	 action: [-0.253 -0.055 -0.947  0.004 -0.05   0.005 -1.036]
+t: 39	 action: [-0.237  0.01  -0.964  0.011 -0.04   0.004 -1.049]
+t: 40	 action: [-0.266 -0.042 -0.937  0.004 -0.035  0.005 -1.026]
+t: 41	 action: [-0.236  0.019 -0.945  0.009 -0.026  0.003 -1.051]
+[07-31 01:30:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6478
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6478
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6478
+t=42: Selected seed 195 with value = 0.6478
+t: 42	 action: [-0.388 -0.079 -1.059  0.005 -0.06   0.015 -1.053]
+t: 43	 action: [-0.428 -0.057 -1.037 -0.006 -0.054  0.023 -1.03 ]
+t: 44	 action: [-0.431 -0.013 -1.028 -0.003 -0.051  0.021 -1.045]
+t: 45	 action: [-0.414  0.001 -0.969 -0.014 -0.035  0.027 -1.031]
+t: 46	 action: [-0.395  0.059 -0.872 -0.021 -0.03   0.01  -1.047]
+t: 47	 action: [-0.326  0.121 -0.879 -0.012 -0.022  0.016 -1.058]
+t: 48	 action: [-0.261  0.059 -0.7   -0.038 -0.019  0.014 -1.046]
+t: 49	 action: [-0.224  0.139 -0.734 -0.022 -0.001  0.014 -1.06 ]
+t: 50	 action: [-2.133e-01  2.732e-02 -7.268e-01 -2.582e-02  6.853e-04  1.564e-02 -1.235e+00]
+t: 51	 action: [-0.241 -0.013 -0.524 -0.023  0.025  0.035 -1.153]
+t: 52	 action: [-1.331e-01 -8.227e-04 -5.351e-01 -2.804e-02  1.422e-02  1.493e-02  9.704e-01]
+t: 53	 action: [-0.096 -0.036 -0.315 -0.022  0.038  0.014  1.018]
+t: 54	 action: [-0.099 -0.024 -0.311 -0.037  0.025 -0.003  1.092]
+t: 55	 action: [-0.068 -0.006 -0.131 -0.014  0.036  0.012  1.164]
+t: 56	 action: [-0.087 -0.042 -0.11  -0.032  0.026 -0.01   0.993]
+t: 57	 action: [-0.064 -0.019  0.008 -0.013  0.04  -0.009  1.026]
+[07-31 01:30:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7029
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7029
+Query 1/1: Action query time = 0.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7029
+t=58: Selected seed 195 with value = 0.7029
+t: 58	 action: [ 0.017  0.03  -0.048 -0.019  0.016  0.005  0.977]
+t: 59	 action: [ 0.032  0.03   0.054 -0.02   0.031 -0.007  1.007]
+t: 60	 action: [ 0.093  0.025  0.244 -0.008  0.033 -0.009  0.972]
+t: 61	 action: [ 0.087  0.027  0.414 -0.012  0.05  -0.016  1.01 ]
+t: 62	 action: [ 0.134  0.04   0.589  0.001  0.038 -0.022  0.994]
+t: 63	 action: [ 0.115  0.033  0.765 -0.001  0.057 -0.032  1.008]
+t: 64	 action: [ 0.127  0.001  0.872  0.009  0.05  -0.035  0.99 ]
+t: 65	 action: [ 0.084 -0.032  0.873  0.02   0.062 -0.037  1.014]
+t: 66	 action: [ 0.172 -0.197  0.906  0.023  0.082 -0.032  0.984]
+t: 67	 action: [ 0.107 -0.272  0.927  0.034  0.087 -0.029  1.02 ]
+t: 68	 action: [ 0.125 -0.433  0.906  0.033  0.072 -0.026  0.983]
+t: 69	 action: [ 0.095 -0.476  0.74   0.04   0.076 -0.023  1.02 ]
+t: 70	 action: [ 0.058 -0.51   0.573  0.069  0.06  -0.021  0.996]
+t: 71	 action: [-0.02  -0.52   0.339  0.059  0.066 -0.016  1.022]
+t: 72	 action: [ 0.006 -0.52  -0.02   0.057  0.046 -0.016  1.009]
+t: 73	 action: [-0.036 -0.534 -0.018  0.049  0.052 -0.011  1.029]
+[07-31 01:30:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.013 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7781
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7781
+Query 1/1: Action query time = 1.013 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7781
+t=74: Selected seed 195 with value = 0.7781
+t: 74	 action: [-0.012  0.286  0.29   0.004  0.006  0.004  1.01 ]
+t: 75	 action: [-0.052  0.32   0.143  0.011 -0.003  0.007  1.023]
+t: 76	 action: [-0.045  0.308  0.102  0.008  0.007  0.004  0.992]
+t: 77	 action: [-1.758e-01  3.600e-01  1.484e-02  2.086e-02 -9.764e-04  1.129e-02  9.946e-01]
+t: 78	 action: [-0.19   0.273 -0.024  0.006  0.007  0.003  0.99 ]
+t: 79	 action: [-0.271  0.298 -0.062  0.02  -0.006  0.006  1.008]
+t: 80	 action: [-0.366  0.345 -0.134  0.005  0.005  0.002  0.959]
+t: 81	 action: [-0.386  0.383 -0.253  0.024 -0.006  0.01   0.972]
+t: 82	 action: [-0.432  0.239 -0.248  0.011  0.008  0.036  0.98 ]
+t: 83	 action: [-0.476  0.204 -0.32   0.018  0.002  0.049  1.017]
+t: 84	 action: [-0.432  0.202 -0.342  0.008  0.012  0.044  1.006]
+t: 85	 action: [-0.457  0.185 -0.377  0.012  0.003  0.055  1.054]
+t: 86	 action: [-4.510e-01  3.452e-01 -3.756e-01  3.820e-04 -7.806e-03  3.701e-02  1.010e+00]
+t: 87	 action: [-4.205e-01  2.252e-01 -3.787e-01 -5.071e-04 -1.097e-03  4.643e-02  1.051e+00]
+t: 88	 action: [-0.371  0.327 -0.386  0.002 -0.017  0.03   1.02 ]
+t: 89	 action: [-0.302  0.246 -0.315 -0.01  -0.004  0.048  1.069]
+[07-31 01:30:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8118
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8118
+Query 1/1: Action query time = 1.003 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8118
+t=90: Selected seed 195 with value = 0.8118
+t: 90	 action: [-0.034  0.075 -0.044  0.005  0.026 -0.004  1.013]
+t: 91	 action: [-0.091  0.044 -0.059  0.002  0.018 -0.007  1.028]
+t: 92	 action: [-0.061  0.06  -0.173  0.002  0.021 -0.006  1.01 ]
+t: 93	 action: [-1.835e-01  1.356e-02 -2.450e-01  8.424e-03  1.464e-02 -8.061e-04  1.035e+00]
+t: 94	 action: [-1.769e-01  2.765e-02 -1.957e-01  2.183e-04  2.247e-02  4.259e-03  1.027e+00]
+t: 95	 action: [-0.271 -0.003 -0.223  0.015  0.003  0.005  1.048]
+t: 96	 action: [-0.319  0.04  -0.311  0.003  0.016  0.003  1.018]
+t: 97	 action: [-0.404  0.012 -0.45   0.016  0.001  0.009  1.058]
+t: 98	 action: [-0.295  0.023 -0.485  0.005  0.039  0.025  0.981]
+t: 99	 action: [-0.406 -0.047 -0.548  0.005  0.017  0.036  1.02 ]
+t: 100	 action: [-3.320e-01  1.444e-02 -5.348e-01 -3.526e-05  4.083e-02  3.111e-02  9.962e-01]
+t: 101	 action: [-4.159e-01 -5.341e-02 -5.393e-01  7.905e-04  8.345e-03  3.823e-02  1.052e+00]
+t: 102	 action: [-3.238e-01  3.128e-04 -4.711e-01 -3.324e-03  1.950e-02  3.827e-02  1.023e+00]
+t: 103	 action: [-0.391 -0.014 -0.538 -0.011  0.002  0.041  1.071]
+t: 104	 action: [-0.279 -0.01  -0.383 -0.003  0.006  0.03   1.027]
+t: 105	 action: [-0.315 -0.027 -0.36  -0.017 -0.003  0.035  1.085]
+[07-31 01:30:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8914
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8914
+Query 1/1: Action query time = 1.001 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=106: Selected seed 195 with value = 0.8914
+t: 106	 action: [-0.059  0.006 -0.096 -0.05  -0.006 -0.001  0.993]
+t: 107	 action: [-1.203e-01 -2.962e-02 -1.406e-02 -3.754e-02 -1.059e-03 -1.419e-03  1.065e+00]
+t: 108	 action: [-0.126  0.006  0.075 -0.029  0.006 -0.01   1.006]
+t: 109	 action: [-0.206 -0.067  0.064 -0.027  0.015 -0.036  0.981]
+t: 110	 action: [-0.231 -0.065  0.217 -0.032  0.021 -0.008  1.013]
+t: 111	 action: [-3.148e-01 -8.311e-02  1.890e-01 -2.967e-02  1.190e-02 -4.171e-04  1.073e+00]
+t: 112	 action: [-3.090e-01 -9.473e-02  3.041e-01 -8.509e-04  3.822e-02 -2.077e-02  9.857e-01]
+t: 113	 action: [-0.291 -0.109  0.261 -0.008  0.056 -0.042 -0.919]
+t: 114	 action: [-1.667e-01  6.968e-03  7.632e-02  9.988e-04  8.255e-02 -1.844e-02  1.174e+00]
+t: 115	 action: [-0.163 -0.069  0.098  0.012  0.095 -0.03  -0.934]
+t: 116	 action: [-6.160e-02  7.648e-04  1.607e-01  1.011e-02  9.878e-02 -3.013e-02 -1.057e+00]
+t: 117	 action: [-0.017 -0.081  0.167  0.013  0.094 -0.039 -1.089]
+t: 118	 action: [-0.036 -0.046  0.1    0.004  0.091 -0.018 -1.177]
+t: 119	 action: [-0.053 -0.068  0.171  0.005  0.05  -0.023 -0.978]
+t: 120	 action: [-0.045 -0.035  0.179  0.012  0.071 -0.026 -1.033]
+t: 121	 action: [-0.018 -0.069  0.271  0.007  0.04  -0.027 -0.947]
+[07-31 01:30:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8182
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8182
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8182
+t=122: Selected seed 195 with value = 0.8182
+t: 122	 action: [-0.059 -0.143  0.17  -0.004  0.05  -0.043  1.006]
+t: 123	 action: [-0.02  -0.179  0.396 -0.01   0.053 -0.045  1.018]
+t: 124	 action: [ 0.003 -0.176  0.531  0.004  0.044 -0.054  0.986]
+t: 125	 action: [ 0.014 -0.257  0.659 -0.002  0.046 -0.046  1.013]
+t: 126	 action: [-0.004 -0.178  0.568  0.008  0.045 -0.061  1.01 ]
+t: 127	 action: [ 0.012 -0.23   0.694  0.013  0.032 -0.046  1.006]
+t: 128	 action: [ 0.004 -0.276  0.469  0.012  0.04  -0.058  0.99 ]
+t: 129	 action: [ 0.031 -0.333  0.522  0.029  0.031 -0.044  1.008]
+t: 130	 action: [-0.044 -0.378  0.11   0.018  0.029 -0.01   1.015]
+t: 131	 action: [-0.065 -0.424  0.025  0.025  0.017 -0.016  1.019]
+t: 132	 action: [-0.025 -0.301 -0.2    0.009  0.025 -0.017  0.995]
+t: 133	 action: [-0.021 -0.243 -0.275  0.02   0.015 -0.02   1.022]
+t: 134	 action: [-0.031 -0.115 -0.213  0.002  0.012 -0.016  1.017]
+t: 135	 action: [-0.015 -0.169 -0.214  0.017 -0.003 -0.017  1.016]
+t: 136	 action: [-0.004 -0.086 -0.316 -0.006  0.008 -0.024  1.   ]
+t: 137	 action: [ 0.015 -0.054 -0.266  0.011 -0.004 -0.022  1.019]
+[07-31 01:30:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9524
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9524
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9524
+t=138: Selected seed 195 with value = 0.9524
+t: 138	 action: [-1.450e-01  6.097e-01  4.541e-01 -1.161e-02 -1.861e-02 -8.334e-04  9.999e-01]
+t: 139	 action: [-0.113  0.604  0.41  -0.011 -0.021 -0.014  1.013]
+t: 140	 action: [-0.148  0.633  0.375 -0.001 -0.018 -0.004  0.996]
+t: 141	 action: [-0.128  0.637  0.266 -0.009 -0.023 -0.018  1.018]
+t: 142	 action: [-0.155  0.671  0.176  0.003 -0.028 -0.006  1.006]
+t: 143	 action: [-0.179  0.658  0.088  0.001 -0.045 -0.011  1.038]
+t: 144	 action: [-1.619e-01  6.767e-01 -6.040e-03 -6.937e-04 -2.481e-02 -9.988e-03  9.987e-01]
+t: 145	 action: [-0.143  0.643 -0.101 -0.003 -0.043 -0.014  1.041]
+t: 146	 action: [-0.135  0.635 -0.248  0.002 -0.018 -0.002  1.005]
+t: 147	 action: [-0.111  0.573 -0.416 -0.011 -0.019 -0.005  1.036]
+t: 148	 action: [-0.026  0.49  -0.417 -0.005 -0.014 -0.005  0.999]
+t: 149	 action: [-0.017  0.398 -0.584 -0.016 -0.004 -0.006  1.05 ]
+t: 150	 action: [-0.024  0.312 -0.509 -0.006 -0.015 -0.004  1.006]
+t: 151	 action: [ 0.006  0.299 -0.575 -0.019 -0.008  0.002  1.056]
+t: 152	 action: [-0.02   0.191 -0.509 -0.014 -0.005 -0.004  1.002]
+t: 153	 action: [-2.579e-04  1.775e-01 -5.110e-01 -2.152e-02 -6.129e-03  1.235e-03  1.062e+00]
+[07-31 01:30:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9953
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=154: Selected seed 195 with value = 0.9953
+t: 154	 action: [-0.02   0.09  -0.552  0.003  0.024  0.006  0.933]
+t: 155	 action: [-0.006  0.11  -0.53  -0.002  0.022 -0.01   1.02 ]
+t: 156	 action: [-1.173e-02  8.707e-02 -4.046e-01 -3.128e-04  3.620e-02  7.197e-03  1.163e+00]
+t: 157	 action: [-0.007  0.071 -0.297 -0.005  0.028 -0.011  1.017]
+t: 158	 action: [ 0.002  0.036 -0.12  -0.003  0.031 -0.013  0.945]
+t: 159	 action: [ 5.211e-02  7.844e-02 -6.135e-02 -4.722e-04  1.954e-02 -3.440e-02 -1.064e+00]
+t: 160	 action: [ 0.054  0.05   0.018 -0.005  0.03  -0.036 -1.189]
+t: 161	 action: [ 0.044  0.066  0.066 -0.002  0.032 -0.055 -1.091]
+t: 162	 action: [-0.009  0.077  0.274  0.007  0.045 -0.047 -1.047]
+t: 163	 action: [-0.01   0.034  0.39   0.006  0.037 -0.051 -1.031]
+t: 164	 action: [ 0.006  0.1    0.402  0.007  0.043 -0.057 -1.043]
+t: 165	 action: [ 0.015  0.04   0.46   0.007  0.041 -0.057 -1.025]
+t: 166	 action: [ 0.03   0.091  0.5    0.013  0.065 -0.064 -1.056]
+t: 167	 action: [ 0.029  0.091  0.472  0.013  0.059 -0.06  -1.039]
+t: 168	 action: [ 0.057  0.115  0.496  0.01   0.065 -0.067 -1.043]
+t: 169	 action: [ 0.056  0.091  0.442  0.015  0.07  -0.063 -1.049]
+[07-31 01:30:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9954
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=170: Selected seed 195 with value = 0.9954
+t: 170	 action: [ 0.079  0.087  0.313  0.004  0.028 -0.062 -1.044]
+t: 171	 action: [ 0.101  0.058  0.337  0.002  0.02  -0.072 -1.027]
+t: 172	 action: [ 0.078  0.067  0.268  0.003  0.02  -0.073 -1.041]
+t: 173	 action: [ 0.106  0.062  0.313  0.002  0.016 -0.083 -1.024]
+t: 174	 action: [ 0.097  0.087  0.277  0.002  0.024 -0.07  -1.044]
+t: 175	 action: [ 0.116  0.09   0.302  0.005  0.006 -0.075 -1.048]
+t: 176	 action: [ 1.031e-01  6.689e-02  2.692e-01  9.786e-04  1.748e-02 -8.089e-02 -1.041e+00]
+t: 177	 action: [ 0.138  0.094  0.315  0.006  0.006 -0.087 -1.053]
+t: 178	 action: [ 0.077  0.066  0.308  0.004  0.023 -0.066 -1.043]
+t: 179	 action: [ 0.09   0.058  0.321  0.003  0.018 -0.073 -1.027]
+t: 180	 action: [ 0.078  0.058  0.277  0.003  0.018 -0.076 -1.038]
+t: 181	 action: [ 0.103  0.062  0.305  0.003  0.015 -0.083 -1.025]
+t: 182	 action: [ 0.095  0.068  0.297  0.003  0.022 -0.074 -1.043]
+t: 183	 action: [ 0.109  0.091  0.299  0.006  0.004 -0.077 -1.048]
+t: 184	 action: [ 0.103  0.063  0.279  0.002  0.018 -0.084 -1.034]
+t: 185	 action: [ 0.136  0.094  0.316  0.006  0.005 -0.086 -1.054]
+[07-31 01:30:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=186: Selected seed 195 with value = 0.9997
+t: 186	 action: [ 0.006  0.021  0.165  0.015  0.009 -0.037 -1.044]
+t: 187	 action: [ 6.738e-03 -1.894e-04  1.461e-01  1.539e-02  3.074e-03 -4.553e-02 -1.037e+00]
+t: 188	 action: [ 0.003  0.005  0.106  0.008 -0.009 -0.047 -1.042]
+t: 189	 action: [ 0.003 -0.003  0.126  0.015  0.002 -0.052 -1.038]
+t: 190	 action: [ 0.01   0.004  0.127  0.01  -0.01  -0.041 -1.042]
+t: 191	 action: [-0.005  0.022  0.086  0.018 -0.022 -0.046 -1.057]
+t: 192	 action: [ 0.014 -0.001  0.119  0.008 -0.017 -0.047 -1.04 ]
+t: 193	 action: [ 0.005  0.027  0.101  0.017 -0.02  -0.054 -1.059]
+t: 194	 action: [ 0.006  0.002  0.16   0.008 -0.012 -0.046 -1.044]
+t: 195	 action: [ 7.550e-03 -1.713e-02  1.705e-01  1.171e-02  1.003e-03 -4.966e-02 -1.041e+00]
+t: 196	 action: [ 0.004  0.002  0.122  0.006 -0.017 -0.051 -1.04 ]
+t: 197	 action: [ 0.013 -0.012  0.143  0.011  0.003 -0.053 -1.039]
+t: 198	 action: [ 0.017 -0.009  0.161  0.007 -0.014 -0.049 -1.041]
+t: 199	 action: [-0.001  0.009  0.14   0.014 -0.019 -0.05  -1.058]
+t: 200	 action: [ 0.017 -0.003  0.14   0.006 -0.018 -0.054 -1.033]
+t: 201	 action: [ 0.009  0.018  0.134  0.013 -0.015 -0.052 -1.062]
+[07-31 01:30:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9923
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.999 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=202: Selected seed 195 with value = 0.9923
+t: 202	 action: [ 0.008  0.007  0.106  0.015  0.029 -0.03  -1.036]
+t: 203	 action: [ 0.017 -0.003  0.055  0.017  0.007 -0.04  -1.029]
+t: 204	 action: [ 1.148e-02 -5.206e-03  1.924e-02  5.858e-03  3.432e-04 -4.072e-02 -1.036e+00]
+t: 205	 action: [ 0.012 -0.015  0.032  0.016  0.002 -0.047 -1.046]
+t: 206	 action: [ 0.016 -0.012  0.043  0.011 -0.008 -0.031 -1.039]
+t: 207	 action: [-0.005  0.012  0.016  0.02  -0.023 -0.038 -1.068]
+t: 208	 action: [ 0.023 -0.013  0.018  0.007 -0.015 -0.039 -1.032]
+t: 209	 action: [ 0.009  0.008  0.009  0.019 -0.025 -0.047 -1.068]
+t: 210	 action: [ 0.01  -0.017  0.046  0.009 -0.018 -0.04  -1.041]
+t: 211	 action: [ 0.016 -0.048  0.045  0.012 -0.005 -0.045 -1.048]
+t: 212	 action: [ 0.007 -0.017  0.016  0.006 -0.023 -0.046 -1.037]
+t: 213	 action: [ 0.021 -0.043  0.035  0.011 -0.003 -0.047 -1.048]
+t: 214	 action: [ 0.014 -0.028  0.052  0.008 -0.022 -0.04  -1.039]
+t: 215	 action: [-0.001 -0.015  0.029  0.015 -0.029 -0.044 -1.069]
+t: 216	 action: [ 0.011 -0.019  0.031  0.006 -0.025 -0.046 -1.027]
+t: 217	 action: [ 0.006 -0.011  0.023  0.013 -0.024 -0.046 -1.071]
+[07-31 01:30:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9821
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=218: Selected seed 195 with value = 0.9821
+t: 218	 action: [ 0.023  0.01   0.156  0.015  0.033 -0.03  -1.021]
+t: 219	 action: [ 0.033  0.008  0.115  0.017  0.011 -0.04  -1.002]
+t: 220	 action: [ 0.038 -0.005  0.045  0.007  0.01  -0.039 -1.026]
+t: 221	 action: [ 0.033 -0.007  0.049  0.016  0.008 -0.046 -1.047]
+t: 222	 action: [ 0.037 -0.013  0.068  0.013 -0.002 -0.027 -1.037]
+t: 223	 action: [ 0.005  0.011  0.034  0.022 -0.01  -0.035 -1.065]
+t: 224	 action: [ 0.057 -0.015  0.025  0.008 -0.007 -0.034 -1.025]
+t: 225	 action: [ 0.032  0.005  0.02   0.02  -0.012 -0.042 -1.07 ]
+t: 226	 action: [ 0.032 -0.028  0.048  0.012 -0.016 -0.039 -1.034]
+t: 227	 action: [ 0.03  -0.056  0.051  0.014  0.002 -0.043 -1.046]
+t: 228	 action: [ 0.028 -0.025  0.013  0.007 -0.021 -0.044 -1.03 ]
+t: 229	 action: [ 0.033 -0.05   0.032  0.013  0.003 -0.046 -1.048]
+t: 230	 action: [ 0.031 -0.038  0.042  0.011 -0.025 -0.036 -1.038]
+t: 231	 action: [ 0.002 -0.024  0.027  0.018 -0.024 -0.04  -1.067]
+t: 232	 action: [ 0.028 -0.025  0.019  0.007 -0.025 -0.041 -1.02 ]
+t: 233	 action: [ 0.011 -0.022  0.014  0.015 -0.019 -0.041 -1.07 ]
+[07-31 01:30:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9676
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=234: Selected seed 195 with value = 0.9676
+t: 234	 action: [ 4.412e-02 -8.804e-04  2.210e-01  1.251e-02  4.542e-02 -3.016e-02  9.547e-01]
+t: 235	 action: [ 0.064 -0.02   0.215  0.016  0.033 -0.051  0.765]
+t: 236	 action: [ 0.081 -0.021  0.116  0.007  0.027 -0.036 -1.034]
+t: 237	 action: [ 0.096 -0.036  0.14   0.016  0.015 -0.041 -1.064]
+t: 238	 action: [ 0.093 -0.03   0.159  0.011  0.015 -0.021 -1.097]
+t: 239	 action: [ 2.279e-02 -3.726e-02  1.318e-01  1.873e-02 -1.011e-03 -3.656e-02 -1.128e+00]
+t: 240	 action: [ 0.111 -0.035  0.084  0.01   0.007 -0.027 -1.03 ]
+t: 241	 action: [ 0.09  -0.044  0.043  0.021  0.002 -0.034 -1.072]
+t: 242	 action: [ 0.061 -0.078  0.048  0.015 -0.012 -0.032 -1.03 ]
+t: 243	 action: [ 0.054 -0.086  0.035  0.018  0.004 -0.038 -1.035]
+t: 244	 action: [ 5.666e-02 -6.744e-02 -1.032e-03  9.693e-03 -1.627e-02 -3.630e-02 -1.045e+00]
+t: 245	 action: [ 0.056 -0.077 -0.013  0.016  0.006 -0.04  -1.062]
+t: 246	 action: [ 0.053 -0.068  0.029  0.013 -0.024 -0.028 -1.038]
+t: 247	 action: [ 0.01  -0.055  0.005  0.021 -0.022 -0.032 -1.061]
+t: 248	 action: [ 0.049 -0.039 -0.005  0.008 -0.023 -0.031 -1.025]
+t: 249	 action: [ 0.016 -0.047 -0.052  0.017 -0.017 -0.032 -1.064]
+[07-31 01:30:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9372
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9372
+Query 1/1: Action query time = 0.992 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=250: Selected seed 195 with value = 0.9372
+t: 250	 action: [ 0.014 -0.009  0.268  0.009  0.051 -0.027  1.075]
+t: 251	 action: [ 0.051 -0.031  0.265  0.014  0.062 -0.053  0.963]
+t: 252	 action: [ 0.092 -0.028  0.18   0.006  0.039 -0.029  0.259]
+t: 253	 action: [ 0.135 -0.055  0.229  0.014  0.039 -0.035 -1.036]
+t: 254	 action: [ 0.102 -0.054  0.213  0.01   0.028 -0.015 -1.155]
+t: 255	 action: [ 0.035 -0.064  0.192  0.014  0.007 -0.037 -1.096]
+t: 256	 action: [ 0.133 -0.059  0.133  0.008  0.019 -0.018 -1.078]
+t: 257	 action: [ 0.101 -0.069  0.096  0.015  0.004 -0.026 -1.067]
+t: 258	 action: [ 0.094 -0.136  0.02   0.015 -0.009 -0.023 -1.021]
+t: 259	 action: [ 0.088 -0.119 -0.025  0.019  0.003 -0.031 -1.024]
+t: 260	 action: [ 0.093 -0.106 -0.04   0.01  -0.014 -0.026 -1.038]
+t: 261	 action: [ 0.097 -0.108 -0.148  0.015  0.005 -0.033 -1.05 ]
+t: 262	 action: [ 0.065 -0.098 -0.022  0.013 -0.026 -0.019 -1.037]
+t: 263	 action: [ 0.019 -0.073 -0.102  0.02  -0.023 -0.023 -1.048]
+t: 264	 action: [ 0.062 -0.048 -0.061  0.005 -0.026 -0.02  -1.022]
+t: 265	 action: [ 0.029 -0.054 -0.196  0.015 -0.019 -0.024 -1.045]
+[07-31 01:30:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9192
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9192
+Query 1/1: Action query time = 0.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=266: Selected seed 195 with value = 0.9192
+t: 266	 action: [-0.004 -0.014  0.23   0.011  0.052 -0.028  1.078]
+t: 267	 action: [ 0.026 -0.046  0.248  0.016  0.071 -0.055  0.971]
+t: 268	 action: [ 0.051 -0.044  0.196  0.007  0.044 -0.028  1.007]
+t: 269	 action: [ 0.047 -0.083  0.254  0.016  0.052 -0.034 -0.997]
+t: 270	 action: [ 0.062 -0.069  0.246  0.012  0.036 -0.014 -1.14 ]
+t: 271	 action: [ 0.002 -0.08   0.24   0.013  0.017 -0.039 -1.085]
+t: 272	 action: [ 0.103 -0.067  0.172  0.008  0.028 -0.016 -1.106]
+t: 273	 action: [ 0.041 -0.09   0.149  0.015  0.011 -0.024 -1.053]
+t: 274	 action: [ 0.101 -0.175 -0.002  0.019 -0.01  -0.016 -0.906]
+t: 275	 action: [ 0.088 -0.152 -0.092  0.021  0.002 -0.024 -0.985]
+t: 276	 action: [ 0.102 -0.134 -0.064  0.012 -0.016 -0.019 -1.01 ]
+t: 277	 action: [ 0.097 -0.128 -0.21   0.017  0.004 -0.027 -1.039]
+t: 278	 action: [ 0.057 -0.122 -0.045  0.015 -0.029 -0.013 -1.043]
+t: 279	 action: [ 0.007 -0.094 -0.179  0.021 -0.025 -0.018 -1.04 ]
+t: 280	 action: [ 0.058 -0.054 -0.086  0.006 -0.029 -0.015 -1.007]
+t: 281	 action: [ 0.024 -0.061 -0.251  0.015 -0.021 -0.019 -1.032]
+[07-31 01:30:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8967
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=282: Selected seed 195 with value = 0.8967
+t: 282	 action: [-0.014 -0.069  0.314  0.01   0.037 -0.033  0.993]
+t: 283	 action: [ 0.043 -0.157  0.323  0.013  0.053 -0.048  1.021]
+t: 284	 action: [ 0.025 -0.105  0.257  0.009  0.043 -0.031  1.007]
+t: 285	 action: [ 0.009 -0.166  0.292  0.016  0.058 -0.053  0.671]
+t: 286	 action: [ 0.01  -0.156  0.272  0.017  0.036 -0.017  0.989]
+t: 287	 action: [ 0.042 -0.236  0.289  0.017  0.018 -0.031  0.926]
+t: 288	 action: [ 0.065 -0.132  0.21   0.013  0.038 -0.017 -1.08 ]
+t: 289	 action: [ 0.015 -0.161  0.187  0.016  0.025 -0.038 -1.108]
+t: 290	 action: [ 0.056 -0.3    0.004  0.024 -0.003 -0.018  1.04 ]
+t: 291	 action: [ 0.04  -0.286 -0.07   0.026 -0.002 -0.026  0.57 ]
+t: 292	 action: [ 0.097 -0.249 -0.065  0.016 -0.009 -0.019  0.255]
+t: 293	 action: [ 0.086 -0.215 -0.198  0.019  0.001 -0.027 -0.902]
+t: 294	 action: [ 0.062 -0.182 -0.032  0.018 -0.021 -0.014 -1.135]
+t: 295	 action: [-0.029 -0.156 -0.133  0.022 -0.031 -0.024 -1.093]
+t: 296	 action: [ 0.061 -0.071 -0.077  0.006 -0.025 -0.014 -1.079]
+t: 297	 action: [-0.018 -0.068 -0.225  0.015 -0.025 -0.017 -1.034]
+[07-31 01:30:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8675
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8675
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 38
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 76%|███████▌  | 38/50 [20:14<06:28, 32.39s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 39...
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=298: Selected seed 195 with value = 0.8675
+t: 298	 action: [ 0.018  0.117 -0.007 -0.002  0.029 -0.006  0.974]
+t: 299	 action: [ 0.006  0.122 -0.019  0.001  0.049 -0.01   0.995]
+t: 300	 action: [ 0.052  0.123 -0.116 -0.002  0.033  0.009  0.978]
+t: 301	 action: [-5.969e-04  1.319e-01 -1.846e-01 -2.720e-03  5.057e-02  1.315e-03  1.008e+00]
+t: 302	 action: [ 0.007  0.112 -0.155 -0.008  0.042 -0.002  0.989]
+t: 303	 action: [-0.017  0.045 -0.171 -0.03   0.039  0.021  1.017]
+t: 304	 action: [-0.082  0.085 -0.375 -0.012  0.047  0.007  0.991]
+t: 305	 action: [-0.084  0.063 -0.459 -0.036  0.046  0.029  1.03 ]
+t: 306	 action: [-0.059  0.005 -0.604  0.002  0.014  0.009  0.977]
+t: 307	 action: [-1.161e-01 -2.620e-02 -7.736e-01  4.768e-04  2.650e-02  3.276e-02  1.001e+00]
+t: 308	 action: [-0.074  0.016 -0.634 -0.001  0.013  0.024  0.981]
+t: 309	 action: [-0.128 -0.019 -0.773 -0.011  0.019  0.041  1.029]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=38--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=38--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 38
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 39...
+[07-31 01:31:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4793
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4793
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4793
+t=10: Selected seed 195 with value = 0.4793
+t: 10	 action: [ 1.073e-01  3.491e-02 -2.399e-02  7.268e-03 -9.558e-04 -5.242e-03 -1.014e+00]
+t: 11	 action: [ 2.095e-01  9.231e-02 -9.864e-04  1.126e-02  7.297e-04 -1.473e-02 -1.026e+00]
+t: 12	 action: [ 3.292e-01  1.921e-01 -2.058e-02  4.051e-03 -7.972e-04 -5.262e-03 -1.018e+00]
+t: 13	 action: [ 0.451  0.274  0.005  0.011 -0.001 -0.015 -1.028]
+t: 14	 action: [ 5.564e-01  3.710e-01 -1.774e-02 -7.401e-04 -9.791e-04 -7.853e-03 -1.028e+00]
+t: 15	 action: [ 6.584e-01  4.815e-01  5.191e-03  8.157e-03 -5.604e-04 -1.460e-02 -1.059e+00]
+t: 16	 action: [ 0.728  0.535 -0.013 -0.002  0.005 -0.009 -1.02 ]
+t: 17	 action: [ 0.778  0.585  0.004  0.01  -0.002 -0.016 -1.062]
+t: 18	 action: [ 0.776  0.586 -0.02   0.004  0.004 -0.002 -1.025]
+t: 19	 action: [ 0.804  0.576 -0.02   0.005  0.007 -0.016 -1.03 ]
+t: 20	 action: [ 0.812  0.612 -0.034  0.005  0.006 -0.013 -1.022]
+t: 21	 action: [ 8.373e-01  5.935e-01 -4.929e-02  2.987e-04  7.129e-03 -2.043e-02 -1.026e+00]
+t: 22	 action: [ 8.381e-01  5.670e-01 -9.639e-02  6.564e-04  5.997e-03 -9.026e-03 -1.016e+00]
+t: 23	 action: [ 0.829  0.541 -0.114  0.008  0.003 -0.018 -1.052]
+t: 24	 action: [ 8.329e-01  5.293e-01 -1.741e-01 -9.681e-04  9.690e-03 -2.188e-02 -1.017e+00]
+t: 25	 action: [ 0.837  0.465 -0.249  0.006  0.003 -0.021 -1.059]
+[07-31 01:31:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5084
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=26: Selected seed 195 with value = 0.5084
+t: 26	 action: [ 7.483e-01  5.230e-01 -1.303e-01 -3.641e-03 -2.460e-04  7.856e-04 -1.031e+00]
+t: 27	 action: [ 7.099e-01  4.732e-01 -1.085e-01 -2.623e-03 -2.777e-04 -6.591e-03 -1.037e+00]
+t: 28	 action: [ 0.644  0.323 -0.231  0.002 -0.006 -0.002 -1.031]
+t: 29	 action: [ 5.892e-01  1.993e-01 -2.535e-01  1.016e-03  9.247e-04 -8.248e-03 -1.039e+00]
+t: 30	 action: [ 4.457e-01  9.162e-02 -4.309e-01 -7.137e-04 -3.553e-03 -9.458e-03 -1.019e+00]
+t: 31	 action: [ 0.398  0.012 -0.541  0.009 -0.003 -0.012 -1.058]
+t: 32	 action: [ 3.108e-01  3.590e-03 -7.440e-01 -6.412e-04 -9.233e-03 -1.385e-02 -1.023e+00]
+t: 33	 action: [ 0.268 -0.034 -0.903  0.013 -0.011 -0.014 -1.061]
+t: 34	 action: [ 0.199 -0.006 -0.9    0.008 -0.026 -0.007 -1.034]
+t: 35	 action: [ 0.09  -0.07  -0.99   0.007 -0.021 -0.013 -1.031]
+t: 36	 action: [ 0.072 -0.026 -0.956  0.005 -0.034  0.001 -1.035]
+t: 37	 action: [ 0.003 -0.071 -1.025  0.004 -0.026 -0.008 -1.033]
+t: 38	 action: [-0.057 -0.031 -0.964 -0.003 -0.04  -0.002 -1.034]
+t: 39	 action: [-0.112 -0.015 -1.006  0.006 -0.04  -0.009 -1.048]
+t: 40	 action: [-1.959e-01 -3.769e-02 -9.627e-01 -6.565e-03 -4.034e-02 -6.433e-04 -1.031e+00]
+t: 41	 action: [-0.254 -0.013 -0.987  0.002 -0.037 -0.002 -1.054]
+[07-31 01:31:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6209
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6209
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6209
+t=42: Selected seed 195 with value = 0.6209
+t: 42	 action: [-0.202  0.067 -1.045  0.009 -0.035  0.005 -1.035]
+t: 43	 action: [-0.196  0.055 -1.024  0.005 -0.025  0.002 -1.039]
+t: 44	 action: [-0.176  0.048 -1.017  0.009 -0.017  0.006 -1.029]
+t: 45	 action: [-0.166  0.032 -0.964  0.003 -0.004  0.005 -1.038]
+t: 46	 action: [-1.508e-01  7.587e-03 -8.154e-01 -6.954e-04 -4.902e-03  6.530e-04 -1.026e+00]
+t: 47	 action: [-0.139  0.057 -0.835  0.006 -0.001 -0.001 -1.049]
+t: 48	 action: [-1.775e-01 -6.811e-03 -6.890e-01 -2.767e-03  1.609e-04 -1.384e-03 -1.021e+00]
+t: 49	 action: [-2.125e-01  3.400e-02 -7.277e-01  1.430e-04  3.411e-03 -6.134e-03 -1.047e+00]
+t: 50	 action: [-0.228  0.01  -0.739  0.007  0.014  0.003 -1.179]
+t: 51	 action: [-0.291 -0.03  -0.639 -0.002  0.009  0.009 -1.155]
+t: 52	 action: [-0.357 -0.033 -0.662  0.007  0.016  0.004 -1.188]
+t: 53	 action: [-0.388 -0.056 -0.546 -0.001  0.011  0.005 -1.155]
+t: 54	 action: [-3.866e-01  4.860e-04 -4.703e-01  1.044e-03  7.406e-03 -1.098e-02  1.092e+00]
+t: 55	 action: [-0.333 -0.026 -0.43  -0.001  0.004 -0.005  1.209]
+t: 56	 action: [-3.070e-01 -1.512e-02 -3.490e-01  2.119e-04  2.017e-03 -1.381e-02  1.105e+00]
+t: 57	 action: [-0.217 -0.033 -0.244 -0.004  0.002 -0.005  1.188]
+[07-31 01:31:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7308
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7308
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7308
+t=58: Selected seed 195 with value = 0.7308
+t: 58	 action: [-0.214 -0.099 -0.357 -0.006  0.038 -0.025  0.978]
+t: 59	 action: [-0.126 -0.107 -0.165 -0.007  0.056 -0.034  1.012]
+t: 60	 action: [-0.082 -0.124 -0.129 -0.005  0.052 -0.039  0.971]
+t: 61	 action: [-0.009 -0.126  0.017 -0.008  0.065 -0.041  1.012]
+t: 62	 action: [ 0.017 -0.115  0.199 -0.013  0.048 -0.054  0.987]
+t: 63	 action: [ 0.026 -0.107  0.315 -0.01   0.06  -0.051  1.005]
+t: 64	 action: [ 0.035 -0.075  0.581 -0.011  0.046 -0.064  0.981]
+t: 65	 action: [ 0.025 -0.062  0.729 -0.003  0.051 -0.06   1.007]
+t: 66	 action: [ 5.948e-02 -4.471e-02  8.397e-01 -9.704e-04  4.139e-02 -5.726e-02  9.800e-01]
+t: 67	 action: [ 0.064 -0.066  0.92  -0.005  0.039 -0.055  1.006]
+t: 68	 action: [ 0.066 -0.075  0.899 -0.005  0.029 -0.049  0.972]
+t: 69	 action: [ 0.054 -0.118  0.952  0.003  0.022 -0.046  1.009]
+t: 70	 action: [-0.003 -0.182  0.916  0.006  0.023 -0.029  0.991]
+t: 71	 action: [-0.035 -0.314  0.93   0.031  0.009 -0.024  1.009]
+t: 72	 action: [-0.082 -0.416  0.902  0.021  0.021 -0.018  0.991]
+t: 73	 action: [-0.138 -0.487  0.835  0.045  0.006 -0.015  1.012]
+[07-31 01:31:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.095 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8133
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8133
+Query 1/1: Action query time = 1.095 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8133
+t=74: Selected seed 195 with value = 0.8133
+t: 74	 action: [-0.063 -0.739  0.736  0.055  0.031 -0.02   0.983]
+t: 75	 action: [-0.068 -0.778  0.577  0.049  0.03  -0.019  1.014]
+t: 76	 action: [-0.129 -0.792  0.374  0.058  0.028 -0.012  0.977]
+t: 77	 action: [-0.15  -0.813  0.187  0.051  0.029 -0.012  1.013]
+t: 78	 action: [-0.156 -0.787  0.044  0.043  0.032 -0.011  0.988]
+t: 79	 action: [-0.258 -0.749 -0.074  0.044  0.017 -0.008  1.018]
+t: 80	 action: [-0.23  -0.715 -0.188  0.037  0.02  -0.007  0.976]
+t: 81	 action: [-0.304 -0.607 -0.316  0.033  0.004 -0.003  1.025]
+t: 82	 action: [-0.251 -0.574 -0.376  0.036 -0.016  0.002  0.983]
+t: 83	 action: [-0.303 -0.429 -0.571  0.018 -0.017  0.002  1.017]
+t: 84	 action: [-0.277 -0.282 -0.618  0.008 -0.022  0.001  0.969]
+t: 85	 action: [-3.177e-01 -2.139e-01 -7.780e-01 -4.756e-04 -1.152e-02  1.061e-02  1.028e+00]
+t: 86	 action: [-0.357 -0.103 -0.713 -0.003 -0.032  0.003  0.992]
+t: 87	 action: [-0.346 -0.039 -0.845 -0.016 -0.031  0.016  1.021]
+t: 88	 action: [-0.317 -0.02  -0.726 -0.006 -0.019  0.008  0.98 ]
+t: 89	 action: [-0.252  0.007 -0.798 -0.025 -0.014  0.022  1.029]
+[07-31 01:31:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9373
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 1.005 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=90: Selected seed 195 with value = 0.9373
+t: 90	 action: [-0.081 -0.121 -0.565 -0.002  0.014  0.005  0.98 ]
+t: 91	 action: [-0.061 -0.121 -0.536 -0.015  0.03   0.018  1.074]
+t: 92	 action: [-0.038  0.019 -0.298 -0.014  0.027  0.003  1.109]
+t: 93	 action: [-0.031 -0.016 -0.213 -0.02   0.053  0.01   1.012]
+t: 94	 action: [-0.072  0.02  -0.11  -0.04   0.067  0.012  1.009]
+t: 95	 action: [-0.012  0.07  -0.002 -0.026  0.093  0.02   1.037]
+t: 96	 action: [-0.036  0.019  0.064 -0.03   0.086  0.004 -1.185]
+t: 97	 action: [ 0.014  0.071  0.159 -0.02   0.101 -0.014 -1.132]
+t: 98	 action: [ 0.046  0.033  0.206 -0.013  0.081  0.008 -1.039]
+t: 99	 action: [ 0.033  0.013  0.276 -0.009  0.078  0.004 -1.034]
+t: 100	 action: [ 0.102  0.034  0.331 -0.008  0.081  0.005 -1.03 ]
+t: 101	 action: [ 0.109  0.009  0.408 -0.007  0.083 -0.003 -1.029]
+t: 102	 action: [ 0.118  0.028  0.44  -0.006  0.087 -0.007 -1.043]
+t: 103	 action: [ 0.171  0.057  0.488 -0.001  0.09  -0.008 -1.045]
+t: 104	 action: [ 0.172  0.009  0.496 -0.004  0.075 -0.012 -1.028]
+t: 105	 action: [ 0.202  0.041  0.508  0.001  0.086 -0.011 -1.05 ]
+[07-31 01:31:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 1.073e-01 -3.595e-03  3.405e-01  1.823e-03  1.081e-01 -5.123e-04 -1.028e+00]
+t: 107	 action: [ 0.085 -0.037  0.281 -0.001  0.093 -0.014 -1.037]
+t: 108	 action: [ 8.687e-02 -3.133e-03  2.738e-01  7.778e-05  8.443e-02 -4.210e-04 -1.031e+00]
+t: 109	 action: [ 6.234e-02 -3.665e-02  2.415e-01 -4.115e-04  8.692e-02 -9.805e-03 -1.037e+00]
+t: 110	 action: [ 5.440e-02 -1.055e-02  1.532e-01 -5.763e-04  6.918e-02 -7.942e-03 -1.039e+00]
+t: 111	 action: [ 0.033 -0.01   0.177  0.002  0.076 -0.013 -1.067]
+t: 112	 action: [ 4.698e-02 -1.328e-03  1.466e-01 -5.591e-04  6.729e-02 -6.324e-03 -1.038e+00]
+t: 113	 action: [ 0.025  0.002  0.151  0.005  0.074 -0.012 -1.065]
+t: 114	 action: [ 0.077  0.007  0.114  0.007  0.07   0.003 -1.034]
+t: 115	 action: [ 0.059 -0.031  0.11   0.003  0.072 -0.005 -1.043]
+t: 116	 action: [ 0.065  0.009  0.118  0.004  0.063  0.002 -1.032]
+t: 117	 action: [ 0.047 -0.027  0.116  0.002  0.075 -0.003 -1.036]
+t: 118	 action: [ 5.451e-02  5.454e-03  1.020e-01  3.330e-03  6.525e-02  5.866e-04 -1.043e+00]
+t: 119	 action: [ 0.037  0.005  0.111  0.003  0.07  -0.007 -1.067]
+t: 120	 action: [ 0.055  0.009  0.127  0.001  0.067 -0.003 -1.038]
+t: 121	 action: [ 0.03   0.012  0.147  0.004  0.076 -0.005 -1.069]
+[07-31 01:31:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9990
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=122: Selected seed 195 with value = 0.9990
+t: 122	 action: [-1.530e-02  1.519e-02 -3.632e-02 -2.906e-04 -1.736e-03  5.195e-03 -1.041e+00]
+t: 123	 action: [ 0.011 -0.018  0.008 -0.012  0.006 -0.002 -1.044]
+t: 124	 action: [-6.057e-03  2.102e-02 -6.713e-03 -3.948e-03  3.092e-04  3.979e-03 -1.035e+00]
+t: 125	 action: [ 0.011 -0.01   0.039 -0.013  0.008 -0.002 -1.04 ]
+t: 126	 action: [-4.119e-03  1.873e-02 -8.921e-03 -3.469e-03 -1.967e-03  4.368e-05 -1.034e+00]
+t: 127	 action: [ 0.01   0.014  0.016 -0.006  0.002 -0.002 -1.069]
+t: 128	 action: [ 6.831e-03  2.224e-02  2.070e-02 -3.982e-03  3.828e-03 -6.838e-04 -1.034e+00]
+t: 129	 action: [ 0.005  0.029  0.04  -0.006  0.004 -0.005 -1.064]
+t: 130	 action: [ 2.352e-02  1.686e-02 -4.384e-03 -3.359e-03  2.801e-04  5.549e-03 -1.044e+00]
+t: 131	 action: [ 0.021 -0.002  0.029 -0.012  0.007 -0.005 -1.049]
+t: 132	 action: [ 0.01   0.03   0.017 -0.006  0.002  0.004 -1.037]
+t: 133	 action: [ 0.018  0.002  0.044 -0.012  0.009 -0.002 -1.045]
+t: 134	 action: [ 2.247e-02  2.113e-02  8.036e-03 -3.761e-03  4.542e-03  1.008e-04 -1.042e+00]
+t: 135	 action: [ 8.465e-03  3.163e-02  1.849e-02 -5.744e-03 -1.399e-04 -6.875e-03 -1.073e+00]
+t: 136	 action: [ 0.021  0.033  0.033 -0.005  0.007 -0.002 -1.034]
+t: 137	 action: [ 2.418e-04  3.962e-02  4.263e-02 -4.805e-03  1.740e-03 -4.486e-03 -1.071e+00]
+[07-31 01:31:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9962
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=138: Selected seed 195 with value = 0.9962
+t: 138	 action: [-0.055  0.018 -0.094 -0.002 -0.01   0.007 -1.039]
+t: 139	 action: [-5.648e-03 -1.858e-02 -1.147e-01 -1.618e-02  7.570e-05  1.898e-03 -1.045e+00]
+t: 140	 action: [-0.029  0.029 -0.055 -0.009 -0.008  0.005 -1.037]
+t: 141	 action: [ 0.002 -0.014 -0.055 -0.018  0.005  0.002 -1.039]
+t: 142	 action: [-0.023  0.032 -0.055 -0.005 -0.01   0.002 -1.039]
+t: 143	 action: [-1.727e-03  1.495e-02 -2.841e-02 -9.268e-03 -3.685e-03 -4.628e-04 -1.065e+00]
+t: 144	 action: [-6.783e-04  3.379e-02 -2.045e-02 -7.502e-03 -5.015e-03  7.723e-04 -1.039e+00]
+t: 145	 action: [ 0.004  0.023  0.001 -0.01  -0.001 -0.003 -1.061]
+t: 146	 action: [ 0.008  0.023 -0.055 -0.009 -0.007  0.008 -1.045]
+t: 147	 action: [ 1.181e-02 -9.527e-03 -6.199e-02 -1.590e-02  1.898e-03 -1.014e-03 -1.049e+00]
+t: 148	 action: [ 0.004  0.039 -0.028 -0.014 -0.007  0.006 -1.042]
+t: 149	 action: [ 0.017 -0.005 -0.029 -0.017  0.005  0.001 -1.044]
+t: 150	 action: [ 0.017  0.022 -0.039 -0.007 -0.006  0.001 -1.047]
+t: 151	 action: [-8.558e-04  2.191e-02 -1.362e-02 -8.353e-03 -6.510e-03 -6.214e-03 -1.071e+00]
+t: 152	 action: [ 0.021  0.038 -0.008 -0.01  -0.003 -0.002 -1.041]
+t: 153	 action: [-0.004  0.03  -0.004 -0.009 -0.004 -0.004 -1.067]
+[07-31 01:31:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9946
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.959 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=154: Selected seed 195 with value = 0.9946
+t: 154	 action: [-0.054  0.009 -0.105  0.004 -0.006  0.008 -1.035]
+t: 155	 action: [-1.184e-02 -4.280e-02 -1.374e-01 -1.130e-02  9.395e-04  6.345e-04 -1.046e+00]
+t: 156	 action: [-0.025  0.016 -0.066 -0.002 -0.004  0.006 -1.035]
+t: 157	 action: [-0.002 -0.037 -0.069 -0.014  0.005 -0.001 -1.04 ]
+t: 158	 action: [-0.028  0.011 -0.065  0.001 -0.007  0.002 -1.037]
+t: 159	 action: [-0.004 -0.004 -0.025 -0.003 -0.002 -0.002 -1.064]
+t: 160	 action: [-8.637e-04  1.539e-02 -3.212e-02 -1.768e-03 -3.697e-03  2.375e-04 -1.037e+00]
+t: 161	 action: [ 1.947e-03  4.064e-03  3.638e-03 -4.917e-03  4.561e-04 -6.000e-03 -1.061e+00]
+t: 162	 action: [ 0.006  0.014 -0.07  -0.004 -0.006  0.006 -1.042]
+t: 163	 action: [ 0.009 -0.038 -0.093 -0.011  0.002 -0.003 -1.052]
+t: 164	 action: [ 5.771e-04  2.395e-02 -4.425e-02 -1.041e-02 -5.947e-03  4.907e-03 -1.042e+00]
+t: 165	 action: [ 1.524e-02 -3.549e-02 -5.845e-02 -1.246e-02  3.301e-03 -7.330e-04 -1.046e+00]
+t: 166	 action: [ 0.013  0.012 -0.053 -0.004 -0.006 -0.001 -1.046]
+t: 167	 action: [-7.206e-03 -2.145e-04 -1.781e-02 -2.731e-03 -7.488e-03 -8.362e-03 -1.070e+00]
+t: 168	 action: [ 0.017  0.025 -0.024 -0.007 -0.005 -0.004 -1.042]
+t: 169	 action: [-0.009  0.008 -0.007 -0.004 -0.005 -0.005 -1.049]
+[07-31 01:31:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9926
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=170: Selected seed 195 with value = 0.9926
+t: 170	 action: [-0.037 -0.011 -0.123  0.005 -0.002  0.007 -1.026]
+t: 171	 action: [-0.011 -0.068 -0.16  -0.009  0.004 -0.006 -1.06 ]
+t: 172	 action: [-1.183e-02 -1.465e-02 -7.748e-02  2.863e-03  1.222e-04  5.806e-03 -1.029e+00]
+t: 173	 action: [ 0.001 -0.072 -0.095 -0.01   0.009 -0.008 -1.053]
+t: 174	 action: [-2.768e-02 -8.201e-03 -7.465e-02  2.415e-03 -1.675e-03 -3.207e-04 -1.018e+00]
+t: 175	 action: [-3.949e-03 -3.468e-02 -1.961e-02 -1.043e-03  5.157e-03 -1.015e-02 -1.065e+00]
+t: 176	 action: [ 3.639e-03 -8.015e-03 -3.976e-02  1.193e-03  4.376e-04 -2.166e-03 -1.027e+00]
+t: 177	 action: [-0.01  -0.032  0.001 -0.002  0.007 -0.015 -1.067]
+t: 178	 action: [ 1.241e-02  1.218e-03 -8.811e-02 -8.821e-03 -1.460e-03  4.424e-04 -1.030e+00]
+t: 179	 action: [ 0.012 -0.073 -0.124 -0.01   0.004  0.01  -1.12 ]
+t: 180	 action: [-4.289e-03  9.082e-03 -7.803e-02 -1.383e-02 -1.275e-03  4.213e-06 -1.084e+00]
+t: 181	 action: [-0.036 -0.07  -0.113 -0.012  0.006  0.011 -0.854]
+t: 182	 action: [ 0.003 -0.004 -0.073 -0.007 -0.004 -0.006 -1.019]
+t: 183	 action: [-0.011 -0.036 -0.027 -0.002 -0.005  0.007  1.148]
+t: 184	 action: [ 0.008  0.001 -0.054 -0.009 -0.002 -0.009  1.055]
+t: 185	 action: [ 0.025 -0.022 -0.017 -0.004 -0.003  0.012  1.038]
+[07-31 01:31:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9957
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.994 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=186: Selected seed 195 with value = 0.9957
+t: 186	 action: [-2.357e-02 -4.544e-03  1.175e-01  2.953e-04 -1.313e-02 -4.411e-03 -1.010e+00]
+t: 187	 action: [ 0.006 -0.036  0.094 -0.006 -0.014 -0.009 -1.039]
+t: 188	 action: [-2.823e-02  1.744e-02  8.854e-02  9.215e-04 -1.990e-02 -2.462e-03 -1.014e+00]
+t: 189	 action: [ 0.003 -0.02   0.09  -0.004 -0.016 -0.009 -1.026]
+t: 190	 action: [-0.033  0.003  0.052  0.003 -0.028 -0.006 -1.02 ]
+t: 191	 action: [-0.036  0.014  0.058  0.002 -0.023 -0.01  -1.063]
+t: 192	 action: [-0.03   0.012  0.075  0.002 -0.022 -0.004 -1.024]
+t: 193	 action: [-0.031  0.035  0.077  0.004 -0.019 -0.014 -1.053]
+t: 194	 action: [ 0.025  0.028  0.079  0.006 -0.022  0.004 -1.022]
+t: 195	 action: [ 2.063e-02  2.403e-02  9.094e-02 -6.010e-04 -1.489e-02 -5.365e-03 -1.042e+00]
+t: 196	 action: [ 0.015  0.035  0.09   0.006 -0.017  0.002 -1.02 ]
+t: 197	 action: [ 1.608e-02  2.807e-02  9.545e-02  7.982e-04 -2.684e-03 -6.617e-03 -1.034e+00]
+t: 198	 action: [ 1.921e-02  4.699e-02  8.273e-02  3.166e-03 -1.886e-02 -7.488e-04 -1.029e+00]
+t: 199	 action: [-0.01   0.071  0.103  0.002 -0.02  -0.011 -1.068]
+t: 200	 action: [ 0.02   0.053  0.102  0.002 -0.01  -0.004 -1.027]
+t: 201	 action: [-0.012  0.073  0.112  0.003 -0.012 -0.01  -1.062]
+[07-31 01:31:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.041 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.041 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=202: Selected seed 195 with value = 0.9973
+t: 202	 action: [-0.04   0.004 -0.022  0.002 -0.006  0.006 -1.039]
+t: 203	 action: [ 2.748e-03 -4.894e-02  7.911e-03 -1.002e-02  2.541e-03 -9.406e-04 -1.045e+00]
+t: 204	 action: [-0.024  0.011  0.004 -0.002 -0.005  0.004 -1.034]
+t: 205	 action: [ 0.004 -0.038  0.038 -0.011  0.007 -0.003 -1.038]
+t: 206	 action: [-2.497e-02  3.041e-03 -1.784e-03  1.020e-03 -8.310e-03 -4.848e-05 -1.034e+00]
+t: 207	 action: [ 0.002 -0.013  0.026 -0.003 -0.002 -0.004 -1.066]
+t: 208	 action: [-4.759e-03  9.630e-03  2.432e-02 -4.408e-04 -3.149e-03 -1.990e-03 -1.034e+00]
+t: 209	 action: [ 4.722e-03  3.935e-03  5.146e-02 -3.261e-03  5.010e-04 -8.269e-03 -1.061e+00]
+t: 210	 action: [ 0.009  0.01   0.007 -0.002 -0.004  0.005 -1.045]
+t: 211	 action: [ 0.013 -0.027  0.023 -0.009  0.005 -0.005 -1.053]
+t: 212	 action: [-0.002  0.02   0.024 -0.005 -0.004  0.003 -1.04 ]
+t: 213	 action: [ 0.013 -0.024  0.042 -0.01   0.006 -0.005 -1.048]
+t: 214	 action: [ 1.369e-02  1.167e-02  1.307e-02 -5.529e-04 -2.223e-03 -1.082e-03 -1.044e+00]
+t: 215	 action: [-0.002  0.008  0.02  -0.002 -0.004 -0.01  -1.071]
+t: 216	 action: [ 1.731e-02  2.482e-02  3.353e-02 -1.786e-03  2.625e-04 -4.850e-03 -1.037e+00]
+t: 217	 action: [-0.004  0.016  0.041 -0.002 -0.002 -0.009 -1.068]
+[07-31 01:31:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.016 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9966
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 1.016 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=218: Selected seed 195 with value = 0.9966
+t: 218	 action: [-0.032  0.004 -0.056  0.003 -0.005  0.007 -1.037]
+t: 219	 action: [ 0.005 -0.048 -0.03  -0.009  0.003  0.005 -1.046]
+t: 220	 action: [-0.022  0.01  -0.026 -0.001 -0.005  0.005 -1.033]
+t: 221	 action: [ 0.005 -0.043  0.024 -0.011  0.007  0.003 -1.04 ]
+t: 222	 action: [-2.856e-02  3.562e-03 -2.190e-02  6.998e-04 -1.001e-02  1.579e-03 -1.033e+00]
+t: 223	 action: [-0.002 -0.014  0.009 -0.002 -0.003  0.002 -1.065]
+t: 224	 action: [-1.062e-02  9.205e-03  4.792e-03 -7.553e-04 -5.313e-03  2.513e-04 -1.034e+00]
+t: 225	 action: [ 1.812e-03  2.759e-04  2.942e-02 -3.428e-03  9.231e-05 -1.880e-03 -1.062e+00]
+t: 226	 action: [ 0.009  0.008 -0.02   0.002 -0.003  0.008 -1.044]
+t: 227	 action: [ 1.374e-02 -3.425e-02  2.728e-03 -7.788e-03  4.974e-03  4.566e-04 -1.052e+00]
+t: 228	 action: [-3.290e-03  1.712e-02  1.025e-03 -3.423e-03 -3.812e-03  5.289e-03 -1.039e+00]
+t: 229	 action: [ 1.413e-02 -3.093e-02  3.497e-02 -9.308e-03  6.479e-03  2.086e-04 -1.049e+00]
+t: 230	 action: [ 6.642e-03  8.832e-03 -5.552e-03  7.479e-04 -3.114e-03  1.490e-03 -1.044e+00]
+t: 231	 action: [-0.005  0.001  0.003 -0.001 -0.005 -0.005 -1.071]
+t: 232	 action: [ 0.009  0.021  0.017 -0.002 -0.002 -0.002 -1.037]
+t: 233	 action: [-0.007  0.009  0.018 -0.002 -0.003 -0.004 -1.068]
+[07-31 01:31:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.043 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9968
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 1.043 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=234: Selected seed 195 with value = 0.9968
+t: 234	 action: [-0.026  0.003 -0.063  0.004 -0.003  0.007 -1.038]
+t: 235	 action: [ 0.008 -0.048 -0.035 -0.006  0.004  0.004 -1.047]
+t: 236	 action: [-0.016  0.008 -0.029  0.001 -0.003  0.005 -1.033]
+t: 237	 action: [ 0.008 -0.047  0.025 -0.009  0.007  0.002 -1.04 ]
+t: 238	 action: [-0.026  0.003 -0.021  0.002 -0.007  0.001 -1.032]
+t: 239	 action: [-6.478e-04 -1.612e-02  9.508e-03  6.890e-04 -1.464e-03  1.794e-03 -1.066e+00]
+t: 240	 action: [-1.018e-02  6.819e-03  8.499e-03  6.637e-04 -3.395e-03 -2.390e-04 -1.033e+00]
+t: 241	 action: [ 0.001 -0.004  0.035 -0.001  0.001 -0.002 -1.062]
+t: 242	 action: [ 1.307e-02  6.273e-03 -2.018e-02  4.402e-03 -6.295e-04  7.081e-03 -1.044e+00]
+t: 243	 action: [ 1.567e-02 -3.742e-02  5.229e-03 -5.243e-03  6.335e-03 -1.003e-04 -1.053e+00]
+t: 244	 action: [-8.340e-04  1.376e-02  1.482e-03 -3.263e-04 -1.961e-03  4.841e-03 -1.038e+00]
+t: 245	 action: [ 1.573e-02 -3.584e-02  3.764e-02 -6.973e-03  7.046e-03 -4.474e-04 -1.049e+00]
+t: 246	 action: [ 7.321e-03  6.059e-03 -4.133e-04  2.551e-03 -1.167e-03  1.046e-03 -1.042e+00]
+t: 247	 action: [-0.006 -0.003  0.003  0.001 -0.004 -0.006 -1.071]
+t: 248	 action: [ 7.015e-03  1.564e-02  2.288e-02 -2.401e-04 -2.697e-04 -2.568e-03 -1.036e+00]
+t: 249	 action: [-8.741e-03  4.947e-03  2.443e-02  2.599e-04 -2.101e-03 -4.435e-03 -1.067e+00]
+[07-31 01:31:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.090 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9970
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.090 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=250: Selected seed 195 with value = 0.9970
+t: 250	 action: [-0.021  0.002 -0.066  0.004 -0.001  0.006 -1.038]
+t: 251	 action: [ 0.01  -0.048 -0.035 -0.005  0.005  0.004 -1.048]
+t: 252	 action: [-0.014  0.006 -0.03   0.003 -0.002  0.004 -1.033]
+t: 253	 action: [ 0.01  -0.049  0.027 -0.007  0.008  0.002 -1.04 ]
+t: 254	 action: [-2.528e-02  2.428e-03 -1.920e-02  2.171e-03 -5.954e-03  4.947e-04 -1.032e+00]
+t: 255	 action: [-8.739e-04 -1.783e-02  1.016e-02  2.147e-03 -3.539e-04  1.727e-03 -1.066e+00]
+t: 256	 action: [-1.052e-02  5.340e-03  1.159e-02  1.419e-03 -2.483e-03 -7.650e-04 -1.032e+00]
+t: 257	 action: [ 5.223e-04 -6.694e-03  4.037e-02  4.550e-04  2.129e-03 -2.385e-03 -1.063e+00]
+t: 258	 action: [ 1.393e-02  4.585e-03 -1.743e-02  5.893e-03  9.552e-04  6.718e-03 -1.043e+00]
+t: 259	 action: [ 1.680e-02 -3.829e-02  1.356e-02 -3.620e-03  7.140e-03 -6.760e-04 -1.053e+00]
+t: 260	 action: [ 2.573e-04  1.239e-02  4.823e-03  1.862e-03 -7.354e-04  4.571e-03 -1.037e+00]
+t: 261	 action: [ 0.016 -0.037  0.041 -0.005  0.008 -0.001 -1.049]
+t: 262	 action: [ 6.629e-03  4.449e-03  5.970e-03  3.678e-03  6.365e-04  7.331e-04 -1.042e+00]
+t: 263	 action: [-0.005 -0.004  0.007  0.003 -0.003 -0.006 -1.071]
+t: 264	 action: [ 6.080e-03  1.275e-02  3.033e-02  9.485e-04  1.133e-03 -2.870e-03 -1.035e+00]
+t: 265	 action: [-0.009  0.003  0.036  0.002 -0.001 -0.005 -1.067]
+[07-31 01:31:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.160 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9970
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.160 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=266: Selected seed 195 with value = 0.9970
+t: 266	 action: [-0.024  0.002 -0.056  0.004 -0.003  0.006 -1.038]
+t: 267	 action: [ 0.01  -0.047 -0.016 -0.005  0.004  0.005 -1.047]
+t: 268	 action: [-0.017  0.006 -0.021  0.002 -0.004  0.004 -1.032]
+t: 269	 action: [ 0.009 -0.047  0.034 -0.007  0.007  0.003 -1.039]
+t: 270	 action: [-2.829e-02  3.485e-03 -9.518e-03  2.111e-03 -7.407e-03  5.846e-04 -1.032e+00]
+t: 271	 action: [-0.002 -0.017  0.017  0.002 -0.002  0.002 -1.066]
+t: 272	 action: [-1.246e-02  6.337e-03  2.001e-02  1.318e-03 -3.585e-03 -6.718e-04 -1.032e+00]
+t: 273	 action: [-2.523e-05 -5.144e-03  5.254e-02  4.631e-04  6.627e-04 -1.720e-03 -1.062e+00]
+t: 274	 action: [ 1.059e-02  3.908e-03 -5.057e-03  6.004e-03 -7.307e-04  7.249e-03 -1.043e+00]
+t: 275	 action: [ 1.595e-02 -3.548e-02  2.692e-02 -3.685e-03  6.326e-03  2.284e-04 -1.052e+00]
+t: 276	 action: [-0.002  0.012  0.015  0.002 -0.002  0.005 -1.037]
+t: 277	 action: [ 1.505e-02 -3.429e-02  4.597e-02 -5.036e-03  7.375e-03 -3.465e-04 -1.049e+00]
+t: 278	 action: [ 3.993e-03  4.409e-03  1.824e-02  3.654e-03 -2.614e-04  1.026e-03 -1.041e+00]
+t: 279	 action: [-0.006 -0.001  0.017  0.003 -0.004 -0.005 -1.071]
+t: 280	 action: [ 4.808e-03  1.355e-02  4.151e-02  1.053e-03  2.209e-04 -2.743e-03 -1.035e+00]
+t: 281	 action: [-0.01   0.006  0.052  0.002 -0.002 -0.004 -1.068]
+[07-31 01:31:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.144 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9971
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 1.144 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=282: Selected seed 195 with value = 0.9971
+t: 282	 action: [-0.028  0.005 -0.067  0.003 -0.005  0.005 -1.037]
+t: 283	 action: [ 0.009 -0.037 -0.036 -0.005  0.003  0.006 -1.046]
+t: 284	 action: [-0.02   0.008 -0.037  0.002 -0.006  0.004 -1.032]
+t: 285	 action: [ 0.009 -0.039  0.023 -0.008  0.006  0.005 -1.04 ]
+t: 286	 action: [-3.068e-02  9.266e-03 -2.407e-02  1.360e-03 -9.268e-03  7.078e-04 -1.031e+00]
+t: 287	 action: [-5.385e-03 -7.761e-03  5.006e-03  8.832e-04 -3.352e-03  4.418e-03 -1.066e+00]
+t: 288	 action: [-1.380e-02  1.030e-02  4.669e-03  5.081e-04 -5.142e-03 -2.780e-04 -1.031e+00]
+t: 289	 action: [-4.844e-04  1.367e-03  2.888e-02 -7.571e-04 -8.490e-04  6.422e-04 -1.063e+00]
+t: 290	 action: [ 0.008  0.005 -0.016  0.006 -0.003  0.007 -1.042]
+t: 291	 action: [ 0.016 -0.027  0.022 -0.004  0.005  0.002 -1.052]
+t: 292	 action: [-0.001  0.012  0.005  0.002 -0.004  0.005 -1.036]
+t: 293	 action: [ 0.017 -0.026  0.044 -0.005  0.007  0.001 -1.049]
+t: 294	 action: [ 0.003  0.006  0.007  0.003 -0.001  0.002 -1.042]
+t: 295	 action: [-0.005  0.005  0.01   0.002 -0.005 -0.004 -1.071]
+t: 296	 action: [ 5.436e-03  1.473e-02  2.939e-02  5.467e-04 -8.875e-04 -1.611e-03 -1.035e+00]
+t: 297	 action: [-8.042e-03  1.242e-02  3.503e-02  8.727e-04 -2.798e-03 -2.834e-03 -1.069e+00]
+[07-31 01:31:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.191 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9971
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9971
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 39
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 78%|███████▊  | 39/50 [20:46<05:55, 32.33s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 40...
+Query 1/1: Action query time = 1.191 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=298: Selected seed 195 with value = 0.9971
+t: 298	 action: [-0.029  0.005 -0.063  0.003 -0.006  0.005 -1.037]
+t: 299	 action: [ 0.009 -0.033 -0.026 -0.006  0.003  0.006 -1.046]
+t: 300	 action: [-0.022  0.009 -0.033  0.001 -0.006  0.004 -1.032]
+t: 301	 action: [ 0.008 -0.035  0.027 -0.008  0.006  0.005 -1.04 ]
+t: 302	 action: [-3.166e-02  1.092e-02 -2.110e-02  1.067e-03 -8.952e-03  8.661e-04 -1.031e+00]
+t: 303	 action: [-5.387e-03 -4.725e-03  7.460e-03  5.129e-04 -3.348e-03  4.777e-03 -1.065e+00]
+t: 304	 action: [-1.522e-02  1.219e-02  6.960e-03  4.150e-04 -4.597e-03 -1.032e-04 -1.031e+00]
+t: 305	 action: [-6.013e-04  4.542e-03  3.190e-02 -1.180e-03 -8.541e-04  1.200e-03 -1.062e+00]
+t: 306	 action: [ 0.005  0.006 -0.011  0.006 -0.003  0.008 -1.042]
+t: 307	 action: [ 0.015 -0.023  0.028 -0.004  0.005  0.002 -1.052]
+t: 308	 action: [-0.003  0.013  0.009  0.002 -0.004  0.005 -1.035]
+t: 309	 action: [ 0.017 -0.021  0.045 -0.006  0.007  0.002 -1.048]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=39--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=39--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 39
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 40...
+[07-31 01:31:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.208 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 1.208 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=10: Selected seed 195 with value = 0.4997
+t: 10	 action: [ 0.222  0.061 -0.015  0.006  0.007  0.003 -1.031]
+t: 11	 action: [ 0.378  0.113  0.003 -0.002  0.003  0.003 -1.027]
+t: 12	 action: [ 0.508  0.216 -0.01   0.004  0.011  0.004 -1.024]
+t: 13	 action: [ 6.110e-01  2.836e-01  1.518e-02 -1.113e-03 -1.603e-04  3.378e-03 -1.030e+00]
+t: 14	 action: [ 6.661e-01  3.694e-01 -1.534e-02 -3.754e-04  6.886e-03  4.306e-03 -1.033e+00]
+t: 15	 action: [ 7.133e-01  4.348e-01 -7.037e-03  2.537e-04 -4.204e-03  7.368e-03 -1.056e+00]
+t: 16	 action: [ 0.769  0.494 -0.008 -0.002  0.011  0.004 -1.021]
+t: 17	 action: [ 8.167e-01  5.490e-01  5.180e-04  1.500e-03 -6.509e-03  7.494e-03 -1.057e+00]
+t: 18	 action: [ 7.942e-01  5.480e-01  2.006e-02 -9.132e-04  6.892e-03  9.039e-03 -1.030e+00]
+t: 19	 action: [ 0.831  0.591  0.017 -0.006  0.005  0.006 -1.027]
+t: 20	 action: [ 0.79   0.602 -0.004 -0.003  0.004  0.008 -1.024]
+t: 21	 action: [ 0.818  0.63  -0.005 -0.008  0.003  0.007 -1.023]
+t: 22	 action: [ 7.776e-01  6.016e-01 -7.273e-02  7.939e-04  8.559e-03  9.505e-03 -1.012e+00]
+t: 23	 action: [ 0.781  0.63  -0.054  0.001 -0.003  0.009 -1.05 ]
+t: 24	 action: [ 7.380e-01  5.866e-01 -1.752e-01  3.060e-04  8.933e-03  5.432e-03 -1.011e+00]
+t: 25	 action: [ 0.768  0.583 -0.158  0.003 -0.006  0.01  -1.052]
+[07-31 01:31:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.072 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5318
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5318
+Query 1/1: Action query time = 1.072 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5318
+t=26: Selected seed 195 with value = 0.5318
+t: 26	 action: [ 0.812  0.476 -0.267  0.012 -0.019  0.009 -1.036]
+t: 27	 action: [ 0.728  0.438 -0.267  0.015 -0.01   0.007 -1.031]
+t: 28	 action: [ 0.636  0.357 -0.403  0.011 -0.021  0.01  -1.043]
+t: 29	 action: [ 0.489  0.261 -0.455  0.018 -0.007  0.005 -1.038]
+t: 30	 action: [ 3.925e-01  1.827e-01 -5.916e-01  1.361e-02 -1.320e-02  9.657e-04 -1.030e+00]
+t: 31	 action: [ 0.274  0.076 -0.68   0.029 -0.005  0.001 -1.057]
+t: 32	 action: [ 0.189  0.072 -0.813  0.023 -0.009  0.001 -1.037]
+t: 33	 action: [ 9.250e-02  3.698e-02 -9.006e-01  2.876e-02 -6.596e-03 -4.143e-04 -1.062e+00]
+t: 34	 action: [ 0.005 -0.029 -0.88   0.012 -0.025 -0.01  -1.039]
+t: 35	 action: [-0.051 -0.085 -0.956  0.018 -0.022 -0.011 -1.031]
+t: 36	 action: [-0.161 -0.141 -0.907  0.013 -0.022 -0.006 -1.042]
+t: 37	 action: [-0.203 -0.126 -0.987  0.014 -0.02  -0.009 -1.033]
+t: 38	 action: [-0.261 -0.135 -0.901  0.012 -0.02  -0.006 -1.038]
+t: 39	 action: [-0.298 -0.024 -0.935  0.027 -0.02  -0.014 -1.051]
+t: 40	 action: [-0.384 -0.065 -0.889  0.004 -0.014 -0.003 -1.035]
+t: 41	 action: [-0.377 -0.005 -0.917  0.021 -0.018 -0.008 -1.056]
+[07-31 01:31:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.096 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6217
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6217
+Query 1/1: Action query time = 1.096 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6217
+t=42: Selected seed 195 with value = 0.6217
+t: 42	 action: [-0.066  0.032 -0.936  0.005 -0.028  0.006 -1.045]
+t: 43	 action: [-0.065  0.007 -0.975  0.002 -0.019  0.014 -1.04 ]
+t: 44	 action: [-0.082  0.021 -0.899  0.004 -0.018  0.008 -1.04 ]
+t: 45	 action: [-8.646e-02  9.380e-03 -9.073e-01 -9.943e-04 -4.305e-03  1.594e-02 -1.036e+00]
+t: 46	 action: [-0.134  0.028 -0.816 -0.004 -0.008  0.003 -1.042]
+t: 47	 action: [-0.189  0.091 -0.829 -0.002 -0.002  0.01  -1.052]
+t: 48	 action: [-0.208  0.021 -0.739 -0.011 -0.003  0.003 -1.04 ]
+t: 49	 action: [-2.838e-01  7.591e-02 -7.518e-01 -7.035e-03  1.740e-04  3.902e-03 -1.053e+00]
+t: 50	 action: [-0.338  0.041 -0.759 -0.007 -0.006  0.011 -1.189]
+t: 51	 action: [-0.425 -0.019 -0.669 -0.021  0.004  0.031 -1.172]
+t: 52	 action: [-4.244e-01  3.116e-02 -7.041e-01 -1.447e-02  3.617e-04  1.127e-02 -1.164e+00]
+t: 53	 action: [-0.426 -0.035 -0.558 -0.023  0.009  0.02   1.034]
+t: 54	 action: [-0.387  0.015 -0.517 -0.016  0.01  -0.003  1.121]
+t: 55	 action: [-0.314 -0.027 -0.37  -0.021  0.003  0.011  1.201]
+t: 56	 action: [-0.28   0.017 -0.333 -0.027  0.017 -0.005  1.096]
+t: 57	 action: [-0.177 -0.028 -0.168 -0.036  0.013  0.002  1.069]
+[07-31 01:31:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.159 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7317
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 1.159 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=58: Selected seed 195 with value = 0.7317
+t: 58	 action: [-0.094 -0.082 -0.069 -0.007  0.038  0.009  0.989]
+t: 59	 action: [ 0.005 -0.104  0.053 -0.015  0.057  0.006  1.012]
+t: 60	 action: [ 1.519e-02 -6.159e-02  2.621e-01 -3.898e-03  5.645e-02 -8.123e-04  9.848e-01]
+t: 61	 action: [ 0.028 -0.078  0.469 -0.013  0.071 -0.008  1.011]
+t: 62	 action: [ 0.11  -0.006  0.688 -0.011  0.074 -0.009  1.   ]
+t: 63	 action: [ 0.094 -0.007  0.845 -0.017  0.066 -0.014  1.019]
+t: 64	 action: [ 1.228e-01 -6.137e-05  9.392e-01 -2.396e-04  5.929e-02 -2.155e-02  9.958e-01]
+t: 65	 action: [ 0.093 -0.015  0.937 -0.008  0.053 -0.024  1.028]
+t: 66	 action: [ 0.148 -0.15   0.921 -0.004  0.061 -0.02   0.988]
+t: 67	 action: [ 0.074 -0.219  0.975  0.004  0.062 -0.024  1.013]
+t: 68	 action: [ 0.084 -0.318  0.913 -0.002  0.055 -0.013  0.982]
+t: 69	 action: [ 0.046 -0.438  0.95   0.01   0.058 -0.016  1.014]
+t: 70	 action: [-0.04  -0.534  0.84   0.013  0.043 -0.009  0.998]
+t: 71	 action: [-0.073 -0.629  0.649  0.025  0.041 -0.006  1.023]
+t: 72	 action: [-0.124 -0.676  0.496  0.015  0.029 -0.007  0.999]
+t: 73	 action: [-0.22  -0.748  0.24   0.028  0.028 -0.002  1.028]
+[07-31 01:31:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.217 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8395
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8395
+Query 1/1: Action query time = 1.217 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8395
+t=74: Selected seed 195 with value = 0.8395
+t: 74	 action: [-0.218 -0.875  0.115  0.055  0.016  0.001  0.985]
+t: 75	 action: [-2.584e-01 -9.022e-01  2.424e-02  4.430e-02  1.314e-02 -4.579e-04  1.016e+00]
+t: 76	 action: [-2.594e-01 -8.768e-01 -1.483e-01  6.820e-02  1.103e-02 -8.122e-04  9.775e-01]
+t: 77	 action: [-0.303 -0.78  -0.283  0.045  0.006  0.008  1.014]
+t: 78	 action: [-0.256 -0.659 -0.363  0.043  0.013  0.002  0.986]
+t: 79	 action: [-0.348 -0.491 -0.557  0.036 -0.002  0.01   1.016]
+t: 80	 action: [-0.267 -0.363 -0.616  0.019 -0.004  0.004  0.981]
+t: 81	 action: [-0.34  -0.259 -0.768  0.02  -0.006  0.015  1.023]
+t: 82	 action: [-0.227 -0.173 -0.787  0.003 -0.015  0.017  0.995]
+t: 83	 action: [-0.263 -0.136 -0.787 -0.003 -0.01   0.024  1.022]
+t: 84	 action: [-0.203 -0.023 -0.772 -0.015 -0.006  0.016  0.981]
+t: 85	 action: [-2.021e-01 -6.395e-02 -5.955e-01 -1.404e-02  1.765e-04  2.135e-02  1.037e+00]
+t: 86	 action: [-0.184  0.02  -0.534 -0.028 -0.001  0.01   1.001]
+t: 87	 action: [-0.138  0.032 -0.374 -0.021 -0.005  0.018  1.016]
+t: 88	 action: [-0.17   0.008 -0.259 -0.037  0.008  0.005  0.993]
+t: 89	 action: [-0.124  0.009 -0.076 -0.023  0.002  0.011  1.02 ]
+[07-31 01:31:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.189 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.189 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+t: 90	 action: [ 0.165  0.017  0.306 -0.003  0.101 -0.015 -1.03 ]
+t: 91	 action: [ 0.212 -0.016  0.418 -0.009  0.098 -0.02  -1.052]
+t: 92	 action: [ 1.818e-01  2.376e-03  3.964e-01 -4.787e-04  9.717e-02 -1.784e-02 -1.029e+00]
+t: 93	 action: [ 0.233 -0.022  0.468 -0.005  0.103 -0.018 -1.047]
+t: 94	 action: [ 0.176  0.01   0.45   0.008  0.095 -0.021 -1.036]
+t: 95	 action: [ 0.166  0.016  0.446  0.007  0.095 -0.022 -1.063]
+t: 96	 action: [ 0.164  0.008  0.434  0.006  0.086 -0.019 -1.033]
+t: 97	 action: [ 0.158  0.021  0.421  0.008  0.077 -0.023 -1.067]
+t: 98	 action: [ 0.157  0.007  0.37   0.004  0.05  -0.009 -1.037]
+t: 99	 action: [ 0.145 -0.014  0.36   0.004  0.051 -0.017 -1.044]
+t: 100	 action: [ 0.123  0.008  0.29   0.004  0.035 -0.006 -1.033]
+t: 101	 action: [ 0.117 -0.005  0.286  0.003  0.032 -0.015 -1.041]
+t: 102	 action: [ 0.074  0.009  0.219  0.004  0.027 -0.005 -1.037]
+t: 103	 action: [ 0.044  0.022  0.216  0.008  0.02  -0.011 -1.062]
+t: 104	 action: [ 5.650e-02  8.899e-03  1.794e-01  3.861e-04  1.689e-02 -6.237e-03 -1.036e+00]
+t: 105	 action: [ 0.025  0.026  0.164  0.006  0.007 -0.01  -1.069]
+[07-31 01:31:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.204 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.204 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.082  0.01   0.103  0.006  0.04  -0.002 -1.038]
+t: 107	 action: [ 0.084  0.004  0.08   0.002  0.022 -0.009 -1.044]
+t: 108	 action: [ 0.049  0.016  0.047  0.005  0.016  0.002 -1.034]
+t: 109	 action: [ 0.047 -0.007  0.051  0.002  0.014 -0.003 -1.034]
+t: 110	 action: [ 0.03   0.01   0.024  0.005  0.004 -0.002 -1.031]
+t: 111	 action: [ 0.016  0.022  0.019  0.009  0.002 -0.003 -1.066]
+t: 112	 action: [ 0.033  0.012  0.034  0.003  0.003 -0.002 -1.031]
+t: 113	 action: [ 1.647e-02  1.983e-02  3.621e-02  8.337e-03 -6.927e-04  1.397e-04 -1.060e+00]
+t: 114	 action: [ 0.062  0.007  0.001  0.008 -0.01   0.005 -1.036]
+t: 115	 action: [ 6.510e-02  4.268e-03  3.319e-02  1.141e-03  2.841e-03  9.350e-04 -1.040e+00]
+t: 116	 action: [ 0.066  0.012  0.023  0.008 -0.009  0.002 -1.031]
+t: 117	 action: [ 7.040e-02  9.856e-04  4.244e-02  5.346e-04  4.409e-03  1.589e-03 -1.038e+00]
+t: 118	 action: [ 0.056  0.011  0.014  0.005 -0.007  0.003 -1.033]
+t: 119	 action: [ 0.047  0.035  0.025  0.005 -0.007  0.001 -1.066]
+t: 120	 action: [ 0.068  0.011  0.041  0.002 -0.003 -0.002 -1.029]
+t: 121	 action: [ 0.05   0.034  0.054  0.005 -0.005  0.003 -1.066]
+[07-31 01:31:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.185 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.185 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.04   0.029  0.005  0.006  0.011  0.004 -1.036]
+t: 123	 action: [ 3.646e-02  1.281e-02  3.023e-02  5.436e-03  8.348e-03 -7.877e-04 -1.041e+00]
+t: 124	 action: [ 0.016  0.026 -0.002  0.005  0.002  0.002 -1.03 ]
+t: 125	 action: [ 1.811e-02  8.512e-05  4.626e-02  4.931e-03  6.555e-03  3.044e-03 -1.033e+00]
+t: 126	 action: [ 6.918e-03  3.268e-02 -3.488e-03  4.794e-03 -3.830e-04 -7.582e-04 -1.026e+00]
+t: 127	 action: [-0.008  0.022  0.01   0.011 -0.001  0.005 -1.064]
+t: 128	 action: [ 3.981e-03  2.056e-02  1.865e-02  4.516e-03 -5.248e-04 -1.368e-03 -1.027e+00]
+t: 129	 action: [-0.006  0.022  0.034  0.011 -0.001  0.006 -1.058]
+t: 130	 action: [ 0.04   0.014  0.006  0.009 -0.01   0.007 -1.035]
+t: 131	 action: [ 0.037  0.015  0.043  0.004  0.002  0.003 -1.041]
+t: 132	 action: [ 0.033  0.019  0.026  0.008 -0.01   0.004 -1.026]
+t: 133	 action: [ 0.035  0.011  0.055  0.003  0.004  0.004 -1.038]
+t: 134	 action: [ 0.032  0.02   0.026  0.006 -0.005  0.003 -1.03 ]
+t: 135	 action: [ 0.018  0.043  0.042  0.007 -0.007  0.004 -1.068]
+t: 136	 action: [ 0.031  0.02   0.052  0.004 -0.002 -0.001 -1.023]
+t: 137	 action: [ 0.012  0.043  0.086  0.007 -0.004  0.006 -1.065]
+[07-31 01:31:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.182 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.182 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [ 0.033  0.042 -0.04   0.006  0.005  0.005 -1.035]
+t: 139	 action: [ 0.03   0.015  0.025  0.008  0.007  0.001 -1.04 ]
+t: 140	 action: [ 0.013  0.033 -0.024  0.006  0.002  0.003 -1.028]
+t: 141	 action: [ 0.014  0.001  0.047  0.007  0.007  0.003 -1.033]
+t: 142	 action: [ 9.161e-03  3.920e-02 -2.046e-02  5.663e-03  3.270e-03 -8.815e-04 -1.026e+00]
+t: 143	 action: [-2.353e-04  2.021e-02  9.010e-03  1.443e-02  6.079e-04  6.432e-03 -1.064e+00]
+t: 144	 action: [ 0.004  0.026  0.011  0.006  0.005 -0.002 -1.026]
+t: 145	 action: [-0.006  0.023  0.039  0.013  0.003  0.006 -1.057]
+t: 146	 action: [ 0.028  0.017  0.001  0.01  -0.002  0.008 -1.034]
+t: 147	 action: [ 0.025  0.017  0.047  0.007  0.005  0.003 -1.042]
+t: 148	 action: [ 0.018  0.025  0.016  0.008 -0.003  0.005 -1.024]
+t: 149	 action: [ 0.024  0.015  0.056  0.006  0.007  0.002 -1.039]
+t: 150	 action: [ 0.02   0.023  0.025  0.007  0.003  0.002 -1.03 ]
+t: 151	 action: [ 0.007  0.046  0.048  0.012 -0.002  0.003 -1.068]
+t: 152	 action: [ 0.015  0.029  0.047  0.004  0.006 -0.002 -1.021]
+t: 153	 action: [-0.002  0.048  0.09   0.011  0.003  0.005 -1.065]
+[07-31 01:31:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.191 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9960
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 1.191 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=154: Selected seed 195 with value = 0.9960
+t: 154	 action: [ 0.038  0.055 -0.12   0.005  0.004  0.006 -1.036]
+t: 155	 action: [ 0.033  0.022 -0.002  0.008  0.008  0.006 -1.042]
+t: 156	 action: [ 0.017  0.041 -0.062  0.006  0.004  0.003 -1.032]
+t: 157	 action: [ 0.014  0.004  0.038  0.006  0.01   0.006 -1.036]
+t: 158	 action: [ 1.318e-02  5.291e-02 -5.832e-02  2.735e-03  6.786e-03  9.939e-04 -1.030e+00]
+t: 159	 action: [ 0.009  0.028 -0.001  0.013  0.003  0.011 -1.064]
+t: 160	 action: [ 7.728e-03  4.007e-02 -1.011e-02  3.741e-03  8.543e-03 -5.133e-04 -1.029e+00]
+t: 161	 action: [-0.003  0.03   0.033  0.012  0.007  0.009 -1.057]
+t: 162	 action: [ 0.028  0.024 -0.024  0.009  0.003  0.008 -1.036]
+t: 163	 action: [ 0.024  0.019  0.044  0.007  0.007  0.003 -1.044]
+t: 164	 action: [ 0.012  0.033 -0.009  0.008  0.002  0.006 -1.027]
+t: 165	 action: [ 0.021  0.014  0.047  0.006  0.01   0.003 -1.044]
+t: 166	 action: [ 0.016  0.036  0.007  0.006  0.008  0.002 -1.035]
+t: 167	 action: [ 0.001  0.049  0.03   0.012  0.002  0.004 -1.067]
+t: 168	 action: [ 0.007  0.043  0.028  0.004  0.01  -0.001 -1.024]
+t: 169	 action: [-0.01   0.05   0.063  0.011  0.006  0.006 -1.066]
+[07-31 01:31:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.188 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9867
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 1.188 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=170: Selected seed 195 with value = 0.9867
+t: 170	 action: [ 4.235e-02  3.928e-02 -2.070e-01  5.597e-03  8.554e-04  7.757e-03 -1.037e+00]
+t: 171	 action: [ 0.04   0.012 -0.103  0.01   0.009  0.011 -1.042]
+t: 172	 action: [ 0.029  0.039 -0.119  0.006  0.004  0.005 -1.035]
+t: 173	 action: [ 2.013e-02  7.223e-04 -1.842e-02  6.058e-03  1.253e-02  8.791e-03 -1.039e+00]
+t: 174	 action: [ 0.025  0.047 -0.114  0.003  0.009  0.007 -1.038]
+t: 175	 action: [ 0.026  0.032 -0.041  0.014  0.007  0.014 -1.064]
+t: 176	 action: [ 0.019  0.049 -0.063  0.004  0.011  0.004 -1.035]
+t: 177	 action: [-5.448e-04  3.619e-02  5.630e-03  1.033e-02  1.061e-02  1.056e-02 -1.058e+00]
+t: 178	 action: [ 0.046  0.031 -0.091  0.008  0.003  0.009 -1.037]
+t: 179	 action: [ 0.038  0.013 -0.032  0.007  0.008  0.005 -1.044]
+t: 180	 action: [ 0.02   0.039 -0.073  0.008  0.002  0.007 -1.03 ]
+t: 181	 action: [ 0.031  0.004  0.005  0.005  0.01   0.006 -1.047]
+t: 182	 action: [ 0.025  0.049 -0.054  0.005  0.008  0.003 -1.04 ]
+t: 183	 action: [-0.001  0.05  -0.009  0.012  0.002  0.004 -1.063]
+t: 184	 action: [ 5.399e-03  5.953e-02 -3.532e-02  2.924e-03  1.019e-02  2.123e-04 -1.029e+00]
+t: 185	 action: [-1.993e-02  4.672e-02  5.520e-04  1.047e-02  4.496e-03  7.414e-03 -1.063e+00]
+[07-31 01:31:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.222 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9518
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9518
+Query 1/1: Action query time = 1.222 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=186: Selected seed 195 with value = 0.9518
+t: 186	 action: [-3.078e-02  3.870e-02 -4.010e-01  3.691e-04 -1.435e-03  1.181e-02 -1.045e+00]
+t: 187	 action: [-0.004  0.034 -0.367 -0.002  0.008  0.016 -1.042]
+t: 188	 action: [-0.016  0.039 -0.281  0.004  0.003  0.01  -1.041]
+t: 189	 action: [-0.006  0.016 -0.257 -0.002  0.01   0.01  -1.041]
+t: 190	 action: [-0.014  0.039 -0.226 -0.005  0.006  0.008 -1.051]
+t: 191	 action: [-0.021  0.054 -0.166  0.002  0.005  0.009 -1.055]
+t: 192	 action: [-0.027  0.044 -0.186 -0.004  0.009  0.006 -1.042]
+t: 193	 action: [-6.555e-02  4.078e-02 -1.153e-01  7.543e-04  5.717e-03  1.715e-03 -1.057e+00]
+t: 194	 action: [-0.056  0.024 -0.364 -0.003  0.007  0.009 -1.163]
+t: 195	 action: [-0.092 -0.007 -0.324 -0.004  0.008  0.031 -1.136]
+t: 196	 action: [-0.088  0.027 -0.31  -0.004  0.006  0.009 -1.106]
+t: 197	 action: [-0.107 -0.023 -0.261 -0.006  0.008  0.03   1.043]
+t: 198	 action: [-0.089  0.014 -0.25  -0.018  0.009  0.005  1.103]
+t: 199	 action: [-2.514e-02  2.855e-02 -1.423e-01  6.243e-04 -2.048e-03  2.236e-02  1.145e+00]
+t: 200	 action: [-0.097  0.01  -0.207 -0.018  0.009  0.003  1.1  ]
+t: 201	 action: [-0.022  0.02  -0.083 -0.003 -0.002  0.02   1.052]
+[07-31 01:31:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.158 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8752
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 1.158 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=202: Selected seed 195 with value = 0.8752
+t: 202	 action: [-0.092 -0.106 -0.052 -0.033 -0.019 -0.007  1.01 ]
+t: 203	 action: [-0.163 -0.172  0.045 -0.024 -0.01  -0.009  1.042]
+t: 204	 action: [-0.066 -0.103  0.024 -0.025 -0.025 -0.011  1.008]
+t: 205	 action: [-0.103 -0.183  0.081 -0.021 -0.016 -0.009  1.031]
+t: 206	 action: [-0.049 -0.181  0.115 -0.01  -0.027 -0.011  1.021]
+t: 207	 action: [-0.079 -0.197  0.133 -0.014 -0.022 -0.009  1.024]
+t: 208	 action: [-0.015 -0.179  0.141  0.003 -0.027 -0.017  1.019]
+t: 209	 action: [-4.385e-02 -1.901e-01  1.093e-01  5.548e-04 -1.730e-02 -1.229e-02  1.030e+00]
+t: 210	 action: [ 0.052 -0.022 -0.002  0.002 -0.001  0.005  1.176]
+t: 211	 action: [ 0.021 -0.032  0.051  0.002  0.014 -0.005 -1.003]
+t: 212	 action: [ 9.184e-02  1.516e-02  2.830e-02  1.643e-03  1.186e-02 -9.372e-04 -1.085e+00]
+t: 213	 action: [ 0.105 -0.024  0.082  0.005  0.029 -0.016 -1.057]
+t: 214	 action: [ 1.565e-02  1.601e-02  4.346e-03 -4.263e-04  5.332e-03 -3.421e-03 -1.193e+00]
+t: 215	 action: [-0.027  0.027  0.061  0.013  0.007 -0.011 -1.041]
+t: 216	 action: [ 0.009  0.008  0.066 -0.003  0.025 -0.011 -1.085]
+t: 217	 action: [-0.025  0.046  0.137  0.015  0.025 -0.015 -1.012]
+[07-31 01:31:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.147 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9727
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 1.147 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=218: Selected seed 195 with value = 0.9727
+t: 218	 action: [ 0.046 -0.053 -0.303 -0.024  0.005 -0.007  1.165]
+t: 219	 action: [ 0.046 -0.079 -0.161 -0.026  0.014 -0.001  1.034]
+t: 220	 action: [ 0.069 -0.004 -0.111 -0.019  0.007 -0.008  1.17 ]
+t: 221	 action: [ 0.059 -0.05   0.014 -0.02   0.018 -0.007 -1.044]
+t: 222	 action: [ 0.079 -0.027  0.049 -0.016  0.014 -0.005 -1.2  ]
+t: 223	 action: [ 0.031 -0.032  0.062 -0.012  0.02  -0.011 -1.135]
+t: 224	 action: [ 0.09  -0.021  0.142 -0.001  0.019 -0.008 -1.204]
+t: 225	 action: [ 0.032 -0.002  0.194  0.002  0.025 -0.014 -1.074]
+t: 226	 action: [ 0.101  0.008  0.256  0.002  0.036  0.006 -1.047]
+t: 227	 action: [ 0.1   -0.006  0.307 -0.002  0.058  0.006 -1.038]
+t: 228	 action: [ 0.095  0.013  0.329  0.003  0.048  0.003 -1.055]
+t: 229	 action: [ 9.755e-02 -6.054e-03  3.668e-01  5.860e-04  7.535e-02  2.144e-03 -1.034e+00]
+t: 230	 action: [ 7.251e-02  9.888e-03  3.725e-01  4.285e-03  6.139e-02  9.872e-04 -1.054e+00]
+t: 231	 action: [ 0.062  0.045  0.393  0.011  0.075  0.005 -1.062]
+t: 232	 action: [ 0.093  0.005  0.409  0.002  0.076 -0.003 -1.056]
+t: 233	 action: [ 0.064  0.035  0.395  0.012  0.085  0.004 -1.069]
+[07-31 01:31:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.189 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9982
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 1.189 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=234: Selected seed 195 with value = 0.9982
+t: 234	 action: [ 0.027  0.012 -0.013  0.014  0.024  0.006 -1.042]
+t: 235	 action: [ 3.453e-02 -3.183e-02  3.671e-02  1.152e-02  3.030e-02  8.604e-04 -1.042e+00]
+t: 236	 action: [ 0.026  0.017 -0.01   0.01   0.028  0.004 -1.032]
+t: 237	 action: [ 0.027 -0.037  0.041  0.009  0.038  0.002 -1.036]
+t: 238	 action: [ 0.014  0.011 -0.006  0.01   0.033  0.002 -1.035]
+t: 239	 action: [ 0.021 -0.006  0.041  0.016  0.039  0.003 -1.064]
+t: 240	 action: [ 1.297e-02  1.475e-02  7.470e-03  6.823e-03  3.502e-02  2.018e-04 -1.030e+00]
+t: 241	 action: [-0.004  0.002  0.047  0.014  0.041  0.003 -1.057]
+t: 242	 action: [ 0.039  0.005 -0.013  0.009  0.026  0.002 -1.042]
+t: 243	 action: [ 0.041 -0.023  0.027  0.011  0.029 -0.002 -1.049]
+t: 244	 action: [ 0.025  0.016 -0.008  0.008  0.029  0.004 -1.033]
+t: 245	 action: [ 3.118e-02 -3.114e-02  3.312e-02  1.013e-02  3.468e-02 -1.574e-04 -1.049e+00]
+t: 246	 action: [ 2.674e-02  1.342e-02  6.327e-03  6.973e-03  3.646e-02  2.823e-05 -1.039e+00]
+t: 247	 action: [ 7.330e-03  8.959e-03  2.437e-02  1.592e-02  3.233e-02 -8.248e-04 -1.062e+00]
+t: 248	 action: [ 0.008  0.018  0.01   0.005  0.038 -0.001 -1.029]
+t: 249	 action: [-0.013  0.008  0.031  0.015  0.037  0.003 -1.061]
+[07-31 01:31:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.214 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9902
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 1.214 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=250: Selected seed 195 with value = 0.9902
+t: 250	 action: [-0.039  0.005 -0.173  0.005 -0.007  0.009 -1.033]
+t: 251	 action: [-0.015 -0.033 -0.159  0.007  0.008  0.007 -1.045]
+t: 252	 action: [-0.037  0.005 -0.131  0.005 -0.002  0.008 -1.021]
+t: 253	 action: [-0.008 -0.041 -0.111  0.005  0.01   0.008 -1.05 ]
+t: 254	 action: [-0.044  0.001 -0.129  0.005  0.005  0.005 -1.038]
+t: 255	 action: [-0.026 -0.004 -0.074  0.013  0.005  0.006 -1.069]
+t: 256	 action: [-0.045  0.001 -0.095  0.004  0.009  0.003 -1.02 ]
+t: 257	 action: [-0.036 -0.006 -0.042  0.012  0.007  0.003 -1.074]
+t: 258	 action: [-0.025  0.003 -0.142  0.008 -0.006  0.007 -1.038]
+t: 259	 action: [ 0.009 -0.031 -0.15   0.007  0.001  0.002 -1.047]
+t: 260	 action: [-0.038  0.008 -0.112  0.008 -0.005  0.008 -1.019]
+t: 261	 action: [-0.005 -0.041 -0.116  0.006  0.006  0.017 -0.917]
+t: 262	 action: [-0.032  0.009 -0.101  0.005  0.007  0.003 -1.045]
+t: 263	 action: [-3.550e-02  5.351e-03 -6.282e-02  1.340e-02 -3.433e-04 -2.994e-04 -1.067e+00]
+t: 264	 action: [-0.052  0.008 -0.076  0.003  0.01   0.002 -1.01 ]
+t: 265	 action: [-0.054  0.    -0.042  0.014  0.001  0.02   0.156]
+[07-31 01:31:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.152 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9740
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 1.152 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=266: Selected seed 195 with value = 0.9740
+t: 266	 action: [-0.071  0.01  -0.188  0.006 -0.009  0.009 -1.036]
+t: 267	 action: [-4.068e-02 -3.697e-02 -1.644e-01 -1.144e-03  9.471e-03  2.852e-04 -1.052e+00]
+t: 268	 action: [-0.058  0.003 -0.108  0.009 -0.003  0.009 -1.032]
+t: 269	 action: [-3.264e-02 -4.800e-02 -8.813e-02  1.793e-04  1.076e-02 -9.717e-04 -1.052e+00]
+t: 270	 action: [-0.047 -0.006 -0.107  0.003  0.004  0.004 -1.036]
+t: 271	 action: [-0.034 -0.011 -0.038  0.005  0.005 -0.003 -1.063]
+t: 272	 action: [-0.047 -0.007 -0.05   0.004  0.009  0.003 -1.041]
+t: 273	 action: [-0.06  -0.015 -0.014  0.007  0.005 -0.007 -1.068]
+t: 274	 action: [-0.051 -0.024 -0.194 -0.003 -0.003  0.004 -1.147]
+t: 275	 action: [-0.05  -0.044 -0.188 -0.002  0.004  0.018 -1.123]
+t: 276	 action: [-5.021e-02 -3.185e-02 -1.301e-01  3.612e-04 -2.636e-03  6.831e-03  9.748e-01]
+t: 277	 action: [ 0.011 -0.049 -0.114 -0.003  0.005  0.008  1.063]
+t: 278	 action: [-0.052 -0.008 -0.118 -0.006  0.008  0.002  1.09 ]
+t: 279	 action: [-0.01  -0.006 -0.067  0.005 -0.003  0.017  1.145]
+t: 280	 action: [-5.695e-02 -1.397e-02 -6.645e-02 -1.255e-03  9.838e-03  3.096e-04  9.793e-01]
+t: 281	 action: [ 0.001 -0.005 -0.018  0.004 -0.002  0.006  1.   ]
+[07-31 01:31:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.149 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9275
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 1.149 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=282: Selected seed 195 with value = 0.9275
+t: 282	 action: [-2.482e-02 -9.104e-02 -2.607e-01 -4.900e-02 -3.339e-02 -2.089e-04  1.024e+00]
+t: 283	 action: [-0.024 -0.103 -0.168 -0.045 -0.036  0.009  1.061]
+t: 284	 action: [ 2.891e-02 -8.415e-03 -1.640e-01 -5.068e-02 -3.198e-02 -6.902e-04  1.137e+00]
+t: 285	 action: [-0.004 -0.046 -0.011 -0.043 -0.034 -0.001  0.977]
+t: 286	 action: [ 4.812e-02 -1.821e-02 -3.949e-02 -4.805e-02 -2.804e-02 -6.296e-04  1.035e+00]
+t: 287	 action: [ 0.023  0.006  0.002 -0.029 -0.016  0.01   1.035]
+t: 288	 action: [ 0.077  0.003  0.105 -0.025 -0.023 -0.008 -1.184]
+t: 289	 action: [ 0.034  0.061  0.106 -0.011 -0.008 -0.017 -1.148]
+t: 290	 action: [ 0.085  0.042  0.166 -0.005 -0.003 -0.001 -1.049]
+t: 291	 action: [ 0.085  0.033  0.287 -0.009  0.012 -0.008 -1.052]
+t: 292	 action: [ 7.492e-02  3.562e-02  3.019e-01  9.926e-04  4.659e-03 -1.638e-03 -1.045e+00]
+t: 293	 action: [ 0.075  0.026  0.368 -0.003  0.024 -0.014 -1.051]
+t: 294	 action: [ 3.231e-02  4.988e-02  4.131e-01 -4.767e-04  1.033e-02 -6.687e-03 -1.057e+00]
+t: 295	 action: [ 0.007  0.091  0.432  0.007  0.009 -0.011 -1.069]
+t: 296	 action: [ 0.03   0.036  0.444 -0.001  0.021 -0.008 -1.043]
+t: 297	 action: [-0.009  0.074  0.421  0.011  0.019 -0.011 -1.065]
+[07-31 01:31:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.158 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9937
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9937
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 40
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 80%|████████  | 40/50 [21:21<05:31, 33.11s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 41...
+Query 1/1: Action query time = 1.158 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=298: Selected seed 195 with value = 0.9937
+t: 298	 action: [ 0.01  -0.003  0.036  0.012  0.011  0.002 -1.026]
+t: 299	 action: [ 2.608e-02 -2.986e-02  3.552e-02  1.259e-02  1.748e-02  8.011e-04 -1.040e+00]
+t: 300	 action: [-0.009 -0.007 -0.008  0.01   0.009  0.003 -1.028]
+t: 301	 action: [ 2.024e-02 -3.843e-02  4.017e-03  1.153e-02  1.501e-02  4.779e-04 -1.037e+00]
+t: 302	 action: [-0.031 -0.011 -0.026  0.011  0.007 -0.002 -1.027]
+t: 303	 action: [-0.021 -0.031 -0.011  0.017  0.007  0.001 -1.069]
+t: 304	 action: [-0.032 -0.011 -0.025  0.009  0.006 -0.001 -1.028]
+t: 305	 action: [-0.023 -0.019 -0.01   0.016  0.006 -0.001 -1.059]
+t: 306	 action: [ 0.017  0.006  0.01   0.01   0.008  0.003 -1.03 ]
+t: 307	 action: [ 0.03  -0.018  0.054  0.006  0.013 -0.003 -1.048]
+t: 308	 action: [ 0.016  0.015  0.061  0.009  0.009  0.005 -1.027]
+t: 309	 action: [ 0.031 -0.023  0.073  0.005  0.017 -0.004 -1.044]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=40--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=40--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 41...
+[07-31 01:32:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.217 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4760
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4760
+Query 1/1: Action query time = 1.217 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4760
+t=10: Selected seed 195 with value = 0.4760
+t: 10	 action: [ 0.122  0.031 -0.031  0.005 -0.009 -0.001 -1.008]
+t: 11	 action: [ 2.262e-01  7.788e-02 -5.073e-03  1.134e-02 -5.533e-04 -6.254e-03 -1.017e+00]
+t: 12	 action: [ 3.182e-01  1.884e-01 -2.456e-02  1.857e-03 -1.016e-02  5.393e-04 -1.018e+00]
+t: 13	 action: [ 0.426  0.259 -0.002  0.01  -0.002 -0.007 -1.026]
+t: 14	 action: [ 0.516  0.378 -0.016 -0.001 -0.008 -0.004 -1.029]
+t: 15	 action: [ 0.616  0.486  0.003  0.011 -0.004 -0.005 -1.054]
+t: 16	 action: [ 0.658  0.52  -0.006 -0.003 -0.005 -0.004 -1.019]
+t: 17	 action: [ 7.226e-01  5.776e-01 -1.661e-04  1.078e-02 -6.564e-03 -6.050e-03 -1.059e+00]
+t: 18	 action: [ 0.713  0.558 -0.036  0.005 -0.011  0.003 -1.027]
+t: 19	 action: [ 0.744  0.563 -0.039  0.005 -0.006 -0.005 -1.028]
+t: 20	 action: [ 0.753  0.574 -0.071  0.004 -0.014  0.003 -1.024]
+t: 21	 action: [ 0.785  0.569 -0.082 -0.002 -0.006 -0.006 -1.026]
+t: 22	 action: [ 7.785e-01  5.327e-01 -1.099e-01  5.427e-05 -1.164e-02 -4.397e-04 -1.017e+00]
+t: 23	 action: [ 0.779  0.526 -0.158  0.005 -0.013 -0.006 -1.049]
+t: 24	 action: [ 0.794  0.498 -0.195 -0.003 -0.012 -0.002 -1.016]
+t: 25	 action: [ 8.016e-01  4.384e-01 -2.669e-01 -4.879e-04 -1.386e-02 -4.788e-03 -1.058e+00]
+[07-31 01:32:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.150 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5263
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5263
+Query 1/1: Action query time = 1.150 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5263
+t=26: Selected seed 195 with value = 0.5263
+t: 26	 action: [ 0.815  0.527 -0.194  0.006 -0.006  0.008 -1.036]
+t: 27	 action: [ 7.783e-01  4.965e-01 -1.764e-01  2.841e-03 -4.577e-03 -7.361e-04 -1.033e+00]
+t: 28	 action: [ 0.71   0.362 -0.297  0.008 -0.015  0.004 -1.041]
+t: 29	 action: [ 0.649  0.28  -0.322  0.006 -0.008 -0.003 -1.036]
+t: 30	 action: [ 4.896e-01  1.425e-01 -5.098e-01  6.821e-04 -1.359e-02 -5.110e-03 -1.026e+00]
+t: 31	 action: [ 0.399  0.07  -0.609  0.014 -0.019 -0.009 -1.058]
+t: 32	 action: [ 0.325  0.054 -0.796  0.005 -0.021 -0.01  -1.032]
+t: 33	 action: [ 0.251  0.008 -0.921  0.018 -0.027 -0.01  -1.06 ]
+t: 34	 action: [ 0.176 -0.011 -0.938  0.017 -0.036 -0.02  -1.046]
+t: 35	 action: [ 0.07  -0.065 -0.998  0.015 -0.032 -0.02  -1.028]
+t: 36	 action: [ 0.039 -0.05  -0.981  0.012 -0.04  -0.019 -1.048]
+t: 37	 action: [-0.016 -0.077 -1.03   0.01  -0.033 -0.02  -1.028]
+t: 38	 action: [-0.056 -0.031 -0.975  0.016 -0.037 -0.018 -1.043]
+t: 39	 action: [-9.881e-02  4.228e-04 -1.002e+00  1.672e-02 -3.601e-02 -2.375e-02 -1.046e+00]
+t: 40	 action: [-0.179 -0.03  -0.972  0.005 -0.036 -0.016 -1.043]
+t: 41	 action: [-0.232 -0.006 -0.991  0.012 -0.034 -0.02  -1.049]
+[07-31 01:32:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.155 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6050
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6050
+Query 1/1: Action query time = 1.155 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6050
+t=42: Selected seed 195 with value = 0.6050
+t: 42	 action: [-0.006  0.047 -0.994  0.016 -0.021  0.007 -1.037]
+t: 43	 action: [-0.005  0.04  -1.006  0.009 -0.012  0.008 -1.046]
+t: 44	 action: [-0.032  0.056 -0.916  0.008 -0.01   0.011 -1.026]
+t: 45	 action: [-4.734e-02  5.404e-02 -9.289e-01  5.269e-03 -4.021e-04  1.111e-02 -1.043e+00]
+t: 46	 action: [-0.083  0.063 -0.781 -0.002 -0.01   0.002 -1.024]
+t: 47	 action: [-1.279e-01  1.188e-01 -8.160e-01  3.827e-03 -4.418e-03  3.464e-04 -1.056e+00]
+t: 48	 action: [-1.622e-01  4.465e-02 -6.699e-01 -6.217e-03 -8.587e-03  9.034e-04 -1.019e+00]
+t: 49	 action: [-0.233  0.097 -0.718 -0.003 -0.004 -0.003 -1.053]
+t: 50	 action: [-1.840e-01  3.729e-02 -5.822e-01  9.207e-04 -3.430e-03  6.933e-03 -1.039e+00]
+t: 51	 action: [-0.211  0.022 -0.658 -0.006 -0.001  0.021 -1.144]
+t: 52	 action: [-3.297e-01  1.782e-02 -5.506e-01  1.640e-03 -9.722e-04  7.376e-03 -1.189e+00]
+t: 53	 action: [-4.278e-01 -2.766e-02 -5.705e-01 -6.131e-03  4.254e-04  1.759e-02 -1.151e+00]
+t: 54	 action: [-0.421 -0.012 -0.573 -0.005 -0.009 -0.006 -1.03 ]
+t: 55	 action: [-0.444 -0.036 -0.531 -0.006 -0.004  0.005  1.23 ]
+t: 56	 action: [-0.393 -0.041 -0.502 -0.005 -0.01  -0.007  1.112]
+t: 57	 action: [-0.318 -0.05  -0.357 -0.013 -0.005  0.004  1.195]
+[07-31 01:32:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.187 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7026
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7026
+Query 1/1: Action query time = 1.187 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7026
+t=58: Selected seed 195 with value = 0.7026
+t: 58	 action: [-0.179 -0.032 -0.539 -0.002  0.037 -0.038  0.98 ]
+t: 59	 action: [-0.111 -0.084 -0.331 -0.005  0.055 -0.048  1.016]
+t: 60	 action: [-0.056 -0.108 -0.293 -0.003  0.055 -0.067  0.975]
+t: 61	 action: [-0.014 -0.132 -0.128 -0.008  0.071 -0.071  1.024]
+t: 62	 action: [ 0.02  -0.154 -0.018 -0.013  0.034 -0.096  0.998]
+t: 63	 action: [ 0.017 -0.164  0.064 -0.013  0.056 -0.091  1.017]
+t: 64	 action: [ 0.027 -0.135  0.223 -0.01   0.034 -0.12   0.993]
+t: 65	 action: [ 0.018 -0.124  0.302 -0.012  0.044 -0.111  1.019]
+t: 66	 action: [ 0.046 -0.073  0.488 -0.005  0.026 -0.089  0.985]
+t: 67	 action: [ 0.038 -0.074  0.721 -0.009  0.019 -0.102  1.007]
+t: 68	 action: [ 0.045 -0.069  0.8   -0.003  0.013 -0.086  0.976]
+t: 69	 action: [ 0.04  -0.082  0.904 -0.005  0.009 -0.102  1.012]
+t: 70	 action: [-0.013 -0.077  0.954 -0.002  0.007 -0.084  0.997]
+t: 71	 action: [-0.033 -0.177  0.983  0.007  0.009 -0.074  1.01 ]
+t: 72	 action: [-0.057 -0.223  0.937  0.003  0.008 -0.07   0.999]
+t: 73	 action: [-0.097 -0.308  0.947  0.024  0.008 -0.055  1.017]
+[07-31 01:32:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.154 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7972
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7972
+Query 1/1: Action query time = 1.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7972
+t=74: Selected seed 195 with value = 0.7972
+t: 74	 action: [-0.058 -0.586  0.858  0.052  0.025 -0.018  0.997]
+t: 75	 action: [-0.073 -0.616  0.76   0.051  0.025 -0.013  1.026]
+t: 76	 action: [-0.122 -0.671  0.588  0.056  0.033 -0.009  0.995]
+t: 77	 action: [-0.151 -0.676  0.401  0.055  0.038 -0.008  1.022]
+t: 78	 action: [-0.152 -0.762  0.252  0.059  0.048 -0.007  0.999]
+t: 79	 action: [-0.236 -0.723  0.169  0.063  0.033  0.003  1.027]
+t: 80	 action: [-0.228 -0.736  0.01   0.057  0.048 -0.005  0.992]
+t: 81	 action: [-0.277 -0.662 -0.094  0.059  0.032  0.005  1.029]
+t: 82	 action: [-0.298 -0.675 -0.106  0.077  0.043  0.001  0.983]
+t: 83	 action: [-0.315 -0.56  -0.192  0.057  0.044 -0.005  1.025]
+t: 84	 action: [-0.332 -0.495 -0.327  0.06   0.038  0.005  0.973]
+t: 85	 action: [-0.333 -0.393 -0.446  0.039  0.039  0.004  1.034]
+t: 86	 action: [-0.385 -0.239 -0.431  0.021  0.04  -0.002  0.996]
+t: 87	 action: [-0.336 -0.156 -0.585  0.026  0.041  0.017  1.028]
+t: 88	 action: [-0.344 -0.076 -0.576 -0.005  0.042  0.004  0.987]
+t: 89	 action: [-0.25  -0.029 -0.606  0.005  0.047  0.024  1.033]
+[07-31 01:32:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.121 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9163
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9163
+Query 1/1: Action query time = 1.121 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9163
+t=90: Selected seed 195 with value = 0.9163
+t: 90	 action: [-0.215 -0.118 -0.753 -0.002 -0.019  0.006  0.998]
+t: 91	 action: [-0.172 -0.077 -0.583 -0.011  0.001  0.02   1.06 ]
+t: 92	 action: [-0.172  0.011 -0.569 -0.01  -0.007  0.01   1.004]
+t: 93	 action: [-0.094 -0.004 -0.38  -0.018  0.018  0.026  1.046]
+t: 94	 action: [-0.055  0.024 -0.227 -0.034  0.045  0.015  0.995]
+t: 95	 action: [-0.003  0.021 -0.165 -0.022  0.06   0.028  1.031]
+t: 96	 action: [-0.007  0.023 -0.033 -0.029  0.072  0.015  1.002]
+t: 97	 action: [ 0.043  0.046  0.044 -0.016  0.09   0.025  1.026]
+t: 98	 action: [ 0.05   0.04  -0.006 -0.015  0.081  0.029  1.181]
+t: 99	 action: [ 0.024  0.015  0.06  -0.016  0.084  0.017 -0.966]
+t: 100	 action: [ 0.125  0.044  0.135 -0.021  0.089  0.015 -1.044]
+t: 101	 action: [ 0.15   0.022  0.267 -0.017  0.082  0.006 -1.021]
+t: 102	 action: [ 0.13   0.032  0.356 -0.029  0.075 -0.008 -1.22 ]
+t: 103	 action: [ 0.166  0.069  0.459 -0.018  0.07  -0.006 -1.048]
+t: 104	 action: [ 0.177  0.021  0.506 -0.022  0.061 -0.01  -1.035]
+t: 105	 action: [ 0.242  0.069  0.533 -0.015  0.065 -0.005 -1.041]
+[07-31 01:32:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.161 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9847
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 1.161 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=106: Selected seed 195 with value = 0.9847
+t: 106	 action: [ 0.095  0.016  0.205 -0.005  0.112  0.003 -0.55 ]
+t: 107	 action: [ 0.076 -0.018  0.214 -0.001  0.092  0.001 -0.478]
+t: 108	 action: [ 0.086  0.009  0.235 -0.005  0.073  0.003 -1.023]
+t: 109	 action: [ 0.057 -0.027  0.263  0.001  0.063 -0.005 -1.035]
+t: 110	 action: [ 7.890e-02 -9.764e-04  2.649e-01  1.288e-04  5.192e-02 -6.026e-03 -1.094e+00]
+t: 111	 action: [ 0.037  0.011  0.29   0.008  0.053 -0.004 -1.155]
+t: 112	 action: [ 6.154e-02 -1.855e-03  2.669e-01 -4.955e-04  3.410e-02 -8.637e-03 -1.034e+00]
+t: 113	 action: [ 2.046e-02  4.688e-04  2.576e-01  8.847e-03  2.449e-02 -8.677e-03 -1.062e+00]
+t: 114	 action: [ 0.078  0.019  0.195  0.006  0.017  0.003 -1.027]
+t: 115	 action: [ 0.045 -0.023  0.201  0.006  0.011 -0.011 -1.041]
+t: 116	 action: [ 0.054  0.015  0.141  0.004  0.006  0.002 -1.029]
+t: 117	 action: [ 0.039 -0.022  0.148  0.005  0.01  -0.008 -1.028]
+t: 118	 action: [ 1.741e-02  5.391e-03  1.246e-01  3.083e-03  1.665e-03 -9.566e-04 -1.035e+00]
+t: 119	 action: [-0.004  0.014  0.127  0.006 -0.002 -0.008 -1.059]
+t: 120	 action: [ 1.545e-02  1.795e-03  1.064e-01  1.562e-04 -9.247e-04 -3.419e-03 -1.034e+00]
+t: 121	 action: [-0.006  0.015  0.105  0.005 -0.005 -0.004 -1.058]
+[07-31 01:32:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.214 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.214 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.026  0.02   0.024  0.002  0.005  0.004 -1.047]
+t: 123	 action: [ 0.019 -0.02   0.04  -0.004  0.004  0.004 -1.045]
+t: 124	 action: [ 0.014  0.012  0.013  0.002 -0.003  0.002 -1.04 ]
+t: 125	 action: [ 0.009 -0.029  0.046 -0.003  0.005  0.005 -1.038]
+t: 126	 action: [ 8.829e-03  1.071e-02  7.137e-03 -5.879e-04 -8.545e-03  5.728e-04 -1.040e+00]
+t: 127	 action: [-9.706e-03 -7.359e-04  5.222e-02  1.575e-03 -5.024e-03  4.527e-03 -1.068e+00]
+t: 128	 action: [ 5.488e-03  7.688e-03  2.206e-02  1.105e-05 -4.990e-03  2.399e-04 -1.039e+00]
+t: 129	 action: [-0.013  0.002  0.063  0.003 -0.003  0.002 -1.063]
+t: 130	 action: [ 0.034  0.007  0.023  0.006 -0.002  0.008 -1.048]
+t: 131	 action: [ 0.015 -0.024  0.044 -0.002  0.005  0.002 -1.048]
+t: 132	 action: [ 0.015  0.008  0.025  0.004 -0.005  0.005 -1.042]
+t: 133	 action: [ 0.013 -0.024  0.048 -0.002  0.006  0.003 -1.039]
+t: 134	 action: [ 1.430e-02  7.335e-03  2.005e-02  1.812e-03 -9.108e-04  2.751e-03 -1.046e+00]
+t: 135	 action: [-0.013  0.009  0.058  0.002 -0.004 -0.002 -1.073]
+t: 136	 action: [ 7.427e-03  7.166e-03  3.441e-02  7.403e-04 -9.914e-04 -3.271e-04 -1.043e+00]
+t: 137	 action: [-1.486e-02  1.070e-02  6.976e-02  3.614e-03 -2.543e-03 -2.279e-06 -1.069e+00]
+[07-31 01:32:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.190 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.190 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [ 1.326e-03  3.577e-02 -1.821e-02  9.259e-04 -1.609e-03  5.596e-03 -1.046e+00]
+t: 139	 action: [ 0.007 -0.003  0.018 -0.009  0.002  0.009 -1.044]
+t: 140	 action: [-0.011  0.02  -0.017  0.001 -0.006  0.004 -1.037]
+t: 141	 action: [ 0.006 -0.016  0.038 -0.009  0.005  0.009 -1.038]
+t: 142	 action: [-0.008  0.026 -0.016 -0.002 -0.01   0.004 -1.04 ]
+t: 143	 action: [-0.017  0.012  0.017 -0.004 -0.006  0.009 -1.066]
+t: 144	 action: [-0.014  0.016  0.002 -0.002 -0.006  0.003 -1.037]
+t: 145	 action: [-0.016  0.013  0.036 -0.002 -0.003  0.006 -1.061]
+t: 146	 action: [ 1.500e-02  8.731e-03 -7.097e-05  3.719e-03 -2.210e-03  9.718e-03 -1.046e+00]
+t: 147	 action: [ 0.008 -0.014  0.038 -0.008  0.004  0.005 -1.047]
+t: 148	 action: [-0.006  0.011  0.005  0.003 -0.005  0.007 -1.041]
+t: 149	 action: [ 0.01  -0.013  0.045 -0.008  0.007  0.008 -1.039]
+t: 150	 action: [-3.231e-03  1.067e-02  1.961e-03 -3.975e-04 -8.763e-04  4.800e-03 -1.046e+00]
+t: 151	 action: [-0.021  0.013  0.038 -0.003 -0.004  0.001 -1.073]
+t: 152	 action: [-1.275e-02  1.227e-02  1.914e-02 -1.784e-03 -4.097e-04  1.459e-03 -1.043e+00]
+t: 153	 action: [-0.021  0.019  0.057 -0.002 -0.001  0.003 -1.068]
+[07-31 01:32:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.166 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.166 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+t: 154	 action: [-7.015e-03  4.579e-02 -5.279e-02  2.009e-04 -8.599e-04  5.055e-03 -1.044e+00]
+t: 155	 action: [ 0.005  0.007 -0.017 -0.011  0.004  0.009 -1.044]
+t: 156	 action: [-1.967e-02  2.865e-02 -4.724e-02 -1.022e-03 -4.549e-03  4.283e-03 -1.035e+00]
+t: 157	 action: [ 0.004 -0.008  0.02  -0.012  0.006  0.01  -1.037]
+t: 158	 action: [-0.015  0.038 -0.042 -0.003 -0.009  0.004 -1.038]
+t: 159	 action: [-0.017  0.018 -0.006 -0.005 -0.004  0.01  -1.064]
+t: 160	 action: [-0.021  0.023 -0.023 -0.003 -0.005  0.005 -1.035]
+t: 161	 action: [-1.682e-02  1.723e-02  7.136e-03 -4.086e-03 -9.131e-04  7.334e-03 -1.060e+00]
+t: 162	 action: [ 6.164e-03  9.875e-03 -2.957e-02  1.723e-03 -9.006e-04  1.022e-02 -1.044e+00]
+t: 163	 action: [ 0.006 -0.01   0.026 -0.01   0.005  0.006 -1.047]
+t: 164	 action: [-1.474e-02  1.397e-02 -2.149e-02 -2.657e-04 -3.140e-03  7.349e-03 -1.039e+00]
+t: 165	 action: [ 0.009 -0.007  0.041 -0.011  0.008  0.009 -1.039]
+t: 166	 action: [-1.175e-02  1.228e-02 -2.328e-02 -1.879e-03 -8.980e-05  5.339e-03 -1.046e+00]
+t: 167	 action: [-0.024  0.014  0.004 -0.005 -0.003  0.002 -1.072]
+t: 168	 action: [-2.103e-02  1.609e-02 -4.770e-03 -3.591e-03 -1.257e-04  2.253e-03 -1.042e+00]
+t: 169	 action: [-2.343e-02  2.191e-02  2.400e-02 -3.926e-03 -8.933e-04  4.205e-03 -1.068e+00]
+[07-31 01:32:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.210 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.210 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+t: 170	 action: [-1.462e-02  4.117e-02 -8.357e-02  7.862e-04  3.345e-03  5.197e-03 -1.042e+00]
+t: 171	 action: [ 0.006  0.005 -0.06  -0.011  0.007  0.008 -1.044]
+t: 172	 action: [-2.865e-02  2.873e-02 -7.476e-02 -1.578e-03  4.964e-04  4.325e-03 -1.032e+00]
+t: 173	 action: [ 0.003 -0.006 -0.02  -0.012  0.008  0.01  -1.037]
+t: 174	 action: [-0.024  0.038 -0.065 -0.002 -0.002  0.003 -1.037]
+t: 175	 action: [-0.016  0.018 -0.018 -0.005  0.001  0.008 -1.064]
+t: 176	 action: [-2.984e-02  2.659e-02 -4.714e-02 -2.950e-03  1.429e-04  3.900e-03 -1.033e+00]
+t: 177	 action: [-0.017  0.019 -0.003 -0.005  0.003  0.007 -1.058]
+t: 178	 action: [-0.003  0.011 -0.057  0.002  0.004  0.01  -1.044]
+t: 179	 action: [ 0.007 -0.01  -0.015 -0.01   0.008  0.005 -1.048]
+t: 180	 action: [-0.024  0.017 -0.047 -0.001  0.002  0.007 -1.037]
+t: 181	 action: [ 0.008 -0.008  0.018 -0.011  0.01   0.009 -1.041]
+t: 182	 action: [-2.081e-02  1.374e-02 -4.902e-02 -9.419e-04  4.911e-03  4.909e-03 -1.044e+00]
+t: 183	 action: [-2.549e-02  1.306e-02 -1.163e-02 -4.596e-03  1.078e-04  1.505e-03 -1.070e+00]
+t: 184	 action: [-0.03   0.019 -0.029 -0.004  0.004  0.002 -1.04 ]
+t: 185	 action: [-0.026  0.021 -0.003 -0.004  0.002  0.004 -1.068]
+[07-31 01:32:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.216 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.216 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+t: 186	 action: [-0.004  0.019 -0.091  0.003  0.01   0.006 -1.041]
+t: 187	 action: [ 0.009 -0.009 -0.078 -0.01   0.011  0.002 -1.043]
+t: 188	 action: [-1.920e-02  1.869e-02 -8.044e-02 -6.501e-04  7.868e-03  4.483e-03 -1.031e+00]
+t: 189	 action: [ 0.006 -0.012 -0.038 -0.013  0.014  0.004 -1.037]
+t: 190	 action: [-1.771e-02  2.182e-02 -6.926e-02 -2.738e-04  6.320e-03  1.989e-03 -1.035e+00]
+t: 191	 action: [-0.01   0.011 -0.021 -0.004  0.009  0.003 -1.062]
+t: 192	 action: [-0.023  0.023 -0.053 -0.003  0.007  0.001 -1.032]
+t: 193	 action: [-0.014  0.019 -0.005 -0.006  0.01   0.002 -1.057]
+t: 194	 action: [-0.001  0.011 -0.069  0.003  0.01   0.008 -1.043]
+t: 195	 action: [ 9.884e-03 -1.376e-02 -4.268e-02 -1.004e-02  1.264e-02  6.922e-04 -1.049e+00]
+t: 196	 action: [-0.022  0.018 -0.058 -0.002  0.008  0.006 -1.037]
+t: 197	 action: [ 0.013 -0.013 -0.006 -0.012  0.014  0.005 -1.042]
+t: 198	 action: [-2.143e-02  1.355e-02 -5.812e-02 -4.146e-04  1.039e-02  3.159e-03 -1.043e+00]
+t: 199	 action: [-0.023  0.012 -0.017 -0.004  0.004 -0.002 -1.068]
+t: 200	 action: [-2.889e-02  1.969e-02 -4.091e-02 -3.649e-03  8.048e-03  1.481e-04 -1.039e+00]
+t: 201	 action: [-0.024  0.019 -0.01  -0.005  0.006  0.001 -1.065]
+[07-31 01:32:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.207 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.207 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+t: 202	 action: [ 0.011  0.004 -0.091  0.006  0.015  0.001 -1.039]
+t: 203	 action: [ 0.013 -0.037 -0.076 -0.006  0.017 -0.007 -1.044]
+t: 204	 action: [-0.004  0.007 -0.074  0.004  0.015  0.005 -1.028]
+t: 205	 action: [ 0.008 -0.034 -0.033 -0.009  0.021 -0.004 -1.039]
+t: 206	 action: [-0.008  0.003 -0.06   0.003  0.016 -0.001 -1.032]
+t: 207	 action: [-5.684e-04 -6.587e-03 -1.588e-02 -2.332e-04  1.888e-02 -5.073e-03 -1.063e+00]
+t: 208	 action: [-1.432e-02  6.115e-03 -4.531e-02  1.871e-04  1.545e-02 -1.067e-03 -1.028e+00]
+t: 209	 action: [-0.011  0.005 -0.002 -0.003  0.02  -0.005 -1.059]
+t: 210	 action: [ 0.003  0.007 -0.07   0.007  0.015  0.004 -1.042]
+t: 211	 action: [ 0.014 -0.035 -0.056 -0.007  0.017 -0.007 -1.053]
+t: 212	 action: [-0.018  0.011 -0.061  0.002  0.013  0.005 -1.037]
+t: 213	 action: [ 1.403e-02 -3.672e-02 -1.951e-02 -9.462e-03  1.800e-02  6.201e-04 -1.041e+00]
+t: 214	 action: [-0.017  0.004 -0.058  0.002  0.015 -0.001 -1.043]
+t: 215	 action: [-2.152e-02 -3.247e-03 -1.817e-02 -8.585e-04  9.382e-03 -8.407e-03 -1.070e+00]
+t: 216	 action: [-0.027  0.009 -0.046 -0.002  0.012 -0.003 -1.038]
+t: 217	 action: [-2.524e-02  3.752e-03 -1.043e-02 -3.233e-03  1.014e-02 -1.720e-04 -1.047e+00]
+[07-31 01:32:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.192 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9982
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 1.192 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=218: Selected seed 195 with value = 0.9982
+t: 218	 action: [-0.003 -0.01  -0.106  0.006  0.015 -0.003 -1.028]
+t: 219	 action: [ 0.005 -0.059 -0.115 -0.003  0.015 -0.014 -1.056]
+t: 220	 action: [-0.003 -0.008 -0.077  0.006  0.017  0.003 -1.024]
+t: 221	 action: [ 0.003 -0.057 -0.071 -0.006  0.023 -0.009 -1.049]
+t: 222	 action: [-0.022 -0.007 -0.068  0.003  0.019 -0.005 -1.016]
+t: 223	 action: [-0.001 -0.023 -0.027  0.002  0.023 -0.014 -1.065]
+t: 224	 action: [-0.003 -0.005 -0.045  0.001  0.02  -0.003 -1.019]
+t: 225	 action: [-1.181e-02 -1.232e-02 -4.197e-03 -6.035e-04  2.764e-02 -1.338e-02 -1.063e+00]
+t: 226	 action: [-1.073e-03 -2.807e-03 -8.520e-02  4.914e-03  1.627e-02 -6.515e-04 -1.029e+00]
+t: 227	 action: [ 0.012 -0.063 -0.09  -0.006  0.015  0.011 -1.113]
+t: 228	 action: [-3.181e-02  1.869e-03 -8.076e-02  1.933e-04  1.663e-02  2.446e-03 -1.152e+00]
+t: 229	 action: [-0.066 -0.062 -0.068 -0.009  0.017  0.014 -1.112]
+t: 230	 action: [-0.024 -0.007 -0.071 -0.001  0.016 -0.006 -1.018]
+t: 231	 action: [-2.098e-02 -2.530e-02 -2.555e-02 -1.876e-04  6.921e-03  1.169e-02  1.150e+00]
+t: 232	 action: [-0.026 -0.004 -0.063 -0.004  0.015 -0.006  1.058]
+t: 233	 action: [-0.01  -0.012 -0.016 -0.004  0.009  0.017  1.119]
+[07-31 01:32:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.183 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9998
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 1.183 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=234: Selected seed 195 with value = 0.9998
+t: 234	 action: [ 4.559e-02 -1.793e-02  1.467e-01  1.687e-03  1.157e-02 -2.835e-04 -1.019e+00]
+t: 235	 action: [ 0.036 -0.061  0.094 -0.007  0.007 -0.009 -1.036]
+t: 236	 action: [ 3.071e-02 -2.550e-03  7.181e-02  4.647e-04 -7.216e-03 -9.137e-04 -1.023e+00]
+t: 237	 action: [ 0.022 -0.046  0.069 -0.005  0.006 -0.006 -1.03 ]
+t: 238	 action: [ 4.736e-03 -9.044e-03  2.993e-03 -8.520e-04 -2.078e-02 -4.660e-03 -1.028e+00]
+t: 239	 action: [-8.669e-03 -2.452e-02  4.108e-02  6.643e-05 -6.933e-03 -5.788e-03 -1.069e+00]
+t: 240	 action: [ 6.013e-03 -1.366e-03  2.927e-02  1.710e-04 -1.404e-02 -2.993e-03 -1.028e+00]
+t: 241	 action: [-1.118e-02 -1.050e-03  4.942e-02  2.660e-03 -5.557e-03 -7.714e-03 -1.059e+00]
+t: 242	 action: [ 0.057  0.008  0.061  0.007 -0.006  0.004 -1.029]
+t: 243	 action: [ 0.034 -0.013  0.085  0.002  0.003 -0.003 -1.042]
+t: 244	 action: [ 0.045  0.011  0.073  0.005 -0.006  0.003 -1.027]
+t: 245	 action: [ 0.025 -0.008  0.091  0.003  0.006 -0.002 -1.031]
+t: 246	 action: [ 0.037  0.006  0.05   0.004 -0.004  0.001 -1.035]
+t: 247	 action: [ 0.008  0.039  0.088  0.006 -0.007 -0.005 -1.073]
+t: 248	 action: [ 0.038  0.01   0.075  0.003  0.002 -0.002 -1.031]
+t: 249	 action: [ 9.755e-04  4.357e-02  1.139e-01  7.135e-03 -3.020e-03 -4.826e-03 -1.065e+00]
+[07-31 01:32:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.194 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.194 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+t: 250	 action: [ 0.008  0.003 -0.021  0.003  0.016  0.003 -1.038]
+t: 251	 action: [ 0.024 -0.045  0.03  -0.009  0.015 -0.006 -1.043]
+t: 252	 action: [ 0.002  0.007 -0.005  0.002  0.017  0.003 -1.031]
+t: 253	 action: [ 0.016 -0.035  0.043 -0.011  0.022 -0.004 -1.035]
+t: 254	 action: [-1.327e-02  4.682e-04 -6.527e-03  3.083e-04  1.682e-02 -8.562e-04 -1.030e+00]
+t: 255	 action: [ 0.01  -0.013  0.052 -0.003  0.016 -0.005 -1.065]
+t: 256	 action: [-0.006  0.008  0.012 -0.001  0.02  -0.002 -1.03 ]
+t: 257	 action: [ 0.001  0.005  0.067 -0.005  0.021 -0.006 -1.058]
+t: 258	 action: [ 2.245e-02  5.515e-03 -6.689e-04  3.470e-03  1.720e-02  4.096e-03 -1.044e+00]
+t: 259	 action: [ 0.023 -0.03   0.032 -0.009  0.017 -0.006 -1.051]
+t: 260	 action: [ 2.024e-03  1.337e-02  9.858e-03  1.608e-05  1.829e-02  3.332e-03 -1.036e+00]
+t: 261	 action: [ 0.021 -0.027  0.042 -0.011  0.022 -0.002 -1.044]
+t: 262	 action: [ 3.749e-03  6.830e-03  2.445e-03 -5.371e-04  2.066e-02 -3.819e-04 -1.040e+00]
+t: 263	 action: [-0.002  0.006  0.039 -0.003  0.012 -0.007 -1.069]
+t: 264	 action: [-4.772e-04  1.843e-02  1.621e-02 -2.058e-03  2.162e-02 -2.742e-03 -1.033e+00]
+t: 265	 action: [-0.005  0.013  0.058 -0.004  0.017 -0.003 -1.063]
+[07-31 01:32:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.187 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.187 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+t: 266	 action: [-4.002e-03  3.943e-04 -3.301e-02  3.662e-03  8.683e-03  4.628e-03 -1.036e+00]
+t: 267	 action: [ 0.012 -0.052  0.01  -0.011  0.009 -0.004 -1.045]
+t: 268	 action: [-8.739e-03  4.220e-03 -1.673e-02 -3.335e-04  1.012e-02  3.790e-03 -1.028e+00]
+t: 269	 action: [ 0.008 -0.042  0.03  -0.013  0.014 -0.001 -1.037]
+t: 270	 action: [-2.272e-02  1.338e-03 -1.874e-02  1.913e-04  1.037e-02 -1.555e-04 -1.031e+00]
+t: 271	 action: [ 6.872e-05 -1.758e-02  2.600e-02 -4.270e-03  6.856e-03 -3.633e-03 -1.066e+00]
+t: 272	 action: [-1.356e-02  7.685e-03  6.467e-04 -2.459e-03  1.283e-02 -1.174e-03 -1.028e+00]
+t: 273	 action: [-1.531e-03  2.042e-04  3.955e-02 -6.491e-03  1.055e-02 -5.097e-03 -1.058e+00]
+t: 274	 action: [ 0.007  0.004 -0.017  0.001  0.01   0.004 -1.041]
+t: 275	 action: [ 0.014 -0.036  0.013 -0.011  0.01  -0.005 -1.054]
+t: 276	 action: [-0.009  0.014 -0.006 -0.004  0.01   0.004 -1.035]
+t: 277	 action: [ 1.630e-02 -3.379e-02  3.148e-02 -1.266e-02  1.152e-02 -1.363e-04 -1.046e+00]
+t: 278	 action: [-5.509e-03  6.075e-03 -1.253e-02 -2.300e-03  1.243e-02 -4.775e-04 -1.040e+00]
+t: 279	 action: [-1.161e-02 -4.564e-04  1.234e-02 -4.481e-03  8.090e-04 -6.302e-03 -1.070e+00]
+t: 280	 action: [-0.008  0.019  0.003 -0.004  0.014 -0.002 -1.032]
+t: 281	 action: [-0.011  0.007  0.025 -0.006  0.004 -0.002 -1.062]
+[07-31 01:32:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.175 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.175 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=282: Selected seed 195 with value = 0.9977
+t: 282	 action: [-0.013 -0.001 -0.042  0.004  0.005  0.004 -1.035]
+t: 283	 action: [ 0.005 -0.059 -0.009 -0.01   0.007 -0.003 -1.046]
+t: 284	 action: [-0.015  0.002 -0.024  0.001  0.007  0.004 -1.026]
+t: 285	 action: [ 3.324e-03 -5.236e-02  1.850e-02 -1.230e-02  1.115e-02 -9.676e-04 -1.038e+00]
+t: 286	 action: [-3.211e-02 -3.326e-04 -2.647e-02  9.996e-04  6.929e-03 -4.460e-04 -1.032e+00]
+t: 287	 action: [-0.006 -0.026  0.017 -0.003  0.004 -0.004 -1.067]
+t: 288	 action: [-0.02   0.004 -0.006 -0.001  0.009 -0.001 -1.027]
+t: 289	 action: [-0.005 -0.01   0.029 -0.006  0.007 -0.006 -1.058]
+t: 290	 action: [ 0.002  0.002 -0.025  0.003  0.006  0.003 -1.039]
+t: 291	 action: [ 0.009 -0.047 -0.006 -0.01   0.008 -0.005 -1.055]
+t: 292	 action: [-0.013  0.008 -0.012 -0.003  0.006  0.003 -1.033]
+t: 293	 action: [ 1.237e-02 -4.524e-02  2.008e-02 -1.190e-02  8.278e-03 -6.659e-05 -1.048e+00]
+t: 294	 action: [-0.01   0.001 -0.021 -0.001  0.008 -0.001 -1.039]
+t: 295	 action: [-0.017 -0.01   0.003 -0.003 -0.003 -0.007 -1.072]
+t: 296	 action: [-0.012  0.014 -0.004 -0.004  0.009 -0.003 -1.03 ]
+t: 297	 action: [-1.534e-02 -2.875e-03  1.210e-02 -4.415e-03 -2.850e-04 -2.090e-03 -1.058e+00]
+[07-31 01:32:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.170 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9964
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9964
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 41
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 82%|████████▏ | 41/50 [21:56<05:03, 33.72s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 42...
+Query 1/1: Action query time = 1.170 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=298: Selected seed 195 with value = 0.9964
+t: 298	 action: [-0.007 -0.002 -0.023  0.004  0.005  0.004 -1.035]
+t: 299	 action: [ 0.007 -0.055  0.019 -0.009  0.008 -0.003 -1.046]
+t: 300	 action: [-8.121e-03  5.326e-04 -2.749e-03  1.957e-03  5.884e-03  3.204e-03 -1.028e+00]
+t: 301	 action: [ 0.006 -0.047  0.037 -0.011  0.011 -0.002 -1.038]
+t: 302	 action: [-2.712e-02 -4.377e-04 -7.284e-03  1.711e-03  5.622e-03 -9.717e-04 -1.032e+00]
+t: 303	 action: [-0.002 -0.023  0.047 -0.003  0.003 -0.005 -1.067]
+t: 304	 action: [-1.562e-02  4.934e-03  1.157e-02 -9.764e-05  7.537e-03 -2.031e-03 -1.028e+00]
+t: 305	 action: [-0.002 -0.007  0.063 -0.004  0.007 -0.007 -1.058]
+t: 306	 action: [ 5.471e-03  1.024e-03 -4.997e-03  3.848e-03  5.006e-03  2.668e-03 -1.039e+00]
+t: 307	 action: [ 0.011 -0.042  0.022 -0.009  0.007 -0.006 -1.054]
+t: 308	 action: [-0.008  0.008  0.009 -0.001  0.005  0.002 -1.033]
+t: 309	 action: [ 0.014 -0.04   0.037 -0.01   0.008 -0.002 -1.048]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=41--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=41--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 41
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 42...
+[07-31 01:32:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.132 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4818
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4818
+Query 1/1: Action query time = 1.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4818
+t=10: Selected seed 195 with value = 0.4818
+t: 10	 action: [ 3.660e-01  3.942e-01  1.022e-02  6.944e-04 -4.241e-03 -3.300e-03 -1.031e+00]
+t: 11	 action: [ 0.427  0.439  0.017  0.003  0.002 -0.01  -1.018]
+t: 12	 action: [ 5.549e-01  5.437e-01  1.133e-02  3.660e-05 -4.880e-03 -1.799e-03 -1.021e+00]
+t: 13	 action: [ 6.048e-01  5.544e-01  2.525e-02 -6.678e-05  2.453e-03 -9.137e-03 -1.022e+00]
+t: 14	 action: [ 6.253e-01  5.724e-01  1.869e-02 -3.684e-03 -4.142e-05 -3.720e-03 -1.028e+00]
+t: 15	 action: [ 6.641e-01  6.049e-01  1.716e-02 -8.271e-04 -1.480e-03 -1.052e-02 -1.042e+00]
+t: 16	 action: [ 0.687  0.604  0.01  -0.006  0.001 -0.005 -1.018]
+t: 17	 action: [ 0.717  0.621  0.016 -0.002 -0.002 -0.011 -1.045]
+t: 18	 action: [ 0.677  0.618  0.014 -0.003  0.002  0.003 -1.033]
+t: 19	 action: [ 0.709  0.599 -0.021 -0.004  0.007 -0.007 -1.024]
+t: 20	 action: [ 0.702  0.592 -0.019 -0.002  0.002  0.003 -1.027]
+t: 21	 action: [ 0.725  0.555 -0.073 -0.004  0.009 -0.005 -1.023]
+t: 22	 action: [ 7.246e-01  5.031e-01 -1.123e-01 -3.299e-03  5.285e-03  8.597e-05 -1.025e+00]
+t: 23	 action: [ 7.049e-01  4.209e-01 -1.976e-01  1.276e-03  8.853e-04 -8.773e-03 -1.043e+00]
+t: 24	 action: [ 0.693  0.341 -0.256 -0.004  0.009 -0.003 -1.023]
+t: 25	 action: [ 0.673  0.231 -0.414  0.006  0.006 -0.008 -1.05 ]
+[07-31 01:32:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.116 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5815
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5815
+Query 1/1: Action query time = 1.116 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5815
+t=26: Selected seed 195 with value = 0.5815
+t: 26	 action: [ 0.809  0.499 -0.353  0.007  0.002  0.004 -1.034]
+t: 27	 action: [ 0.77   0.448 -0.411  0.004  0.004 -0.002 -1.034]
+t: 28	 action: [ 0.696  0.337 -0.504  0.003 -0.001  0.005 -1.034]
+t: 29	 action: [ 0.632  0.214 -0.654  0.013  0.004 -0.005 -1.033]
+t: 30	 action: [ 0.519  0.175 -0.701  0.002 -0.004 -0.001 -1.027]
+t: 31	 action: [ 0.445  0.096 -0.809  0.02  -0.009 -0.005 -1.058]
+t: 32	 action: [ 0.379  0.101 -0.909  0.005 -0.012 -0.002 -1.03 ]
+t: 33	 action: [ 0.318  0.082 -0.974  0.022 -0.015 -0.009 -1.056]
+t: 34	 action: [ 0.201  0.06  -0.973  0.019 -0.03   0.002 -1.032]
+t: 35	 action: [ 0.117  0.008 -1.018  0.009 -0.028 -0.006 -1.022]
+t: 36	 action: [ 0.097  0.042 -0.98   0.01  -0.032  0.006 -1.032]
+t: 37	 action: [ 0.043 -0.015 -1.023  0.004 -0.03  -0.004 -1.025]
+t: 38	 action: [-4.405e-02  2.952e-02 -9.505e-01  1.267e-03 -4.243e-02 -2.732e-04 -1.033e+00]
+t: 39	 action: [-0.057  0.031 -0.983  0.008 -0.042 -0.007 -1.042]
+t: 40	 action: [-1.442e-01  7.325e-03 -9.288e-01 -1.960e-04 -3.898e-02  1.163e-03 -1.029e+00]
+t: 41	 action: [-0.123  0.001 -0.965  0.004 -0.039 -0.004 -1.047]
+[07-31 01:32:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.062 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6339
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6339
+Query 1/1: Action query time = 1.062 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6339
+t=42: Selected seed 195 with value = 0.6339
+t: 42	 action: [-0.178  0.036 -0.914  0.002 -0.015  0.006 -1.061]
+t: 43	 action: [-0.133  0.054 -0.8    0.006  0.006  0.006 -1.033]
+t: 44	 action: [-0.121  0.023 -0.737  0.002  0.01   0.006 -1.055]
+t: 45	 action: [-0.088  0.034 -0.646  0.005  0.023  0.003 -1.039]
+t: 46	 action: [-0.129 -0.022 -0.555 -0.005  0.05   0.002 -1.05 ]
+t: 47	 action: [-1.110e-01  3.143e-02 -6.214e-01  9.207e-03  3.134e-02  8.218e-04 -1.051e+00]
+t: 48	 action: [-1.548e-01 -2.339e-02 -4.785e-01 -4.856e-03  6.118e-02 -8.649e-04 -1.050e+00]
+t: 49	 action: [-0.17   0.019 -0.553  0.006  0.044 -0.009 -1.05 ]
+t: 50	 action: [-0.255 -0.048 -0.487 -0.003  0.038  0.002  0.992]
+t: 51	 action: [-0.266 -0.047 -0.397 -0.009  0.052 -0.012  1.021]
+t: 52	 action: [-2.275e-01 -3.743e-02 -3.506e-01 -9.535e-03  4.783e-02 -9.536e-04  9.779e-01]
+t: 53	 action: [-0.226 -0.063 -0.255 -0.011  0.051 -0.021  1.02 ]
+t: 54	 action: [-0.191 -0.052 -0.162 -0.008  0.058 -0.025  1.008]
+t: 55	 action: [-0.147 -0.068 -0.073 -0.009  0.051 -0.031  1.014]
+t: 56	 action: [-0.116 -0.055  0.01  -0.009  0.056 -0.037  1.007]
+t: 57	 action: [-0.069 -0.08   0.019 -0.013  0.038 -0.038  1.023]
+[07-31 01:32:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7354
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=58: Selected seed 195 with value = 0.7354
+t: 58	 action: [-0.054 -0.127  0.038 -0.006  0.013 -0.028  0.998]
+t: 59	 action: [ 0.001 -0.095  0.136 -0.008  0.006 -0.037  1.02 ]
+t: 60	 action: [-0.011 -0.072  0.354 -0.004  0.004 -0.037  0.992]
+t: 61	 action: [ 0.007 -0.083  0.601 -0.01   0.005 -0.039  1.023]
+t: 62	 action: [ 0.023 -0.017  0.782 -0.002  0.004 -0.039  0.988]
+t: 63	 action: [ 0.012 -0.032  0.902  0.004  0.006 -0.046  1.012]
+t: 64	 action: [ 0.017 -0.059  0.963  0.005  0.006 -0.044  0.98 ]
+t: 65	 action: [-0.006 -0.123  0.967  0.019  0.012 -0.044  1.019]
+t: 66	 action: [ 9.980e-04 -2.927e-01  9.428e-01  2.202e-02  2.210e-02 -2.720e-02  9.984e-01]
+t: 67	 action: [-0.016 -0.375  0.971  0.038  0.031 -0.031  1.012]
+t: 68	 action: [-0.048 -0.516  0.916  0.047  0.028 -0.023  0.988]
+t: 69	 action: [-0.06  -0.598  0.875  0.053  0.034 -0.027  1.016]
+t: 70	 action: [-0.096 -0.672  0.747  0.05   0.029 -0.018  0.998]
+t: 71	 action: [-0.16  -0.731  0.493  0.06   0.028 -0.019  1.015]
+t: 72	 action: [-0.131 -0.74   0.376  0.051  0.024 -0.013  0.995]
+t: 73	 action: [-0.196 -0.778  0.21   0.051  0.019 -0.019  1.017]
+[07-31 01:32:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8424
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8424
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8424
+t=74: Selected seed 195 with value = 0.8424
+t: 74	 action: [-0.127 -0.817  0.243  0.064  0.031 -0.023  0.979]
+t: 75	 action: [-0.155 -0.907  0.098  0.051  0.026 -0.028  1.006]
+t: 76	 action: [-0.199 -0.823 -0.045  0.051  0.026 -0.011  0.97 ]
+t: 77	 action: [-0.247 -0.802 -0.228  0.038  0.017 -0.018  1.005]
+t: 78	 action: [-0.214 -0.709 -0.317  0.03   0.02  -0.013  0.989]
+t: 79	 action: [-3.199e-01 -5.590e-01 -4.803e-01  2.702e-02 -5.975e-04 -1.297e-02  1.012e+00]
+t: 80	 action: [-0.289 -0.49  -0.587  0.003  0.005 -0.005  0.986]
+t: 81	 action: [-0.353 -0.314 -0.763  0.006 -0.006 -0.006  1.025]
+t: 82	 action: [-2.637e-01 -2.874e-01 -7.314e-01 -1.443e-04 -2.727e-02  1.320e-03  9.887e-01]
+t: 83	 action: [-0.281 -0.198 -0.827 -0.016 -0.003  0.007  1.013]
+t: 84	 action: [-0.243 -0.106 -0.788 -0.015 -0.019  0.005  0.985]
+t: 85	 action: [-0.227 -0.105 -0.756 -0.029  0.005  0.014  1.032]
+t: 86	 action: [-0.293 -0.037 -0.683 -0.024 -0.007  0.013  1.004]
+t: 87	 action: [-0.196 -0.015 -0.671 -0.034 -0.008  0.023  1.024]
+t: 88	 action: [-0.19  -0.009 -0.479 -0.037  0.019  0.016  1.   ]
+t: 89	 action: [-0.093 -0.006 -0.319 -0.038  0.026  0.024  1.034]
+[07-31 01:32:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9799
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=90: Selected seed 195 with value = 0.9799
+t: 90	 action: [-0.103  0.025  0.179 -0.01   0.115  0.004 -1.007]
+t: 91	 action: [-2.151e-02  5.714e-03  2.453e-01 -1.560e-02  9.067e-02 -1.092e-04 -1.027e+00]
+t: 92	 action: [-0.032  0.015  0.315 -0.005  0.092  0.002 -1.019]
+t: 93	 action: [ 0.002  0.003  0.404 -0.007  0.078  0.002 -1.026]
+t: 94	 action: [ 3.529e-02  1.783e-02  4.665e-01  9.454e-04  8.004e-02 -5.023e-03 -1.033e+00]
+t: 95	 action: [ 0.009  0.035  0.467  0.003  0.068 -0.005 -1.055]
+t: 96	 action: [ 0.072  0.008  0.501  0.002  0.067 -0.01  -1.026]
+t: 97	 action: [ 0.047  0.029  0.479  0.01   0.046 -0.006 -1.05 ]
+t: 98	 action: [ 0.111  0.01   0.454  0.006  0.028  0.004 -1.023]
+t: 99	 action: [ 0.084 -0.014  0.429  0.01   0.019 -0.002 -1.03 ]
+t: 100	 action: [ 0.112  0.011  0.399  0.004  0.018  0.004 -1.017]
+t: 101	 action: [ 0.1   -0.014  0.371  0.008  0.015 -0.002 -1.021]
+t: 102	 action: [ 9.367e-02  1.576e-03  3.395e-01  8.842e-03  1.166e-02 -5.890e-04 -1.029e+00]
+t: 103	 action: [ 0.058  0.015  0.308  0.014  0.005 -0.003 -1.048]
+t: 104	 action: [ 0.092  0.002  0.299  0.003  0.01  -0.003 -1.024]
+t: 105	 action: [ 0.051  0.015  0.265  0.011  0.003 -0.002 -1.052]
+[07-31 01:32:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.06   0.081  0.132  0.003 -0.024 -0.002 -1.044]
+t: 107	 action: [ 0.038  0.052  0.134 -0.003 -0.024 -0.01  -1.042]
+t: 108	 action: [ 2.805e-02  6.561e-02  1.037e-01  2.701e-03 -3.199e-02 -8.590e-04 -1.034e+00]
+t: 109	 action: [ 0.022  0.046  0.134 -0.003 -0.027 -0.009 -1.034]
+t: 110	 action: [ 0.021  0.075  0.085  0.001 -0.037 -0.005 -1.035]
+t: 111	 action: [-1.386e-02  7.790e-02  9.877e-02 -1.206e-04 -3.567e-02 -8.309e-03 -1.066e+00]
+t: 112	 action: [ 1.513e-02  6.922e-02  9.684e-02  5.965e-04 -3.471e-02 -4.312e-03 -1.033e+00]
+t: 113	 action: [-1.131e-02  8.134e-02  1.278e-01  5.861e-04 -3.244e-02 -8.440e-03 -1.060e+00]
+t: 114	 action: [ 0.029  0.057  0.084  0.004 -0.042  0.003 -1.043]
+t: 115	 action: [ 0.015  0.047  0.107 -0.004 -0.038 -0.009 -1.039]
+t: 116	 action: [ 0.021  0.056  0.091  0.003 -0.042  0.002 -1.034]
+t: 117	 action: [ 0.021  0.049  0.123 -0.004 -0.034 -0.008 -1.036]
+t: 118	 action: [ 2.015e-02  6.810e-02  9.317e-02 -2.818e-04 -3.799e-02 -2.401e-03 -1.039e+00]
+t: 119	 action: [-0.012  0.083  0.126 -0.003 -0.038 -0.011 -1.067]
+t: 120	 action: [ 2.140e-02  7.052e-02  1.083e-01 -4.454e-04 -3.525e-02 -5.172e-03 -1.033e+00]
+t: 121	 action: [-0.007  0.084  0.152 -0.002 -0.034 -0.009 -1.065]
+[07-31 01:32:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.031  0.066 -0.082  0.003 -0.026  0.002 -1.031]
+t: 123	 action: [ 0.021  0.032 -0.057 -0.004 -0.029 -0.005 -1.039]
+t: 124	 action: [-0.003  0.055 -0.067  0.001 -0.034  0.002 -1.029]
+t: 125	 action: [ 0.013  0.026  0.018 -0.007 -0.032 -0.003 -1.037]
+t: 126	 action: [-7.318e-03  6.496e-02 -6.664e-02 -8.515e-04 -3.905e-02 -2.174e-03 -1.029e+00]
+t: 127	 action: [-2.809e-02  4.623e-02 -1.955e-02 -9.277e-04 -4.152e-02 -2.850e-03 -1.064e+00]
+t: 128	 action: [-0.019  0.057 -0.035 -0.003 -0.037 -0.002 -1.029]
+t: 129	 action: [-0.027  0.05   0.003 -0.003 -0.036 -0.003 -1.063]
+t: 130	 action: [ 0.008  0.058 -0.043  0.001 -0.035  0.007 -1.035]
+t: 131	 action: [ 0.008  0.041  0.034 -0.008 -0.028 -0.003 -1.043]
+t: 132	 action: [-1.136e-02  5.162e-02 -3.779e-02  7.416e-04 -3.585e-02  6.393e-03 -1.030e+00]
+t: 133	 action: [ 0.014  0.035  0.041 -0.009 -0.025 -0.002 -1.039]
+t: 134	 action: [-0.01   0.066 -0.026 -0.004 -0.034  0.001 -1.034]
+t: 135	 action: [-0.033  0.063  0.008 -0.005 -0.034 -0.005 -1.07 ]
+t: 136	 action: [-1.846e-02  6.466e-02 -1.106e-02 -4.036e-03 -3.173e-02 -7.412e-04 -1.029e+00]
+t: 137	 action: [-0.028  0.061  0.029 -0.006 -0.03  -0.004 -1.068]
+[07-31 01:32:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=138: Selected seed 195 with value = 0.9959
+t: 138	 action: [ 2.620e-02  4.549e-02 -1.289e-01  4.859e-03 -2.883e-04  4.370e-03 -1.028e+00]
+t: 139	 action: [ 2.301e-02  6.466e-03 -1.374e-01 -1.655e-03  1.221e-05 -2.126e-03 -1.035e+00]
+t: 140	 action: [-0.005  0.034 -0.11   0.005 -0.009  0.003 -1.028]
+t: 141	 action: [ 1.288e-02 -1.733e-03 -7.490e-02 -5.289e-03 -6.978e-04  7.527e-04 -1.030e+00]
+t: 142	 action: [-5.578e-03  3.843e-02 -1.031e-01 -1.388e-04 -1.600e-02 -1.358e-03 -1.031e+00]
+t: 143	 action: [-2.795e-02  2.229e-02 -7.508e-02  2.149e-03 -1.263e-02 -2.951e-04 -1.055e+00]
+t: 144	 action: [-2.223e-02  3.161e-02 -7.325e-02 -5.365e-04 -1.756e-02 -1.196e-03 -1.030e+00]
+t: 145	 action: [-3.404e-02  2.249e-02 -2.375e-02 -1.515e-03 -1.117e-02  9.576e-04 -1.053e+00]
+t: 146	 action: [ 0.015  0.046 -0.071  0.005 -0.011  0.009 -1.033]
+t: 147	 action: [ 0.012  0.019 -0.014 -0.005 -0.002 -0.002 -1.04 ]
+t: 148	 action: [-0.014  0.036 -0.072  0.005 -0.016  0.007 -1.03 ]
+t: 149	 action: [ 1.358e-02  9.961e-03  9.045e-03 -6.530e-03 -2.112e-03  1.953e-04 -1.035e+00]
+t: 150	 action: [-6.727e-03  4.727e-02 -4.704e-02 -7.421e-04 -1.565e-02  2.234e-03 -1.035e+00]
+t: 151	 action: [-0.036  0.039 -0.015 -0.001 -0.014 -0.005 -1.063]
+t: 152	 action: [-2.684e-02  3.738e-02 -4.287e-02 -1.211e-03 -1.738e-02 -1.762e-04 -1.030e+00]
+t: 153	 action: [-0.04   0.033 -0.009 -0.003 -0.014 -0.001 -1.06 ]
+[07-31 01:32:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=154: Selected seed 195 with value = 0.9979
+t: 154	 action: [ 0.044  0.025 -0.077  0.005  0.011 -0.007 -1.031]
+t: 155	 action: [ 0.034 -0.009 -0.087 -0.001  0.009 -0.012 -1.035]
+t: 156	 action: [ 0.007  0.024 -0.07   0.006  0.003 -0.002 -1.027]
+t: 157	 action: [ 0.021 -0.019 -0.029 -0.005  0.008 -0.01  -1.026]
+t: 158	 action: [ 9.384e-03  1.271e-02 -4.522e-02  8.327e-04 -3.477e-03 -7.364e-03 -1.031e+00]
+t: 159	 action: [-0.018  0.008 -0.044  0.004 -0.003 -0.01  -1.054]
+t: 160	 action: [-1.519e-02  1.127e-02 -3.456e-02 -1.172e-04 -6.430e-03 -6.198e-03 -1.030e+00]
+t: 161	 action: [-0.026  0.007 -0.013 -0.002 -0.003 -0.008 -1.049]
+t: 162	 action: [ 0.027  0.024 -0.055  0.006  0.005  0.003 -1.034]
+t: 163	 action: [ 0.019 -0.005 -0.038 -0.003  0.008 -0.013 -1.04 ]
+t: 164	 action: [-0.006  0.023 -0.058  0.005 -0.002  0.003 -1.031]
+t: 165	 action: [ 0.019 -0.017 -0.005 -0.006  0.006 -0.011 -1.036]
+t: 166	 action: [-1.478e-03  1.980e-02 -3.198e-02  2.178e-04 -4.422e-03 -2.986e-03 -1.037e+00]
+t: 167	 action: [-0.029  0.015 -0.019  0.002 -0.007 -0.014 -1.06 ]
+t: 168	 action: [-0.026  0.01  -0.032 -0.001 -0.008 -0.004 -1.031]
+t: 169	 action: [-0.036  0.009 -0.011 -0.003 -0.007 -0.01  -1.058]
+[07-31 01:32:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+t: 170	 action: [ 0.03   0.023 -0.012  0.005  0.01  -0.001 -1.037]
+t: 171	 action: [ 0.023 -0.008  0.001 -0.002  0.008 -0.01  -1.038]
+t: 172	 action: [-0.008  0.024 -0.012  0.004  0.002  0.001 -1.03 ]
+t: 173	 action: [ 0.016 -0.016  0.033 -0.006  0.008 -0.006 -1.028]
+t: 174	 action: [-1.422e-03  1.075e-02  1.008e-02  2.060e-04 -2.750e-03 -5.263e-03 -1.034e+00]
+t: 175	 action: [-0.02   0.015  0.005  0.003 -0.003 -0.008 -1.058]
+t: 176	 action: [-2.096e-02  1.369e-02  1.747e-02 -8.882e-04 -4.904e-03 -4.573e-03 -1.031e+00]
+t: 177	 action: [-0.022  0.017  0.036 -0.002 -0.003 -0.006 -1.051]
+t: 178	 action: [ 0.013  0.023 -0.005  0.005  0.005  0.004 -1.039]
+t: 179	 action: [ 0.015 -0.005  0.017 -0.003  0.008 -0.011 -1.043]
+t: 180	 action: [-0.021  0.023 -0.012  0.002 -0.002  0.004 -1.035]
+t: 181	 action: [ 0.014 -0.014  0.033 -0.007  0.006 -0.008 -1.037]
+t: 182	 action: [-1.099e-02  1.740e-02  1.176e-02 -5.738e-04 -3.846e-03 -2.155e-03 -1.039e+00]
+t: 183	 action: [-0.029  0.018  0.006  0.002 -0.006 -0.013 -1.061]
+t: 184	 action: [-0.031  0.011  0.011 -0.002 -0.007 -0.003 -1.035]
+t: 185	 action: [-0.032  0.017  0.029 -0.003 -0.006 -0.008 -1.059]
+[07-31 01:32:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+t: 186	 action: [ 0.033  0.021 -0.018  0.005  0.012 -0.003 -1.038]
+t: 187	 action: [ 2.497e-02 -8.254e-03 -1.170e-02 -9.777e-04  9.007e-03 -1.131e-02 -1.038e+00]
+t: 188	 action: [-1.009e-02  2.323e-02 -2.357e-02  3.964e-03  2.449e-03  7.301e-04 -1.029e+00]
+t: 189	 action: [ 0.017 -0.016  0.025 -0.006  0.008 -0.007 -1.028]
+t: 190	 action: [-5.726e-03  9.160e-03 -1.042e-03  2.389e-04 -2.636e-03 -5.093e-03 -1.035e+00]
+t: 191	 action: [-0.02   0.012 -0.003  0.004 -0.003 -0.009 -1.055]
+t: 192	 action: [-0.027  0.012  0.004 -0.001 -0.005 -0.004 -1.031]
+t: 193	 action: [-2.373e-02  1.257e-02  1.782e-02 -9.168e-04 -2.596e-03 -5.986e-03 -1.050e+00]
+t: 194	 action: [ 0.013  0.024 -0.02   0.005  0.006  0.004 -1.039]
+t: 195	 action: [ 0.015 -0.005 -0.001 -0.002  0.008 -0.013 -1.042]
+t: 196	 action: [-0.023  0.023 -0.025  0.002 -0.002  0.004 -1.034]
+t: 197	 action: [ 0.014 -0.015  0.022 -0.006  0.006 -0.009 -1.037]
+t: 198	 action: [-1.670e-02  1.603e-02 -5.295e-03 -4.648e-04 -4.135e-03 -1.874e-03 -1.040e+00]
+t: 199	 action: [-0.03   0.015 -0.005  0.003 -0.006 -0.013 -1.06 ]
+t: 200	 action: [-0.038  0.01  -0.003 -0.002 -0.007 -0.003 -1.035]
+t: 201	 action: [-0.034  0.013  0.01  -0.002 -0.007 -0.008 -1.058]
+[07-31 01:32:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+t: 202	 action: [ 0.027  0.021 -0.014  0.004  0.012 -0.003 -1.039]
+t: 203	 action: [ 2.361e-02 -8.838e-03 -9.358e-03  9.417e-06  8.821e-03 -1.203e-02 -1.038e+00]
+t: 204	 action: [-1.523e-02  2.276e-02 -2.245e-02  4.638e-03  2.040e-03  5.714e-04 -1.028e+00]
+t: 205	 action: [ 0.016 -0.019  0.026 -0.004  0.008 -0.007 -1.028]
+t: 206	 action: [-1.164e-02  1.009e-02 -1.073e-03  4.698e-04 -2.626e-03 -5.179e-03 -1.035e+00]
+t: 207	 action: [-0.021  0.009 -0.002  0.005 -0.003 -0.01  -1.056]
+t: 208	 action: [-3.335e-02  1.129e-02  5.426e-03 -7.680e-04 -5.443e-03 -4.074e-03 -1.030e+00]
+t: 209	 action: [-2.390e-02  7.786e-03  1.716e-02  6.233e-04 -2.865e-03 -5.844e-03 -1.050e+00]
+t: 210	 action: [ 0.01   0.024 -0.018  0.006  0.006  0.004 -1.041]
+t: 211	 action: [ 1.404e-02 -5.585e-03 -3.568e-03 -6.762e-04  8.005e-03 -1.311e-02 -1.042e+00]
+t: 212	 action: [-0.027  0.023 -0.024  0.003 -0.003  0.004 -1.034]
+t: 213	 action: [ 0.013 -0.018  0.02  -0.005  0.006 -0.009 -1.037]
+t: 214	 action: [-2.218e-02  1.459e-02 -5.921e-03  1.359e-04 -4.121e-03 -1.761e-03 -1.041e+00]
+t: 215	 action: [-0.031  0.012 -0.006  0.004 -0.006 -0.014 -1.06 ]
+t: 216	 action: [-0.044  0.009 -0.003 -0.002 -0.008 -0.003 -1.035]
+t: 217	 action: [-3.580e-02  8.514e-03  6.368e-03 -8.189e-04 -7.148e-03 -8.226e-03 -1.058e+00]
+[07-31 01:32:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+t: 218	 action: [ 0.028  0.02  -0.013  0.004  0.012 -0.002 -1.039]
+t: 219	 action: [ 2.413e-02 -8.838e-03 -1.293e-02  4.516e-04  9.022e-03 -1.185e-02 -1.037e+00]
+t: 220	 action: [-0.013  0.023 -0.026  0.005  0.001  0.001 -1.029]
+t: 221	 action: [ 0.018 -0.019  0.02  -0.004  0.007 -0.007 -1.029]
+t: 222	 action: [-9.240e-03  1.124e-02 -7.953e-03  4.811e-05 -2.814e-03 -4.238e-03 -1.036e+00]
+t: 223	 action: [-0.019  0.008 -0.005  0.006 -0.002 -0.009 -1.056]
+t: 224	 action: [-2.998e-02  1.319e-02 -2.468e-03 -9.995e-04 -5.656e-03 -3.331e-03 -1.031e+00]
+t: 225	 action: [-2.190e-02  6.060e-03  1.104e-02  7.340e-04 -2.773e-03 -5.176e-03 -1.050e+00]
+t: 226	 action: [ 0.011  0.024 -0.022  0.006  0.006  0.004 -1.041]
+t: 227	 action: [ 1.548e-02 -5.966e-03 -1.241e-02 -1.979e-04  8.287e-03 -1.266e-02 -1.041e+00]
+t: 228	 action: [-0.024  0.023 -0.029  0.004 -0.003  0.004 -1.034]
+t: 229	 action: [ 0.014 -0.018  0.011 -0.004  0.005 -0.009 -1.037]
+t: 230	 action: [-2.024e-02  1.505e-02 -1.535e-02  2.057e-04 -4.242e-03 -7.618e-04 -1.041e+00]
+t: 231	 action: [-0.029  0.01  -0.009  0.004 -0.006 -0.013 -1.06 ]
+t: 232	 action: [-0.041  0.01  -0.011 -0.002 -0.008 -0.002 -1.035]
+t: 233	 action: [-3.310e-02  6.660e-03  9.664e-04 -6.219e-04 -6.914e-03 -7.204e-03 -1.058e+00]
+[07-31 01:33:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+t: 234	 action: [ 0.029  0.02   0.002  0.004  0.013 -0.001 -1.04 ]
+t: 235	 action: [ 2.342e-02 -9.160e-03  1.968e-03  5.130e-05  9.863e-03 -1.151e-02 -1.038e+00]
+t: 236	 action: [-0.013  0.023 -0.013  0.004  0.002  0.002 -1.03 ]
+t: 237	 action: [ 0.018 -0.02   0.029 -0.004  0.008 -0.007 -1.029]
+t: 238	 action: [-8.059e-03  1.061e-02  3.497e-03  6.901e-05 -1.235e-03 -3.438e-03 -1.036e+00]
+t: 239	 action: [-1.847e-02  5.042e-03  4.255e-03  5.195e-03 -5.682e-04 -8.769e-03 -1.058e+00]
+t: 240	 action: [-0.029  0.013  0.009 -0.001 -0.004 -0.003 -1.031]
+t: 241	 action: [-2.045e-02  3.925e-03  2.315e-02  5.440e-04 -1.231e-03 -4.784e-03 -1.051e+00]
+t: 242	 action: [ 0.011  0.023 -0.013  0.005  0.007  0.004 -1.042]
+t: 243	 action: [ 1.544e-02 -6.586e-03  3.336e-04 -6.267e-04  9.248e-03 -1.230e-02 -1.042e+00]
+t: 244	 action: [-0.024  0.023 -0.017  0.003 -0.003  0.004 -1.035]
+t: 245	 action: [ 0.015 -0.019  0.021 -0.005  0.007 -0.008 -1.037]
+t: 246	 action: [-2.039e-02  1.414e-02 -6.815e-03 -2.943e-05 -2.952e-03 -3.576e-04 -1.043e+00]
+t: 247	 action: [-0.029  0.008 -0.003  0.004 -0.004 -0.012 -1.06 ]
+t: 248	 action: [-3.944e-02  1.060e-02  5.230e-05 -2.236e-03 -6.957e-03 -1.871e-03 -1.036e+00]
+t: 249	 action: [-3.116e-02  4.071e-03  1.018e-02 -8.496e-04 -4.842e-03 -6.578e-03 -1.059e+00]
+[07-31 01:33:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+t: 250	 action: [ 0.033  0.019 -0.002  0.004  0.013 -0.001 -1.041]
+t: 251	 action: [ 2.434e-02 -1.364e-02 -5.903e-03  3.847e-04  1.037e-02 -1.092e-02 -1.039e+00]
+t: 252	 action: [-0.009  0.021 -0.016  0.004  0.002  0.002 -1.031]
+t: 253	 action: [ 0.019 -0.026  0.024 -0.003  0.008 -0.006 -1.03 ]
+t: 254	 action: [-5.918e-03  9.292e-03 -1.529e-03  1.655e-04 -7.232e-04 -2.973e-03 -1.038e+00]
+t: 255	 action: [-1.782e-02 -8.463e-04 -1.187e-03  5.804e-03  1.083e-05 -8.394e-03 -1.059e+00]
+t: 256	 action: [-0.027  0.012  0.007 -0.001 -0.004 -0.002 -1.033]
+t: 257	 action: [-1.959e-02 -1.614e-03  1.639e-02  1.817e-03 -7.624e-04 -4.538e-03 -1.052e+00]
+t: 258	 action: [ 0.014  0.02  -0.016  0.005  0.007  0.004 -1.043]
+t: 259	 action: [ 1.646e-02 -1.222e-02 -9.390e-03 -6.167e-05  9.604e-03 -1.179e-02 -1.042e+00]
+t: 260	 action: [-0.02   0.022 -0.02   0.002 -0.003  0.004 -1.036]
+t: 261	 action: [ 0.017 -0.025  0.015 -0.004  0.007 -0.008 -1.036]
+t: 262	 action: [-1.891e-02  1.277e-02 -1.053e-02 -3.709e-04 -2.363e-03 -3.247e-04 -1.044e+00]
+t: 263	 action: [-0.027  0.001 -0.008  0.005 -0.003 -0.012 -1.06 ]
+t: 264	 action: [-0.037  0.01  -0.001 -0.003 -0.007 -0.002 -1.037]
+t: 265	 action: [-2.952e-02 -2.044e-03  4.685e-03  8.832e-04 -4.098e-03 -6.365e-03 -1.060e+00]
+[07-31 01:33:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+t: 266	 action: [ 0.027  0.02   0.022  0.004  0.013  0.002 -1.045]
+t: 267	 action: [ 2.082e-02 -1.398e-02  1.070e-02 -5.830e-04  9.892e-03 -8.880e-03 -1.040e+00]
+t: 268	 action: [-1.341e-02  2.195e-02  5.386e-03  3.340e-03  7.864e-04  2.723e-03 -1.033e+00]
+t: 269	 action: [ 0.016 -0.026  0.034 -0.004  0.008 -0.005 -1.032]
+t: 270	 action: [-8.828e-03  1.071e-02  1.863e-02 -5.198e-05 -1.158e-04 -1.369e-03 -1.041e+00]
+t: 271	 action: [-1.907e-02  7.400e-04  1.335e-02  4.812e-03  4.653e-04 -6.401e-03 -1.061e+00]
+t: 272	 action: [-2.804e-02  1.370e-02  2.672e-02 -9.005e-04 -3.630e-03 -1.396e-03 -1.035e+00]
+t: 273	 action: [-1.835e-02  1.453e-03  3.733e-02  1.476e-03 -5.202e-04 -2.841e-03 -1.055e+00]
+t: 274	 action: [ 0.009  0.021  0.003  0.005  0.006  0.005 -1.046]
+t: 275	 action: [ 0.014 -0.012  0.013 -0.001  0.009 -0.01  -1.043]
+t: 276	 action: [-2.470e-02  2.194e-02 -1.013e-03  2.174e-03 -4.061e-03  4.461e-03 -1.039e+00]
+t: 277	 action: [ 0.015 -0.024  0.031 -0.005  0.007 -0.006 -1.037]
+t: 278	 action: [-2.165e-02  1.394e-02  8.378e-03 -3.465e-04 -1.907e-03  7.323e-04 -1.047e+00]
+t: 279	 action: [-0.028  0.003  0.006  0.004 -0.003 -0.01  -1.062]
+t: 280	 action: [-0.038  0.012  0.018 -0.002 -0.007 -0.001 -1.04 ]
+t: 281	 action: [-2.814e-02  1.195e-03  2.643e-02  4.174e-04 -3.760e-03 -4.549e-03 -1.061e+00]
+[07-31 01:33:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=282: Selected seed 195 with value = 0.9997
+t: 282	 action: [ 0.03   0.019  0.018  0.004  0.014  0.002 -1.045]
+t: 283	 action: [ 2.166e-02 -1.664e-02 -5.273e-03  4.947e-04  1.016e-02 -7.960e-03 -1.040e+00]
+t: 284	 action: [-0.014  0.021 -0.006  0.004  0.002  0.003 -1.034]
+t: 285	 action: [ 0.017 -0.027  0.021 -0.003  0.008 -0.004 -1.031]
+t: 286	 action: [-1.090e-02  1.113e-02  5.447e-03  4.968e-04 -1.538e-04 -6.790e-04 -1.041e+00]
+t: 287	 action: [-1.902e-02 -5.046e-03 -2.022e-03  6.060e-03  3.744e-04 -4.935e-03 -1.060e+00]
+t: 288	 action: [-3.128e-02  1.382e-02  1.124e-02 -8.944e-04 -3.630e-03 -8.958e-04 -1.037e+00]
+t: 289	 action: [-1.947e-02 -3.390e-03  1.593e-02  2.473e-03 -8.787e-04 -1.571e-03 -1.054e+00]
+t: 290	 action: [ 0.007  0.019 -0.004  0.005  0.006  0.006 -1.047]
+t: 291	 action: [ 1.450e-02 -1.497e-02 -3.780e-03 -1.972e-04  9.102e-03 -8.839e-03 -1.043e+00]
+t: 292	 action: [-0.026  0.021 -0.01   0.002 -0.004  0.005 -1.04 ]
+t: 293	 action: [ 0.014 -0.027  0.017 -0.003  0.006 -0.005 -1.038]
+t: 294	 action: [-2.534e-02  1.408e-02 -4.208e-03 -7.356e-06 -2.114e-03  1.585e-03 -1.047e+00]
+t: 295	 action: [-0.029 -0.002 -0.005  0.005 -0.003 -0.009 -1.061]
+t: 296	 action: [-4.199e-02  1.234e-02  4.566e-03 -2.354e-03 -6.986e-03 -5.180e-04 -1.042e+00]
+t: 297	 action: [-0.03  -0.004  0.008  0.002 -0.004 -0.003 -1.061]
+[07-31 01:33:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9992
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9992
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 42
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 84%|████████▍ | 42/50 [22:27<04:24, 33.05s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 43...
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=298: Selected seed 195 with value = 0.9992
+t: 298	 action: [ 0.037  0.02   0.018  0.003  0.015  0.003 -1.046]
+t: 299	 action: [ 2.331e-02 -1.727e-02 -1.178e-02  7.221e-04  1.088e-02 -7.394e-03 -1.041e+00]
+t: 300	 action: [-0.007  0.021 -0.004  0.004  0.002  0.003 -1.036]
+t: 301	 action: [ 0.018 -0.029  0.018 -0.003  0.008 -0.004 -1.033]
+t: 302	 action: [-5.518e-03  1.083e-02  5.493e-03  4.237e-04  6.965e-04 -1.409e-04 -1.043e+00]
+t: 303	 action: [-1.653e-02 -6.791e-03 -7.961e-03  6.383e-03  1.043e-03 -4.473e-03 -1.061e+00]
+t: 304	 action: [-2.709e-02  1.404e-02  1.405e-02 -4.626e-04 -3.038e-03 -6.852e-04 -1.038e+00]
+t: 305	 action: [-1.725e-02 -4.430e-03  1.324e-02  3.125e-03 -6.884e-04 -1.328e-03 -1.055e+00]
+t: 306	 action: [ 0.012  0.018 -0.003  0.005  0.005  0.006 -1.047]
+t: 307	 action: [ 1.582e-02 -1.563e-02 -6.952e-03  5.858e-05  9.275e-03 -8.438e-03 -1.043e+00]
+t: 308	 action: [-0.021  0.021 -0.008  0.003 -0.004  0.005 -1.041]
+t: 309	 action: [ 0.016 -0.028  0.017 -0.003  0.007 -0.005 -1.037]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=42--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=42--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 42
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 43...
+[07-31 01:33:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4561
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4561
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4561
+t=10: Selected seed 195 with value = 0.4561
+t: 10	 action: [ 7.233e-02  2.369e-02 -6.414e-03  4.396e-04 -1.635e-03 -1.647e-04 -1.014e+00]
+t: 11	 action: [ 0.196  0.064  0.004 -0.004  0.002 -0.009 -1.015]
+t: 12	 action: [ 3.213e-01  2.089e-01  5.148e-03 -5.063e-03 -9.994e-04 -3.508e-04 -1.024e+00]
+t: 13	 action: [ 0.432  0.286  0.021 -0.009  0.002 -0.009 -1.02 ]
+t: 14	 action: [ 0.551  0.35   0.026 -0.011  0.002 -0.004 -1.031]
+t: 15	 action: [ 0.647  0.444  0.016 -0.011  0.001 -0.01  -1.053]
+t: 16	 action: [ 0.704  0.523  0.032 -0.018  0.007 -0.005 -1.027]
+t: 17	 action: [ 7.673e-01  5.613e-01  2.019e-02 -1.270e-02  7.352e-04 -1.151e-02 -1.056e+00]
+t: 18	 action: [ 0.737  0.533  0.041 -0.011  0.01   0.003 -1.026]
+t: 19	 action: [ 0.784  0.538  0.03  -0.018  0.009 -0.006 -1.024]
+t: 20	 action: [ 0.799  0.548  0.027 -0.019  0.008  0.004 -1.026]
+t: 21	 action: [ 0.829  0.54   0.011 -0.018  0.01  -0.005 -1.023]
+t: 22	 action: [ 8.305e-01  5.045e-01 -3.043e-02 -1.336e-02  7.811e-03 -8.013e-04 -1.013e+00]
+t: 23	 action: [ 8.652e-01  4.624e-01 -2.603e-02 -1.148e-02  7.174e-05 -7.316e-03 -1.050e+00]
+t: 24	 action: [ 0.861  0.445 -0.094 -0.012  0.007 -0.003 -1.016]
+t: 25	 action: [ 8.934e-01  3.891e-01 -8.313e-02 -8.163e-03  8.990e-05 -6.160e-03 -1.060e+00]
+[07-31 01:33:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5541
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5541
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5541
+t=26: Selected seed 195 with value = 0.5541
+t: 26	 action: [ 8.079e-01  5.001e-01 -1.088e-01 -6.886e-04 -1.418e-03  6.316e-03 -1.025e+00]
+t: 27	 action: [ 0.735  0.434 -0.157 -0.005  0.004  0.003 -1.033]
+t: 28	 action: [ 0.645  0.282 -0.222  0.008 -0.011  0.007 -1.035]
+t: 29	 action: [ 0.52   0.172 -0.277  0.001 -0.003  0.002 -1.038]
+t: 30	 action: [ 3.732e-01  5.030e-02 -3.471e-01  1.133e-03 -1.248e-02 -8.274e-04 -1.027e+00]
+t: 31	 action: [ 2.872e-01 -1.889e-02 -4.857e-01  1.154e-02 -2.176e-02  6.231e-04 -1.057e+00]
+t: 32	 action: [ 1.820e-01 -4.385e-02 -6.471e-01  5.285e-03 -2.392e-02 -8.895e-05 -1.033e+00]
+t: 33	 action: [ 0.127 -0.052 -0.766  0.016 -0.038 -0.001 -1.059]
+t: 34	 action: [ 0.046 -0.115 -0.762  0.013 -0.048  0.004 -1.029]
+t: 35	 action: [ 0.015 -0.151 -0.852  0.008 -0.053 -0.002 -1.034]
+t: 36	 action: [-0.072 -0.102 -0.887  0.01  -0.061  0.005 -1.028]
+t: 37	 action: [-0.092 -0.121 -0.986  0.003 -0.062 -0.002 -1.035]
+t: 38	 action: [-0.193 -0.087 -0.934  0.001 -0.072  0.002 -1.033]
+t: 39	 action: [-0.188 -0.029 -0.958  0.006 -0.075 -0.002 -1.045]
+t: 40	 action: [-2.695e-01 -3.675e-02 -9.289e-01 -1.889e-06 -6.860e-02  2.742e-03 -1.029e+00]
+t: 41	 action: [-2.580e-01 -9.329e-04 -9.521e-01  2.563e-03 -6.621e-02 -9.503e-04 -1.050e+00]
+[07-31 01:33:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6186
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=42: Selected seed 195 with value = 0.6186
+t: 42	 action: [-0.058  0.036 -1.024  0.013 -0.059  0.005 -1.037]
+t: 43	 action: [-0.093  0.022 -1.017  0.007 -0.049  0.006 -1.031]
+t: 44	 action: [-0.122  0.042 -1.039  0.005 -0.047  0.007 -1.026]
+t: 45	 action: [-1.593e-01  6.392e-02 -9.829e-01  9.665e-04 -3.523e-02  1.287e-02 -1.032e+00]
+t: 46	 action: [-0.14   0.112 -0.917 -0.004 -0.037 -0.002 -1.038]
+t: 47	 action: [-1.210e-01  1.734e-01 -9.582e-01 -2.446e-03 -2.991e-02 -4.955e-04 -1.057e+00]
+t: 48	 action: [-1.142e-01  1.809e-01 -8.069e-01 -1.190e-02 -3.305e-02 -9.053e-04 -1.034e+00]
+t: 49	 action: [-1.135e-01  1.938e-01 -8.862e-01 -7.392e-03 -1.642e-02 -2.426e-04 -1.059e+00]
+t: 50	 action: [-0.14   0.045 -0.868 -0.004 -0.018  0.007 -1.2  ]
+t: 51	 action: [-0.193  0.023 -0.737 -0.013  0.002  0.023 -1.165]
+t: 52	 action: [-0.191  0.02  -0.784 -0.002 -0.012  0.009 -1.22 ]
+t: 53	 action: [-0.219 -0.008 -0.638 -0.011  0.006  0.019 -1.165]
+t: 54	 action: [-0.203  0.005 -0.565 -0.011 -0.003 -0.001  1.081]
+t: 55	 action: [-0.15   0.028 -0.525 -0.009  0.002  0.01   1.218]
+t: 56	 action: [-1.467e-01  9.928e-04 -4.126e-01 -1.086e-02  6.735e-05 -5.273e-03  1.093e+00]
+t: 57	 action: [-0.097  0.01  -0.317 -0.008  0.007  0.009  1.198]
+[07-31 01:33:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7375
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7375
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7375
+t=58: Selected seed 195 with value = 0.7375
+t: 58	 action: [-0.076  0.008 -0.179 -0.048  0.018  0.008  0.988]
+t: 59	 action: [-0.007 -0.002 -0.061 -0.048  0.032  0.003  1.019]
+t: 60	 action: [-1.550e-02 -9.153e-04  6.671e-02 -4.865e-02  3.177e-02  1.035e-03  9.781e-01]
+t: 61	 action: [ 0.003 -0.024  0.209 -0.042  0.042 -0.008  1.019]
+t: 62	 action: [ 0.031 -0.014  0.461 -0.03   0.05  -0.011  0.996]
+t: 63	 action: [ 0.025 -0.016  0.689 -0.021  0.056 -0.015  1.006]
+t: 64	 action: [ 0.022 -0.018  0.825 -0.016  0.05  -0.02   0.987]
+t: 65	 action: [ 0.015 -0.049  0.871 -0.004  0.055 -0.027  1.007]
+t: 66	 action: [ 0.051 -0.172  0.904  0.002  0.031 -0.004  0.985]
+t: 67	 action: [ 0.032 -0.303  0.949  0.007  0.03  -0.018  1.013]
+t: 68	 action: [ 0.017 -0.325  0.891  0.013  0.026 -0.003  0.978]
+t: 69	 action: [ 0.028 -0.472  0.944  0.028  0.028 -0.014  1.015]
+t: 70	 action: [-0.039 -0.49   0.884  0.037  0.031 -0.009  0.995]
+t: 71	 action: [-0.061 -0.622  0.791  0.051  0.028 -0.011  1.01 ]
+t: 72	 action: [-0.085 -0.653  0.704  0.05   0.029 -0.007  0.997]
+t: 73	 action: [-0.114 -0.715  0.463  0.06   0.021 -0.007  1.011]
+[07-31 01:33:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7640
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7640
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7640
+t=74: Selected seed 195 with value = 0.7640
+t: 74	 action: [-0.13   0.379  0.081 -0.008 -0.013  0.007  1.019]
+t: 75	 action: [-1.384e-01  3.944e-01  2.575e-02 -6.645e-03 -9.194e-04  1.961e-02  1.037e+00]
+t: 76	 action: [-0.164  0.37  -0.036  0.007 -0.012  0.006  1.018]
+t: 77	 action: [-2.235e-01  4.122e-01 -9.438e-02  6.488e-03  5.982e-04  2.236e-02  1.022e+00]
+t: 78	 action: [-0.221  0.356 -0.115  0.004  0.003  0.009  1.009]
+t: 79	 action: [-0.261  0.28  -0.16   0.005 -0.006  0.018  1.033]
+t: 80	 action: [-0.308  0.373 -0.22   0.006  0.008  0.007  1.003]
+t: 81	 action: [-0.326  0.348 -0.328  0.01  -0.008  0.018  1.014]
+t: 82	 action: [-0.351  0.245 -0.4    0.003  0.016  0.042  0.996]
+t: 83	 action: [-0.36   0.203 -0.476  0.009  0.011  0.049  1.022]
+t: 84	 action: [-0.32   0.176 -0.499  0.003  0.03   0.044  1.011]
+t: 85	 action: [-0.312  0.125 -0.518  0.005  0.018  0.049  1.051]
+t: 86	 action: [-3.499e-01  2.733e-01 -4.938e-01  2.688e-04  2.441e-02  4.536e-02  1.021e+00]
+t: 87	 action: [-2.900e-01  1.442e-01 -5.192e-01  8.138e-04  1.044e-02  4.622e-02  1.051e+00]
+t: 88	 action: [-0.279  0.218 -0.474 -0.003  0.025  0.033  1.027]
+t: 89	 action: [-0.207  0.101 -0.408 -0.008  0.01   0.042  1.062]
+[07-31 01:33:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7589
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7589
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7589
+t=90: Selected seed 195 with value = 0.7589
+t: 90	 action: [-0.064  0.074 -0.14   0.006  0.026 -0.027  1.02 ]
+t: 91	 action: [-0.082  0.028 -0.116  0.004  0.032 -0.019  1.043]
+t: 92	 action: [-0.036  0.061 -0.331  0.013  0.029 -0.03   1.018]
+t: 93	 action: [-0.097  0.016 -0.373  0.019  0.036 -0.017  1.045]
+t: 94	 action: [-0.091  0.01  -0.326  0.011  0.032 -0.014  1.028]
+t: 95	 action: [-0.154 -0.059 -0.33   0.019  0.027 -0.017  1.05 ]
+t: 96	 action: [-0.133  0.01  -0.506  0.027  0.037 -0.011  1.027]
+t: 97	 action: [-0.188 -0.006 -0.592  0.025  0.034 -0.014  1.054]
+t: 98	 action: [-0.075  0.031 -0.708  0.019  0.057  0.013  1.158]
+t: 99	 action: [-0.17  -0.02  -0.703  0.006  0.066  0.02  -0.988]
+t: 100	 action: [-0.094  0.014 -0.691  0.009  0.07   0.008 -1.023]
+t: 101	 action: [-0.09  -0.027 -0.624  0.002  0.064  0.017 -1.09 ]
+t: 102	 action: [-0.146  0.003 -0.524 -0.004  0.062  0.021 -1.16 ]
+t: 103	 action: [-1.800e-01  1.529e-02 -5.216e-01  7.531e-04  4.525e-02  1.934e-02 -1.029e+00]
+t: 104	 action: [-0.238 -0.016 -0.362 -0.007  0.058  0.008 -0.999]
+t: 105	 action: [-0.179 -0.013 -0.312 -0.005  0.035  0.02  -0.817]
+[07-31 01:33:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7900
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7900
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7900
+t=106: Selected seed 195 with value = 0.7900
+t: 106	 action: [-0.033 -0.051 -0.055 -0.03   0.047 -0.008  1.001]
+t: 107	 action: [ 0.014 -0.06   0.06  -0.019  0.039 -0.022  1.028]
+t: 108	 action: [ 0.012 -0.063  0.25  -0.011  0.039 -0.025  1.005]
+t: 109	 action: [ 0.022 -0.069  0.513 -0.005  0.036 -0.029  1.029]
+t: 110	 action: [ 0.023 -0.102  0.577 -0.009  0.053 -0.029  1.012]
+t: 111	 action: [ 0.015 -0.109  0.726 -0.006  0.043 -0.026  1.019]
+t: 112	 action: [-0.004 -0.193  0.817  0.009  0.062 -0.043  1.014]
+t: 113	 action: [-0.014 -0.231  0.863  0.025  0.054 -0.035  1.018]
+t: 114	 action: [-0.008 -0.295  0.766  0.026  0.096 -0.021  1.024]
+t: 115	 action: [-0.022 -0.426  0.717  0.035  0.103 -0.024  1.043]
+t: 116	 action: [-0.036 -0.365  0.641  0.036  0.092 -0.026  1.018]
+t: 117	 action: [-0.005 -0.486  0.502  0.043  0.097 -0.036  0.997]
+t: 118	 action: [-0.043 -0.444  0.413  0.038  0.074 -0.013  1.024]
+t: 119	 action: [-0.054 -0.528  0.349  0.036  0.062 -0.013  1.035]
+t: 120	 action: [-0.084 -0.377  0.151  0.039  0.042 -0.016  1.009]
+t: 121	 action: [-0.081 -0.487  0.122  0.034  0.039 -0.025 -0.994]
+[07-31 01:33:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9230
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9230
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9230
+t=122: Selected seed 195 with value = 0.9230
+t: 122	 action: [-0.15   0.538  0.447 -0.059 -0.002 -0.003  0.987]
+t: 123	 action: [-0.189  0.559  0.325 -0.05  -0.005 -0.005  1.005]
+t: 124	 action: [-0.185  0.582  0.277 -0.052 -0.007 -0.003  0.986]
+t: 125	 action: [-0.253  0.593  0.143 -0.042 -0.003 -0.005  1.013]
+t: 126	 action: [-0.301  0.58   0.066 -0.049 -0.009 -0.003  0.999]
+t: 127	 action: [-0.384  0.537 -0.048 -0.051 -0.017  0.004  1.031]
+t: 128	 action: [-0.376  0.519 -0.139 -0.038 -0.007 -0.003  1.   ]
+t: 129	 action: [-0.405  0.459 -0.359 -0.04  -0.014  0.002  1.037]
+t: 130	 action: [-0.422  0.378 -0.444 -0.021 -0.004  0.004  1.01 ]
+t: 131	 action: [-0.351  0.299 -0.58  -0.022  0.004  0.012  1.031]
+t: 132	 action: [-0.308  0.223 -0.613 -0.019  0.002  0.008  1.014]
+t: 133	 action: [-0.226  0.154 -0.653 -0.022  0.005  0.012  1.045]
+t: 134	 action: [-0.186  0.146 -0.553 -0.019 -0.003  0.002  1.022]
+t: 135	 action: [-0.101  0.118 -0.62  -0.027 -0.006  0.016  1.057]
+t: 136	 action: [-0.04   0.074 -0.472 -0.026  0.006  0.002  1.023]
+t: 137	 action: [ 0.022  0.05  -0.396 -0.03  -0.006  0.01   1.063]
+[07-31 01:33:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9986
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.993 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=138: Selected seed 195 with value = 0.9986
+t: 138	 action: [-0.056  0.129 -0.419 -0.009  0.017  0.008  0.933]
+t: 139	 action: [-0.041  0.133 -0.453 -0.018  0.008 -0.005  1.023]
+t: 140	 action: [-4.792e-02  1.195e-01 -2.763e-01 -7.497e-04  2.534e-02  5.802e-03  1.168e+00]
+t: 141	 action: [-0.044  0.078 -0.171 -0.013  0.007 -0.015  1.003]
+t: 142	 action: [-0.043  0.071 -0.103 -0.002  0.011 -0.009  0.909]
+t: 143	 action: [ 0.01   0.068 -0.047 -0.012 -0.006 -0.029 -1.077]
+t: 144	 action: [ 0.008  0.057  0.047 -0.002  0.008 -0.033 -1.18 ]
+t: 145	 action: [-0.017  0.038  0.065 -0.01  -0.004 -0.05  -1.098]
+t: 146	 action: [-0.011  0.05   0.311  0.008  0.03  -0.045 -1.036]
+t: 147	 action: [ 0.008  0.005  0.393  0.01   0.019 -0.046 -1.025]
+t: 148	 action: [-0.022  0.043  0.415  0.011  0.033 -0.052 -1.03 ]
+t: 149	 action: [ 0.017 -0.005  0.429  0.011  0.021 -0.051 -1.017]
+t: 150	 action: [-0.032  0.043  0.472  0.023  0.047 -0.049 -1.042]
+t: 151	 action: [-0.017  0.041  0.457  0.014  0.023 -0.046 -1.033]
+t: 152	 action: [-0.026  0.03   0.44   0.016  0.046 -0.05  -1.031]
+t: 153	 action: [-0.012  0.028  0.395  0.014  0.026 -0.048 -1.045]
+[07-31 01:33:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9921
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=154: Selected seed 195 with value = 0.9921
+t: 154	 action: [ 0.076  0.035  0.216  0.003  0.033 -0.064 -1.051]
+t: 155	 action: [ 0.064  0.016  0.238 -0.002  0.03  -0.072 -1.031]
+t: 156	 action: [ 0.073  0.026  0.184  0.003  0.024 -0.075 -1.05 ]
+t: 157	 action: [ 0.06   0.019  0.225 -0.002  0.024 -0.083 -1.027]
+t: 158	 action: [ 0.084  0.032  0.186 -0.002  0.029 -0.068 -1.047]
+t: 159	 action: [ 0.065  0.061  0.187  0.002  0.012 -0.071 -1.05 ]
+t: 160	 action: [ 0.094  0.021  0.183 -0.001  0.022 -0.08  -1.045]
+t: 161	 action: [ 0.079  0.062  0.206  0.003  0.009 -0.085 -1.052]
+t: 162	 action: [ 0.077  0.024  0.217  0.004  0.027 -0.068 -1.051]
+t: 163	 action: [ 0.057  0.019  0.232 -0.001  0.029 -0.072 -1.031]
+t: 164	 action: [ 0.073  0.023  0.184  0.003  0.021 -0.077 -1.046]
+t: 165	 action: [ 0.058  0.022  0.213 -0.002  0.024 -0.082 -1.029]
+t: 166	 action: [ 8.621e-02  2.344e-02  1.982e-01 -2.460e-04  2.682e-02 -7.057e-02 -1.049e+00]
+t: 167	 action: [ 0.061  0.063  0.186  0.002  0.012 -0.073 -1.046]
+t: 168	 action: [ 0.094  0.021  0.184 -0.001  0.022 -0.082 -1.037]
+t: 169	 action: [ 0.076  0.064  0.206  0.003  0.009 -0.082 -1.053]
+[07-31 01:33:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9931
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=170: Selected seed 195 with value = 0.9931
+t: 170	 action: [ 0.031  0.019  0.209  0.007  0.011 -0.035 -1.051]
+t: 171	 action: [ 0.02   0.019  0.204  0.014  0.012 -0.049 -1.019]
+t: 172	 action: [ 0.033  0.003  0.127  0.006  0.006 -0.05  -1.048]
+t: 173	 action: [ 0.025  0.02   0.148  0.014  0.014 -0.064 -1.039]
+t: 174	 action: [ 0.047  0.007  0.167  0.007  0.004 -0.036 -1.052]
+t: 175	 action: [ 0.025  0.048  0.126  0.017 -0.005 -0.049 -1.047]
+t: 176	 action: [ 0.054 -0.002  0.128  0.006  0.002 -0.052 -1.044]
+t: 177	 action: [ 0.044  0.051  0.105  0.017 -0.003 -0.066 -1.06 ]
+t: 178	 action: [ 3.604e-02 -8.531e-04  1.435e-01  7.842e-03  3.811e-03 -4.411e-02 -1.050e+00]
+t: 179	 action: [ 0.017  0.012  0.144  0.014  0.012 -0.052 -1.02 ]
+t: 180	 action: [ 0.035 -0.002  0.105  0.005  0.003 -0.056 -1.045]
+t: 181	 action: [ 0.028  0.017  0.116  0.013  0.014 -0.064 -1.039]
+t: 182	 action: [ 0.055 -0.013  0.137  0.006  0.003 -0.045 -1.053]
+t: 183	 action: [ 0.022  0.043  0.094  0.016 -0.005 -0.052 -1.043]
+t: 184	 action: [ 0.054 -0.009  0.113  0.005  0.003 -0.058 -1.037]
+t: 185	 action: [ 0.042  0.049  0.093  0.015 -0.003 -0.064 -1.061]
+[07-31 01:33:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9870
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=186: Selected seed 195 with value = 0.9870
+t: 186	 action: [ 0.03   0.006  0.203  0.007  0.011 -0.03  -1.04 ]
+t: 187	 action: [ 0.021 -0.005  0.205  0.013  0.009 -0.038 -1.006]
+t: 188	 action: [ 0.028 -0.007  0.104  0.005  0.002 -0.041 -1.043]
+t: 189	 action: [ 0.022 -0.001  0.123  0.013  0.011 -0.052 -1.045]
+t: 190	 action: [ 0.033 -0.01   0.169  0.007 -0.004 -0.029 -1.044]
+t: 191	 action: [ 0.016  0.018  0.12   0.016 -0.009 -0.037 -1.052]
+t: 192	 action: [ 0.041 -0.01   0.109  0.005 -0.006 -0.039 -1.038]
+t: 193	 action: [ 0.041  0.024  0.071  0.016 -0.008 -0.052 -1.068]
+t: 194	 action: [ 0.029 -0.01   0.153  0.007 -0.009 -0.039 -1.044]
+t: 195	 action: [ 0.018 -0.027  0.156  0.011  0.007 -0.043 -1.026]
+t: 196	 action: [ 0.029 -0.008  0.09   0.005 -0.009 -0.047 -1.043]
+t: 197	 action: [ 0.026 -0.02   0.098  0.011  0.01  -0.052 -1.048]
+t: 198	 action: [ 0.039 -0.02   0.142  0.006 -0.012 -0.039 -1.046]
+t: 199	 action: [ 0.013  0.002  0.101  0.014 -0.014 -0.042 -1.052]
+t: 200	 action: [ 0.042 -0.012  0.102  0.004 -0.01  -0.047 -1.032]
+t: 201	 action: [ 0.032  0.009  0.071  0.013 -0.009 -0.05  -1.07 ]
+[07-31 01:33:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9754
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9754
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9754
+t=202: Selected seed 195 with value = 0.9754
+t: 202	 action: [ 0.044  0.007  0.161  0.011  0.017 -0.023 -1.022]
+t: 203	 action: [ 0.035  0.004  0.169  0.016  0.012 -0.031 -0.981]
+t: 204	 action: [ 0.046 -0.011  0.055  0.005  0.007 -0.031 -1.033]
+t: 205	 action: [ 0.04  -0.001  0.08   0.015  0.012 -0.04  -1.045]
+t: 206	 action: [ 0.05  -0.018  0.135  0.009 -0.003 -0.02  -1.036]
+t: 207	 action: [ 0.027  0.008  0.096  0.019 -0.006 -0.027 -1.053]
+t: 208	 action: [ 0.058 -0.02   0.063  0.006 -0.005 -0.028 -1.029]
+t: 209	 action: [ 0.058  0.006  0.036  0.018 -0.005 -0.037 -1.072]
+t: 210	 action: [ 0.032 -0.032  0.117  0.007 -0.019 -0.035 -1.037]
+t: 211	 action: [ 0.027 -0.048  0.125  0.011  0.005 -0.037 -1.032]
+t: 212	 action: [ 0.031 -0.024  0.045  0.004 -0.019 -0.04  -1.036]
+t: 213	 action: [ 0.031 -0.043  0.059  0.01   0.008 -0.042 -1.046]
+t: 214	 action: [ 0.037 -0.039  0.104  0.006 -0.024 -0.032 -1.038]
+t: 215	 action: [ 0.01  -0.021  0.075  0.015 -0.019 -0.034 -1.055]
+t: 216	 action: [ 0.036 -0.024  0.052  0.004 -0.021 -0.037 -1.026]
+t: 217	 action: [ 0.021 -0.02   0.034  0.013 -0.013 -0.037 -1.072]
+[07-31 01:33:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9633
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=218: Selected seed 195 with value = 0.9633
+t: 218	 action: [ 0.034  0.002  0.139  0.015  0.033 -0.016 -0.971]
+t: 219	 action: [ 0.038 -0.002  0.144  0.02   0.027 -0.025 -0.909]
+t: 220	 action: [ 0.05  -0.014  0.041  0.009  0.02  -0.022 -1.019]
+t: 221	 action: [ 0.053 -0.015  0.059  0.018  0.017 -0.031 -1.039]
+t: 222	 action: [ 0.05  -0.027  0.098  0.015  0.009 -0.015 -1.032]
+t: 223	 action: [ 2.506e-02 -1.751e-02  6.740e-02  2.438e-02  5.624e-04 -1.967e-02 -1.060e+00]
+t: 224	 action: [ 0.062 -0.03   0.034  0.011  0.005 -0.019 -1.024]
+t: 225	 action: [ 0.074 -0.022  0.019  0.023  0.002 -0.027 -1.074]
+t: 226	 action: [ 0.032 -0.073  0.07   0.01  -0.017 -0.029 -1.031]
+t: 227	 action: [ 0.033 -0.071  0.055  0.016  0.007 -0.031 -1.034]
+t: 228	 action: [ 3.184e-02 -5.118e-02  3.299e-04  4.830e-03 -1.884e-02 -3.199e-02 -1.032e+00]
+t: 229	 action: [ 3.657e-02 -6.181e-02  1.035e-03  1.367e-02  9.579e-03 -3.430e-02 -1.041e+00]
+t: 230	 action: [ 0.032 -0.067  0.046  0.009 -0.026 -0.024 -1.037]
+t: 231	 action: [ 0.006 -0.043  0.021  0.02  -0.018 -0.027 -1.06 ]
+t: 232	 action: [ 0.027 -0.036 -0.002  0.005 -0.024 -0.027 -1.025]
+t: 233	 action: [ 0.012 -0.038 -0.039  0.016 -0.012 -0.028 -1.069]
+[07-31 01:33:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9522
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9522
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=234: Selected seed 195 with value = 0.9522
+t: 234	 action: [ 0.039 -0.001  0.194  0.012  0.044 -0.014 -0.831]
+t: 235	 action: [ 0.053 -0.014  0.201  0.019  0.045 -0.022 -0.753]
+t: 236	 action: [ 0.071 -0.016  0.082  0.008  0.032 -0.017 -1.001]
+t: 237	 action: [ 0.081 -0.028  0.103  0.018  0.028 -0.026 -1.034]
+t: 238	 action: [ 0.06  -0.027  0.149  0.016  0.021 -0.011 -1.049]
+t: 239	 action: [ 0.036 -0.04   0.116  0.024  0.007 -0.016 -1.067]
+t: 240	 action: [ 0.087 -0.03   0.061  0.013  0.016 -0.014 -1.023]
+t: 241	 action: [ 0.1   -0.041  0.025  0.023  0.004 -0.02  -1.072]
+t: 242	 action: [ 0.048 -0.097  0.051  0.014 -0.012 -0.024 -1.021]
+t: 243	 action: [ 0.042 -0.085  0.01   0.02   0.006 -0.026 -1.032]
+t: 244	 action: [ 0.051 -0.065 -0.018  0.006 -0.015 -0.025 -1.026]
+t: 245	 action: [ 0.047 -0.071 -0.09   0.016  0.009 -0.029 -1.035]
+t: 246	 action: [ 0.038 -0.076  0.016  0.013 -0.025 -0.02  -1.035]
+t: 247	 action: [ 0.006 -0.055 -0.042  0.023 -0.019 -0.021 -1.056]
+t: 248	 action: [ 0.037 -0.034 -0.033  0.005 -0.023 -0.021 -1.023]
+t: 249	 action: [ 0.013 -0.038 -0.146  0.018 -0.014 -0.022 -1.06 ]
+[07-31 01:33:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9397
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9397
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9397
+t=250: Selected seed 195 with value = 0.9397
+t: 250	 action: [ 0.044 -0.003  0.214  0.013  0.045 -0.019  0.801]
+t: 251	 action: [ 0.051 -0.051  0.228  0.017  0.051 -0.033  0.593]
+t: 252	 action: [ 0.072 -0.03   0.117  0.009  0.038 -0.018 -1.006]
+t: 253	 action: [ 0.079 -0.068  0.153  0.017  0.035 -0.026 -1.052]
+t: 254	 action: [ 0.055 -0.032  0.195  0.018  0.03  -0.011 -1.095]
+t: 255	 action: [-0.009 -0.08   0.172  0.021  0.013 -0.021 -1.126]
+t: 256	 action: [ 0.075 -0.041  0.101  0.016  0.024 -0.012 -1.027]
+t: 257	 action: [ 0.077 -0.083  0.045  0.022  0.008 -0.018 -1.073]
+t: 258	 action: [ 0.048 -0.141  0.064  0.018 -0.013 -0.021 -1.02 ]
+t: 259	 action: [ 0.044 -0.119  0.005  0.023  0.003 -0.024 -1.028]
+t: 260	 action: [ 0.054 -0.108 -0.017  0.01  -0.016 -0.02  -1.04 ]
+t: 261	 action: [ 0.05  -0.102 -0.1    0.018  0.005 -0.026 -1.047]
+t: 262	 action: [ 0.031 -0.088  0.018  0.016 -0.028 -0.017 -1.036]
+t: 263	 action: [-0.002 -0.079 -0.058  0.024 -0.025 -0.018 -1.055]
+t: 264	 action: [ 0.035 -0.041 -0.039  0.007 -0.026 -0.016 -1.029]
+t: 265	 action: [ 0.005 -0.054 -0.165  0.018 -0.019 -0.019 -1.051]
+[07-31 01:33:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9148
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9148
+Query 1/1: Action query time = 0.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=266: Selected seed 195 with value = 0.9148
+t: 266	 action: [ 0.03  -0.011  0.239  0.009  0.046 -0.028  0.983]
+t: 267	 action: [ 0.028 -0.078  0.25   0.011  0.057 -0.04   0.87 ]
+t: 268	 action: [ 0.07  -0.04   0.159  0.007  0.045 -0.023 -0.913]
+t: 269	 action: [ 0.074 -0.091  0.196  0.014  0.047 -0.026 -1.042]
+t: 270	 action: [ 0.057 -0.03   0.246  0.017  0.039 -0.012 -1.121]
+t: 271	 action: [-0.014 -0.099  0.236  0.016  0.024 -0.022 -1.083]
+t: 272	 action: [ 0.072 -0.041  0.136  0.015  0.036 -0.009 -1.024]
+t: 273	 action: [ 0.046 -0.097  0.077  0.018  0.019 -0.017 -1.071]
+t: 274	 action: [ 6.635e-02 -2.019e-01  5.870e-04  2.674e-02 -1.405e-02 -1.418e-02 -9.941e-01]
+t: 275	 action: [ 0.05  -0.159 -0.091  0.025 -0.003 -0.018 -1.021]
+t: 276	 action: [ 0.07  -0.152 -0.075  0.016 -0.017 -0.011 -1.029]
+t: 277	 action: [ 0.053 -0.138 -0.226  0.019 -0.002 -0.019 -1.045]
+t: 278	 action: [ 0.025 -0.08  -0.053  0.018 -0.034 -0.01  -1.035]
+t: 279	 action: [-0.009 -0.074 -0.186  0.022 -0.034 -0.014 -1.053]
+t: 280	 action: [ 0.027 -0.025 -0.108  0.005 -0.031 -0.008 -1.029]
+t: 281	 action: [-0.004 -0.035 -0.277  0.015 -0.029 -0.012 -1.05 ]
+[07-31 01:33:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8806
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8806
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8806
+t=282: Selected seed 195 with value = 0.8806
+t: 282	 action: [ 0.046 -0.023  0.262  0.003  0.043 -0.029  0.963]
+t: 283	 action: [ 0.039 -0.1    0.256  0.004  0.055 -0.042  0.864]
+t: 284	 action: [ 0.085 -0.04   0.181  0.003  0.049 -0.023 -0.815]
+t: 285	 action: [ 0.074 -0.098  0.198  0.01   0.053 -0.025 -1.022]
+t: 286	 action: [ 0.052 -0.02   0.232  0.012  0.045 -0.01  -1.078]
+t: 287	 action: [-0.02  -0.11   0.22   0.013  0.035 -0.02  -1.028]
+t: 288	 action: [ 0.063 -0.032  0.134  0.011  0.045 -0.008 -1.037]
+t: 289	 action: [ 0.019 -0.099  0.072  0.017  0.032 -0.016 -1.066]
+t: 290	 action: [ 0.092 -0.2   -0.025  0.026 -0.014 -0.013 -0.498]
+t: 291	 action: [ 0.072 -0.199 -0.146  0.024 -0.007 -0.014 -0.96 ]
+t: 292	 action: [ 0.091 -0.16  -0.111  0.016 -0.02  -0.008 -1.006]
+t: 293	 action: [ 0.057 -0.163 -0.266  0.017 -0.01  -0.015 -1.041]
+t: 294	 action: [ 0.022 -0.075 -0.081  0.015 -0.037 -0.007 -1.054]
+t: 295	 action: [-0.017 -0.069 -0.232  0.019 -0.041 -0.009 -1.057]
+t: 296	 action: [ 0.028 -0.011 -0.155  0.003 -0.037 -0.005 -1.036]
+t: 297	 action: [-0.008 -0.03  -0.313  0.012 -0.038 -0.008 -1.046]
+[07-31 01:33:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8473
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8473
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 43
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 86%|████████▌ | 43/50 [22:58<03:46, 32.38s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 44...
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8473
+t=298: Selected seed 195 with value = 0.8473
+t: 298	 action: [ 0.025 -0.085  0.431  0.003  0.024 -0.03   0.966]
+t: 299	 action: [ 0.047 -0.196  0.421  0.001  0.034 -0.038  1.011]
+t: 300	 action: [ 0.059 -0.073  0.322  0.004  0.038 -0.024  0.803]
+t: 301	 action: [ 0.047 -0.182  0.317  0.007  0.053 -0.042 -0.479]
+t: 302	 action: [ 0.023 -0.108  0.284  0.012  0.036 -0.012  0.964]
+t: 303	 action: [ 0.023 -0.295  0.295  0.01   0.02  -0.017  0.978]
+t: 304	 action: [ 0.046 -0.088  0.184  0.01   0.042 -0.007 -0.982]
+t: 305	 action: [-3.909e-04 -1.985e-01  1.219e-01  1.358e-02  3.487e-02 -2.803e-02 -1.020e+00]
+t: 306	 action: [ 0.052 -0.312 -0.059  0.025 -0.014 -0.018  1.061]
+t: 307	 action: [ 0.019 -0.335 -0.153  0.022 -0.019 -0.023  0.862]
+t: 308	 action: [ 0.077 -0.24  -0.163  0.013 -0.019 -0.011  0.976]
+t: 309	 action: [ 0.032 -0.254 -0.289  0.013 -0.018 -0.018 -0.862]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=43--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=43--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 43
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 44...
+[07-31 01:33:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4783
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4783
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4783
+t=10: Selected seed 195 with value = 0.4783
+t: 10	 action: [ 1.779e-01  1.418e-01 -7.183e-03  3.527e-03 -8.737e-04 -3.239e-04 -1.026e+00]
+t: 11	 action: [ 2.792e-01  2.147e-01  3.073e-03 -1.958e-03 -4.625e-04 -3.986e-03 -1.028e+00]
+t: 12	 action: [ 4.443e-01  4.060e-01 -4.693e-03  8.631e-04  3.066e-04  1.452e-03 -1.032e+00]
+t: 13	 action: [ 5.386e-01  4.503e-01  7.017e-03 -3.465e-03 -1.297e-03 -8.453e-04 -1.031e+00]
+t: 14	 action: [ 0.64   0.518 -0.011 -0.004  0.003 -0.001 -1.032]
+t: 15	 action: [ 0.705  0.564  0.002 -0.002 -0.002 -0.003 -1.057]
+t: 16	 action: [ 0.761  0.599 -0.011 -0.005  0.007 -0.001 -1.027]
+t: 17	 action: [ 0.819  0.629 -0.003 -0.002 -0.002 -0.002 -1.061]
+t: 18	 action: [ 0.739  0.618 -0.049  0.005  0.003  0.004 -1.038]
+t: 19	 action: [ 7.789e-01  6.029e-01 -7.534e-02 -2.985e-03  7.190e-03 -5.098e-04 -1.035e+00]
+t: 20	 action: [ 7.720e-01  6.186e-01 -7.205e-02  2.771e-04  4.385e-03  5.229e-03 -1.046e+00]
+t: 21	 action: [ 8.083e-01  5.904e-01 -1.228e-01 -5.081e-03  7.623e-03  8.588e-04 -1.032e+00]
+t: 22	 action: [ 8.144e-01  5.745e-01 -1.586e-01  5.770e-04 -9.749e-04  1.758e-03 -1.021e+00]
+t: 23	 action: [ 0.849  0.551 -0.232  0.002 -0.002 -0.002 -1.052]
+t: 24	 action: [ 7.950e-01  4.855e-01 -2.608e-01 -1.608e-03  1.695e-03 -3.200e-04 -1.028e+00]
+t: 25	 action: [ 0.843  0.437 -0.366  0.006 -0.002 -0.001 -1.061]
+[07-31 01:33:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5567
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=26: Selected seed 195 with value = 0.5567
+t: 26	 action: [ 0.839  0.482 -0.203 -0.009  0.006  0.006 -1.037]
+t: 27	 action: [ 0.789  0.435 -0.168 -0.01   0.006 -0.002 -1.038]
+t: 28	 action: [ 7.263e-01  3.230e-01 -3.040e-01  5.148e-03 -5.994e-04  2.949e-03 -1.043e+00]
+t: 29	 action: [ 6.301e-01  1.932e-01 -3.352e-01  1.002e-03  2.012e-03 -6.152e-03 -1.045e+00]
+t: 30	 action: [ 4.513e-01  1.152e-01 -4.938e-01  5.361e-05 -4.073e-05 -5.055e-03 -1.028e+00]
+t: 31	 action: [ 0.347  0.025 -0.581  0.014 -0.005 -0.01  -1.06 ]
+t: 32	 action: [ 0.245  0.035 -0.828  0.003 -0.007 -0.012 -1.037]
+t: 33	 action: [ 0.166  0.006 -0.937  0.018 -0.015 -0.014 -1.066]
+t: 34	 action: [ 0.068  0.012 -0.943  0.005 -0.031 -0.008 -1.041]
+t: 35	 action: [-1.123e-03 -4.928e-02 -1.017e+00 -6.468e-04 -2.520e-02 -1.515e-02 -1.032e+00]
+t: 36	 action: [-0.05  -0.014 -0.966  0.006 -0.034 -0.004 -1.038]
+t: 37	 action: [-0.108 -0.07  -1.033 -0.003 -0.026 -0.014 -1.036]
+t: 38	 action: [-0.153 -0.061 -0.957 -0.003 -0.033 -0.007 -1.041]
+t: 39	 action: [-2.108e-01 -2.496e-02 -9.926e-01 -4.605e-05 -2.930e-02 -1.757e-02 -1.047e+00]
+t: 40	 action: [-0.26  -0.075 -0.953 -0.004 -0.03  -0.004 -1.033]
+t: 41	 action: [-0.292 -0.037 -0.982 -0.004 -0.024 -0.014 -1.054]
+[07-31 01:33:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6131
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6131
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6131
+t=42: Selected seed 195 with value = 0.6131
+t: 42	 action: [-0.178  0.027 -1.044  0.008 -0.017  0.008 -1.053]
+t: 43	 action: [-0.157  0.009 -0.982  0.009 -0.007  0.012 -1.045]
+t: 44	 action: [-1.490e-01  4.843e-02 -9.184e-01  2.089e-03 -4.951e-05  8.468e-03 -1.044e+00]
+t: 45	 action: [-0.124  0.036 -0.85   0.003  0.004  0.013 -1.045]
+t: 46	 action: [-0.166  0.05  -0.734 -0.006  0.016  0.005 -1.041]
+t: 47	 action: [-0.192  0.098 -0.761  0.003  0.004  0.006 -1.059]
+t: 48	 action: [-0.209  0.046 -0.599 -0.013  0.024  0.003 -1.036]
+t: 49	 action: [-2.687e-01  8.666e-02 -6.356e-01 -2.653e-03  9.258e-03 -7.849e-04 -1.058e+00]
+t: 50	 action: [-0.261  0.024 -0.625 -0.004  0.027  0.004 -1.234]
+t: 51	 action: [-0.342 -0.02  -0.509 -0.007  0.025  0.025 -1.156]
+t: 52	 action: [-0.266  0.01  -0.543 -0.01   0.03   0.006  0.99 ]
+t: 53	 action: [-0.247 -0.034 -0.406 -0.008  0.032  0.003  1.025]
+t: 54	 action: [-0.318  0.003 -0.391 -0.015  0.039 -0.008  1.11 ]
+t: 55	 action: [-0.227 -0.015 -0.266 -0.006  0.017  0.003  1.175]
+t: 56	 action: [-0.212 -0.002 -0.221 -0.023  0.034 -0.012  1.013]
+t: 57	 action: [-0.127 -0.013 -0.105 -0.011  0.017 -0.019  1.034]
+[07-31 01:33:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7265
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7265
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7265
+t=58: Selected seed 195 with value = 0.7265
+t: 58	 action: [-0.117 -0.047 -0.133 -0.016  0.041  0.005  0.979]
+t: 59	 action: [ 1.849e-03 -4.848e-02 -2.874e-02 -2.496e-02  5.963e-02  2.484e-04  1.016e+00]
+t: 60	 action: [-1.825e-02  1.413e-03  6.216e-02 -1.228e-02  5.415e-02  5.101e-04  9.745e-01]
+t: 61	 action: [ 0.018 -0.009  0.201 -0.024  0.061 -0.005  1.016]
+t: 62	 action: [ 0.041  0.008  0.402 -0.006  0.062 -0.007  0.986]
+t: 63	 action: [ 0.044  0.027  0.595 -0.01   0.05  -0.011  1.011]
+t: 64	 action: [ 0.082  0.001  0.781  0.002  0.047 -0.021  0.983]
+t: 65	 action: [ 6.395e-02  1.538e-02  8.148e-01  4.213e-04  4.302e-02 -2.227e-02  1.017e+00]
+t: 66	 action: [ 0.084 -0.088  0.871  0.005  0.054 -0.015  0.988]
+t: 67	 action: [ 0.047 -0.176  0.933  0.016  0.054 -0.019  1.015]
+t: 68	 action: [ 0.046 -0.266  0.871  0.021  0.052 -0.02   0.984]
+t: 69	 action: [ 0.036 -0.425  0.911  0.035  0.05  -0.018  1.021]
+t: 70	 action: [ 0.005 -0.406  0.875  0.032  0.046 -0.013  0.993]
+t: 71	 action: [-0.007 -0.531  0.816  0.038  0.04  -0.012  1.012]
+t: 72	 action: [-0.044 -0.553  0.677  0.037  0.032 -0.02   0.995]
+t: 73	 action: [-0.063 -0.65   0.472  0.041  0.024 -0.014  1.018]
+[07-31 01:33:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8358
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=74: Selected seed 195 with value = 0.8358
+t: 74	 action: [-0.065 -0.744  0.614  0.069 -0.003 -0.017  0.993]
+t: 75	 action: [-0.091 -0.806  0.428  0.061 -0.001 -0.022  1.017]
+t: 76	 action: [-0.119 -0.814  0.177  0.071 -0.006 -0.016  0.986]
+t: 77	 action: [-0.14  -0.854  0.049  0.062 -0.001 -0.018  1.016]
+t: 78	 action: [-0.135 -0.841 -0.049  0.06  -0.004 -0.013  1.002]
+t: 79	 action: [-0.207 -0.789 -0.133  0.057 -0.014 -0.011  1.009]
+t: 80	 action: [-0.174 -0.77  -0.291  0.043 -0.012 -0.011  0.996]
+t: 81	 action: [-0.221 -0.586 -0.47   0.041 -0.02  -0.011  1.02 ]
+t: 82	 action: [-0.177 -0.605 -0.502  0.038 -0.034  0.001  0.995]
+t: 83	 action: [-0.2   -0.512 -0.667  0.018 -0.036 -0.002  1.017]
+t: 84	 action: [-0.179 -0.318 -0.688  0.012 -0.046  0.005  0.978]
+t: 85	 action: [-1.890e-01 -2.948e-01 -7.904e-01 -4.614e-04 -4.061e-02  1.988e-03  1.024e+00]
+t: 86	 action: [-2.445e-01 -9.350e-02 -7.730e-01 -1.390e-03 -4.548e-02 -2.534e-04  1.009e+00]
+t: 87	 action: [-0.234 -0.045 -0.828 -0.014 -0.041  0.011  1.012]
+t: 88	 action: [-2.471e-01 -1.053e-02 -7.459e-01 -6.866e-03 -3.723e-02  9.453e-04  9.946e-01]
+t: 89	 action: [-0.195  0.031 -0.722 -0.02  -0.023  0.012  1.02 ]
+[07-31 01:33:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9630
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=90: Selected seed 195 with value = 0.9630
+t: 90	 action: [-0.171 -0.094 -0.471 -0.005  0.073  0.009  1.166]
+t: 91	 action: [-0.108 -0.065 -0.298 -0.021  0.076  0.019  1.056]
+t: 92	 action: [-1.015e-01 -2.393e-04 -1.676e-01 -1.451e-02  9.035e-02  4.624e-03  1.181e+00]
+t: 93	 action: [-0.039 -0.027 -0.022 -0.02   0.096  0.01  -1.034]
+t: 94	 action: [-0.014  0.022  0.047 -0.033  0.112  0.005 -1.201]
+t: 95	 action: [-0.026  0.024  0.109 -0.021  0.118 -0.005 -1.129]
+t: 96	 action: [ 0.064  0.004  0.231 -0.018  0.116 -0.004 -1.201]
+t: 97	 action: [ 0.044  0.042  0.336 -0.009  0.114 -0.004 -1.062]
+t: 98	 action: [ 0.079  0.015  0.335 -0.004  0.082  0.004 -1.034]
+t: 99	 action: [ 0.067  0.006  0.391 -0.004  0.087 -0.002 -1.036]
+t: 100	 action: [ 9.423e-02  1.792e-02  4.214e-01  5.101e-04  7.821e-02  1.490e-03 -1.039e+00]
+t: 101	 action: [ 9.363e-02  1.009e-02  4.838e-01 -9.702e-04  9.456e-02 -6.006e-03 -1.025e+00]
+t: 102	 action: [ 0.104  0.016  0.473  0.005  0.101 -0.004 -1.043]
+t: 103	 action: [ 0.105  0.038  0.506  0.008  0.102 -0.009 -1.051]
+t: 104	 action: [ 0.116  0.011  0.498  0.003  0.096 -0.008 -1.04 ]
+t: 105	 action: [ 0.111  0.033  0.499  0.011  0.105 -0.01  -1.059]
+[07-31 01:33:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.076  0.011  0.145  0.004  0.031  0.003 -1.041]
+t: 107	 action: [ 6.403e-02 -3.664e-02  1.465e-01  3.780e-04  2.937e-02  1.799e-03 -1.041e+00]
+t: 108	 action: [ 5.425e-02  6.921e-03  1.416e-01  3.580e-03  3.360e-02  3.666e-04 -1.034e+00]
+t: 109	 action: [ 0.033 -0.044  0.157  0.001  0.038  0.004 -1.032]
+t: 110	 action: [ 3.148e-02 -5.691e-03  1.229e-01  3.672e-03  3.337e-02 -5.108e-04 -1.031e+00]
+t: 111	 action: [ 0.03  -0.014  0.165  0.009  0.032  0.005 -1.063]
+t: 112	 action: [ 0.031 -0.001  0.149  0.002  0.04  -0.002 -1.032]
+t: 113	 action: [ 0.017 -0.002  0.196  0.009  0.036  0.004 -1.058]
+t: 114	 action: [ 0.064  0.007  0.171  0.008  0.033  0.004 -1.042]
+t: 115	 action: [ 0.042 -0.022  0.173  0.002  0.033  0.002 -1.043]
+t: 116	 action: [ 0.054  0.012  0.171  0.006  0.04   0.002 -1.034]
+t: 117	 action: [ 0.04  -0.024  0.181  0.002  0.044  0.002 -1.041]
+t: 118	 action: [ 0.048  0.007  0.173  0.005  0.045  0.001 -1.038]
+t: 119	 action: [ 0.03   0.02   0.207  0.009  0.034  0.002 -1.063]
+t: 120	 action: [ 0.045  0.008  0.183  0.003  0.052 -0.002 -1.031]
+t: 121	 action: [ 0.024  0.018  0.219  0.01   0.044  0.002 -1.067]
+[07-31 01:33:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.028  0.033 -0.14   0.004 -0.01   0.006 -1.035]
+t: 123	 action: [ 0.025  0.008 -0.112  0.005 -0.003  0.004 -1.039]
+t: 124	 action: [ 0.015  0.022 -0.086  0.004 -0.01   0.003 -1.029]
+t: 125	 action: [ 0.019 -0.014 -0.014  0.003  0.005  0.006 -1.035]
+t: 126	 action: [-3.880e-04  2.606e-02 -9.321e-02  3.027e-03 -6.869e-03  9.970e-04 -1.034e+00]
+t: 127	 action: [-0.006  0.01  -0.029  0.01  -0.008  0.007 -1.068]
+t: 128	 action: [-0.009  0.013 -0.037  0.003 -0.003  0.003 -1.026]
+t: 129	 action: [-0.012  0.01   0.011  0.008 -0.002  0.008 -1.06 ]
+t: 130	 action: [ 0.051  0.007 -0.041  0.01  -0.009  0.009 -1.039]
+t: 131	 action: [ 0.029 -0.011  0.01   0.003 -0.003  0.002 -1.046]
+t: 132	 action: [ 0.029  0.018 -0.021  0.008 -0.008  0.007 -1.028]
+t: 133	 action: [ 0.029 -0.009  0.044  0.001  0.007  0.006 -1.039]
+t: 134	 action: [ 0.016  0.011 -0.012  0.006 -0.003  0.004 -1.038]
+t: 135	 action: [-0.011  0.03   0.004  0.009 -0.009  0.001 -1.073]
+t: 136	 action: [-0.002  0.016  0.017  0.003  0.002  0.002 -1.026]
+t: 137	 action: [-0.018  0.034  0.046  0.008 -0.003  0.006 -1.066]
+[07-31 01:33:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=138: Selected seed 195 with value = 0.9979
+t: 138	 action: [ 0.002  0.022 -0.188  0.005 -0.009  0.006 -1.034]
+t: 139	 action: [ 1.576e-02 -4.719e-03 -1.608e-01  6.767e-03 -6.042e-04  5.864e-03 -1.042e+00]
+t: 140	 action: [-0.006  0.018 -0.115  0.004 -0.008  0.004 -1.029]
+t: 141	 action: [ 0.015 -0.023 -0.066  0.005  0.007  0.007 -1.038]
+t: 142	 action: [-0.016  0.018 -0.118  0.003 -0.003  0.003 -1.036]
+t: 143	 action: [-0.013  0.003 -0.062  0.012 -0.004  0.009 -1.071]
+t: 144	 action: [-2.477e-02  1.043e-02 -5.692e-02  3.131e-03  4.099e-04  4.766e-03 -1.029e+00]
+t: 145	 action: [-1.719e-02  1.438e-03 -3.045e-04  1.043e-02  1.036e-03  9.376e-03 -1.062e+00]
+t: 146	 action: [ 0.028  0.001 -0.062  0.01  -0.007  0.009 -1.038]
+t: 147	 action: [ 2.299e-02 -2.118e-02 -4.986e-02  5.321e-03  2.170e-04  1.911e-03 -1.048e+00]
+t: 148	 action: [ 0.009  0.015 -0.039  0.008 -0.005  0.008 -1.028]
+t: 149	 action: [ 0.028 -0.021  0.017  0.004  0.009  0.007 -1.042]
+t: 150	 action: [ 2.619e-03  8.810e-03 -2.610e-02  6.335e-03 -1.685e-04  4.255e-03 -1.040e+00]
+t: 151	 action: [-0.019  0.016 -0.006  0.011 -0.006  0.002 -1.074]
+t: 152	 action: [-0.017  0.012  0.003  0.004  0.004  0.002 -1.027]
+t: 153	 action: [-0.026  0.018  0.009  0.011  0.001  0.007 -1.068]
+[07-31 01:33:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9995
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=154: Selected seed 195 with value = 0.9995
+t: 154	 action: [ 0.013  0.01  -0.115  0.007 -0.004  0.007 -1.04 ]
+t: 155	 action: [ 0.022 -0.028 -0.075  0.007  0.008  0.006 -1.046]
+t: 156	 action: [ 0.013  0.01  -0.067  0.005  0.001  0.005 -1.03 ]
+t: 157	 action: [ 0.023 -0.036  0.002  0.005  0.014  0.009 -1.039]
+t: 158	 action: [-0.003  0.008 -0.068  0.005  0.006  0.004 -1.035]
+t: 159	 action: [ 0.005 -0.007 -0.012  0.013  0.006  0.009 -1.071]
+t: 160	 action: [-0.005  0.006 -0.026  0.004  0.011  0.005 -1.028]
+t: 161	 action: [-0.008 -0.002  0.014  0.012  0.015  0.009 -1.061]
+t: 162	 action: [ 3.722e-02  1.653e-03 -4.527e-02  1.005e-02  4.341e-04  8.748e-03 -1.041e+00]
+t: 163	 action: [ 0.032 -0.023 -0.024  0.007  0.009  0.003 -1.051]
+t: 164	 action: [ 0.019  0.013 -0.027  0.008  0.004  0.007 -1.03 ]
+t: 165	 action: [ 0.031 -0.029  0.025  0.006  0.016  0.008 -1.045]
+t: 166	 action: [ 0.016  0.01  -0.015  0.007  0.01   0.004 -1.04 ]
+t: 167	 action: [-0.009  0.012 -0.003  0.014  0.004  0.003 -1.072]
+t: 168	 action: [-0.004  0.01   0.006  0.004  0.015  0.002 -1.028]
+t: 169	 action: [-0.019  0.009  0.014  0.013  0.015  0.009 -1.066]
+[07-31 01:33:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9992
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=170: Selected seed 195 with value = 0.9992
+t: 170	 action: [ 1.730e-02  3.329e-03 -9.562e-02  6.750e-03  9.445e-04  7.588e-03 -1.041e+00]
+t: 171	 action: [ 0.024 -0.038 -0.045  0.007  0.012  0.006 -1.046]
+t: 172	 action: [ 0.019  0.002 -0.05   0.005  0.007  0.006 -1.03 ]
+t: 173	 action: [ 0.024 -0.042  0.014  0.005  0.02   0.009 -1.038]
+t: 174	 action: [ 0.007  0.002 -0.053  0.004  0.014  0.005 -1.036]
+t: 175	 action: [ 1.380e-02 -9.616e-03  3.185e-05  1.241e-02  1.567e-02  8.500e-03 -1.068e+00]
+t: 176	 action: [ 0.003  0.002 -0.014  0.003  0.019  0.004 -1.029]
+t: 177	 action: [-0.006 -0.003  0.021  0.011  0.025  0.009 -1.06 ]
+t: 178	 action: [ 0.032 -0.002 -0.049  0.009  0.005  0.008 -1.043]
+t: 179	 action: [ 0.033 -0.03  -0.031  0.006  0.012  0.004 -1.051]
+t: 180	 action: [ 0.015  0.011 -0.03   0.007  0.009  0.008 -1.031]
+t: 181	 action: [ 0.031 -0.037  0.016  0.005  0.019  0.01  -1.047]
+t: 182	 action: [ 0.017  0.007 -0.019  0.006  0.016  0.004 -1.043]
+t: 183	 action: [-0.006  0.005 -0.005  0.013  0.009  0.004 -1.068]
+t: 184	 action: [-0.004  0.008 -0.001  0.004  0.021  0.002 -1.031]
+t: 185	 action: [-0.016  0.003  0.011  0.013  0.021  0.01  -1.062]
+[07-31 01:33:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9971
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=186: Selected seed 195 with value = 0.9971
+t: 186	 action: [ 0.007 -0.004 -0.087  0.005  0.002  0.008 -1.038]
+t: 187	 action: [ 0.017 -0.044 -0.037  0.005  0.013  0.005 -1.048]
+t: 188	 action: [ 0.014 -0.009 -0.039  0.005  0.01   0.007 -1.021]
+t: 189	 action: [ 0.022 -0.048  0.016  0.003  0.02   0.008 -1.048]
+t: 190	 action: [ 0.005 -0.008 -0.044  0.004  0.017  0.004 -1.036]
+t: 191	 action: [ 0.008 -0.015  0.003  0.011  0.021  0.006 -1.07 ]
+t: 192	 action: [ 0.003 -0.008 -0.004  0.003  0.023  0.004 -1.016]
+t: 193	 action: [-0.008 -0.011  0.023  0.01   0.029  0.005 -1.071]
+t: 194	 action: [ 0.018 -0.007 -0.059  0.007  0.006  0.007 -1.042]
+t: 195	 action: [ 0.027 -0.038 -0.045  0.004  0.012  0.003 -1.055]
+t: 196	 action: [ 6.771e-03  7.026e-04 -3.580e-02  6.403e-03  1.025e-02  7.777e-03 -1.024e+00]
+t: 197	 action: [ 0.029 -0.046  0.007  0.003  0.016  0.023 -0.875]
+t: 198	 action: [ 1.167e-02  2.643e-04 -2.471e-02  3.651e-03  1.862e-02  3.159e-03 -1.044e+00]
+t: 199	 action: [-0.009 -0.005 -0.007  0.012  0.01   0.003 -1.071]
+t: 200	 action: [-0.009  0.001 -0.005  0.003  0.023  0.001 -1.01 ]
+t: 201	 action: [-0.019 -0.006  0.009  0.011  0.018  0.027  0.431]
+[07-31 01:34:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9965
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=202: Selected seed 195 with value = 0.9965
+t: 202	 action: [-4.664e-03 -8.786e-04 -4.326e-02  5.114e-03  3.564e-03  7.489e-03 -1.037e+00]
+t: 203	 action: [ 0.012 -0.038  0.008  0.001  0.015  0.006 -1.047]
+t: 204	 action: [ 0.002 -0.001 -0.003  0.005  0.011  0.006 -1.029]
+t: 205	 action: [ 1.823e-02 -3.896e-02  4.119e-02  2.333e-04  2.360e-02  8.403e-03 -1.039e+00]
+t: 206	 action: [-0.004 -0.006 -0.009  0.004  0.019  0.005 -1.038]
+t: 207	 action: [ 0.001 -0.01   0.027  0.008  0.025  0.007 -1.069]
+t: 208	 action: [-0.004 -0.005  0.027  0.003  0.024  0.003 -1.032]
+t: 209	 action: [-9.887e-03 -4.025e-04  6.013e-02  9.027e-03  3.349e-02  6.793e-03 -1.062e+00]
+t: 210	 action: [ 5.694e-03 -8.927e-04 -2.101e-02  4.887e-03  5.283e-03  6.364e-03 -1.040e+00]
+t: 211	 action: [ 2.234e-02 -3.052e-02  6.750e-03  9.680e-04  1.281e-02  3.141e-03 -1.055e+00]
+t: 212	 action: [-0.002  0.01   0.006  0.004  0.011  0.008 -1.031]
+t: 213	 action: [ 0.025 -0.034  0.04   0.001  0.019  0.008 -1.048]
+t: 214	 action: [ 8.673e-03  5.595e-03  1.048e-02  5.709e-04  2.027e-02  2.814e-03 -1.043e+00]
+t: 215	 action: [-0.005  0.005  0.011  0.009  0.013  0.003 -1.069]
+t: 216	 action: [-6.184e-03  8.582e-03  3.521e-02  6.614e-04  2.642e-02  1.777e-03 -1.032e+00]
+t: 217	 action: [-0.016  0.008  0.043  0.01   0.026  0.009 -1.058]
+[07-31 01:34:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9949
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 0.988 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=218: Selected seed 195 with value = 0.9949
+t: 218	 action: [-1.808e-02 -9.255e-05 -4.585e-02  4.355e-03 -2.718e-04  7.137e-03 -1.036e+00]
+t: 219	 action: [ 5.113e-03 -3.030e-02 -1.103e-02 -5.219e-05  1.144e-02  3.806e-03 -1.046e+00]
+t: 220	 action: [-1.324e-02  1.023e-03 -1.051e-02  4.318e-03  4.388e-03  5.349e-03 -1.031e+00]
+t: 221	 action: [ 0.013 -0.035  0.038 -0.001  0.015  0.006 -1.039]
+t: 222	 action: [-0.019 -0.009 -0.025  0.004  0.012  0.004 -1.04 ]
+t: 223	 action: [-0.01  -0.01   0.012  0.007  0.012  0.004 -1.07 ]
+t: 224	 action: [-0.019 -0.009  0.02   0.002  0.015  0.002 -1.035]
+t: 225	 action: [-1.536e-02 -6.080e-04  5.350e-02  8.411e-03  1.701e-02  3.838e-03 -1.061e+00]
+t: 226	 action: [-0.003 -0.002 -0.019  0.003 -0.002  0.004 -1.038]
+t: 227	 action: [ 2.042e-02 -3.044e-02  3.502e-03 -8.952e-04  5.021e-03 -3.208e-04 -1.053e+00]
+t: 228	 action: [-8.087e-03  7.535e-03  1.485e-02  2.524e-03  6.525e-04  6.495e-03 -1.031e+00]
+t: 229	 action: [ 2.104e-02 -3.177e-02  4.156e-02 -6.136e-04  1.119e-02  5.367e-03 -1.047e+00]
+t: 230	 action: [ 1.055e-03  1.481e-03  9.634e-03 -9.686e-04  1.186e-02  1.022e-03 -1.044e+00]
+t: 231	 action: [-1.045e-02  5.197e-03  1.001e-02  7.671e-03  1.816e-03 -7.834e-04 -1.070e+00]
+t: 232	 action: [-1.238e-02  5.207e-03  4.657e-02 -2.883e-04  1.670e-02  4.767e-04 -1.033e+00]
+t: 233	 action: [-0.022  0.01   0.049  0.009  0.009  0.006 -1.057]
+[07-31 01:34:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9928
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=234: Selected seed 195 with value = 0.9928
+t: 234	 action: [-0.019 -0.001 -0.056  0.004 -0.001  0.007 -1.037]
+t: 235	 action: [ 3.626e-03 -3.403e-02 -1.697e-02  7.669e-05  9.599e-03  2.746e-03 -1.045e+00]
+t: 236	 action: [-1.379e-02 -9.508e-04 -1.299e-02  3.923e-03  2.551e-03  5.655e-03 -1.031e+00]
+t: 237	 action: [ 1.151e-02 -3.781e-02  3.818e-02 -5.984e-04  1.252e-02  4.507e-03 -1.040e+00]
+t: 238	 action: [-0.023 -0.012 -0.027  0.003  0.01   0.003 -1.04 ]
+t: 239	 action: [-0.014 -0.011  0.01   0.008  0.006  0.002 -1.07 ]
+t: 240	 action: [-0.025 -0.01   0.02   0.002  0.012  0.002 -1.035]
+t: 241	 action: [-0.022 -0.002  0.055  0.009  0.009  0.002 -1.061]
+t: 242	 action: [-0.006 -0.004 -0.027  0.003 -0.004  0.003 -1.039]
+t: 243	 action: [ 2.047e-02 -3.341e-02 -1.597e-02 -4.431e-04 -9.335e-04 -1.290e-03 -1.052e+00]
+t: 244	 action: [-0.01   0.004  0.008  0.003 -0.002  0.006 -1.031]
+t: 245	 action: [ 1.716e-02 -3.586e-02  3.602e-02  7.816e-05  6.019e-03  4.909e-03 -1.046e+00]
+t: 246	 action: [-6.652e-03 -3.167e-04  2.030e-03 -8.286e-04  9.060e-03  3.144e-04 -1.045e+00]
+t: 247	 action: [-0.016  0.003  0.006  0.009 -0.003 -0.001 -1.069]
+t: 248	 action: [-2.242e-02  2.947e-03  4.139e-02  7.804e-04  1.325e-02  1.187e-04 -1.034e+00]
+t: 249	 action: [-0.031  0.007  0.043  0.01   0.001  0.006 -1.051]
+[07-31 01:34:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9931
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=250: Selected seed 195 with value = 0.9931
+t: 250	 action: [-0.017  0.005 -0.039  0.003 -0.002  0.007 -1.038]
+t: 251	 action: [ 4.180e-03 -3.042e-02  2.927e-04 -6.966e-04  9.074e-03  1.964e-03 -1.045e+00]
+t: 252	 action: [-0.009  0.006 -0.001  0.004  0.002  0.005 -1.033]
+t: 253	 action: [ 1.413e-02 -3.328e-02  4.395e-02 -8.962e-04  1.236e-02  3.721e-03 -1.039e+00]
+t: 254	 action: [-0.018 -0.008 -0.019  0.003  0.007  0.003 -1.042]
+t: 255	 action: [-0.011 -0.006  0.018  0.007  0.005  0.002 -1.069]
+t: 256	 action: [-0.02  -0.007  0.026  0.002  0.01   0.001 -1.037]
+t: 257	 action: [-0.018  0.003  0.065  0.009  0.008  0.001 -1.06 ]
+t: 258	 action: [-0.002 -0.003 -0.019  0.003 -0.006  0.003 -1.039]
+t: 259	 action: [ 2.155e-02 -3.058e-02 -3.289e-03 -6.328e-04 -2.462e-03 -2.062e-03 -1.052e+00]
+t: 260	 action: [-0.003  0.004  0.017  0.003 -0.004  0.006 -1.033]
+t: 261	 action: [ 2.158e-02 -3.152e-02  4.112e-02  2.258e-04  5.431e-03  4.135e-03 -1.044e+00]
+t: 262	 action: [-1.486e-03 -1.255e-03  5.782e-03 -1.677e-03  6.640e-03  3.740e-05 -1.045e+00]
+t: 263	 action: [-0.013  0.006  0.01   0.008 -0.003 -0.002 -1.067]
+t: 264	 action: [-1.548e-02  2.767e-03  4.482e-02  2.666e-04  1.086e-02 -2.446e-04 -1.035e+00]
+t: 265	 action: [-0.026  0.012  0.05   0.011  0.001  0.005 -1.051]
+[07-31 01:34:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=266: Selected seed 195 with value = 0.9936
+t: 266	 action: [-0.014  0.01  -0.047  0.003 -0.002  0.007 -1.037]
+t: 267	 action: [ 0.004 -0.022 -0.011 -0.003  0.009  0.004 -1.044]
+t: 268	 action: [-8.889e-03  1.328e-02 -1.298e-04  3.007e-03  4.358e-04  5.425e-03 -1.033e+00]
+t: 269	 action: [ 0.014 -0.025  0.045 -0.003  0.012  0.005 -1.038]
+t: 270	 action: [-0.017 -0.001 -0.025  0.001  0.005  0.003 -1.04 ]
+t: 271	 action: [-0.011  0.002  0.013  0.006  0.003  0.003 -1.067]
+t: 272	 action: [-1.795e-02 -1.057e-03  2.806e-02 -2.294e-04  7.757e-03  1.600e-03 -1.036e+00]
+t: 273	 action: [-0.014  0.011  0.07   0.008  0.006  0.002 -1.058]
+t: 274	 action: [-6.101e-04 -2.531e-03 -1.839e-02  1.382e-03 -7.363e-03  3.925e-03 -1.039e+00]
+t: 275	 action: [ 0.022 -0.026 -0.006 -0.002 -0.005 -0.001 -1.05 ]
+t: 276	 action: [-0.002  0.007  0.02   0.001 -0.007  0.006 -1.032]
+t: 277	 action: [ 0.024 -0.024  0.043 -0.001  0.003  0.005 -1.044]
+t: 278	 action: [-1.108e-03  1.258e-03  5.991e-03 -3.491e-03  3.303e-03  6.467e-04 -1.044e+00]
+t: 279	 action: [-0.013  0.013  0.009  0.007 -0.005 -0.002 -1.066]
+t: 280	 action: [-1.397e-02  3.918e-03  4.909e-02 -1.330e-03  7.516e-03  4.299e-05 -1.035e+00]
+t: 281	 action: [-2.192e-02  1.914e-02  5.581e-02  9.076e-03 -2.406e-04  4.832e-03 -1.053e+00]
+[07-31 01:34:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.121 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9939
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 1.121 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=282: Selected seed 195 with value = 0.9939
+t: 282	 action: [-0.021  0.012 -0.058  0.002 -0.003  0.007 -1.037]
+t: 283	 action: [-0.003 -0.019 -0.015 -0.003  0.007  0.006 -1.043]
+t: 284	 action: [-0.018  0.015 -0.005  0.003 -0.002  0.006 -1.032]
+t: 285	 action: [ 0.007 -0.021  0.044 -0.003  0.01   0.006 -1.037]
+t: 286	 action: [-2.428e-02  1.830e-03 -2.913e-02  8.197e-04  3.041e-03  3.632e-03 -1.041e+00]
+t: 287	 action: [-1.388e-02  5.937e-03  1.116e-02  4.809e-03  8.438e-04  4.338e-03 -1.067e+00]
+t: 288	 action: [-2.397e-02  1.690e-03  2.803e-02 -7.962e-04  4.618e-03  2.220e-03 -1.036e+00]
+t: 289	 action: [-0.014  0.015  0.073  0.007  0.002  0.003 -1.059]
+t: 290	 action: [-0.009 -0.003 -0.02   0.001 -0.01   0.005 -1.038]
+t: 291	 action: [ 1.599e-02 -2.436e-02 -4.598e-03 -2.616e-03 -8.076e-03 -2.329e-04 -1.048e+00]
+t: 292	 action: [-8.890e-03  7.550e-03  1.927e-02  4.601e-04 -9.750e-03  7.112e-03 -1.032e+00]
+t: 293	 action: [ 2.134e-02 -2.060e-02  4.391e-02 -1.734e-03 -6.334e-04  5.634e-03 -1.043e+00]
+t: 294	 action: [-5.044e-03  1.460e-03  5.347e-03 -4.071e-03  3.850e-04  1.442e-03 -1.044e+00]
+t: 295	 action: [-0.015  0.015  0.01   0.006 -0.008 -0.001 -1.065]
+t: 296	 action: [-1.664e-02  3.989e-03  5.023e-02 -1.929e-03  4.065e-03  4.952e-04 -1.035e+00]
+t: 297	 action: [-0.023  0.024  0.059  0.009 -0.002  0.006 -1.053]
+[07-31 01:34:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.033 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9936
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 44
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 88%|████████▊ | 44/50 [23:30<03:12, 32.10s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 45...
+Query 1/1: Action query time = 1.033 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=298: Selected seed 195 with value = 0.9936
+t: 298	 action: [-0.02   0.014 -0.078  0.002 -0.003  0.007 -1.038]
+t: 299	 action: [-0.004 -0.013 -0.054 -0.001  0.006  0.006 -1.041]
+t: 300	 action: [-0.02   0.017 -0.02   0.003 -0.003  0.006 -1.033]
+t: 301	 action: [ 0.004 -0.016  0.034 -0.003  0.008  0.006 -1.037]
+t: 302	 action: [-2.517e-02  5.668e-03 -4.931e-02  9.686e-04  2.007e-03  3.357e-03 -1.041e+00]
+t: 303	 action: [-1.535e-02  1.340e-02 -4.737e-03  5.757e-03 -7.467e-04  3.680e-03 -1.066e+00]
+t: 304	 action: [-2.740e-02  3.710e-03  1.228e-02 -9.220e-04  2.258e-03  1.844e-03 -1.037e+00]
+t: 305	 action: [-1.552e-02  1.940e-02  4.898e-02  6.899e-03  3.087e-04  2.101e-03 -1.058e+00]
+t: 306	 action: [-0.012 -0.003 -0.033  0.002 -0.011  0.005 -1.039]
+t: 307	 action: [ 1.420e-02 -2.223e-02 -2.895e-02 -2.149e-03 -1.017e-02 -9.179e-04 -1.047e+00]
+t: 308	 action: [-1.317e-02  9.083e-03  7.097e-03  3.651e-04 -1.248e-02  6.902e-03 -1.033e+00]
+t: 309	 action: [ 0.02  -0.017  0.035 -0.001 -0.004  0.005 -1.043]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=44--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=44--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 45...
+[07-31 01:34:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4884
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4884
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4884
+t=10: Selected seed 195 with value = 0.4884
+t: 10	 action: [ 0.039  0.021 -0.035  0.006 -0.01   0.002 -1.013]
+t: 11	 action: [ 1.505e-01  2.036e-02 -8.167e-03 -1.789e-03  7.183e-05 -7.872e-03 -1.024e+00]
+t: 12	 action: [ 0.299  0.112 -0.035  0.004 -0.012  0.005 -1.018]
+t: 13	 action: [ 0.408  0.171 -0.008 -0.002 -0.002 -0.007 -1.028]
+t: 14	 action: [ 5.028e-01  2.613e-01 -4.566e-02 -1.949e-03 -1.516e-02  5.673e-04 -1.029e+00]
+t: 15	 action: [ 6.279e-01  3.677e-01 -1.814e-02  1.821e-05 -8.443e-03 -4.077e-03 -1.053e+00]
+t: 16	 action: [ 0.72   0.476 -0.041 -0.004 -0.012  0.001 -1.021]
+t: 17	 action: [ 0.775  0.501 -0.021  0.002 -0.009 -0.003 -1.059]
+t: 18	 action: [ 0.767  0.511 -0.01   0.003 -0.006  0.006 -1.022]
+t: 19	 action: [ 7.960e-01  5.336e-01 -1.172e-02 -5.633e-03  2.385e-03  6.753e-04 -1.030e+00]
+t: 20	 action: [ 0.796  0.543 -0.033 -0.005 -0.005  0.007 -1.021]
+t: 21	 action: [ 8.248e-01  5.640e-01 -2.363e-02 -7.433e-03  3.460e-03  4.176e-04 -1.027e+00]
+t: 22	 action: [ 8.203e-01  5.551e-01 -6.867e-02 -8.973e-04 -2.317e-03  4.848e-03 -1.010e+00]
+t: 23	 action: [ 8.468e-01  5.636e-01 -7.783e-02 -9.767e-05 -5.610e-03  2.547e-03 -1.049e+00]
+t: 24	 action: [ 8.347e-01  5.457e-01 -1.222e-01 -4.627e-03 -8.536e-04  2.861e-03 -1.011e+00]
+t: 25	 action: [ 8.723e-01  5.326e-01 -1.246e-01 -6.603e-04 -5.887e-03  3.064e-03 -1.057e+00]
+[07-31 01:34:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5372
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5372
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5372
+t=26: Selected seed 195 with value = 0.5372
+t: 26	 action: [ 0.84   0.501 -0.153  0.007 -0.016  0.011 -1.037]
+t: 27	 action: [ 0.799  0.491 -0.167  0.006 -0.006  0.003 -1.03 ]
+t: 28	 action: [ 0.783  0.435 -0.268  0.011 -0.019  0.011 -1.042]
+t: 29	 action: [ 0.689  0.371 -0.277  0.008 -0.006 -0.002 -1.038]
+t: 30	 action: [ 5.855e-01  2.629e-01 -3.939e-01  1.945e-03 -1.021e-02 -5.341e-05 -1.028e+00]
+t: 31	 action: [ 0.476  0.193 -0.467  0.015 -0.004 -0.004 -1.054]
+t: 32	 action: [ 0.328  0.15  -0.622  0.004 -0.01  -0.001 -1.035]
+t: 33	 action: [ 0.231  0.068 -0.713  0.022 -0.008 -0.009 -1.059]
+t: 34	 action: [ 0.129  0.02  -0.801  0.006 -0.024 -0.012 -1.031]
+t: 35	 action: [ 0.048 -0.053 -0.854  0.011 -0.017 -0.021 -1.031]
+t: 36	 action: [-0.063 -0.073 -0.898  0.007 -0.027 -0.013 -1.033]
+t: 37	 action: [-0.135 -0.108 -0.979  0.012 -0.02  -0.02  -1.031]
+t: 38	 action: [-0.206 -0.177 -0.917  0.006 -0.029 -0.013 -1.032]
+t: 39	 action: [-0.296 -0.08  -0.919  0.03  -0.029 -0.026 -1.048]
+t: 40	 action: [-0.394 -0.18  -0.914  0.01  -0.027 -0.011 -1.03 ]
+t: 41	 action: [-0.41  -0.077 -0.934  0.029 -0.026 -0.021 -1.052]
+[07-31 01:34:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6279
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6279
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6279
+t=42: Selected seed 195 with value = 0.6279
+t: 42	 action: [-0.022  0.07  -0.99   0.018 -0.033  0.006 -1.043]
+t: 43	 action: [-1.926e-02  6.401e-02 -1.014e+00  1.115e-02 -1.899e-02  3.419e-04 -1.044e+00]
+t: 44	 action: [-0.059  0.065 -0.963  0.008 -0.021  0.007 -1.034]
+t: 45	 action: [-0.066  0.078 -0.95   0.005 -0.002  0.003 -1.041]
+t: 46	 action: [-8.670e-02  1.098e-01 -8.340e-01 -4.625e-04 -6.335e-03 -1.850e-03 -1.031e+00]
+t: 47	 action: [-0.115  0.166 -0.861  0.001 -0.004 -0.006 -1.06 ]
+t: 48	 action: [-0.114  0.124 -0.735 -0.006 -0.003 -0.002 -1.028]
+t: 49	 action: [-0.172  0.17  -0.739 -0.004  0.001 -0.01  -1.053]
+t: 50	 action: [-1.377e-01  6.997e-02 -6.455e-01  9.235e-05  3.689e-06  1.739e-03 -1.048e+00]
+t: 51	 action: [-1.747e-01  5.009e-02 -6.851e-01 -7.009e-03  3.316e-04  9.547e-03 -1.154e+00]
+t: 52	 action: [-0.271  0.031 -0.591  0.001 -0.001  0.002 -1.171]
+t: 53	 action: [-0.35  -0.003 -0.612 -0.004  0.002  0.008 -1.162]
+t: 54	 action: [-0.331  0.011 -0.581 -0.01  -0.005 -0.012 -1.042]
+t: 55	 action: [-3.785e-01  1.638e-02 -5.509e-01 -5.860e-03 -5.138e-03 -9.534e-04  1.233e+00]
+t: 56	 action: [-0.347 -0.005 -0.494 -0.008 -0.004 -0.011  1.131]
+t: 57	 action: [-2.919e-01 -1.366e-02 -4.023e-01 -4.568e-03 -6.009e-03  9.764e-04  1.208e+00]
+[07-31 01:34:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6941
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=58: Selected seed 195 with value = 0.6941
+t: 58	 action: [-0.168  0.069 -0.517 -0.003  0.025 -0.001  0.979]
+t: 59	 action: [-0.128  0.057 -0.355 -0.014  0.048 -0.01   1.021]
+t: 60	 action: [-0.115  0.003 -0.299 -0.005  0.05  -0.011  0.975]
+t: 61	 action: [-0.059 -0.006 -0.13  -0.011  0.071 -0.015  1.026]
+t: 62	 action: [-0.055 -0.027 -0.051 -0.014  0.047 -0.031  1.003]
+t: 63	 action: [-0.029 -0.035  0.021 -0.016  0.077 -0.028  1.02 ]
+t: 64	 action: [-0.026 -0.031  0.126 -0.009  0.048 -0.044  0.997]
+t: 65	 action: [-0.006 -0.048  0.14  -0.006  0.077 -0.04   1.027]
+t: 66	 action: [-0.023 -0.082  0.269 -0.003  0.054 -0.032  0.99 ]
+t: 67	 action: [ 0.012 -0.067  0.414  0.005  0.049 -0.036  1.012]
+t: 68	 action: [-0.004 -0.032  0.595 -0.004  0.039 -0.03   0.98 ]
+t: 69	 action: [ 0.014 -0.045  0.767  0.007  0.029 -0.032  1.02 ]
+t: 70	 action: [ 0.004 -0.006  0.899  0.001  0.035 -0.039  1.002]
+t: 71	 action: [-0.018 -0.022  0.921  0.023  0.031 -0.033  1.011]
+t: 72	 action: [-0.018 -0.065  0.953  0.008  0.026 -0.031  1.   ]
+t: 73	 action: [-0.077 -0.095  0.94   0.041  0.017 -0.023  1.019]
+[07-31 01:34:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8019
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8019
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8019
+t=74: Selected seed 195 with value = 0.8019
+t: 74	 action: [ 0.008 -0.456  0.9    0.027  0.004 -0.012  1.   ]
+t: 75	 action: [ 0.017 -0.534  0.988  0.034  0.006 -0.007  1.031]
+t: 76	 action: [-0.024 -0.612  0.861  0.044  0.005 -0.003  0.982]
+t: 77	 action: [-3.189e-02 -6.930e-01  8.473e-01  4.215e-02  7.424e-03 -8.011e-04  1.026e+00]
+t: 78	 action: [-0.095 -0.756  0.651  0.046  0.014 -0.007  1.012]
+t: 79	 action: [-0.152 -0.774  0.478  0.05   0.004  0.001  1.023]
+t: 80	 action: [-0.173 -0.775  0.217  0.032  0.008 -0.001  0.99 ]
+t: 81	 action: [-0.217 -0.758  0.056  0.036 -0.002  0.008  1.026]
+t: 82	 action: [-0.215 -0.73  -0.025  0.046 -0.016  0.005  0.996]
+t: 83	 action: [-0.268 -0.695 -0.133  0.033 -0.012  0.002  1.03 ]
+t: 84	 action: [-0.259 -0.588 -0.296  0.027 -0.019  0.005  0.976]
+t: 85	 action: [-0.301 -0.545 -0.43   0.02  -0.006  0.007  1.043]
+t: 86	 action: [-0.331 -0.364 -0.455  0.008 -0.022  0.005  1.012]
+t: 87	 action: [-0.292 -0.314 -0.582  0.014 -0.017  0.013  1.026]
+t: 88	 action: [-0.279 -0.17  -0.603 -0.003 -0.017  0.003  0.99 ]
+t: 89	 action: [-1.714e-01 -1.236e-01 -6.166e-01  3.688e-04 -1.046e-02  1.363e-02  1.036e+00]
+[07-31 01:34:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9127
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9127
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9127
+t=90: Selected seed 195 with value = 0.9127
+t: 90	 action: [-2.081e-01 -2.679e-01 -8.329e-01  6.972e-04 -2.105e-02  4.931e-04  9.972e-01]
+t: 91	 action: [-0.197 -0.139 -0.736 -0.012 -0.007 -0.009  1.04 ]
+t: 92	 action: [-0.193 -0.07  -0.697 -0.008 -0.014  0.003  0.997]
+t: 93	 action: [-0.176 -0.053 -0.557 -0.019 -0.001 -0.005  1.034]
+t: 94	 action: [-0.146  0.034 -0.335 -0.03   0.019 -0.007  1.005]
+t: 95	 action: [-0.098  0.014 -0.241 -0.025  0.02  -0.005  1.016]
+t: 96	 action: [-0.079  0.017 -0.122 -0.032  0.047 -0.006  1.003]
+t: 97	 action: [-0.014  0.04  -0.036 -0.02   0.061 -0.008  1.019]
+t: 98	 action: [-2.051e-02  3.724e-02 -6.231e-02 -1.563e-02  7.709e-02 -3.833e-04  1.175e+00]
+t: 99	 action: [-0.027  0.016  0.006 -0.023  0.082 -0.013  1.024]
+t: 100	 action: [ 7.036e-02  5.810e-02  5.845e-02 -2.275e-02  9.115e-02  6.952e-04 -8.586e-01]
+t: 101	 action: [ 0.097  0.023  0.138 -0.018  0.096 -0.016 -1.033]
+t: 102	 action: [ 0.064  0.056  0.236 -0.037  0.078 -0.032 -1.223]
+t: 103	 action: [ 0.079  0.084  0.387 -0.021  0.077 -0.036 -1.124]
+t: 104	 action: [ 0.131  0.028  0.438 -0.018  0.074 -0.034 -1.055]
+t: 105	 action: [ 0.155  0.073  0.494 -0.012  0.091 -0.027 -1.055]
+[07-31 01:34:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9920
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=106: Selected seed 195 with value = 0.9920
+t: 106	 action: [ 0.144  0.075  0.273 -0.002  0.111 -0.013  1.046]
+t: 107	 action: [ 0.154  0.045  0.292 -0.002  0.111 -0.03   0.935]
+t: 108	 action: [ 1.649e-01  4.609e-02  3.759e-01 -1.522e-05  9.377e-02 -2.439e-02 -1.047e+00]
+t: 109	 action: [ 0.166  0.027  0.397  0.006  0.09  -0.031 -1.023]
+t: 110	 action: [ 0.166  0.017  0.355  0.002  0.068 -0.039 -1.104]
+t: 111	 action: [ 0.111  0.054  0.377  0.001  0.062 -0.033 -1.126]
+t: 112	 action: [ 0.164  0.019  0.334  0.003  0.057 -0.042 -1.039]
+t: 113	 action: [ 0.118  0.043  0.325  0.01   0.05  -0.035 -1.055]
+t: 114	 action: [ 0.143  0.03   0.296  0.013  0.057 -0.021 -1.037]
+t: 115	 action: [ 0.092  0.004  0.26   0.012  0.053 -0.03  -1.036]
+t: 116	 action: [ 0.096  0.026  0.21   0.007  0.039 -0.022 -1.047]
+t: 117	 action: [ 0.061  0.009  0.167  0.008  0.037 -0.028 -1.026]
+t: 118	 action: [ 0.06   0.028  0.116  0.004  0.024 -0.021 -1.039]
+t: 119	 action: [ 0.044  0.039  0.129  0.005  0.014 -0.024 -1.058]
+t: 120	 action: [ 5.080e-02  2.538e-02  8.056e-02 -3.555e-04  2.089e-02 -1.860e-02 -1.046e+00]
+t: 121	 action: [ 0.022  0.041  0.095  0.002  0.009 -0.019 -1.059]
+[07-31 01:34:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.018  0.025  0.086  0.002  0.026  0.004 -1.047]
+t: 123	 action: [ 7.616e-03 -5.966e-03  7.900e-02 -5.467e-04  1.574e-02 -3.848e-04 -1.046e+00]
+t: 124	 action: [-9.146e-04  1.900e-02  3.770e-02  1.281e-03  1.274e-02  1.261e-03 -1.042e+00]
+t: 125	 action: [ 0.002 -0.015  0.055  0.001  0.011 -0.004 -1.035]
+t: 126	 action: [-9.492e-03  1.986e-02  3.095e-02  8.172e-05  2.366e-05 -2.247e-03 -1.043e+00]
+t: 127	 action: [-2.408e-02  9.429e-03  6.588e-02  5.465e-03  5.166e-04 -2.127e-04 -1.061e+00]
+t: 128	 action: [-0.018  0.017  0.03   0.002  0.002 -0.004 -1.041]
+t: 129	 action: [-0.024  0.012  0.062  0.008  0.002 -0.006 -1.054]
+t: 130	 action: [ 0.011  0.013  0.039  0.006  0.008  0.005 -1.051]
+t: 131	 action: [ 4.674e-03 -1.755e-02  5.379e-02  6.397e-04  9.217e-03 -7.403e-03 -1.046e+00]
+t: 132	 action: [-0.007  0.013  0.029  0.004  0.002  0.002 -1.049]
+t: 133	 action: [ 0.005 -0.017  0.05   0.002  0.01  -0.007 -1.039]
+t: 134	 action: [-1.086e-02  1.161e-02  2.450e-02  2.209e-03  8.823e-04 -2.217e-03 -1.052e+00]
+t: 135	 action: [-0.025  0.013  0.068  0.005 -0.003 -0.011 -1.063]
+t: 136	 action: [-1.848e-02  1.189e-02  2.982e-02  9.108e-04  2.827e-05 -6.004e-03 -1.049e+00]
+t: 137	 action: [-2.479e-02  1.802e-02  7.092e-02  6.898e-03 -4.595e-04 -9.684e-03 -1.061e+00]
+[07-31 01:34:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [-1.593e-02  3.369e-02  8.640e-03  7.685e-04  4.175e-03  3.545e-03 -1.047e+00]
+t: 139	 action: [-0.004  0.014  0.014 -0.006  0.004  0.006 -1.044]
+t: 140	 action: [-0.031  0.027 -0.013  0.002 -0.003  0.002 -1.041]
+t: 141	 action: [-0.014  0.002  0.019 -0.004  0.002  0.005 -1.036]
+t: 142	 action: [-3.272e-02  3.841e-02 -1.577e-02 -9.599e-04 -9.262e-03  1.648e-03 -1.046e+00]
+t: 143	 action: [-3.725e-02  2.897e-02  1.819e-02  7.875e-04 -9.683e-03  5.673e-03 -1.060e+00]
+t: 144	 action: [-4.039e-02  2.833e-02 -1.204e-02  3.871e-05 -9.101e-03  6.202e-04 -1.043e+00]
+t: 145	 action: [-0.041  0.026  0.025  0.004 -0.008  0.002 -1.054]
+t: 146	 action: [-0.004  0.014  0.003  0.005 -0.005  0.008 -1.05 ]
+t: 147	 action: [-3.725e-03 -3.894e-03  3.334e-02 -4.125e-03  1.975e-03  6.093e-04 -1.045e+00]
+t: 148	 action: [-0.028  0.015 -0.005  0.004 -0.011  0.005 -1.046]
+t: 149	 action: [-0.01  -0.002  0.036 -0.003  0.003  0.002 -1.04 ]
+t: 150	 action: [-0.029  0.016 -0.005  0.001 -0.008  0.002 -1.054]
+t: 151	 action: [-0.042  0.025  0.044  0.002 -0.011 -0.004 -1.065]
+t: 152	 action: [-3.834e-02  1.912e-02 -1.153e-03 -2.464e-04 -1.123e-02 -1.858e-03 -1.050e+00]
+t: 153	 action: [-0.043  0.03   0.046  0.003 -0.009 -0.002 -1.061]
+[07-31 01:34:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9984
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.995 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=154: Selected seed 195 with value = 0.9984
+t: 154	 action: [-1.488e-02  3.336e-02 -3.538e-02  1.774e-04  2.188e-03  3.973e-03 -1.043e+00]
+t: 155	 action: [-0.001  0.019 -0.035 -0.007  0.002  0.004 -1.046]
+t: 156	 action: [-0.033  0.028 -0.051  0.002 -0.004  0.002 -1.039]
+t: 157	 action: [-1.744e-02  4.869e-03 -2.623e-02 -5.242e-03  3.093e-04  4.408e-03 -1.038e+00]
+t: 158	 action: [-3.672e-02  3.592e-02 -6.189e-02 -8.159e-04 -1.054e-02  1.755e-03 -1.045e+00]
+t: 159	 action: [-3.986e-02  2.723e-02 -2.288e-02  3.968e-04 -1.268e-02  4.668e-03 -1.062e+00]
+t: 160	 action: [-4.477e-02  2.650e-02 -5.520e-02  2.680e-04 -1.147e-02  1.216e-03 -1.042e+00]
+t: 161	 action: [-0.048  0.024 -0.01   0.003 -0.012  0.002 -1.055]
+t: 162	 action: [-0.012  0.012 -0.039  0.005 -0.01   0.008 -1.045]
+t: 163	 action: [-6.600e-03 -7.172e-03  3.765e-03 -4.872e-03 -1.454e-03  5.279e-06 -1.047e+00]
+t: 164	 action: [-0.034  0.014 -0.042  0.005 -0.016  0.005 -1.046]
+t: 165	 action: [-1.256e-02 -5.732e-03  1.891e-02 -4.284e-03 -1.704e-03  8.259e-04 -1.042e+00]
+t: 166	 action: [-0.039  0.013 -0.048  0.001 -0.014  0.002 -1.053]
+t: 167	 action: [-0.048  0.022  0.004  0.002 -0.017 -0.004 -1.064]
+t: 168	 action: [-4.653e-02  1.641e-02 -3.845e-02 -3.846e-04 -1.717e-02 -3.463e-03 -1.050e+00]
+t: 169	 action: [-0.052  0.026  0.013  0.003 -0.016 -0.003 -1.061]
+[07-31 01:34:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9974
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=170: Selected seed 195 with value = 0.9974
+t: 170	 action: [-0.008  0.029 -0.036  0.001  0.002  0.005 -1.046]
+t: 171	 action: [ 2.338e-03  1.669e-02 -4.247e-02 -6.718e-03  1.490e-03  3.747e-04 -1.047e+00]
+t: 172	 action: [-0.027  0.026 -0.051  0.003 -0.003  0.002 -1.039]
+t: 173	 action: [-1.420e-02  4.512e-03 -3.210e-02 -4.905e-03  6.830e-04 -3.472e-04 -1.040e+00]
+t: 174	 action: [-3.043e-02  2.828e-02 -6.292e-02 -1.411e-04 -9.352e-03  8.337e-04 -1.046e+00]
+t: 175	 action: [-0.036  0.022 -0.023  0.001 -0.013  0.001 -1.06 ]
+t: 176	 action: [-3.643e-02  2.322e-02 -5.660e-02  5.848e-04 -9.756e-03 -1.127e-03 -1.043e+00]
+t: 177	 action: [-0.042  0.024 -0.011  0.003 -0.012 -0.002 -1.055]
+t: 178	 action: [-0.015  0.012 -0.046  0.006 -0.01   0.007 -1.048]
+t: 179	 action: [-0.008 -0.004 -0.005 -0.005 -0.001 -0.005 -1.05 ]
+t: 180	 action: [-0.033  0.015 -0.045  0.005 -0.015  0.003 -1.047]
+t: 181	 action: [-0.009 -0.005  0.018 -0.004 -0.001 -0.004 -1.044]
+t: 182	 action: [-3.695e-02  1.247e-02 -5.293e-02  1.642e-03 -1.433e-02 -6.610e-04 -1.055e+00]
+t: 183	 action: [-0.047  0.024  0.003  0.002 -0.018 -0.008 -1.064]
+t: 184	 action: [-4.111e-02  1.487e-02 -4.043e-02 -2.587e-04 -1.693e-02 -6.653e-03 -1.051e+00]
+t: 185	 action: [-0.049  0.028  0.016  0.003 -0.016 -0.007 -1.061]
+[07-31 01:34:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9964
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=186: Selected seed 195 with value = 0.9964
+t: 186	 action: [-0.008  0.023 -0.032  0.002  0.001  0.006 -1.047]
+t: 187	 action: [-7.716e-04  1.562e-02 -4.697e-02 -5.223e-03  3.071e-04 -2.811e-03 -1.049e+00]
+t: 188	 action: [-0.029  0.025 -0.052  0.002 -0.003  0.002 -1.039]
+t: 189	 action: [-1.966e-02  6.621e-03 -4.419e-02 -4.039e-03  1.178e-04 -3.779e-03 -1.041e+00]
+t: 190	 action: [-3.322e-02  2.366e-02 -6.502e-02 -4.415e-04 -8.983e-03  5.122e-04 -1.048e+00]
+t: 191	 action: [-0.042  0.021 -0.028  0.002 -0.015 -0.001 -1.061]
+t: 192	 action: [-3.878e-02  2.201e-02 -6.570e-02  4.274e-05 -8.381e-03 -2.222e-03 -1.042e+00]
+t: 193	 action: [-0.046  0.026 -0.018  0.004 -0.012 -0.005 -1.056]
+t: 194	 action: [-0.026  0.014 -0.053  0.005 -0.01   0.006 -1.048]
+t: 195	 action: [-0.021  0.002 -0.022 -0.004 -0.003 -0.008 -1.05 ]
+t: 196	 action: [-0.042  0.016 -0.051  0.005 -0.014  0.001 -1.048]
+t: 197	 action: [-0.017 -0.002  0.008 -0.003 -0.002 -0.007 -1.044]
+t: 198	 action: [-4.409e-02  1.380e-02 -6.614e-02  2.327e-04 -1.467e-02 -2.483e-03 -1.055e+00]
+t: 199	 action: [-0.056  0.026 -0.005  0.003 -0.021 -0.01  -1.063]
+t: 200	 action: [-0.046  0.014 -0.052 -0.001 -0.016 -0.009 -1.052]
+t: 201	 action: [-0.054  0.03   0.009  0.003 -0.017 -0.009 -1.059]
+[07-31 01:34:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9954
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=202: Selected seed 195 with value = 0.9954
+t: 202	 action: [-5.854e-04  1.891e-02 -1.015e-02  2.019e-04  1.779e-03  5.534e-03 -1.049e+00]
+t: 203	 action: [-1.137e-03  1.655e-02 -3.201e-02 -5.543e-03  4.225e-04 -6.229e-03 -1.049e+00]
+t: 204	 action: [-2.733e-02  2.387e-02 -2.992e-02  2.643e-04 -1.653e-03  2.255e-03 -1.039e+00]
+t: 205	 action: [-2.223e-02  1.185e-02 -3.525e-02 -4.964e-03  4.407e-04 -7.350e-03 -1.041e+00]
+t: 206	 action: [-3.218e-02  2.161e-02 -5.049e-02 -2.023e-03 -8.685e-03  5.489e-05 -1.050e+00]
+t: 207	 action: [-0.048  0.023 -0.022  0.002 -0.015 -0.004 -1.062]
+t: 208	 action: [-0.04   0.025 -0.053 -0.002 -0.008 -0.004 -1.043]
+t: 209	 action: [-0.052  0.032 -0.016  0.003 -0.012 -0.009 -1.056]
+t: 210	 action: [-0.04   0.023 -0.049  0.003 -0.008  0.003 -1.049]
+t: 211	 action: [-0.042  0.014 -0.027 -0.005 -0.003 -0.012 -1.051]
+t: 212	 action: [-0.054  0.025 -0.039  0.001 -0.013 -0.002 -1.048]
+t: 213	 action: [-0.032  0.008  0.012 -0.005 -0.003 -0.011 -1.046]
+t: 214	 action: [-0.055  0.021 -0.066 -0.003 -0.015 -0.005 -1.057]
+t: 215	 action: [-0.074  0.035 -0.007  0.002 -0.021 -0.013 -1.063]
+t: 216	 action: [-0.054  0.02  -0.048 -0.005 -0.015 -0.012 -1.053]
+t: 217	 action: [-0.065  0.038  0.015  0.002 -0.018 -0.012 -1.057]
+[07-31 01:34:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9924
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=218: Selected seed 195 with value = 0.9924
+t: 218	 action: [ 1.489e-02  1.845e-02  3.287e-04 -3.380e-03  3.417e-03  4.396e-03 -1.049e+00]
+t: 219	 action: [ 5.180e-03  2.303e-02 -1.946e-02 -7.514e-03  8.800e-04 -8.313e-03 -1.050e+00]
+t: 220	 action: [-1.834e-02  2.301e-02 -1.599e-02 -5.348e-03  1.009e-03  1.787e-03 -1.034e+00]
+t: 221	 action: [-2.039e-02  1.718e-02 -2.680e-02 -7.203e-03  7.437e-04 -7.471e-03 -1.050e+00]
+t: 222	 action: [-0.026  0.022 -0.033 -0.006 -0.008 -0.001 -1.049]
+t: 223	 action: [-4.737e-02  2.307e-02 -1.761e-02  6.694e-05 -1.563e-02 -6.286e-03 -1.065e+00]
+t: 224	 action: [-0.04   0.024 -0.039 -0.005 -0.006 -0.004 -1.033]
+t: 225	 action: [-0.058  0.033 -0.019  0.001 -0.012 -0.01  -1.072]
+t: 226	 action: [-0.049  0.029 -0.055 -0.004 -0.009  0.003 -1.048]
+t: 227	 action: [-0.057  0.022 -0.036 -0.008 -0.003 -0.013 -1.052]
+t: 228	 action: [-0.059  0.028 -0.036 -0.007 -0.013 -0.002 -1.038]
+t: 229	 action: [-0.05   0.011  0.014 -0.008 -0.003 -0.005 -0.956]
+t: 230	 action: [-0.061  0.029 -0.066 -0.01  -0.017 -0.005 -1.057]
+t: 231	 action: [-8.522e-02  3.961e-02 -1.099e-02 -4.656e-04 -2.193e-02 -1.323e-02 -1.068e+00]
+t: 232	 action: [-0.06   0.02  -0.043 -0.011 -0.016 -0.012 -1.028]
+t: 233	 action: [-7.700e-02  3.960e-02  2.120e-02  3.430e-04 -1.925e-02 -1.708e-04 -2.610e-01]
+[07-31 01:34:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9834
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=234: Selected seed 195 with value = 0.9834
+t: 234	 action: [ 3.566e-02  2.046e-02 -2.051e-02 -7.375e-04  8.504e-03 -6.566e-03 -1.047e+00]
+t: 235	 action: [ 0.02   0.044 -0.039 -0.004  0.003 -0.019 -1.053]
+t: 236	 action: [-0.001  0.027 -0.035 -0.004  0.007 -0.003 -1.036]
+t: 237	 action: [-0.002  0.036 -0.06  -0.005  0.002 -0.014 -1.057]
+t: 238	 action: [-0.016  0.03  -0.041 -0.005 -0.002 -0.007 -1.05 ]
+t: 239	 action: [-0.03   0.032 -0.055  0.002 -0.012 -0.016 -1.065]
+t: 240	 action: [-3.098e-02  3.364e-02 -5.143e-02 -7.016e-03 -8.639e-04 -6.909e-03 -1.038e+00]
+t: 241	 action: [-0.045  0.041 -0.069  0.002 -0.009 -0.014 -1.065]
+t: 242	 action: [-0.051  0.031 -0.126 -0.006 -0.007 -0.002 -1.046]
+t: 243	 action: [-0.061  0.027 -0.126 -0.007 -0.004 -0.019 -1.053]
+t: 244	 action: [-0.056  0.035 -0.091 -0.011 -0.008 -0.006 -1.034]
+t: 245	 action: [-0.039  0.021 -0.044 -0.008 -0.003  0.003 -1.065]
+t: 246	 action: [-0.062  0.034 -0.112 -0.016 -0.015 -0.007 -1.059]
+t: 247	 action: [-8.506e-02  3.976e-02 -5.731e-02 -4.333e-04 -2.164e-02 -1.685e-02 -1.067e+00]
+t: 248	 action: [-0.052  0.023 -0.073 -0.019 -0.013 -0.014 -1.031]
+t: 249	 action: [-5.808e-02  4.266e-02 -1.677e-02 -2.794e-04 -1.940e-02  1.074e-02  1.105e+00]
+[07-31 01:34:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9744
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=250: Selected seed 195 with value = 0.9744
+t: 250	 action: [ 0.059  0.014  0.02   0.003  0.015 -0.012 -1.043]
+t: 251	 action: [ 0.032  0.03  -0.013 -0.005  0.005 -0.025 -1.06 ]
+t: 252	 action: [ 3.677e-02  2.057e-02  4.201e-03 -5.768e-04  1.349e-02 -7.448e-03 -1.043e+00]
+t: 253	 action: [ 0.018  0.033 -0.03  -0.008  0.004 -0.02  -1.059]
+t: 254	 action: [-8.996e-03  2.549e-02  1.829e-03 -3.553e-03  3.721e-04 -1.029e-02 -1.047e+00]
+t: 255	 action: [-0.015  0.014 -0.021 -0.004 -0.011 -0.022 -1.067]
+t: 256	 action: [ 2.784e-03  2.852e-02 -1.108e-02 -4.241e-03 -2.037e-04 -7.910e-03 -1.044e+00]
+t: 257	 action: [-0.02   0.036 -0.04  -0.006 -0.009 -0.019 -1.065]
+t: 258	 action: [-1.511e-03  2.910e-02 -1.137e-01 -7.165e-03 -4.356e-03 -8.977e-04 -1.034e+00]
+t: 259	 action: [-0.009  0.031 -0.111 -0.012 -0.004  0.006 -1.082]
+t: 260	 action: [-0.022  0.043 -0.07  -0.011 -0.004 -0.005 -1.135]
+t: 261	 action: [-0.075  0.03  -0.012 -0.012 -0.002  0.003 -1.089]
+t: 262	 action: [-0.021  0.042 -0.087 -0.016 -0.017 -0.008 -1.039]
+t: 263	 action: [-0.048  0.034 -0.04  -0.008 -0.024  0.006  1.137]
+t: 264	 action: [-0.001  0.038 -0.043 -0.019 -0.012 -0.013  1.066]
+t: 265	 action: [-8.288e-03  5.567e-02  9.398e-04 -8.171e-03 -1.840e-02  6.565e-03  1.104e+00]
+[07-31 01:34:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9644
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9644
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9644
+t=266: Selected seed 195 with value = 0.9644
+t: 266	 action: [ 0.149 -0.018  0.17  -0.001  0.092 -0.013  0.902]
+t: 267	 action: [ 0.078 -0.027  0.183 -0.006  0.083 -0.027  0.868]
+t: 268	 action: [ 0.137  0.023  0.285 -0.003  0.072 -0.015 -1.043]
+t: 269	 action: [ 0.064  0.003  0.297 -0.006  0.053 -0.027 -1.053]
+t: 270	 action: [ 0.076  0.032  0.263  0.002  0.037 -0.01  -1.064]
+t: 271	 action: [-0.001  0.033  0.2   -0.006  0.024 -0.015 -1.122]
+t: 272	 action: [ 6.637e-02  4.097e-02  2.057e-01  1.208e-04  2.448e-02 -8.832e-03 -1.046e+00]
+t: 273	 action: [-2.893e-03  4.186e-02  1.639e-01 -1.067e-04  9.131e-03 -2.213e-02 -1.051e+00]
+t: 274	 action: [ 3.385e-02  3.296e-02  9.956e-02  8.168e-04 -6.518e-04  1.092e-02 -1.036e+00]
+t: 275	 action: [-9.682e-03  7.597e-03  1.058e-01 -8.174e-03 -4.083e-03  8.401e-04 -1.047e+00]
+t: 276	 action: [ 2.173e-02  3.365e-02  5.314e-02  2.680e-04 -8.438e-03  8.808e-03 -1.047e+00]
+t: 277	 action: [-8.699e-03  2.507e-03  6.881e-02 -8.410e-03 -1.838e-03 -9.706e-04 -1.046e+00]
+t: 278	 action: [-0.015  0.034  0.028 -0.005 -0.022  0.007 -1.057]
+t: 279	 action: [-5.755e-02  2.234e-02  5.463e-02 -7.284e-03 -2.784e-02  9.860e-04 -1.061e+00]
+t: 280	 action: [-0.019  0.029  0.041 -0.006 -0.017  0.004 -1.051]
+t: 281	 action: [-0.063  0.022  0.063 -0.007 -0.02   0.001 -1.045]
+[07-31 01:34:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.069 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9596
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 1.069 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=282: Selected seed 195 with value = 0.9596
+t: 282	 action: [ 0.086  0.064 -0.088 -0.007  0.001 -0.007 -1.045]
+t: 283	 action: [ 0.048  0.091 -0.099 -0.007  0.007 -0.018 -1.042]
+t: 284	 action: [ 7.126e-02  6.578e-02 -7.512e-02 -1.236e-02  4.063e-03 -1.015e-03 -1.051e+00]
+t: 285	 action: [ 0.037  0.081 -0.105 -0.009  0.007 -0.011 -1.045]
+t: 286	 action: [ 0.076  0.077 -0.074 -0.02  -0.003 -0.005 -1.054]
+t: 287	 action: [ 0.021  0.081 -0.099 -0.004 -0.007 -0.014 -1.07 ]
+t: 288	 action: [ 0.062  0.068 -0.082 -0.018  0.003 -0.003 -1.056]
+t: 289	 action: [ 0.013  0.075 -0.128 -0.004 -0.005 -0.009 -1.063]
+t: 290	 action: [ 0.006  0.011 -0.28  -0.004 -0.011  0.007 -1.045]
+t: 291	 action: [-0.013  0.011 -0.287 -0.008 -0.004 -0.005 -1.051]
+t: 292	 action: [-0.014  0.018 -0.245 -0.009 -0.012  0.005 -1.052]
+t: 293	 action: [-0.022  0.007 -0.248 -0.01  -0.002 -0.001 -1.049]
+t: 294	 action: [-0.011  0.017 -0.221 -0.013 -0.02   0.003 -1.068]
+t: 295	 action: [-3.791e-02  3.071e-02 -1.827e-01 -3.454e-03 -2.097e-02 -7.969e-04 -1.069e+00]
+t: 296	 action: [-4.266e-03  1.676e-02 -1.567e-01 -1.696e-02 -1.598e-02 -1.013e-03 -1.065e+00]
+t: 297	 action: [-0.026  0.028 -0.117 -0.004 -0.016  0.003 -1.054]
+[07-31 01:34:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.045 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9371
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9371
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 45
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 90%|█████████ | 45/50 [24:01<02:39, 31.90s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 46...
+Query 1/1: Action query time = 1.045 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9371
+t=298: Selected seed 195 with value = 0.9371
+t: 298	 action: [ 0.009  0.009 -0.182 -0.002 -0.004 -0.025 -1.04 ]
+t: 299	 action: [ 0.012  0.047 -0.22  -0.014 -0.005 -0.037 -1.052]
+t: 300	 action: [ 0.023  0.029 -0.172 -0.007 -0.004 -0.014 -1.049]
+t: 301	 action: [ 0.014  0.062 -0.226 -0.023 -0.005 -0.026 -1.057]
+t: 302	 action: [-0.017  0.041 -0.076 -0.016 -0.01  -0.014 -1.05 ]
+t: 303	 action: [-0.007  0.071 -0.138 -0.022 -0.017 -0.031 -1.066]
+t: 304	 action: [ 0.02   0.058 -0.079 -0.024 -0.005 -0.007 -1.057]
+t: 305	 action: [ 0.006  0.078 -0.165 -0.03  -0.01  -0.023 -1.062]
+t: 306	 action: [-0.016  0.027 -0.367 -0.023 -0.015 -0.011 -1.164]
+t: 307	 action: [-0.084  0.039 -0.311 -0.027 -0.012 -0.002 -1.113]
+t: 308	 action: [ 0.018  0.046 -0.246 -0.028 -0.01  -0.01   0.923]
+t: 309	 action: [ 0.018  0.039 -0.15  -0.03  -0.003 -0.007  1.063]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=45--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=45--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 45
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 46...
+[07-31 01:34:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.071 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4728
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4728
+Query 1/1: Action query time = 1.071 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4728
+t=10: Selected seed 195 with value = 0.4728
+t: 10	 action: [ 1.261e-01  6.576e-02 -1.928e-02  1.574e-03 -7.169e-03  7.940e-04 -1.017e+00]
+t: 11	 action: [ 2.292e-01  1.276e-01 -5.759e-03 -3.835e-03 -4.941e-04 -7.572e-03 -1.022e+00]
+t: 12	 action: [ 0.338  0.279 -0.017  0.001 -0.004  0.003 -1.024]
+t: 13	 action: [ 0.432  0.348  0.001 -0.004 -0.002 -0.005 -1.025]
+t: 14	 action: [ 0.502  0.423 -0.029 -0.006 -0.003 -0.001 -1.033]
+t: 15	 action: [ 0.571  0.495 -0.002 -0.003 -0.002 -0.006 -1.055]
+t: 16	 action: [ 6.513e-01  5.492e-01 -1.815e-02 -4.891e-03  4.427e-03  7.074e-06 -1.024e+00]
+t: 17	 action: [ 7.151e-01  5.905e-01  8.120e-04 -7.204e-04 -3.821e-03 -4.677e-03 -1.061e+00]
+t: 18	 action: [ 0.719  0.588 -0.035  0.005  0.004  0.006 -1.034]
+t: 19	 action: [ 7.584e-01  5.971e-01 -2.993e-02 -3.263e-03  5.237e-03  8.745e-04 -1.029e+00]
+t: 20	 action: [ 7.635e-01  5.979e-01 -4.436e-02 -4.989e-04  7.875e-03  6.584e-03 -1.033e+00]
+t: 21	 action: [ 0.808  0.599 -0.053 -0.007  0.007  0.001 -1.026]
+t: 22	 action: [ 0.79   0.554 -0.09  -0.002  0.01   0.003 -1.022]
+t: 23	 action: [ 8.081e-01  5.349e-01 -1.026e-01 -2.301e-03 -4.855e-04 -9.397e-04 -1.053e+00]
+t: 24	 action: [ 0.809  0.505 -0.132 -0.006  0.014  0.001 -1.023]
+t: 25	 action: [ 8.320e-01  4.445e-01 -1.725e-01 -4.267e-03  7.619e-04 -2.100e-04 -1.062e+00]
+[07-31 01:34:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.119 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5389
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5389
+Query 1/1: Action query time = 1.119 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5389
+t=26: Selected seed 195 with value = 0.5389
+t: 26	 action: [ 0.834  0.48  -0.119 -0.005  0.005  0.008 -1.032]
+t: 27	 action: [ 0.761  0.454 -0.091 -0.005  0.005  0.001 -1.033]
+t: 28	 action: [ 0.725  0.325 -0.224  0.005 -0.005  0.006 -1.039]
+t: 29	 action: [ 5.904e-01  2.178e-01 -2.188e-01 -6.651e-04 -1.211e-03 -1.450e-03 -1.041e+00]
+t: 30	 action: [ 4.500e-01  1.099e-01 -3.763e-01 -2.910e-05 -3.384e-03 -2.760e-03 -1.022e+00]
+t: 31	 action: [ 0.333  0.041 -0.452  0.012 -0.009 -0.007 -1.051]
+t: 32	 action: [ 0.221  0.016 -0.7    0.001 -0.013 -0.008 -1.032]
+t: 33	 action: [ 0.139 -0.013 -0.807  0.018 -0.023 -0.011 -1.055]
+t: 34	 action: [ 0.055 -0.038 -0.878  0.005 -0.031 -0.011 -1.034]
+t: 35	 action: [-0.01  -0.103 -0.964  0.003 -0.029 -0.016 -1.027]
+t: 36	 action: [-0.078 -0.071 -0.937  0.004 -0.038 -0.012 -1.032]
+t: 37	 action: [-0.14  -0.115 -1.013  0.001 -0.033 -0.017 -1.029]
+t: 38	 action: [-1.756e-01 -1.152e-01 -9.475e-01 -7.969e-04 -3.725e-02 -1.137e-02 -1.034e+00]
+t: 39	 action: [-0.241 -0.063 -0.964  0.009 -0.037 -0.021 -1.043]
+t: 40	 action: [-0.285 -0.101 -0.947 -0.004 -0.036 -0.009 -1.028]
+t: 41	 action: [-0.321 -0.062 -0.961  0.007 -0.033 -0.02  -1.046]
+[07-31 01:34:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.121 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6168
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6168
+Query 1/1: Action query time = 1.121 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6168
+t=42: Selected seed 195 with value = 0.6168
+t: 42	 action: [ 0.054  0.044 -1.005  0.026 -0.015  0.007 -1.041]
+t: 43	 action: [ 0.025  0.025 -1.035  0.017 -0.015 -0.002 -1.047]
+t: 44	 action: [ 0.009  0.044 -0.989  0.013 -0.006  0.007 -1.033]
+t: 45	 action: [-2.381e-02  3.825e-02 -9.933e-01  1.105e-02 -1.620e-03 -3.007e-04 -1.043e+00]
+t: 46	 action: [-6.353e-02  4.211e-02 -8.593e-01  6.454e-04  1.535e-03 -1.767e-03 -1.025e+00]
+t: 47	 action: [-0.122  0.097 -0.927  0.008 -0.004 -0.008 -1.061]
+t: 48	 action: [-0.189  0.035 -0.78  -0.001  0.003 -0.002 -1.025]
+t: 49	 action: [-2.818e-01  9.776e-02 -8.630e-01  2.588e-04  3.668e-04 -1.304e-02 -1.055e+00]
+t: 50	 action: [-2.017e-01  3.220e-02 -7.588e-01  1.264e-03 -2.129e-03  1.049e-03 -1.057e+00]
+t: 51	 action: [-0.258  0.002 -0.732 -0.004 -0.002  0.008 -1.164]
+t: 52	 action: [-0.342  0.021 -0.703 -0.001 -0.001 -0.005 -1.208]
+t: 53	 action: [-0.406 -0.031 -0.641 -0.003 -0.001  0.003 -1.165]
+t: 54	 action: [-0.435 -0.018 -0.59  -0.012 -0.003 -0.013 -1.053]
+t: 55	 action: [-0.46  -0.032 -0.562 -0.004 -0.007 -0.003  1.231]
+t: 56	 action: [-0.357 -0.039 -0.471 -0.02  -0.002 -0.017  1.101]
+t: 57	 action: [-0.265 -0.038 -0.357 -0.005 -0.007 -0.005  1.197]
+[07-31 01:34:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.097 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7099
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7099
+Query 1/1: Action query time = 1.097 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7099
+t=58: Selected seed 195 with value = 0.7099
+t: 58	 action: [-0.322 -0.054 -0.431 -0.007  0.012 -0.006  0.985]
+t: 59	 action: [-0.242 -0.071 -0.24  -0.011  0.036 -0.02   1.015]
+t: 60	 action: [-0.16  -0.075 -0.2   -0.006  0.04  -0.016  0.985]
+t: 61	 action: [-0.044 -0.082 -0.05  -0.01   0.056 -0.027  1.013]
+t: 62	 action: [-0.007 -0.131  0.015 -0.014  0.073 -0.026  1.   ]
+t: 63	 action: [ 0.076 -0.1    0.127 -0.006  0.084 -0.035  1.019]
+t: 64	 action: [ 0.081 -0.092  0.293 -0.008  0.084 -0.044  1.002]
+t: 65	 action: [ 9.318e-02 -4.977e-02  4.529e-01 -6.410e-05  8.855e-02 -5.464e-02  1.017e+00]
+t: 66	 action: [ 0.099 -0.069  0.525 -0.003  0.081 -0.051  0.98 ]
+t: 67	 action: [ 0.107 -0.069  0.711 -0.006  0.067 -0.067  1.006]
+t: 68	 action: [ 0.128 -0.065  0.776 -0.007  0.058 -0.053  0.973]
+t: 69	 action: [ 0.093 -0.085  0.884 -0.003  0.048 -0.07   1.009]
+t: 70	 action: [ 8.209e-03 -6.764e-02  9.358e-01  9.386e-04  4.005e-02 -5.530e-02  9.889e-01]
+t: 71	 action: [-0.002 -0.1    0.959  0.013  0.039 -0.05   1.009]
+t: 72	 action: [-0.037 -0.178  0.927  0.002  0.021 -0.045  0.99 ]
+t: 73	 action: [-0.047 -0.217  0.918  0.024  0.021 -0.04   1.009]
+[07-31 01:34:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.053 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8479
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8479
+Query 1/1: Action query time = 1.053 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8479
+t=74: Selected seed 195 with value = 0.8479
+t: 74	 action: [-0.026 -0.748  0.528  0.07   0.037 -0.025  0.99 ]
+t: 75	 action: [-0.028 -0.81   0.457  0.069  0.036 -0.022  1.018]
+t: 76	 action: [-0.078 -0.813  0.242  0.067  0.034 -0.016  0.991]
+t: 77	 action: [-0.076 -0.853  0.177  0.066  0.031 -0.016  1.013]
+t: 78	 action: [-0.074 -0.843  0.064  0.069  0.034 -0.018  1.001]
+t: 79	 action: [-0.151 -0.854 -0.009  0.06   0.013 -0.013  1.013]
+t: 80	 action: [-0.112 -0.824 -0.119  0.051  0.026 -0.009  1.002]
+t: 81	 action: [-0.172 -0.766 -0.187  0.038  0.005 -0.01   1.017]
+t: 82	 action: [-1.721e-01 -7.499e-01 -2.971e-01  6.648e-02  1.867e-02  2.404e-04  1.003e+00]
+t: 83	 action: [-1.790e-01 -6.264e-01 -4.326e-01  4.331e-02  1.725e-02 -3.651e-07  1.012e+00]
+t: 84	 action: [-0.161 -0.55  -0.503  0.03   0.015  0.002  0.99 ]
+t: 85	 action: [-0.146 -0.411 -0.614  0.018  0.017  0.007  1.023]
+t: 86	 action: [-0.183 -0.193 -0.606  0.003  0.007 -0.001  1.013]
+t: 87	 action: [-0.168 -0.117 -0.726 -0.01   0.002  0.011  1.012]
+t: 88	 action: [-1.640e-01 -3.930e-02 -6.649e-01 -4.227e-03  1.118e-02  5.239e-04  1.003e+00]
+t: 89	 action: [-0.09   0.036 -0.705 -0.023  0.013  0.013  1.023]
+[07-31 01:34:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.079 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9654
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 1.079 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=90: Selected seed 195 with value = 0.9654
+t: 90	 action: [-0.191 -0.091 -0.436 -0.029  0.063  0.015  1.156]
+t: 91	 action: [-0.131 -0.084 -0.335 -0.04   0.094  0.019  1.014]
+t: 92	 action: [-0.135 -0.045 -0.186 -0.03   0.081  0.008 -0.747]
+t: 93	 action: [-0.043 -0.08  -0.05  -0.036  0.104  0.009 -1.031]
+t: 94	 action: [-0.069 -0.037  0.037 -0.049  0.107  0.002 -1.192]
+t: 95	 action: [-0.066 -0.044  0.084 -0.039  0.105 -0.012 -1.106]
+t: 96	 action: [-0.02  -0.056  0.177 -0.03   0.109 -0.003 -1.023]
+t: 97	 action: [-0.019 -0.03   0.269 -0.025  0.105 -0.008 -1.064]
+t: 98	 action: [-0.02   0.002  0.239 -0.022  0.076  0.005 -1.029]
+t: 99	 action: [-0.015 -0.028  0.346 -0.017  0.082 -0.002 -1.041]
+t: 100	 action: [ 0.009  0.008  0.391 -0.004  0.075  0.003 -1.037]
+t: 101	 action: [ 0.009 -0.016  0.464 -0.009  0.09  -0.004 -1.025]
+t: 102	 action: [ 3.620e-02  6.275e-03  4.495e-01  9.201e-04  8.299e-02 -9.523e-04 -1.041e+00]
+t: 103	 action: [ 2.044e-02  1.731e-02  4.574e-01  1.007e-03  8.801e-02 -5.630e-03 -1.053e+00]
+t: 104	 action: [ 4.998e-02  7.529e-04  4.713e-01  1.436e-03  8.284e-02 -4.478e-03 -1.041e+00]
+t: 105	 action: [ 0.027  0.018  0.444  0.005  0.092 -0.005 -1.063]
+[07-31 01:34:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.002 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [-0.013  0.005  0.122  0.004  0.017  0.004 -1.032]
+t: 107	 action: [ 0.009 -0.031  0.11   0.005  0.011  0.003 -1.042]
+t: 108	 action: [-0.018  0.007  0.081  0.004  0.014  0.002 -1.026]
+t: 109	 action: [ 0.007 -0.034  0.09   0.007  0.013  0.005 -1.03 ]
+t: 110	 action: [-3.282e-02 -1.864e-03  5.388e-02  4.935e-03  1.094e-03 -9.187e-04 -1.030e+00]
+t: 111	 action: [-0.022 -0.009  0.086  0.011  0.003  0.006 -1.063]
+t: 112	 action: [-2.076e-02  3.230e-03  6.266e-02  6.420e-03  8.921e-03 -8.784e-04 -1.030e+00]
+t: 113	 action: [-0.013  0.004  0.088  0.014  0.007  0.004 -1.055]
+t: 114	 action: [ 0.004  0.01   0.069  0.009 -0.002  0.006 -1.035]
+t: 115	 action: [ 0.01  -0.016  0.071  0.007  0.006  0.004 -1.044]
+t: 116	 action: [ 6.975e-04  1.350e-02  8.381e-02  7.332e-03  6.339e-03  4.896e-03 -1.026e+00]
+t: 117	 action: [ 0.013 -0.016  0.086  0.008  0.011  0.004 -1.037]
+t: 118	 action: [ 0.007  0.01   0.077  0.007  0.005  0.004 -1.037]
+t: 119	 action: [-1.067e-02  2.250e-02  1.074e-01  1.047e-02 -3.778e-04  1.564e-03 -1.066e+00]
+t: 120	 action: [ 8.138e-03  1.037e-02  9.454e-02  5.540e-03  1.473e-02  2.252e-04 -1.030e+00]
+t: 121	 action: [-0.009  0.025  0.125  0.012  0.01   0.003 -1.064]
+[07-31 01:34:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.039 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.039 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [-0.011  0.032 -0.023  0.003 -0.01   0.005 -1.036]
+t: 123	 action: [ 1.050e-02  2.450e-03  1.850e-02 -7.632e-04 -8.370e-03  2.970e-03 -1.044e+00]
+t: 124	 action: [-0.012  0.024 -0.017  0.004 -0.011  0.003 -1.027]
+t: 125	 action: [ 1.144e-02 -3.201e-03  3.641e-02 -9.005e-04  2.774e-04  3.017e-03 -1.037e+00]
+t: 126	 action: [-0.025  0.027 -0.023  0.003 -0.017  0.001 -1.032]
+t: 127	 action: [-0.013  0.014  0.018  0.004 -0.016  0.004 -1.067]
+t: 128	 action: [-1.396e-02  1.928e-02 -2.661e-03  3.029e-03 -1.165e-02  5.828e-04 -1.029e+00]
+t: 129	 action: [-0.009  0.021  0.023  0.004 -0.009  0.002 -1.059]
+t: 130	 action: [ 0.012  0.011 -0.007  0.008 -0.016  0.008 -1.039]
+t: 131	 action: [ 1.091e-02  4.413e-03  4.004e-02  4.493e-04 -1.039e-02  1.747e-03 -1.048e+00]
+t: 132	 action: [ 0.004  0.017  0.009  0.006 -0.011  0.006 -1.026]
+t: 133	 action: [ 1.619e-02  6.869e-03  4.900e-02  2.415e-04  3.250e-03  2.829e-03 -1.040e+00]
+t: 134	 action: [ 0.003  0.015  0.01   0.006 -0.01   0.005 -1.038]
+t: 135	 action: [-9.332e-03  3.182e-02  2.138e-02  4.021e-03 -1.461e-02  3.703e-05 -1.072e+00]
+t: 136	 action: [ 2.228e-03  1.941e-02  2.731e-02  3.543e-03 -4.481e-03  7.169e-04 -1.029e+00]
+t: 137	 action: [-0.009  0.036  0.041  0.004 -0.007  0.002 -1.065]
+[07-31 01:34:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.038 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.038 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+t: 138	 action: [-0.009  0.035 -0.05   0.003 -0.011  0.006 -1.036]
+t: 139	 action: [ 1.044e-02  2.316e-03 -1.035e-02  2.980e-04 -9.676e-03  3.245e-03 -1.046e+00]
+t: 140	 action: [-0.01   0.025 -0.04   0.004 -0.01   0.003 -1.026]
+t: 141	 action: [ 1.142e-02 -4.903e-03  1.914e-02 -4.063e-04  6.527e-04  4.079e-03 -1.038e+00]
+t: 142	 action: [-0.023  0.029 -0.043  0.003 -0.015  0.002 -1.033]
+t: 143	 action: [-0.013  0.012  0.002  0.004 -0.016  0.005 -1.072]
+t: 144	 action: [-0.015  0.02  -0.02   0.003 -0.009  0.002 -1.028]
+t: 145	 action: [-0.01   0.018  0.009  0.004 -0.008  0.004 -1.061]
+t: 146	 action: [ 0.015  0.01  -0.029  0.009 -0.013  0.009 -1.04 ]
+t: 147	 action: [ 0.012 -0.003  0.02   0.001 -0.008  0.002 -1.05 ]
+t: 148	 action: [ 0.004  0.015 -0.014  0.006 -0.008  0.007 -1.028]
+t: 149	 action: [ 1.745e-02  7.932e-04  4.245e-02  5.764e-04  4.884e-03  4.194e-03 -1.042e+00]
+t: 150	 action: [ 0.002  0.012 -0.01   0.006 -0.007  0.005 -1.039]
+t: 151	 action: [-0.01   0.026  0.003  0.005 -0.012  0.001 -1.076]
+t: 152	 action: [-0.002  0.017  0.007  0.003 -0.001  0.002 -1.029]
+t: 153	 action: [-0.012  0.03   0.016  0.005 -0.005  0.003 -1.067]
+[07-31 01:35:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.111 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.111 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+t: 154	 action: [-0.008  0.029 -0.068  0.003 -0.005  0.007 -1.039]
+t: 155	 action: [ 1.094e-02 -1.460e-03 -2.541e-02 -3.690e-04 -1.065e-03  5.143e-03 -1.046e+00]
+t: 156	 action: [-0.011  0.022 -0.049  0.004 -0.002  0.004 -1.029]
+t: 157	 action: [ 0.013 -0.01   0.021 -0.002  0.007  0.006 -1.038]
+t: 158	 action: [-0.026  0.024 -0.051  0.003 -0.007  0.003 -1.035]
+t: 159	 action: [-0.012  0.009 -0.001  0.004 -0.007  0.008 -1.073]
+t: 160	 action: [-1.887e-02  1.660e-02 -2.483e-02  1.863e-03 -6.604e-04  2.936e-03 -1.029e+00]
+t: 161	 action: [-0.01   0.014  0.011  0.003 -0.001  0.007 -1.062]
+t: 162	 action: [ 0.011  0.009 -0.041  0.009 -0.005  0.009 -1.043]
+t: 163	 action: [ 1.175e-02 -5.545e-03  1.236e-02 -1.228e-04  2.344e-03  4.037e-03 -1.051e+00]
+t: 164	 action: [-9.764e-04  1.389e-02 -2.326e-02  6.426e-03  1.617e-04  7.170e-03 -1.031e+00]
+t: 165	 action: [ 0.018 -0.005  0.041 -0.001  0.009  0.007 -1.043]
+t: 166	 action: [-0.005  0.012 -0.021  0.005  0.002  0.006 -1.042]
+t: 167	 action: [-1.462e-02  2.166e-02  2.173e-04  3.721e-03 -4.838e-03  3.459e-03 -1.075e+00]
+t: 168	 action: [-0.01   0.014 -0.002  0.002  0.007  0.002 -1.031]
+t: 169	 action: [-0.015  0.025  0.016  0.004  0.001  0.006 -1.068]
+[07-31 01:35:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.229 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.229 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+t: 170	 action: [ 4.474e-04  1.742e-02 -7.229e-02  4.691e-03  9.229e-04  6.850e-03 -1.041e+00]
+t: 171	 action: [ 0.013 -0.018 -0.021  0.001  0.006  0.004 -1.047]
+t: 172	 action: [-0.005  0.017 -0.047  0.005  0.004  0.004 -1.03 ]
+t: 173	 action: [ 1.436e-02 -2.456e-02  2.934e-02 -9.851e-04  1.134e-02  5.364e-03 -1.039e+00]
+t: 174	 action: [-0.02   0.012 -0.046  0.004  0.001  0.003 -1.036]
+t: 175	 action: [-6.353e-03 -5.397e-03  2.416e-03  5.283e-03  5.069e-04  6.993e-03 -1.072e+00]
+t: 176	 action: [-0.017  0.01  -0.018  0.003  0.007  0.003 -1.03 ]
+t: 177	 action: [-0.009  0.004  0.021  0.004  0.006  0.006 -1.063]
+t: 178	 action: [ 0.016  0.006 -0.044  0.01   0.002  0.009 -1.044]
+t: 179	 action: [ 0.015 -0.019  0.008  0.001  0.008  0.003 -1.052]
+t: 180	 action: [ 0.001  0.014 -0.025  0.007  0.007  0.007 -1.033]
+t: 181	 action: [ 2.066e-02 -1.944e-02  4.169e-02 -2.833e-04  1.393e-02  6.525e-03 -1.045e+00]
+t: 182	 action: [-0.003  0.007 -0.019  0.006  0.009  0.005 -1.042]
+t: 183	 action: [-1.265e-02  1.006e-02 -1.821e-04  5.773e-03  8.996e-04  3.341e-03 -1.075e+00]
+t: 184	 action: [-1.237e-02  9.384e-03  3.005e-04  2.848e-03  1.330e-02  2.020e-03 -1.032e+00]
+t: 185	 action: [-0.016  0.014  0.02   0.005  0.008  0.007 -1.068]
+[07-31 01:35:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+t: 186	 action: [ 0.009  0.011 -0.065  0.006  0.004  0.007 -1.043]
+t: 187	 action: [ 0.019 -0.03  -0.016  0.004  0.009  0.002 -1.047]
+t: 188	 action: [ 0.001  0.013 -0.045  0.005  0.008  0.005 -1.031]
+t: 189	 action: [ 0.018 -0.036  0.03   0.002  0.015  0.005 -1.039]
+t: 190	 action: [-0.015  0.005 -0.044  0.005  0.007  0.003 -1.036]
+t: 191	 action: [-0.001 -0.013  0.005  0.008  0.005  0.006 -1.072]
+t: 192	 action: [-0.016  0.006 -0.017  0.003  0.012  0.002 -1.03 ]
+t: 193	 action: [-0.01  -0.004  0.027  0.007  0.011  0.006 -1.063]
+t: 194	 action: [ 2.263e-02 -1.078e-05 -4.599e-02  1.032e-02  5.666e-03  7.868e-03 -1.046e+00]
+t: 195	 action: [ 0.02  -0.028 -0.002  0.004  0.009  0.001 -1.053]
+t: 196	 action: [ 0.004  0.012 -0.027  0.007  0.011  0.007 -1.034]
+t: 197	 action: [ 0.023 -0.03   0.036  0.003  0.016  0.006 -1.046]
+t: 198	 action: [-2.998e-04  3.825e-03 -2.046e-02  7.007e-03  1.329e-02  3.701e-03 -1.044e+00]
+t: 199	 action: [-0.012  0.003 -0.001  0.009  0.002  0.003 -1.073]
+t: 200	 action: [-0.015  0.006 -0.002  0.004  0.017  0.001 -1.032]
+t: 201	 action: [-0.017  0.005  0.018  0.008  0.011  0.008 -1.067]
+[07-31 01:35:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+t: 202	 action: [ 0.012  0.004 -0.055  0.007  0.007  0.008 -1.042]
+t: 203	 action: [ 0.021 -0.042 -0.007  0.005  0.011  0.001 -1.047]
+t: 204	 action: [ 0.005  0.006 -0.034  0.005  0.012  0.005 -1.031]
+t: 205	 action: [ 0.02  -0.046  0.033  0.003  0.02   0.004 -1.039]
+t: 206	 action: [-1.250e-02  1.320e-04 -3.545e-02  5.554e-03  1.190e-02  2.728e-03 -1.036e+00]
+t: 207	 action: [ 0.002 -0.019  0.011  0.01   0.01   0.006 -1.072]
+t: 208	 action: [-1.566e-02  1.026e-03 -9.095e-03  3.893e-03  1.749e-02  2.876e-03 -1.030e+00]
+t: 209	 action: [-0.01  -0.009  0.039  0.009  0.018  0.007 -1.062]
+t: 210	 action: [ 0.026 -0.012 -0.041  0.01   0.008  0.007 -1.045]
+t: 211	 action: [ 2.267e-02 -3.812e-02 -5.689e-03  5.204e-03  1.136e-02  7.676e-04 -1.054e+00]
+t: 212	 action: [ 0.007  0.006 -0.02   0.007  0.014  0.007 -1.034]
+t: 213	 action: [ 0.024 -0.041  0.034  0.004  0.02   0.006 -1.047]
+t: 214	 action: [ 0.003 -0.001 -0.017  0.007  0.017  0.004 -1.043]
+t: 215	 action: [-1.091e-02 -4.928e-03  8.215e-04  1.081e-02  5.694e-03  3.308e-03 -1.074e+00]
+t: 216	 action: [-1.561e-02  2.709e-03  7.203e-04  4.132e-03  2.121e-02  1.618e-03 -1.032e+00]
+t: 217	 action: [-0.018 -0.003  0.022  0.01   0.016  0.009 -1.065]
+[07-31 01:35:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9998
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=218: Selected seed 195 with value = 0.9998
+t: 218	 action: [ 1.652e-02 -1.104e-04 -5.330e-02  6.286e-03  5.335e-03  7.470e-03 -1.041e+00]
+t: 219	 action: [ 2.435e-02 -4.619e-02  7.250e-04  3.173e-03  1.114e-02  9.474e-04 -1.048e+00]
+t: 220	 action: [ 0.009  0.002 -0.023  0.006  0.012  0.005 -1.03 ]
+t: 221	 action: [ 0.022 -0.049  0.038  0.002  0.019  0.004 -1.04 ]
+t: 222	 action: [-0.008 -0.004 -0.03   0.005  0.013  0.003 -1.037]
+t: 223	 action: [ 0.004 -0.022  0.018  0.009  0.008  0.005 -1.072]
+t: 224	 action: [-0.013 -0.002  0.002  0.004  0.019  0.003 -1.03 ]
+t: 225	 action: [-0.01  -0.009  0.058  0.008  0.017  0.006 -1.062]
+t: 226	 action: [ 0.03  -0.019 -0.032  0.01   0.008  0.007 -1.045]
+t: 227	 action: [ 2.644e-02 -4.019e-02  3.075e-03  3.619e-03  1.052e-02  2.166e-04 -1.055e+00]
+t: 228	 action: [ 0.012  0.002 -0.009  0.008  0.014  0.007 -1.033]
+t: 229	 action: [ 0.027 -0.043  0.039  0.003  0.018  0.006 -1.047]
+t: 230	 action: [ 0.008 -0.005 -0.008  0.006  0.017  0.003 -1.043]
+t: 231	 action: [-0.008 -0.006  0.006  0.01   0.004  0.003 -1.073]
+t: 232	 action: [-0.013  0.001  0.012  0.004  0.023  0.001 -1.032]
+t: 233	 action: [-0.016 -0.003  0.038  0.01   0.015  0.009 -1.063]
+[07-31 01:35:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9988
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=234: Selected seed 195 with value = 0.9988
+t: 234	 action: [ 0.012 -0.003 -0.045  0.006  0.002  0.008 -1.038]
+t: 235	 action: [ 0.021 -0.047  0.001  0.003  0.01   0.002 -1.047]
+t: 236	 action: [ 0.007 -0.001 -0.024  0.005  0.01   0.005 -1.029]
+t: 237	 action: [ 0.022 -0.051  0.038  0.002  0.017  0.005 -1.04 ]
+t: 238	 action: [-0.012 -0.006 -0.032  0.005  0.011  0.003 -1.035]
+t: 239	 action: [ 1.424e-04 -2.207e-02  1.847e-02  9.189e-03  5.378e-03  6.011e-03 -1.072e+00]
+t: 240	 action: [-0.016 -0.004 -0.001  0.004  0.018  0.003 -1.029]
+t: 241	 action: [-0.011 -0.01   0.055  0.009  0.014  0.007 -1.063]
+t: 242	 action: [ 0.027 -0.023 -0.033  0.01   0.005  0.007 -1.044]
+t: 243	 action: [ 2.635e-02 -4.166e-02 -1.148e-03  3.772e-03  8.468e-03  4.680e-04 -1.054e+00]
+t: 244	 action: [ 0.011 -0.002 -0.011  0.008  0.012  0.007 -1.032]
+t: 245	 action: [ 0.027 -0.045  0.036  0.003  0.015  0.007 -1.046]
+t: 246	 action: [ 0.007 -0.006 -0.012  0.006  0.016  0.003 -1.042]
+t: 247	 action: [-8.900e-03 -6.461e-03  5.955e-03  1.024e-02  1.002e-03  3.126e-03 -1.074e+00]
+t: 248	 action: [-1.382e-02 -3.239e-04  9.893e-03  4.042e-03  2.248e-02  1.402e-03 -1.031e+00]
+t: 249	 action: [-0.018 -0.004  0.034  0.01   0.011  0.01  -1.063]
+[07-31 01:35:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9986
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=250: Selected seed 195 with value = 0.9986
+t: 250	 action: [ 1.291e-02 -2.376e-03 -2.948e-02  5.850e-03 -1.001e-03  7.217e-03 -1.038e+00]
+t: 251	 action: [ 2.183e-02 -4.846e-02  5.878e-03  2.351e-03  6.825e-03  1.025e-03 -1.047e+00]
+t: 252	 action: [ 1.029e-02 -6.583e-04 -1.694e-02  5.113e-03  6.235e-03  4.524e-03 -1.029e+00]
+t: 253	 action: [ 0.024 -0.051  0.04   0.001  0.014  0.004 -1.038]
+t: 254	 action: [-0.01  -0.006 -0.029  0.005  0.008  0.003 -1.035]
+t: 255	 action: [ 2.006e-04 -2.463e-02  1.869e-02  8.278e-03  8.412e-04  4.635e-03 -1.072e+00]
+t: 256	 action: [-1.207e-02 -5.229e-03 -4.802e-04  3.732e-03  1.510e-02  2.457e-03 -1.029e+00]
+t: 257	 action: [-0.009 -0.013  0.054  0.009  0.009  0.005 -1.061]
+t: 258	 action: [ 2.988e-02 -2.317e-02 -2.962e-02  9.039e-03 -5.755e-04  6.109e-03 -1.043e+00]
+t: 259	 action: [ 2.797e-02 -4.340e-02  6.110e-04  2.591e-03  3.971e-03 -2.312e-04 -1.053e+00]
+t: 260	 action: [ 0.016 -0.002 -0.007  0.007  0.007  0.007 -1.031]
+t: 261	 action: [ 0.029 -0.045  0.036  0.002  0.012  0.005 -1.046]
+t: 262	 action: [ 0.012 -0.007 -0.014  0.006  0.011  0.003 -1.041]
+t: 263	 action: [-0.006 -0.009  0.007  0.009 -0.004  0.002 -1.072]
+t: 264	 action: [-8.277e-03  3.858e-04  1.090e-02  3.822e-03  1.846e-02  1.232e-03 -1.029e+00]
+t: 265	 action: [-0.015 -0.004  0.035  0.01   0.005  0.009 -1.063]
+[07-31 01:35:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9990
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=266: Selected seed 195 with value = 0.9990
+t: 266	 action: [ 1.420e-02  5.219e-04 -1.173e-02  5.898e-03 -1.726e-03  6.603e-03 -1.038e+00]
+t: 267	 action: [ 2.302e-02 -4.511e-02  1.994e-02  2.733e-03  4.331e-03  4.929e-04 -1.047e+00]
+t: 268	 action: [ 0.01   0.004 -0.005  0.005  0.005  0.004 -1.029]
+t: 269	 action: [ 0.024 -0.047  0.046  0.002  0.012  0.003 -1.037]
+t: 270	 action: [-0.009 -0.003 -0.018  0.005  0.006  0.002 -1.034]
+t: 271	 action: [-8.808e-04 -2.283e-02  2.964e-02  8.789e-03 -1.971e-03  3.809e-03 -1.071e+00]
+t: 272	 action: [-0.012 -0.004  0.009  0.004  0.013  0.002 -1.029]
+t: 273	 action: [-0.009 -0.011  0.066  0.009  0.006  0.004 -1.059]
+t: 274	 action: [ 0.031 -0.019 -0.014  0.009 -0.002  0.006 -1.042]
+t: 275	 action: [ 2.853e-02 -3.844e-02  1.734e-02  2.538e-03  5.890e-04 -9.202e-04 -1.053e+00]
+t: 276	 action: [ 0.016  0.001  0.006  0.007  0.005  0.006 -1.03 ]
+t: 277	 action: [ 0.028 -0.039  0.043  0.002  0.011  0.004 -1.045]
+t: 278	 action: [ 0.013 -0.005 -0.002  0.006  0.009  0.003 -1.04 ]
+t: 279	 action: [-5.478e-03 -4.919e-03  1.552e-02  9.304e-03 -7.349e-03  8.059e-04 -1.072e+00]
+t: 280	 action: [-7.394e-03  1.694e-03  2.186e-02  4.002e-03  1.599e-02  9.470e-04 -1.027e+00]
+t: 281	 action: [-1.434e-02 -3.852e-04  4.657e-02  9.719e-03  2.511e-03  7.020e-03 -1.062e+00]
+[07-31 01:35:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9999
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=282: Selected seed 195 with value = 0.9999
+t: 282	 action: [ 0.024  0.007 -0.007  0.005 -0.004  0.006 -1.039]
+t: 283	 action: [ 2.680e-02 -3.175e-02  1.797e-02  1.518e-03 -1.836e-03  5.107e-04 -1.046e+00]
+t: 284	 action: [ 1.488e-02  1.050e-02  2.222e-03  4.602e-03  9.194e-04  3.717e-03 -1.030e+00]
+t: 285	 action: [ 2.451e-02 -3.739e-02  4.794e-02  4.799e-04  9.195e-03  3.080e-03 -1.037e+00]
+t: 286	 action: [-0.005  0.002 -0.015  0.004  0.002  0.002 -1.034]
+t: 287	 action: [ 4.316e-04 -1.480e-02  2.620e-02  7.763e-03 -7.582e-03  3.615e-03 -1.069e+00]
+t: 288	 action: [-9.603e-03  6.428e-04  1.467e-02  3.388e-03  7.602e-03  1.270e-03 -1.029e+00]
+t: 289	 action: [-8.007e-03 -6.174e-03  6.732e-02  7.942e-03  4.871e-04  3.597e-03 -1.059e+00]
+t: 290	 action: [ 0.036 -0.011 -0.01   0.009 -0.007  0.005 -1.042]
+t: 291	 action: [ 3.081e-02 -2.889e-02  2.322e-02  1.008e-03 -7.117e-03 -1.275e-03 -1.052e+00]
+t: 292	 action: [ 0.02   0.006  0.012  0.007 -0.001  0.007 -1.029]
+t: 293	 action: [ 0.03  -0.029  0.048  0.001  0.007  0.004 -1.044]
+t: 294	 action: [ 0.017 -0.001  0.002  0.005  0.003  0.003 -1.038]
+t: 295	 action: [-3.640e-03  3.976e-03  1.833e-02  7.917e-03 -1.329e-02 -2.879e-04 -1.070e+00]
+t: 296	 action: [-3.548e-03  4.281e-03  2.974e-02  3.513e-03  1.015e-02  6.254e-04 -1.026e+00]
+t: 297	 action: [-0.012  0.008  0.055  0.009 -0.002  0.006 -1.062]
+[07-31 01:35:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 1.0000
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 46
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 92%|█████████▏| 46/50 [24:34<02:08, 32.11s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 47...
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+t: 298	 action: [ 0.033  0.01  -0.007  0.005 -0.006  0.006 -1.041]
+t: 299	 action: [ 0.033 -0.022  0.012  0.002 -0.005  0.001 -1.046]
+t: 300	 action: [ 0.023  0.014  0.004  0.005 -0.001  0.003 -1.032]
+t: 301	 action: [ 2.554e-02 -3.038e-02  4.729e-02  5.925e-04  7.340e-03  3.485e-03 -1.037e+00]
+t: 302	 action: [ 0.003  0.007 -0.013  0.004 -0.001  0.002 -1.035]
+t: 303	 action: [ 0.008 -0.008  0.024  0.008 -0.01   0.004 -1.069]
+t: 304	 action: [-1.433e-03  4.081e-03  1.897e-02  3.329e-03  4.463e-03  7.242e-04 -1.029e+00]
+t: 305	 action: [-0.004 -0.002  0.071  0.008 -0.001  0.004 -1.057]
+t: 306	 action: [ 0.046 -0.004 -0.004  0.009 -0.011  0.006 -1.042]
+t: 307	 action: [ 3.673e-02 -2.201e-02  3.269e-02  7.365e-04 -1.088e-02 -1.355e-03 -1.051e+00]
+t: 308	 action: [ 0.03   0.01   0.019  0.007 -0.005  0.007 -1.029]
+t: 309	 action: [ 3.139e-02 -2.192e-02  5.220e-02  6.129e-04  5.379e-03  3.432e-03 -1.043e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=46--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=46--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 46
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 47...
+[07-31 01:35:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4908
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4908
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4908
+t=10: Selected seed 195 with value = 0.4908
+t: 10	 action: [ 1.035e-01  3.061e-02 -2.083e-02  7.305e-03  3.255e-04 -1.749e-04 -1.025e+00]
+t: 11	 action: [ 2.201e-01  5.647e-02 -2.412e-03  1.224e-02  5.518e-04  1.751e-03 -1.028e+00]
+t: 12	 action: [ 0.354  0.165 -0.017  0.006  0.001  0.002 -1.023]
+t: 13	 action: [ 4.501e-01  2.373e-01  9.179e-03  1.153e-02  1.880e-05  1.244e-03 -1.032e+00]
+t: 14	 action: [ 0.551  0.349 -0.03   0.002 -0.005  0.001 -1.026]
+t: 15	 action: [ 0.678  0.444 -0.008  0.012 -0.006  0.005 -1.053]
+t: 16	 action: [ 7.282e-01  5.338e-01 -2.281e-02  8.693e-04 -1.079e-03  3.578e-04 -1.016e+00]
+t: 17	 action: [ 8.042e-01  5.701e-01  1.321e-04  1.138e-02 -6.714e-03  2.545e-03 -1.057e+00]
+t: 18	 action: [ 0.77   0.581 -0.006  0.007 -0.005  0.005 -1.027]
+t: 19	 action: [ 0.797  0.613  0.004  0.002 -0.002  0.005 -1.033]
+t: 20	 action: [ 7.768e-01  6.330e-01 -3.098e-02  3.750e-04 -7.836e-03  5.976e-03 -1.023e+00]
+t: 21	 action: [ 0.806  0.65  -0.006 -0.003 -0.003  0.005 -1.03 ]
+t: 22	 action: [ 0.789  0.64  -0.083  0.002 -0.007  0.006 -1.005]
+t: 23	 action: [ 0.823  0.664 -0.062  0.004 -0.014  0.007 -1.048]
+t: 24	 action: [ 0.778  0.638 -0.15  -0.001 -0.009  0.003 -1.004]
+t: 25	 action: [ 0.834  0.634 -0.097  0.002 -0.017  0.007 -1.054]
+[07-31 01:35:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5114
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5114
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5114
+t=26: Selected seed 195 with value = 0.5114
+t: 26	 action: [ 0.859  0.551 -0.133  0.005 -0.021  0.01  -1.047]
+t: 27	 action: [ 0.918  0.521 -0.198  0.003 -0.01   0.008 -1.029]
+t: 28	 action: [ 0.857  0.54  -0.248  0.007 -0.022  0.01  -1.047]
+t: 29	 action: [ 0.877  0.476 -0.301  0.002 -0.008  0.005 -1.034]
+t: 30	 action: [ 8.383e-01  3.837e-01 -4.077e-01  1.895e-03 -1.017e-02  1.023e-03 -1.031e+00]
+t: 31	 action: [ 7.874e-01  2.688e-01 -5.611e-01  8.367e-03 -1.128e-02  7.674e-04 -1.059e+00]
+t: 32	 action: [ 6.165e-01  2.593e-01 -6.401e-01  8.555e-05 -1.165e-02  5.854e-04 -1.034e+00]
+t: 33	 action: [ 5.155e-01  1.132e-01 -8.013e-01  1.377e-02 -1.299e-02 -1.047e-03 -1.063e+00]
+t: 34	 action: [ 0.375  0.072 -0.897  0.013 -0.031 -0.006 -1.044]
+t: 35	 action: [ 0.213 -0.011 -0.961  0.008 -0.023 -0.012 -1.024]
+t: 36	 action: [ 0.112 -0.027 -0.966  0.014 -0.029 -0.001 -1.048]
+t: 37	 action: [ 0.019 -0.087 -1.01   0.008 -0.02  -0.009 -1.025]
+t: 38	 action: [-0.036 -0.053 -0.933  0.025 -0.023 -0.006 -1.039]
+t: 39	 action: [-0.117 -0.008 -0.978  0.028 -0.019 -0.012 -1.05 ]
+t: 40	 action: [-0.263 -0.114 -0.931  0.021 -0.018 -0.001 -1.038]
+t: 41	 action: [-0.33  -0.044 -0.969  0.024 -0.014 -0.005 -1.053]
+[07-31 01:35:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6122
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6122
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6122
+t=42: Selected seed 195 with value = 0.6122
+t: 42	 action: [-0.349  0.141 -0.971  0.028 -0.061  0.023 -1.033]
+t: 43	 action: [-0.394  0.117 -1.028  0.026 -0.054  0.032 -1.033]
+t: 44	 action: [-0.468  0.119 -0.953  0.037 -0.045  0.033 -1.021]
+t: 45	 action: [-0.496  0.091 -0.993  0.025 -0.016  0.038 -1.034]
+t: 46	 action: [-0.446  0.126 -0.924  0.01  -0.014  0.035 -1.031]
+t: 47	 action: [-0.395  0.169 -0.951  0.021 -0.004  0.03  -1.055]
+t: 48	 action: [-0.31   0.056 -0.88   0.01  -0.003  0.034 -1.024]
+t: 49	 action: [-0.231  0.119 -0.889  0.017  0.003  0.027 -1.054]
+t: 50	 action: [-0.299  0.034 -0.731  0.014  0.008  0.027 -1.191]
+t: 51	 action: [-0.32   0.01  -0.705  0.005  0.018  0.047 -1.159]
+t: 52	 action: [-0.304  0.021 -0.648  0.01   0.027  0.019 -1.195]
+t: 53	 action: [-0.295 -0.022 -0.593  0.004  0.036  0.038 -1.164]
+t: 54	 action: [-2.674e-01 -6.303e-03 -5.616e-01  6.841e-03  3.798e-02  5.640e-04  1.062e+00]
+t: 55	 action: [-0.192 -0.004 -0.519  0.007  0.044  0.011  1.226]
+t: 56	 action: [-0.196 -0.004 -0.426  0.005  0.045 -0.004  1.106]
+t: 57	 action: [-0.123 -0.015 -0.308  0.003  0.047  0.004  1.193]
+[07-31 01:35:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7167
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7167
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7167
+t=58: Selected seed 195 with value = 0.7167
+t: 58	 action: [-0.193  0.009 -0.354 -0.025  0.029  0.035  0.985]
+t: 59	 action: [-0.129 -0.003 -0.196 -0.03   0.062  0.026  1.004]
+t: 60	 action: [-0.077 -0.019 -0.137 -0.032  0.039  0.008  0.974]
+t: 61	 action: [-0.017 -0.034  0.018 -0.028  0.064  0.013  1.012]
+t: 62	 action: [ 0.016 -0.054  0.23  -0.046  0.061  0.015  0.996]
+t: 63	 action: [ 0.022 -0.044  0.544 -0.032  0.043  0.016  1.008]
+t: 64	 action: [ 0.029 -0.031  0.783 -0.018  0.046 -0.003  0.987]
+t: 65	 action: [ 0.021 -0.015  0.899 -0.014  0.023 -0.001  1.019]
+t: 66	 action: [ 0.088 -0.03   0.915 -0.008  0.014  0.007  0.975]
+t: 67	 action: [ 0.107 -0.071  0.935 -0.008  0.002 -0.002  1.   ]
+t: 68	 action: [ 3.262e-02 -2.410e-01  9.335e-01 -7.210e-03 -5.427e-04  6.163e-03  9.643e-01]
+t: 69	 action: [ 0.006 -0.332  0.968  0.002 -0.008  0.002  1.011]
+t: 70	 action: [-0.119 -0.529  0.884  0.017 -0.003  0.005  0.981]
+t: 71	 action: [-0.241 -0.643  0.85   0.032 -0.014  0.016  1.007]
+t: 72	 action: [-0.185 -0.737  0.74   0.02  -0.015  0.005  0.981]
+t: 73	 action: [-0.294 -0.788  0.52   0.033 -0.025  0.018  1.016]
+[07-31 01:35:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8332
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8332
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8332
+t=74: Selected seed 195 with value = 0.8332
+t: 74	 action: [-0.262 -0.752  0.311  0.035 -0.01   0.001  0.972]
+t: 75	 action: [-0.324 -0.828  0.131  0.029  0.006  0.003  1.022]
+t: 76	 action: [-0.343 -0.805  0.005  0.036 -0.01   0.001  0.97 ]
+t: 77	 action: [-0.388 -0.82  -0.106  0.029  0.009  0.01   1.011]
+t: 78	 action: [-0.389 -0.738 -0.264  0.024  0.013  0.002  0.978]
+t: 79	 action: [-0.507 -0.663 -0.392  0.022  0.007  0.013  1.022]
+t: 80	 action: [-0.442 -0.553 -0.466  0.011  0.006  0.007  0.987]
+t: 81	 action: [-0.533 -0.444 -0.619  0.015  0.004  0.016  1.025]
+t: 82	 action: [-0.442 -0.409 -0.642  0.007  0.002  0.011  0.99 ]
+t: 83	 action: [-0.493 -0.318 -0.738  0.009  0.016  0.02   1.018]
+t: 84	 action: [-0.48  -0.261 -0.732  0.007  0.012  0.013  0.984]
+t: 85	 action: [-0.435 -0.193 -0.71   0.002  0.034  0.022  1.027]
+t: 86	 action: [-3.430e-01 -8.488e-02 -6.466e-01  4.890e-04  2.255e-02  1.847e-02  1.002e+00]
+t: 87	 action: [-2.495e-01 -2.922e-02 -5.633e-01  3.655e-04  3.521e-02  1.948e-02  1.016e+00]
+t: 88	 action: [-0.17  -0.009 -0.462 -0.007  0.042  0.014  0.998]
+t: 89	 action: [-0.077  0.036 -0.245 -0.003  0.063  0.016  1.022]
+[07-31 01:35:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9687
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=90: Selected seed 195 with value = 0.9687
+t: 90	 action: [ 0.102  0.04  -0.065 -0.014  0.071 -0.049  1.079]
+t: 91	 action: [ 0.178  0.013  0.09  -0.022  0.07  -0.056  0.802]
+t: 92	 action: [ 0.199  0.041  0.155 -0.011  0.081 -0.056 -1.04 ]
+t: 93	 action: [ 0.282  0.034  0.304 -0.019  0.083 -0.053 -1.04 ]
+t: 94	 action: [ 0.267  0.059  0.329 -0.014  0.09  -0.055 -1.146]
+t: 95	 action: [ 0.22   0.112  0.384 -0.016  0.089 -0.051 -1.135]
+t: 96	 action: [ 0.257  0.089  0.45  -0.005  0.094 -0.051 -1.031]
+t: 97	 action: [ 0.257  0.113  0.456 -0.009  0.084 -0.055 -1.064]
+t: 98	 action: [ 0.249  0.057  0.443  0.002  0.073 -0.03  -1.039]
+t: 99	 action: [ 0.232  0.064  0.479 -0.003  0.073 -0.037 -1.049]
+t: 100	 action: [ 2.204e-01  7.819e-02  4.580e-01  5.188e-04  6.494e-02 -2.385e-02 -1.047e+00]
+t: 101	 action: [ 0.221  0.081  0.451 -0.003  0.068 -0.033 -1.035]
+t: 102	 action: [ 0.151  0.074  0.397  0.003  0.062 -0.018 -1.038]
+t: 103	 action: [ 0.129  0.099  0.379  0.003  0.054 -0.029 -1.065]
+t: 104	 action: [ 1.517e-01  9.042e-02  3.854e-01 -6.909e-04  6.033e-02 -1.623e-02 -1.040e+00]
+t: 105	 action: [ 0.132  0.109  0.339  0.003  0.049 -0.025 -1.062]
+[07-31 01:35:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.082  0.008  0.037  0.012  0.03  -0.009 -1.045]
+t: 107	 action: [ 0.104 -0.022  0.039  0.014  0.027 -0.011 -1.038]
+t: 108	 action: [ 0.067  0.005  0.007  0.012  0.026 -0.004 -1.038]
+t: 109	 action: [ 0.075 -0.039  0.044  0.013  0.03  -0.009 -1.035]
+t: 110	 action: [ 0.045 -0.005  0.002  0.015  0.027 -0.006 -1.034]
+t: 111	 action: [ 0.064 -0.013  0.012  0.021  0.021 -0.005 -1.063]
+t: 112	 action: [ 0.052 -0.006  0.02   0.013  0.028 -0.006 -1.034]
+t: 113	 action: [ 0.054 -0.016  0.037  0.02   0.023 -0.005 -1.061]
+t: 114	 action: [ 8.013e-02 -7.578e-03 -9.581e-03  1.279e-02  2.065e-02  5.633e-04 -1.043e+00]
+t: 115	 action: [ 0.092 -0.024  0.036  0.013  0.024 -0.009 -1.042]
+t: 116	 action: [ 7.715e-02  4.391e-03  9.320e-03  9.263e-03  2.162e-02  4.846e-04 -1.035e+00]
+t: 117	 action: [ 0.091 -0.029  0.051  0.012  0.032 -0.01  -1.043]
+t: 118	 action: [ 0.068 -0.008  0.011  0.01   0.029 -0.002 -1.038]
+t: 119	 action: [ 0.073  0.006  0.028  0.019  0.02  -0.006 -1.064]
+t: 120	 action: [ 0.072 -0.003  0.037  0.008  0.031 -0.006 -1.031]
+t: 121	 action: [ 0.065  0.003  0.068  0.019  0.028 -0.005 -1.068]
+[07-31 01:35:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.053  0.021 -0.058  0.01   0.01   0.004 -1.045]
+t: 123	 action: [ 0.058 -0.01   0.02   0.01   0.013 -0.003 -1.042]
+t: 124	 action: [ 0.044  0.022 -0.027  0.008  0.01   0.003 -1.035]
+t: 125	 action: [ 0.036 -0.02   0.045  0.007  0.018 -0.002 -1.038]
+t: 126	 action: [ 2.812e-02  1.559e-02 -3.183e-02  8.245e-03  1.241e-02 -7.549e-04 -1.036e+00]
+t: 127	 action: [ 3.967e-02  7.938e-03  2.233e-02  1.321e-02  9.617e-03  5.805e-04 -1.064e+00]
+t: 128	 action: [ 0.026  0.018  0.006  0.006  0.014 -0.002 -1.032]
+t: 129	 action: [ 1.343e-02  1.613e-02  6.519e-02  1.085e-02  1.434e-02 -3.168e-04 -1.058e+00]
+t: 130	 action: [ 0.057  0.01  -0.028  0.01   0.01   0.002 -1.045]
+t: 131	 action: [ 0.055 -0.004  0.035  0.009  0.012 -0.004 -1.046]
+t: 132	 action: [ 0.041  0.021 -0.006  0.008  0.011  0.003 -1.035]
+t: 133	 action: [ 0.043 -0.011  0.046  0.007  0.016 -0.004 -1.047]
+t: 134	 action: [ 3.624e-02  1.603e-02  2.328e-03  7.303e-03  1.767e-02 -9.932e-04 -1.041e+00]
+t: 135	 action: [ 0.027  0.026  0.027  0.013  0.007 -0.003 -1.064]
+t: 136	 action: [ 0.025  0.022  0.023  0.005  0.019 -0.003 -1.03 ]
+t: 137	 action: [ 4.471e-03  2.681e-02  6.207e-02  1.175e-02  1.205e-02 -5.253e-04 -1.063e+00]
+[07-31 01:35:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9990
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=138: Selected seed 195 with value = 0.9990
+t: 138	 action: [ 0.018  0.024 -0.173  0.007 -0.009  0.009 -1.042]
+t: 139	 action: [ 0.02  -0.003 -0.095  0.009  0.003  0.004 -1.043]
+t: 140	 action: [ 0.009  0.027 -0.108  0.007 -0.005  0.006 -1.029]
+t: 141	 action: [ 0.015 -0.012 -0.032  0.006  0.009  0.004 -1.04 ]
+t: 142	 action: [ 9.642e-04  2.345e-02 -1.122e-01  3.981e-03  1.427e-03  4.712e-03 -1.039e+00]
+t: 143	 action: [ 5.025e-03  1.810e-02 -3.524e-02  1.278e-02  4.807e-05  6.114e-03 -1.067e+00]
+t: 144	 action: [-0.001  0.025 -0.07   0.004  0.006  0.003 -1.03 ]
+t: 145	 action: [-0.009  0.021 -0.002  0.01   0.005  0.005 -1.061]
+t: 146	 action: [ 0.021  0.019 -0.118  0.01  -0.007  0.008 -1.043]
+t: 147	 action: [ 0.023 -0.002 -0.082  0.008  0.002  0.002 -1.048]
+t: 148	 action: [ 0.001  0.027 -0.087  0.008 -0.005  0.008 -1.031]
+t: 149	 action: [ 0.023 -0.011 -0.035  0.007  0.009  0.004 -1.046]
+t: 150	 action: [ 0.006  0.024 -0.076  0.006  0.004  0.004 -1.044]
+t: 151	 action: [-0.012  0.028 -0.027  0.013 -0.002  0.002 -1.066]
+t: 152	 action: [-0.011  0.031 -0.054  0.004  0.007  0.001 -1.031]
+t: 153	 action: [-0.02   0.025 -0.01   0.012  0.002  0.006 -1.063]
+[07-31 01:35:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9879
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=154: Selected seed 195 with value = 0.9879
+t: 154	 action: [ 0.005  0.02  -0.246  0.006 -0.011  0.011 -1.035]
+t: 155	 action: [ 2.057e-03 -1.533e-02 -2.107e-01  2.093e-05  1.227e-03  1.414e-03 -1.054e+00]
+t: 156	 action: [-0.012  0.02  -0.145  0.008 -0.007  0.009 -1.027]
+t: 157	 action: [-3.157e-03 -2.347e-02 -1.056e-01 -1.015e-03  6.792e-03  8.473e-04 -1.052e+00]
+t: 158	 action: [-1.223e-02  1.050e-02 -1.438e-01  2.124e-03  8.847e-04  5.429e-03 -1.030e+00]
+t: 159	 action: [-1.703e-02  1.118e-02 -6.603e-02  4.695e-03 -6.573e-04  9.047e-04 -1.065e+00]
+t: 160	 action: [-0.011  0.017 -0.085  0.002  0.005  0.004 -1.027]
+t: 161	 action: [-3.328e-02  8.810e-03 -2.109e-02  3.543e-03  7.093e-04 -2.321e-03 -1.067e+00]
+t: 162	 action: [-1.265e-02  1.501e-02 -2.491e-01  8.568e-04 -6.707e-03  7.836e-03 -1.034e+00]
+t: 163	 action: [ 1.036e-02 -2.477e-02 -2.085e-01 -2.558e-03  1.117e-04  2.163e-02 -1.114e+00]
+t: 164	 action: [-5.309e-02  1.939e-02 -1.902e-01  6.499e-05 -5.842e-03  7.578e-03 -1.118e+00]
+t: 165	 action: [-0.087 -0.034 -0.153 -0.005  0.003  0.018 -1.009]
+t: 166	 action: [-0.048  0.011 -0.174 -0.009  0.002  0.003 -1.031]
+t: 167	 action: [-0.036  0.005 -0.082  0.003 -0.006  0.019  1.141]
+t: 168	 action: [-5.823e-02  1.227e-02 -1.356e-01 -5.567e-03  2.759e-03  9.434e-04  1.099e+00]
+t: 169	 action: [-1.987e-02  5.438e-03 -4.819e-02 -7.123e-05 -6.415e-03  2.005e-02  1.066e+00]
+[07-31 01:35:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9527
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=170: Selected seed 195 with value = 0.9527
+t: 170	 action: [-0.011 -0.016 -0.012 -0.002  0.016 -0.003 -1.016]
+t: 171	 action: [ 0.013 -0.039  0.043 -0.007  0.019 -0.007 -1.034]
+t: 172	 action: [ 7.058e-04 -2.134e-02  3.536e-02 -4.892e-04  1.695e-02 -3.195e-03 -1.032e+00]
+t: 173	 action: [ 0.01  -0.04   0.075 -0.005  0.018 -0.012 -1.039]
+t: 174	 action: [-0.025 -0.018  0.024 -0.003  0.016 -0.005 -1.036]
+t: 175	 action: [-3.816e-02 -2.098e-02  5.206e-02 -9.506e-04  1.290e-02 -4.980e-03 -1.073e+00]
+t: 176	 action: [-0.025 -0.013  0.073  0.003  0.016 -0.006 -1.045]
+t: 177	 action: [-0.039 -0.002  0.1    0.004  0.012 -0.011 -1.054]
+t: 178	 action: [ 0.003  0.018  0.071  0.002  0.005 -0.004 -1.031]
+t: 179	 action: [ 0.015 -0.007  0.11  -0.006  0.012 -0.01  -1.053]
+t: 180	 action: [ 0.015  0.027  0.121  0.006  0.006 -0.005 -1.04 ]
+t: 181	 action: [ 0.019 -0.002  0.144 -0.002  0.013 -0.013 -1.05 ]
+t: 182	 action: [ 0.004  0.024  0.117  0.002  0.009 -0.003 -1.049]
+t: 183	 action: [-0.017  0.053  0.18   0.003  0.006 -0.007 -1.062]
+t: 184	 action: [ 0.009  0.029  0.153  0.004  0.015 -0.006 -1.046]
+t: 185	 action: [-0.025  0.054  0.197  0.006  0.008 -0.007 -1.053]
+[07-31 01:35:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9729
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=186: Selected seed 195 with value = 0.9729
+t: 186	 action: [-0.022  0.02  -0.305  0.004 -0.013  0.009 -1.043]
+t: 187	 action: [ 1.043e-03 -1.473e-02 -2.610e-01 -5.283e-03  4.635e-03 -4.505e-03 -1.050e+00]
+t: 188	 action: [-0.026  0.02  -0.167  0.004 -0.007  0.008 -1.034]
+t: 189	 action: [ 7.208e-04 -2.507e-02 -1.093e-01 -5.590e-03  7.786e-03 -5.603e-03 -1.047e+00]
+t: 190	 action: [-0.016  0.007 -0.169 -0.004  0.004  0.003 -1.042]
+t: 191	 action: [-2.203e-02  1.603e-02 -8.003e-02 -1.805e-04 -7.392e-04 -6.602e-03 -1.060e+00]
+t: 192	 action: [-0.025  0.012 -0.084 -0.003  0.009  0.001 -1.041]
+t: 193	 action: [-4.739e-02  8.169e-03 -1.722e-02 -2.968e-04 -7.090e-05 -1.112e-02 -1.065e+00]
+t: 194	 action: [-0.05   0.007 -0.304 -0.006 -0.003  0.006 -1.157]
+t: 195	 action: [-0.059 -0.03  -0.249 -0.009  0.006  0.018 -1.122]
+t: 196	 action: [-0.048  0.007 -0.191 -0.006 -0.002  0.007  0.98 ]
+t: 197	 action: [ 0.009 -0.03  -0.114 -0.01   0.007  0.007  1.045]
+t: 198	 action: [-0.055  0.009 -0.185 -0.019  0.008  0.002  1.099]
+t: 199	 action: [-0.002  0.01  -0.081 -0.003 -0.003  0.016  1.136]
+t: 200	 action: [-5.546e-02  1.472e-03 -9.942e-02 -1.320e-02  9.069e-03  8.840e-05  9.887e-01]
+t: 201	 action: [ 0.016  0.012 -0.014 -0.006 -0.003  0.003  1.032]
+[07-31 01:35:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9253
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9253
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9253
+t=202: Selected seed 195 with value = 0.9253
+t: 202	 action: [-3.463e-02 -1.308e-01 -2.830e-01 -5.420e-02 -3.396e-02 -1.190e-04  1.017e+00]
+t: 203	 action: [-0.007 -0.15  -0.2   -0.049 -0.03   0.004  1.058]
+t: 204	 action: [ 0.035 -0.051 -0.219 -0.054 -0.036 -0.001  1.13 ]
+t: 205	 action: [ 0.014 -0.084 -0.077 -0.046 -0.032 -0.002  0.986]
+t: 206	 action: [ 0.068 -0.044 -0.078 -0.049 -0.037 -0.005  1.025]
+t: 207	 action: [ 0.034 -0.044 -0.02  -0.039 -0.019  0.003  1.03 ]
+t: 208	 action: [ 0.085 -0.014  0.074 -0.024 -0.031 -0.012 -1.172]
+t: 209	 action: [ 0.035  0.027  0.061 -0.019 -0.008 -0.021 -1.137]
+t: 210	 action: [ 0.089  0.019  0.151 -0.014 -0.004 -0.005 -1.051]
+t: 211	 action: [ 0.059  0.014  0.302 -0.016  0.012 -0.012 -1.045]
+t: 212	 action: [ 0.045  0.026  0.336 -0.001  0.008 -0.008 -1.052]
+t: 213	 action: [ 0.031  0.015  0.414 -0.004  0.028 -0.019 -1.046]
+t: 214	 action: [-0.025  0.027  0.438 -0.001  0.014 -0.01  -1.054]
+t: 215	 action: [-0.027  0.083  0.46   0.007  0.013 -0.015 -1.062]
+t: 216	 action: [-2.307e-02  2.428e-02  4.799e-01 -4.870e-05  2.681e-02 -1.282e-02 -1.051e+00]
+t: 217	 action: [-0.033  0.073  0.451  0.013  0.026 -0.015 -1.062]
+[07-31 01:35:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9921
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=218: Selected seed 195 with value = 0.9921
+t: 218	 action: [ 0.043 -0.018  0.018  0.009  0.026  0.002 -1.033]
+t: 219	 action: [ 4.841e-02 -5.829e-02  2.871e-02  1.124e-02  2.993e-02 -8.288e-04 -1.046e+00]
+t: 220	 action: [ 0.016 -0.025 -0.01   0.008  0.023  0.003 -1.028]
+t: 221	 action: [ 0.027 -0.062  0.015  0.01   0.026  0.001 -1.034]
+t: 222	 action: [-0.013 -0.035 -0.026  0.008  0.023 -0.002 -1.032]
+t: 223	 action: [-1.570e-02 -5.029e-02  7.115e-04  1.540e-02  2.099e-02  1.988e-03 -1.071e+00]
+t: 224	 action: [-0.016 -0.024 -0.01   0.006  0.021 -0.002 -1.031]
+t: 225	 action: [-1.970e-02 -3.145e-02  6.464e-03  1.408e-02  1.528e-02  8.452e-04 -1.060e+00]
+t: 226	 action: [ 0.037  0.006  0.028  0.009  0.037  0.005 -1.036]
+t: 227	 action: [ 0.034 -0.028  0.058  0.007  0.037  0.002 -1.052]
+t: 228	 action: [ 0.037  0.016  0.061  0.008  0.04   0.004 -1.028]
+t: 229	 action: [ 3.407e-02 -2.894e-02  7.525e-02  7.930e-03  4.335e-02  1.802e-04 -1.049e+00]
+t: 230	 action: [ 0.031  0.014  0.06   0.007  0.044  0.002 -1.039]
+t: 231	 action: [ 0.004  0.023  0.1    0.013  0.036  0.002 -1.072]
+t: 232	 action: [ 2.967e-02  1.791e-02  9.384e-02  5.396e-03  4.906e-02 -8.167e-04 -1.031e+00]
+t: 233	 action: [-0.006  0.023  0.128  0.014  0.041  0.002 -1.071]
+[07-31 01:35:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9856
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=234: Selected seed 195 with value = 0.9856
+t: 234	 action: [-0.04  -0.021 -0.202  0.007 -0.004  0.009 -1.031]
+t: 235	 action: [-0.012 -0.054 -0.17   0.004  0.009 -0.001 -1.057]
+t: 236	 action: [-0.03  -0.02  -0.109  0.007  0.002  0.008 -1.029]
+t: 237	 action: [-3.638e-04 -5.704e-02 -7.756e-02  4.698e-03  1.219e-02 -3.639e-04 -1.055e+00]
+t: 238	 action: [-0.036 -0.02  -0.116  0.005  0.012  0.003 -1.024]
+t: 239	 action: [-0.021 -0.023 -0.045  0.01   0.005 -0.002 -1.07 ]
+t: 240	 action: [-0.023 -0.013 -0.041  0.004  0.017  0.003 -1.03 ]
+t: 241	 action: [-0.038 -0.021 -0.005  0.011  0.008 -0.003 -1.073]
+t: 242	 action: [-0.007 -0.021 -0.209  0.006  0.002  0.005 -1.033]
+t: 243	 action: [ 0.016 -0.053 -0.171  0.003  0.008  0.019 -1.108]
+t: 244	 action: [-0.026 -0.017 -0.142  0.006  0.005  0.007 -0.426]
+t: 245	 action: [-0.021 -0.058 -0.102  0.002  0.01   0.015  0.846]
+t: 246	 action: [-0.022 -0.014 -0.124  0.001  0.015  0.002 -1.024]
+t: 247	 action: [-2.243e-02 -2.099e-02 -6.045e-02  1.012e-02 -1.011e-03  2.076e-02  1.131e+00]
+t: 248	 action: [-3.616e-02 -9.435e-03 -6.920e-02  2.503e-03  1.834e-02  7.096e-04  9.807e-01]
+t: 249	 action: [-5.926e-03 -1.648e-02 -1.796e-02  8.265e-03  4.601e-04  1.394e-02  9.751e-01]
+[07-31 01:35:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9802
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=250: Selected seed 195 with value = 0.9802
+t: 250	 action: [ 0.015 -0.03   0.051  0.006  0.023 -0.001 -1.014]
+t: 251	 action: [ 0.028 -0.054  0.066  0.003  0.026 -0.006 -1.026]
+t: 252	 action: [ 1.990e-02 -2.937e-02  6.267e-02  5.615e-03  2.431e-02  6.970e-04 -1.024e+00]
+t: 253	 action: [ 0.025 -0.052  0.07   0.004  0.023 -0.006 -1.032]
+t: 254	 action: [-0.013 -0.036  0.05   0.007  0.019 -0.006 -1.027]
+t: 255	 action: [-0.028 -0.03   0.068  0.01   0.015 -0.004 -1.075]
+t: 256	 action: [-0.011 -0.016  0.088  0.006  0.02  -0.005 -1.032]
+t: 257	 action: [-2.669e-02 -9.315e-04  9.688e-02  1.166e-02  1.207e-02 -7.787e-03 -1.057e+00]
+t: 258	 action: [ 0.024  0.013  0.13   0.005  0.009  0.004 -1.023]
+t: 259	 action: [ 0.027 -0.011  0.166  0.002  0.014 -0.003 -1.052]
+t: 260	 action: [ 0.033  0.023  0.193  0.007  0.012  0.003 -1.022]
+t: 261	 action: [ 0.032 -0.005  0.204  0.006  0.018 -0.006 -1.043]
+t: 262	 action: [ 1.911e-02  1.937e-02  1.688e-01  5.038e-03  1.751e-02  7.669e-04 -1.034e+00]
+t: 263	 action: [-0.018  0.048  0.223  0.01   0.011 -0.002 -1.071]
+t: 264	 action: [ 0.022  0.024  0.218  0.005  0.026 -0.003 -1.028]
+t: 265	 action: [-0.021  0.051  0.239  0.013  0.019 -0.004 -1.062]
+[07-31 01:35:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9891
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=266: Selected seed 195 with value = 0.9891
+t: 266	 action: [-0.044 -0.003 -0.095  0.005 -0.006  0.006 -1.031]
+t: 267	 action: [-0.01  -0.043 -0.072  0.004  0.005 -0.002 -1.045]
+t: 268	 action: [-3.884e-02 -6.650e-03 -6.508e-02  5.072e-03 -6.324e-04  5.656e-03 -1.022e+00]
+t: 269	 action: [-4.278e-03 -4.696e-02 -1.406e-02  4.106e-03  9.179e-03 -6.445e-04 -1.041e+00]
+t: 270	 action: [-0.047 -0.012 -0.08   0.004  0.004  0.002 -1.035]
+t: 271	 action: [-2.446e-02 -1.829e-02 -3.027e-02  1.057e-02 -1.833e-03 -8.284e-04 -1.071e+00]
+t: 272	 action: [-0.045 -0.014 -0.032  0.004  0.008  0.001 -1.027]
+t: 273	 action: [-3.533e-02 -1.314e-02  4.673e-03  1.198e-02  2.780e-04 -1.816e-03 -1.065e+00]
+t: 274	 action: [-0.026 -0.012 -0.106  0.007 -0.007  0.003 -1.036]
+t: 275	 action: [ 0.011 -0.042 -0.091  0.004 -0.005 -0.004 -1.052]
+t: 276	 action: [-0.029 -0.004 -0.06   0.007 -0.004  0.005 -1.026]
+t: 277	 action: [ 0.003 -0.045 -0.034  0.005  0.002  0.001 -1.04 ]
+t: 278	 action: [-2.497e-02 -5.780e-03 -6.669e-02  3.681e-03  5.173e-03  1.007e-03 -1.040e+00]
+t: 279	 action: [-0.024 -0.007 -0.034  0.012 -0.01  -0.002 -1.07 ]
+t: 280	 action: [-3.683e-02  1.915e-03 -1.985e-02  3.645e-03  8.798e-03 -3.900e-04 -1.028e+00]
+t: 281	 action: [-4.169e-02 -5.591e-03 -4.884e-04  1.267e-02 -5.886e-03  4.212e-03 -1.036e+00]
+[07-31 01:35:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9850
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=282: Selected seed 195 with value = 0.9850
+t: 282	 action: [-0.04  -0.013 -0.112  0.006 -0.005  0.006 -1.028]
+t: 283	 action: [-1.274e-02 -5.619e-02 -6.034e-02  5.283e-05  7.571e-03 -6.146e-03 -1.055e+00]
+t: 284	 action: [-0.038 -0.022 -0.058  0.007  0.002  0.006 -1.03 ]
+t: 285	 action: [-0.01  -0.057  0.01   0.001  0.011 -0.004 -1.053]
+t: 286	 action: [-3.715e-02 -2.904e-02 -8.054e-02  4.779e-03  1.034e-02  7.727e-04 -1.021e+00]
+t: 287	 action: [-2.268e-02 -2.858e-02 -1.247e-02  6.494e-03  9.950e-04 -5.972e-03 -1.069e+00]
+t: 288	 action: [-3.773e-02 -2.615e-02 -6.464e-03  3.686e-03  1.350e-02  2.571e-04 -1.033e+00]
+t: 289	 action: [-0.039 -0.021  0.02   0.008  0.003 -0.007 -1.065]
+t: 290	 action: [-1.433e-02 -1.989e-02 -1.309e-01  2.295e-03  6.858e-04 -2.081e-04 -1.027e+00]
+t: 291	 action: [ 1.595e-02 -5.196e-02 -7.983e-02 -4.177e-04  1.213e-03  1.310e-02 -1.099e+00]
+t: 292	 action: [-0.03  -0.019 -0.084  0.004  0.003  0.004  0.931]
+t: 293	 action: [ 0.014 -0.051 -0.019 -0.001  0.005  0.003  0.796]
+t: 294	 action: [-1.903e-02 -1.340e-02 -8.476e-02 -1.754e-03  1.366e-02 -8.792e-04 -1.020e+00]
+t: 295	 action: [-0.014 -0.018 -0.03   0.008 -0.007  0.018  1.139]
+t: 296	 action: [-0.045 -0.009 -0.024  0.001  0.016 -0.002 -0.559]
+t: 297	 action: [-0.017 -0.008  0.013  0.006 -0.005 -0.007 -0.939]
+[07-31 01:35:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9824
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9824
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 47
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 94%|█████████▍| 47/50 [25:05<01:35, 31.98s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 48...
+Query 1/1: Action query time = 0.988 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=298: Selected seed 195 with value = 0.9824
+t: 298	 action: [-0.012 -0.02   0.059  0.006  0.02  -0.007 -0.994]
+t: 299	 action: [ 0.011 -0.04   0.061 -0.002  0.024 -0.01  -0.998]
+t: 300	 action: [ 0.002 -0.01   0.075  0.005  0.024 -0.005 -1.023]
+t: 301	 action: [ 1.240e-02 -3.686e-02  7.429e-02 -2.510e-04  2.406e-02 -1.057e-02 -1.035e+00]
+t: 302	 action: [-0.036 -0.012  0.056  0.008  0.016 -0.009 -1.022]
+t: 303	 action: [-0.026 -0.003  0.07   0.007  0.011 -0.008 -1.079]
+t: 304	 action: [-0.008  0.002  0.092  0.006  0.018 -0.008 -1.027]
+t: 305	 action: [-0.009  0.017  0.102  0.008  0.011 -0.012 -1.059]
+t: 306	 action: [ 0.032  0.004  0.111  0.005 -0.01   0.002 -1.017]
+t: 307	 action: [ 3.521e-02 -2.684e-02  1.546e-01 -3.960e-04  3.407e-03 -5.139e-03 -1.054e+00]
+t: 308	 action: [ 4.580e-02  7.696e-03  1.682e-01  6.212e-03 -4.857e-03  6.172e-04 -1.023e+00]
+t: 309	 action: [ 0.042 -0.023  0.193  0.003  0.009 -0.009 -1.046]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=47--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=47--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 47
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 48...
+[07-31 01:35:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4895
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4895
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4895
+t=10: Selected seed 195 with value = 0.4895
+t: 10	 action: [ 2.043e-01  1.658e-01 -8.540e-03  4.368e-03  3.254e-03 -7.340e-05 -1.026e+00]
+t: 11	 action: [ 0.297  0.242  0.012  0.009  0.004 -0.001 -1.026]
+t: 12	 action: [ 0.442  0.379  0.006  0.003  0.008  0.001 -1.026]
+t: 13	 action: [ 0.547  0.435  0.023  0.005  0.008 -0.002 -1.029]
+t: 14	 action: [ 6.703e-01  5.030e-01  1.414e-02  4.984e-04  1.358e-02 -2.135e-03 -1.035e+00]
+t: 15	 action: [ 0.715  0.551  0.016  0.008  0.011 -0.001 -1.06 ]
+t: 16	 action: [ 7.723e-01  5.608e-01  1.754e-02 -5.978e-04  1.997e-02 -2.772e-03 -1.024e+00]
+t: 17	 action: [ 0.792  0.582  0.008  0.005  0.013 -0.004 -1.061]
+t: 18	 action: [ 7.608e-01  5.909e-01  9.257e-03  5.618e-04  1.605e-02 -1.590e-03 -1.030e+00]
+t: 19	 action: [ 0.811  0.57  -0.003 -0.007  0.016 -0.013 -1.03 ]
+t: 20	 action: [ 0.802  0.576 -0.031 -0.006  0.019 -0.009 -1.031]
+t: 21	 action: [ 0.842  0.545 -0.059 -0.009  0.018 -0.016 -1.027]
+t: 22	 action: [ 0.829  0.484 -0.172 -0.003  0.012 -0.012 -1.018]
+t: 23	 action: [ 8.254e-01  4.089e-01 -2.441e-01  6.891e-04  5.247e-03 -1.705e-02 -1.054e+00]
+t: 24	 action: [ 0.799  0.389 -0.335 -0.003  0.014 -0.022 -1.025]
+t: 25	 action: [ 0.783  0.275 -0.484  0.004  0.006 -0.019 -1.06 ]
+[07-31 01:35:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5531
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5531
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5531
+t=26: Selected seed 195 with value = 0.5531
+t: 26	 action: [ 0.753  0.494 -0.137 -0.012  0.006 -0.003 -1.024]
+t: 27	 action: [ 0.671  0.431 -0.176 -0.012  0.007 -0.013 -1.037]
+t: 28	 action: [ 0.573  0.276 -0.265  0.004 -0.001 -0.005 -1.028]
+t: 29	 action: [ 0.438  0.162 -0.331 -0.004  0.003 -0.014 -1.039]
+t: 30	 action: [ 2.904e-01  3.699e-02 -4.498e-01 -2.743e-04 -3.119e-03 -9.760e-03 -1.026e+00]
+t: 31	 action: [ 0.205 -0.048 -0.571  0.011 -0.009 -0.015 -1.061]
+t: 32	 action: [ 0.122 -0.034 -0.793  0.001 -0.011 -0.012 -1.029]
+t: 33	 action: [ 0.06  -0.064 -0.888  0.013 -0.024 -0.017 -1.061]
+t: 34	 action: [-0.021 -0.056 -0.89   0.005 -0.048 -0.012 -1.029]
+t: 35	 action: [-0.048 -0.114 -0.996 -0.005 -0.052 -0.018 -1.03 ]
+t: 36	 action: [-0.12  -0.08  -0.924  0.005 -0.059 -0.009 -1.025]
+t: 37	 action: [-0.154 -0.124 -1.023 -0.007 -0.059 -0.016 -1.031]
+t: 38	 action: [-0.209 -0.104 -0.93  -0.003 -0.062 -0.007 -1.032]
+t: 39	 action: [-0.224 -0.059 -0.972 -0.004 -0.068 -0.016 -1.045]
+t: 40	 action: [-0.298 -0.1   -0.925 -0.004 -0.06  -0.003 -1.024]
+t: 41	 action: [-0.278 -0.055 -0.957 -0.006 -0.06  -0.012 -1.051]
+[07-31 01:35:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6100
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6100
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6100
+t=42: Selected seed 195 with value = 0.6100
+t: 42	 action: [-0.189  0.068 -1.04   0.005 -0.014  0.007 -1.048]
+t: 43	 action: [-1.498e-01  5.719e-02 -9.477e-01  8.594e-05  4.823e-04  1.181e-02 -1.037e+00]
+t: 44	 action: [-0.111  0.036 -0.94   0.004  0.002  0.008 -1.039]
+t: 45	 action: [-0.044  0.028 -0.836 -0.002  0.008  0.016 -1.033]
+t: 46	 action: [-0.028  0.023 -0.722 -0.006  0.017  0.001 -1.037]
+t: 47	 action: [-8.051e-03  7.287e-02 -7.412e-01 -5.631e-04  1.119e-02  4.738e-03 -1.057e+00]
+t: 48	 action: [-2.439e-02  1.094e-02 -5.547e-01 -7.922e-03  1.990e-02  4.741e-04 -1.037e+00]
+t: 49	 action: [-0.052  0.052 -0.606 -0.004  0.016  0.001 -1.052]
+t: 50	 action: [-0.107 -0.004 -0.627 -0.005  0.018  0.005 -1.231]
+t: 51	 action: [-0.19  -0.023 -0.516 -0.008  0.017  0.022 -1.159]
+t: 52	 action: [-0.158  0.01  -0.481 -0.006  0.019  0.009  0.983]
+t: 53	 action: [-0.164 -0.021 -0.398 -0.006  0.021  0.006  1.036]
+t: 54	 action: [-0.18   0.015 -0.311 -0.01   0.016 -0.009  1.111]
+t: 55	 action: [-0.136  0.028 -0.225 -0.007  0.004  0.009  1.176]
+t: 56	 action: [-0.142  0.003 -0.172 -0.015  0.01  -0.01   0.997]
+t: 57	 action: [-0.108  0.03  -0.087 -0.008  0.007 -0.007  1.04 ]
+[07-31 01:35:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7275
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7275
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7275
+t=58: Selected seed 195 with value = 0.7275
+t: 58	 action: [-0.099 -0.032 -0.137 -0.008  0.033  0.004  0.976]
+t: 59	 action: [-0.016 -0.049 -0.053 -0.017  0.058 -0.003  1.015]
+t: 60	 action: [-2.608e-03  3.661e-03  7.731e-02 -1.238e-02  4.349e-02  3.719e-04  9.694e-01]
+t: 61	 action: [ 0.007 -0.004  0.218 -0.02   0.061 -0.008  1.016]
+t: 62	 action: [ 0.035  0.015  0.405 -0.01   0.06  -0.009  0.987]
+t: 63	 action: [ 0.039  0.061  0.625 -0.005  0.054 -0.019  1.015]
+t: 64	 action: [ 0.058  0.01   0.783  0.005  0.049 -0.019  0.984]
+t: 65	 action: [ 0.037  0.026  0.837  0.006  0.048 -0.028  1.022]
+t: 66	 action: [ 0.088 -0.138  0.887  0.014  0.062 -0.017  0.981]
+t: 67	 action: [ 0.043 -0.206  0.924  0.033  0.072 -0.023  1.011]
+t: 68	 action: [ 0.048 -0.351  0.872  0.034  0.063 -0.018  0.976]
+t: 69	 action: [ 0.035 -0.476  0.872  0.051  0.069 -0.023  1.015]
+t: 70	 action: [-0.01  -0.54   0.84   0.061  0.068 -0.013  0.992]
+t: 71	 action: [-0.042 -0.646  0.728  0.067  0.063 -0.015  1.014]
+t: 72	 action: [-0.048 -0.659  0.56   0.065  0.054 -0.016  0.994]
+t: 73	 action: [-0.117 -0.743  0.333  0.068  0.044 -0.017  1.025]
+[07-31 01:35:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8555
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8555
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8555
+t=74: Selected seed 195 with value = 0.8555
+t: 74	 action: [-0.062 -0.779  0.538  0.067  0.059 -0.006  0.979]
+t: 75	 action: [-0.075 -0.843  0.325  0.055  0.064 -0.012  1.006]
+t: 76	 action: [-1.186e-01 -8.408e-01  1.500e-01  5.808e-02  4.787e-02 -3.946e-05  9.718e-01]
+t: 77	 action: [-0.149 -0.903  0.005  0.049  0.053 -0.005  0.999]
+t: 78	 action: [-0.134 -0.829 -0.125  0.044  0.044 -0.003  0.987]
+t: 79	 action: [-0.232 -0.794 -0.228  0.03   0.031  0.004  1.007]
+t: 80	 action: [-0.189 -0.746 -0.375  0.023  0.026 -0.001  0.984]
+t: 81	 action: [-0.262 -0.589 -0.552  0.014  0.014  0.007  1.014]
+t: 82	 action: [-0.176 -0.549 -0.592  0.008 -0.002  0.003  0.987]
+t: 83	 action: [-0.209 -0.434 -0.804 -0.002 -0.004  0.009  1.007]
+t: 84	 action: [-1.695e-01 -3.003e-01 -7.287e-01  3.537e-05 -9.599e-03  3.548e-03  9.788e-01]
+t: 85	 action: [-0.18  -0.232 -0.882 -0.019 -0.002  0.014  1.016]
+t: 86	 action: [-0.219 -0.096 -0.748 -0.009 -0.018  0.011  0.999]
+t: 87	 action: [-0.188 -0.073 -0.844 -0.03  -0.014  0.023  1.01 ]
+t: 88	 action: [-0.186 -0.052 -0.674 -0.024 -0.01   0.009  0.994]
+t: 89	 action: [-0.117 -0.035 -0.677 -0.034 -0.008  0.022  1.021]
+[07-31 01:35:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9902
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=90: Selected seed 195 with value = 0.9902
+t: 90	 action: [-0.144  0.004  0.056 -0.047  0.078  0.001 -0.72 ]
+t: 91	 action: [-0.007 -0.021  0.171 -0.04   0.102  0.012 -0.867]
+t: 92	 action: [-0.045  0.005  0.242 -0.027  0.091  0.001 -1.029]
+t: 93	 action: [ 0.021 -0.011  0.38  -0.024  0.116  0.013 -1.036]
+t: 94	 action: [ 0.069  0.012  0.459 -0.005  0.124 -0.002 -1.085]
+t: 95	 action: [ 0.037  0.057  0.487 -0.002  0.127  0.004 -1.095]
+t: 96	 action: [ 0.098  0.006  0.508  0.001  0.123 -0.004 -1.034]
+t: 97	 action: [ 0.097  0.04   0.5    0.005  0.125  0.001 -1.063]
+t: 98	 action: [ 1.329e-01  6.364e-03  4.933e-01  2.096e-03  1.027e-01  9.887e-04 -1.031e+00]
+t: 99	 action: [ 0.107  0.006  0.465  0.003  0.108  0.01  -1.042]
+t: 100	 action: [ 0.134  0.008  0.461  0.002  0.097  0.001 -1.029]
+t: 101	 action: [ 0.119  0.013  0.437  0.004  0.11   0.007 -1.032]
+t: 102	 action: [ 1.126e-01  1.196e-02  3.870e-01  4.780e-03  1.078e-01  9.345e-05 -1.033e+00]
+t: 103	 action: [ 0.092  0.044  0.365  0.01   0.108  0.007 -1.054]
+t: 104	 action: [ 0.108  0.012  0.348  0.002  0.1   -0.003 -1.029]
+t: 105	 action: [ 0.078  0.047  0.33   0.01   0.101  0.002 -1.061]
+[07-31 01:35:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.062  0.003  0.106  0.005  0.041  0.003 -1.047]
+t: 107	 action: [ 0.07  -0.037  0.114  0.006  0.042 -0.002 -1.044]
+t: 108	 action: [ 4.803e-02  4.790e-03  1.042e-01  5.005e-03  4.409e-02 -7.634e-05 -1.042e+00]
+t: 109	 action: [ 0.04  -0.044  0.124  0.006  0.052 -0.001 -1.036]
+t: 110	 action: [ 2.576e-02 -9.783e-03  9.070e-02  7.679e-03  4.957e-02 -9.647e-04 -1.034e+00]
+t: 111	 action: [ 0.041 -0.012  0.165  0.013  0.052  0.002 -1.066]
+t: 112	 action: [ 0.026 -0.005  0.11   0.008  0.056 -0.002 -1.032]
+t: 113	 action: [ 2.331e-02  2.244e-03  1.900e-01  1.404e-02  5.930e-02 -7.604e-04 -1.059e+00]
+t: 114	 action: [ 0.09  -0.017  0.133  0.009  0.048  0.003 -1.044]
+t: 115	 action: [ 0.08  -0.03   0.151  0.006  0.049 -0.001 -1.049]
+t: 116	 action: [ 0.069  0.004  0.136  0.007  0.054  0.001 -1.039]
+t: 117	 action: [ 0.061 -0.028  0.158  0.006  0.062 -0.002 -1.046]
+t: 118	 action: [ 6.410e-02 -6.243e-03  1.422e-01  7.555e-03  6.271e-02  4.122e-04 -1.036e+00]
+t: 119	 action: [ 0.056  0.02   0.203  0.012  0.054 -0.001 -1.067]
+t: 120	 action: [ 0.047  0.003  0.154  0.006  0.07  -0.003 -1.029]
+t: 121	 action: [ 3.180e-02  2.554e-02  2.190e-01  1.373e-02  6.701e-02 -8.574e-04 -1.066e+00]
+[07-31 01:36:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9906
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=122: Selected seed 195 with value = 0.9906
+t: 122	 action: [-1.094e-02  8.609e-02 -1.022e-01 -7.415e-04 -1.466e-02  3.284e-03 -1.030e+00]
+t: 123	 action: [-0.014  0.063 -0.117 -0.013 -0.015 -0.004 -1.04 ]
+t: 124	 action: [-4.434e-02  7.266e-02 -7.394e-02  3.099e-04 -1.778e-02  1.973e-03 -1.026e+00]
+t: 125	 action: [-0.04   0.037 -0.063 -0.011 -0.01  -0.004 -1.039]
+t: 126	 action: [-0.051  0.069 -0.107 -0.005 -0.022 -0.002 -1.036]
+t: 127	 action: [-0.054  0.048 -0.077 -0.003 -0.028 -0.004 -1.07 ]
+t: 128	 action: [-0.052  0.03  -0.059 -0.002 -0.019 -0.003 -1.027]
+t: 129	 action: [-3.332e-02  3.104e-02 -1.860e-02 -8.599e-04 -2.052e-02 -6.683e-03 -1.060e+00]
+t: 130	 action: [-0.018 -0.005 -0.065  0.005 -0.031  0.005 -1.038]
+t: 131	 action: [-0.001 -0.03  -0.033 -0.01  -0.037 -0.007 -1.049]
+t: 132	 action: [-0.018  0.011 -0.049  0.003 -0.031  0.004 -1.032]
+t: 133	 action: [ 0.011 -0.014  0.009 -0.009 -0.027 -0.003 -1.044]
+t: 134	 action: [-2.130e-02 -4.408e-03 -5.485e-02  9.144e-04 -2.948e-02 -6.359e-05 -1.044e+00]
+t: 135	 action: [-3.047e-02  1.728e-02 -9.165e-03  7.297e-05 -4.217e-02 -1.027e-02 -1.075e+00]
+t: 136	 action: [-3.217e-02  9.999e-04 -2.563e-02 -5.592e-04 -2.453e-02 -2.921e-03 -1.031e+00]
+t: 137	 action: [-0.029  0.03   0.005  0.001 -0.029 -0.006 -1.066]
+[07-31 01:36:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9920
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=138: Selected seed 195 with value = 0.9920
+t: 138	 action: [-0.015  0.04  -0.139  0.002 -0.012  0.005 -1.033]
+t: 139	 action: [-0.015  0.024 -0.16  -0.008 -0.014 -0.002 -1.044]
+t: 140	 action: [-0.039  0.035 -0.101  0.003 -0.015  0.003 -1.026]
+t: 141	 action: [-0.032  0.004 -0.096 -0.007 -0.008 -0.001 -1.039]
+t: 142	 action: [-4.326e-02  3.321e-02 -1.351e-01 -1.448e-04 -1.761e-02 -9.400e-04 -1.037e+00]
+t: 143	 action: [-4.141e-02  2.297e-02 -1.053e-01  5.318e-04 -2.216e-02 -2.048e-03 -1.071e+00]
+t: 144	 action: [-4.152e-02  1.455e-02 -8.303e-02  1.295e-04 -1.420e-02 -1.817e-03 -1.028e+00]
+t: 145	 action: [-0.027  0.013 -0.036  0.002 -0.015 -0.005 -1.06 ]
+t: 146	 action: [-0.017 -0.005 -0.096  0.006 -0.024  0.005 -1.041]
+t: 147	 action: [ 5.159e-04 -3.327e-02 -8.899e-02 -5.730e-03 -2.927e-02 -6.245e-03 -1.050e+00]
+t: 148	 action: [-0.017  0.01  -0.071  0.005 -0.023  0.005 -1.033]
+t: 149	 action: [ 0.013 -0.02  -0.048 -0.006 -0.018 -0.001 -1.043]
+t: 150	 action: [-1.850e-02 -3.535e-04 -8.403e-02  2.195e-03 -2.099e-02  6.624e-04 -1.047e+00]
+t: 151	 action: [-0.028  0.014 -0.029  0.003 -0.032 -0.008 -1.074]
+t: 152	 action: [-2.655e-02  4.209e-03 -5.051e-02  5.928e-04 -1.506e-02 -2.022e-03 -1.034e+00]
+t: 153	 action: [-0.028  0.022 -0.011  0.003 -0.019 -0.003 -1.064]
+[07-31 01:36:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9958
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=154: Selected seed 195 with value = 0.9958
+t: 154	 action: [-0.003  0.008 -0.089  0.004  0.004  0.006 -1.037]
+t: 155	 action: [ 6.263e-03 -4.033e-02 -6.007e-02 -2.571e-03  9.063e-03  8.114e-04 -1.047e+00]
+t: 156	 action: [-0.012  0.013 -0.057  0.004  0.008  0.004 -1.027]
+t: 157	 action: [ 0.005 -0.042  0.008 -0.003  0.014  0.003 -1.039]
+t: 158	 action: [-0.026 -0.002 -0.074  0.003  0.01   0.001 -1.035]
+t: 159	 action: [-0.017 -0.02  -0.015  0.005  0.003  0.003 -1.071]
+t: 160	 action: [-2.543e-02  1.452e-03 -3.182e-02  1.743e-03  1.582e-02  6.565e-04 -1.028e+00]
+t: 161	 action: [-0.018 -0.007  0.019  0.005  0.011  0.002 -1.061]
+t: 162	 action: [ 0.009 -0.017 -0.065  0.007  0.004  0.006 -1.043]
+t: 163	 action: [ 0.015 -0.043 -0.047 -0.003  0.008 -0.001 -1.052]
+t: 164	 action: [-0.002  0.007 -0.04   0.006  0.009  0.006 -1.033]
+t: 165	 action: [ 0.02  -0.04   0.006 -0.003  0.012  0.004 -1.045]
+t: 166	 action: [-0.003 -0.006 -0.049  0.003  0.013  0.002 -1.042]
+t: 167	 action: [-1.880e-02 -5.987e-03 -9.894e-03  5.286e-03 -1.953e-03  3.328e-04 -1.072e+00]
+t: 168	 action: [-1.749e-02  5.090e-03 -1.775e-02  1.889e-03  1.867e-02 -3.095e-04 -1.031e+00]
+t: 169	 action: [-0.023  0.002  0.011  0.006  0.005  0.006 -1.06 ]
+[07-31 01:36:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9922
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=170: Selected seed 195 with value = 0.9922
+t: 170	 action: [-3.160e-04 -3.332e-03 -8.697e-02  4.054e-03  8.029e-03  6.366e-03 -1.032e+00]
+t: 171	 action: [ 3.625e-03 -6.056e-02 -4.581e-02 -3.708e-04  1.338e-02  2.606e-03 -1.049e+00]
+t: 172	 action: [-0.009 -0.002 -0.044  0.004  0.014  0.004 -1.016]
+t: 173	 action: [ 0.003 -0.057  0.021 -0.001  0.02   0.004 -1.045]
+t: 174	 action: [-0.027 -0.016 -0.066  0.003  0.018  0.002 -1.032]
+t: 175	 action: [-0.021 -0.032 -0.004  0.007  0.011  0.004 -1.074]
+t: 176	 action: [-2.688e-02 -1.058e-02 -1.884e-02  1.929e-03  2.381e-02  6.676e-04 -1.013e+00]
+t: 177	 action: [-0.022 -0.014  0.03   0.007  0.02   0.002 -1.073]
+t: 178	 action: [ 0.009 -0.026 -0.068  0.006  0.011  0.006 -1.038]
+t: 179	 action: [ 1.454e-02 -5.775e-02 -4.658e-02 -1.151e-03  1.172e-02  2.666e-04 -1.054e+00]
+t: 180	 action: [-0.003  0.001 -0.04   0.005  0.015  0.005 -1.021]
+t: 181	 action: [ 0.017 -0.054  0.008 -0.001  0.015  0.015 -0.974]
+t: 182	 action: [-0.007 -0.008 -0.049  0.002  0.021  0.002 -1.039]
+t: 183	 action: [-0.023 -0.018 -0.009  0.007  0.004  0.003 -1.076]
+t: 184	 action: [-2.121e-02  2.151e-03 -1.596e-02  1.493e-03  2.642e-02 -3.454e-05 -1.012e+00]
+t: 185	 action: [-0.027 -0.008  0.016  0.008  0.011  0.019 -0.587]
+[07-31 01:36:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9869
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=186: Selected seed 195 with value = 0.9869
+t: 186	 action: [-0.019 -0.015 -0.093  0.005  0.005  0.005 -1.022]
+t: 187	 action: [-1.559e-02 -7.135e-02 -3.720e-02  9.033e-04  1.165e-02 -1.432e-03 -1.058e+00]
+t: 188	 action: [-0.032 -0.02  -0.042  0.005  0.015  0.004 -1.02 ]
+t: 189	 action: [-0.016 -0.064  0.027  0.001  0.019 -0.001 -1.052]
+t: 190	 action: [-4.712e-02 -3.038e-02 -6.123e-02  3.970e-03  2.112e-02  5.352e-04 -1.016e+00]
+t: 191	 action: [-3.282e-02 -4.158e-02  4.322e-04  6.621e-03  1.318e-02 -1.450e-03 -1.075e+00]
+t: 192	 action: [-3.616e-02 -2.110e-02 -7.514e-03  3.438e-03  2.890e-02 -5.946e-04 -1.016e+00]
+t: 193	 action: [-0.03  -0.019  0.045  0.008  0.024 -0.004 -1.068]
+t: 194	 action: [-0.01  -0.033 -0.088  0.004  0.011  0.003 -1.025]
+t: 195	 action: [ 6.041e-03 -6.536e-02 -3.924e-02  1.831e-04  1.064e-02  1.778e-02 -1.100e+00]
+t: 196	 action: [-0.027 -0.011 -0.055  0.004  0.02   0.003 -1.082]
+t: 197	 action: [-4.708e-02 -5.948e-02  9.278e-03 -3.881e-06  1.456e-02  2.113e-02 -1.088e+00]
+t: 198	 action: [-2.761e-02 -1.508e-02 -5.329e-02  2.244e-03  2.599e-02  2.307e-04 -1.017e+00]
+t: 199	 action: [-0.027 -0.029 -0.006  0.007  0.006  0.021  1.09 ]
+t: 200	 action: [-0.03  -0.004 -0.017  0.002  0.034 -0.002  1.031]
+t: 201	 action: [-0.003 -0.015  0.021  0.007  0.014  0.025  1.102]
+[07-31 01:36:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9874
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=202: Selected seed 195 with value = 0.9874
+t: 202	 action: [-0.008  0.009 -0.046 -0.002 -0.001 -0.005  0.975]
+t: 203	 action: [-0.009 -0.012  0.004 -0.011  0.006 -0.021  0.513]
+t: 204	 action: [-0.02   0.019  0.042 -0.002  0.002 -0.004 -1.037]
+t: 205	 action: [-0.021 -0.009  0.059 -0.006  0.011 -0.012 -1.043]
+t: 206	 action: [-0.042  0.008  0.054 -0.005  0.003 -0.007 -1.108]
+t: 207	 action: [-0.035  0.051  0.096 -0.005 -0.003 -0.012 -1.143]
+t: 208	 action: [-6.581e-04  2.734e-02  1.223e-01  6.398e-04  1.371e-02 -6.299e-03 -1.027e+00]
+t: 209	 action: [-0.014  0.065  0.166  0.005  0.008 -0.011 -1.06 ]
+t: 210	 action: [ 0.042  0.01   0.207  0.005 -0.009  0.004 -1.016]
+t: 211	 action: [ 2.728e-02 -1.788e-02  2.444e-01  4.631e-04  4.119e-03 -2.168e-03 -1.052e+00]
+t: 212	 action: [ 0.051  0.02   0.255  0.005  0.001  0.001 -1.04 ]
+t: 213	 action: [ 0.034 -0.01   0.263  0.003  0.01  -0.006 -1.052]
+t: 214	 action: [ 2.807e-02  8.659e-03  2.435e-01  4.849e-03  3.862e-03 -3.437e-04 -1.027e+00]
+t: 215	 action: [-1.147e-02  5.453e-02  2.916e-01  5.630e-03 -3.349e-03  8.496e-04 -1.077e+00]
+t: 216	 action: [ 0.032  0.014  0.28   0.004  0.022 -0.004 -1.027]
+t: 217	 action: [-0.007  0.06   0.286  0.009  0.009 -0.004 -1.063]
+[07-31 01:36:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9880
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=218: Selected seed 195 with value = 0.9880
+t: 218	 action: [-0.008  0.059 -0.13   0.001 -0.019  0.004 -1.025]
+t: 219	 action: [-0.028  0.051 -0.144 -0.008 -0.017 -0.003 -1.036]
+t: 220	 action: [-0.045  0.067 -0.08   0.001 -0.022  0.002 -1.025]
+t: 221	 action: [-0.046  0.041 -0.052 -0.007 -0.012 -0.005 -1.038]
+t: 222	 action: [-0.068  0.052 -0.124 -0.003 -0.024 -0.002 -1.035]
+t: 223	 action: [-6.300e-02  5.560e-02 -8.633e-02 -2.853e-04 -2.899e-02 -3.729e-03 -1.068e+00]
+t: 224	 action: [-0.055  0.033 -0.049 -0.002 -0.02  -0.004 -1.026]
+t: 225	 action: [-0.03   0.051 -0.006  0.001 -0.019 -0.01  -1.058]
+t: 226	 action: [-0.04   0.01  -0.084  0.002 -0.034  0.003 -1.023]
+t: 227	 action: [-0.025 -0.011 -0.03  -0.009 -0.039 -0.007 -1.047]
+t: 228	 action: [-3.829e-02  1.764e-02 -4.649e-02 -1.953e-04 -3.581e-02  8.660e-04 -1.027e+00]
+t: 229	 action: [-0.007  0.009  0.021 -0.008 -0.03  -0.006 -1.043]
+t: 230	 action: [-0.042  0.004 -0.065 -0.003 -0.032 -0.002 -1.039]
+t: 231	 action: [-4.380e-02  3.879e-02 -5.801e-03  4.896e-04 -4.343e-02 -1.042e-02 -1.075e+00]
+t: 232	 action: [-0.043  0.014 -0.016 -0.003 -0.027 -0.007 -1.026]
+t: 233	 action: [-0.032  0.055  0.022  0.002 -0.031 -0.009 -1.06 ]
+[07-31 01:36:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.988 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=234: Selected seed 195 with value = 0.9905
+t: 234	 action: [-0.01   0.033 -0.156  0.002 -0.012  0.005 -1.033]
+t: 235	 action: [-0.02   0.01  -0.163 -0.006 -0.01  -0.003 -1.048]
+t: 236	 action: [-0.037  0.034 -0.096  0.003 -0.014  0.003 -1.021]
+t: 237	 action: [-0.033 -0.002 -0.057 -0.006 -0.005 -0.004 -1.049]
+t: 238	 action: [-5.269e-02  1.289e-02 -1.404e-01 -6.065e-04 -1.460e-02 -8.945e-04 -1.037e+00]
+t: 239	 action: [-0.048  0.019 -0.081  0.001 -0.02  -0.003 -1.078]
+t: 240	 action: [-4.822e-02  1.124e-02 -6.851e-02 -6.129e-04 -1.150e-02 -3.107e-03 -1.017e+00]
+t: 241	 action: [-3.174e-02  2.007e-02 -7.131e-03  8.889e-04 -1.296e-02 -8.050e-03 -1.078e+00]
+t: 242	 action: [-3.193e-02 -5.990e-04 -1.306e-01  2.176e-03 -1.758e-02  3.972e-03 -1.039e+00]
+t: 243	 action: [-0.011 -0.027 -0.104 -0.007 -0.021 -0.005 -1.051]
+t: 244	 action: [-3.621e-02  1.554e-02 -8.237e-02  8.615e-04 -2.008e-02  2.101e-03 -1.024e+00]
+t: 245	 action: [-0.003 -0.013 -0.028 -0.007 -0.015  0.006 -0.93 ]
+t: 246	 action: [-4.272e-02  1.673e-03 -1.138e-01 -4.219e-03 -1.554e-02 -4.983e-04 -1.046e+00]
+t: 247	 action: [-0.043  0.014 -0.033  0.002 -0.029 -0.006 -1.079]
+t: 248	 action: [-0.046  0.01  -0.053 -0.003 -0.012 -0.005 -1.01 ]
+t: 249	 action: [-0.038  0.026 -0.003  0.002 -0.022  0.009 -0.144]
+[07-31 01:36:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9833
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=250: Selected seed 195 with value = 0.9833
+t: 250	 action: [-0.03   0.003 -0.198  0.005 -0.002  0.006 -1.022]
+t: 251	 action: [-0.047 -0.047 -0.168 -0.002  0.005 -0.005 -1.057]
+t: 252	 action: [-3.352e-02 -9.392e-03 -1.121e-01  5.258e-03 -8.596e-04  4.948e-03 -1.028e+00]
+t: 253	 action: [-0.037 -0.046 -0.02  -0.003  0.007 -0.005 -1.055]
+t: 254	 action: [-6.671e-02 -1.935e-02 -1.345e-01  2.372e-03  7.161e-03  4.379e-04 -1.020e+00]
+t: 255	 action: [-0.044 -0.019 -0.039  0.002 -0.003 -0.005 -1.071]
+t: 256	 action: [-0.04  -0.014 -0.046  0.002  0.011 -0.002 -1.028]
+t: 257	 action: [-3.420e-02 -7.238e-04  1.745e-02  1.713e-03 -5.018e-04 -8.972e-03 -1.068e+00]
+t: 258	 action: [-0.034 -0.024 -0.185  0.003  0.005  0.002 -1.026]
+t: 259	 action: [-0.015 -0.053 -0.147 -0.004  0.006  0.017 -1.098]
+t: 260	 action: [-0.029  0.002 -0.104  0.002  0.005  0.001  0.58 ]
+t: 261	 action: [-0.009 -0.044 -0.016 -0.005  0.007  0.008  0.957]
+t: 262	 action: [-0.061 -0.005 -0.127 -0.006  0.012 -0.002 -1.02 ]
+t: 263	 action: [-0.042 -0.015 -0.035  0.001 -0.007  0.017  1.116]
+t: 264	 action: [-0.038  0.002 -0.041 -0.003  0.014 -0.006  0.896]
+t: 265	 action: [ 1.907e-02  5.747e-03  1.999e-02 -8.136e-04 -2.795e-03  5.764e-03  1.004e+00]
+[07-31 01:36:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9598
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=266: Selected seed 195 with value = 0.9598
+t: 266	 action: [-0.064 -0.074 -0.207 -0.02  -0.015 -0.004  0.999]
+t: 267	 action: [-4.895e-02 -8.659e-02 -1.094e-01 -2.299e-02 -5.266e-03  2.519e-05  1.045e+00]
+t: 268	 action: [-5.829e-02  7.996e-04 -2.347e-02 -1.565e-02 -1.184e-02 -1.578e-02  1.109e+00]
+t: 269	 action: [-0.045 -0.02   0.065 -0.019 -0.003 -0.038  0.728]
+t: 270	 action: [-0.083  0.002  0.07  -0.027 -0.009 -0.022  1.036]
+t: 271	 action: [ 0.02   0.06   0.179 -0.02  -0.011 -0.009  1.011]
+t: 272	 action: [ 0.037  0.023  0.245 -0.002 -0.005 -0.036 -1.171]
+t: 273	 action: [ 0.032  0.11   0.366 -0.005 -0.007 -0.045 -1.16 ]
+t: 274	 action: [ 0.146  0.025  0.251  0.003 -0.017 -0.016 -0.803]
+t: 275	 action: [ 1.008e-01  2.323e-02  3.113e-01 -6.712e-04 -6.390e-03 -2.373e-02 -1.045e+00]
+t: 276	 action: [ 0.128  0.034  0.298  0.004 -0.018 -0.022 -1.048]
+t: 277	 action: [ 8.365e-02  3.006e-02  3.143e-01  4.027e-03  5.160e-05 -2.944e-02 -1.054e+00]
+t: 278	 action: [ 0.021  0.026  0.233  0.003 -0.015 -0.016 -1.115]
+t: 279	 action: [-9.725e-04  8.748e-02  3.140e-01  6.631e-03 -2.062e-02 -2.090e-02 -1.070e+00]
+t: 280	 action: [-0.008  0.052  0.235  0.003 -0.01  -0.021 -1.044]
+t: 281	 action: [-0.025  0.094  0.272  0.01  -0.01  -0.022 -1.056]
+[07-31 01:36:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9923
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.960 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=282: Selected seed 195 with value = 0.9923
+t: 282	 action: [ 0.008  0.032 -0.041 -0.008  0.006 -0.003 -0.97 ]
+t: 283	 action: [ 0.007  0.055 -0.089 -0.016 -0.002 -0.01  -0.97 ]
+t: 284	 action: [-0.033  0.036  0.008 -0.01  -0.011 -0.004 -1.014]
+t: 285	 action: [-0.022  0.038  0.025 -0.014 -0.008 -0.011 -1.037]
+t: 286	 action: [-0.067  0.025 -0.02  -0.014 -0.017 -0.005 -1.024]
+t: 287	 action: [-0.052  0.056 -0.012 -0.008 -0.022 -0.005 -1.068]
+t: 288	 action: [-0.057  0.025  0.039 -0.007 -0.016 -0.004 -1.02 ]
+t: 289	 action: [-0.035  0.057  0.072 -0.003 -0.02  -0.009 -1.057]
+t: 290	 action: [ 0.027  0.014  0.06  -0.004 -0.02   0.006 -1.009]
+t: 291	 action: [ 1.687e-02 -4.230e-04  1.004e-01 -1.365e-02 -1.913e-02 -1.302e-03 -1.045e+00]
+t: 292	 action: [ 0.017  0.021  0.076 -0.004 -0.027  0.004 -1.029]
+t: 293	 action: [ 0.014  0.002  0.118 -0.01  -0.016 -0.004 -1.044]
+t: 294	 action: [ 1.226e-02  9.917e-03  5.292e-02 -7.177e-03 -2.580e-02  6.197e-04 -1.037e+00]
+t: 295	 action: [-1.023e-02  6.058e-02  1.433e-01 -4.782e-03 -3.263e-02 -1.773e-05 -1.074e+00]
+t: 296	 action: [ 0.01   0.017  0.075 -0.006 -0.023 -0.003 -1.028]
+t: 297	 action: [-0.007  0.068  0.166 -0.002 -0.025 -0.004 -1.061]
+[07-31 01:36:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9953
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9953
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 48
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 96%|█████████▌| 48/50 [25:37<01:03, 31.75s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 49...
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=298: Selected seed 195 with value = 0.9953
+t: 298	 action: [ 3.351e-02  6.307e-02 -9.784e-02  9.831e-04  1.539e-03 -8.515e-04 -1.040e+00]
+t: 299	 action: [ 0.018  0.061 -0.161 -0.009 -0.007 -0.01  -1.051]
+t: 300	 action: [-1.787e-02  4.854e-02 -9.612e-02  1.271e-03 -7.547e-03  3.645e-04 -1.033e+00]
+t: 301	 action: [-0.009  0.03  -0.119 -0.008 -0.006 -0.008 -1.045]
+t: 302	 action: [-0.03   0.046 -0.143 -0.003 -0.014 -0.003 -1.04 ]
+t: 303	 action: [-2.937e-02  4.185e-02 -1.292e-01 -7.562e-04 -2.197e-02 -6.892e-03 -1.074e+00]
+t: 304	 action: [-0.041  0.032 -0.11  -0.001 -0.016 -0.004 -1.035]
+t: 305	 action: [-3.298e-02  3.431e-02 -6.365e-02  3.569e-04 -1.852e-02 -8.341e-03 -1.063e+00]
+t: 306	 action: [-0.004  0.006 -0.119  0.004 -0.012  0.005 -1.045]
+t: 307	 action: [ 0.005 -0.023 -0.09  -0.007 -0.017 -0.007 -1.053]
+t: 308	 action: [-0.028  0.017 -0.089  0.001 -0.019  0.003 -1.043]
+t: 309	 action: [ 0.005 -0.009 -0.028 -0.007 -0.014 -0.004 -1.047]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=48--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=48--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 48
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 49...
+[07-31 01:36:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.088 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4582
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4582
+Query 1/1: Action query time = 1.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4582
+t=10: Selected seed 195 with value = 0.4582
+t: 10	 action: [-0.054  0.014 -0.023  0.005  0.006  0.003 -1.018]
+t: 11	 action: [ 0.025 -0.027 -0.004 -0.002  0.008 -0.002 -1.02 ]
+t: 12	 action: [ 0.136  0.043 -0.014  0.003  0.01   0.006 -1.033]
+t: 13	 action: [ 2.844e-01  1.026e-01  9.117e-03 -4.311e-03  8.428e-03 -1.011e-03 -1.026e+00]
+t: 14	 action: [ 4.098e-01  1.667e-01 -8.415e-03 -5.911e-04  8.682e-03 -3.562e-04 -1.043e+00]
+t: 15	 action: [ 6.139e-01  3.187e-01 -5.580e-03  6.337e-04  4.730e-03 -1.088e-03 -1.051e+00]
+t: 16	 action: [ 7.278e-01  4.188e-01  8.563e-04 -7.324e-03  1.517e-02  1.100e-03 -1.037e+00]
+t: 17	 action: [ 0.817  0.471  0.007 -0.002  0.007 -0.001 -1.055]
+t: 18	 action: [ 0.797  0.466  0.04  -0.01   0.025  0.007 -1.036]
+t: 19	 action: [ 8.368e-01  5.151e-01  4.107e-02 -1.531e-02  2.478e-02 -1.040e-04 -1.029e+00]
+t: 20	 action: [ 0.843  0.506  0.026 -0.022  0.027  0.01  -1.034]
+t: 21	 action: [ 0.874  0.544  0.019 -0.016  0.032  0.001 -1.029]
+t: 22	 action: [ 0.876  0.538 -0.004 -0.012  0.027  0.005 -1.018]
+t: 23	 action: [ 9.052e-01  5.548e-01 -1.229e-02 -7.365e-03  1.589e-02  5.230e-04 -1.046e+00]
+t: 24	 action: [ 0.89   0.544 -0.056 -0.015  0.026  0.004 -1.021]
+t: 25	 action: [ 0.929  0.526 -0.039 -0.007  0.02   0.003 -1.054]
+[07-31 01:36:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.046 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5456
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5456
+Query 1/1: Action query time = 1.046 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5456
+t=26: Selected seed 195 with value = 0.5456
+t: 26	 action: [ 0.854  0.541 -0.101  0.01   0.018  0.008 -1.044]
+t: 27	 action: [ 0.813  0.515 -0.146  0.004  0.013  0.004 -1.038]
+t: 28	 action: [ 0.79   0.444 -0.213  0.009  0.011  0.009 -1.05 ]
+t: 29	 action: [ 6.927e-01  3.595e-01 -2.370e-01  7.001e-03  9.197e-03  8.227e-04 -1.042e+00]
+t: 30	 action: [ 0.563  0.21  -0.373  0.002  0.012 -0.001 -1.033]
+t: 31	 action: [ 4.412e-01  1.509e-01 -4.763e-01  2.141e-02  3.117e-03 -2.880e-04 -1.058e+00]
+t: 32	 action: [ 3.018e-01  4.503e-02 -6.473e-01  1.227e-02  5.133e-03 -7.674e-04 -1.042e+00]
+t: 33	 action: [ 0.224  0.001 -0.758  0.027  0.001 -0.005 -1.062]
+t: 34	 action: [ 0.076 -0.017 -0.823  0.008 -0.022 -0.007 -1.036]
+t: 35	 action: [ 0.01  -0.085 -0.919  0.009 -0.022 -0.014 -1.039]
+t: 36	 action: [-0.107 -0.101 -0.911  0.008 -0.031 -0.009 -1.041]
+t: 37	 action: [-0.17  -0.124 -1.015  0.006 -0.029 -0.014 -1.038]
+t: 38	 action: [-0.243 -0.167 -0.917  0.002 -0.037 -0.006 -1.036]
+t: 39	 action: [-0.314 -0.073 -0.955  0.018 -0.037 -0.015 -1.052]
+t: 40	 action: [-4.116e-01 -1.463e-01 -9.122e-01  1.008e-03 -3.570e-02 -5.057e-03 -1.035e+00]
+t: 41	 action: [-0.414 -0.073 -0.935  0.015 -0.034 -0.013 -1.055]
+[07-31 01:36:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6527
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6527
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6527
+t=42: Selected seed 195 with value = 0.6527
+t: 42	 action: [-0.221 -0.016 -1.002  0.015 -0.03   0.016 -1.042]
+t: 43	 action: [-0.237 -0.024 -1.009  0.009 -0.023  0.018 -1.037]
+t: 44	 action: [-0.229  0.001 -0.997  0.009 -0.022  0.013 -1.032]
+t: 45	 action: [-0.223  0.003 -0.949  0.003 -0.006  0.019 -1.034]
+t: 46	 action: [-1.906e-01  4.002e-02 -8.704e-01 -8.347e-04 -6.100e-03  1.084e-02 -1.031e+00]
+t: 47	 action: [-1.631e-01  6.749e-02 -8.808e-01 -1.020e-03 -3.022e-03  1.110e-02 -1.058e+00]
+t: 48	 action: [-0.159  0.048 -0.759 -0.009 -0.002  0.009 -1.025]
+t: 49	 action: [-0.174  0.084 -0.76  -0.005  0.003  0.005 -1.05 ]
+t: 50	 action: [-0.248  0.023 -0.755 -0.003 -0.006  0.008 -1.188]
+t: 51	 action: [-0.34  -0.01  -0.704 -0.01   0.002  0.028 -1.16 ]
+t: 52	 action: [-2.821e-01  2.134e-04 -6.724e-01 -5.803e-03  8.502e-04  7.887e-03 -1.212e+00]
+t: 53	 action: [-0.335 -0.023 -0.58  -0.01   0.007  0.026 -1.161]
+t: 54	 action: [-0.315 -0.003 -0.524 -0.014  0.007  0.004  1.111]
+t: 55	 action: [-2.887e-01  3.353e-03 -4.371e-01 -7.829e-03  9.101e-04  1.820e-02  1.197e+00]
+t: 56	 action: [-0.232 -0.005 -0.374 -0.017  0.01   0.002  1.104]
+t: 57	 action: [-0.171 -0.004 -0.242 -0.009  0.007  0.018  1.179]
+[07-31 01:36:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7080
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7080
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7080
+t=58: Selected seed 195 with value = 0.7080
+t: 58	 action: [-0.144  0.012 -0.279 -0.03   0.015  0.005  0.976]
+t: 59	 action: [-0.032 -0.001 -0.103 -0.033  0.048  0.009  0.999]
+t: 60	 action: [-0.052  0.012 -0.009 -0.022  0.041  0.006  0.974]
+t: 61	 action: [ 0.008  0.005  0.171 -0.026  0.065  0.003  1.001]
+t: 62	 action: [ 4.601e-02  1.430e-02  3.242e-01 -2.957e-02  7.628e-02 -1.186e-04  9.890e-01]
+t: 63	 action: [ 0.071  0.049  0.552 -0.032  0.068  0.001  1.006]
+t: 64	 action: [ 0.103  0.032  0.737 -0.011  0.082 -0.003  0.991]
+t: 65	 action: [ 0.102  0.072  0.804 -0.017  0.069 -0.011  1.011]
+t: 66	 action: [1.177e-01 1.006e-02 8.883e-01 8.917e-04 3.476e-02 1.044e-03 9.731e-01]
+t: 67	 action: [ 0.072  0.044  0.93   0.005  0.029 -0.011  0.997]
+t: 68	 action: [ 0.136 -0.059  0.883  0.004  0.028  0.003  0.968]
+t: 69	 action: [ 0.068 -0.103  0.912  0.017  0.024 -0.006  1.002]
+t: 70	 action: [-0.008 -0.188  0.884  0.033  0.031  0.002  0.981]
+t: 71	 action: [-0.048 -0.273  0.836  0.035  0.026  0.003  1.007]
+t: 72	 action: [-0.118 -0.421  0.606  0.035  0.02   0.003  0.988]
+t: 73	 action: [-0.142 -0.489  0.36   0.048  0.017  0.007  1.016]
+[07-31 01:36:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7953
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7953
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7953
+t=74: Selected seed 195 with value = 0.7953
+t: 74	 action: [4.634e-02 2.280e-01 3.308e-01 1.149e-03 6.795e-03 5.113e-04 1.009e+00]
+t: 75	 action: [ 0.003  0.299  0.201  0.003 -0.003 -0.003  1.033]
+t: 76	 action: [1.991e-02 2.958e-01 1.039e-01 7.799e-03 3.072e-03 4.537e-04 1.007e+00]
+t: 77	 action: [-1.702e-01  3.600e-01  3.751e-03  7.100e-03 -2.423e-03  8.119e-04  1.026e+00]
+t: 78	 action: [-2.154e-01  2.351e-01 -1.844e-02  4.644e-03  1.992e-03  6.264e-04  1.007e+00]
+t: 79	 action: [-0.323  0.301 -0.053  0.011 -0.009  0.005  1.03 ]
+t: 80	 action: [-4.166e-01  3.255e-01 -1.204e-01  1.900e-03 -2.773e-03  3.478e-04  1.005e+00]
+t: 81	 action: [-0.468  0.356 -0.227  0.009 -0.009  0.008  1.028]
+t: 82	 action: [-0.446  0.22  -0.266  0.005  0.006  0.022  0.985]
+t: 83	 action: [-0.493  0.185 -0.318  0.004  0.002  0.037  1.024]
+t: 84	 action: [-0.441  0.171 -0.323  0.003  0.005  0.032  0.989]
+t: 85	 action: [-0.477  0.143 -0.326 -0.002  0.002  0.045  1.045]
+t: 86	 action: [-4.408e-01  2.491e-01 -3.393e-01  5.460e-04 -1.045e-02  2.754e-02  1.008e+00]
+t: 87	 action: [-0.45   0.131 -0.349 -0.008 -0.004  0.045  1.047]
+t: 88	 action: [-3.706e-01  2.577e-01 -3.322e-01 -3.991e-04 -1.755e-02  2.782e-02  1.008e+00]
+t: 89	 action: [-0.359  0.162 -0.258 -0.015 -0.008  0.048  1.064]
+[07-31 01:36:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8582
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=90: Selected seed 195 with value = 0.8582
+t: 90	 action: [-0.119  0.193 -0.124  0.002  0.032  0.003  1.01 ]
+t: 91	 action: [-0.18   0.118 -0.163 -0.004  0.014  0.004  1.019]
+t: 92	 action: [-0.145  0.148 -0.235  0.004  0.025  0.004  1.004]
+t: 93	 action: [-2.439e-01  8.148e-02 -3.006e-01  1.234e-04  1.033e-02  6.834e-03  1.023e+00]
+t: 94	 action: [-0.26   0.072 -0.258 -0.002  0.026  0.006  1.033]
+t: 95	 action: [-3.362e-01  4.501e-02 -3.289e-01  4.090e-03  9.682e-04  1.788e-02  1.048e+00]
+t: 96	 action: [-0.373  0.079 -0.361 -0.005  0.023  0.004  1.023]
+t: 97	 action: [-4.358e-01  4.859e-02 -4.693e-01  4.213e-03 -4.747e-06  1.506e-02  1.056e+00]
+t: 98	 action: [-0.339  0.031 -0.474  0.004  0.043  0.015  0.992]
+t: 99	 action: [-0.424 -0.002 -0.539  0.003  0.014  0.029  1.026]
+t: 100	 action: [-3.444e-01  2.123e-02 -4.564e-01  2.243e-04  4.092e-02  1.697e-02  9.973e-01]
+t: 101	 action: [-3.792e-01 -1.651e-02 -4.889e-01 -9.614e-04  6.649e-03  2.669e-02  1.049e+00]
+t: 102	 action: [-2.779e-01  7.052e-03 -3.984e-01  2.395e-04  2.201e-02  1.243e-02  1.021e+00]
+t: 103	 action: [-3.263e-01  2.679e-05 -4.639e-01 -6.784e-03  1.417e-03  2.574e-02  1.070e+00]
+t: 104	 action: [-1.769e-01  1.408e-03 -2.765e-01  2.197e-04  5.997e-03  6.009e-03  1.022e+00]
+t: 105	 action: [-0.202 -0.007 -0.243 -0.013 -0.003  0.015  1.082]
+[07-31 01:36:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9510
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9510
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9510
+t=106: Selected seed 195 with value = 0.9510
+t: 106	 action: [-0.053  0.046 -0.37  -0.057  0.011  0.005  1.012]
+t: 107	 action: [-0.099  0.06  -0.247 -0.038  0.009  0.019  1.049]
+t: 108	 action: [-1.133e-01  3.796e-02 -1.691e-01 -4.556e-02  2.843e-02  6.787e-04  1.176e+00]
+t: 109	 action: [-0.156  0.012 -0.017 -0.03   0.032 -0.017  1.   ]
+t: 110	 action: [-0.146  0.004  0.084 -0.036  0.041 -0.004  1.029]
+t: 111	 action: [-0.163  0.003  0.145 -0.028  0.022  0.01   1.06 ]
+t: 112	 action: [-1.110e-01 -7.411e-03  3.482e-01  3.395e-04  6.150e-02 -1.319e-02 -1.160e+00]
+t: 113	 action: [-0.08  -0.008  0.401 -0.007  0.043 -0.034 -1.113]
+t: 114	 action: [-0.062  0.037  0.478 -0.002  0.065 -0.047 -1.028]
+t: 115	 action: [-0.025 -0.004  0.474  0.014  0.057 -0.044 -1.064]
+t: 116	 action: [-0.048  0.024  0.453  0.007  0.065 -0.057 -1.034]
+t: 117	 action: [-0.009 -0.022  0.404  0.015  0.048 -0.051 -1.073]
+t: 118	 action: [-0.107  0.006  0.334  0.019  0.061 -0.034 -1.069]
+t: 119	 action: [-0.088  0.006  0.334  0.008  0.018 -0.031 -1.06 ]
+t: 120	 action: [-0.114 -0.008  0.267  0.016  0.044 -0.038 -1.004]
+t: 121	 action: [-0.067 -0.018  0.264  0.004  0.009 -0.032 -0.919]
+[07-31 01:36:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9899
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=122: Selected seed 195 with value = 0.9899
+t: 122	 action: [ 0.084  0.032  0.347  0.002  0.063 -0.052 -1.053]
+t: 123	 action: [ 6.830e-02 -6.592e-04  2.536e-01 -7.819e-04  3.924e-02 -5.653e-02 -1.036e+00]
+t: 124	 action: [ 0.091  0.023  0.238  0.003  0.04  -0.06  -1.049]
+t: 125	 action: [ 0.082 -0.004  0.214  0.003  0.032 -0.062 -1.031]
+t: 126	 action: [ 0.11   0.011  0.207  0.003  0.036 -0.057 -1.05 ]
+t: 127	 action: [ 0.074  0.043  0.17   0.007  0.022 -0.058 -1.047]
+t: 128	 action: [ 0.122  0.005  0.21   0.002  0.032 -0.063 -1.048]
+t: 129	 action: [ 0.107  0.042  0.162  0.012  0.016 -0.066 -1.047]
+t: 130	 action: [ 0.102  0.018  0.185  0.008  0.019 -0.045 -1.056]
+t: 131	 action: [ 0.076 -0.006  0.187  0.003  0.02  -0.054 -1.036]
+t: 132	 action: [ 0.098  0.022  0.181  0.006  0.012 -0.053 -1.047]
+t: 133	 action: [ 0.087 -0.003  0.179  0.004  0.017 -0.06  -1.032]
+t: 134	 action: [ 0.114  0.006  0.181  0.004  0.019 -0.052 -1.051]
+t: 135	 action: [ 0.078  0.04   0.146  0.009  0.007 -0.057 -1.047]
+t: 136	 action: [ 0.122  0.008  0.192  0.003  0.015 -0.061 -1.038]
+t: 137	 action: [ 0.1    0.042  0.168  0.011  0.006 -0.062 -1.053]
+[07-31 01:36:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9857
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=138: Selected seed 195 with value = 0.9857
+t: 138	 action: [ 0.103  0.099  0.043  0.003  0.01  -0.02  -1.052]
+t: 139	 action: [ 0.073  0.075  0.031  0.012  0.006 -0.035 -1.033]
+t: 140	 action: [ 0.089  0.041 -0.017  0.002 -0.003 -0.037 -1.043]
+t: 141	 action: [ 0.077  0.059  0.01   0.011  0.003 -0.047 -1.041]
+t: 142	 action: [ 1.150e-01  1.010e-01  1.809e-02  4.953e-04 -3.797e-03 -2.389e-02 -1.051e+00]
+t: 143	 action: [ 0.082  0.101 -0.002  0.015 -0.014 -0.036 -1.056]
+t: 144	 action: [ 0.106  0.04  -0.009  0.001 -0.009 -0.041 -1.042]
+t: 145	 action: [ 0.091  0.081 -0.012  0.015 -0.015 -0.051 -1.064]
+t: 146	 action: [ 0.083  0.019 -0.062  0.004 -0.019 -0.034 -1.055]
+t: 147	 action: [ 0.051  0.037 -0.053  0.011 -0.017 -0.042 -1.033]
+t: 148	 action: [ 0.076  0.01  -0.051  0.003 -0.02  -0.048 -1.044]
+t: 149	 action: [ 0.066  0.04  -0.031  0.01  -0.011 -0.05  -1.041]
+t: 150	 action: [ 0.092  0.014 -0.045  0.002 -0.018 -0.039 -1.056]
+t: 151	 action: [ 0.051  0.066 -0.038  0.015 -0.026 -0.044 -1.055]
+t: 152	 action: [ 8.944e-02  1.337e-02 -2.739e-02  4.748e-04 -1.666e-02 -5.471e-02 -1.036e+00]
+t: 153	 action: [ 0.065  0.068 -0.017  0.013 -0.021 -0.052 -1.065]
+[07-31 01:36:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9671
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=154: Selected seed 195 with value = 0.9671
+t: 154	 action: [ 1.126e-01  8.339e-02  1.970e-01 -4.088e-04  1.103e-02 -1.037e-02 -1.050e+00]
+t: 155	 action: [ 0.1    0.067  0.159  0.008  0.01  -0.019 -1.036]
+t: 156	 action: [ 1.219e-01  2.351e-02  6.932e-02  2.296e-04  8.522e-03 -1.664e-02 -1.045e+00]
+t: 157	 action: [ 0.117  0.042  0.047  0.01   0.013 -0.03  -1.051]
+t: 158	 action: [ 1.328e-01  5.533e-02  1.209e-01  1.623e-05  1.728e-03 -1.359e-02 -1.050e+00]
+t: 159	 action: [ 0.122  0.076  0.057  0.011 -0.008 -0.017 -1.064]
+t: 160	 action: [ 1.330e-01  6.282e-03  4.049e-02  1.349e-04  3.556e-03 -1.995e-02 -1.044e+00]
+t: 161	 action: [ 0.127  0.051  0.006  0.013 -0.004 -0.03  -1.066]
+t: 162	 action: [ 0.136 -0.007  0.002  0.002 -0.01  -0.018 -1.059]
+t: 163	 action: [ 0.113 -0.003  0.01   0.008  0.003 -0.026 -1.049]
+t: 164	 action: [ 0.115 -0.007 -0.026  0.001 -0.006 -0.028 -1.051]
+t: 165	 action: [ 1.077e-01 -9.333e-04 -1.436e-02  7.825e-03  1.024e-02 -3.440e-02 -1.056e+00]
+t: 166	 action: [ 1.267e-01 -1.721e-02 -1.185e-02 -4.768e-04 -8.794e-03 -2.044e-02 -1.060e+00]
+t: 167	 action: [ 0.084  0.023 -0.021  0.012 -0.012 -0.025 -1.068]
+t: 168	 action: [ 0.108 -0.016 -0.026 -0.002 -0.003 -0.031 -1.044]
+t: 169	 action: [ 0.074  0.019 -0.036  0.011 -0.006 -0.033 -1.072]
+[07-31 01:36:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9150
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9150
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9150
+t=170: Selected seed 195 with value = 0.9150
+t: 170	 action: [ 1.371e-01  1.577e-01  1.581e-01 -1.065e-03  4.426e-04 -7.584e-03 -1.038e+00]
+t: 171	 action: [ 0.141  0.123  0.082  0.001  0.005 -0.016 -1.031]
+t: 172	 action: [ 1.522e-01  8.706e-02  4.507e-02 -1.353e-04  2.975e-03 -5.192e-03 -1.033e+00]
+t: 173	 action: [ 1.586e-01  8.426e-02 -7.272e-04  4.352e-03  9.678e-03 -1.853e-02 -1.043e+00]
+t: 174	 action: [ 0.139  0.081  0.05  -0.001 -0.009 -0.009 -1.038]
+t: 175	 action: [ 0.152  0.069  0.001  0.005 -0.012 -0.012 -1.068]
+t: 176	 action: [ 0.14   0.025 -0.035 -0.001 -0.001 -0.009 -1.03 ]
+t: 177	 action: [ 0.136  0.043 -0.086  0.008 -0.005 -0.016 -1.059]
+t: 178	 action: [ 1.972e-01  6.530e-03 -9.589e-02  1.019e-03 -8.103e-03 -3.916e-03 -1.053e+00]
+t: 179	 action: [ 0.192  0.011 -0.149  0.004  0.004 -0.017 -1.047]
+t: 180	 action: [ 0.163 -0.003 -0.15   0.002 -0.001 -0.006 -1.046]
+t: 181	 action: [ 0.169  0.016 -0.263  0.003  0.011 -0.021 -1.049]
+t: 182	 action: [ 0.151 -0.005 -0.144 -0.004 -0.007 -0.009 -1.053]
+t: 183	 action: [ 0.121  0.025 -0.208  0.006 -0.011 -0.015 -1.07 ]
+t: 184	 action: [ 0.117 -0.013 -0.173 -0.005  0.001 -0.012 -1.038]
+t: 185	 action: [ 0.078  0.02  -0.287  0.005 -0.005 -0.018 -1.064]
+[07-31 01:36:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9035
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9035
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9035
+t=186: Selected seed 195 with value = 0.9035
+t: 186	 action: [ 0.148  0.067  0.134 -0.002 -0.003 -0.014 -1.042]
+t: 187	 action: [ 1.312e-01  6.555e-02  7.200e-02  6.839e-04 -3.615e-03 -2.503e-02 -1.043e+00]
+t: 188	 action: [ 1.606e-01  2.410e-02  8.535e-02 -9.898e-04 -3.131e-03 -1.141e-02 -1.035e+00]
+t: 189	 action: [ 0.147  0.039  0.01   0.002 -0.003 -0.025 -1.045]
+t: 190	 action: [ 0.149  0.02   0.044 -0.003 -0.015 -0.012 -1.035]
+t: 191	 action: [ 0.138  0.029 -0.013  0.004 -0.022 -0.02  -1.067]
+t: 192	 action: [ 0.146 -0.01  -0.017 -0.003 -0.012 -0.01  -1.03 ]
+t: 193	 action: [ 0.132  0.01  -0.087  0.006 -0.018 -0.022 -1.055]
+t: 194	 action: [ 2.075e-01 -2.469e-02 -1.617e-01  2.046e-03 -3.183e-02 -9.597e-04 -1.055e+00]
+t: 195	 action: [ 0.144 -0.048 -0.284  0.004 -0.021 -0.018 -1.052]
+t: 196	 action: [ 0.152 -0.02  -0.255  0.004 -0.029 -0.003 -1.048]
+t: 197	 action: [ 1.135e-01 -4.096e-02 -4.186e-01  6.304e-04 -1.857e-02 -2.056e-02 -1.048e+00]
+t: 198	 action: [ 0.099 -0.015 -0.23  -0.005 -0.037 -0.007 -1.053]
+t: 199	 action: [ 0.046 -0.016 -0.329  0.003 -0.036 -0.017 -1.066]
+t: 200	 action: [ 0.065 -0.024 -0.275 -0.006 -0.032 -0.01  -1.04 ]
+t: 201	 action: [ 2.429e-02 -1.499e-02 -3.960e-01 -8.312e-05 -3.017e-02 -1.780e-02 -1.057e+00]
+[07-31 01:36:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9132
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9132
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=202: Selected seed 195 with value = 0.9132
+t: 202	 action: [ 7.317e-02  1.026e-03  1.717e-01  8.944e-04  1.080e-02 -1.870e-02 -1.059e+00]
+t: 203	 action: [ 0.03  -0.035  0.13   0.001  0.011 -0.027 -1.058]
+t: 204	 action: [ 7.022e-02 -1.299e-02  1.451e-01  6.260e-04  1.245e-02 -1.831e-02 -1.053e+00]
+t: 205	 action: [ 2.120e-02 -5.053e-02  8.417e-02 -4.777e-04  8.559e-03 -2.992e-02 -1.078e+00]
+t: 206	 action: [ 0.045 -0.025  0.124 -0.001  0.006 -0.018 -1.051]
+t: 207	 action: [ 0.012 -0.039  0.067  0.006 -0.003 -0.022 -1.077]
+t: 208	 action: [ 0.044 -0.047  0.107 -0.001  0.009 -0.016 -1.037]
+t: 209	 action: [ 0.007 -0.054  0.013  0.004 -0.002 -0.024 -1.029]
+t: 210	 action: [ 0.057 -0.073  0.05   0.004 -0.013 -0.008 -1.07 ]
+t: 211	 action: [ 0.028 -0.096  0.003  0.001 -0.002 -0.024 -1.066]
+t: 212	 action: [ 0.04  -0.069 -0.02   0.003 -0.012 -0.013 -1.054]
+t: 213	 action: [ 0.034 -0.093 -0.126 -0.002  0.004 -0.013 -1.06 ]
+t: 214	 action: [ 1.685e-02 -5.339e-02  9.850e-03 -3.605e-04 -1.851e-02 -1.524e-02 -1.067e+00]
+t: 215	 action: [-0.013 -0.067 -0.043  0.003 -0.019 -0.023 -1.075]
+t: 216	 action: [ 0.008 -0.06  -0.029 -0.004 -0.016 -0.019 -1.018]
+t: 217	 action: [-0.011 -0.068 -0.128 -0.001 -0.013 -0.007  0.992]
+[07-31 01:36:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9126
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9126
+Query 1/1: Action query time = 0.993 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9126
+t=218: Selected seed 195 with value = 0.9126
+t: 218	 action: [ 2.479e-02  2.889e-03  1.585e-01 -2.819e-04 -1.019e-03 -1.416e-02 -1.051e+00]
+t: 219	 action: [ 0.011 -0.032  0.142 -0.004  0.006 -0.018 -1.053]
+t: 220	 action: [ 3.378e-02 -1.451e-02  1.295e-01  1.644e-03 -1.275e-04 -9.671e-03 -1.019e+00]
+t: 221	 action: [ 0.013 -0.047  0.098 -0.008  0.006 -0.004 -1.039]
+t: 222	 action: [ 0.014 -0.025  0.118 -0.003 -0.002 -0.015 -1.053]
+t: 223	 action: [-0.013 -0.037  0.082  0.001 -0.007 -0.014 -1.08 ]
+t: 224	 action: [ 2.030e-02 -5.103e-02  9.825e-02 -1.141e-03 -1.473e-04 -1.076e-02 -9.849e-01]
+t: 225	 action: [-0.006 -0.052  0.03  -0.002 -0.005 -0.005  0.938]
+t: 226	 action: [ 2.929e-02 -6.482e-02  1.975e-02  2.910e-03 -2.344e-02  6.630e-04 -1.067e+00]
+t: 227	 action: [ 0.019 -0.096  0.007 -0.005 -0.012 -0.012 -1.065]
+t: 228	 action: [ 3.226e-02 -7.338e-02 -4.042e-02  3.945e-03 -2.067e-02 -1.001e-03 -1.006e+00]
+t: 229	 action: [ 0.031 -0.096 -0.098 -0.008 -0.007  0.007 -1.058]
+t: 230	 action: [ 9.087e-04 -4.304e-02 -9.470e-03 -2.617e-03 -2.687e-02 -8.010e-03 -1.069e+00]
+t: 231	 action: [-0.018 -0.066 -0.03  -0.002 -0.026 -0.011 -1.075]
+t: 232	 action: [ 0.01  -0.052 -0.04  -0.004 -0.022 -0.011 -0.912]
+t: 233	 action: [-0.006 -0.065 -0.094 -0.006 -0.018  0.009  1.108]
+[07-31 01:36:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9120
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=234: Selected seed 195 with value = 0.9120
+t: 234	 action: [ 1.610e-02  1.369e-03  8.352e-02  1.547e-03  6.028e-04 -1.318e-02 -1.042e+00]
+t: 235	 action: [ 0.015 -0.032  0.049 -0.003  0.006 -0.013 -1.047]
+t: 236	 action: [ 2.028e-02 -1.138e-02  3.948e-02  3.164e-03 -8.884e-04 -7.505e-03 -1.025e+00]
+t: 237	 action: [ 0.009 -0.038  0.001 -0.006  0.006 -0.014 -0.964]
+t: 238	 action: [-0.006 -0.025  0.04  -0.001 -0.002 -0.012 -1.049]
+t: 239	 action: [-0.024 -0.038 -0.004  0.004 -0.006 -0.008 -1.087]
+t: 240	 action: [-8.854e-03 -4.850e-02  2.174e-02  5.938e-04 -1.498e-03 -7.883e-03 -9.935e-01]
+t: 241	 action: [-0.023 -0.045 -0.042  0.002 -0.005 -0.007 -0.045]
+t: 242	 action: [ 4.331e-04 -5.259e-02 -1.147e-01  4.833e-03 -2.149e-02  3.634e-03 -1.058e+00]
+t: 243	 action: [ 0.004 -0.092 -0.118 -0.006 -0.008 -0.003 -1.059]
+t: 244	 action: [ 2.366e-04 -6.228e-02 -1.341e-01  5.046e-03 -2.218e-02  3.699e-03 -1.010e+00]
+t: 245	 action: [ 0.014 -0.095 -0.207 -0.009 -0.006  0.011 -1.078]
+t: 246	 action: [-0.041 -0.032 -0.13  -0.002 -0.028 -0.005 -1.068]
+t: 247	 action: [-0.041 -0.065 -0.123 -0.004 -0.024 -0.004 -1.081]
+t: 248	 action: [-0.036 -0.042 -0.115 -0.004 -0.025 -0.007 -0.912]
+t: 249	 action: [-0.027 -0.069 -0.146 -0.007 -0.019  0.012  1.113]
+[07-31 01:36:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9169
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9169
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9169
+t=250: Selected seed 195 with value = 0.9169
+t: 250	 action: [-0.02  -0.004  0.108  0.003  0.005 -0.003 -1.048]
+t: 251	 action: [-0.009 -0.043  0.09  -0.005  0.01  -0.004 -1.044]
+t: 252	 action: [-2.189e-02 -2.486e-02  5.412e-02  4.822e-03  5.004e-03  9.633e-05 -9.766e-01]
+t: 253	 action: [-0.012 -0.052  0.036 -0.007  0.009  0.01  -1.064]
+t: 254	 action: [-4.054e-02 -3.284e-02  7.605e-02 -3.686e-04  3.973e-03 -7.784e-03 -1.059e+00]
+t: 255	 action: [-3.302e-02 -4.223e-02  5.787e-02  3.921e-03 -1.893e-03 -3.212e-04 -1.072e+00]
+t: 256	 action: [-0.026 -0.064  0.061  0.001  0.003 -0.005 -0.847]
+t: 257	 action: [-2.362e-02 -5.736e-02  1.904e-02  1.548e-03 -7.794e-04  4.823e-03  1.013e+00]
+t: 258	 action: [-0.032 -0.026  0.052  0.004 -0.011  0.003 -1.059]
+t: 259	 action: [-0.012 -0.078  0.062 -0.009  0.006 -0.004 -1.045]
+t: 260	 action: [-0.043 -0.059  0.021  0.005 -0.01   0.003 -1.087]
+t: 261	 action: [-0.046 -0.079  0.019 -0.01   0.008  0.016 -1.038]
+t: 262	 action: [-0.048 -0.047  0.028 -0.001 -0.012 -0.005 -1.071]
+t: 263	 action: [-4.052e-02 -6.771e-02  2.671e-02 -2.313e-03 -9.647e-03 -8.214e-04 -1.043e+00]
+t: 264	 action: [-3.442e-02 -7.228e-02  2.687e-02 -6.874e-04 -7.353e-03 -5.954e-03  9.463e-01]
+t: 265	 action: [-0.008 -0.071 -0.003 -0.003 -0.005  0.018  1.112]
+[07-31 01:36:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9141
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9141
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=266: Selected seed 195 with value = 0.9141
+t: 266	 action: [-0.002 -0.001  0.055  0.002  0.016 -0.007 -1.019]
+t: 267	 action: [ 6.619e-03 -3.462e-02  4.574e-02  4.390e-04  1.855e-02  4.243e-04 -1.002e+00]
+t: 268	 action: [-0.006 -0.022  0.005  0.004  0.014 -0.003 -0.991]
+t: 269	 action: [-7.285e-03 -4.976e-02  1.540e-02 -4.372e-04  1.406e-02  1.294e-02 -1.024e+00]
+t: 270	 action: [-3.484e-02 -3.672e-02  3.150e-02  9.448e-04  1.209e-02 -9.343e-03 -1.054e+00]
+t: 271	 action: [-0.035 -0.042  0.029  0.008  0.009  0.004 -1.072]
+t: 272	 action: [-0.028 -0.07   0.021  0.003  0.011 -0.006 -0.951]
+t: 273	 action: [-0.03  -0.062 -0.001  0.007  0.007  0.009  0.926]
+t: 274	 action: [-6.511e-04 -3.019e-02 -1.389e-02  5.304e-03  9.815e-03  6.904e-03 -1.047e+00]
+t: 275	 action: [ 0.008 -0.068  0.028 -0.004  0.015  0.008 -1.039]
+t: 276	 action: [-0.022 -0.044 -0.024  0.006  0.008  0.008 -1.118]
+t: 277	 action: [-0.017 -0.072 -0.005 -0.006  0.013  0.026 -1.055]
+t: 278	 action: [-4.448e-02 -3.150e-02 -2.578e-02  5.702e-05  4.219e-03 -3.528e-04 -1.071e+00]
+t: 279	 action: [-3.817e-02 -5.469e-02  3.289e-03 -2.189e-03 -5.324e-04  7.745e-03 -1.050e+00]
+t: 280	 action: [-3.352e-02 -4.315e-02 -8.396e-03  1.235e-04  5.247e-03 -1.968e-03  8.330e-01]
+t: 281	 action: [-1.121e-02 -6.415e-02 -1.635e-02 -4.596e-03  6.834e-05  2.480e-02  1.123e+00]
+[07-31 01:36:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8993
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8993
+Query 1/1: Action query time = 0.988 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8993
+t=282: Selected seed 195 with value = 0.8993
+t: 282	 action: [ 2.240e-02  7.480e-04  4.244e-02  2.640e-03  4.795e-03 -6.371e-03 -1.029e+00]
+t: 283	 action: [ 1.532e-02 -2.760e-02  3.396e-02 -1.073e-03  1.079e-02 -8.438e-04 -1.019e+00]
+t: 284	 action: [ 0.014 -0.015 -0.025  0.003  0.004 -0.004 -0.997]
+t: 285	 action: [ 1.049e-02 -3.933e-02  5.710e-04 -2.198e-03  8.399e-03  1.281e-02 -1.043e+00]
+t: 286	 action: [-1.476e-02 -2.784e-02  1.926e-02  1.460e-03  2.779e-04 -9.171e-03 -1.059e+00]
+t: 287	 action: [-0.029 -0.031  0.015  0.006 -0.002  0.002 -1.077]
+t: 288	 action: [-0.011 -0.047 -0.002  0.002  0.001 -0.007 -0.948]
+t: 289	 action: [-0.025 -0.047 -0.015  0.005 -0.002  0.007  0.977]
+t: 290	 action: [ 0.005 -0.017 -0.032  0.005 -0.004  0.007 -1.053]
+t: 291	 action: [ 0.007 -0.055  0.012 -0.006  0.009  0.006 -1.047]
+t: 292	 action: [-0.013 -0.031 -0.057  0.005 -0.003  0.007 -1.113]
+t: 293	 action: [-0.024 -0.065 -0.021 -0.01   0.01   0.024 -1.051]
+t: 294	 action: [-3.549e-02 -2.310e-02 -4.565e-02 -2.570e-04 -7.821e-03 -4.071e-04 -1.076e+00]
+t: 295	 action: [-0.037 -0.045 -0.012 -0.006 -0.006  0.006 -1.056]
+t: 296	 action: [-1.868e-02 -3.280e-02 -3.575e-02 -8.807e-04 -3.672e-03 -3.482e-03  9.241e-01]
+t: 297	 action: [-0.006 -0.058 -0.028 -0.009 -0.004  0.022  1.125]
+[07-31 01:36:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8936
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 49
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 98%|█████████▊| 49/50 [26:08<00:31, 31.56s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 50...
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=298: Selected seed 195 with value = 0.8936
+t: 298	 action: [ 1.512e-02  3.317e-03  2.058e-02  2.099e-03  2.091e-04 -4.812e-03 -1.039e+00]
+t: 299	 action: [ 0.012 -0.025  0.019 -0.002  0.008 -0.003 -1.036]
+t: 300	 action: [ 0.009 -0.011 -0.059  0.003  0.002 -0.004 -1.008]
+t: 301	 action: [ 0.01  -0.037 -0.018 -0.003  0.007  0.011 -1.045]
+t: 302	 action: [-0.016 -0.024  0.002  0.001 -0.004 -0.008 -1.061]
+t: 303	 action: [-3.210e-02 -2.669e-02  2.749e-03  3.752e-03 -4.955e-03  4.486e-05 -1.079e+00]
+t: 304	 action: [-0.007 -0.04  -0.022  0.002 -0.003 -0.008 -0.959]
+t: 305	 action: [-0.024 -0.042 -0.022  0.001 -0.004  0.005  0.971]
+t: 306	 action: [ 0.011 -0.007 -0.037  0.005 -0.007  0.006 -1.059]
+t: 307	 action: [ 0.009 -0.045  0.016 -0.007  0.006  0.003 -1.048]
+t: 308	 action: [-0.009 -0.019 -0.062  0.005 -0.006  0.006 -1.105]
+t: 309	 action: [-0.031 -0.056 -0.011 -0.01   0.008  0.021 -1.045]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=49--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=49--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 49
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 50...
+[07-31 01:36:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5302
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.5302
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5302
+t=10: Selected seed 195 with value = 0.5302
+t: 10	 action: [ 0.51   0.39   0.035  0.001  0.015  0.002 -1.02 ]
+t: 11	 action: [ 6.061e-01  4.498e-01  1.834e-02  8.978e-04  1.328e-02  1.727e-03 -1.024e+00]
+t: 12	 action: [ 0.672  0.547  0.027  0.001  0.018  0.003 -1.016]
+t: 13	 action: [ 0.758  0.564  0.01   0.002  0.011  0.003 -1.027]
+t: 14	 action: [ 0.772  0.598  0.02  -0.004  0.021  0.001 -1.018]
+t: 15	 action: [ 0.829  0.623  0.002  0.003  0.011  0.005 -1.048]
+t: 16	 action: [ 0.822  0.619 -0.001 -0.003  0.023  0.002 -1.016]
+t: 17	 action: [ 0.869  0.638 -0.02   0.005  0.007  0.004 -1.051]
+t: 18	 action: [ 0.782  0.634 -0.037 -0.004  0.003  0.007 -1.032]
+t: 19	 action: [ 0.839  0.636 -0.057 -0.009  0.009  0.009 -1.028]
+t: 20	 action: [ 0.801  0.628 -0.098 -0.007  0.001  0.006 -1.032]
+t: 21	 action: [ 0.855  0.615 -0.13  -0.011  0.009  0.009 -1.027]
+t: 22	 action: [ 8.120e-01  5.514e-01 -1.947e-01 -3.211e-03  7.262e-06  4.732e-03 -1.022e+00]
+t: 23	 action: [ 8.274e-01  5.161e-01 -2.636e-01  4.790e-05 -2.949e-04  7.661e-03 -1.049e+00]
+t: 24	 action: [ 7.652e-01  4.341e-01 -3.850e-01 -4.132e-03 -1.755e-03  2.521e-04 -1.027e+00]
+t: 25	 action: [ 7.590e-01  3.028e-01 -4.838e-01  6.125e-03 -8.877e-04  6.661e-03 -1.055e+00]
+[07-31 01:36:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5444
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5444
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5444
+t=26: Selected seed 195 with value = 0.5444
+t: 26	 action: [ 0.754  0.483 -0.292  0.006 -0.006  0.007 -1.034]
+t: 27	 action: [ 0.665  0.376 -0.369  0.004 -0.003  0.005 -1.042]
+t: 28	 action: [ 0.504  0.281 -0.584  0.004 -0.012  0.008 -1.038]
+t: 29	 action: [ 0.402  0.112 -0.816  0.012 -0.008  0.002 -1.043]
+t: 30	 action: [ 2.496e-01  5.789e-02 -8.154e-01  8.862e-03 -1.528e-02 -4.159e-04 -1.026e+00]
+t: 31	 action: [ 0.208 -0.043 -0.957  0.024 -0.02  -0.003 -1.064]
+t: 32	 action: [ 0.135 -0.018 -0.972  0.011 -0.022 -0.004 -1.036]
+t: 33	 action: [ 0.062 -0.033 -1.032  0.016 -0.03  -0.007 -1.067]
+t: 34	 action: [ 2.575e-02 -2.402e-02 -9.511e-01  4.921e-03 -3.921e-02  4.474e-04 -1.044e+00]
+t: 35	 action: [-0.022 -0.104 -1.026  0.004 -0.032 -0.008 -1.037]
+t: 36	 action: [-0.115 -0.098 -0.954  0.004 -0.041  0.006 -1.042]
+t: 37	 action: [-0.155 -0.143 -1.013  0.001 -0.029 -0.005 -1.036]
+t: 38	 action: [-1.948e-01 -1.226e-01 -9.428e-01  4.707e-04 -4.104e-02  1.490e-06 -1.039e+00]
+t: 39	 action: [-0.277 -0.075 -0.985  0.002 -0.027 -0.008 -1.056]
+t: 40	 action: [-0.318 -0.101 -0.933 -0.005 -0.037  0.001 -1.034]
+t: 41	 action: [-0.348 -0.07  -0.97  -0.005 -0.018 -0.002 -1.058]
+[07-31 01:36:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6554
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6554
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6554
+t=42: Selected seed 195 with value = 0.6554
+t: 42	 action: [-0.4    0.029 -1.024  0.006 -0.029  0.005 -1.054]
+t: 43	 action: [-0.399  0.022 -0.929  0.002 -0.014  0.013 -1.028]
+t: 44	 action: [-0.378  0.015 -0.887  0.004 -0.007  0.004 -1.051]
+t: 45	 action: [-3.536e-01  4.647e-03 -7.573e-01 -1.031e-04  5.040e-03  1.076e-02 -1.033e+00]
+t: 46	 action: [-3.717e-01 -4.334e-03 -6.264e-01 -5.725e-03  2.908e-02  2.659e-05 -1.049e+00]
+t: 47	 action: [-0.367  0.061 -0.599  0.008  0.001  0.008 -1.049]
+t: 48	 action: [-0.365 -0.009 -0.504 -0.006  0.044 -0.003 -1.05 ]
+t: 49	 action: [-3.875e-01  3.962e-02 -4.856e-01  7.680e-03  2.600e-02  5.226e-04 -1.047e+00]
+t: 50	 action: [-0.335  0.009 -0.543  0.004  0.021  0.003 -1.204]
+t: 51	 action: [-0.332 -0.032 -0.383 -0.007  0.042  0.002  0.976]
+t: 52	 action: [-2.260e-01 -2.571e-04 -3.341e-01 -8.744e-04  4.185e-02  1.341e-03  9.947e-01]
+t: 53	 action: [-0.165 -0.057 -0.147 -0.011  0.059 -0.008  1.025]
+t: 54	 action: [-0.183 -0.034 -0.124 -0.007  0.078 -0.017  1.098]
+t: 55	 action: [-0.104 -0.059 -0.023 -0.006  0.08  -0.033  1.013]
+t: 56	 action: [-0.082 -0.088  0.055 -0.009  0.084 -0.031  1.015]
+t: 57	 action: [-0.015 -0.091  0.062 -0.008  0.082 -0.047  1.023]
+[07-31 01:36:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7482
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7482
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7482
+t=58: Selected seed 195 with value = 0.7482
+t: 58	 action: [-0.046 -0.178  0.111 -0.001  0.042  0.003  0.996]
+t: 59	 action: [ 0.03  -0.127  0.26  -0.003  0.052 -0.007  1.009]
+t: 60	 action: [ 5.332e-02 -6.423e-02  4.831e-01  8.506e-04  3.796e-02 -5.663e-03  9.856e-01]
+t: 61	 action: [ 0.068 -0.058  0.7   -0.002  0.045 -0.013  1.009]
+t: 62	 action: [ 9.897e-02  2.414e-02  8.265e-01  8.588e-05  4.319e-02 -1.019e-02  9.976e-01]
+t: 63	 action: [ 0.093  0.049  0.906  0.001  0.034 -0.016  1.014]
+t: 64	 action: [ 0.121  0.011  0.967  0.006  0.025 -0.016  0.988]
+t: 65	 action: [ 0.069  0.01   0.94   0.009  0.019 -0.017  1.023]
+t: 66	 action: [ 0.064 -0.206  0.929  0.018  0.026 -0.005  0.996]
+t: 67	 action: [ 0.051 -0.276  0.979  0.029  0.024 -0.012  1.017]
+t: 68	 action: [-0.006 -0.433  0.862  0.025  0.023 -0.001  0.987]
+t: 69	 action: [-0.049 -0.536  0.771  0.031  0.015 -0.006  1.021]
+t: 70	 action: [-0.14  -0.632  0.528  0.023  0.008 -0.002  1.004]
+t: 71	 action: [-0.25  -0.723  0.283  0.031  0.005  0.003  1.024]
+t: 72	 action: [-2.173e-01 -6.840e-01  9.763e-02  9.779e-03 -3.294e-03 -7.618e-04  1.000e+00]
+t: 73	 action: [-3.383e-01 -7.684e-01 -2.780e-02  1.536e-02  5.266e-04  5.597e-03  1.033e+00]
+[07-31 01:36:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8492
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8492
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8492
+t=74: Selected seed 195 with value = 0.8492
+t: 74	 action: [-0.178 -0.839  0.228  0.043  0.004  0.002  0.986]
+t: 75	 action: [-0.211 -0.897  0.074  0.039 -0.005 -0.005  1.014]
+t: 76	 action: [-0.229 -0.852 -0.087  0.055 -0.007  0.002  0.979]
+t: 77	 action: [-0.265 -0.795 -0.307  0.039 -0.008  0.003  1.009]
+t: 78	 action: [-2.292e-01 -6.928e-01 -3.834e-01  2.595e-02 -1.114e-02 -1.705e-04  9.949e-01]
+t: 79	 action: [-0.324 -0.543 -0.548  0.022 -0.022  0.004  1.019]
+t: 80	 action: [-2.717e-01 -4.188e-01 -6.407e-01  7.837e-03 -3.607e-02 -5.383e-04  9.862e-01]
+t: 81	 action: [-0.332 -0.285 -0.796  0.003 -0.039  0.006  1.025]
+t: 82	 action: [-0.248 -0.331 -0.767  0.007 -0.05   0.005  0.993]
+t: 83	 action: [-0.295 -0.252 -0.856 -0.004 -0.042  0.014  1.025]
+t: 84	 action: [-0.264 -0.144 -0.745 -0.001 -0.042  0.009  0.983]
+t: 85	 action: [-0.251 -0.125 -0.699 -0.018 -0.006  0.012  1.038]
+t: 86	 action: [-0.238 -0.03  -0.603 -0.019 -0.019  0.007  1.007]
+t: 87	 action: [-0.162  0.021 -0.509 -0.027 -0.003  0.014  1.026]
+t: 88	 action: [-0.148  0.02  -0.318 -0.044  0.006  0.004  0.999]
+t: 89	 action: [-0.074  0.065 -0.131 -0.034 -0.002  0.007  1.029]
+[07-31 01:37:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+t: 90	 action: [ 0.088  0.019  0.264 -0.001  0.086 -0.01  -1.038]
+t: 91	 action: [ 0.147 -0.006  0.343 -0.003  0.095 -0.016 -1.054]
+t: 92	 action: [ 9.973e-02  9.613e-03  3.375e-01  6.578e-04  8.717e-02 -1.228e-02 -1.025e+00]
+t: 93	 action: [ 1.600e-01 -8.372e-05  3.947e-01  8.038e-04  9.956e-02 -1.380e-02 -1.043e+00]
+t: 94	 action: [ 0.109  0.02   0.415  0.005  0.094 -0.02  -1.035]
+t: 95	 action: [ 0.121  0.041  0.407  0.009  0.092 -0.018 -1.056]
+t: 96	 action: [ 0.113  0.013  0.411  0.003  0.088 -0.019 -1.028]
+t: 97	 action: [ 0.123  0.046  0.39   0.01   0.076 -0.019 -1.061]
+t: 98	 action: [ 0.124  0.018  0.386  0.007  0.059 -0.004 -1.026]
+t: 99	 action: [ 0.147  0.003  0.39   0.009  0.064 -0.012 -1.04 ]
+t: 100	 action: [ 0.103  0.017  0.36   0.006  0.045 -0.003 -1.022]
+t: 101	 action: [ 0.12   0.002  0.347  0.007  0.047 -0.012 -1.039]
+t: 102	 action: [ 0.071  0.008  0.298  0.006  0.044 -0.006 -1.029]
+t: 103	 action: [ 0.057  0.024  0.287  0.01   0.036 -0.01  -1.058]
+t: 104	 action: [ 0.062  0.006  0.272  0.003  0.032 -0.007 -1.027]
+t: 105	 action: [ 0.043  0.019  0.248  0.009  0.022 -0.009 -1.067]
+[07-31 01:37:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.084  0.037  0.164  0.004  0.019 -0.02  -1.038]
+t: 107	 action: [ 0.077  0.02   0.131 -0.002  0.01  -0.02  -1.042]
+t: 108	 action: [ 0.048  0.024  0.111  0.005  0.008 -0.01  -1.03 ]
+t: 109	 action: [ 0.043  0.007  0.11  -0.002  0.007 -0.015 -1.034]
+t: 110	 action: [ 0.033  0.023  0.083  0.003 -0.004 -0.01  -1.031]
+t: 111	 action: [ 0.008  0.037  0.067  0.003 -0.004 -0.014 -1.063]
+t: 112	 action: [ 2.872e-02  1.324e-02  8.549e-02  1.510e-03 -2.032e-04 -6.774e-03 -1.031e+00]
+t: 113	 action: [ 0.01   0.03   0.085  0.004 -0.004 -0.011 -1.06 ]
+t: 114	 action: [ 0.052  0.016  0.044  0.008 -0.017  0.003 -1.036]
+t: 115	 action: [ 0.047  0.013  0.042 -0.002 -0.004 -0.011 -1.04 ]
+t: 116	 action: [ 0.06   0.015  0.05   0.007 -0.011  0.002 -1.032]
+t: 117	 action: [ 0.058  0.008  0.054 -0.002  0.004 -0.01  -1.038]
+t: 118	 action: [ 0.049  0.017  0.051  0.003 -0.012 -0.002 -1.034]
+t: 119	 action: [ 0.035  0.044  0.048  0.001 -0.011 -0.01  -1.067]
+t: 120	 action: [ 0.061  0.012  0.063  0.001 -0.005 -0.005 -1.032]
+t: 121	 action: [ 0.04   0.039  0.068  0.001 -0.007 -0.008 -1.069]
+[07-31 01:37:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 2.084e-02  7.624e-02  1.548e-02  4.215e-03 -2.164e-02 -3.783e-04 -1.034e+00]
+t: 123	 action: [ 1.579e-02  4.370e-02  2.507e-02  6.963e-04 -1.250e-02 -6.891e-03 -1.041e+00]
+t: 124	 action: [-3.219e-03  6.226e-02  2.045e-02  4.379e-03 -2.173e-02  4.584e-04 -1.032e+00]
+t: 125	 action: [ 6.613e-03  3.307e-02  4.882e-02 -5.488e-04 -7.188e-03 -5.167e-03 -1.034e+00]
+t: 126	 action: [-0.007  0.057  0.013  0.002 -0.025 -0.003 -1.026]
+t: 127	 action: [-0.027  0.049  0.008  0.005 -0.019 -0.004 -1.064]
+t: 128	 action: [-0.014  0.043  0.041  0.002 -0.02  -0.003 -1.03 ]
+t: 129	 action: [-0.021  0.05   0.067  0.003 -0.012 -0.004 -1.06 ]
+t: 130	 action: [ 0.016  0.052  0.041  0.006 -0.024  0.006 -1.037]
+t: 131	 action: [ 0.007  0.042  0.053 -0.001 -0.008 -0.004 -1.043]
+t: 132	 action: [ 0.014  0.046  0.053  0.005 -0.02   0.004 -1.034]
+t: 133	 action: [ 9.070e-03  3.591e-02  7.343e-02 -2.191e-03 -3.443e-04 -3.264e-03 -1.039e+00]
+t: 134	 action: [ 1.009e-02  5.327e-02  5.416e-02  1.721e-03 -1.951e-02 -3.976e-06 -1.033e+00]
+t: 135	 action: [-1.144e-02  6.804e-02  7.261e-02  3.686e-04 -1.379e-02 -5.217e-03 -1.069e+00]
+t: 136	 action: [ 1.463e-02  4.891e-02  7.735e-02  4.013e-04 -1.345e-02 -2.765e-03 -1.032e+00]
+t: 137	 action: [-1.145e-02  6.530e-02  1.203e-01 -5.711e-04 -1.053e-02 -3.047e-03 -1.066e+00]
+[07-31 01:37:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9988
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=138: Selected seed 195 with value = 0.9988
+t: 138	 action: [ 5.392e-03  8.433e-02 -1.132e-01  4.449e-03 -2.009e-02  4.241e-04 -1.024e+00]
+t: 139	 action: [ 1.111e-02  3.788e-02 -4.685e-02  1.483e-04 -1.203e-02 -3.890e-03 -1.037e+00]
+t: 140	 action: [-0.015  0.073 -0.071  0.005 -0.019  0.002 -1.03 ]
+t: 141	 action: [ 0.002  0.029  0.037 -0.002 -0.004 -0.003 -1.033]
+t: 142	 action: [-0.017  0.076 -0.066  0.001 -0.018 -0.003 -1.025]
+t: 143	 action: [-3.122e-02  4.035e-02 -1.501e-02  5.451e-03 -1.402e-02  1.759e-04 -1.061e+00]
+t: 144	 action: [-0.028  0.059 -0.021  0.002 -0.013 -0.003 -1.031]
+t: 145	 action: [-3.294e-02  4.219e-02  1.490e-02  3.624e-03 -7.500e-03 -9.820e-04 -1.057e+00]
+t: 146	 action: [ 0.005  0.071 -0.007  0.007 -0.01   0.007 -1.034]
+t: 147	 action: [ 2.250e-03  4.720e-02  4.465e-02  4.027e-04 -5.423e-04  3.281e-04 -1.044e+00]
+t: 148	 action: [-0.01   0.07   0.001  0.006 -0.009  0.005 -1.034]
+t: 149	 action: [ 2.682e-03  4.031e-02  5.259e-02 -1.668e-03  2.792e-03  3.916e-04 -1.040e+00]
+t: 150	 action: [-1.142e-02  7.828e-02  1.393e-02  3.109e-03 -7.202e-03  9.870e-04 -1.036e+00]
+t: 151	 action: [-0.034  0.068  0.053  0.003 -0.009 -0.001 -1.066]
+t: 152	 action: [-0.018  0.077  0.032  0.001 -0.003 -0.002 -1.034]
+t: 153	 action: [-3.424e-02  6.539e-02  9.389e-02  1.707e-03 -5.616e-03  6.548e-04 -1.064e+00]
+[07-31 01:37:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9871
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=154: Selected seed 195 with value = 0.9871
+t: 154	 action: [ 0.015  0.052 -0.386  0.006  0.004  0.002 -1.014]
+t: 155	 action: [ 1.575e-02  2.397e-02 -3.355e-01 -1.029e-03  8.481e-03 -9.759e-04 -1.032e+00]
+t: 156	 action: [-0.012  0.052 -0.326  0.005  0.008  0.003 -1.022]
+t: 157	 action: [ 3.316e-03  1.541e-02 -2.695e-01 -3.918e-03  1.334e-02  3.349e-04 -1.029e+00]
+t: 158	 action: [-0.017  0.063 -0.25  -0.001  0.007 -0.002 -1.026]
+t: 159	 action: [-0.033  0.047 -0.192  0.006  0.004  0.004 -1.058]
+t: 160	 action: [-0.038  0.054 -0.226 -0.001  0.011 -0.001 -1.029]
+t: 161	 action: [-0.047  0.036 -0.129  0.003  0.011  0.003 -1.051]
+t: 162	 action: [-0.004  0.058 -0.174  0.007  0.01   0.008 -1.026]
+t: 163	 action: [ 5.713e-03  2.710e-02 -8.328e-02 -3.028e-03  1.129e-02  4.879e-04 -1.040e+00]
+t: 164	 action: [-0.029  0.055 -0.198  0.005  0.009  0.006 -1.029]
+t: 165	 action: [ 0.005  0.016 -0.074 -0.006  0.015  0.002 -1.041]
+t: 166	 action: [-0.034  0.07  -0.136  0.002  0.007  0.003 -1.039]
+t: 167	 action: [-4.677e-02  4.740e-02 -3.393e-02  2.757e-03  7.034e-04 -4.684e-04 -1.060e+00]
+t: 168	 action: [-5.458e-02  6.464e-02 -1.529e-01 -7.361e-04  1.016e-02 -1.442e-04 -1.033e+00]
+t: 169	 action: [-5.409e-02  3.683e-02 -3.099e-02  8.368e-05  5.575e-03  3.142e-03 -1.060e+00]
+[07-31 01:37:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9454
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9454
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9454
+t=170: Selected seed 195 with value = 0.9454
+t: 170	 action: [-1.849e-02  3.637e-02 -4.104e-01 -1.736e-03  4.936e-04  9.520e-03 -1.031e+00]
+t: 171	 action: [-0.024  0.023 -0.486 -0.014  0.005  0.003 -1.034]
+t: 172	 action: [-4.477e-02  2.862e-02 -3.139e-01  1.353e-03  5.007e-04  8.291e-03 -1.032e+00]
+t: 173	 action: [-0.051  0.007 -0.314 -0.011  0.006  0.004 -1.032]
+t: 174	 action: [-0.086  0.007 -0.272 -0.009  0.004  0.004 -1.021]
+t: 175	 action: [-1.104e-01  4.033e-02 -2.204e-01 -7.790e-03  1.020e-03  2.567e-03 -1.044e+00]
+t: 176	 action: [-0.121  0.009 -0.211 -0.006  0.007  0.004 -1.03 ]
+t: 177	 action: [-1.821e-01  2.560e-02 -1.333e-01 -6.091e-03  1.342e-03  1.955e-05 -1.049e+00]
+t: 178	 action: [-0.134 -0.003 -0.336 -0.009  0.016  0.006 -1.198]
+t: 179	 action: [-0.155 -0.055 -0.275 -0.018  0.009  0.028 -1.121]
+t: 180	 action: [-0.088  0.004 -0.204 -0.012  0.015  0.008  0.974]
+t: 181	 action: [-0.018 -0.05  -0.063 -0.021  0.012  0.029  1.036]
+t: 182	 action: [-1.090e-01  8.272e-05 -1.637e-01 -1.395e-02  1.887e-02  3.683e-03  1.107e+00]
+t: 183	 action: [-3.323e-02  6.205e-03 -4.396e-02 -1.066e-02  4.157e-04  2.774e-02  1.139e+00]
+t: 184	 action: [-0.063 -0.006 -0.047 -0.01   0.022  0.003  0.972]
+t: 185	 action: [ 0.014  0.002  0.006 -0.016  0.004  0.022  1.034]
+[07-31 01:37:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9439
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=186: Selected seed 195 with value = 0.9439
+t: 186	 action: [-0.095 -0.133 -0.142 -0.078 -0.006  0.007  0.916]
+t: 187	 action: [-0.015 -0.187  0.011 -0.076  0.006  0.007  1.008]
+t: 188	 action: [-1.651e-02 -1.088e-01 -2.552e-03 -5.327e-02 -8.638e-04  8.087e-03  1.155e+00]
+t: 189	 action: [ 0.003 -0.138  0.09  -0.062  0.009  0.004  0.978]
+t: 190	 action: [ 5.845e-02 -1.003e-01  9.101e-02 -3.023e-02  6.693e-03 -5.285e-04  8.961e-01]
+t: 191	 action: [ 0.052 -0.108  0.125 -0.021  0.002 -0.002 -1.015]
+t: 192	 action: [ 0.1   -0.06   0.17  -0.009  0.01  -0.005 -1.193]
+t: 193	 action: [ 0.039 -0.025  0.213 -0.002  0.007 -0.015 -1.128]
+t: 194	 action: [ 0.08  -0.007  0.131  0.002  0.025  0.002 -1.059]
+t: 195	 action: [ 0.044 -0.031  0.161 -0.006  0.03  -0.003 -1.042]
+t: 196	 action: [ 0.063  0.021  0.138  0.005  0.04   0.003 -1.063]
+t: 197	 action: [ 4.295e-02 -1.835e-02  1.687e-01  5.767e-04  5.527e-02 -6.336e-03 -1.040e+00]
+t: 198	 action: [ 0.012  0.011  0.115  0.003  0.045 -0.003 -1.07 ]
+t: 199	 action: [ 1.220e-04  4.994e-02  2.013e-01  1.164e-02  4.969e-02 -3.820e-03 -1.045e+00]
+t: 200	 action: [ 3.502e-02  3.094e-03  1.377e-01  5.595e-04  6.212e-02 -4.488e-03 -1.068e+00]
+t: 201	 action: [ 0.009  0.058  0.214  0.012  0.06  -0.005 -1.051]
+[07-31 01:37:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9942
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=202: Selected seed 195 with value = 0.9942
+t: 202	 action: [ 0.062 -0.046  0.171  0.015  0.074 -0.009 -1.043]
+t: 203	 action: [ 0.101 -0.075  0.156  0.011  0.084 -0.016 -1.038]
+t: 204	 action: [ 0.07  -0.042  0.128  0.015  0.077 -0.006 -1.038]
+t: 205	 action: [ 0.085 -0.075  0.143  0.013  0.09  -0.013 -1.03 ]
+t: 206	 action: [ 0.065 -0.041  0.13   0.009  0.077 -0.018 -1.036]
+t: 207	 action: [ 0.076 -0.033  0.153  0.016  0.092 -0.018 -1.059]
+t: 208	 action: [ 0.055 -0.032  0.124  0.012  0.08  -0.013 -1.035]
+t: 209	 action: [ 0.036 -0.02   0.153  0.017  0.088 -0.017 -1.054]
+t: 210	 action: [ 0.106 -0.027  0.102  0.014  0.073 -0.011 -1.046]
+t: 211	 action: [ 0.106 -0.057  0.1    0.011  0.077 -0.016 -1.051]
+t: 212	 action: [ 0.091 -0.02   0.118  0.012  0.076 -0.006 -1.038]
+t: 213	 action: [ 0.075 -0.061  0.126  0.013  0.084 -0.014 -1.046]
+t: 214	 action: [ 0.091 -0.011  0.119  0.01   0.077 -0.014 -1.043]
+t: 215	 action: [ 0.081 -0.006  0.133  0.017  0.081 -0.019 -1.062]
+t: 216	 action: [ 0.072 -0.004  0.131  0.01   0.08  -0.012 -1.033]
+t: 217	 action: [ 0.037 -0.007  0.162  0.017  0.085 -0.016 -1.066]
+[07-31 01:37:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9892
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 0.992 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=218: Selected seed 195 with value = 0.9892
+t: 218	 action: [-0.035 -0.027 -0.2    0.006  0.001  0.002 -1.025]
+t: 219	 action: [-0.003 -0.068 -0.199 -0.001  0.011 -0.011 -1.056]
+t: 220	 action: [-0.019 -0.025 -0.147  0.005  0.008  0.005 -1.024]
+t: 221	 action: [ 9.101e-03 -6.949e-02 -1.286e-01 -7.069e-04  1.609e-02 -6.302e-03 -1.049e+00]
+t: 222	 action: [-0.029 -0.022 -0.129  0.004  0.009 -0.002 -1.018]
+t: 223	 action: [-0.008 -0.031 -0.067  0.006  0.013 -0.01  -1.07 ]
+t: 224	 action: [-8.615e-03 -1.697e-02 -8.223e-02  1.970e-03  1.394e-02 -9.357e-04 -1.022e+00]
+t: 225	 action: [-0.019 -0.028 -0.022  0.007  0.016 -0.008 -1.07 ]
+t: 226	 action: [-1.584e-03 -2.986e-02 -1.730e-01  6.175e-03  6.288e-03  5.520e-05 -1.031e+00]
+t: 227	 action: [ 1.513e-02 -6.417e-02 -1.659e-01 -7.876e-04  9.424e-03  1.131e-02 -1.108e+00]
+t: 228	 action: [-0.016 -0.02  -0.152  0.006  0.009  0.004 -1.12 ]
+t: 229	 action: [-0.041 -0.069 -0.133 -0.002  0.012  0.013 -1.088]
+t: 230	 action: [-0.003 -0.022 -0.117  0.003  0.013 -0.003 -1.023]
+t: 231	 action: [-0.014 -0.027 -0.066  0.008  0.004  0.014  1.152]
+t: 232	 action: [-0.013 -0.012 -0.092  0.002  0.015 -0.003  1.085]
+t: 233	 action: [-0.014 -0.025 -0.036  0.006  0.006  0.02   1.102]
+[07-31 01:37:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9851
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=234: Selected seed 195 with value = 0.9851
+t: 234	 action: [-2.995e-02 -3.873e-02  5.012e-02  3.022e-03 -8.080e-03  6.995e-04 -9.857e-01]
+t: 235	 action: [-0.001 -0.057  0.021  0.002  0.002 -0.005 -1.013]
+t: 236	 action: [-0.024 -0.017  0.054  0.003 -0.009  0.002 -1.015]
+t: 237	 action: [ 0.004 -0.046  0.039  0.003  0.003 -0.004 -1.026]
+t: 238	 action: [-0.029 -0.015  0.047  0.003 -0.012 -0.004 -1.022]
+t: 239	 action: [-0.045 -0.011  0.025  0.009 -0.013 -0.004 -1.07 ]
+t: 240	 action: [-0.022  0.005  0.063  0.003 -0.009 -0.003 -1.031]
+t: 241	 action: [-0.035  0.013  0.04   0.011 -0.009 -0.007 -1.054]
+t: 242	 action: [ 0.034  0.031  0.075  0.006 -0.016  0.004 -1.016]
+t: 243	 action: [ 0.028  0.019  0.088  0.002 -0.002 -0.003 -1.05 ]
+t: 244	 action: [ 0.034  0.038  0.091  0.007 -0.013  0.003 -1.023]
+t: 245	 action: [ 0.024  0.017  0.095  0.004  0.004 -0.005 -1.038]
+t: 246	 action: [ 3.176e-02  4.190e-02  8.658e-02  3.935e-03 -1.097e-02  9.760e-04 -1.035e+00]
+t: 247	 action: [-0.017  0.069  0.104  0.007 -0.009 -0.004 -1.07 ]
+t: 248	 action: [ 0.036  0.045  0.106  0.003 -0.002 -0.002 -1.034]
+t: 249	 action: [-0.021  0.066  0.121  0.008 -0.005 -0.005 -1.06 ]
+[07-31 01:37:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9873
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=250: Selected seed 195 with value = 0.9873
+t: 250	 action: [-0.051 -0.014 -0.161  0.004 -0.005  0.003 -1.022]
+t: 251	 action: [-1.906e-02 -6.270e-02 -1.530e-01 -7.665e-04  8.149e-03 -1.079e-02 -1.044e+00]
+t: 252	 action: [-0.039 -0.016 -0.121  0.005 -0.001  0.005 -1.02 ]
+t: 253	 action: [-0.013 -0.063 -0.102 -0.001  0.011 -0.01  -1.044]
+t: 254	 action: [-0.049 -0.022 -0.104  0.004  0.002 -0.002 -1.03 ]
+t: 255	 action: [-0.031 -0.032 -0.046  0.007  0.002 -0.01  -1.067]
+t: 256	 action: [-0.034 -0.021 -0.057  0.002  0.004 -0.002 -1.03 ]
+t: 257	 action: [-0.045 -0.027 -0.017  0.007  0.002 -0.011 -1.059]
+t: 258	 action: [-0.023 -0.011 -0.142  0.005 -0.003 -0.003 -1.024]
+t: 259	 action: [ 9.986e-03 -5.262e-02 -1.382e-01  5.694e-04  4.130e-04 -1.116e-02 -1.036e+00]
+t: 260	 action: [-0.023 -0.008 -0.12   0.004 -0.004  0.003  1.073]
+t: 261	 action: [-1.622e-03 -5.688e-02 -1.207e-01 -8.044e-05  2.061e-03 -4.205e-03  8.995e-01]
+t: 262	 action: [-0.017 -0.009 -0.091  0.004  0.005 -0.005 -1.035]
+t: 263	 action: [-0.027 -0.017 -0.058  0.01  -0.006 -0.009 -1.053]
+t: 264	 action: [-0.016 -0.004 -0.052  0.002  0.005 -0.004 -1.129]
+t: 265	 action: [-0.052 -0.017 -0.02   0.008 -0.006 -0.014 -1.113]
+[07-31 01:37:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9849
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=266: Selected seed 195 with value = 0.9849
+t: 266	 action: [-0.035 -0.026 -0.134  0.006  0.001  0.002 -1.023]
+t: 267	 action: [-0.007 -0.056 -0.081 -0.001  0.014 -0.013 -1.046]
+t: 268	 action: [-0.028 -0.027 -0.057  0.006  0.01   0.004 -1.037]
+t: 269	 action: [-0.009 -0.051  0.011 -0.001  0.015 -0.014 -1.062]
+t: 270	 action: [-0.039 -0.045 -0.055  0.004  0.011 -0.005 -1.029]
+t: 271	 action: [-0.042 -0.035 -0.018  0.006  0.008 -0.016 -1.067]
+t: 272	 action: [-0.022 -0.033  0.012  0.003  0.014 -0.006 -1.043]
+t: 273	 action: [-0.05  -0.021  0.008  0.007  0.008 -0.017 -1.036]
+t: 274	 action: [ 1.295e-02 -1.862e-02 -5.657e-02  1.390e-03 -6.411e-04 -2.506e-03  1.116e+00]
+t: 275	 action: [ 0.022 -0.035 -0.033 -0.002  0.004 -0.013  0.906]
+t: 276	 action: [ 1.647e-02 -1.146e-02 -2.464e-02  9.062e-04 -8.870e-04  1.196e-03  1.108e+00]
+t: 277	 action: [ 0.01  -0.034  0.009 -0.001  0.005 -0.01   0.954]
+t: 278	 action: [ 0.023 -0.004  0.006  0.002  0.01  -0.007 -1.158]
+t: 279	 action: [-0.016  0.004 -0.002  0.007 -0.003 -0.017 -1.14 ]
+t: 280	 action: [ 2.687e-02  4.209e-03  3.964e-02  7.496e-04  1.030e-02 -7.076e-03 -1.154e+00]
+t: 281	 action: [-0.024  0.006  0.025  0.008 -0.001 -0.021 -1.095]
+[07-31 01:37:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9771
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=282: Selected seed 195 with value = 0.9771
+t: 282	 action: [-0.057 -0.066 -0.005 -0.027  0.002  0.007  1.101]
+t: 283	 action: [-0.025 -0.052  0.034 -0.021  0.007  0.006  0.929]
+t: 284	 action: [-2.581e-02 -6.697e-03  1.298e-01 -9.245e-03  8.721e-04  5.247e-03 -1.033e+00]
+t: 285	 action: [-0.02  -0.023  0.14  -0.013  0.006  0.002 -1.043]
+t: 286	 action: [ 0.028  0.004  0.139 -0.009 -0.002 -0.002 -1.152]
+t: 287	 action: [-0.023  0.044  0.204 -0.003 -0.016 -0.004 -1.111]
+t: 288	 action: [ 0.027  0.026  0.207  0.002 -0.004 -0.003 -1.047]
+t: 289	 action: [-0.032  0.048  0.225  0.005 -0.01  -0.004 -1.059]
+t: 290	 action: [ 0.031  0.034  0.166  0.007 -0.028  0.002 -1.022]
+t: 291	 action: [ 0.019  0.022  0.193  0.006 -0.017 -0.004 -1.053]
+t: 292	 action: [ 0.029  0.036  0.131  0.007 -0.028  0.002 -1.037]
+t: 293	 action: [ 0.016  0.022  0.143  0.009 -0.013 -0.007 -1.045]
+t: 294	 action: [ 1.250e-02  3.469e-02  1.187e-01  7.962e-03 -2.738e-02 -3.650e-04 -1.041e+00]
+t: 295	 action: [-0.045  0.058  0.123  0.013 -0.029 -0.001 -1.069]
+t: 296	 action: [ 0.004  0.039  0.104  0.007 -0.021 -0.002 -1.045]
+t: 297	 action: [-0.053  0.057  0.102  0.012 -0.023 -0.003 -1.058]
+[07-31 01:37:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9932
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9932
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 50
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
100%|██████████| 50/50 [26:39<00:00, 31.44s/it]
100%|██████████| 50/50 [26:39<00:00, 31.99s/it]
+INFO:cosmos_policy.experiments.robot.robot_utils:Current task success rate: 0.0
+INFO:cosmos_policy.experiments.robot.robot_utils:Current total success rate: 0.0
+
 20%|██        | 2/10 [26:42<1:46:48, 801.12s/it]INFO:cosmos_policy.experiments.robot.robot_utils:Using default initial states
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=298: Selected seed 195 with value = 0.9932
+t: 298	 action: [-0.032 -0.009 -0.045  0.003 -0.006  0.005 -1.03 ]
+t: 299	 action: [ 0.006 -0.055 -0.013 -0.002  0.006 -0.003 -1.045]
+t: 300	 action: [-2.533e-02 -2.947e-04 -2.768e-02  3.041e-03 -3.596e-04  3.481e-03 -1.024e+00]
+t: 301	 action: [ 0.012 -0.049  0.029 -0.002  0.01  -0.002 -1.035]
+t: 302	 action: [-4.103e-02 -9.031e-03 -2.715e-02  2.345e-03 -6.982e-04  2.000e-04 -1.030e+00]
+t: 303	 action: [-0.014 -0.029  0.003  0.006 -0.002 -0.001 -1.072]
+t: 304	 action: [-2.821e-02 -4.453e-03  6.109e-03  1.347e-03  5.840e-03 -4.601e-04 -1.027e+00]
+t: 305	 action: [-0.01  -0.011  0.026  0.007  0.002 -0.002 -1.063]
+t: 306	 action: [ 1.014e-03 -4.211e-03 -3.064e-02  6.210e-03 -8.966e-03  3.589e-03 -1.035e+00]
+t: 307	 action: [ 1.945e-02 -3.482e-02 -1.593e-02 -1.016e-03 -1.098e-03 -5.388e-03 -1.053e+00]
+t: 308	 action: [-0.002  0.011 -0.008  0.005 -0.004  0.005 -1.025]
+t: 309	 action: [ 2.251e-02 -3.320e-02  2.071e-02  1.092e-04  6.457e-03 -1.258e-03 -1.045e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=50--success=False--task=put_the_bowl_on_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=50--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 50
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Using default initial states
+
+
  0%|          | 0/50 [00:00<?, ?it/s]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 1...
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+[07-31 01:37:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.008 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4070
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4070
+Query 1/1: Action query time = 1.008 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4070
+t=10: Selected seed 195 with value = 0.4070
+t: 10	 action: [ 0.582 -0.043  0.109 -0.02   0.02   0.005 -1.022]
+t: 11	 action: [ 6.959e-01 -5.895e-02  1.611e-01 -8.227e-03  2.384e-02 -1.010e-03 -1.018e+00]
+t: 12	 action: [ 0.821 -0.118  0.153 -0.014  0.014  0.007 -1.013]
+t: 13	 action: [ 8.869e-01 -1.396e-01  2.024e-01 -5.220e-03  1.695e-02  5.428e-04 -1.023e+00]
+t: 14	 action: [ 0.955 -0.181  0.222 -0.002  0.014  0.005 -1.032]
+t: 15	 action: [ 0.922 -0.194  0.208 -0.002  0.008  0.003 -1.041]
+t: 16	 action: [ 0.962 -0.211  0.208  0.002  0.004  0.005 -1.025]
+t: 17	 action: [ 0.947 -0.222  0.183  0.004  0.006  0.003 -1.049]
+t: 18	 action: [ 0.92  -0.327  0.216  0.004 -0.003  0.009 -1.022]
+t: 19	 action: [ 0.939 -0.329  0.233  0.008  0.007  0.004 -1.019]
+t: 20	 action: [ 0.941 -0.333  0.139  0.006 -0.002  0.008 -1.014]
+t: 21	 action: [ 0.953 -0.336  0.138  0.011  0.01   0.002 -1.013]
+t: 22	 action: [ 0.935 -0.342  0.095  0.007 -0.004  0.005 -1.016]
+t: 23	 action: [ 0.954 -0.389  0.024  0.015  0.005  0.005 -1.039]
+t: 24	 action: [ 0.938 -0.23  -0.011  0.006 -0.001  0.002 -1.012]
+t: 25	 action: [ 0.943 -0.276 -0.052  0.015  0.005  0.005 -1.041]
+[07-31 01:37:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.038 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4544
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 1.038 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=26: Selected seed 195 with value = 0.4544
+t: 26	 action: [ 0.874 -0.311  0.048  0.006 -0.023  0.003 -1.02 ]
+t: 27	 action: [ 0.939 -0.269  0.047  0.011 -0.015 -0.009 -1.016]
+t: 28	 action: [ 0.893 -0.313 -0.074  0.007 -0.024  0.003 -1.019]
+t: 29	 action: [ 0.898 -0.269 -0.094  0.017 -0.011 -0.009 -1.021]
+t: 30	 action: [ 0.818 -0.224 -0.209  0.007 -0.025  0.003 -1.017]
+t: 31	 action: [ 0.718 -0.186 -0.309  0.018 -0.032 -0.004 -1.046]
+t: 32	 action: [ 0.515 -0.081 -0.441  0.003 -0.034  0.003 -1.017]
+t: 33	 action: [ 0.328 -0.066 -0.551  0.019 -0.033 -0.003 -1.04 ]
+t: 34	 action: [ 0.08  -0.047 -0.602  0.02  -0.075  0.008 -1.022]
+t: 35	 action: [ 0.045 -0.061 -0.669  0.026 -0.061  0.004 -1.02 ]
+t: 36	 action: [-0.015 -0.002 -0.733  0.02  -0.075  0.012 -1.026]
+t: 37	 action: [ 0.002 -0.017 -0.773  0.024 -0.049  0.011 -1.016]
+t: 38	 action: [-0.028  0.054 -0.833  0.005 -0.063  0.009 -1.025]
+t: 39	 action: [-5.336e-05  8.221e-02 -7.758e-01  2.721e-02 -2.961e-02  1.367e-02 -1.030e+00]
+t: 40	 action: [-0.013  0.07  -0.824  0.001 -0.036  0.016 -1.026]
+t: 41	 action: [ 0.004  0.144 -0.739  0.023 -0.011  0.021 -1.036]
+[07-31 01:37:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.213 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5308
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5308
+Query 1/1: Action query time = 1.213 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5308
+t=42: Selected seed 195 with value = 0.5308
+t: 42	 action: [-0.064  0.729 -0.584  0.008 -0.007  0.014 -0.998]
+t: 43	 action: [-0.06   0.749 -0.59   0.013 -0.006  0.014 -1.013]
+t: 44	 action: [-8.040e-02  8.148e-01 -5.361e-01  7.508e-03  3.708e-04  1.883e-02 -9.927e-01]
+t: 45	 action: [-5.873e-02  7.996e-01 -5.435e-01  1.321e-02 -2.436e-04  1.450e-02 -1.016e+00]
+t: 46	 action: [-0.127  0.801 -0.533  0.007 -0.006  0.016 -0.99 ]
+t: 47	 action: [-0.096  0.796 -0.536  0.015 -0.005  0.015 -1.028]
+t: 48	 action: [-0.135  0.816 -0.502  0.007  0.002  0.024 -0.983]
+t: 49	 action: [-0.083  0.822 -0.51   0.016 -0.003  0.016 -1.033]
+t: 50	 action: [-0.122  0.851 -0.497  0.008 -0.004  0.014 -0.998]
+t: 51	 action: [-0.07   0.808 -0.534  0.013 -0.006  0.012 -1.015]
+t: 52	 action: [-1.157e-01  8.461e-01 -4.824e-01  7.762e-03  5.048e-04  1.795e-02 -9.977e-01]
+t: 53	 action: [-5.786e-02  7.936e-01 -5.207e-01  1.322e-02 -3.243e-04  1.323e-02 -1.019e+00]
+t: 54	 action: [-0.174  0.804 -0.474  0.005 -0.003  0.018 -0.994]
+t: 55	 action: [-0.107  0.806 -0.489  0.014 -0.006  0.014 -1.028]
+t: 56	 action: [-0.169  0.783 -0.472  0.006  0.003  0.023 -0.99 ]
+t: 57	 action: [-0.087  0.774 -0.482  0.013 -0.002  0.017 -1.036]
+[07-31 01:37:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.148 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5909
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5909
+Query 1/1: Action query time = 1.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5909
+t=58: Selected seed 195 with value = 0.5909
+t: 58	 action: [-0.005  0.724 -0.429  0.01  -0.006  0.037 -1.003]
+t: 59	 action: [ 0.026  0.682 -0.484  0.017  0.005  0.025 -1.012]
+t: 60	 action: [-0.014  0.63  -0.372  0.007  0.008  0.029 -1.011]
+t: 61	 action: [ 0.01   0.483 -0.319  0.014  0.008  0.016 -1.011]
+t: 62	 action: [ 0.015  0.463 -0.214  0.007  0.017  0.02  -1.001]
+t: 63	 action: [ 0.014  0.319 -0.049  0.019  0.016  0.017 -1.03 ]
+t: 64	 action: [ 0.038  0.096  0.202  0.006  0.034  0.007 -1.006]
+t: 65	 action: [ 0.037  0.016  0.46   0.016  0.035  0.003 -1.036]
+t: 66	 action: [ 5.025e-02 -1.600e-01  6.034e-01  8.878e-03  3.152e-02  7.304e-04 -1.029e+00]
+t: 67	 action: [-0.067 -0.207  0.636  0.013  0.028 -0.01  -1.03 ]
+t: 68	 action: [-0.126 -0.11   0.637  0.008  0.006  0.002 -1.033]
+t: 69	 action: [-0.329 -0.182  0.578  0.012  0.013 -0.008 -1.016]
+t: 70	 action: [-0.618 -0.132  0.47   0.016  0.007 -0.008 -1.014]
+t: 71	 action: [-7.235e-01 -9.053e-02  3.911e-01  1.193e-02  6.008e-04 -1.477e-02 -1.039e+00]
+t: 72	 action: [-0.854 -0.095  0.323  0.012 -0.015 -0.004 -0.994]
+t: 73	 action: [-0.837 -0.081  0.223  0.01  -0.011 -0.009 -1.035]
+[07-31 01:37:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.180 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7052
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7052
+Query 1/1: Action query time = 1.180 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7052
+t=74: Selected seed 195 with value = 0.7052
+t: 74	 action: [-0.62  -0.064  0.18   0.009  0.015 -0.045 -1.008]
+t: 75	 action: [-0.737 -0.104  0.111  0.006  0.001 -0.043 -1.032]
+t: 76	 action: [-7.887e-01 -7.788e-02  8.059e-02  1.273e-02  7.171e-04 -3.897e-02 -1.004e+00]
+t: 77	 action: [-0.823 -0.089  0.054  0.007 -0.005 -0.045 -1.035]
+t: 78	 action: [-0.854 -0.059 -0.073  0.017 -0.011 -0.031 -0.994]
+t: 79	 action: [-0.85  -0.056 -0.095  0.007 -0.017 -0.048 -1.044]
+t: 80	 action: [-0.849 -0.09  -0.231  0.011 -0.031 -0.028 -0.994]
+t: 81	 action: [-0.828 -0.048 -0.284  0.003 -0.046 -0.052 -1.041]
+t: 82	 action: [-0.819 -0.027 -0.381  0.011 -0.061 -0.02  -1.015]
+t: 83	 action: [-0.804 -0.048 -0.434  0.003 -0.069 -0.035 -1.024]
+t: 84	 action: [-0.714 -0.048 -0.524  0.009 -0.095 -0.026 -1.014]
+t: 85	 action: [-0.646 -0.052 -0.545  0.003 -0.088 -0.033 -1.021]
+t: 86	 action: [-0.613 -0.035 -0.586  0.003 -0.117 -0.03  -1.002]
+t: 87	 action: [-0.509 -0.048 -0.55   0.005 -0.096 -0.043 -1.039]
+t: 88	 action: [-0.473 -0.057 -0.644  0.002 -0.137 -0.039 -1.005]
+t: 89	 action: [-0.425 -0.051 -0.609  0.005 -0.098 -0.042 -1.045]
+[07-31 01:37:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.196 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5556
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.5556
+Query 1/1: Action query time = 1.196 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5556
+t=90: Selected seed 195 with value = 0.5556
+t: 90	 action: [-0.675  0.199 -0.471  0.009 -0.038 -0.025 -1.035]
+t: 91	 action: [-0.436  0.203 -0.554  0.022 -0.035 -0.065 -1.04 ]
+t: 92	 action: [-0.323  0.233 -0.493  0.007 -0.026 -0.047 -1.037]
+t: 93	 action: [-0.189  0.204 -0.543  0.019 -0.025 -0.084 -1.039]
+t: 94	 action: [-0.082  0.228 -0.459  0.009 -0.013 -0.051 -1.025]
+t: 95	 action: [-0.005  0.282 -0.42   0.027 -0.006 -0.081 -1.052]
+t: 96	 action: [ 0.093  0.187 -0.475  0.006 -0.004 -0.074 -1.024]
+t: 97	 action: [ 0.189  0.231 -0.409  0.022 -0.003 -0.098 -1.052]
+t: 98	 action: [ 0.17   0.26  -0.504  0.002 -0.026 -0.096 -1.042]
+t: 99	 action: [ 0.276  0.186 -0.536  0.005 -0.015 -0.104 -1.032]
+t: 100	 action: [ 3.609e-01  2.486e-01 -4.931e-01  3.529e-04 -1.966e-02 -1.032e-01 -1.037e+00]
+t: 101	 action: [ 0.43   0.184 -0.511  0.007 -0.009 -0.1   -1.025]
+t: 102	 action: [ 0.361  0.153 -0.463  0.002 -0.017 -0.106 -1.036]
+t: 103	 action: [ 0.371  0.149 -0.449  0.01  -0.013 -0.109 -1.053]
+t: 104	 action: [ 0.442  0.133 -0.415 -0.001 -0.008 -0.106 -1.028]
+t: 105	 action: [ 0.443  0.125 -0.425  0.011 -0.007 -0.103 -1.059]
+[07-31 01:37:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.178 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5464
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 1.178 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=106: Selected seed 195 with value = 0.5464
+t: 106	 action: [ 0.349  0.018 -0.197  0.003  0.014 -0.103 -1.036]
+t: 107	 action: [ 0.36   0.067 -0.247 -0.003  0.011 -0.12  -1.039]
+t: 108	 action: [ 0.307 -0.003 -0.199  0.003  0.017 -0.105 -1.041]
+t: 109	 action: [ 0.314  0.013 -0.265 -0.004  0.011 -0.114 -1.045]
+t: 110	 action: [ 2.517e-01 -7.726e-03 -1.985e-01  9.594e-04  1.199e-02 -1.003e-01 -1.036e+00]
+t: 111	 action: [ 1.899e-01  5.530e-02 -3.151e-01  1.223e-02 -1.061e-03 -1.190e-01 -1.077e+00]
+t: 112	 action: [ 0.151 -0.029 -0.289 -0.003  0.015 -0.091 -1.04 ]
+t: 113	 action: [ 0.082  0.027 -0.406  0.011 -0.002 -0.109 -1.057]
+t: 114	 action: [ 0.097 -0.095 -0.424  0.008 -0.007 -0.049 -1.049]
+t: 115	 action: [ 2.435e-02 -8.796e-02 -5.577e-01 -3.461e-04 -3.255e-05 -3.635e-02 -1.064e+00]
+t: 116	 action: [-0.009 -0.087 -0.554  0.006 -0.011 -0.025 -1.034]
+t: 117	 action: [-3.823e-02 -9.693e-02 -6.436e-01 -2.313e-03 -1.019e-03 -1.604e-02 -1.126e+00]
+t: 118	 action: [-7.242e-02 -5.126e-02 -5.911e-01 -8.137e-04 -1.878e-02 -1.705e-02 -1.056e+00]
+t: 119	 action: [-0.125 -0.01  -0.637  0.002 -0.01  -0.021 -1.058]
+t: 120	 action: [-0.155 -0.049 -0.656 -0.007 -0.02  -0.007 -1.008]
+t: 121	 action: [-0.185 -0.022 -0.644 -0.001 -0.013  0.009  1.142]
+[07-31 01:37:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.148 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6863
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.6863
+Query 1/1: Action query time = 1.148 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6863
+t=122: Selected seed 195 with value = 0.6863
+t: 122	 action: [ 7.075e-02  3.327e-02 -5.489e-01 -1.409e-02 -5.363e-04 -4.343e-02 -1.145e+00]
+t: 123	 action: [ 4.472e-02  2.443e-02 -4.274e-01 -1.614e-02  1.001e-03 -2.783e-02  1.035e+00]
+t: 124	 action: [ 0.055  0.023 -0.504 -0.011  0.003 -0.037  0.985]
+t: 125	 action: [ 0.046  0.01  -0.363 -0.012  0.005 -0.02   1.069]
+t: 126	 action: [ 0.041  0.023 -0.317 -0.016  0.006 -0.037  1.081]
+t: 127	 action: [ 0.05   0.044 -0.237 -0.01  -0.007 -0.011  1.041]
+t: 128	 action: [ 0.043  0.017 -0.209 -0.015  0.007 -0.03   0.993]
+t: 129	 action: [ 0.037  0.03  -0.138 -0.007 -0.006 -0.011  1.05 ]
+t: 130	 action: [ 0.044 -0.099 -0.094 -0.004  0.018 -0.039  0.983]
+t: 131	 action: [ 0.061 -0.089  0.03  -0.013  0.015 -0.034  1.033]
+t: 132	 action: [ 0.063 -0.067  0.024 -0.007  0.023 -0.036  0.974]
+t: 133	 action: [ 0.065 -0.065  0.124 -0.015  0.027 -0.029  1.031]
+t: 134	 action: [ 0.032 -0.041  0.159 -0.016  0.023 -0.034  1.005]
+t: 135	 action: [ 0.047 -0.009  0.275 -0.015  0.003 -0.017  1.014]
+t: 136	 action: [ 0.048  0.002  0.458 -0.016  0.027 -0.037  1.001]
+t: 137	 action: [ 0.058  0.011  0.642 -0.024  0.01  -0.016  1.03 ]
+[07-31 01:37:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.141 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8044
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.8044
+Query 1/1: Action query time = 1.141 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8044
+t=138: Selected seed 195 with value = 0.8044
+t: 138	 action: [-0.091 -0.012  0.222 -0.008 -0.004 -0.002  0.992]
+t: 139	 action: [-0.04  -0.002  0.364 -0.008 -0.011 -0.001  1.05 ]
+t: 140	 action: [-1.859e-01 -9.464e-03  4.784e-01  7.901e-04 -8.080e-03 -9.016e-03  9.928e-01]
+t: 141	 action: [-0.125  0.003  0.573  0.005 -0.015 -0.002  1.05 ]
+t: 142	 action: [-0.22   0.001  0.611  0.006  0.004 -0.007  1.011]
+t: 143	 action: [-1.752e-01  1.286e-02  6.536e-01  6.715e-04 -4.063e-03 -1.198e-02  1.045e+00]
+t: 144	 action: [-0.25  -0.033  0.726  0.013  0.023 -0.012  1.007]
+t: 145	 action: [-0.127 -0.073  0.75   0.016  0.025 -0.012  1.041]
+t: 146	 action: [-0.103 -0.07   0.586 -0.002  0.066  0.003  1.006]
+t: 147	 action: [-0.013 -0.083  0.485  0.016  0.034  0.023  1.039]
+t: 148	 action: [ 0.031 -0.128  0.477  0.003  0.073  0.006  1.002]
+t: 149	 action: [ 0.134 -0.19   0.358  0.019  0.031  0.027  1.046]
+t: 150	 action: [ 0.128 -0.361  0.356  0.019  0.079  0.008  1.022]
+t: 151	 action: [ 0.242 -0.447  0.312  0.026  0.047  0.03   1.056]
+t: 152	 action: [ 0.196 -0.417  0.238  0.024  0.092  0.012  1.019]
+t: 153	 action: [ 0.285 -0.479  0.218  0.025  0.059  0.031  1.057]
+[07-31 01:37:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.184 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8200
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8200
+Query 1/1: Action query time = 1.184 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8200
+t=154: Selected seed 195 with value = 0.8200
+t: 154	 action: [-0.216 -0.255  0.82   0.007  0.066 -0.039  0.973]
+t: 155	 action: [-0.197 -0.127  0.834  0.024  0.067 -0.024  1.027]
+t: 156	 action: [-0.149 -0.272  0.829  0.01   0.079 -0.021  0.97 ]
+t: 157	 action: [-0.103 -0.166  0.853  0.019  0.084 -0.01   1.029]
+t: 158	 action: [-0.053 -0.221  0.786  0.001  0.108 -0.011  1.   ]
+t: 159	 action: [ 0.022 -0.197  0.793  0.017  0.111 -0.008  1.024]
+t: 160	 action: [ 0.068 -0.21   0.742 -0.004  0.12   0.001  0.997]
+t: 161	 action: [ 0.103 -0.252  0.733  0.011  0.119  0.002  1.028]
+t: 162	 action: [ 0.237 -0.402  0.526  0.012  0.124  0.004  0.977]
+t: 163	 action: [ 0.254 -0.513  0.475  0.016  0.124  0.019  1.025]
+t: 164	 action: [ 0.317 -0.47   0.477  0.019  0.106  0.01   0.971]
+t: 165	 action: [ 0.325 -0.601  0.408  0.017  0.096  0.023  1.031]
+t: 166	 action: [ 0.308 -0.611  0.407  0.018  0.1    0.019  0.995]
+t: 167	 action: [ 0.367 -0.731  0.35   0.017  0.068  0.03   1.035]
+t: 168	 action: [ 0.344 -0.57   0.384  0.018  0.07   0.017  0.993]
+t: 169	 action: [ 0.406 -0.682  0.292  0.015  0.036  0.03   1.035]
+[07-31 01:37:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.208 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9046
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9046
+Query 1/1: Action query time = 1.208 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9046
+t=170: Selected seed 195 with value = 0.9046
+t: 170	 action: [ 0.353 -0.296  0.847  0.028  0.097  0.011  0.957]
+t: 171	 action: [ 0.312 -0.356  0.877  0.03   0.094  0.007  1.017]
+t: 172	 action: [ 0.431 -0.372  0.796  0.041  0.072  0.015  0.963]
+t: 173	 action: [ 0.433 -0.455  0.762  0.034  0.067  0.02   1.013]
+t: 174	 action: [ 0.499 -0.389  0.593  0.023  0.065  0.018  0.988]
+t: 175	 action: [ 0.546 -0.436  0.568  0.03   0.041  0.03   1.006]
+t: 176	 action: [ 0.542 -0.4    0.321  0.033  0.049  0.029  0.994]
+t: 177	 action: [ 0.572 -0.478  0.204  0.03   0.025  0.035  1.016]
+t: 178	 action: [ 0.533 -0.428  0.014  0.035  0.015  0.028  0.958]
+t: 179	 action: [ 0.534 -0.523 -0.07   0.02  -0.006  0.033  1.011]
+t: 180	 action: [ 0.537 -0.437 -0.216  0.034 -0.002  0.036  0.959]
+t: 181	 action: [ 0.532 -0.5   -0.282  0.015 -0.015  0.041  1.013]
+t: 182	 action: [ 0.456 -0.388 -0.271  0.021  0.006  0.048  0.983]
+t: 183	 action: [ 0.467 -0.413 -0.41   0.004 -0.018  0.06   1.008]
+t: 184	 action: [ 0.435 -0.256 -0.409  0.005 -0.002  0.061  0.989]
+t: 185	 action: [ 0.469 -0.253 -0.486 -0.009 -0.018  0.064  1.015]
+[07-31 01:37:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.185 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9716
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 1.185 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=186: Selected seed 195 with value = 0.9716
+t: 186	 action: [ 0.097 -0.115 -0.729  0.019  0.016  0.038  0.947]
+t: 187	 action: [ 0.062 -0.056 -0.75   0.017  0.028  0.031  1.048]
+t: 188	 action: [ 0.113 -0.043 -0.67   0.013  0.04   0.054  1.102]
+t: 189	 action: [ 0.11  -0.053 -0.566  0.013  0.052  0.028  0.991]
+t: 190	 action: [ 0.133 -0.042 -0.441 -0.004  0.057  0.036  0.984]
+t: 191	 action: [ 0.135  0.004 -0.283  0.006  0.064  0.029  1.036]
+t: 192	 action: [ 0.18   0.015 -0.053 -0.002  0.094  0.025 -1.109]
+t: 193	 action: [ 0.252  0.031  0.099  0.008  0.097  0.013 -1.098]
+t: 194	 action: [ 0.262  0.01   0.379  0.003  0.037  0.015 -1.052]
+t: 195	 action: [ 2.712e-01 -2.363e-02  4.684e-01 -7.633e-04  3.460e-02  7.403e-03 -1.037e+00]
+t: 196	 action: [ 0.233  0.027  0.452  0.005  0.023  0.013 -1.047]
+t: 197	 action: [ 2.694e-01 -7.350e-03  4.885e-01 -9.400e-04  2.674e-02  2.646e-03 -1.029e+00]
+t: 198	 action: [ 1.930e-01  4.127e-02  4.601e-01  7.821e-04  2.638e-02  3.339e-03 -1.052e+00]
+t: 199	 action: [ 1.637e-01  6.135e-02  4.482e-01  6.673e-04  1.838e-02  5.679e-03 -1.041e+00]
+t: 200	 action: [ 1.720e-01  4.440e-02  3.991e-01 -1.246e-04  1.384e-02  3.298e-03 -1.047e+00]
+t: 201	 action: [ 1.298e-01  6.488e-02  3.755e-01 -5.545e-04  1.350e-02  5.522e-03 -1.042e+00]
+[07-31 01:37:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.153 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9966
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 1.153 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=202: Selected seed 195 with value = 0.9966
+t: 202	 action: [-0.015  0.037  0.211  0.005  0.03   0.009 -1.009]
+t: 203	 action: [-2.194e-05 -2.956e-02  2.237e-01  6.747e-03  2.998e-02  8.143e-03 -1.012e+00]
+t: 204	 action: [-0.014  0.033  0.214  0.004  0.029  0.009 -1.016]
+t: 205	 action: [-0.001 -0.025  0.23   0.004  0.03   0.008 -1.022]
+t: 206	 action: [ 1.480e-02  4.601e-02  2.263e-01 -9.429e-04  2.823e-02  1.016e-02 -1.024e+00]
+t: 207	 action: [-0.018  0.044  0.219  0.011  0.018  0.012 -1.045]
+t: 208	 action: [ 0.014  0.024  0.221 -0.002  0.027  0.006 -1.019]
+t: 209	 action: [ 0.01   0.036  0.231  0.008  0.023  0.01  -1.045]
+t: 210	 action: [-0.022  0.025  0.218  0.007  0.021  0.008 -1.013]
+t: 211	 action: [ 0.003 -0.022  0.223  0.005  0.023  0.006 -1.027]
+t: 212	 action: [-0.02   0.028  0.216  0.004  0.02   0.008 -1.016]
+t: 213	 action: [ 0.003 -0.018  0.226  0.002  0.024  0.006 -1.027]
+t: 214	 action: [ 2.670e-04  5.960e-03  2.123e-01 -2.741e-04  2.164e-02  5.598e-04 -1.027e+00]
+t: 215	 action: [-0.02   0.03   0.209  0.008  0.01   0.007 -1.057]
+t: 216	 action: [ 4.466e-03  1.601e-02  2.154e-01 -2.499e-03  2.021e-02  8.525e-04 -1.019e+00]
+t: 217	 action: [-0.001  0.027  0.228  0.004  0.014  0.008 -1.057]
+[07-31 01:37:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.173 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.173 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+t: 218	 action: [ 0.067  0.032  0.114  0.015  0.024  0.01  -1.026]
+t: 219	 action: [ 0.117 -0.003  0.129  0.01   0.017  0.012 -1.03 ]
+t: 220	 action: [ 0.066  0.024  0.115  0.012  0.021  0.009 -1.024]
+t: 221	 action: [ 1.241e-01  7.185e-04  1.340e-01  8.706e-03  1.516e-02  8.397e-03 -1.028e+00]
+t: 222	 action: [ 0.076  0.022  0.124  0.006  0.023  0.006 -1.029]
+t: 223	 action: [ 0.107  0.057  0.112  0.014  0.005  0.013 -1.055]
+t: 224	 action: [ 0.088  0.015  0.136  0.003  0.021  0.004 -1.023]
+t: 225	 action: [ 0.145  0.056  0.129  0.011  0.005  0.01  -1.049]
+t: 226	 action: [ 0.062  0.017  0.103  0.012  0.016  0.011 -1.024]
+t: 227	 action: [ 0.11  -0.005  0.119  0.01   0.015  0.009 -1.036]
+t: 228	 action: [ 0.064  0.019  0.113  0.009  0.015  0.01  -1.024]
+t: 229	 action: [ 1.216e-01  6.335e-04  1.251e-01  7.504e-03  1.253e-02  7.751e-03 -1.028e+00]
+t: 230	 action: [ 0.071 -0.003  0.11   0.004  0.017  0.005 -1.029]
+t: 231	 action: [ 0.1    0.047  0.101  0.014  0.002  0.01  -1.059]
+t: 232	 action: [ 0.086  0.008  0.128  0.002  0.016  0.004 -1.021]
+t: 233	 action: [ 0.137  0.053  0.121  0.01   0.002  0.009 -1.055]
+[07-31 01:37:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.154 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.154 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+t: 234	 action: [ 0.085  0.03   0.066  0.012  0.027  0.007 -1.025]
+t: 235	 action: [ 0.157  0.005  0.074  0.007  0.02   0.003 -1.029]
+t: 236	 action: [ 0.099  0.026  0.053  0.013  0.025  0.006 -1.025]
+t: 237	 action: [ 1.785e-01  6.604e-03  6.850e-02  8.928e-03  1.861e-02 -4.068e-04 -1.029e+00]
+t: 238	 action: [ 9.623e-02  3.154e-02  7.500e-02  6.434e-03  2.413e-02  6.733e-04 -1.030e+00]
+t: 239	 action: [ 0.156  0.062  0.066  0.014  0.009  0.005 -1.054]
+t: 240	 action: [ 1.212e-01  2.073e-02  6.995e-02  8.031e-03  2.203e-02  5.190e-04 -1.023e+00]
+t: 241	 action: [ 0.205  0.058  0.056  0.014  0.008  0.002 -1.048]
+t: 242	 action: [ 0.085  0.022  0.054  0.012  0.016  0.009 -1.024]
+t: 243	 action: [ 1.512e-01 -2.763e-04  7.110e-02  6.384e-03  1.800e-02  1.886e-04 -1.035e+00]
+t: 244	 action: [ 0.097  0.021  0.052  0.012  0.017  0.008 -1.025]
+t: 245	 action: [ 1.768e-01  3.457e-03  6.128e-02  7.561e-03  1.533e-02 -4.254e-04 -1.030e+00]
+t: 246	 action: [ 0.092  0.002  0.06   0.006  0.017  0.002 -1.031]
+t: 247	 action: [ 0.15   0.049  0.052  0.013  0.005  0.002 -1.058]
+t: 248	 action: [ 1.169e-01  1.083e-02  6.345e-02  6.468e-03  1.627e-02  5.224e-04 -1.022e+00]
+t: 249	 action: [ 0.195  0.052  0.047  0.013  0.004  0.001 -1.054]
+[07-31 01:37:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.126 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.126 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+t: 250	 action: [ 0.13   0.089  0.052  0.013  0.019  0.005 -1.03 ]
+t: 251	 action: [ 0.232  0.05   0.042  0.009  0.012  0.001 -1.042]
+t: 252	 action: [ 0.153  0.092  0.033  0.017  0.021  0.004 -1.025]
+t: 253	 action: [ 0.254  0.048  0.031  0.012  0.015 -0.002 -1.03 ]
+t: 254	 action: [ 1.328e-01  1.015e-01  5.578e-02  9.900e-03  1.813e-02 -4.861e-04 -1.030e+00]
+t: 255	 action: [ 0.185  0.092  0.032  0.017  0.005  0.006 -1.059]
+t: 256	 action: [ 1.569e-01  8.328e-02  2.811e-02  1.464e-02  1.823e-02 -6.801e-04 -1.019e+00]
+t: 257	 action: [ 2.350e-01  7.526e-02  6.019e-03  1.858e-02  8.558e-03  5.559e-04 -1.045e+00]
+t: 258	 action: [ 0.139  0.089  0.039  0.014  0.006  0.009 -1.03 ]
+t: 259	 action: [ 0.226  0.039  0.048  0.008  0.011 -0.001 -1.045]
+t: 260	 action: [ 0.147  0.076  0.032  0.016  0.012  0.007 -1.026]
+t: 261	 action: [ 0.252  0.041  0.025  0.011  0.011 -0.002 -1.032]
+t: 262	 action: [ 0.124  0.061  0.036  0.01   0.007  0.002 -1.031]
+t: 263	 action: [ 1.714e-01  7.158e-02  2.093e-02  1.494e-02  6.063e-04  1.713e-03 -1.062e+00]
+t: 264	 action: [ 1.440e-01  5.831e-02  2.075e-02  1.152e-02  1.071e-02 -6.116e-04 -1.019e+00]
+t: 265	 action: [ 2.222e-01  6.485e-02 -3.303e-04  1.590e-02  1.525e-03 -1.139e-04 -1.052e+00]
+[07-31 01:37:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.104 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9834
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 1.104 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=266: Selected seed 195 with value = 0.9834
+t: 266	 action: [-1.399e-01  4.567e-02 -6.551e-02  2.121e-02  7.170e-03 -5.818e-04 -9.512e-01]
+t: 267	 action: [-0.049  0.019 -0.073  0.024  0.011 -0.001 -0.992]
+t: 268	 action: [-0.114  0.065 -0.154  0.035  0.011  0.004 -0.995]
+t: 269	 action: [-0.021  0.028 -0.145  0.031  0.01  -0.003 -1.02 ]
+t: 270	 action: [-1.719e-01  1.143e-01 -8.886e-02  2.350e-02  1.307e-02 -3.443e-06 -1.018e+00]
+t: 271	 action: [-0.147  0.078 -0.105  0.031  0.005  0.006 -1.066]
+t: 272	 action: [-0.126  0.05  -0.203  0.036  0.012  0.001 -1.009]
+t: 273	 action: [-7.987e-02  2.322e-02 -2.113e-01  3.590e-02  2.978e-03 -8.478e-04 -1.043e+00]
+t: 274	 action: [-0.135  0.038 -0.2    0.028 -0.012  0.01  -0.987]
+t: 275	 action: [-4.544e-02 -3.360e-02 -1.927e-01  1.965e-02  7.206e-04 -2.760e-04 -1.014e+00]
+t: 276	 action: [-0.102  0.042 -0.155  0.033 -0.003  0.008 -0.991]
+t: 277	 action: [ 0.009 -0.014 -0.192  0.021  0.005 -0.001 -1.023]
+t: 278	 action: [-0.148  0.046 -0.157  0.019 -0.012  0.002 -1.021]
+t: 279	 action: [-1.254e-01  2.858e-02 -1.474e-01  2.161e-02 -9.087e-03  9.577e-04 -1.049e+00]
+t: 280	 action: [-1.153e-01  1.261e-02 -1.498e-01  2.506e-02 -2.976e-03 -3.709e-04 -1.003e+00]
+t: 281	 action: [-6.673e-02 -1.069e-02 -1.890e-01  2.342e-02 -5.690e-03 -7.536e-04 -1.046e+00]
+[07-31 01:37:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.087 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9732
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9732
+Query 1/1: Action query time = 1.087 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9732
+t=282: Selected seed 195 with value = 0.9732
+t: 282	 action: [-0.124  0.018 -0.256  0.014  0.002  0.007  1.009]
+t: 283	 action: [-0.085 -0.078 -0.26   0.017  0.006  0.005  0.883]
+t: 284	 action: [-0.137  0.014 -0.332  0.026  0.015  0.006 -0.737]
+t: 285	 action: [-0.103 -0.025 -0.3    0.025  0.018 -0.003 -1.01 ]
+t: 286	 action: [-0.279  0.058 -0.276  0.01   0.021  0.01  -0.679]
+t: 287	 action: [-0.242  0.036 -0.261  0.025  0.008  0.023 -0.913]
+t: 288	 action: [-2.353e-01  4.012e-04 -3.203e-01  2.035e-02  2.417e-02  6.741e-03 -9.512e-01]
+t: 289	 action: [-2.421e-01  8.452e-03 -2.989e-01  3.126e-02  1.458e-02  4.048e-04 -1.049e+00]
+t: 290	 action: [-0.216 -0.018 -0.449  0.018  0.001  0.011 -0.896]
+t: 291	 action: [-0.212 -0.095 -0.374  0.013  0.005  0.012 -1.027]
+t: 292	 action: [-0.179  0.001 -0.266  0.02   0.01   0.009 -0.967]
+t: 293	 action: [-0.062 -0.064 -0.274  0.013  0.012  0.002 -0.982]
+t: 294	 action: [-0.271  0.012 -0.28   0.008  0.003  0.004 -0.487]
+t: 295	 action: [-0.258  0.019 -0.236  0.015 -0.008  0.018  0.885]
+t: 296	 action: [-2.203e-01 -3.119e-03 -1.261e-01  9.763e-03  1.285e-02  4.868e-04 -9.750e-01]
+t: 297	 action: [-0.126 -0.027 -0.155  0.016 -0.001  0.004 -1.031]
+[07-31 01:37:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9631
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9631
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 51
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
  2%|▏         | 1/50 [00:33<27:43, 33.95s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 2...
+Query 1/1: Action query time = 0.961 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9631
+t=298: Selected seed 195 with value = 0.9631
+t: 298	 action: [-0.227 -0.12  -0.385  0.003  0.039  0.008  0.938]
+t: 299	 action: [-0.154 -0.258 -0.294  0.005  0.048  0.009  1.061]
+t: 300	 action: [-0.086 -0.094 -0.358  0.01   0.062  0.01   1.029]
+t: 301	 action: [-0.061 -0.202 -0.259  0.012  0.071 -0.02  -0.928]
+t: 302	 action: [-0.072 -0.03  -0.087  0.006  0.054  0.007  0.962]
+t: 303	 action: [ 0.01  -0.11  -0.059  0.013  0.061  0.018  1.012]
+t: 304	 action: [ 0.071 -0.098  0.002  0.01   0.073  0.006 -1.05 ]
+t: 305	 action: [ 0.066 -0.093 -0.022  0.021  0.083 -0.02  -1.032]
+t: 306	 action: [ 0.079 -0.211 -0.161  0.02   0.035  0.001  0.831]
+t: 307	 action: [ 0.074 -0.482 -0.109  0.017  0.049 -0.017  0.526]
+t: 308	 action: [ 0.101 -0.267 -0.092  0.021  0.042 -0.001  0.319]
+t: 309	 action: [ 0.147 -0.303 -0.09   0.014  0.058 -0.017  0.31 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=51--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=51--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 51
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+[07-31 01:38:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3738
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3738
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3738
+t=10: Selected seed 195 with value = 0.3738
+t: 10	 action: [ 0.309 -0.209  0.013  0.007  0.006  0.004 -0.992]
+t: 11	 action: [ 0.418 -0.164  0.057  0.005  0.005  0.003 -1.009]
+t: 12	 action: [ 0.612 -0.241  0.043  0.003  0.002  0.009 -1.006]
+t: 13	 action: [ 0.753 -0.193  0.098  0.003  0.003  0.007 -1.02 ]
+t: 14	 action: [ 0.899 -0.154  0.131  0.006  0.004  0.007 -1.007]
+t: 15	 action: [ 0.885 -0.15   0.121  0.009 -0.001  0.006 -1.041]
+t: 16	 action: [ 0.975 -0.158  0.129  0.003 -0.001  0.009 -1.013]
+t: 17	 action: [ 0.936 -0.149  0.106  0.01  -0.002  0.007 -1.047]
+t: 18	 action: [ 0.948 -0.206  0.12   0.006 -0.011  0.011 -1.007]
+t: 19	 action: [ 0.957 -0.168  0.132  0.009  0.006  0.006 -1.02 ]
+t: 20	 action: [ 0.967 -0.164  0.096  0.006 -0.011  0.009 -0.999]
+t: 21	 action: [ 0.975 -0.158  0.103  0.01   0.007  0.005 -1.01 ]
+t: 22	 action: [ 0.986 -0.158  0.071  0.005 -0.009  0.008 -1.006]
+t: 23	 action: [ 0.978 -0.255  0.02   0.015  0.003  0.007 -1.039]
+t: 24	 action: [ 0.986 -0.11   0.026  0.002 -0.009  0.003 -0.997]
+t: 25	 action: [ 0.974 -0.239 -0.009  0.015  0.002  0.006 -1.037]
+[07-31 01:38:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4411
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4411
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4411
+t=26: Selected seed 195 with value = 0.4411
+t: 26	 action: [ 0.874 -0.229  0.055  0.006 -0.038  0.009 -1.023]
+t: 27	 action: [ 0.895 -0.259  0.044  0.011 -0.039  0.005 -1.022]
+t: 28	 action: [ 0.869 -0.269  0.004  0.014 -0.041  0.015 -1.025]
+t: 29	 action: [ 0.875 -0.318  0.016  0.02  -0.034  0.01  -1.025]
+t: 30	 action: [ 0.871 -0.266 -0.066  0.013 -0.042  0.012 -1.014]
+t: 31	 action: [ 0.838 -0.3   -0.079  0.019 -0.049  0.012 -1.045]
+t: 32	 action: [ 0.766 -0.205 -0.207  0.008 -0.051  0.021 -1.021]
+t: 33	 action: [ 0.612 -0.22  -0.26   0.019 -0.055  0.016 -1.042]
+t: 34	 action: [ 0.448 -0.191 -0.346  0.013 -0.073  0.035 -1.03 ]
+t: 35	 action: [ 0.335 -0.142 -0.466  0.018 -0.08   0.03  -1.024]
+t: 36	 action: [ 0.233 -0.062 -0.554  0.011 -0.106  0.049 -1.011]
+t: 37	 action: [ 0.094 -0.058 -0.651  0.02  -0.09   0.039 -1.009]
+t: 38	 action: [ 4.948e-02  5.101e-02 -7.944e-01 -8.511e-04 -1.280e-01  4.957e-02 -1.035e+00]
+t: 39	 action: [-0.039  0.069 -0.764  0.019 -0.103  0.041 -1.03 ]
+t: 40	 action: [-0.107  0.113 -0.866 -0.004 -0.119  0.061 -1.016]
+t: 41	 action: [-0.095  0.171 -0.822  0.019 -0.086  0.051 -1.028]
+[07-31 01:38:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5388
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5388
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5388
+t=42: Selected seed 195 with value = 0.5388
+t: 42	 action: [-1.377e-01  8.614e-01 -6.215e-01  9.288e-04 -2.652e-02  3.959e-02 -1.013e+00]
+t: 43	 action: [-0.104  0.831 -0.572  0.002 -0.032  0.031 -1.011]
+t: 44	 action: [-0.148  0.898 -0.608  0.001 -0.023  0.04  -0.993]
+t: 45	 action: [-0.125  0.84  -0.545  0.003 -0.024  0.031 -1.012]
+t: 46	 action: [-1.438e-01  8.874e-01 -5.477e-01 -2.348e-04 -1.414e-02  4.255e-02 -9.966e-01]
+t: 47	 action: [-0.116  0.863 -0.526  0.003 -0.021  0.034 -1.025]
+t: 48	 action: [-1.490e-01  8.971e-01 -5.536e-01  3.845e-05 -7.192e-03  4.756e-02 -9.812e-01]
+t: 49	 action: [-0.112  0.868 -0.522  0.004 -0.007  0.034 -1.032]
+t: 50	 action: [-0.062  0.807 -0.661  0.004 -0.014  0.037 -1.029]
+t: 51	 action: [-0.036  0.752 -0.659  0.005 -0.015  0.028 -1.02 ]
+t: 52	 action: [-0.049  0.741 -0.656  0.001 -0.002  0.037 -1.017]
+t: 53	 action: [-1.943e-02  6.697e-01 -5.852e-01  1.815e-03  9.052e-04  2.401e-02 -1.017e+00]
+t: 54	 action: [-7.612e-02  6.198e-01 -5.313e-01  7.031e-04 -3.661e-03  3.433e-02 -1.012e+00]
+t: 55	 action: [-0.025  0.483 -0.414  0.004 -0.006  0.027 -1.033]
+t: 56	 action: [-0.023  0.253 -0.27  -0.003  0.018  0.025 -0.998]
+t: 57	 action: [ 0.016  0.171 -0.041 -0.002  0.004  0.02  -1.04 ]
+[07-31 01:38:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5884
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5884
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5884
+t=58: Selected seed 195 with value = 0.5884
+t: 58	 action: [ 4.641e-02  3.330e-01 -4.633e-01 -5.356e-04  6.335e-04  2.474e-02 -1.016e+00]
+t: 59	 action: [ 6.652e-02  2.781e-01 -2.578e-01  4.360e-04  1.029e-02  2.015e-02 -1.020e+00]
+t: 60	 action: [ 0.041  0.2   -0.294 -0.002  0.011  0.017 -1.009]
+t: 61	 action: [ 5.944e-02  1.154e-01 -8.035e-02  2.031e-04  1.377e-02  1.210e-02 -1.018e+00]
+t: 62	 action: [ 3.787e-03  1.314e-01 -1.910e-01  8.527e-04  1.931e-02  2.163e-02 -1.002e+00]
+t: 63	 action: [-0.001  0.145  0.012  0.002  0.013  0.022 -1.029]
+t: 64	 action: [-0.035  0.038  0.178 -0.004  0.025  0.006 -1.002]
+t: 65	 action: [-0.006  0.019  0.331  0.002  0.016  0.012 -1.03 ]
+t: 66	 action: [ 0.051 -0.176  0.429  0.023  0.017  0.015 -1.026]
+t: 67	 action: [-0.076 -0.248  0.431  0.025  0.004  0.015 -1.044]
+t: 68	 action: [-0.046 -0.152  0.346  0.019  0.016  0.018 -1.026]
+t: 69	 action: [-0.173 -0.277  0.268  0.021  0.009  0.017 -1.024]
+t: 70	 action: [-0.329 -0.127  0.121  0.023  0.013  0.034 -1.022]
+t: 71	 action: [-0.428 -0.199  0.06   0.018 -0.004  0.034 -1.038]
+t: 72	 action: [-0.585 -0.114 -0.024  0.007  0.017  0.04  -1.014]
+t: 73	 action: [-0.504 -0.161 -0.033  0.01   0.004  0.035 -1.028]
+[07-31 01:38:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6052
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=74: Selected seed 195 with value = 0.6052
+t: 74	 action: [ 0.048  0.419 -0.33  -0.004  0.007  0.022 -1.009]
+t: 75	 action: [ 0.082  0.353 -0.14  -0.009  0.016  0.012 -1.011]
+t: 76	 action: [ 0.059  0.18  -0.07  -0.005  0.016  0.013 -1.006]
+t: 77	 action: [ 0.079  0.073  0.102 -0.01   0.021  0.003 -1.009]
+t: 78	 action: [ 0.029  0.128  0.086 -0.01   0.025  0.009 -0.997]
+t: 79	 action: [ 0.019  0.124  0.259 -0.011  0.019  0.009 -1.032]
+t: 80	 action: [-8.788e-03  1.504e-02  4.778e-01 -1.546e-03  3.163e-02  7.606e-04 -1.004e+00]
+t: 81	 action: [ 3.652e-03  2.988e-04  6.141e-01 -7.372e-03  2.809e-02  2.075e-04 -1.031e+00]
+t: 82	 action: [ 0.026 -0.137  0.598  0.014  0.009  0.008 -1.018]
+t: 83	 action: [-0.124 -0.17   0.569  0.022  0.005 -0.002 -1.038]
+t: 84	 action: [-0.091 -0.112  0.46   0.016  0.009  0.01  -1.027]
+t: 85	 action: [-2.284e-01 -2.211e-01  3.811e-01  2.407e-02  1.259e-02  8.951e-04 -1.017e+00]
+t: 86	 action: [-0.442 -0.156  0.245  0.035  0.009  0.008 -1.014]
+t: 87	 action: [-0.569 -0.168  0.168  0.026 -0.002  0.009 -1.04 ]
+t: 88	 action: [-0.7   -0.138  0.085  0.033  0.01   0.011 -1.004]
+t: 89	 action: [-0.679 -0.166  0.034  0.027  0.004  0.015 -1.022]
+[07-31 01:38:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6384
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=90: Selected seed 195 with value = 0.6384
+t: 90	 action: [ 0.049  0.133 -0.194  0.003  0.019  0.006 -1.007]
+t: 91	 action: [ 8.354e-02  1.036e-01 -6.020e-02 -3.742e-04  2.267e-02 -7.730e-03 -9.998e-01]
+t: 92	 action: [ 0.058  0.015 -0.006 -0.001  0.027  0.003 -1.013]
+t: 93	 action: [ 0.067 -0.041  0.161 -0.002  0.033 -0.014 -1.003]
+t: 94	 action: [ 0.012 -0.01   0.233  0.005  0.033 -0.004 -1.008]
+t: 95	 action: [-0.006 -0.015  0.356  0.002  0.024 -0.01  -1.04 ]
+t: 96	 action: [-0.043 -0.028  0.494  0.005  0.036 -0.01  -1.019]
+t: 97	 action: [-0.058 -0.05   0.568  0.005  0.034 -0.017 -1.038]
+t: 98	 action: [-0.051 -0.125  0.529  0.023  0.022 -0.013 -1.026]
+t: 99	 action: [-0.245 -0.161  0.516  0.029  0.018 -0.017 -1.04 ]
+t: 100	 action: [-0.235 -0.043  0.405  0.017  0.018 -0.001 -1.044]
+t: 101	 action: [-0.378 -0.158  0.324  0.026  0.019 -0.015 -1.029]
+t: 102	 action: [-0.634 -0.078  0.231  0.034  0.012  0.002 -1.012]
+t: 103	 action: [-0.687 -0.084  0.144  0.024 -0.001 -0.007 -1.046]
+t: 104	 action: [-0.803 -0.055  0.141  0.023  0.009  0.004 -1.011]
+t: 105	 action: [-8.001e-01 -9.825e-02  4.535e-02  1.914e-02  5.600e-04 -1.262e-03 -1.043e+00]
+[07-31 01:38:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4289
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4289
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4289
+t=106: Selected seed 195 with value = 0.4289
+t: 106	 action: [ 1.888e-01  2.361e-01 -1.462e-01 -4.623e-03  1.344e-02  9.532e-04 -1.013e+00]
+t: 107	 action: [ 0.204  0.26  -0.095 -0.005  0.016 -0.008 -1.035]
+t: 108	 action: [ 0.147  0.03  -0.082 -0.004  0.016 -0.001 -1.022]
+t: 109	 action: [ 0.101  0.008 -0.024 -0.005  0.022 -0.014 -1.043]
+t: 110	 action: [ 0.06  -0.025 -0.08   0.002  0.022 -0.002 -1.006]
+t: 111	 action: [ 0.019 -0.061 -0.07   0.003  0.014 -0.011 -1.058]
+t: 112	 action: [-0.066 -0.08  -0.106 -0.003  0.021 -0.005 -1.02 ]
+t: 113	 action: [-2.518e-02 -8.712e-02 -7.672e-02 -7.413e-04  1.226e-02 -1.824e-02 -1.071e+00]
+t: 114	 action: [-1.897e-01 -1.413e-01 -1.564e-01  1.845e-03  6.427e-04  6.719e-03 -1.016e+00]
+t: 115	 action: [-0.322 -0.161 -0.219 -0.009  0.007  0.001 -1.045]
+t: 116	 action: [-0.348 -0.075 -0.258 -0.002 -0.002  0.006 -1.028]
+t: 117	 action: [-0.428 -0.11  -0.367 -0.016  0.007 -0.003 -1.035]
+t: 118	 action: [-6.057e-01  1.001e-03 -3.917e-01 -7.535e-03 -9.906e-03  5.462e-03 -1.007e+00]
+t: 119	 action: [-0.55  -0.012 -0.393 -0.018 -0.008 -0.003 -1.061]
+t: 120	 action: [-0.57   0.014 -0.477 -0.019 -0.008  0.002 -1.015]
+t: 121	 action: [-0.475  0.001 -0.427 -0.022 -0.008 -0.007 -1.016]
+[07-31 01:38:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5208
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5208
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5208
+t=122: Selected seed 195 with value = 0.5208
+t: 122	 action: [ 0.269  0.316 -0.448 -0.002  0.001  0.001 -1.031]
+t: 123	 action: [ 0.263  0.365 -0.365  0.001  0.008 -0.003 -1.031]
+t: 124	 action: [ 0.171  0.085 -0.411 -0.005  0.005  0.002 -1.037]
+t: 125	 action: [ 0.132  0.081 -0.269 -0.001  0.012 -0.003 -1.027]
+t: 126	 action: [ 0.084  0.102 -0.238  0.002  0.012 -0.002 -1.03 ]
+t: 127	 action: [ 0.044  0.043 -0.097  0.005  0.007 -0.004 -1.058]
+t: 128	 action: [-0.014  0.014 -0.02  -0.007  0.013 -0.006 -1.035]
+t: 129	 action: [ 9.284e-03 -2.347e-02  6.607e-02  4.752e-04  5.808e-03 -8.838e-03 -1.057e+00]
+t: 130	 action: [-0.051 -0.186  0.103  0.016 -0.009  0.002 -1.043]
+t: 131	 action: [-0.087 -0.219  0.063  0.01  -0.008 -0.007 -1.044]
+t: 132	 action: [-0.121 -0.165  0.035  0.009 -0.019 -0.002 -1.046]
+t: 133	 action: [-0.142 -0.183 -0.087  0.004 -0.017 -0.01  -1.04 ]
+t: 134	 action: [-2.840e-01 -9.127e-02 -5.524e-02  4.915e-03 -1.805e-02 -6.983e-04 -1.032e+00]
+t: 135	 action: [-0.28  -0.074 -0.089  0.003 -0.028 -0.009 -1.05 ]
+t: 136	 action: [-0.243 -0.026 -0.201 -0.008 -0.021 -0.006 -1.034]
+t: 137	 action: [-0.239 -0.029 -0.25  -0.005 -0.026 -0.011 -1.053]
+[07-31 01:38:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.076 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5076
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 1.076 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=138: Selected seed 195 with value = 0.5076
+t: 138	 action: [ 1.565e-01  6.861e-02 -5.019e-01 -4.414e-03  6.638e-03  5.684e-04 -1.032e+00]
+t: 139	 action: [ 0.125  0.101 -0.382 -0.002  0.013 -0.011 -1.019]
+t: 140	 action: [ 7.672e-02  3.852e-03 -4.032e-01 -5.556e-03  9.358e-03 -8.362e-04 -1.050e+00]
+t: 141	 action: [ 0.061 -0.028 -0.252 -0.003  0.014 -0.014 -1.03 ]
+t: 142	 action: [ 1.436e-02  3.744e-02 -1.936e-01 -2.660e-04  1.936e-02 -2.111e-03 -1.043e+00]
+t: 143	 action: [ 0.018  0.018 -0.035  0.003  0.008 -0.013 -1.065]
+t: 144	 action: [-0.027  0.024  0.011 -0.008  0.016 -0.007 -1.048]
+t: 145	 action: [ 1.226e-02 -1.320e-02  8.221e-02  2.823e-04  4.864e-03 -1.715e-02 -1.057e+00]
+t: 146	 action: [ 0.091 -0.198  0.081  0.021 -0.004 -0.01  -1.067]
+t: 147	 action: [ 4.817e-02 -1.726e-01  1.851e-02  9.027e-03  3.328e-04 -1.664e-02 -1.051e+00]
+t: 148	 action: [ 0.086 -0.163 -0.062  0.006 -0.013 -0.006 -1.076]
+t: 149	 action: [ 0.048 -0.15  -0.156  0.001 -0.004 -0.015 -1.042]
+t: 150	 action: [-0.034 -0.042 -0.14  -0.001 -0.016 -0.009 -1.055]
+t: 151	 action: [-0.047 -0.034 -0.17   0.002 -0.021 -0.018 -1.056]
+t: 152	 action: [-0.057  0.014 -0.33  -0.01  -0.019 -0.01  -1.059]
+t: 153	 action: [-0.065 -0.006 -0.317 -0.007 -0.02  -0.016 -1.054]
+[07-31 01:38:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.044 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5464
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 1.044 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=154: Selected seed 195 with value = 0.5464
+t: 154	 action: [ 2.185e-01  1.719e-02 -4.486e-01  3.323e-03  1.357e-02  2.306e-04 -1.046e+00]
+t: 155	 action: [ 0.239  0.03  -0.381  0.007  0.016 -0.015 -1.039]
+t: 156	 action: [ 2.102e-01  2.144e-02 -3.596e-01 -9.364e-04  6.858e-03 -1.870e-04 -1.057e+00]
+t: 157	 action: [ 0.241  0.013 -0.241  0.002  0.007 -0.016 -1.027]
+t: 158	 action: [ 1.755e-01  7.986e-02 -2.022e-01  1.039e-03  1.448e-02 -1.830e-03 -1.042e+00]
+t: 159	 action: [ 0.174  0.087 -0.01   0.014  0.009 -0.016 -1.062]
+t: 160	 action: [ 1.915e-01  7.088e-02 -3.991e-02 -6.895e-03  9.963e-05 -6.275e-03 -1.052e+00]
+t: 161	 action: [ 0.199  0.06   0.098  0.005 -0.003 -0.02  -1.047]
+t: 162	 action: [ 0.356  0.005  0.129  0.015 -0.009 -0.011 -1.085]
+t: 163	 action: [ 0.349 -0.022  0.056  0.008 -0.002 -0.021 -1.051]
+t: 164	 action: [ 0.292  0.001 -0.009  0.008 -0.017 -0.004 -1.099]
+t: 165	 action: [ 0.271 -0.036 -0.079  0.003 -0.009 -0.018 -1.043]
+t: 166	 action: [ 0.172  0.02  -0.095  0.001 -0.022 -0.014 -1.076]
+t: 167	 action: [ 0.059 -0.014 -0.133  0.006 -0.023 -0.024 -1.051]
+t: 168	 action: [ 0.065  0.034 -0.307 -0.006 -0.025 -0.012 -1.084]
+t: 169	 action: [ 7.437e-03 -2.391e-03 -2.840e-01 -8.920e-04 -2.253e-02 -1.907e-02 -1.045e+00]
+[07-31 01:38:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.045 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5998
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5998
+Query 1/1: Action query time = 1.045 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5998
+t=170: Selected seed 195 with value = 0.5998
+t: 170	 action: [ 0.059 -0.001 -0.413 -0.009  0.011 -0.005 -1.069]
+t: 171	 action: [ 0.076  0.048 -0.248 -0.01   0.013 -0.017 -1.05 ]
+t: 172	 action: [ 4.412e-02  4.526e-02 -2.186e-01 -1.027e-02  8.633e-03  9.435e-04 -1.077e+00]
+t: 173	 action: [ 0.071  0.081 -0.062 -0.011  0.007 -0.009 -1.037]
+t: 174	 action: [-0.022  0.14  -0.073 -0.009  0.015 -0.004 -1.064]
+t: 175	 action: [ 0.008  0.157  0.043 -0.007  0.005 -0.013 -1.055]
+t: 176	 action: [-0.001  0.159  0.025 -0.014  0.012 -0.004 -1.067]
+t: 177	 action: [ 1.182e-02  1.167e-01  8.731e-02 -1.178e-02  9.317e-04 -1.096e-02 -1.043e+00]
+t: 178	 action: [ 0.176  0.157 -0.041 -0.003  0.011  0.005 -1.075]
+t: 179	 action: [ 0.172  0.101 -0.071 -0.005  0.007  0.004 -1.125]
+t: 180	 action: [ 0.085  0.068 -0.221 -0.004  0.002  0.006 -1.162]
+t: 181	 action: [ 0.028  0.028 -0.255 -0.004  0.002  0.005 -1.125]
+t: 182	 action: [ 0.034  0.044 -0.355 -0.007  0.004 -0.003 -1.065]
+t: 183	 action: [-5.737e-03  2.975e-03 -2.788e-01 -1.214e-03 -3.625e-03 -2.269e-04  1.167e+00]
+t: 184	 action: [-0.007  0.011 -0.421 -0.009 -0.001 -0.004  1.086]
+t: 185	 action: [ 0.009 -0.022 -0.339 -0.005 -0.008  0.003  1.151]
+[07-31 01:38:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.098 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7013
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 1.098 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=186: Selected seed 195 with value = 0.7013
+t: 186	 action: [-0.089  0.01  -0.192 -0.029 -0.001  0.002  1.001]
+t: 187	 action: [-0.022  0.062  0.021 -0.027  0.002 -0.005  1.048]
+t: 188	 action: [-0.062  0.028  0.236 -0.014 -0.007 -0.005  0.999]
+t: 189	 action: [-0.008  0.06   0.482 -0.018  0.002 -0.004  1.04 ]
+t: 190	 action: [ 0.038  0.018  0.491 -0.018  0.019 -0.01   1.012]
+t: 191	 action: [ 0.062  0.034  0.726 -0.013  0.008 -0.015  1.037]
+t: 192	 action: [ 0.05  -0.04   0.825  0.008  0.022 -0.014  1.005]
+t: 193	 action: [ 0.053 -0.088  0.877  0.018  0.017 -0.014  1.027]
+t: 194	 action: [ 0.008 -0.204  0.516  0.035  0.021  0.01   0.992]
+t: 195	 action: [ 0.021 -0.255  0.421  0.029  0.004  0.008  1.038]
+t: 196	 action: [ 0.025 -0.195  0.144  0.015  0.011  0.012  0.982]
+t: 197	 action: [ 0.034 -0.236  0.088  0.02   0.002  0.012  1.024]
+t: 198	 action: [ 0.011 -0.125  0.056  0.021  0.019  0.002  1.006]
+t: 199	 action: [-0.028 -0.234 -0.087  0.023 -0.006  0.002  1.034]
+t: 200	 action: [-0.012 -0.108 -0.082  0.004  0.009  0.003  1.003]
+t: 201	 action: [-0.03  -0.129 -0.167  0.011 -0.011  0.008  1.025]
+[07-31 01:38:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.057 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8113
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8113
+Query 1/1: Action query time = 1.057 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8113
+t=202: Selected seed 195 with value = 0.8113
+t: 202	 action: [-0.105 -0.199 -0.523  0.005  0.009  0.025  1.147]
+t: 203	 action: [-0.157 -0.164 -0.507  0.009  0.007  0.028  1.05 ]
+t: 204	 action: [-0.069 -0.069 -0.507  0.002  0.01   0.015  1.127]
+t: 205	 action: [-0.106 -0.109 -0.335  0.013  0.012  0.01  -1.019]
+t: 206	 action: [-0.125  0.051 -0.303 -0.004  0.015  0.014 -1.113]
+t: 207	 action: [-0.096  0.067 -0.184 -0.01   0.01   0.025 -1.108]
+t: 208	 action: [ 0.02   0.086 -0.078 -0.007  0.025  0.008 -1.086]
+t: 209	 action: [ 0.038  0.096 -0.038 -0.016  0.026  0.003 -1.058]
+t: 210	 action: [ 2.292e-01  9.402e-04 -1.733e-01  9.489e-03  4.658e-02  2.867e-02 -1.070e+00]
+t: 211	 action: [ 0.127 -0.033 -0.28   0.01   0.04   0.029 -1.066]
+t: 212	 action: [ 0.136 -0.026 -0.326  0.016  0.036  0.033 -1.23 ]
+t: 213	 action: [-0.053 -0.103 -0.413  0.01   0.032  0.033 -1.114]
+t: 214	 action: [-0.005 -0.042 -0.407  0.005  0.031  0.04  -1.092]
+t: 215	 action: [-0.045 -0.068 -0.391  0.008  0.025  0.033 -1.017]
+t: 216	 action: [-0.06  -0.082 -0.358  0.004  0.023  0.04   0.942]
+t: 217	 action: [-0.093 -0.09  -0.385  0.008  0.019  0.038  1.19 ]
+[07-31 01:38:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6979
+Query 1/1: Action query time = 1.000 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6979
+t=218: Selected seed 195 with value = 0.6979
+t: 218	 action: [-0.073  0.002 -0.26  -0.033  0.001  0.007  0.996]
+t: 219	 action: [-0.027  0.104 -0.057 -0.038  0.002  0.008  1.049]
+t: 220	 action: [-0.058  0.104  0.069 -0.044 -0.002  0.002  0.994]
+t: 221	 action: [-2.576e-03  1.486e-01  2.399e-01 -4.246e-02  3.279e-05  9.777e-03  1.046e+00]
+t: 222	 action: [ 2.723e-02  1.289e-01  2.465e-01 -4.786e-02  8.464e-03 -6.473e-04  1.013e+00]
+t: 223	 action: [ 7.933e-02  1.983e-01  4.844e-01 -3.347e-02 -9.803e-03  2.307e-04  1.039e+00]
+t: 224	 action: [ 0.135  0.141  0.656 -0.01   0.007 -0.005  1.008]
+t: 225	 action: [ 0.125  0.126  0.796 -0.006 -0.007 -0.003  1.031]
+t: 226	 action: [0.066 0.01  0.42  0.002 0.01  0.011 0.991]
+t: 227	 action: [ 5.774e-02  3.355e-02  3.566e-01 -3.421e-03 -7.699e-04  9.052e-03  1.039e+00]
+t: 228	 action: [ 9.652e-02  3.021e-03  2.305e-01 -3.883e-03  5.003e-04  1.489e-02  9.832e-01]
+t: 229	 action: [ 0.077  0.011  0.222 -0.002 -0.005  0.014  1.03 ]
+t: 230	 action: [0.036 0.002 0.162 0.006 0.007 0.003 1.004]
+t: 231	 action: [-0.001 -0.05   0.098  0.009 -0.014  0.004  1.037]
+t: 232	 action: [ 0.019 -0.017  0.05   0.001 -0.006  0.002  1.004]
+t: 233	 action: [ 9.376e-04 -1.171e-01  3.641e-02  7.929e-03 -2.320e-02  7.592e-03  1.030e+00]
+[07-31 01:38:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8025
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.8025
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8025
+t=234: Selected seed 195 with value = 0.8025
+t: 234	 action: [-7.954e-02 -1.841e-01 -5.947e-01  9.053e-04  1.779e-02  3.473e-02  1.141e+00]
+t: 235	 action: [-0.109 -0.147 -0.457  0.005  0.016  0.032  1.   ]
+t: 236	 action: [ 0.01  -0.058 -0.51  -0.004  0.021  0.02  -1.022]
+t: 237	 action: [ 0.07  -0.047 -0.221  0.005  0.021  0.016 -1.029]
+t: 238	 action: [-0.04   0.04  -0.261 -0.004  0.013  0.019 -1.092]
+t: 239	 action: [-0.048  0.076 -0.108 -0.01   0.012  0.023 -1.082]
+t: 240	 action: [ 0.081  0.108 -0.012 -0.008  0.018  0.007 -1.032]
+t: 241	 action: [ 0.197  0.116  0.02  -0.012  0.021  0.009 -1.071]
+t: 242	 action: [ 0.179  0.017 -0.048  0.002  0.034  0.025 -1.063]
+t: 243	 action: [ 0.065 -0.001 -0.1    0.011  0.027  0.027 -1.066]
+t: 244	 action: [ 0.11  -0.019 -0.158  0.014  0.025  0.028 -1.122]
+t: 245	 action: [-0.029 -0.053 -0.259  0.016  0.02   0.028 -1.08 ]
+t: 246	 action: [-0.018 -0.033 -0.299  0.007  0.018  0.04  -1.068]
+t: 247	 action: [-0.087 -0.04  -0.269  0.014  0.01   0.033 -1.058]
+t: 248	 action: [-0.086 -0.063 -0.3    0.01   0.015  0.038 -0.527]
+t: 249	 action: [-0.148 -0.055 -0.335  0.015  0.008  0.035  1.126]
+[07-31 01:38:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6721
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.6721
+Query 1/1: Action query time = 0.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6721
+t=250: Selected seed 195 with value = 0.6721
+t: 250	 action: [-0.179  0.093 -0.478 -0.029 -0.011  0.026 -0.948]
+t: 251	 action: [-0.088  0.152 -0.363 -0.034 -0.01   0.023  1.037]
+t: 252	 action: [-0.093  0.107 -0.278 -0.033 -0.008  0.019  0.997]
+t: 253	 action: [-0.053  0.127 -0.091 -0.027 -0.007  0.026  1.062]
+t: 254	 action: [ 0.023  0.105 -0.168 -0.041 -0.004  0.016  1.012]
+t: 255	 action: [ 0.03   0.13  -0.008 -0.027 -0.012  0.02   1.047]
+t: 256	 action: [ 0.103  0.058  0.04  -0.024 -0.002  0.005  1.003]
+t: 257	 action: [ 0.08   0.059  0.196 -0.012 -0.012  0.011  1.042]
+t: 258	 action: [ 0.093  0.039  0.269 -0.04   0.017  0.006  0.986]
+t: 259	 action: [ 0.105  0.136  0.521 -0.035  0.005  0.005  1.036]
+t: 260	 action: [ 0.14   0.055  0.602 -0.027  0.01   0.004  0.978]
+t: 261	 action: [ 1.514e-01  1.542e-01  7.803e-01 -2.319e-02 -5.207e-04  3.557e-03  1.044e+00]
+t: 262	 action: [1.555e-01 9.636e-02 7.733e-01 4.404e-03 6.540e-03 6.807e-04 1.011e+00]
+t: 263	 action: [ 0.094  0.053  0.883 -0.002 -0.009  0.006  1.038]
+t: 264	 action: [ 1.406e-01 -4.135e-03  7.524e-01  2.469e-02  1.808e-04 -2.016e-03  9.990e-01]
+t: 265	 action: [ 0.093 -0.229  0.785  0.02  -0.012  0.006  1.039]
+[07-31 01:38:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7582
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7582
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7582
+t=266: Selected seed 195 with value = 0.7582
+t: 266	 action: [-0.067 -0.134 -0.605  0.004  0.03   0.038  1.135]
+t: 267	 action: [-0.086 -0.116 -0.515  0.008  0.031  0.034  0.995]
+t: 268	 action: [ 0.032 -0.024 -0.556  0.002  0.034  0.03  -1.02 ]
+t: 269	 action: [ 0.047 -0.032 -0.34   0.009  0.033  0.02  -1.037]
+t: 270	 action: [-2.209e-02  2.208e-02 -3.490e-01  2.223e-04  1.651e-02  2.805e-02 -1.068e+00]
+t: 271	 action: [-0.048  0.049 -0.226 -0.003  0.021  0.024 -1.071]
+t: 272	 action: [ 0.034  0.101 -0.187 -0.002  0.017  0.015 -1.018]
+t: 273	 action: [ 0.041  0.114 -0.129 -0.001  0.025  0.01  -1.074]
+t: 274	 action: [ 0.068 -0.022 -0.215  0.001  0.029  0.025 -0.934]
+t: 275	 action: [-0.074 -0.057 -0.346  0.007  0.012  0.029 -1.094]
+t: 276	 action: [-0.121 -0.059 -0.326  0.01   0.016  0.029 -1.134]
+t: 277	 action: [-0.244 -0.088 -0.443  0.009  0.005  0.027 -1.086]
+t: 278	 action: [-0.235 -0.042 -0.439 -0.001  0.004  0.043 -0.83 ]
+t: 279	 action: [-0.31  -0.043 -0.447  0.008 -0.005  0.029  1.132]
+t: 280	 action: [-0.265 -0.052 -0.41  -0.003 -0.002  0.039  1.003]
+t: 281	 action: [-0.241 -0.047 -0.449  0.006 -0.005  0.025  1.202]
+[07-31 01:38:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6664
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.6664
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6664
+t=282: Selected seed 195 with value = 0.6664
+t: 282	 action: [-0.178  0.036 -0.347 -0.022  0.009  0.011  0.989]
+t: 283	 action: [-0.078  0.101 -0.175 -0.018  0.007  0.012  1.032]
+t: 284	 action: [-0.132  0.043  0.034 -0.024  0.007  0.001  0.988]
+t: 285	 action: [-0.042  0.087  0.174 -0.016  0.006  0.008  1.031]
+t: 286	 action: [ 0.088  0.09   0.285 -0.03   0.019  0.001  1.01 ]
+t: 287	 action: [ 0.134  0.115  0.617 -0.017  0.005  0.003  1.029]
+t: 288	 action: [ 2.536e-01  1.114e-01  8.101e-01  2.804e-04  1.952e-02 -5.806e-03  9.979e-01]
+t: 289	 action: [ 0.288  0.086  0.9    0.016  0.005 -0.007  1.022]
+t: 290	 action: [ 0.163  0.017  0.866 -0.035  0.003  0.003  0.987]
+t: 291	 action: [ 2.329e-01  7.395e-02  9.610e-01 -2.493e-02 -2.939e-03 -1.448e-04  1.029e+00]
+t: 292	 action: [ 2.809e-01 -7.571e-02  9.065e-01 -2.969e-02 -8.188e-03 -7.233e-04  9.728e-01]
+t: 293	 action: [ 2.971e-01 -1.521e-01  9.483e-01 -3.176e-03 -1.277e-02 -1.320e-04  1.027e+00]
+t: 294	 action: [ 1.840e-01 -1.761e-01  8.517e-01  3.204e-02  2.929e-03  5.619e-04  9.958e-01]
+t: 295	 action: [ 0.087 -0.335  0.852  0.039 -0.011  0.004  1.03 ]
+t: 296	 action: [ 0.067 -0.599  0.597  0.086 -0.003 -0.004  0.987]
+t: 297	 action: [ 0.006 -0.722  0.439  0.078 -0.015  0.005  1.026]
+[07-31 01:38:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8149
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8149
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 52
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
  4%|▍         | 2/50 [01:05<25:58, 32.48s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 3...
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=298: Selected seed 195 with value = 0.8149
+t: 298	 action: [-0.095 -0.185 -0.519  0.001 -0.011  0.081  1.152]
+t: 299	 action: [-0.124 -0.147 -0.548 -0.005 -0.019  0.057  1.019]
+t: 300	 action: [ 0.056 -0.086 -0.556  0.009 -0.021  0.067  0.573]
+t: 301	 action: [ 0.03  -0.109 -0.391  0.011 -0.022  0.035 -1.011]
+t: 302	 action: [-0.078  0.025 -0.399  0.007 -0.053  0.062 -1.085]
+t: 303	 action: [-0.063  0.078 -0.252  0.006 -0.03   0.046 -1.087]
+t: 304	 action: [ 0.056  0.116 -0.175  0.002 -0.041  0.042 -1.075]
+t: 305	 action: [ 0.125  0.123 -0.086  0.01  -0.01   0.023 -1.08 ]
+t: 306	 action: [ 0.174 -0.039 -0.206  0.016  0.005  0.046 -1.038]
+t: 307	 action: [ 0.07  -0.089 -0.331  0.021  0.007  0.044 -1.097]
+t: 308	 action: [ 0.085 -0.132 -0.247  0.035  0.002  0.047 -1.221]
+t: 309	 action: [-0.086 -0.142 -0.373  0.025  0.006  0.036 -1.074]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=52--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=52--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 52
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+[07-31 01:38:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.088 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3492
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3492
+Query 1/1: Action query time = 1.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3492
+t=10: Selected seed 195 with value = 0.3492
+t: 10	 action: [ 0.225 -0.067  0.036  0.002  0.006  0.001 -1.001]
+t: 11	 action: [ 0.396 -0.062  0.033 -0.002  0.008 -0.005 -1.012]
+t: 12	 action: [ 5.870e-01 -1.242e-01  8.827e-02  9.352e-04  9.703e-04  4.883e-03 -1.012e+00]
+t: 13	 action: [ 7.657e-01 -1.127e-01  1.155e-01 -3.064e-04  4.189e-03 -8.372e-05 -1.022e+00]
+t: 14	 action: [ 0.861 -0.105  0.158  0.005  0.006  0.003 -1.014]
+t: 15	 action: [ 0.89  -0.132  0.161  0.002  0.003 -0.001 -1.042]
+t: 16	 action: [ 9.380e-01 -1.265e-01  1.767e-01  2.398e-03  7.119e-04  5.866e-03 -1.016e+00]
+t: 17	 action: [ 9.394e-01 -1.359e-01  1.697e-01  6.655e-03 -3.426e-04  1.918e-03 -1.048e+00]
+t: 18	 action: [ 0.921 -0.181  0.199  0.005 -0.006  0.014 -1.018]
+t: 19	 action: [ 0.936 -0.155  0.226  0.008  0.007  0.007 -1.026]
+t: 20	 action: [ 0.942 -0.161  0.154  0.006 -0.008  0.01  -1.011]
+t: 21	 action: [ 0.955 -0.16   0.189  0.011  0.008  0.006 -1.015]
+t: 22	 action: [ 0.972 -0.174  0.13   0.004 -0.008  0.011 -1.013]
+t: 23	 action: [ 0.978 -0.265  0.088  0.013  0.003  0.008 -1.044]
+t: 24	 action: [ 0.982 -0.144  0.051  0.001 -0.009  0.005 -1.006]
+t: 25	 action: [ 0.985 -0.259  0.004  0.014  0.001  0.007 -1.043]
+[07-31 01:38:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.019 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4171
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4171
+Query 1/1: Action query time = 1.019 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4171
+t=26: Selected seed 195 with value = 0.4171
+t: 26	 action: [ 0.928 -0.196  0.074  0.003 -0.026  0.003 -1.024]
+t: 27	 action: [ 0.934 -0.175  0.063  0.012 -0.033 -0.013 -1.02 ]
+t: 28	 action: [ 0.902 -0.291 -0.013  0.009 -0.03   0.004 -1.026]
+t: 29	 action: [ 0.89  -0.282 -0.012  0.021 -0.028 -0.009 -1.021]
+t: 30	 action: [ 0.905 -0.341 -0.151  0.011 -0.028  0.005 -1.017]
+t: 31	 action: [ 0.827 -0.322 -0.257  0.02  -0.05  -0.008 -1.038]
+t: 32	 action: [ 0.731 -0.32  -0.381  0.007 -0.04   0.005 -1.025]
+t: 33	 action: [ 0.591 -0.294 -0.516  0.02  -0.055 -0.005 -1.039]
+t: 34	 action: [ 0.299 -0.241 -0.605  0.013 -0.072  0.011 -1.028]
+t: 35	 action: [ 0.155 -0.198 -0.678  0.011 -0.074  0.002 -1.026]
+t: 36	 action: [ 0.103 -0.199 -0.774  0.01  -0.105  0.013 -1.022]
+t: 37	 action: [ 0.03  -0.143 -0.802  0.011 -0.085  0.009 -1.014]
+t: 38	 action: [-5.966e-02 -1.285e-01 -8.844e-01  7.802e-04 -1.187e-01  7.070e-03 -1.029e+00]
+t: 39	 action: [-0.026 -0.089 -0.84   0.016 -0.088  0.009 -1.034]
+t: 40	 action: [-0.116 -0.065 -0.892 -0.001 -0.113  0.01  -1.027]
+t: 41	 action: [-0.061 -0.038 -0.871  0.016 -0.074  0.017 -1.035]
+[07-31 01:38:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.021 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5218
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5218
+Query 1/1: Action query time = 1.021 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5218
+t=42: Selected seed 195 with value = 0.5218
+t: 42	 action: [-0.061  0.766 -0.604  0.012 -0.021  0.016 -1.011]
+t: 43	 action: [-0.022  0.787 -0.599  0.017 -0.025  0.014 -1.015]
+t: 44	 action: [-0.04   0.848 -0.571  0.009 -0.014  0.021 -1.001]
+t: 45	 action: [-0.01   0.823 -0.551  0.017 -0.014  0.016 -1.017]
+t: 46	 action: [-0.073  0.832 -0.523  0.006 -0.013  0.015 -0.995]
+t: 47	 action: [-0.018  0.818 -0.532  0.02  -0.013  0.016 -1.029]
+t: 48	 action: [-0.043  0.835 -0.502  0.004 -0.003  0.025 -0.985]
+t: 49	 action: [ 0.003  0.833 -0.505  0.02  -0.003  0.017 -1.035]
+t: 50	 action: [-0.027  0.877 -0.528  0.009 -0.024  0.013 -1.012]
+t: 51	 action: [ 0.014  0.831 -0.558  0.015 -0.032  0.01  -1.019]
+t: 52	 action: [-0.011  0.871 -0.523  0.008 -0.018  0.016 -1.009]
+t: 53	 action: [ 0.026  0.804 -0.537  0.014 -0.02   0.013 -1.021]
+t: 54	 action: [-0.059  0.83  -0.492  0.004 -0.015  0.013 -1.   ]
+t: 55	 action: [-0.006  0.793 -0.498  0.017 -0.018  0.013 -1.031]
+t: 56	 action: [-0.044  0.735 -0.492  0.004 -0.003  0.015 -0.993]
+t: 57	 action: [ 0.01   0.676 -0.465  0.016 -0.005  0.016 -1.04 ]
+[07-31 01:38:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.081 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6091
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6091
+Query 1/1: Action query time = 1.081 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6091
+t=58: Selected seed 195 with value = 0.6091
+t: 58	 action: [ 6.365e-02  3.034e-01 -4.138e-01  5.744e-04 -4.768e-04  1.111e-02 -1.012e+00]
+t: 59	 action: [ 0.085  0.224 -0.232  0.003  0.007  0.007 -1.014]
+t: 60	 action: [ 0.049  0.131 -0.207 -0.002  0.009  0.006 -1.005]
+t: 61	 action: [ 5.470e-02  5.303e-02 -4.518e-02  7.893e-04  1.080e-02  1.296e-04 -1.017e+00]
+t: 62	 action: [-0.022  0.041 -0.091  0.002  0.019  0.002 -0.999]
+t: 63	 action: [-0.014  0.103  0.098  0.005  0.014  0.005 -1.027]
+t: 64	 action: [-0.072  0.008  0.255 -0.003  0.024 -0.004 -1.001]
+t: 65	 action: [-2.792e-02  8.920e-04  4.098e-01  7.199e-03  1.339e-02 -3.017e-03 -1.031e+00]
+t: 66	 action: [ 0.045 -0.094  0.522  0.03   0.021  0.002 -1.026]
+t: 67	 action: [-0.017 -0.208  0.515  0.034  0.014 -0.002 -1.036]
+t: 68	 action: [-0.003 -0.09   0.375  0.03   0.016  0.006 -1.034]
+t: 69	 action: [-7.383e-02 -2.480e-01  3.253e-01  3.186e-02  1.275e-02  1.045e-04 -1.027e+00]
+t: 70	 action: [-0.25  -0.121  0.214  0.034  0.004  0.002 -1.024]
+t: 71	 action: [-0.353 -0.185  0.112  0.031 -0.005  0.008 -1.041]
+t: 72	 action: [-0.468 -0.125  0.062  0.017  0.001  0.002 -1.029]
+t: 73	 action: [-0.444 -0.186  0.003  0.025 -0.003  0.01  -1.038]
+[07-31 01:38:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.188 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5870
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5870
+Query 1/1: Action query time = 1.188 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5870
+t=74: Selected seed 195 with value = 0.5870
+t: 74	 action: [ 0.029  0.449 -0.287  0.003  0.007  0.016 -1.008]
+t: 75	 action: [ 0.071  0.319 -0.141  0.006  0.013  0.008 -1.004]
+t: 76	 action: [ 0.041  0.204 -0.042 -0.003  0.021  0.01  -1.007]
+t: 77	 action: [ 0.065  0.059  0.126  0.003  0.023 -0.002 -1.018]
+t: 78	 action: [ 2.518e-02  6.284e-02  1.569e-01  2.526e-03  2.627e-02  2.760e-04 -9.995e-01]
+t: 79	 action: [ 1.244e-02  6.984e-02  3.974e-01  6.192e-03  3.249e-02 -7.429e-04 -1.030e+00]
+t: 80	 action: [-0.011 -0.013  0.512  0.004  0.034 -0.004 -1.002]
+t: 81	 action: [-0.003 -0.026  0.648  0.012  0.035 -0.009 -1.032]
+t: 82	 action: [ 0.021 -0.088  0.57   0.03   0.012 -0.006 -1.024]
+t: 83	 action: [-0.107 -0.175  0.565  0.037  0.014 -0.009 -1.036]
+t: 84	 action: [-0.088 -0.1    0.401  0.036  0.003  0.003 -1.039]
+t: 85	 action: [-0.234 -0.249  0.369  0.043  0.011 -0.006 -1.024]
+t: 86	 action: [-0.444 -0.177  0.244  0.055 -0.005 -0.002 -1.014]
+t: 87	 action: [-0.568 -0.185  0.14   0.04  -0.008 -0.002 -1.042]
+t: 88	 action: [-0.729 -0.172  0.102  0.05  -0.014 -0.001 -1.007]
+t: 89	 action: [-0.721 -0.175  0.015  0.037 -0.01   0.003 -1.031]
+[07-31 01:38:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.078 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5276
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 1.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=90: Selected seed 195 with value = 0.5276
+t: 90	 action: [ 0.049  0.388 -0.24   0.003  0.007  0.009 -1.02 ]
+t: 91	 action: [ 0.103  0.307 -0.16   0.007  0.015 -0.002 -1.016]
+t: 92	 action: [ 0.059  0.129 -0.059 -0.001  0.018  0.005 -1.023]
+t: 93	 action: [ 0.105  0.044  0.091  0.006  0.024 -0.011 -1.018]
+t: 94	 action: [ 0.071  0.053  0.173  0.004  0.016 -0.006 -1.01 ]
+t: 95	 action: [ 0.036  0.042  0.351  0.006  0.017 -0.012 -1.041]
+t: 96	 action: [ 0.03  -0.007  0.451  0.006  0.024 -0.009 -1.017]
+t: 97	 action: [ 0.017 -0.034  0.596  0.01   0.022 -0.022 -1.037]
+t: 98	 action: [ 0.023 -0.055  0.524  0.025  0.008 -0.017 -1.027]
+t: 99	 action: [-0.133 -0.092  0.515  0.025  0.008 -0.022 -1.047]
+t: 100	 action: [-1.267e-01 -8.562e-03  3.626e-01  2.048e-02  8.519e-04 -2.409e-03 -1.036e+00]
+t: 101	 action: [-0.3   -0.109  0.316  0.021  0.006 -0.017 -1.026]
+t: 102	 action: [-0.615 -0.077  0.22   0.04  -0.013 -0.01  -1.01 ]
+t: 103	 action: [-0.686 -0.132  0.138  0.013 -0.014 -0.02  -1.045]
+t: 104	 action: [-0.857 -0.088  0.093  0.033 -0.019 -0.004 -0.989]
+t: 105	 action: [-0.815 -0.158  0.029  0.006 -0.013 -0.011 -1.029]
+[07-31 01:38:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.056 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3916
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.3916
+Query 1/1: Action query time = 1.056 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3916
+t=106: Selected seed 195 with value = 0.3916
+t: 106	 action: [ 0.078  0.008  0.307 -0.004  0.011 -0.013 -1.006]
+t: 107	 action: [ 0.047 -0.02   0.189 -0.011  0.01  -0.023 -1.039]
+t: 108	 action: [-0.029 -0.029  0.218  0.002  0.005 -0.018 -1.02 ]
+t: 109	 action: [-0.103 -0.05   0.099 -0.007  0.01  -0.032 -1.05 ]
+t: 110	 action: [-0.25   0.006  0.04  -0.002  0.007 -0.02  -1.004]
+t: 111	 action: [-0.305  0.058 -0.021 -0.008  0.005 -0.032 -1.053]
+t: 112	 action: [-4.018e-01  1.087e-02 -1.176e-01 -7.256e-03 -3.243e-04 -2.265e-02 -1.025e+00]
+t: 113	 action: [-0.361  0.076 -0.173 -0.012  0.002 -0.042 -1.059]
+t: 114	 action: [-0.439  0.034 -0.38  -0.006 -0.021 -0.012 -1.023]
+t: 115	 action: [-0.533  0.008 -0.524 -0.016 -0.015 -0.017 -1.047]
+t: 116	 action: [-0.558  0.019 -0.599 -0.012 -0.025 -0.006 -1.025]
+t: 117	 action: [-0.506 -0.02  -0.667 -0.018 -0.02  -0.018 -1.032]
+t: 118	 action: [-0.68  -0.004 -0.678 -0.004 -0.031 -0.013 -1.011]
+t: 119	 action: [-0.553  0.024 -0.61  -0.016 -0.045 -0.026 -1.058]
+t: 120	 action: [-0.547 -0.006 -0.753 -0.007 -0.032 -0.011 -1.022]
+t: 121	 action: [-0.406  0.016 -0.629 -0.016 -0.046 -0.026 -1.018]
+[07-31 01:38:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.047 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4621
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4621
+Query 1/1: Action query time = 1.047 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4621
+t=122: Selected seed 195 with value = 0.4621
+t: 122	 action: [ 0.213  0.365 -0.383  0.017 -0.019 -0.003 -1.045]
+t: 123	 action: [ 0.218  0.406 -0.369  0.019 -0.015 -0.009 -1.033]
+t: 124	 action: [ 0.195  0.313 -0.373  0.018 -0.016 -0.002 -1.05 ]
+t: 125	 action: [ 0.213  0.288 -0.347  0.015 -0.007 -0.015 -1.037]
+t: 126	 action: [ 0.166  0.267 -0.254  0.009 -0.006 -0.004 -1.034]
+t: 127	 action: [ 1.578e-01  2.103e-01 -2.103e-01  1.796e-02  1.245e-04 -1.242e-02 -1.047e+00]
+t: 128	 action: [ 0.199  0.188 -0.208  0.006 -0.01  -0.006 -1.044]
+t: 129	 action: [ 0.237  0.155 -0.147  0.011 -0.004 -0.02  -1.053]
+t: 130	 action: [ 0.172  0.019 -0.069  0.032 -0.012 -0.021 -1.071]
+t: 131	 action: [ 0.146 -0.002 -0.13   0.025 -0.011 -0.026 -1.036]
+t: 132	 action: [ 0.142  0.002 -0.134  0.027 -0.019 -0.023 -1.075]
+t: 133	 action: [ 0.096 -0.025 -0.235  0.019 -0.019 -0.024 -1.04 ]
+t: 134	 action: [ 0.02   0.036 -0.358  0.013 -0.028 -0.011 -1.058]
+t: 135	 action: [ 0.01   0.03  -0.388  0.012 -0.029 -0.025 -1.041]
+t: 136	 action: [-6.169e-02  2.292e-02 -5.054e-01  8.231e-04 -2.967e-02 -1.642e-02 -1.061e+00]
+t: 137	 action: [-0.013  0.029 -0.49   0.006 -0.033 -0.022 -1.044]
+[07-31 01:38:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4850
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4850
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4850
+t=138: Selected seed 195 with value = 0.4850
+t: 138	 action: [ 0.14   0.032 -0.507  0.021 -0.018 -0.015 -1.054]
+t: 139	 action: [ 0.116  0.104 -0.507  0.02  -0.013 -0.025 -1.039]
+t: 140	 action: [ 0.115  0.06  -0.496  0.016 -0.017 -0.023 -1.052]
+t: 141	 action: [ 0.108  0.124 -0.457  0.016 -0.01  -0.033 -1.031]
+t: 142	 action: [ 0.083  0.142 -0.408  0.012 -0.015 -0.02  -1.037]
+t: 143	 action: [ 0.061  0.181 -0.329  0.021 -0.012 -0.028 -1.051]
+t: 144	 action: [ 7.068e-02  1.529e-01 -2.875e-01 -6.829e-04 -1.599e-02 -2.776e-02 -1.037e+00]
+t: 145	 action: [ 0.07   0.163 -0.248  0.011 -0.011 -0.038 -1.041]
+t: 146	 action: [ 0.227  0.097 -0.114  0.01  -0.008 -0.04  -1.084]
+t: 147	 action: [ 1.900e-01  8.416e-02 -1.065e-01  9.672e-03 -9.683e-04 -3.910e-02 -1.051e+00]
+t: 148	 action: [ 0.198  0.065 -0.254  0.002 -0.013 -0.028 -1.085]
+t: 149	 action: [ 0.132  0.07  -0.255  0.005 -0.002 -0.029 -1.045]
+t: 150	 action: [ 0.056  0.018 -0.374 -0.002 -0.019 -0.024 -1.078]
+t: 151	 action: [-0.01   0.001 -0.354  0.009 -0.013 -0.033 -1.053]
+t: 152	 action: [-0.06  -0.017 -0.548 -0.008 -0.022 -0.016 -1.076]
+t: 153	 action: [-0.054 -0.035 -0.496  0.004 -0.014 -0.022 -1.055]
+[07-31 01:38:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5595
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.5595
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5595
+t=154: Selected seed 195 with value = 0.5595
+t: 154	 action: [ 0.241  0.108 -0.451  0.004  0.007 -0.003 -1.086]
+t: 155	 action: [ 0.188  0.063 -0.535  0.001  0.014 -0.014 -1.043]
+t: 156	 action: [ 0.097  0.026 -0.485  0.005  0.013  0.006 -1.205]
+t: 157	 action: [ 0.029 -0.01  -0.563  0.002  0.014  0.008 -1.157]
+t: 158	 action: [-7.858e-04 -1.999e-02 -5.716e-01  1.792e-03  1.703e-02  3.966e-04 -1.084e+00]
+t: 159	 action: [-0.034 -0.02  -0.592  0.012  0.015 -0.01  -1.045]
+t: 160	 action: [-4.363e-02 -5.631e-02 -5.608e-01  3.381e-04  1.789e-02  1.903e-03  1.087e+00]
+t: 161	 action: [-0.025 -0.042 -0.553  0.012  0.014  0.003  1.17 ]
+t: 162	 action: [-0.093  0.033 -0.526 -0.005  0.014  0.003  0.982]
+t: 163	 action: [-0.094  0.014 -0.473 -0.008  0.017 -0.011  1.037]
+t: 164	 action: [-0.069  0.059 -0.346 -0.02   0.023  0.007  0.97 ]
+t: 165	 action: [-0.065  0.034 -0.245 -0.009  0.017 -0.02   1.021]
+t: 166	 action: [-0.068  0.078 -0.112 -0.016  0.024 -0.007  1.012]
+t: 167	 action: [-0.019  0.077  0.058 -0.053  0.014 -0.022  1.033]
+t: 168	 action: [-0.01   0.099  0.16  -0.027  0.011 -0.012  1.009]
+t: 169	 action: [ 0.04   0.084  0.371 -0.07   0.004 -0.035  1.028]
+[07-31 01:38:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7304
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7304
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7304
+t=170: Selected seed 195 with value = 0.7304
+t: 170	 action: [-0.055  0.022 -0.02  -0.016  0.024 -0.003  0.974]
+t: 171	 action: [ 0.004  0.043  0.13  -0.017  0.032 -0.014  1.034]
+t: 172	 action: [-0.046  0.03   0.435 -0.007  0.013 -0.015  0.981]
+t: 173	 action: [ 0.007  0.026  0.676 -0.012  0.023 -0.015  1.032]
+t: 174	 action: [-0.047 -0.035  0.706  0.007  0.028 -0.01   0.989]
+t: 175	 action: [-0.015 -0.125  0.873  0.017  0.039 -0.015  1.027]
+t: 176	 action: [-0.081 -0.195  0.931  0.031  0.034 -0.014  0.992]
+t: 177	 action: [-0.035 -0.4    0.912  0.037  0.049 -0.013  1.026]
+t: 178	 action: [-0.096 -0.389  0.801  0.021  0.068  0.006  0.972]
+t: 179	 action: [-0.059 -0.541  0.731  0.044  0.076  0.003  1.027]
+t: 180	 action: [-0.094 -0.542  0.614  0.042  0.058  0.005  0.971]
+t: 181	 action: [-0.04  -0.641  0.44   0.056  0.048  0.002  1.028]
+t: 182	 action: [-0.124 -0.658  0.271  0.06   0.053  0.003  0.99 ]
+t: 183	 action: [-0.168 -0.702  0.105  0.043  0.015  0.01   1.023]
+t: 184	 action: [-1.250e-01 -6.504e-01  2.995e-02  5.247e-02  3.841e-02  6.648e-04  9.972e-01]
+t: 185	 action: [-0.131 -0.67  -0.133  0.028 -0.002  0.009  1.027]
+[07-31 01:38:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8243
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8243
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8243
+t=186: Selected seed 195 with value = 0.8243
+t: 186	 action: [-0.183 -0.107  0.427 -0.001  0.013 -0.021  0.992]
+t: 187	 action: [-0.153 -0.113  0.325  0.01   0.015 -0.018  1.059]
+t: 188	 action: [-0.218 -0.125  0.384  0.016  0.005 -0.018  0.99 ]
+t: 189	 action: [-0.221 -0.125  0.167  0.023  0.011 -0.034  1.033]
+t: 190	 action: [-0.228 -0.165  0.103  0.018  0.028 -0.004  1.018]
+t: 191	 action: [-0.211 -0.098 -0.018  0.026  0.022 -0.015  1.072]
+t: 192	 action: [-0.231 -0.139 -0.022  0.019  0.034 -0.001  0.979]
+t: 193	 action: [-0.162 -0.094 -0.169  0.025  0.036 -0.016 -0.678]
+t: 194	 action: [-1.411e-01 -2.799e-01 -2.278e-01  1.319e-02  5.958e-02 -7.564e-04  9.990e-01]
+t: 195	 action: [-0.143 -0.317 -0.304  0.037  0.04   0.013  1.049]
+t: 196	 action: [-0.095 -0.248 -0.495 -0.005  0.05   0.003  0.996]
+t: 197	 action: [-0.06  -0.289 -0.411  0.015  0.016  0.02   1.08 ]
+t: 198	 action: [-0.052 -0.337 -0.299 -0.011  0.021  0.008  1.035]
+t: 199	 action: [-0.017 -0.329 -0.28  -0.028 -0.002  0.022  1.07 ]
+t: 200	 action: [ 0.007 -0.261 -0.12  -0.02  -0.003  0.009  1.03 ]
+t: 201	 action: [ 0.046 -0.289 -0.118 -0.04  -0.008  0.027  1.085]
+[07-31 01:38:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9126
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9126
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9126
+t=202: Selected seed 195 with value = 0.9126
+t: 202	 action: [-0.178 -0.192 -0.634 -0.017 -0.04   0.001  0.995]
+t: 203	 action: [-0.188 -0.091 -0.529 -0.025 -0.051  0.004  1.072]
+t: 204	 action: [-1.914e-01 -7.476e-02 -5.604e-01 -2.022e-02 -5.424e-02  6.260e-04  1.125e+00]
+t: 205	 action: [-0.198 -0.053 -0.387 -0.026 -0.053 -0.022  1.03 ]
+t: 206	 action: [-0.208 -0.071 -0.232 -0.033 -0.031 -0.004  1.018]
+t: 207	 action: [-0.148 -0.008 -0.123 -0.032 -0.033  0.003  1.073]
+t: 208	 action: [-0.124  0.007  0.074 -0.011  0.006 -0.005 -1.104]
+t: 209	 action: [-0.052  0.019  0.127 -0.022 -0.001 -0.02  -1.13 ]
+t: 210	 action: [ 0.107 -0.004  0.28  -0.004  0.021 -0.02  -1.038]
+t: 211	 action: [ 0.096 -0.035  0.389  0.002  0.017 -0.025 -1.046]
+t: 212	 action: [ 1.158e-01  8.648e-03  2.915e-01 -5.057e-04  2.748e-02 -1.571e-02 -1.064e+00]
+t: 213	 action: [ 0.091 -0.031  0.332  0.003  0.036 -0.029 -1.048]
+t: 214	 action: [ 0.02   0.014  0.381  0.01   0.018 -0.008 -1.072]
+t: 215	 action: [ 0.006 -0.001  0.348  0.003  0.013 -0.024 -1.07 ]
+t: 216	 action: [ 0.016  0.008  0.345  0.015  0.021 -0.012 -1.075]
+t: 217	 action: [ 0.017 -0.011  0.304  0.007  0.03  -0.023 -1.049]
+[07-31 01:38:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9825
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=218: Selected seed 195 with value = 0.9825
+t: 218	 action: [ 0.124  0.008 -0.376 -0.005  0.059 -0.007  1.139]
+t: 219	 action: [ 1.127e-01 -5.929e-02 -2.589e-01  4.161e-04  3.925e-02 -2.873e-02  9.953e-01]
+t: 220	 action: [ 0.114  0.007 -0.111 -0.011  0.049 -0.016 -1.057]
+t: 221	 action: [ 0.132 -0.007 -0.023 -0.014  0.032 -0.027 -1.044]
+t: 222	 action: [ 0.064  0.048  0.037 -0.014  0.037 -0.011 -1.13 ]
+t: 223	 action: [ 0.035  0.06   0.196 -0.018  0.037 -0.024 -1.116]
+t: 224	 action: [ 0.037  0.053  0.259 -0.014  0.031 -0.015 -1.058]
+t: 225	 action: [ 0.046  0.069  0.39  -0.014  0.029 -0.028 -1.056]
+t: 226	 action: [ 0.183  0.024  0.224 -0.026  0.011 -0.002 -1.059]
+t: 227	 action: [ 0.189  0.016  0.219 -0.026  0.005 -0.017 -1.052]
+t: 228	 action: [ 0.197  0.036  0.266 -0.022 -0.004 -0.007 -1.075]
+t: 229	 action: [ 0.237  0.024  0.273 -0.021  0.004 -0.017 -1.039]
+t: 230	 action: [ 0.131  0.058  0.318 -0.014 -0.008 -0.008 -1.063]
+t: 231	 action: [ 0.114  0.063  0.354 -0.013 -0.007 -0.018 -1.062]
+t: 232	 action: [ 0.171  0.075  0.297 -0.016 -0.013 -0.013 -1.067]
+t: 233	 action: [ 0.196  0.069  0.331 -0.009 -0.008 -0.017 -1.058]
+[07-31 01:38:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9746
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9746
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9746
+t=234: Selected seed 195 with value = 0.9746
+t: 234	 action: [ 0.237  0.048  0.182 -0.007 -0.007 -0.012 -1.02 ]
+t: 235	 action: [ 0.226  0.075  0.259 -0.007 -0.006 -0.025 -0.999]
+t: 236	 action: [ 0.141  0.049  0.338 -0.003 -0.015 -0.018 -1.026]
+t: 237	 action: [ 0.103  0.058  0.293 -0.003 -0.024 -0.031 -1.032]
+t: 238	 action: [ 0.04   0.069  0.245 -0.002 -0.026 -0.005 -1.047]
+t: 239	 action: [-7.810e-03  6.362e-02  2.573e-01  1.038e-04 -3.556e-02 -2.587e-02 -1.057e+00]
+t: 240	 action: [-0.025  0.041  0.186 -0.001 -0.032 -0.009 -1.039]
+t: 241	 action: [-0.003  0.041  0.156  0.005 -0.043 -0.032 -1.05 ]
+t: 242	 action: [ 0.089  0.02   0.074  0.015 -0.016 -0.012 -1.06 ]
+t: 243	 action: [ 0.063  0.012  0.038  0.014 -0.012 -0.027 -1.046]
+t: 244	 action: [ 1.294e-01  2.158e-02 -3.732e-04  8.444e-03 -2.676e-02 -1.826e-02 -1.053e+00]
+t: 245	 action: [ 0.143  0.033  0.016  0.01  -0.021 -0.028 -1.034]
+t: 246	 action: [ 0.074  0.046 -0.022  0.006 -0.027 -0.01  -1.062]
+t: 247	 action: [ 0.072  0.063  0.001  0.011 -0.021 -0.029 -1.058]
+t: 248	 action: [ 1.598e-01  1.089e-01 -2.655e-02 -9.369e-05 -3.217e-02 -1.588e-02 -1.049e+00]
+t: 249	 action: [ 0.171  0.094 -0.007  0.007 -0.028 -0.029 -1.055]
+[07-31 01:38:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9542
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 0.982 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=250: Selected seed 195 with value = 0.9542
+t: 250	 action: [ 2.092e-01  6.572e-02 -1.790e-01 -8.504e-04  2.609e-04 -1.441e-02 -9.899e-01]
+t: 251	 action: [ 1.671e-01  8.575e-02 -1.051e-01 -2.997e-04  6.087e-03 -2.726e-02 -9.790e-01]
+t: 252	 action: [ 0.134  0.041  0.025 -0.003 -0.001 -0.014 -1.006]
+t: 253	 action: [ 0.092  0.051  0.014 -0.002  0.002 -0.031 -1.028]
+t: 254	 action: [ 0.014  0.022  0.144 -0.003 -0.005 -0.007 -1.045]
+t: 255	 action: [-0.007  0.047  0.145 -0.005 -0.003 -0.027 -1.06 ]
+t: 256	 action: [-0.071  0.007  0.157 -0.003 -0.009 -0.006 -1.031]
+t: 257	 action: [-0.016  0.005  0.085 -0.003 -0.005 -0.029 -1.05 ]
+t: 258	 action: [ 0.087 -0.061  0.154  0.011 -0.016 -0.011 -1.048]
+t: 259	 action: [ 0.053 -0.037  0.052  0.008 -0.01  -0.026 -1.034]
+t: 260	 action: [ 0.12  -0.023  0.071  0.006 -0.027 -0.009 -1.036]
+t: 261	 action: [ 0.099 -0.034  0.007  0.007 -0.016 -0.023 -1.026]
+t: 262	 action: [ 0.029  0.026 -0.017  0.003 -0.031 -0.005 -1.057]
+t: 263	 action: [ 0.038 -0.009 -0.037  0.003 -0.027 -0.023 -1.051]
+t: 264	 action: [ 0.048  0.045 -0.122 -0.002 -0.036 -0.006 -1.042]
+t: 265	 action: [ 0.054 -0.003 -0.108  0.002 -0.03  -0.019 -1.051]
+[07-31 01:38:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9432
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9432
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9432
+t=266: Selected seed 195 with value = 0.9432
+t: 266	 action: [ 0.213  0.144 -0.196 -0.002 -0.004 -0.014 -0.998]
+t: 267	 action: [ 0.178  0.146 -0.151  0.006  0.006 -0.027 -0.989]
+t: 268	 action: [ 0.159  0.085  0.015 -0.005 -0.002 -0.015 -1.007]
+t: 269	 action: [ 1.257e-01  8.893e-02  2.203e-02  1.018e-03  6.876e-03 -3.189e-02 -1.029e+00]
+t: 270	 action: [ 0.046  0.05   0.222 -0.003 -0.009 -0.009 -1.043]
+t: 271	 action: [ 0.018  0.071  0.234 -0.011  0.001 -0.027 -1.066]
+t: 272	 action: [-0.041 -0.003  0.261 -0.002 -0.009 -0.008 -1.03 ]
+t: 273	 action: [ 0.013 -0.005  0.207 -0.005  0.002 -0.03  -1.054]
+t: 274	 action: [ 0.116 -0.103  0.29   0.017 -0.008 -0.02  -1.047]
+t: 275	 action: [ 5.886e-02 -7.209e-02  1.762e-01  1.470e-02  3.234e-04 -3.010e-02 -1.035e+00]
+t: 276	 action: [ 0.115 -0.073  0.182  0.013 -0.018 -0.013 -1.034]
+t: 277	 action: [ 0.066 -0.069  0.063  0.013 -0.006 -0.023 -1.027]
+t: 278	 action: [-0.018 -0.037  0.042  0.012 -0.021 -0.007 -1.059]
+t: 279	 action: [-0.007 -0.046 -0.044  0.008 -0.014 -0.024 -1.054]
+t: 280	 action: [-5.781e-02  3.558e-02 -9.956e-02  5.578e-04 -2.779e-02 -5.328e-03 -1.046e+00]
+t: 281	 action: [-0.031 -0.026 -0.13   0.005 -0.02  -0.016 -1.053]
+[07-31 01:38:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.944 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9086
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9086
+Query 1/1: Action query time = 0.944 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=282: Selected seed 195 with value = 0.9086
+t: 282	 action: [ 0.159  0.19  -0.041 -0.005 -0.016 -0.016 -0.997]
+t: 283	 action: [ 1.599e-01  1.749e-01  1.176e-03  6.310e-03  3.366e-04 -2.841e-02 -9.930e-01]
+t: 284	 action: [ 0.146  0.094  0.191 -0.006 -0.008 -0.018 -0.997]
+t: 285	 action: [ 0.158  0.097  0.242  0.005  0.007 -0.039 -1.027]
+t: 286	 action: [ 4.630e-02  5.116e-02  4.273e-01  4.048e-04 -1.749e-02 -8.638e-03 -1.034e+00]
+t: 287	 action: [ 0.028  0.037  0.416 -0.004  0.001 -0.025 -1.063]
+t: 288	 action: [-0.007 -0.026  0.373  0.008 -0.01  -0.008 -1.021]
+t: 289	 action: [ 0.03  -0.073  0.293  0.007  0.006 -0.034 -1.053]
+t: 290	 action: [ 0.13  -0.144  0.316  0.023  0.005 -0.023 -1.038]
+t: 291	 action: [ 0.074 -0.123  0.154  0.025  0.009 -0.033 -1.039]
+t: 292	 action: [ 0.117 -0.12   0.172  0.025 -0.006 -0.016 -1.023]
+t: 293	 action: [ 0.072 -0.121  0.039  0.024  0.005 -0.025 -1.03 ]
+t: 294	 action: [-0.049 -0.106  0.007  0.024 -0.012 -0.007 -1.057]
+t: 295	 action: [-0.064 -0.107 -0.099  0.019 -0.002 -0.026 -1.059]
+t: 296	 action: [-0.149 -0.004 -0.134  0.011 -0.02  -0.007 -1.043]
+t: 297	 action: [-0.159 -0.057 -0.205  0.015 -0.012 -0.016 -1.056]
+[07-31 01:38:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8821
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8821
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 53
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
  6%|▌         | 3/50 [01:37<25:12, 32.18s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 4...
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8821
+t=298: Selected seed 195 with value = 0.8821
+t: 298	 action: [ 0.039  0.24  -0.039 -0.009 -0.001 -0.017 -0.978]
+t: 299	 action: [ 0.037  0.226  0.004 -0.001  0.007 -0.034 -0.995]
+t: 300	 action: [ 0.017  0.073  0.202 -0.005  0.005 -0.023 -0.992]
+t: 301	 action: [ 0.024  0.103  0.273  0.005  0.011 -0.039 -1.028]
+t: 302	 action: [-7.494e-02  2.903e-02  4.414e-01  7.668e-04  2.086e-03 -1.080e-02 -1.054e+00]
+t: 303	 action: [-0.093  0.01   0.412  0.008  0.002 -0.028 -1.067]
+t: 304	 action: [-0.095 -0.022  0.346  0.01   0.01  -0.012 -1.024]
+t: 305	 action: [-0.086 -0.079  0.268  0.02   0.008 -0.035 -1.056]
+t: 306	 action: [ 0.039 -0.085  0.188  0.02   0.013 -0.017 -1.025]
+t: 307	 action: [ 0.037 -0.102  0.04   0.024  0.008 -0.026 -1.037]
+t: 308	 action: [ 0.048 -0.088  0.019  0.028  0.007 -0.017 -1.02 ]
+t: 309	 action: [ 0.052 -0.107 -0.101  0.024  0.011 -0.023 -1.036]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=53--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=53--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 53
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+[07-31 01:39:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3278
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3278
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3278
+t=10: Selected seed 195 with value = 0.3278
+t: 10	 action: [ 0.192 -0.149  0.087  0.008  0.011  0.004 -1.002]
+t: 11	 action: [ 3.251e-01 -1.198e-01  1.139e-01  7.011e-03  1.595e-02  4.411e-04 -1.011e+00]
+t: 12	 action: [ 0.526 -0.167  0.148  0.005  0.005  0.008 -1.012]
+t: 13	 action: [ 0.708 -0.15   0.188  0.008  0.007  0.005 -1.023]
+t: 14	 action: [ 0.831 -0.114  0.215  0.007  0.009  0.007 -1.012]
+t: 15	 action: [ 0.869 -0.146  0.221  0.009  0.008  0.004 -1.037]
+t: 16	 action: [ 0.951 -0.12   0.224  0.003  0.001  0.008 -1.012]
+t: 17	 action: [ 9.333e-01 -1.490e-01  2.072e-01  1.147e-02 -2.380e-04  6.180e-03 -1.045e+00]
+t: 18	 action: [ 0.918 -0.173  0.235  0.006 -0.006  0.01  -1.021]
+t: 19	 action: [ 0.934 -0.135  0.242  0.006  0.007  0.003 -1.027]
+t: 20	 action: [ 0.941 -0.154  0.182  0.007 -0.011  0.009 -1.014]
+t: 21	 action: [ 0.956 -0.145  0.215  0.008  0.006  0.004 -1.016]
+t: 22	 action: [ 0.974 -0.131  0.146  0.006 -0.009  0.006 -1.01 ]
+t: 23	 action: [ 0.976 -0.215  0.111  0.01   0.002  0.002 -1.039]
+t: 24	 action: [ 0.983 -0.117  0.076  0.003 -0.012  0.003 -1.001]
+t: 25	 action: [ 9.824e-01 -2.372e-01  3.600e-02  1.153e-02  2.271e-04  3.460e-03 -1.038e+00]
+[07-31 01:39:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4067
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4067
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4067
+t=26: Selected seed 195 with value = 0.4067
+t: 26	 action: [ 0.938 -0.103  0.081  0.003 -0.021  0.001 -1.026]
+t: 27	 action: [ 0.954 -0.078  0.072  0.009 -0.03  -0.014 -1.019]
+t: 28	 action: [ 0.924 -0.197  0.001  0.008 -0.026  0.004 -1.029]
+t: 29	 action: [ 0.928 -0.204  0.013  0.02  -0.023 -0.01  -1.017]
+t: 30	 action: [ 0.941 -0.263 -0.142  0.01  -0.023  0.003 -1.015]
+t: 31	 action: [ 0.86  -0.259 -0.234  0.019 -0.042 -0.011 -1.032]
+t: 32	 action: [ 0.761 -0.288 -0.372  0.009 -0.033  0.003 -1.027]
+t: 33	 action: [ 0.622 -0.285 -0.5    0.022 -0.048 -0.008 -1.033]
+t: 34	 action: [ 0.354 -0.241 -0.597  0.013 -0.058  0.009 -1.031]
+t: 35	 action: [ 0.19  -0.21  -0.684  0.012 -0.061 -0.003 -1.026]
+t: 36	 action: [ 0.108 -0.194 -0.774  0.011 -0.089  0.011 -1.023]
+t: 37	 action: [ 0.028 -0.15  -0.81   0.012 -0.074  0.004 -1.014]
+t: 38	 action: [-0.091 -0.118 -0.868  0.004 -0.103  0.006 -1.031]
+t: 39	 action: [-0.043 -0.112 -0.833  0.019 -0.082  0.004 -1.031]
+t: 40	 action: [-0.124 -0.046 -0.885  0.002 -0.108  0.006 -1.028]
+t: 41	 action: [-0.062 -0.057 -0.862  0.018 -0.07   0.012 -1.036]
+[07-31 01:39:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5292
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5292
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5292
+t=42: Selected seed 195 with value = 0.5292
+t: 42	 action: [-0.07   0.793 -0.604  0.007 -0.017  0.026 -1.007]
+t: 43	 action: [-0.054  0.791 -0.559  0.011 -0.018  0.021 -1.013]
+t: 44	 action: [-0.085  0.849 -0.58   0.005 -0.012  0.03  -1.   ]
+t: 45	 action: [-0.074  0.811 -0.519  0.011 -0.009  0.021 -1.014]
+t: 46	 action: [-0.084  0.852 -0.539  0.002 -0.012  0.025 -0.992]
+t: 47	 action: [-0.059  0.822 -0.506  0.013 -0.012  0.023 -1.027]
+t: 48	 action: [-0.095  0.867 -0.529  0.001 -0.005  0.033 -0.985]
+t: 49	 action: [-0.042  0.833 -0.495  0.012 -0.003  0.022 -1.033]
+t: 50	 action: [-0.024  0.84  -0.572  0.008 -0.026  0.018 -1.017]
+t: 51	 action: [ 0.005  0.794 -0.57   0.009 -0.029  0.016 -1.016]
+t: 52	 action: [-0.007  0.796 -0.566  0.008 -0.02   0.02  -1.015]
+t: 53	 action: [ 8.580e-04  7.399e-01 -5.501e-01  7.383e-03 -1.727e-02  1.424e-02 -1.019e+00]
+t: 54	 action: [-0.054  0.776 -0.546  0.003 -0.019  0.019 -1.003]
+t: 55	 action: [-0.007  0.7   -0.49   0.011 -0.017  0.018 -1.031]
+t: 56	 action: [-0.021  0.52  -0.478  0.004 -0.003  0.017 -0.998]
+t: 57	 action: [ 0.018  0.41  -0.314  0.009 -0.002  0.016 -1.041]
+[07-31 01:39:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5840
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5840
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5840
+t=58: Selected seed 195 with value = 0.5840
+t: 58	 action: [ 3.286e-02  2.949e-01 -3.753e-01  4.549e-03  5.332e-04  9.843e-03 -1.019e+00]
+t: 59	 action: [ 0.046  0.215 -0.199  0.007  0.008  0.004 -1.014]
+t: 60	 action: [ 0.022  0.149 -0.176  0.004  0.011  0.006 -1.012]
+t: 61	 action: [ 0.036  0.052 -0.029  0.006  0.011 -0.004 -1.016]
+t: 62	 action: [-0.026  0.096 -0.1    0.004  0.018  0.002 -1.007]
+t: 63	 action: [-0.023  0.145  0.107  0.005  0.013  0.003 -1.03 ]
+t: 64	 action: [-0.055  0.037  0.27  -0.003  0.024 -0.003 -1.01 ]
+t: 65	 action: [-0.02   0.04   0.463  0.004  0.015 -0.007 -1.03 ]
+t: 66	 action: [ 0.053 -0.106  0.556  0.032  0.015 -0.004 -1.031]
+t: 67	 action: [-5.241e-04 -2.038e-01  5.686e-01  3.636e-02  1.086e-02 -7.353e-03 -1.043e+00]
+t: 68	 action: [ 0.003 -0.146  0.443  0.035  0.012  0.004 -1.037]
+t: 69	 action: [-0.052 -0.293  0.396  0.038  0.011 -0.004 -1.027]
+t: 70	 action: [-0.193 -0.187  0.272  0.041  0.004  0.001 -1.03 ]
+t: 71	 action: [-0.311 -0.243  0.168  0.033 -0.003  0.004 -1.045]
+t: 72	 action: [-0.412 -0.224  0.102  0.035  0.002  0.002 -1.034]
+t: 73	 action: [-4.135e-01 -2.632e-01  3.115e-02  3.143e-02 -5.255e-04  7.540e-03 -1.037e+00]
+[07-31 01:39:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5720
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5720
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5720
+t=74: Selected seed 195 with value = 0.5720
+t: 74	 action: [ 0.047  0.448 -0.277  0.003  0.009  0.029 -1.013]
+t: 75	 action: [ 0.103  0.348 -0.126  0.005  0.014  0.017 -1.006]
+t: 76	 action: [ 0.061  0.212 -0.047 -0.002  0.025  0.019 -1.009]
+t: 77	 action: [ 0.103  0.068  0.125  0.004  0.026  0.006 -1.016]
+t: 78	 action: [ 0.049  0.087  0.107  0.005  0.026  0.008 -1.002]
+t: 79	 action: [ 0.029  0.085  0.308  0.007  0.029  0.009 -1.034]
+t: 80	 action: [ 0.021 -0.002  0.45   0.005  0.039 -0.001 -1.006]
+t: 81	 action: [ 0.011 -0.016  0.61   0.012  0.041 -0.001 -1.034]
+t: 82	 action: [ 0.021 -0.067  0.542  0.029  0.011  0.003 -1.017]
+t: 83	 action: [-0.083 -0.151  0.535  0.032  0.009 -0.002 -1.04 ]
+t: 84	 action: [-0.093 -0.055  0.377  0.03   0.002  0.005 -1.031]
+t: 85	 action: [-2.174e-01 -2.235e-01  3.391e-01  3.298e-02  5.923e-03  1.359e-04 -1.025e+00]
+t: 86	 action: [-4.304e-01 -1.267e-01  2.359e-01  5.005e-02 -5.953e-03  6.737e-04 -1.012e+00]
+t: 87	 action: [-0.569 -0.17   0.134  0.03  -0.012  0.006 -1.044]
+t: 88	 action: [-0.759 -0.148  0.081  0.045 -0.016  0.003 -1.003]
+t: 89	 action: [-7.446e-01 -1.839e-01 -2.873e-04  2.530e-02 -1.264e-02  9.663e-03 -1.030e+00]
+[07-31 01:39:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.066 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5073
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.5073
+Query 1/1: Action query time = 1.066 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5073
+t=90: Selected seed 195 with value = 0.5073
+t: 90	 action: [ 0.043  0.373 -0.219  0.005  0.013  0.006 -1.018]
+t: 91	 action: [ 0.086  0.294 -0.125  0.009  0.023 -0.004 -1.02 ]
+t: 92	 action: [ 5.883e-02  1.065e-01 -4.064e-02  7.887e-04  2.448e-02  3.691e-03 -1.021e+00]
+t: 93	 action: [ 0.083  0.026  0.121  0.007  0.033 -0.013 -1.02 ]
+t: 94	 action: [ 0.064  0.042  0.185  0.006  0.023 -0.006 -1.008]
+t: 95	 action: [ 0.025  0.024  0.323  0.006  0.024 -0.015 -1.041]
+t: 96	 action: [ 0.023 -0.023  0.431  0.006  0.03  -0.012 -1.017]
+t: 97	 action: [ 9.518e-04 -5.894e-02  5.690e-01  7.498e-03  2.672e-02 -2.392e-02 -1.039e+00]
+t: 98	 action: [ 0.014 -0.132  0.48   0.025  0.011 -0.016 -1.026]
+t: 99	 action: [-0.15  -0.174  0.464  0.022  0.012 -0.022 -1.048]
+t: 100	 action: [-0.159 -0.053  0.323  0.018  0.004 -0.005 -1.042]
+t: 101	 action: [-0.338 -0.18   0.243  0.017  0.012 -0.019 -1.029]
+t: 102	 action: [-0.595 -0.144  0.189  0.035 -0.007 -0.007 -1.011]
+t: 103	 action: [-0.697 -0.182  0.096  0.004 -0.011 -0.019 -1.048]
+t: 104	 action: [-0.862 -0.13   0.052  0.029 -0.013 -0.003 -1.   ]
+t: 105	 action: [-0.833 -0.187 -0.013 -0.003 -0.009 -0.012 -1.035]
+[07-31 01:39:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.223 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3713
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.3713
+Query 1/1: Action query time = 1.223 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3713
+t=106: Selected seed 195 with value = 0.3713
+t: 106	 action: [ 0.111  0.011  0.315 -0.005  0.017 -0.011 -1.009]
+t: 107	 action: [ 0.093  0.005  0.225 -0.012  0.011 -0.02  -1.041]
+t: 108	 action: [ 1.355e-02 -5.142e-02  2.626e-01  9.391e-04  1.062e-02 -1.828e-02 -1.020e+00]
+t: 109	 action: [-0.057 -0.065  0.132 -0.008  0.01  -0.029 -1.052]
+t: 110	 action: [-1.857e-01 -8.006e-03  6.664e-02 -9.636e-04  1.317e-02 -1.893e-02 -1.004e+00]
+t: 111	 action: [-0.249  0.037  0.011 -0.007  0.008 -0.029 -1.055]
+t: 112	 action: [-0.364 -0.012 -0.086 -0.008  0.005 -0.022 -1.022]
+t: 113	 action: [-0.349  0.042 -0.098 -0.012  0.007 -0.038 -1.062]
+t: 114	 action: [-0.403  0.011 -0.375 -0.002 -0.02  -0.007 -1.023]
+t: 115	 action: [-0.502 -0.035 -0.521 -0.016 -0.015 -0.012 -1.05 ]
+t: 116	 action: [-0.543 -0.007 -0.583 -0.008 -0.028 -0.003 -1.025]
+t: 117	 action: [-0.501 -0.055 -0.653 -0.02  -0.023 -0.014 -1.025]
+t: 118	 action: [-0.675 -0.009 -0.69  -0.005 -0.033 -0.009 -1.011]
+t: 119	 action: [-0.545  0.005 -0.633 -0.019 -0.047 -0.021 -1.059]
+t: 120	 action: [-0.551 -0.018 -0.757 -0.008 -0.038 -0.008 -1.018]
+t: 121	 action: [-0.414 -0.012 -0.649 -0.021 -0.05  -0.022 -0.989]
+[07-31 01:39:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.198 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4617
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4617
+Query 1/1: Action query time = 1.198 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4617
+t=122: Selected seed 195 with value = 0.4617
+t: 122	 action: [ 0.24   0.459 -0.339  0.01  -0.013  0.002 -1.044]
+t: 123	 action: [ 2.672e-01  4.772e-01 -3.147e-01  1.323e-02 -1.273e-02 -9.988e-04 -1.034e+00]
+t: 124	 action: [ 0.248  0.36  -0.343  0.015 -0.013  0.006 -1.048]
+t: 125	 action: [ 0.271  0.317 -0.298  0.012 -0.011 -0.005 -1.037]
+t: 126	 action: [ 2.319e-01  3.038e-01 -2.123e-01  5.270e-03 -4.853e-03  1.026e-03 -1.031e+00]
+t: 127	 action: [ 0.191  0.232 -0.131  0.014 -0.007 -0.004 -1.047]
+t: 128	 action: [ 2.483e-01  1.914e-01 -1.550e-01  3.909e-03 -9.972e-03  3.331e-04 -1.041e+00]
+t: 129	 action: [ 0.246  0.144 -0.067  0.009 -0.014 -0.01  -1.05 ]
+t: 130	 action: [ 0.182  0.003 -0.025  0.03  -0.017 -0.006 -1.069]
+t: 131	 action: [ 0.135 -0.025 -0.094  0.023 -0.02  -0.016 -1.036]
+t: 132	 action: [ 0.138 -0.013 -0.092  0.027 -0.027 -0.009 -1.072]
+t: 133	 action: [ 0.088 -0.058 -0.209  0.018 -0.033 -0.016 -1.04 ]
+t: 134	 action: [ 1.029e-03  1.966e-02 -2.714e-01  1.394e-02 -3.267e-02 -2.167e-03 -1.057e+00]
+t: 135	 action: [-0.013 -0.008 -0.325  0.012 -0.045 -0.016 -1.042]
+t: 136	 action: [-0.101  0.006 -0.416  0.003 -0.037 -0.008 -1.062]
+t: 137	 action: [-0.067 -0.016 -0.431  0.006 -0.049 -0.016 -1.045]
+[07-31 01:39:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.143 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4720
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4720
+Query 1/1: Action query time = 1.143 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4720
+t=138: Selected seed 195 with value = 0.4720
+t: 138	 action: [ 0.088  0.047 -0.519  0.018 -0.017 -0.005 -1.051]
+t: 139	 action: [ 0.085  0.118 -0.504  0.022 -0.01  -0.017 -1.042]
+t: 140	 action: [ 0.068  0.064 -0.506  0.019 -0.016 -0.012 -1.048]
+t: 141	 action: [ 0.074  0.108 -0.446  0.018 -0.009 -0.027 -1.036]
+t: 142	 action: [ 0.042  0.121 -0.39   0.011 -0.011 -0.011 -1.037]
+t: 143	 action: [ 0.052  0.169 -0.251  0.021 -0.01  -0.02  -1.052]
+t: 144	 action: [ 0.066  0.135 -0.216 -0.003 -0.016 -0.023 -1.037]
+t: 145	 action: [ 0.086  0.149 -0.135  0.009 -0.011 -0.034 -1.047]
+t: 146	 action: [ 0.226  0.032  0.011  0.011 -0.024 -0.041 -1.08 ]
+t: 147	 action: [ 0.194  0.041 -0.002  0.01  -0.019 -0.04  -1.051]
+t: 148	 action: [ 2.028e-01  3.525e-02 -1.491e-01  6.736e-04 -3.353e-02 -3.038e-02 -1.077e+00]
+t: 149	 action: [ 0.142  0.046 -0.179  0.002 -0.027 -0.028 -1.043]
+t: 150	 action: [ 0.039  0.022 -0.325 -0.005 -0.04  -0.021 -1.074]
+t: 151	 action: [-0.025 -0.004 -0.312  0.004 -0.043 -0.033 -1.051]
+t: 152	 action: [-0.068 -0.013 -0.547 -0.009 -0.045 -0.012 -1.067]
+t: 153	 action: [-0.063 -0.034 -0.491 -0.003 -0.045 -0.02  -1.053]
+[07-31 01:39:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.092 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5411
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.5411
+Query 1/1: Action query time = 1.092 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5411
+t=154: Selected seed 195 with value = 0.5411
+t: 154	 action: [ 0.175  0.112 -0.489  0.018 -0.007 -0.015 -1.071]
+t: 155	 action: [ 0.252  0.098 -0.504  0.004  0.005 -0.022 -1.043]
+t: 156	 action: [ 0.222  0.118 -0.5    0.01  -0.004 -0.004 -1.065]
+t: 157	 action: [ 0.246  0.095 -0.494  0.002  0.005 -0.018 -1.043]
+t: 158	 action: [ 0.161  0.095 -0.455  0.004  0.004 -0.007 -1.049]
+t: 159	 action: [ 0.088  0.096 -0.492  0.012  0.006 -0.018 -1.044]
+t: 160	 action: [ 7.625e-02  3.651e-02 -4.484e-01 -8.368e-04  4.719e-03 -3.234e-03 -1.058e+00]
+t: 161	 action: [ 0.019  0.049 -0.5    0.009  0.005 -0.02  -1.052]
+t: 162	 action: [ 2.251e-03  6.228e-02 -5.173e-01 -2.501e-03  3.596e-04 -9.408e-04 -1.190e+00]
+t: 163	 action: [-4.721e-02  9.084e-02 -5.441e-01 -1.253e-02  7.004e-03  5.514e-04 -1.155e+00]
+t: 164	 action: [-5.079e-03  4.739e-02 -5.290e-01 -7.050e-03  7.267e-04  5.244e-03  9.988e-01]
+t: 165	 action: [ 0.01   0.049 -0.518 -0.013  0.009 -0.01   1.043]
+t: 166	 action: [-0.039  0.039 -0.451 -0.009  0.006 -0.004  1.127]
+t: 167	 action: [-0.031  0.072 -0.455 -0.008  0.002  0.002  1.199]
+t: 168	 action: [-0.054  0.027 -0.212 -0.012  0.007 -0.006  1.027]
+t: 169	 action: [-0.013  0.031 -0.17  -0.013  0.003 -0.016  1.064]
+[07-31 01:39:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.055 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6972
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.6972
+Query 1/1: Action query time = 1.055 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6972
+t=170: Selected seed 195 with value = 0.6972
+t: 170	 action: [-0.158  0.019 -0.199 -0.016  0.031  0.01   0.985]
+t: 171	 action: [-0.112  0.023 -0.103 -0.02   0.018  0.007  1.029]
+t: 172	 action: [-0.095  0.011  0.112 -0.011  0.011  0.003  0.979]
+t: 173	 action: [-0.013  0.006  0.325 -0.018  0.01  -0.003  1.023]
+t: 174	 action: [-0.057  0.005  0.4   -0.02   0.022  0.003  1.003]
+t: 175	 action: [ 2.586e-02 -2.475e-02  6.673e-01 -1.426e-02  1.785e-02  4.070e-04  1.015e+00]
+t: 176	 action: [-0.013 -0.07   0.847  0.006  0.024 -0.004  0.991]
+t: 177	 action: [ 0.036 -0.156  0.938  0.017  0.033 -0.008  1.006]
+t: 178	 action: [-0.042 -0.361  0.854  0.016  0.038  0.01   0.991]
+t: 179	 action: [-0.003 -0.51   0.873  0.036  0.043  0.007  1.018]
+t: 180	 action: [-0.069 -0.555  0.82   0.038  0.032  0.008  0.978]
+t: 181	 action: [-4.433e-04 -6.839e-01  7.650e-01  5.267e-02  3.283e-02  1.039e-03  1.014e+00]
+t: 182	 action: [-0.096 -0.671  0.695  0.066  0.033  0.006  0.997]
+t: 183	 action: [-0.133 -0.727  0.561  0.062  0.014  0.008  1.01 ]
+t: 184	 action: [-0.117 -0.733  0.342  0.06   0.023  0.003  0.991]
+t: 185	 action: [-0.135 -0.749  0.156  0.054  0.005  0.006  1.   ]
+[07-31 01:39:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.066 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7906
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7906
+Query 1/1: Action query time = 1.066 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7906
+t=186: Selected seed 195 with value = 0.7906
+t: 186	 action: [-0.21  -0.282 -0.218  0.019  0.025 -0.005  0.992]
+t: 187	 action: [-0.19  -0.399 -0.254  0.025  0.022 -0.006  1.066]
+t: 188	 action: [-0.213 -0.292 -0.33   0.031  0.013 -0.002  1.116]
+t: 189	 action: [-0.232 -0.307 -0.466  0.026  0.006 -0.018  1.049]
+t: 190	 action: [-0.256 -0.272 -0.375  0.019  0.02   0.002  1.022]
+t: 191	 action: [-0.2   -0.247 -0.4    0.003 -0.003 -0.004  1.07 ]
+t: 192	 action: [-0.228 -0.156 -0.497  0.008  0.027  0.003 -1.102]
+t: 193	 action: [-0.163 -0.141 -0.555 -0.008  0.003 -0.007 -1.091]
+t: 194	 action: [-0.042 -0.372 -0.566  0.013  0.048  0.016  0.876]
+t: 195	 action: [-0.07  -0.378 -0.62   0.025  0.049  0.025 -0.332]
+t: 196	 action: [-4.303e-02 -2.711e-01 -7.611e-01 -3.076e-04  3.874e-02  2.354e-02  9.591e-01]
+t: 197	 action: [-0.079 -0.259 -0.745  0.001  0.029  0.037  1.092]
+t: 198	 action: [-0.086 -0.236 -0.626 -0.014  0.028  0.027  1.002]
+t: 199	 action: [-0.118 -0.235 -0.692 -0.05   0.004  0.027  1.086]
+t: 200	 action: [-0.121 -0.17  -0.441 -0.034  0.016  0.019  1.002]
+t: 201	 action: [-0.134 -0.171 -0.551 -0.052 -0.003  0.035  1.085]
+[07-31 01:39:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.049 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7713
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7713
+Query 1/1: Action query time = 1.049 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7713
+t=202: Selected seed 195 with value = 0.7713
+t: 202	 action: [-0.1    0.052  0.046 -0.031 -0.064  0.003  0.987]
+t: 203	 action: [-0.127  0.063  0.133 -0.027 -0.051 -0.007  1.038]
+t: 204	 action: [-0.135  0.091  0.337 -0.008 -0.055 -0.008  1.003]
+t: 205	 action: [-0.12   0.055  0.472 -0.007 -0.013 -0.016  1.045]
+t: 206	 action: [-0.061  0.1    0.58  -0.007 -0.008 -0.003  1.014]
+t: 207	 action: [-6.281e-02  8.046e-02  7.525e-01 -6.558e-03  2.175e-04 -1.147e-02  1.043e+00]
+t: 208	 action: [-0.055  0.064  0.901  0.012  0.02  -0.021  1.012]
+t: 209	 action: [-0.023  0.017  0.913  0.016  0.014 -0.024  1.029]
+t: 210	 action: [-0.025  0.011  0.718  0.007  0.067 -0.024  1.053]
+t: 211	 action: [ 0.028  0.034  0.772  0.014  0.06  -0.014  0.849]
+t: 212	 action: [ 0.042 -0.006  0.722  0.019  0.05  -0.031  1.046]
+t: 213	 action: [ 0.084 -0.018  0.728  0.022  0.048 -0.046  1.009]
+t: 214	 action: [-0.003 -0.029  0.775  0.045  0.052 -0.024 -1.013]
+t: 215	 action: [-0.025 -0.022  0.756  0.038  0.024 -0.006  0.561]
+t: 216	 action: [ 0.025 -0.077  0.6    0.045  0.035 -0.03  -1.108]
+t: 217	 action: [ 0.076 -0.08   0.354  0.035  0.018 -0.032 -1.124]
+[07-31 01:39:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9424
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9424
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9424
+t=218: Selected seed 195 with value = 0.9424
+t: 218	 action: [-1.090e-01 -1.444e-01 -7.119e-01  9.526e-04 -2.644e-02  7.871e-03  9.783e-01]
+t: 219	 action: [-0.139 -0.053 -0.82  -0.013 -0.019  0.01   1.062]
+t: 220	 action: [-0.104 -0.023 -0.788 -0.004 -0.017  0.007  1.123]
+t: 221	 action: [-9.885e-02 -2.204e-02 -7.588e-01 -1.425e-02 -6.369e-03 -3.312e-04  1.034e+00]
+t: 222	 action: [-0.106  0.032 -0.502 -0.029  0.002  0.01   1.005]
+t: 223	 action: [-0.05   0.038 -0.515 -0.022 -0.003  0.018  1.059]
+t: 224	 action: [-0.048  0.047 -0.229 -0.016  0.03   0.005 -1.129]
+t: 225	 action: [-1.742e-02  3.761e-02 -2.108e-01 -1.321e-02  1.429e-02  3.525e-04 -1.123e+00]
+t: 226	 action: [ 0.192  0.002 -0.011 -0.004  0.067  0.009 -1.055]
+t: 227	 action: [ 0.157 -0.045  0.091 -0.005  0.067 -0.002 -1.041]
+t: 228	 action: [ 0.15   0.015  0.17  -0.004  0.063  0.006 -1.061]
+t: 229	 action: [ 0.125 -0.024  0.256 -0.004  0.061 -0.008 -1.037]
+t: 230	 action: [ 0.011  0.021  0.283 -0.003  0.057 -0.002 -1.065]
+t: 231	 action: [-0.013  0.031  0.327 -0.002  0.046 -0.011 -1.053]
+t: 232	 action: [ 0.002  0.027  0.345 -0.005  0.043 -0.01  -1.069]
+t: 233	 action: [ 0.005  0.035  0.317  0.002  0.042 -0.012 -1.056]
+[07-31 01:39:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9877
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=234: Selected seed 195 with value = 0.9877
+t: 234	 action: [ 0.026 -0.006 -0.386 -0.006  0.043  0.005  1.124]
+t: 235	 action: [ 0.047 -0.082 -0.263 -0.005  0.041 -0.01   0.99 ]
+t: 236	 action: [ 0.027  0.003 -0.094 -0.009  0.035  0.002 -1.059]
+t: 237	 action: [ 0.091 -0.039 -0.02  -0.013  0.029 -0.011 -1.037]
+t: 238	 action: [ 1.312e-02  6.812e-02  5.686e-02 -2.157e-02  3.468e-02 -4.240e-04 -1.139e+00]
+t: 239	 action: [-0.009  0.106  0.18  -0.025  0.032 -0.008 -1.119]
+t: 240	 action: [ 0.013  0.075  0.255 -0.016  0.026 -0.004 -1.054]
+t: 241	 action: [ 0.053  0.1    0.333 -0.018  0.022 -0.013 -1.054]
+t: 242	 action: [ 0.175  0.045  0.282 -0.012  0.002  0.002 -1.06 ]
+t: 243	 action: [ 0.236  0.03   0.249 -0.016  0.008 -0.012 -1.054]
+t: 244	 action: [ 2.191e-01  5.070e-02  2.846e-01 -1.245e-02 -4.696e-03 -2.718e-04 -1.074e+00]
+t: 245	 action: [ 0.304  0.029  0.269 -0.013  0.009 -0.01  -1.036]
+t: 246	 action: [ 0.184  0.067  0.324 -0.008  0.002 -0.005 -1.058]
+t: 247	 action: [ 0.192  0.07   0.317 -0.009  0.002 -0.013 -1.063]
+t: 248	 action: [ 0.232  0.081  0.299 -0.012  0.002 -0.01  -1.063]
+t: 249	 action: [ 0.221  0.066  0.288 -0.006  0.002 -0.01  -1.058]
+[07-31 01:39:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.059 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9600
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 1.059 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=250: Selected seed 195 with value = 0.9600
+t: 250	 action: [ 1.041e-01  2.704e-02 -4.194e-01 -7.731e-05  9.311e-03  3.877e-03 -1.026e+00]
+t: 251	 action: [ 8.884e-02  1.117e-02 -3.265e-01  1.629e-03  3.037e-04 -9.193e-03 -1.001e+00]
+t: 252	 action: [ 5.348e-02  4.543e-02 -2.072e-01 -2.504e-03 -5.398e-03  9.975e-04 -1.032e+00]
+t: 253	 action: [ 0.048  0.023 -0.129 -0.004 -0.012 -0.02  -1.025]
+t: 254	 action: [-0.024  0.088 -0.032 -0.006 -0.016 -0.003 -1.048]
+t: 255	 action: [-0.019  0.115  0.143 -0.002 -0.014 -0.019 -1.061]
+t: 256	 action: [-0.035  0.09   0.179 -0.008 -0.029 -0.008 -1.045]
+t: 257	 action: [-0.005  0.091  0.331 -0.005 -0.025 -0.029 -1.049]
+t: 258	 action: [ 0.097  0.039  0.23   0.004 -0.025 -0.019 -1.064]
+t: 259	 action: [ 9.434e-02  1.288e-02  2.166e-01 -5.940e-04 -2.891e-02 -2.871e-02 -1.045e+00]
+t: 260	 action: [ 0.112  0.036  0.18   0.002 -0.037 -0.02  -1.059]
+t: 261	 action: [ 0.123  0.01   0.152 -0.001 -0.038 -0.026 -1.029]
+t: 262	 action: [ 0.045  0.039  0.102 -0.001 -0.035 -0.011 -1.067]
+t: 263	 action: [ 8.555e-03  5.516e-02  9.149e-02  6.850e-04 -4.028e-02 -2.659e-02 -1.052e+00]
+t: 264	 action: [ 0.052  0.048  0.033 -0.005 -0.04  -0.014 -1.059]
+t: 265	 action: [ 1.864e-02  4.929e-02  4.805e-02  7.659e-04 -4.269e-02 -2.344e-02 -1.049e+00]
+[07-31 01:39:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9123
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9123
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9123
+t=266: Selected seed 195 with value = 0.9123
+t: 266	 action: [ 8.249e-02  1.578e-02 -4.430e-01  6.279e-03  9.422e-04 -4.675e-04 -1.018e+00]
+t: 267	 action: [ 0.04  -0.025 -0.352  0.012  0.002 -0.02  -1.001]
+t: 268	 action: [ 6.511e-03  2.205e-02 -2.175e-01 -9.148e-04 -6.965e-03 -7.271e-03 -1.024e+00]
+t: 269	 action: [ 0.012 -0.007 -0.145  0.004 -0.003 -0.033 -1.023]
+t: 270	 action: [-1.212e-01  7.990e-02 -3.324e-02 -1.947e-04 -8.439e-03 -6.135e-03 -1.037e+00]
+t: 271	 action: [-0.062  0.124  0.11   0.006 -0.007 -0.028 -1.056]
+t: 272	 action: [-0.115  0.089  0.19  -0.006 -0.02  -0.016 -1.038]
+t: 273	 action: [-0.036  0.105  0.323 -0.003 -0.018 -0.04  -1.046]
+t: 274	 action: [ 0.083  0.034  0.23   0.005 -0.027 -0.023 -1.055]
+t: 275	 action: [ 6.345e-02 -5.847e-05  2.042e-01  8.625e-03 -2.463e-02 -3.428e-02 -1.037e+00]
+t: 276	 action: [ 0.104  0.033  0.174  0.002 -0.041 -0.027 -1.053]
+t: 277	 action: [ 0.082 -0.003  0.085  0.008 -0.034 -0.033 -1.026]
+t: 278	 action: [ 0.016  0.04   0.056  0.005 -0.046 -0.014 -1.058]
+t: 279	 action: [ 0.001  0.031  0.034  0.01  -0.042 -0.032 -1.046]
+t: 280	 action: [-0.003  0.034 -0.054  0.001 -0.049 -0.017 -1.053]
+t: 281	 action: [-0.002  0.016 -0.009  0.01  -0.041 -0.029 -1.045]
+[07-31 01:39:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9162
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=282: Selected seed 195 with value = 0.9162
+t: 282	 action: [ 0.138  0.047 -0.308  0.004 -0.003 -0.02  -1.022]
+t: 283	 action: [ 0.09   0.053 -0.257  0.01   0.003 -0.038 -1.004]
+t: 284	 action: [ 0.039  0.046 -0.043 -0.003 -0.008 -0.028 -1.026]
+t: 285	 action: [ 3.860e-02  3.711e-02 -4.360e-02  3.415e-03  7.168e-04 -4.815e-02 -1.026e+00]
+t: 286	 action: [-0.099  0.068  0.043 -0.004 -0.006 -0.02  -1.04 ]
+t: 287	 action: [-2.847e-02  9.401e-02  1.391e-01  6.771e-03 -1.428e-04 -4.233e-02 -1.055e+00]
+t: 288	 action: [-0.125  0.052  0.18  -0.006 -0.013 -0.025 -1.041]
+t: 289	 action: [-0.033  0.056  0.263  0.004 -0.006 -0.051 -1.046]
+t: 290	 action: [ 0.078  0.005  0.205  0.017 -0.017 -0.028 -1.054]
+t: 291	 action: [ 0.06  -0.012  0.128  0.014 -0.012 -0.04  -1.037]
+t: 292	 action: [ 0.074  0.017  0.131  0.011 -0.034 -0.027 -1.051]
+t: 293	 action: [ 0.07  -0.014  0.041  0.012 -0.023 -0.035 -1.027]
+t: 294	 action: [-6.230e-04  4.345e-02  2.032e-02  8.859e-03 -3.617e-02 -1.770e-02 -1.059e+00]
+t: 295	 action: [ 0.01   0.018  0.002  0.01  -0.033 -0.038 -1.046]
+t: 296	 action: [-0.015  0.038 -0.086  0.003 -0.044 -0.019 -1.057]
+t: 297	 action: [ 0.01   0.005 -0.082  0.008 -0.039 -0.032 -1.046]
+[07-31 01:39:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.163 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9152
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9152
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 54
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
  8%|▊         | 4/50 [02:09<24:48, 32.36s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 5...
+Query 1/1: Action query time = 1.163 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=298: Selected seed 195 with value = 0.9152
+t: 298	 action: [ 1.550e-01  2.302e-02 -1.756e-01 -5.892e-04 -1.201e-02 -3.084e-02 -1.024e+00]
+t: 299	 action: [ 0.147  0.031 -0.138  0.011  0.002 -0.051 -0.998]
+t: 300	 action: [ 0.101  0.017  0.113 -0.003 -0.012 -0.035 -1.029]
+t: 301	 action: [ 0.111  0.014  0.11   0.008  0.002 -0.059 -1.031]
+t: 302	 action: [-0.01   0.021  0.212 -0.002 -0.008 -0.029 -1.049]
+t: 303	 action: [ 0.008  0.037  0.242  0.009  0.004 -0.054 -1.061]
+t: 304	 action: [-0.046 -0.021  0.251  0.002 -0.009 -0.029 -1.045]
+t: 305	 action: [ 0.016 -0.025  0.225  0.012  0.002 -0.06  -1.051]
+t: 306	 action: [ 0.131 -0.031  0.228  0.018 -0.012 -0.025 -1.055]
+t: 307	 action: [ 6.963e-02 -3.665e-02  9.096e-02  1.448e-02  4.829e-04 -4.100e-02 -1.046e+00]
+t: 308	 action: [ 0.087 -0.026  0.112  0.015 -0.023 -0.021 -1.049]
+t: 309	 action: [ 0.058 -0.046 -0.007  0.013 -0.004 -0.03  -1.036]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=54--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=54--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 54
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+[07-31 01:39:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3953
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3953
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3953
+t=10: Selected seed 195 with value = 0.3953
+t: 10	 action: [ 0.478 -0.073  0.249  0.003  0.047  0.007 -1.025]
+t: 11	 action: [ 0.56  -0.082  0.293  0.003  0.056  0.002 -1.017]
+t: 12	 action: [ 0.691 -0.134  0.301  0.003  0.042  0.009 -1.023]
+t: 13	 action: [ 0.771 -0.163  0.337  0.008  0.051  0.005 -1.021]
+t: 14	 action: [ 0.837 -0.179  0.297  0.005  0.045  0.008 -1.024]
+t: 15	 action: [ 0.855 -0.232  0.274  0.01   0.046  0.007 -1.035]
+t: 16	 action: [ 0.857 -0.231  0.266  0.005  0.035  0.008 -1.027]
+t: 17	 action: [ 0.886 -0.264  0.223  0.017  0.039  0.008 -1.041]
+t: 18	 action: [ 0.806 -0.406  0.181  0.011  0.017  0.013 -1.024]
+t: 19	 action: [ 0.826 -0.394  0.113  0.015  0.029  0.005 -1.016]
+t: 20	 action: [ 0.856 -0.352  0.067  0.011  0.015  0.011 -1.015]
+t: 21	 action: [ 0.857 -0.317  0.02   0.013  0.033  0.003 -1.004]
+t: 22	 action: [ 0.828 -0.263  0.011  0.011  0.021  0.008 -1.011]
+t: 23	 action: [ 0.844 -0.242 -0.042  0.018  0.037  0.005 -1.033]
+t: 24	 action: [ 0.824 -0.06  -0.116  0.003  0.026  0.003 -1.008]
+t: 25	 action: [ 0.806 -0.074 -0.179  0.014  0.038  0.003 -1.03 ]
+[07-31 01:39:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4435
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4435
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4435
+t=26: Selected seed 195 with value = 0.4435
+t: 26	 action: [ 0.873 -0.252  0.011  0.005  0.006  0.007 -1.028]
+t: 27	 action: [ 0.906 -0.284  0.025  0.002  0.004  0.003 -1.02 ]
+t: 28	 action: [ 0.846 -0.24  -0.112  0.007  0.005  0.008 -1.035]
+t: 29	 action: [ 8.324e-01 -2.391e-01 -1.168e-01  5.327e-03 -5.587e-04  3.781e-03 -1.025e+00]
+t: 30	 action: [ 7.654e-01 -1.503e-01 -2.203e-01  6.227e-03 -5.648e-04  1.150e-02 -1.024e+00]
+t: 31	 action: [ 0.654 -0.145 -0.29   0.013  0.002  0.008 -1.049]
+t: 32	 action: [ 0.49  -0.069 -0.456  0.003 -0.018  0.012 -1.026]
+t: 33	 action: [ 0.353 -0.078 -0.507  0.011 -0.003  0.008 -1.043]
+t: 34	 action: [ 0.256 -0.148 -0.556  0.009 -0.057  0.014 -1.034]
+t: 35	 action: [ 0.147 -0.11  -0.563  0.009 -0.053  0.012 -1.029]
+t: 36	 action: [ 0.124 -0.151 -0.674  0.011 -0.069  0.016 -1.032]
+t: 37	 action: [ 0.033 -0.102 -0.628  0.011 -0.06   0.013 -1.022]
+t: 38	 action: [-0.021 -0.022 -0.73   0.005 -0.067  0.023 -1.03 ]
+t: 39	 action: [-0.04  -0.042 -0.653  0.015 -0.049  0.019 -1.04 ]
+t: 40	 action: [-0.12   0.02  -0.719  0.003 -0.056  0.022 -1.028]
+t: 41	 action: [-0.098 -0.003 -0.617  0.014 -0.035  0.021 -1.041]
+[07-31 01:39:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.022 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5345
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5345
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5345
+t=42: Selected seed 195 with value = 0.5345
+t: 42	 action: [-0.085 -0.006 -0.862  0.008 -0.045  0.02  -0.999]
+t: 43	 action: [-0.07   0.012 -0.812  0.006 -0.034  0.027 -1.014]
+t: 44	 action: [-0.103  0.156 -0.78   0.006 -0.036  0.025 -0.996]
+t: 45	 action: [-0.092  0.213 -0.695  0.006 -0.025  0.026 -1.02 ]
+t: 46	 action: [-0.116  0.354 -0.597  0.004 -0.034  0.035 -1.001]
+t: 47	 action: [-0.096  0.493 -0.562  0.011 -0.023  0.032 -1.039]
+t: 48	 action: [-0.094  0.577 -0.473  0.004 -0.028  0.034 -0.998]
+t: 49	 action: [-0.069  0.693 -0.425  0.011 -0.015  0.028 -1.045]
+t: 50	 action: [-0.11   0.8   -0.463  0.005 -0.011  0.038 -0.999]
+t: 51	 action: [-0.103  0.781 -0.388  0.005 -0.005  0.033 -1.008]
+t: 52	 action: [-0.128  0.84  -0.411  0.005 -0.005  0.045 -0.994]
+t: 53	 action: [-0.105  0.788 -0.359  0.005 -0.001  0.033 -1.015]
+t: 54	 action: [-0.174  0.85  -0.389  0.004 -0.008  0.047 -1.005]
+t: 55	 action: [-0.152  0.808 -0.315  0.009 -0.004  0.034 -1.031]
+t: 56	 action: [-0.181  0.854 -0.379  0.004 -0.003  0.053 -0.999]
+t: 57	 action: [-1.496e-01  8.035e-01 -3.087e-01  8.878e-03 -3.703e-04  3.426e-02 -1.043e+00]
+[07-31 01:39:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5884
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5884
+Query 1/1: Action query time = 1.002 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5884
+t=58: Selected seed 195 with value = 0.5884
+t: 58	 action: [-0.208  0.83  -0.459 -0.004 -0.003  0.031 -0.986]
+t: 59	 action: [-0.196  0.785 -0.422  0.005 -0.003  0.033 -0.987]
+t: 60	 action: [-2.136e-01  8.381e-01 -4.546e-01 -8.778e-04 -3.930e-04  3.698e-02 -9.890e-01]
+t: 61	 action: [-2.004e-01  7.806e-01 -4.061e-01  7.869e-03  4.705e-04  3.517e-02 -9.959e-01]
+t: 62	 action: [-0.222  0.802 -0.415  0.003  0.003  0.041 -0.976]
+t: 63	 action: [-2.342e-01  7.785e-01 -4.173e-01  9.479e-03  2.722e-04  3.842e-02 -1.008e+00]
+t: 64	 action: [-0.224  0.804 -0.413  0.002  0.006  0.049 -0.977]
+t: 65	 action: [-0.186  0.763 -0.39   0.011  0.004  0.04  -1.017]
+t: 66	 action: [-0.143  0.585 -0.334 -0.002 -0.014  0.035 -1.008]
+t: 67	 action: [-0.088  0.362 -0.262  0.006  0.001  0.016 -1.016]
+t: 68	 action: [-0.043  0.138 -0.028 -0.004  0.003  0.01  -1.015]
+t: 69	 action: [ 3.638e-02  2.669e-02  2.287e-01  4.134e-03  2.517e-02  3.291e-04 -1.017e+00]
+t: 70	 action: [ 0.052 -0.032  0.385  0.013  0.03   0.005 -1.   ]
+t: 71	 action: [ 0.018 -0.088  0.552  0.013  0.024 -0.007 -1.033]
+t: 72	 action: [-0.129 -0.076  0.542  0.039  0.042  0.002 -1.001]
+t: 73	 action: [-0.29  -0.081  0.54   0.036  0.014 -0.011 -1.028]
+[07-31 01:39:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7457
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7457
+Query 1/1: Action query time = 1.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7457
+t=74: Selected seed 195 with value = 0.7457
+t: 74	 action: [-3.138e-02 -7.446e-02  6.503e-01  8.290e-04  5.431e-02 -4.114e-02 -1.011e+00]
+t: 75	 action: [-0.237 -0.121  0.595  0.012  0.038 -0.043 -1.023]
+t: 76	 action: [-0.42  -0.113  0.41   0.019  0.03  -0.037 -1.006]
+t: 77	 action: [-0.631 -0.161  0.319  0.026  0.013 -0.043 -1.025]
+t: 78	 action: [-0.783 -0.19   0.15   0.038  0.023 -0.037 -0.999]
+t: 79	 action: [-0.865 -0.187  0.057  0.034  0.006 -0.047 -1.041]
+t: 80	 action: [-0.928 -0.201  0.028  0.028  0.008 -0.032 -0.993]
+t: 81	 action: [-0.909 -0.151 -0.069  0.023  0.002 -0.05  -1.038]
+t: 82	 action: [-0.884 -0.073 -0.158  0.01  -0.03  -0.029 -1.02 ]
+t: 83	 action: [-0.902 -0.102 -0.183  0.004 -0.022 -0.037 -1.031]
+t: 84	 action: [-0.864 -0.077 -0.25   0.007 -0.041 -0.031 -1.017]
+t: 85	 action: [-0.86  -0.074 -0.276  0.001 -0.033 -0.033 -1.017]
+t: 86	 action: [-0.875 -0.085 -0.347  0.004 -0.042 -0.028 -0.995]
+t: 87	 action: [-0.801 -0.071 -0.314  0.008 -0.042 -0.044 -1.031]
+t: 88	 action: [-0.736 -0.08  -0.44   0.002 -0.045 -0.032 -0.991]
+t: 89	 action: [-0.631 -0.043 -0.387  0.005 -0.045 -0.041 -1.029]
+[07-31 01:39:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.017 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8069
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8069
+Query 1/1: Action query time = 1.017 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8069
+t=90: Selected seed 195 with value = 0.8069
+t: 90	 action: [-0.835  0.096 -0.304  0.008  0.009 -0.02  -1.021]
+t: 91	 action: [-0.692  0.109 -0.365  0.029  0.008 -0.044 -1.037]
+t: 92	 action: [-0.517  0.055 -0.459  0.019  0.005 -0.02  -1.012]
+t: 93	 action: [-0.379  0.092 -0.48   0.034  0.002 -0.052 -1.043]
+t: 94	 action: [-0.145  0.017 -0.501  0.021  0.004 -0.022 -1.007]
+t: 95	 action: [-0.039  0.066 -0.454  0.039  0.006 -0.057 -1.053]
+t: 96	 action: [ 5.076e-02  9.582e-03 -5.492e-01  1.960e-02  5.045e-04 -2.492e-02 -1.004e+00]
+t: 97	 action: [ 0.126  0.056 -0.463  0.036  0.002 -0.066 -1.054]
+t: 98	 action: [ 0.091  0.034 -0.669  0.007 -0.022 -0.04  -1.032]
+t: 99	 action: [ 0.079  0.072 -0.677  0.019 -0.016 -0.063 -1.032]
+t: 100	 action: [ 0.155  0.067 -0.66   0.002 -0.03  -0.036 -1.032]
+t: 101	 action: [ 0.158  0.095 -0.654  0.016 -0.028 -0.063 -1.03 ]
+t: 102	 action: [ 0.093  0.045 -0.55   0.003 -0.032 -0.047 -1.024]
+t: 103	 action: [ 0.117  0.098 -0.456  0.017 -0.025 -0.075 -1.053]
+t: 104	 action: [ 0.21   0.108 -0.429 -0.003 -0.031 -0.045 -1.023]
+t: 105	 action: [ 0.252  0.116 -0.355  0.014 -0.03  -0.073 -1.061]
+[07-31 01:39:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.042 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9517
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 1.042 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=106: Selected seed 195 with value = 0.9517
+t: 106	 action: [ 0.439  0.008 -0.055 -0.004 -0.001 -0.041 -1.042]
+t: 107	 action: [ 0.517  0.01  -0.02  -0.004  0.005 -0.066 -1.006]
+t: 108	 action: [ 0.524  0.055  0.069 -0.01  -0.01  -0.048 -1.057]
+t: 109	 action: [ 0.577  0.042  0.09  -0.008 -0.003 -0.075 -1.029]
+t: 110	 action: [ 0.513  0.054  0.172 -0.009 -0.004 -0.04  -1.044]
+t: 111	 action: [ 0.479  0.048  0.134 -0.005 -0.008 -0.074 -1.045]
+t: 112	 action: [ 0.536  0.092  0.127 -0.008 -0.018 -0.046 -1.059]
+t: 113	 action: [ 0.496  0.011  0.03  -0.002 -0.016 -0.082 -1.04 ]
+t: 114	 action: [ 0.491  0.027 -0.015  0.007 -0.024 -0.056 -1.057]
+t: 115	 action: [ 0.491  0.016 -0.062  0.011 -0.01  -0.074 -1.032]
+t: 116	 action: [ 0.42   0.016 -0.108  0.008 -0.034 -0.056 -1.064]
+t: 117	 action: [ 0.365 -0.008 -0.185  0.012 -0.018 -0.064 -1.024]
+t: 118	 action: [ 0.214 -0.029 -0.176  0.004 -0.037 -0.044 -1.058]
+t: 119	 action: [ 0.07  -0.054 -0.254  0.019 -0.033 -0.073 -1.046]
+t: 120	 action: [ 0.114 -0.054 -0.28   0.003 -0.043 -0.043 -1.058]
+t: 121	 action: [ 0.021 -0.06  -0.328  0.019 -0.034 -0.061 -1.038]
+[07-31 01:39:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9673
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=122: Selected seed 195 with value = 0.9673
+t: 122	 action: [ 0.17   0.006 -0.115 -0.001  0.026 -0.047 -1.049]
+t: 123	 action: [ 0.162  0.028 -0.157 -0.008  0.035 -0.048 -1.033]
+t: 124	 action: [ 1.134e-01  1.445e-02  2.923e-02  5.557e-04  2.607e-02 -4.362e-02 -1.052e+00]
+t: 125	 action: [ 0.084  0.039 -0.059 -0.012  0.025 -0.047 -1.033]
+t: 126	 action: [ 0.059  0.024  0.071 -0.005  0.019 -0.033 -1.061]
+t: 127	 action: [ 0.023  0.068 -0.063 -0.006  0.015 -0.047 -1.064]
+t: 128	 action: [ 0.03   0.025  0.009 -0.006  0.018 -0.025 -1.057]
+t: 129	 action: [ 0.012  0.056 -0.132 -0.006  0.011 -0.044 -1.047]
+t: 130	 action: [ 1.054e-01  2.251e-03 -7.457e-02  6.131e-03  7.639e-05 -9.663e-03 -1.061e+00]
+t: 131	 action: [ 0.067 -0.006 -0.166 -0.005  0.003 -0.02  -1.049]
+t: 132	 action: [ 7.042e-02  4.252e-03 -1.179e-01  5.050e-03 -7.083e-04 -4.988e-03 -1.065e+00]
+t: 133	 action: [ 0.054 -0.016 -0.22  -0.006  0.004 -0.018 -1.04 ]
+t: 134	 action: [-8.299e-03 -7.675e-03 -1.320e-01 -1.105e-04 -6.364e-03 -4.980e-03 -1.073e+00]
+t: 135	 action: [-2.330e-02  5.930e-04 -2.537e-01  1.767e-03 -6.502e-03 -1.880e-02 -1.059e+00]
+t: 136	 action: [-0.03  -0.005 -0.168 -0.002 -0.007 -0.005 -1.07 ]
+t: 137	 action: [-3.123e-02 -1.166e-02 -2.798e-01 -8.619e-04 -7.032e-03 -1.566e-02 -1.058e+00]
+[07-31 01:39:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9511
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=138: Selected seed 195 with value = 0.9511
+t: 138	 action: [ 0.008 -0.103 -0.177  0.001  0.009 -0.018 -1.058]
+t: 139	 action: [ 0.024 -0.107 -0.24  -0.008  0.015 -0.018 -1.035]
+t: 140	 action: [-6.409e-03 -1.124e-01 -1.425e-01 -6.116e-04  1.905e-02 -2.236e-03 -1.202e+00]
+t: 141	 action: [-0.041 -0.11  -0.198 -0.013  0.022  0.004 -1.14 ]
+t: 142	 action: [ 0.021 -0.068 -0.081 -0.005  0.016 -0.007 -1.105]
+t: 143	 action: [-0.041 -0.05  -0.116 -0.01   0.007 -0.013 -1.045]
+t: 144	 action: [ 2.119e-02 -3.425e-02 -8.282e-02 -1.162e-02  2.415e-02 -1.715e-04  9.694e-01]
+t: 145	 action: [ 0.019 -0.037 -0.085 -0.019  0.014  0.005  1.141]
+t: 146	 action: [-0.017 -0.09  -0.118 -0.004  0.025 -0.013  0.992]
+t: 147	 action: [ 0.019 -0.074 -0.111 -0.015  0.034 -0.013  1.056]
+t: 148	 action: [ 3.474e-03 -5.913e-02 -2.729e-02 -1.591e-02  3.739e-02  9.073e-04  9.824e-01]
+t: 149	 action: [ 0.021 -0.077 -0.059 -0.023  0.036 -0.009  1.029]
+t: 150	 action: [ 0.005 -0.025 -0.009 -0.02   0.028 -0.005  0.993]
+t: 151	 action: [ 0.04  -0.029 -0.023 -0.024  0.009  0.002  1.052]
+t: 152	 action: [ 8.504e-03 -3.676e-02 -1.664e-03 -4.167e-02  3.216e-02 -8.658e-04  1.000e+00]
+t: 153	 action: [ 0.024 -0.039 -0.012 -0.039  0.01   0.006  1.023]
+[07-31 01:39:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7145
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7145
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7145
+t=154: Selected seed 195 with value = 0.7145
+t: 154	 action: [-2.869e-01 -1.039e-01  5.567e-01  2.974e-02 -3.520e-04 -9.757e-02  9.927e-01]
+t: 155	 action: [-0.224 -0.074  0.598  0.038 -0.007 -0.063  1.042]
+t: 156	 action: [-0.277 -0.114  0.565  0.047  0.02  -0.082  1.001]
+t: 157	 action: [-0.222 -0.058  0.564  0.045  0.021 -0.056  1.046]
+t: 158	 action: [-0.26  -0.127  0.524  0.052  0.05  -0.064  1.022]
+t: 159	 action: [-0.162 -0.051  0.494  0.056  0.081 -0.048  1.026]
+t: 160	 action: [-0.2   -0.069  0.532  0.043  0.077 -0.052  1.024]
+t: 161	 action: [-0.071 -0.019  0.491  0.049  0.123 -0.043  1.029]
+t: 162	 action: [ 0.025 -0.157  0.601  0.046  0.108 -0.04   1.008]
+t: 163	 action: [ 0.073 -0.075  0.683  0.032  0.129 -0.03   1.049]
+t: 164	 action: [ 0.116 -0.079  0.572  0.026  0.116 -0.032  1.   ]
+t: 165	 action: [ 0.172 -0.044  0.617  0.02   0.138 -0.032  1.053]
+t: 166	 action: [ 0.099 -0.127  0.575  0.022  0.138 -0.012  1.038]
+t: 167	 action: [ 0.167 -0.089  0.516  0.018  0.131 -0.012  1.037]
+t: 168	 action: [ 0.149 -0.09   0.58   0.012  0.13  -0.006  1.024]
+t: 169	 action: [ 0.186 -0.109  0.494  0.012  0.115 -0.012  1.03 ]
+[07-31 01:39:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.020 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8568
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8568
+Query 1/1: Action query time = 1.020 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8568
+t=170: Selected seed 195 with value = 0.8568
+t: 170	 action: [-0.091 -0.225  0.676  0.016  0.068 -0.022  0.959]
+t: 171	 action: [-0.087 -0.282  0.652  0.013  0.082 -0.021  1.037]
+t: 172	 action: [-0.05  -0.228  0.71   0.017  0.08  -0.009  0.978]
+t: 173	 action: [-0.028 -0.34   0.734  0.016  0.097 -0.011  1.035]
+t: 174	 action: [ 7.517e-04 -2.270e-01  7.497e-01  8.107e-03  8.541e-02 -7.949e-03  9.942e-01]
+t: 175	 action: [ 0.01  -0.286  0.694  0.011  0.084 -0.013  1.034]
+t: 176	 action: [ 0.058 -0.17   0.64   0.001  0.093 -0.002  1.01 ]
+t: 177	 action: [ 0.062 -0.282  0.512  0.011  0.096 -0.007  1.028]
+t: 178	 action: [ 0.179 -0.226  0.454  0.012  0.085  0.006  0.978]
+t: 179	 action: [ 1.660e-01 -3.031e-01  3.037e-01  7.409e-03  6.451e-02 -3.149e-04  1.038e+00]
+t: 180	 action: [ 0.301 -0.151  0.084  0.002  0.064  0.007  0.973]
+t: 181	 action: [ 0.309 -0.266  0.042 -0.006  0.052  0.001  0.979]
+t: 182	 action: [ 0.357 -0.225  0.086 -0.01   0.067  0.01   1.012]
+t: 183	 action: [ 0.374 -0.382 -0.091 -0.019  0.017  0.016  1.048]
+t: 184	 action: [ 0.367 -0.083 -0.147 -0.017  0.043  0.013  0.999]
+t: 185	 action: [ 0.387 -0.263 -0.13  -0.027  0.014  0.029 -1.063]
+[07-31 01:39:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9338
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9338
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9338
+t=186: Selected seed 195 with value = 0.9338
+t: 186	 action: [ 0.414 -0.291  0.663  0.012  0.117  0.009  0.956]
+t: 187	 action: [ 3.585e-01 -3.725e-01  6.815e-01  7.437e-03  1.038e-01 -5.027e-05  1.019e+00]
+t: 188	 action: [ 0.482 -0.265  0.596  0.019  0.093  0.009  0.972]
+t: 189	 action: [ 0.457 -0.368  0.57   0.009  0.081  0.006  1.021]
+t: 190	 action: [ 0.544 -0.256  0.345  0.004  0.068  0.008  0.986]
+t: 191	 action: [ 0.574 -0.298  0.277  0.009  0.056  0.015  1.015]
+t: 192	 action: [ 0.581 -0.184  0.176  0.002  0.058  0.008  1.001]
+t: 193	 action: [ 0.579 -0.257  0.104  0.005  0.055  0.015  1.02 ]
+t: 194	 action: [ 0.575 -0.29  -0.124  0.013  0.029  0.015  0.967]
+t: 195	 action: [ 0.515 -0.339 -0.174  0.003  0.009  0.015  1.037]
+t: 196	 action: [ 0.547 -0.249 -0.253  0.008  0.01   0.026  0.965]
+t: 197	 action: [ 0.466 -0.311 -0.236 -0.005  0.005  0.023  0.989]
+t: 198	 action: [ 0.333 -0.204 -0.169 -0.003  0.017  0.023  0.989]
+t: 199	 action: [ 0.31  -0.223 -0.241 -0.01  -0.009  0.035  1.025]
+t: 200	 action: [ 0.257 -0.118 -0.105 -0.003  0.002  0.042  0.965]
+t: 201	 action: [ 0.265 -0.172 -0.146 -0.022 -0.011  0.054 -1.067]
+[07-31 01:39:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9645
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9645
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=202: Selected seed 195 with value = 0.9645
+t: 202	 action: [ 0.099 -0.146 -0.63   0.013  0.041  0.052  0.883]
+t: 203	 action: [ 0.039 -0.113 -0.578  0.008  0.048  0.029  1.019]
+t: 204	 action: [ 0.07  -0.011 -0.403  0.006  0.042  0.047  1.079]
+t: 205	 action: [ 7.946e-02 -1.094e-01 -2.848e-01 -1.197e-04  3.475e-02  2.089e-02  9.613e-01]
+t: 206	 action: [ 0.083  0.028 -0.209 -0.003  0.027  0.027  0.893]
+t: 207	 action: [ 0.159  0.015 -0.016  0.003  0.014  0.023 -1.075]
+t: 208	 action: [ 0.207  0.112  0.207 -0.002  0.022  0.007 -1.127]
+t: 209	 action: [ 0.311  0.043  0.371  0.002  0.017 -0.006 -1.115]
+t: 210	 action: [ 0.318  0.038  0.533  0.011 -0.025  0.016 -1.062]
+t: 211	 action: [ 0.345  0.003  0.571  0.007 -0.002  0.009 -1.039]
+t: 212	 action: [ 0.27   0.028  0.52   0.015 -0.032  0.015 -1.058]
+t: 213	 action: [ 3.276e-01 -4.419e-03  5.031e-01  8.675e-03 -2.860e-04  4.896e-03 -1.034e+00]
+t: 214	 action: [ 0.235  0.035  0.488  0.032 -0.032  0.011 -1.066]
+t: 215	 action: [ 0.214  0.037  0.435  0.018 -0.008  0.012 -1.045]
+t: 216	 action: [ 0.184  0.022  0.348  0.029 -0.034  0.012 -1.06 ]
+t: 217	 action: [ 0.18   0.027  0.285  0.017 -0.006  0.01  -1.055]
+[07-31 01:39:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.012 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9995
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 1.012 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=218: Selected seed 195 with value = 0.9995
+t: 218	 action: [ 0.027  0.038  0.229  0.006  0.019  0.012 -1.015]
+t: 219	 action: [ 0.072 -0.004  0.237  0.006  0.01   0.014 -1.026]
+t: 220	 action: [ 0.026  0.035  0.234  0.004  0.017  0.011 -1.016]
+t: 221	 action: [ 0.076  0.005  0.244  0.004  0.011  0.013 -1.03 ]
+t: 222	 action: [ 3.624e-02  2.792e-02  2.286e-01 -7.385e-04  1.697e-02  1.372e-02 -1.029e+00]
+t: 223	 action: [ 3.801e-02  5.738e-02  2.148e-01  9.974e-03  3.787e-05  1.806e-02 -1.056e+00]
+t: 224	 action: [ 0.044  0.023  0.237 -0.002  0.017  0.01  -1.021]
+t: 225	 action: [ 0.082  0.056  0.234  0.006  0.002  0.015 -1.054]
+t: 226	 action: [ 0.026  0.023  0.207  0.006  0.01   0.011 -1.015]
+t: 227	 action: [ 0.067 -0.005  0.226  0.005  0.008  0.013 -1.037]
+t: 228	 action: [ 0.024  0.03   0.225  0.003  0.011  0.011 -1.015]
+t: 229	 action: [ 0.072  0.003  0.238  0.002  0.009  0.012 -1.031]
+t: 230	 action: [ 3.241e-02  8.073e-03  2.049e-01 -5.929e-04  1.079e-02  6.917e-03 -1.031e+00]
+t: 231	 action: [ 0.032  0.048  0.205  0.008 -0.002  0.015 -1.063]
+t: 232	 action: [ 0.041  0.02   0.226 -0.002  0.012  0.005 -1.021]
+t: 233	 action: [ 7.220e-02  4.988e-02  2.303e-01  3.413e-03 -8.709e-04  1.498e-02 -1.059e+00]
+[07-31 01:39:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.042 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.042 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+t: 234	 action: [ 0.028  0.014  0.086  0.005  0.031 -0.003 -1.008]
+t: 235	 action: [ 0.11  -0.012  0.089 -0.002  0.021 -0.007 -1.013]
+t: 236	 action: [ 0.049  0.018  0.072  0.005  0.026 -0.003 -1.016]
+t: 237	 action: [ 1.374e-01 -5.459e-03  8.881e-02  3.808e-04  1.718e-02 -8.962e-03 -1.030e+00]
+t: 238	 action: [ 4.836e-02  2.599e-02  1.011e-01 -2.169e-04  2.518e-02 -4.560e-03 -1.028e+00]
+t: 239	 action: [ 0.112  0.068  0.091  0.008  0.006 -0.003 -1.054]
+t: 240	 action: [ 7.550e-02  1.962e-02  1.011e-01 -1.950e-04  2.127e-02 -4.763e-03 -1.022e+00]
+t: 241	 action: [ 0.164  0.061  0.088  0.006  0.005 -0.006 -1.054]
+t: 242	 action: [ 0.027  0.012  0.072  0.006  0.018  0.003 -1.007]
+t: 243	 action: [ 0.104 -0.016  0.095 -0.002  0.018 -0.008 -1.025]
+t: 244	 action: [ 0.047  0.015  0.073  0.005  0.017 -0.001 -1.017]
+t: 245	 action: [ 1.372e-01 -9.102e-03  8.672e-02 -9.412e-04  1.423e-02 -8.588e-03 -1.029e+00]
+t: 246	 action: [ 4.493e-02  4.550e-03  8.573e-02  8.867e-05  1.590e-02 -1.375e-03 -1.030e+00]
+t: 247	 action: [ 0.106  0.054  0.08   0.007  0.004 -0.006 -1.059]
+t: 248	 action: [ 7.246e-02  1.398e-02  9.464e-02 -4.464e-04  1.516e-02 -4.738e-03 -1.021e+00]
+t: 249	 action: [ 0.156  0.055  0.082  0.005  0.003 -0.006 -1.059]
+[07-31 01:39:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9974
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.996 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=250: Selected seed 195 with value = 0.9974
+t: 250	 action: [-0.027 -0.017  0.03   0.006  0.035 -0.019 -0.964]
+t: 251	 action: [ 0.068 -0.047 -0.043 -0.005  0.031 -0.017 -0.97 ]
+t: 252	 action: [ 0.031  0.004  0.007  0.007  0.032 -0.017 -1.008]
+t: 253	 action: [ 1.291e-01 -2.154e-02 -2.425e-02 -1.490e-04  2.886e-02 -1.836e-02 -1.022e+00]
+t: 254	 action: [ 1.245e-02  3.127e-02  6.608e-02  6.986e-04  3.094e-02 -1.406e-02 -1.017e+00]
+t: 255	 action: [ 0.07   0.092  0.002  0.007  0.013 -0.013 -1.046]
+t: 256	 action: [ 0.06   0.017  0.038  0.002  0.028 -0.013 -1.02 ]
+t: 257	 action: [ 0.154  0.07  -0.019  0.009  0.015 -0.015 -1.053]
+t: 258	 action: [-0.024 -0.003  0.012  0.008  0.019 -0.009 -0.967]
+t: 259	 action: [ 0.064 -0.05   0.004 -0.005  0.028 -0.019 -0.992]
+t: 260	 action: [ 0.031  0.003  0.008  0.007  0.022 -0.011 -1.01 ]
+t: 261	 action: [ 0.133 -0.026 -0.009 -0.001  0.026 -0.018 -1.02 ]
+t: 262	 action: [ 0.01   0.007  0.043  0.002  0.017 -0.008 -1.019]
+t: 263	 action: [ 0.062  0.065  0.007  0.006  0.009 -0.016 -1.051]
+t: 264	 action: [ 0.055  0.011  0.032  0.002  0.019 -0.012 -1.019]
+t: 265	 action: [ 0.143  0.059 -0.019  0.007  0.01  -0.014 -1.057]
+[07-31 01:39:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9925
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=266: Selected seed 195 with value = 0.9925
+t: 266	 action: [-0.139 -0.034 -0.069  0.006  0.038 -0.012 -0.483]
+t: 267	 action: [-0.044 -0.073 -0.196 -0.001  0.033 -0.011 -0.712]
+t: 268	 action: [-0.065 -0.023 -0.064  0.01   0.035 -0.008 -0.981]
+t: 269	 action: [ 0.028 -0.045 -0.144  0.005  0.03  -0.01  -1.017]
+t: 270	 action: [-0.085  0.013  0.016  0.005  0.036 -0.003 -0.957]
+t: 271	 action: [-0.072  0.09  -0.075  0.012  0.015 -0.004 -1.053]
+t: 272	 action: [-0.035  0.007 -0.013  0.008  0.032 -0.003 -1.008]
+t: 273	 action: [ 0.008  0.061 -0.083  0.014  0.017 -0.005 -1.049]
+t: 274	 action: [-1.489e-01 -2.655e-02 -8.584e-02  8.264e-03  1.839e-02  5.907e-04 -6.227e-01]
+t: 275	 action: [-3.601e-02 -7.857e-02 -1.450e-01 -7.659e-04  2.539e-02 -1.189e-02 -8.802e-01]
+t: 276	 action: [-0.069 -0.024 -0.057  0.01   0.022 -0.002 -0.986]
+t: 277	 action: [ 0.033 -0.051 -0.121  0.003  0.024 -0.01  -1.013]
+t: 278	 action: [-1.021e-01  3.044e-06 -2.432e-02  4.269e-03  1.553e-02 -8.037e-04 -9.783e-01]
+t: 279	 action: [-0.071  0.056 -0.09   0.01   0.007 -0.006 -1.036]
+t: 280	 action: [-0.042  0.002 -0.02   0.006  0.019 -0.004 -1.009]
+t: 281	 action: [ 6.623e-04  4.106e-02 -1.015e-01  1.153e-02  9.880e-03 -4.977e-03 -1.055e+00]
+[07-31 01:39:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.150 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9963
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 1.150 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=282: Selected seed 195 with value = 0.9963
+t: 282	 action: [-0.018  0.055  0.072  0.004  0.025  0.006 -0.998]
+t: 283	 action: [ 0.04  -0.015  0.045  0.001  0.008  0.003 -1.016]
+t: 284	 action: [-0.012  0.037  0.062  0.004  0.019  0.004 -1.002]
+t: 285	 action: [ 0.047 -0.007  0.062  0.003  0.007  0.002 -1.037]
+t: 286	 action: [-1.399e-02  3.827e-02  8.002e-02  1.073e-04  1.724e-02  2.101e-03 -1.021e+00]
+t: 287	 action: [-1.454e-02  5.767e-02  5.393e-02  1.147e-02  7.141e-04  1.083e-02 -1.070e+00]
+t: 288	 action: [-4.494e-03  3.266e-02  7.909e-02 -5.250e-04  1.373e-02  2.123e-03 -1.006e+00]
+t: 289	 action: [ 0.018  0.06   0.053  0.008  0.002  0.007 -1.064]
+t: 290	 action: [-0.03   0.037  0.047  0.006  0.006  0.01  -0.997]
+t: 291	 action: [ 3.495e-02 -1.513e-02  5.552e-02 -8.083e-05  5.924e-03  1.510e-03 -1.033e+00]
+t: 292	 action: [-0.017  0.033  0.057  0.004  0.007  0.008 -1.004]
+t: 293	 action: [ 4.468e-02 -1.023e-02  5.537e-02  9.010e-04  5.476e-03  1.700e-03 -1.038e+00]
+t: 294	 action: [-2.904e-02  2.696e-02  5.087e-02  5.445e-04  1.705e-03  4.491e-03 -1.025e+00]
+t: 295	 action: [-0.02   0.042  0.036  0.008 -0.002  0.008 -1.071]
+t: 296	 action: [-0.01   0.031  0.067 -0.001  0.003  0.003 -1.008]
+t: 297	 action: [ 1.153e-02  4.907e-02  3.517e-02  5.922e-03 -7.075e-04  6.718e-03 -1.071e+00]
+[07-31 01:40:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9973
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 55
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 10%|█         | 5/50 [02:41<24:11, 32.25s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 6...
+Query 1/1: Action query time = 1.003 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=298: Selected seed 195 with value = 0.9973
+t: 298	 action: [-1.770e-02  5.598e-02  6.081e-04  4.273e-03  2.652e-02 -2.516e-03 -1.010e+00]
+t: 299	 action: [ 4.540e-02 -7.637e-03 -2.902e-02  6.479e-04  1.052e-02 -4.256e-03 -1.026e+00]
+t: 300	 action: [-0.005  0.036 -0.005  0.005  0.022 -0.001 -1.008]
+t: 301	 action: [ 0.056 -0.005 -0.005  0.003  0.008 -0.005 -1.035]
+t: 302	 action: [-0.015  0.051  0.023  0.002  0.02  -0.001 -1.029]
+t: 303	 action: [-0.011  0.066 -0.004  0.013  0.002  0.004 -1.069]
+t: 304	 action: [-0.003  0.032  0.017  0.002  0.016 -0.001 -1.012]
+t: 305	 action: [ 1.595e-02  5.580e-02 -5.262e-03  1.164e-02  2.788e-03 -2.400e-04 -1.060e+00]
+t: 306	 action: [-0.031  0.042 -0.027  0.006  0.007  0.007 -1.008]
+t: 307	 action: [ 3.984e-02 -1.670e-02 -1.737e-02 -1.431e-04  7.226e-03 -5.095e-03 -1.038e+00]
+t: 308	 action: [-0.012  0.03  -0.008  0.005  0.008  0.004 -1.01 ]
+t: 309	 action: [ 0.054 -0.012 -0.009  0.002  0.006 -0.005 -1.037]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=55--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=55--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 55
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+[07-31 01:40:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.019 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3197
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3197
+Query 1/1: Action query time = 1.019 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3197
+t=10: Selected seed 195 with value = 0.3197
+t: 10	 action: [ 0.221 -0.082  0.114  0.001  0.031  0.003 -1.013]
+t: 11	 action: [ 0.325 -0.046  0.125 -0.005  0.043 -0.007 -1.013]
+t: 12	 action: [ 0.472 -0.103  0.202  0.001  0.025  0.004 -1.021]
+t: 13	 action: [ 0.64  -0.092  0.255 -0.003  0.036 -0.002 -1.022]
+t: 14	 action: [ 0.748 -0.083  0.326  0.003  0.031  0.004 -1.015]
+t: 15	 action: [ 0.8   -0.113  0.297 -0.004  0.033 -0.004 -1.037]
+t: 16	 action: [ 0.877 -0.105  0.357  0.004  0.021  0.004 -1.017]
+t: 17	 action: [ 8.808e-01 -1.438e-01  3.203e-01  3.208e-04  2.262e-02 -7.025e-04 -1.044e+00]
+t: 18	 action: [ 0.87  -0.172  0.348  0.006  0.011  0.011 -1.023]
+t: 19	 action: [ 0.888 -0.169  0.328  0.008  0.018  0.004 -1.024]
+t: 20	 action: [ 9.008e-01 -1.494e-01  2.253e-01  6.512e-03  4.220e-04  9.560e-03 -1.022e+00]
+t: 21	 action: [ 0.919 -0.183  0.228  0.01   0.012  0.005 -1.016]
+t: 22	 action: [ 0.948 -0.154  0.161  0.005  0.001  0.008 -1.009]
+t: 23	 action: [ 0.953 -0.25   0.097  0.009  0.007  0.002 -1.039]
+t: 24	 action: [ 0.962 -0.116  0.021  0.001 -0.004  0.005 -1.007]
+t: 25	 action: [ 0.966 -0.241 -0.031  0.011  0.003  0.003 -1.039]
+[07-31 01:40:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.011 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4099
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4099
+Query 1/1: Action query time = 1.011 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4099
+t=26: Selected seed 195 with value = 0.4099
+t: 26	 action: [ 9.358e-01 -5.236e-02  8.097e-02 -1.056e-03 -7.068e-04 -9.264e-03 -1.028e+00]
+t: 27	 action: [ 9.389e-01 -2.618e-02  6.557e-02 -1.103e-03 -7.273e-04 -2.051e-02 -1.018e+00]
+t: 28	 action: [ 9.170e-01 -1.679e-01  7.155e-04  5.160e-03 -5.041e-03 -6.695e-03 -1.028e+00]
+t: 29	 action: [ 0.936 -0.176 -0.011  0.012  0.002 -0.019 -1.019]
+t: 30	 action: [ 0.95  -0.24  -0.14   0.01  -0.002 -0.008 -1.013]
+t: 31	 action: [ 9.084e-01 -3.074e-01 -2.070e-01  1.760e-02  3.567e-05 -1.964e-02 -1.032e+00]
+t: 32	 action: [ 0.856 -0.279 -0.354  0.013 -0.009 -0.009 -1.019]
+t: 33	 action: [ 0.806 -0.306 -0.471  0.024 -0.004 -0.02  -1.035]
+t: 34	 action: [ 0.547 -0.319 -0.55   0.016 -0.029  0.003 -1.045]
+t: 35	 action: [ 0.395 -0.264 -0.68   0.015 -0.037 -0.01  -1.036]
+t: 36	 action: [ 0.297 -0.234 -0.739  0.017 -0.046  0.007 -1.037]
+t: 37	 action: [ 0.115 -0.207 -0.805  0.013 -0.051 -0.005 -1.02 ]
+t: 38	 action: [-0.003 -0.119 -0.835  0.012 -0.06   0.002 -1.033]
+t: 39	 action: [-0.038 -0.134 -0.809  0.017 -0.06  -0.004 -1.04 ]
+t: 40	 action: [-0.164 -0.056 -0.851  0.008 -0.064  0.005 -1.032]
+t: 41	 action: [-0.119 -0.099 -0.839  0.016 -0.052  0.003 -1.041]
+[07-31 01:40:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4810
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4810
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4810
+t=42: Selected seed 195 with value = 0.4810
+t: 42	 action: [-0.217  0.027 -0.781  0.017 -0.041  0.021 -0.998]
+t: 43	 action: [-0.225 -0.022 -0.825  0.008 -0.045  0.027 -1.018]
+t: 44	 action: [-0.165  0.044 -0.802  0.013 -0.031  0.029 -0.996]
+t: 45	 action: [-0.15   0.057 -0.809  0.007 -0.032  0.031 -1.021]
+t: 46	 action: [-0.197  0.105 -0.737  0.011 -0.034  0.04  -0.998]
+t: 47	 action: [-0.107  0.151 -0.68   0.013 -0.026  0.035 -1.035]
+t: 48	 action: [-0.085  0.322 -0.652  0.004 -0.023  0.045 -0.996]
+t: 49	 action: [-0.021  0.412 -0.559  0.012 -0.01   0.036 -1.039]
+t: 50	 action: [-0.025  0.624 -0.58   0.009 -0.02   0.036 -1.007]
+t: 51	 action: [-0.012  0.655 -0.611  0.006 -0.019  0.034 -1.019]
+t: 52	 action: [-0.022  0.755 -0.539  0.007 -0.011  0.042 -1.006]
+t: 53	 action: [ 0.007  0.721 -0.527  0.003 -0.008  0.034 -1.021]
+t: 54	 action: [-0.074  0.775 -0.52   0.003 -0.019  0.05  -1.009]
+t: 55	 action: [-0.036  0.779 -0.462  0.006 -0.013  0.037 -1.04 ]
+t: 56	 action: [-0.071  0.816 -0.497  0.003 -0.008  0.052 -1.005]
+t: 57	 action: [-0.018  0.777 -0.403  0.003 -0.004  0.036 -1.046]
+[07-31 01:40:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5425
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5425
+Query 1/1: Action query time = 0.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5425
+t=58: Selected seed 195 with value = 0.5425
+t: 58	 action: [-0.191  0.8   -0.535  0.006 -0.008  0.01  -0.997]
+t: 59	 action: [-0.176  0.775 -0.525  0.015 -0.009  0.008 -1.007]
+t: 60	 action: [-0.209  0.819 -0.514  0.006 -0.003  0.011 -0.996]
+t: 61	 action: [-0.179  0.789 -0.496  0.016 -0.003  0.01  -1.013]
+t: 62	 action: [-0.229  0.802 -0.499  0.008 -0.005  0.007 -0.986]
+t: 63	 action: [-0.198  0.79  -0.498  0.02  -0.009  0.01  -1.027]
+t: 64	 action: [-2.281e-01  8.078e-01 -4.897e-01  8.327e-03  3.086e-04  1.279e-02 -9.859e-01]
+t: 65	 action: [-0.174  0.802 -0.48   0.021 -0.004  0.011 -1.035]
+t: 66	 action: [-0.198  0.845 -0.491  0.008 -0.014  0.009 -1.002]
+t: 67	 action: [-0.153  0.771 -0.515  0.013 -0.011  0.004 -1.012]
+t: 68	 action: [-0.168  0.816 -0.476  0.008 -0.012  0.01  -1.002]
+t: 69	 action: [-0.14   0.719 -0.514  0.013 -0.003  0.007 -1.017]
+t: 70	 action: [-0.223  0.764 -0.476  0.008 -0.011  0.009 -0.995]
+t: 71	 action: [-0.159  0.738 -0.474  0.017 -0.012  0.007 -1.031]
+t: 72	 action: [-0.17   0.636 -0.452  0.009 -0.006  0.01  -0.994]
+t: 73	 action: [-0.1    0.58  -0.382  0.016 -0.006  0.01  -1.04 ]
+[07-31 01:40:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.018 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6320
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6320
+Query 1/1: Action query time = 1.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6320
+t=74: Selected seed 195 with value = 0.6320
+t: 74	 action: [ 1.685e-02  2.426e-01 -2.391e-01  3.077e-03 -4.621e-03 -2.189e-04 -9.987e-01]
+t: 75	 action: [ 0.008  0.202 -0.188  0.002 -0.004 -0.012 -0.997]
+t: 76	 action: [-1.310e-02  1.841e-01 -4.976e-02  1.192e-04  1.724e-03 -1.773e-05 -1.002e+00]
+t: 77	 action: [-1.075e-02  1.035e-01  4.285e-02 -8.743e-04  6.320e-03 -1.690e-02 -1.016e+00]
+t: 78	 action: [-0.09   0.223  0.058 -0.006  0.008 -0.006 -0.998]
+t: 79	 action: [-9.740e-02  2.748e-01  1.859e-01 -7.811e-04  6.533e-03 -1.742e-02 -1.034e+00]
+t: 80	 action: [-0.165  0.204  0.341 -0.001  0.013 -0.009 -1.006]
+t: 81	 action: [-0.142  0.193  0.455  0.002  0.01  -0.023 -1.033]
+t: 82	 action: [-0.051  0.064  0.406  0.034  0.002 -0.012 -1.024]
+t: 83	 action: [-0.116 -0.04   0.388  0.041  0.003 -0.022 -1.039]
+t: 84	 action: [-0.101  0.006  0.34   0.045 -0.002 -0.004 -1.028]
+t: 85	 action: [-0.155 -0.105  0.27   0.047  0.004 -0.017 -1.026]
+t: 86	 action: [-0.307 -0.096  0.236  0.067 -0.007 -0.016 -1.017]
+t: 87	 action: [-0.389 -0.093  0.173  0.052 -0.004 -0.025 -1.04 ]
+t: 88	 action: [-0.476 -0.208  0.142  0.063 -0.011 -0.011 -1.018]
+t: 89	 action: [-0.47  -0.167  0.047  0.05  -0.002 -0.017 -1.033]
+[07-31 01:40:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5576
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.5576
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5576
+t=90: Selected seed 195 with value = 0.5576
+t: 90	 action: [ 0.066  0.292 -0.166 -0.001 -0.003  0.008 -1.017]
+t: 91	 action: [ 0.091  0.284 -0.083 -0.001  0.005 -0.002 -1.017]
+t: 92	 action: [ 0.065  0.151 -0.035 -0.004  0.004  0.005 -1.019]
+t: 93	 action: [ 0.084  0.09   0.083 -0.002  0.008 -0.009 -1.03 ]
+t: 94	 action: [ 0.024  0.091  0.054  0.004  0.003  0.002 -1.005]
+t: 95	 action: [ 4.317e-04  1.354e-01  1.558e-01  2.432e-03 -2.886e-03 -3.772e-03 -1.043e+00]
+t: 96	 action: [-0.009  0.043  0.249  0.003  0.006 -0.005 -1.012]
+t: 97	 action: [-0.012  0.057  0.398  0.008 -0.002 -0.015 -1.044]
+t: 98	 action: [-0.005 -0.071  0.299  0.045 -0.019 -0.004 -1.035]
+t: 99	 action: [-0.084 -0.148  0.259  0.044 -0.016 -0.018 -1.046]
+t: 100	 action: [-8.705e-02 -6.072e-02  1.779e-01  5.359e-02 -3.105e-02 -4.817e-04 -1.040e+00]
+t: 101	 action: [-0.183 -0.208  0.114  0.051 -0.023 -0.016 -1.034]
+t: 102	 action: [-0.346 -0.052  0.104  0.058 -0.035 -0.003 -1.029]
+t: 103	 action: [-0.528 -0.115  0.016  0.042 -0.04  -0.013 -1.044]
+t: 104	 action: [-0.703 -0.171  0.032  0.067 -0.046 -0.004 -1.024]
+t: 105	 action: [-0.692 -0.183 -0.018  0.044 -0.04  -0.009 -1.042]
+[07-31 01:40:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.029 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4962
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4962
+Query 1/1: Action query time = 1.029 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4962
+t=106: Selected seed 195 with value = 0.4962
+t: 106	 action: [ 0.081  0.343 -0.217  0.002 -0.003  0.002 -1.036]
+t: 107	 action: [ 0.109  0.29  -0.128  0.002  0.009 -0.01  -1.045]
+t: 108	 action: [ 8.325e-02  1.358e-01 -8.392e-02 -2.546e-03  3.102e-03  8.004e-04 -1.035e+00]
+t: 109	 action: [ 1.177e-01  6.861e-02  4.736e-02 -2.444e-05  8.877e-03 -1.627e-02 -1.042e+00]
+t: 110	 action: [ 0.059  0.081  0.083  0.003  0.004 -0.004 -1.016]
+t: 111	 action: [ 0.027  0.114  0.199  0.002  0.002 -0.015 -1.057]
+t: 112	 action: [ 4.290e-02  2.981e-02  2.926e-01 -5.216e-04  5.490e-03 -9.169e-03 -1.022e+00]
+t: 113	 action: [ 3.567e-02  2.834e-02  4.790e-01  2.821e-03 -3.093e-04 -2.500e-02 -1.055e+00]
+t: 114	 action: [ 0.085 -0.064  0.352  0.038 -0.015 -0.015 -1.04 ]
+t: 115	 action: [ 0.022 -0.122  0.321  0.04  -0.019 -0.025 -1.058]
+t: 116	 action: [ 0.004 -0.035  0.229  0.038 -0.024 -0.007 -1.045]
+t: 117	 action: [-0.106 -0.17   0.132  0.04  -0.029 -0.022 -1.043]
+t: 118	 action: [-0.255 -0.076  0.108  0.049 -0.035 -0.006 -1.031]
+t: 119	 action: [-0.476 -0.19   0.004  0.024 -0.05  -0.021 -1.054]
+t: 120	 action: [-0.617 -0.203 -0.026  0.054 -0.046 -0.005 -1.029]
+t: 121	 action: [-0.668 -0.28  -0.075  0.022 -0.051 -0.015 -1.046]
+[07-31 01:40:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4492
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4492
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4492
+t=122: Selected seed 195 with value = 0.4492
+t: 122	 action: [ 1.078e-01  3.382e-01 -2.843e-01  6.053e-03 -8.123e-03 -5.244e-04 -1.045e+00]
+t: 123	 action: [ 9.309e-02  3.568e-01 -2.802e-01  1.323e-02  4.392e-04 -1.353e-02 -1.045e+00]
+t: 124	 action: [ 0.095  0.191 -0.195  0.006 -0.003 -0.002 -1.047]
+t: 125	 action: [ 0.092  0.196 -0.145  0.009  0.005 -0.022 -1.047]
+t: 126	 action: [ 4.476e-02  1.592e-01 -2.048e-02  3.932e-03  7.039e-04 -8.033e-03 -1.025e+00]
+t: 127	 action: [ 0.029  0.175  0.059  0.012  0.009 -0.021 -1.056]
+t: 128	 action: [ 0.003  0.128  0.121 -0.003  0.001 -0.015 -1.034]
+t: 129	 action: [ 0.032  0.129  0.179  0.006  0.004 -0.032 -1.057]
+t: 130	 action: [ 0.021  0.021  0.19   0.027 -0.017 -0.021 -1.038]
+t: 131	 action: [-0.046 -0.002  0.085  0.02  -0.019 -0.023 -1.046]
+t: 132	 action: [-0.103  0.024  0.074  0.017 -0.028 -0.016 -1.04 ]
+t: 133	 action: [-0.209 -0.043 -0.057  0.011 -0.028 -0.024 -1.046]
+t: 134	 action: [-0.347 -0.005 -0.125  0.017 -0.041 -0.008 -1.028]
+t: 135	 action: [-0.454 -0.112 -0.169 -0.004 -0.049 -0.021 -1.047]
+t: 136	 action: [-0.624 -0.057 -0.321  0.007 -0.05  -0.007 -1.027]
+t: 137	 action: [-0.581 -0.117 -0.347 -0.012 -0.054 -0.021 -1.051]
+[07-31 01:40:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4621
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4621
+Query 1/1: Action query time = 1.002 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4621
+t=138: Selected seed 195 with value = 0.4621
+t: 138	 action: [ 0.125  0.198 -0.392  0.027 -0.018 -0.005 -1.059]
+t: 139	 action: [ 0.125  0.241 -0.38   0.029 -0.015 -0.021 -1.042]
+t: 140	 action: [ 0.107  0.152 -0.355  0.025 -0.015 -0.015 -1.054]
+t: 141	 action: [ 0.12   0.176 -0.312  0.024 -0.006 -0.039 -1.045]
+t: 142	 action: [ 0.074  0.113 -0.157  0.018 -0.004 -0.014 -1.044]
+t: 143	 action: [ 0.066  0.16  -0.091  0.024  0.006 -0.028 -1.055]
+t: 144	 action: [ 0.068  0.124 -0.089  0.01  -0.007 -0.03  -1.046]
+t: 145	 action: [ 0.105  0.145 -0.063  0.017  0.002 -0.048 -1.057]
+t: 146	 action: [ 0.094  0.03  -0.021  0.023 -0.019 -0.039 -1.063]
+t: 147	 action: [ 0.054  0.017 -0.108  0.017 -0.014 -0.041 -1.047]
+t: 148	 action: [ 0.028  0.037 -0.201  0.011 -0.034 -0.03  -1.055]
+t: 149	 action: [-0.042  0.018 -0.304  0.009 -0.026 -0.029 -1.041]
+t: 150	 action: [-0.189  0.022 -0.47   0.003 -0.047 -0.015 -1.058]
+t: 151	 action: [-2.634e-01 -2.667e-02 -4.865e-01  1.010e-03 -5.016e-02 -3.567e-02 -1.051e+00]
+t: 152	 action: [-0.394 -0.016 -0.654 -0.004 -0.055 -0.01  -1.047]
+t: 153	 action: [-0.348 -0.042 -0.6   -0.006 -0.058 -0.022 -1.051]
+[07-31 01:40:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.025 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.5000
+Query 1/1: Action query time = 1.025 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5000
+t=154: Selected seed 195 with value = 0.5000
+t: 154	 action: [ 0.057  0.02  -0.539  0.021 -0.02  -0.032 -1.039]
+t: 155	 action: [ 0.035  0.057 -0.563  0.024 -0.02  -0.036 -1.04 ]
+t: 156	 action: [ 0.01   0.014 -0.545  0.028 -0.016 -0.041 -1.028]
+t: 157	 action: [ 0.024  0.04  -0.53   0.023 -0.01  -0.047 -1.033]
+t: 158	 action: [-5.529e-04  3.689e-02 -5.517e-01  3.652e-02 -1.345e-02 -3.602e-02 -1.026e+00]
+t: 159	 action: [ 0.016  0.059 -0.424  0.026 -0.005 -0.034 -1.057]
+t: 160	 action: [ 0.013  0.022 -0.463  0.033 -0.011 -0.043 -1.017]
+t: 161	 action: [ 0.05   0.042 -0.334  0.02  -0.003 -0.047 -1.05 ]
+t: 162	 action: [ 0.166 -0.02  -0.039  0.029 -0.008 -0.044 -1.054]
+t: 163	 action: [ 0.161 -0.032 -0.086  0.021  0.002 -0.042 -1.04 ]
+t: 164	 action: [ 0.172 -0.009 -0.135  0.022 -0.014 -0.036 -1.045]
+t: 165	 action: [ 0.148 -0.024 -0.204  0.015  0.001 -0.038 -1.039]
+t: 166	 action: [ 0.035 -0.001 -0.374  0.019 -0.02  -0.027 -1.05 ]
+t: 167	 action: [ 0.002 -0.026 -0.345  0.015 -0.009 -0.036 -1.053]
+t: 168	 action: [-0.026  0.005 -0.561  0.009 -0.02  -0.021 -1.04 ]
+t: 169	 action: [-0.014 -0.033 -0.481  0.01  -0.011 -0.029 -1.058]
+[07-31 01:40:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5805
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5805
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5805
+t=170: Selected seed 195 with value = 0.5805
+t: 170	 action: [ 0.13   0.016 -0.473  0.015  0.016  0.011 -1.071]
+t: 171	 action: [ 8.475e-02 -1.358e-03 -5.263e-01  3.458e-03  1.993e-02  4.391e-04 -1.034e+00]
+t: 172	 action: [ 0.067 -0.019 -0.546  0.012  0.027  0.013 -1.192]
+t: 173	 action: [ 0.015 -0.032 -0.583  0.005  0.027  0.02  -1.151]
+t: 174	 action: [-0.01  -0.004 -0.565 -0.003  0.031  0.007 -1.077]
+t: 175	 action: [-0.029 -0.003 -0.54   0.011  0.027  0.002 -1.007]
+t: 176	 action: [-0.023 -0.017 -0.514 -0.004  0.034  0.004  1.103]
+t: 177	 action: [ 0.015 -0.004 -0.44   0.009  0.031  0.009  1.164]
+t: 178	 action: [-3.135e-02 -9.653e-04 -4.725e-01  1.870e-03  3.811e-02  5.896e-03  9.798e-01]
+t: 179	 action: [-4.239e-05 -4.503e-02 -3.326e-01 -1.582e-02  6.253e-02 -7.701e-03  1.038e+00]
+t: 180	 action: [-0.006  0.017 -0.205 -0.011  0.051  0.007  0.964]
+t: 181	 action: [ 0.022 -0.021 -0.075 -0.026  0.068 -0.02   1.022]
+t: 182	 action: [-3.463e-02  2.838e-02 -7.264e-07 -1.208e-02  6.142e-02 -1.212e-03  1.007e+00]
+t: 183	 action: [ 0.028  0.021  0.2   -0.032  0.05  -0.021  1.031]
+t: 184	 action: [ 0.002  0.031  0.354 -0.019  0.053 -0.009  1.004]
+t: 185	 action: [ 0.069  0.013  0.625 -0.044  0.034 -0.032  1.022]
+[07-31 01:40:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6927
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.6927
+Query 1/1: Action query time = 0.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6927
+t=186: Selected seed 195 with value = 0.6927
+t: 186	 action: [-0.105  0.008  0.044 -0.02   0.026 -0.014  0.963]
+t: 187	 action: [-0.077  0.027  0.215 -0.012  0.04  -0.025  1.034]
+t: 188	 action: [-1.259e-01 -3.617e-04  3.413e-01 -1.075e-02  1.832e-02 -2.326e-02  9.788e-01]
+t: 189	 action: [-0.071  0.023  0.471  0.003  0.034 -0.023  1.032]
+t: 190	 action: [-0.103 -0.036  0.498  0.009  0.028 -0.016  0.979]
+t: 191	 action: [-0.071 -0.086  0.662  0.014  0.029 -0.022  1.046]
+t: 192	 action: [-0.087 -0.112  0.688  0.039  0.034 -0.019  0.986]
+t: 193	 action: [-0.007 -0.234  0.671  0.032  0.048 -0.018  1.03 ]
+t: 194	 action: [ 0.043 -0.159  0.298  0.02   0.067 -0.006  0.985]
+t: 195	 action: [ 0.059 -0.224  0.251  0.022  0.08  -0.012  1.025]
+t: 196	 action: [ 0.086 -0.217  0.222  0.023  0.051 -0.011  0.98 ]
+t: 197	 action: [ 0.08  -0.305  0.132  0.024  0.048 -0.011  1.039]
+t: 198	 action: [ 0.065 -0.355  0.1    0.015  0.05  -0.01   1.   ]
+t: 199	 action: [ 0.035 -0.42   0.019  0.002  0.014 -0.007  1.044]
+t: 200	 action: [ 0.06  -0.301 -0.015  0.01   0.03  -0.014  1.002]
+t: 201	 action: [ 0.023 -0.392 -0.048 -0.007 -0.002 -0.006  1.048]
+[07-31 01:40:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7401
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7401
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7401
+t=202: Selected seed 195 with value = 0.7401
+t: 202	 action: [-0.118 -0.04   0.062 -0.003  0.039 -0.043  0.996]
+t: 203	 action: [-0.116 -0.059  0.139  0.013  0.043 -0.029  1.05 ]
+t: 204	 action: [-0.124 -0.051  0.232  0.008  0.041 -0.047  1.058]
+t: 205	 action: [-0.163 -0.071  0.223  0.023  0.05  -0.043  1.029]
+t: 206	 action: [-0.114 -0.08   0.242  0.024  0.043 -0.023  1.022]
+t: 207	 action: [-0.098 -0.077  0.185  0.031  0.034 -0.026  1.066]
+t: 208	 action: [-0.103 -0.058  0.261  0.029  0.056 -0.022 -0.901]
+t: 209	 action: [-0.105 -0.079  0.16   0.034  0.058 -0.025 -1.019]
+t: 210	 action: [-0.011 -0.231 -0.429  0.009  0.05   0.003  0.992]
+t: 211	 action: [-0.068 -0.217 -0.437  0.033  0.018  0.02   1.034]
+t: 212	 action: [ 0.015 -0.174 -0.674  0.002  0.026  0.004  0.974]
+t: 213	 action: [-0.062 -0.153 -0.553  0.022  0.003  0.027  1.065]
+t: 214	 action: [-0.002 -0.184 -0.519 -0.007  0.002  0.007  1.036]
+t: 215	 action: [-0.083 -0.144 -0.586 -0.041 -0.027  0.026  1.073]
+t: 216	 action: [-0.018 -0.132 -0.47  -0.011 -0.027  0.006  1.013]
+t: 217	 action: [-0.078 -0.104 -0.552 -0.042 -0.047  0.03   1.086]
+[07-31 01:40:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7459
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=218: Selected seed 195 with value = 0.7459
+t: 218	 action: [-1.354e-01 -3.630e-04  1.691e-01 -5.398e-03  6.593e-03 -1.853e-02  9.919e-01]
+t: 219	 action: [-0.133  0.013  0.239  0.005  0.038 -0.021  1.056]
+t: 220	 action: [-0.168  0.008  0.37   0.001  0.014 -0.023  0.998]
+t: 221	 action: [-0.16   0.034  0.471  0.012  0.053 -0.018  1.06 ]
+t: 222	 action: [-0.18   0.022  0.553  0.005  0.049 -0.017  1.019]
+t: 223	 action: [-0.118  0.044  0.616  0.016  0.074 -0.025  1.06 ]
+t: 224	 action: [-0.145  0.015  0.741  0.014  0.063 -0.021  1.013]
+t: 225	 action: [-0.062  0.008  0.691  0.022  0.096 -0.021  1.048]
+t: 226	 action: [ 0.038 -0.082  0.599  0.025  0.074 -0.02   1.006]
+t: 227	 action: [ 0.062 -0.071  0.506  0.029  0.058 -0.014  1.048]
+t: 228	 action: [ 0.093 -0.057  0.373  0.004  0.049 -0.013  1.002]
+t: 229	 action: [ 0.083 -0.088  0.183  0.015  0.022 -0.007  1.054]
+t: 230	 action: [ 3.544e-02 -9.990e-02  2.361e-01  9.996e-04  2.734e-02 -7.418e-03  1.036e+00]
+t: 231	 action: [ 0.052 -0.139  0.098 -0.019 -0.002 -0.003  1.059]
+t: 232	 action: [ 0.032 -0.067  0.045 -0.014 -0.006 -0.005  1.033]
+t: 233	 action: [ 0.038 -0.134 -0.032 -0.035 -0.009  0.004  1.052]
+[07-31 01:40:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.026 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8195
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.8195
+Query 1/1: Action query time = 1.026 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8195
+t=234: Selected seed 195 with value = 0.8195
+t: 234	 action: [-0.164 -0.082  0.519  0.003  0.044 -0.029  0.974]
+t: 235	 action: [-0.138 -0.014  0.546  0.011  0.047 -0.024  1.047]
+t: 236	 action: [-0.18  -0.114  0.67   0.007  0.052 -0.02   0.982]
+t: 237	 action: [-0.175 -0.035  0.661  0.013  0.066 -0.015  1.049]
+t: 238	 action: [-0.143 -0.114  0.678  0.004  0.078 -0.006  1.003]
+t: 239	 action: [-0.122 -0.046  0.659  0.02   0.097 -0.007  1.044]
+t: 240	 action: [-1.063e-01 -1.214e-01  6.804e-01 -1.556e-03  9.156e-02  3.740e-04  1.007e+00]
+t: 241	 action: [-7.494e-02 -8.165e-02  6.135e-01  1.555e-02  1.099e-01 -3.449e-04  1.044e+00]
+t: 242	 action: [ 6.223e-02 -2.368e-01  5.972e-01  1.187e-02  7.798e-02  8.255e-04  9.853e-01]
+t: 243	 action: [ 0.064 -0.211  0.49   0.017  0.058  0.005  1.038]
+t: 244	 action: [ 1.375e-01 -1.918e-01  3.136e-01 -4.833e-04  6.147e-02  4.505e-04  9.893e-01]
+t: 245	 action: [ 0.131 -0.224  0.191 -0.002  0.024  0.013  1.041]
+t: 246	 action: [ 0.137 -0.312  0.209 -0.012  0.027  0.005  1.019]
+t: 247	 action: [ 1.471e-01 -3.574e-01  5.917e-02 -2.757e-02  2.789e-04  2.237e-02  1.053e+00]
+t: 248	 action: [ 1.266e-01 -2.798e-01 -3.267e-02 -2.451e-02 -3.407e-04  1.195e-02  1.026e+00]
+t: 249	 action: [ 0.115 -0.366 -0.054 -0.04  -0.009  0.028  1.051]
+[07-31 01:40:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8904
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8904
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8904
+t=250: Selected seed 195 with value = 0.8904
+t: 250	 action: [ 0.058 -0.282  0.839  0.007  0.062 -0.011  0.956]
+t: 251	 action: [ 0.047 -0.23   0.824  0.016  0.04  -0.025  1.02 ]
+t: 252	 action: [ 0.096 -0.322  0.742  0.008  0.059  0.003  0.968]
+t: 253	 action: [ 0.075 -0.328  0.724  0.014  0.058 -0.009  1.02 ]
+t: 254	 action: [ 0.195 -0.341  0.639  0.004  0.065  0.007  0.985]
+t: 255	 action: [ 0.165 -0.377  0.625  0.02   0.072  0.007  1.014]
+t: 256	 action: [ 2.350e-01 -3.201e-01  3.966e-01  5.430e-04  6.795e-02  7.765e-03  9.962e-01]
+t: 257	 action: [ 0.202 -0.375  0.343  0.013  0.084  0.011  1.017]
+t: 258	 action: [ 0.336 -0.468  0.28   0.007  0.052  0.011  0.954]
+t: 259	 action: [ 0.335 -0.52   0.18   0.004  0.024  0.02   1.004]
+t: 260	 action: [ 0.364 -0.44   0.01   0.004  0.044  0.019  0.96 ]
+t: 261	 action: [ 0.353 -0.568  0.019 -0.004  0.016  0.028  1.008]
+t: 262	 action: [ 0.368 -0.384 -0.065 -0.01   0.031  0.029  0.984]
+t: 263	 action: [ 0.327 -0.554 -0.1   -0.021  0.024  0.043  1.015]
+t: 264	 action: [ 0.317 -0.24  -0.235 -0.021  0.016  0.044  0.994]
+t: 265	 action: [ 0.3   -0.39  -0.187 -0.034  0.009  0.047  1.018]
+[07-31 01:40:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.137 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9410
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9410
+Query 1/1: Action query time = 1.137 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9410
+t=266: Selected seed 195 with value = 0.9410
+t: 266	 action: [ 0.229 -0.516  0.528  0.019  0.044  0.007  0.944]
+t: 267	 action: [ 0.155 -0.529  0.456  0.022  0.038  0.006  1.015]
+t: 268	 action: [ 0.247 -0.541  0.337  0.022  0.036  0.009  0.962]
+t: 269	 action: [ 0.181 -0.535  0.207  0.021  0.037  0.017  1.01 ]
+t: 270	 action: [ 3.034e-01 -3.876e-01  9.337e-02 -3.178e-04  5.030e-02  1.643e-02  9.756e-01]
+t: 271	 action: [ 0.244 -0.486 -0.064  0.014  0.059  0.023  1.007]
+t: 272	 action: [ 0.331 -0.292 -0.234 -0.008  0.056  0.03   0.991]
+t: 273	 action: [ 0.278 -0.313 -0.347  0.004  0.075  0.025  1.009]
+t: 274	 action: [ 0.389 -0.334 -0.357  0.002  0.025  0.044  0.948]
+t: 275	 action: [ 0.337 -0.248 -0.368 -0.01   0.017  0.046  1.008]
+t: 276	 action: [ 0.435 -0.215 -0.47  -0.007  0.019  0.06   1.066]
+t: 277	 action: [ 0.351 -0.174 -0.388 -0.02   0.008  0.047  0.99 ]
+t: 278	 action: [ 0.25  -0.079 -0.218 -0.02   0.028  0.065  0.983]
+t: 279	 action: [ 0.171 -0.078 -0.269 -0.028  0.014  0.056  1.016]
+t: 280	 action: [ 0.18   0.002 -0.07  -0.025  0.023  0.065 -1.048]
+t: 281	 action: [ 0.111 -0.029 -0.062 -0.033  0.011  0.06  -1.121]
+[07-31 01:40:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.115 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9623
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 1.115 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=282: Selected seed 195 with value = 0.9623
+t: 282	 action: [-0.126 -0.2   -0.61   0.008  0.021  0.031  0.946]
+t: 283	 action: [-1.747e-01 -2.583e-01 -5.630e-01 -6.613e-04  4.322e-02  3.435e-02  1.048e+00]
+t: 284	 action: [-0.077 -0.211 -0.583  0.006  0.034  0.047  1.101]
+t: 285	 action: [-0.128 -0.243 -0.5    0.004  0.044  0.032  0.954]
+t: 286	 action: [-0.089 -0.131 -0.343 -0.004  0.027  0.056  0.987]
+t: 287	 action: [-0.026 -0.136 -0.244 -0.007  0.036  0.045  1.041]
+t: 288	 action: [ 0.037 -0.029 -0.054 -0.004  0.051  0.052 -1.125]
+t: 289	 action: [ 6.077e-02 -3.416e-02  6.818e-02 -8.354e-04  6.154e-02  2.750e-02 -1.121e+00]
+t: 290	 action: [ 0.264 -0.072  0.154  0.004  0.032  0.012 -1.036]
+t: 291	 action: [ 0.282 -0.067  0.228  0.006  0.046  0.009 -1.03 ]
+t: 292	 action: [ 0.291 -0.001  0.276  0.003  0.033  0.01  -1.021]
+t: 293	 action: [ 0.325 -0.027  0.306  0.006  0.045  0.004 -1.032]
+t: 294	 action: [ 2.028e-01  3.940e-02  2.969e-01 -2.624e-04  4.379e-02  5.767e-03 -1.051e+00]
+t: 295	 action: [ 0.208  0.044  0.319  0.009  0.048  0.004 -1.061]
+t: 296	 action: [ 0.173  0.038  0.284 -0.003  0.042  0.002 -1.026]
+t: 297	 action: [ 0.176  0.054  0.274  0.009  0.048  0.004 -1.058]
+[07-31 01:40:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.166 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9892
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9892
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 56
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 12%|█▏        | 6/50 [03:14<23:41, 32.30s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 7...
+Query 1/1: Action query time = 1.166 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=298: Selected seed 195 with value = 0.9892
+t: 298	 action: [-2.127e-01  5.882e-03 -3.059e-01 -5.625e-04  4.071e-02  7.630e-03  1.103e+00]
+t: 299	 action: [-0.169 -0.082 -0.236 -0.008  0.061  0.002  0.949]
+t: 300	 action: [-0.172  0.009 -0.035 -0.003  0.038  0.009 -0.918]
+t: 301	 action: [-0.126 -0.073  0.024 -0.012  0.051  0.003 -1.026]
+t: 302	 action: [-0.053  0.042  0.106 -0.021  0.034  0.008 -1.092]
+t: 303	 action: [-0.022  0.09   0.153 -0.023  0.034  0.021 -1.031]
+t: 304	 action: [ 0.017  0.024  0.294 -0.016  0.032  0.006 -0.944]
+t: 305	 action: [ 0.005  0.097  0.313 -0.011  0.039  0.006 -1.041]
+t: 306	 action: [ 0.105  0.012  0.301 -0.002  0.01   0.005  0.182]
+t: 307	 action: [ 0.148 -0.002  0.312 -0.008  0.021 -0.004 -0.924]
+t: 308	 action: [ 0.098  0.015  0.324 -0.009  0.004  0.007 -1.014]
+t: 309	 action: [ 1.372e-01 -1.410e-03  3.233e-01 -9.210e-03  1.297e-02 -5.804e-04 -1.036e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=56--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=56--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 56
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+[07-31 01:40:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.013 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3963
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3963
+Query 1/1: Action query time = 1.013 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3963
+t=10: Selected seed 195 with value = 0.3963
+t: 10	 action: [ 0.348 -0.165  0.075  0.007  0.023  0.007 -1.018]
+t: 11	 action: [ 0.505 -0.116  0.096  0.004  0.031  0.006 -1.008]
+t: 12	 action: [ 0.662 -0.271  0.146  0.006  0.022  0.012 -1.025]
+t: 13	 action: [ 0.794 -0.202  0.179  0.005  0.029  0.01  -1.02 ]
+t: 14	 action: [ 0.845 -0.201  0.23   0.006  0.022  0.01  -1.031]
+t: 15	 action: [ 0.853 -0.208  0.207  0.01   0.018  0.011 -1.043]
+t: 16	 action: [ 0.903 -0.196  0.24   0.003  0.017  0.014 -1.03 ]
+t: 17	 action: [ 0.894 -0.223  0.208  0.012  0.015  0.013 -1.048]
+t: 18	 action: [ 0.877 -0.223  0.208  0.007 -0.004  0.015 -1.034]
+t: 19	 action: [ 0.902 -0.208  0.23   0.007  0.009  0.01  -1.02 ]
+t: 20	 action: [ 0.916 -0.234  0.182  0.008 -0.006  0.015 -1.023]
+t: 21	 action: [ 0.929 -0.224  0.209  0.011  0.01   0.011 -1.015]
+t: 22	 action: [ 0.942 -0.193  0.173  0.007 -0.004  0.011 -1.018]
+t: 23	 action: [ 0.949 -0.32   0.124  0.012  0.005  0.011 -1.042]
+t: 24	 action: [ 0.962 -0.198  0.123  0.006 -0.004  0.008 -1.01 ]
+t: 25	 action: [ 0.957 -0.319  0.071  0.015  0.006  0.012 -1.043]
+[07-31 01:40:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4405
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4405
+Query 1/1: Action query time = 1.004 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4405
+t=26: Selected seed 195 with value = 0.4405
+t: 26	 action: [ 0.908 -0.263  0.094  0.005 -0.023  0.005 -1.018]
+t: 27	 action: [ 0.932 -0.239  0.091  0.007 -0.016 -0.003 -1.021]
+t: 28	 action: [ 0.91  -0.287  0.04   0.007 -0.028  0.007 -1.026]
+t: 29	 action: [ 9.437e-01 -2.579e-01  4.223e-02  1.524e-02 -1.631e-02  9.006e-04 -1.027e+00]
+t: 30	 action: [ 0.956 -0.245 -0.022  0.008 -0.031  0.005 -1.001]
+t: 31	 action: [ 0.929 -0.256 -0.037  0.016 -0.036  0.003 -1.039]
+t: 32	 action: [ 0.924 -0.182 -0.167  0.005 -0.044  0.008 -1.013]
+t: 33	 action: [ 0.892 -0.188 -0.202  0.017 -0.047  0.006 -1.04 ]
+t: 34	 action: [ 0.591 -0.204 -0.312  0.018 -0.072  0.015 -1.027]
+t: 35	 action: [ 0.481 -0.114 -0.442  0.021 -0.082  0.014 -1.018]
+t: 36	 action: [ 0.335 -0.091 -0.535  0.016 -0.108  0.026 -1.014]
+t: 37	 action: [ 0.182 -0.04  -0.633  0.02  -0.094  0.02  -1.011]
+t: 38	 action: [ 0.155  0.058 -0.732  0.005 -0.119  0.022 -1.018]
+t: 39	 action: [ 0.033  0.03  -0.739  0.022 -0.095  0.024 -1.02 ]
+t: 40	 action: [-0.01   0.072 -0.823 -0.002 -0.109  0.033 -1.008]
+t: 41	 action: [-0.029  0.095 -0.806  0.02  -0.079  0.031 -1.025]
+[07-31 01:40:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4975
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4975
+Query 1/1: Action query time = 0.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4975
+t=42: Selected seed 195 with value = 0.4975
+t: 42	 action: [-0.036  0.515 -0.703  0.007 -0.027  0.035 -1.02 ]
+t: 43	 action: [-0.028  0.661 -0.671  0.008 -0.039  0.032 -1.025]
+t: 44	 action: [-0.059  0.715 -0.658  0.007 -0.024  0.036 -1.013]
+t: 45	 action: [-0.043  0.715 -0.605  0.007 -0.032  0.031 -1.023]
+t: 46	 action: [-0.075  0.758 -0.626  0.002 -0.03   0.036 -1.01 ]
+t: 47	 action: [-0.073  0.781 -0.584  0.008 -0.043  0.033 -1.032]
+t: 48	 action: [-0.076  0.794 -0.615  0.003 -0.026  0.039 -1.005]
+t: 49	 action: [-0.05   0.787 -0.558  0.006 -0.032  0.032 -1.034]
+t: 50	 action: [-0.018  0.762 -0.655  0.008 -0.034  0.036 -1.029]
+t: 51	 action: [ 0.006  0.71  -0.678  0.004 -0.041  0.03  -1.028]
+t: 52	 action: [-0.011  0.784 -0.652  0.007 -0.024  0.035 -1.023]
+t: 53	 action: [ 0.009  0.714 -0.615  0.004 -0.028  0.028 -1.026]
+t: 54	 action: [-0.081  0.782 -0.63   0.002 -0.032  0.037 -1.019]
+t: 55	 action: [-0.054  0.733 -0.565  0.001 -0.04   0.031 -1.037]
+t: 56	 action: [-0.07   0.699 -0.593  0.001 -0.018  0.034 -1.011]
+t: 57	 action: [-4.988e-02  6.478e-01 -4.482e-01  1.255e-04 -2.190e-02  2.936e-02 -1.045e+00]
+[07-31 01:40:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6075
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6075
+Query 1/1: Action query time = 1.006 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6075
+t=58: Selected seed 195 with value = 0.6075
+t: 58	 action: [ 0.071  0.366 -0.461 -0.002  0.003  0.037 -1.018]
+t: 59	 action: [ 9.841e-02  3.410e-01 -2.480e-01 -9.826e-04  9.965e-03  2.623e-02 -1.018e+00]
+t: 60	 action: [ 0.07   0.169 -0.233 -0.006  0.011  0.028 -1.005]
+t: 61	 action: [ 0.087  0.11  -0.034 -0.003  0.012  0.02  -1.02 ]
+t: 62	 action: [-0.018  0.063 -0.115  0.002  0.021  0.027 -1.002]
+t: 63	 action: [-2.043e-05  1.141e-01  5.248e-02  2.424e-03  1.431e-02  2.455e-02 -1.027e+00]
+t: 64	 action: [-0.079 -0.033  0.24  -0.001  0.024  0.013 -0.998]
+t: 65	 action: [-0.009 -0.041  0.351  0.005  0.014  0.017 -1.031]
+t: 66	 action: [ 0.019 -0.2    0.461  0.031  0.014  0.015 -1.027]
+t: 67	 action: [-0.073 -0.259  0.409  0.034  0.009  0.018 -1.041]
+t: 68	 action: [-0.081 -0.182  0.311  0.027  0.013  0.02  -1.025]
+t: 69	 action: [-0.15  -0.294  0.194  0.03   0.012  0.022 -1.026]
+t: 70	 action: [-0.313 -0.142  0.102  0.041  0.004  0.032 -1.02 ]
+t: 71	 action: [-0.393 -0.18   0.004  0.031 -0.005  0.034 -1.038]
+t: 72	 action: [-0.557 -0.142 -0.066  0.013  0.005  0.039 -1.011]
+t: 73	 action: [-0.479 -0.153 -0.09   0.021  0.003  0.037 -1.024]
+[07-31 01:40:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6142
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6142
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6142
+t=74: Selected seed 195 with value = 0.6142
+t: 74	 action: [ 0.085  0.458 -0.347 -0.001  0.006  0.035 -1.009]
+t: 75	 action: [ 0.126  0.399 -0.151 -0.005  0.016  0.023 -1.013]
+t: 76	 action: [ 0.091  0.202 -0.077 -0.005  0.015  0.023 -0.999]
+t: 77	 action: [ 0.119  0.096  0.08  -0.006  0.019  0.013 -1.015]
+t: 78	 action: [ 0.035  0.145  0.052 -0.009  0.021  0.015 -0.996]
+t: 79	 action: [ 0.027  0.149  0.236 -0.008  0.017  0.017 -1.029]
+t: 80	 action: [-2.170e-02 -1.021e-02  4.553e-01 -4.837e-04  2.516e-02  2.903e-03 -9.977e-01]
+t: 81	 action: [ 0.008 -0.011  0.608 -0.002  0.021  0.009 -1.032]
+t: 82	 action: [ 0.022 -0.166  0.629  0.017 -0.001  0.008 -1.013]
+t: 83	 action: [-0.098 -0.209  0.609  0.028 -0.002  0.002 -1.038]
+t: 84	 action: [-0.085 -0.159  0.494  0.024 -0.002  0.011 -1.021]
+t: 85	 action: [-0.191 -0.261  0.422  0.033  0.002  0.005 -1.02 ]
+t: 86	 action: [-0.407 -0.164  0.266  0.05  -0.003  0.007 -1.01 ]
+t: 87	 action: [-0.52  -0.167  0.184  0.036 -0.015  0.013 -1.042]
+t: 88	 action: [-0.641 -0.149  0.09   0.042 -0.003  0.011 -1.004]
+t: 89	 action: [-0.596 -0.164  0.034  0.033 -0.006  0.019 -1.023]
+[07-31 01:40:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6205
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6205
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6205
+t=90: Selected seed 195 with value = 0.6205
+t: 90	 action: [ 0.095  0.318 -0.253  0.002  0.015  0.01  -1.019]
+t: 91	 action: [ 0.173  0.233 -0.103  0.001  0.021  0.006 -1.006]
+t: 92	 action: [ 0.102  0.087 -0.035 -0.003  0.025  0.009 -1.016]
+t: 93	 action: [ 1.347e-01  9.867e-03  1.385e-01  6.447e-04  3.414e-02 -1.620e-03 -1.004e+00]
+t: 94	 action: [ 7.364e-02  3.383e-02  2.223e-01  3.545e-03  3.862e-02 -2.784e-04 -1.010e+00]
+t: 95	 action: [ 3.266e-02  3.122e-02  3.987e-01  3.362e-03  3.307e-02 -9.197e-05 -1.027e+00]
+t: 96	 action: [ 0.003 -0.008  0.55   0.005  0.042 -0.004 -1.018]
+t: 97	 action: [-0.008 -0.038  0.635  0.01   0.04  -0.007 -1.028]
+t: 98	 action: [-0.019 -0.05   0.592  0.016  0.014 -0.002 -1.029]
+t: 99	 action: [-0.214 -0.116  0.577  0.025  0.012 -0.006 -1.034]
+t: 100	 action: [-0.214 -0.014  0.441  0.013  0.005  0.006 -1.042]
+t: 101	 action: [-0.363 -0.121  0.401  0.023  0.009 -0.006 -1.023]
+t: 102	 action: [-6.691e-01 -4.941e-02  2.691e-01  3.853e-02 -6.393e-04  1.284e-03 -1.009e+00]
+t: 103	 action: [-7.408e-01 -7.715e-02  1.753e-01  2.540e-02 -1.249e-02 -7.545e-04 -1.038e+00]
+t: 104	 action: [-0.853 -0.051  0.144  0.026 -0.006  0.002 -1.001]
+t: 105	 action: [-0.841 -0.09   0.052  0.021 -0.009  0.004 -1.033]
+[07-31 01:40:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4456
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4456
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4456
+t=106: Selected seed 195 with value = 0.4456
+t: 106	 action: [ 0.148  0.069 -0.019 -0.001  0.018  0.003 -1.016]
+t: 107	 action: [ 0.134  0.077  0.041 -0.003  0.023 -0.004 -1.032]
+t: 108	 action: [ 8.567e-02 -3.502e-03  7.859e-02 -2.548e-03  1.870e-02  6.273e-04 -1.024e+00]
+t: 109	 action: [ 0.061 -0.028  0.113 -0.008  0.028 -0.012 -1.034]
+t: 110	 action: [-2.440e-02 -1.899e-02  1.137e-01 -1.194e-04  2.905e-02 -2.182e-03 -1.009e+00]
+t: 111	 action: [-0.029 -0.005  0.094 -0.002  0.016 -0.012 -1.06 ]
+t: 112	 action: [-0.172 -0.035  0.118 -0.003  0.023 -0.009 -1.026]
+t: 113	 action: [-0.144 -0.019  0.111 -0.008  0.012 -0.02  -1.065]
+t: 114	 action: [-0.268  0.01  -0.006  0.004  0.003  0.003 -1.029]
+t: 115	 action: [-0.46  -0.042 -0.049 -0.01   0.006 -0.005 -1.046]
+t: 116	 action: [-4.897e-01  2.162e-02 -9.962e-02  6.769e-04 -4.656e-03  2.776e-03 -1.042e+00]
+t: 117	 action: [-0.588 -0.033 -0.204 -0.015  0.006 -0.006 -1.039]
+t: 118	 action: [-0.791  0.002 -0.289 -0.005 -0.012  0.004 -1.009]
+t: 119	 action: [-0.749 -0.024 -0.279 -0.019 -0.02  -0.005 -1.059]
+t: 120	 action: [-0.776 -0.01  -0.417 -0.006 -0.015  0.001 -1.021]
+t: 121	 action: [-0.686 -0.042 -0.383 -0.02  -0.018 -0.006 -1.047]
+[07-31 01:40:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4521
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4521
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4521
+t=122: Selected seed 195 with value = 0.4521
+t: 122	 action: [ 2.095e-01  4.588e-01 -2.962e-01 -2.167e-03 -7.124e-04  1.594e-03 -1.024e+00]
+t: 123	 action: [ 2.506e-01  4.762e-01 -2.342e-01 -8.660e-04  5.151e-03 -6.123e-03 -1.035e+00]
+t: 124	 action: [ 2.069e-01  1.793e-01 -2.472e-01 -3.063e-03  4.231e-03  7.402e-04 -1.033e+00]
+t: 125	 action: [ 1.987e-01  1.851e-01 -1.617e-01 -2.052e-04  7.973e-03 -1.099e-02 -1.036e+00]
+t: 126	 action: [ 0.147  0.131 -0.199  0.003  0.007 -0.002 -1.015]
+t: 127	 action: [ 0.092  0.04  -0.145  0.005  0.009 -0.01  -1.057]
+t: 128	 action: [ 0.075  0.001 -0.195 -0.002  0.009 -0.003 -1.027]
+t: 129	 action: [ 0.065 -0.072 -0.122  0.004  0.007 -0.015 -1.066]
+t: 130	 action: [-0.025 -0.217 -0.208  0.018  0.005  0.005 -1.027]
+t: 131	 action: [-0.081 -0.197 -0.281  0.004  0.008 -0.002 -1.043]
+t: 132	 action: [-1.016e-01 -1.612e-01 -3.146e-01  3.900e-03  8.856e-04  4.738e-03 -1.037e+00]
+t: 133	 action: [-0.159 -0.137 -0.4   -0.005  0.002 -0.006 -1.033]
+t: 134	 action: [-0.306  0.024 -0.409 -0.005 -0.01   0.002 -1.022]
+t: 135	 action: [-0.272  0.034 -0.422 -0.01  -0.011 -0.007 -1.057]
+t: 136	 action: [-0.277  0.058 -0.463 -0.012 -0.011 -0.001 -1.026]
+t: 137	 action: [-0.219  0.066 -0.429 -0.021 -0.016 -0.01  -1.002]
+[07-31 01:40:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4885
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4885
+Query 1/1: Action query time = 1.002 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4885
+t=138: Selected seed 195 with value = 0.4885
+t: 138	 action: [ 0.19   0.315 -0.5   -0.004  0.001  0.004 -1.052]
+t: 139	 action: [ 1.893e-01  3.301e-01 -3.959e-01 -1.700e-03  5.726e-03  5.372e-05 -1.035e+00]
+t: 140	 action: [ 0.128  0.138 -0.411 -0.005  0.005  0.004 -1.056]
+t: 141	 action: [ 0.106  0.125 -0.273 -0.001  0.007 -0.003 -1.03 ]
+t: 142	 action: [ 6.018e-02  1.250e-01 -2.146e-01  2.009e-03  1.171e-02  9.641e-04 -1.044e+00]
+t: 143	 action: [ 0.035  0.093 -0.05   0.008  0.005 -0.002 -1.058]
+t: 144	 action: [ 0.014  0.036  0.013 -0.006  0.01  -0.003 -1.05 ]
+t: 145	 action: [ 0.025  0.015  0.096  0.005  0.002 -0.008 -1.056]
+t: 146	 action: [ 0.106 -0.229  0.191  0.037 -0.002 -0.009 -1.067]
+t: 147	 action: [ 5.938e-02 -2.077e-01  7.114e-02  1.994e-02 -1.673e-04 -9.759e-03 -1.048e+00]
+t: 148	 action: [ 7.686e-02 -1.848e-01  1.055e-02  2.276e-02 -1.368e-02 -4.126e-04 -1.080e+00]
+t: 149	 action: [ 0.047 -0.176 -0.137  0.01  -0.009 -0.008 -1.046]
+t: 150	 action: [-0.061 -0.046 -0.103  0.01  -0.015 -0.004 -1.054]
+t: 151	 action: [-0.101 -0.048 -0.209  0.007 -0.025 -0.008 -1.054]
+t: 152	 action: [-0.118  0.006 -0.349 -0.009 -0.021 -0.003 -1.063]
+t: 153	 action: [-0.132 -0.005 -0.414 -0.005 -0.026 -0.005 -1.053]
+[07-31 01:40:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4859
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.4859
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4859
+t=154: Selected seed 195 with value = 0.4859
+t: 154	 action: [ 1.064e-01  6.980e-02 -5.441e-01 -3.373e-04  6.930e-03  1.198e-03 -1.057e+00]
+t: 155	 action: [ 0.085  0.123 -0.414  0.009  0.011 -0.005 -1.039]
+t: 156	 action: [ 8.180e-02  3.179e-02 -3.923e-01  4.414e-03  5.938e-03  6.011e-04 -1.062e+00]
+t: 157	 action: [ 0.073  0.065 -0.253  0.007  0.007 -0.008 -1.027]
+t: 158	 action: [ 4.575e-02  6.263e-02 -2.165e-01  5.401e-04  1.589e-02 -3.017e-04 -1.047e+00]
+t: 159	 action: [ 0.026  0.107 -0.056  0.016  0.008 -0.005 -1.056]
+t: 160	 action: [ 0.043  0.05  -0.05  -0.006  0.008 -0.004 -1.054]
+t: 161	 action: [ 0.048  0.068  0.043  0.009  0.002 -0.011 -1.045]
+t: 162	 action: [ 2.131e-01 -5.442e-02  8.047e-02  2.982e-02 -3.069e-04 -5.698e-03 -1.085e+00]
+t: 163	 action: [ 0.204 -0.053 -0.01   0.014  0.002 -0.009 -1.055]
+t: 164	 action: [ 2.161e-01 -1.988e-02 -9.168e-02  1.642e-02 -1.208e-02  6.375e-04 -1.102e+00]
+t: 165	 action: [ 0.17  -0.039 -0.196  0.006 -0.006 -0.007 -1.046]
+t: 166	 action: [ 7.285e-02  2.807e-02 -2.393e-01 -7.315e-04 -1.759e-02 -5.249e-03 -1.074e+00]
+t: 167	 action: [-0.005 -0.003 -0.299  0.004 -0.023 -0.007 -1.054]
+t: 168	 action: [-0.018  0.025 -0.444 -0.009 -0.025 -0.005 -1.085]
+t: 169	 action: [-3.864e-02  7.586e-04 -4.468e-01 -4.802e-03 -2.649e-02 -4.388e-03 -1.048e+00]
+[07-31 01:40:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5682
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5682
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5682
+t=170: Selected seed 195 with value = 0.5682
+t: 170	 action: [ 0.066  0.016 -0.434 -0.009  0.018  0.006 -1.06 ]
+t: 171	 action: [ 0.114  0.043 -0.369 -0.016  0.021 -0.004 -1.058]
+t: 172	 action: [ 0.044  0.059 -0.414 -0.011  0.023  0.008 -1.236]
+t: 173	 action: [ 0.037  0.043 -0.341 -0.017  0.026  0.012 -1.138]
+t: 174	 action: [ 0.014  0.116 -0.296 -0.009  0.028  0.004 -1.026]
+t: 175	 action: [ 0.037  0.092 -0.218 -0.008  0.026 -0.007 -1.042]
+t: 176	 action: [ 0.065  0.057 -0.137 -0.01   0.031  0.003  1.009]
+t: 177	 action: [ 0.096  0.05  -0.132 -0.013  0.031 -0.003  1.143]
+t: 178	 action: [ 0.119  0.072 -0.312 -0.005  0.031  0.007 -1.208]
+t: 179	 action: [ 0.06   0.054 -0.212 -0.018  0.027  0.014 -1.135]
+t: 180	 action: [ 0.058  0.031 -0.355 -0.013  0.031  0.01   0.985]
+t: 181	 action: [ 0.028  0.032 -0.248 -0.02   0.025  0.006  1.04 ]
+t: 182	 action: [ 0.057  0.039 -0.293 -0.011  0.033  0.003  1.066]
+t: 183	 action: [ 0.055  0.018 -0.215 -0.012  0.013  0.008  1.193]
+t: 184	 action: [ 4.062e-02  2.136e-02 -1.541e-01 -1.511e-02  3.312e-02  8.690e-04  1.023e+00]
+t: 185	 action: [ 0.053  0.017 -0.152 -0.017  0.016 -0.002  1.052]
+[07-31 01:40:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7070
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7070
+Query 1/1: Action query time = 0.994 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7070
+t=186: Selected seed 195 with value = 0.7070
+t: 186	 action: [-0.087  0.019 -0.041 -0.03  -0.011  0.001  0.991]
+t: 187	 action: [-4.461e-02  1.555e-02  1.131e-01 -2.370e-02  6.305e-04 -1.822e-03  1.038e+00]
+t: 188	 action: [-0.037  0.023  0.335 -0.023 -0.015 -0.009  0.988]
+t: 189	 action: [ 0.005  0.026  0.584 -0.022 -0.001 -0.01   1.038]
+t: 190	 action: [ 0.089  0.014  0.71  -0.013  0.011 -0.007  1.003]
+t: 191	 action: [ 1.224e-01  1.025e-03  8.559e-01 -5.176e-03  8.689e-03 -1.278e-02  1.032e+00]
+t: 192	 action: [ 0.135 -0.008  0.926  0.003  0.026 -0.019  0.99 ]
+t: 193	 action: [ 0.194 -0.109  0.948  0.017  0.035 -0.02   1.029]
+t: 194	 action: [ 0.026 -0.146  0.854  0.006  0.029  0.005  0.985]
+t: 195	 action: [ 0.044 -0.247  0.88   0.026  0.026  0.003  1.043]
+t: 196	 action: [-0.033 -0.387  0.75   0.031  0.027  0.005  0.977]
+t: 197	 action: [ 6.653e-04 -5.365e-01  6.884e-01  4.922e-02  2.267e-02  2.850e-03  1.033e+00]
+t: 198	 action: [-0.091 -0.592  0.491  0.067  0.033  0.002  0.99 ]
+t: 199	 action: [-0.141 -0.754  0.356  0.067  0.018  0.008  1.033]
+t: 200	 action: [-1.521e-01 -7.425e-01  2.077e-01  7.190e-02  2.590e-02  1.264e-04  9.849e-01]
+t: 201	 action: [-0.164 -0.825  0.105  0.064  0.01   0.007  1.03 ]
+[07-31 01:40:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8429
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 0.992 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=202: Selected seed 195 with value = 0.8429
+t: 202	 action: [-0.123 -0.136 -0.528  0.005 -0.015  0.031  1.158]
+t: 203	 action: [-1.744e-01 -9.297e-02 -5.403e-01 -3.065e-04 -2.529e-02  2.512e-02  1.052e+00]
+t: 204	 action: [-0.037 -0.026 -0.549  0.011 -0.021  0.017  1.13 ]
+t: 205	 action: [-0.091 -0.081 -0.387  0.011 -0.018  0.003 -0.991]
+t: 206	 action: [-0.142  0.05  -0.334  0.002 -0.026  0.015 -1.087]
+t: 207	 action: [-1.034e-01  7.143e-02 -2.138e-01 -7.299e-04 -2.265e-02  1.933e-02 -1.077e+00]
+t: 208	 action: [ 4.737e-03  7.956e-02 -3.863e-02 -1.225e-04 -1.560e-02  6.425e-03 -1.088e+00]
+t: 209	 action: [ 0.032  0.072 -0.021  0.001 -0.009 -0.008 -1.059]
+t: 210	 action: [ 0.151 -0.057 -0.05   0.021  0.024  0.029 -0.979]
+t: 211	 action: [ 0.066 -0.098 -0.161  0.013  0.01   0.03  -1.011]
+t: 212	 action: [ 0.079 -0.107 -0.159  0.032  0.019  0.034 -1.179]
+t: 213	 action: [-0.035 -0.155 -0.225  0.016  0.01   0.033 -1.093]
+t: 214	 action: [-0.036 -0.133 -0.214  0.014  0.02   0.045 -0.905]
+t: 215	 action: [-0.054 -0.124 -0.221  0.007  0.011  0.038  0.769]
+t: 216	 action: [-0.051 -0.118 -0.164  0.017  0.019  0.045  1.007]
+t: 217	 action: [-0.039 -0.105 -0.179  0.007  0.016  0.035  1.192]
+[07-31 01:40:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8137
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8137
+Query 1/1: Action query time = 0.990 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8137
+t=218: Selected seed 195 with value = 0.8137
+t: 218	 action: [-0.043 -0.032 -0.074 -0.021  0.021  0.003  0.993]
+t: 219	 action: [ 0.017 -0.073  0.157 -0.031  0.019 -0.002  1.062]
+t: 220	 action: [ 0.055 -0.036  0.341 -0.014  0.015 -0.004  0.994]
+t: 221	 action: [ 0.07  -0.192  0.562 -0.028  0.011 -0.003  1.037]
+t: 222	 action: [ 0.054 -0.266  0.489 -0.004  0.032 -0.002  1.006]
+t: 223	 action: [ 0.047 -0.436  0.532 -0.005  0.022  0.003  1.06 ]
+t: 224	 action: [ 0.027 -0.385  0.563  0.011  0.032 -0.006  1.006]
+t: 225	 action: [ 5.243e-02 -5.630e-01  5.294e-01  2.961e-02  3.363e-02  9.573e-04  1.035e+00]
+t: 226	 action: [-0.023 -0.604  0.099  0.027  0.038  0.008  0.989]
+t: 227	 action: [-0.028 -0.726  0.034  0.024  0.033  0.013  0.983]
+t: 228	 action: [-0.046 -0.539 -0.139  0.011  0.027  0.006  0.998]
+t: 229	 action: [-0.022 -0.677 -0.24   0.013  0.015  0.015  1.039]
+t: 230	 action: [-0.081 -0.337 -0.295 -0.005  0.037  0.008  1.031]
+t: 231	 action: [-0.076 -0.502 -0.408  0.008  0.033  0.019  1.047]
+t: 232	 action: [-0.116 -0.235 -0.425 -0.012  0.026  0.006  1.031]
+t: 233	 action: [-0.034 -0.326 -0.48  -0.002  0.007  0.021  1.044]
+[07-31 01:40:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9256
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9256
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=234: Selected seed 195 with value = 0.9256
+t: 234	 action: [-0.086 -0.029 -0.469 -0.005 -0.069  0.007  1.134]
+t: 235	 action: [-0.095 -0.062 -0.343 -0.016 -0.048  0.004  1.037]
+t: 236	 action: [-0.066  0.02  -0.221 -0.007 -0.043  0.004  1.092]
+t: 237	 action: [-0.018 -0.044 -0.028 -0.017 -0.011 -0.006 -0.997]
+t: 238	 action: [ 0.029  0.079  0.101 -0.018 -0.014  0.003 -1.121]
+t: 239	 action: [ 0.141  0.102  0.312 -0.024  0.004  0.003 -1.106]
+t: 240	 action: [ 0.245  0.123  0.396 -0.012  0.021  0.002 -1.1  ]
+t: 241	 action: [ 0.318  0.088  0.555 -0.018  0.036 -0.005 -1.03 ]
+t: 242	 action: [ 0.243  0.012  0.516  0.006  0.06   0.02  -1.061]
+t: 243	 action: [ 0.263 -0.012  0.475  0.01   0.072  0.013 -1.048]
+t: 244	 action: [ 0.249  0.029  0.427  0.009  0.058  0.024 -1.066]
+t: 245	 action: [ 0.27   0.007  0.384  0.011  0.066  0.013 -1.037]
+t: 246	 action: [ 0.129  0.025  0.384  0.022  0.058  0.027 -1.065]
+t: 247	 action: [ 0.091  0.037  0.345  0.02   0.052  0.018 -1.06 ]
+t: 248	 action: [ 0.128  0.055  0.307  0.012  0.051  0.024 -1.055]
+t: 249	 action: [ 0.131  0.048  0.309  0.017  0.047  0.017 -1.045]
+[07-31 01:41:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.219 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8682
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 1.219 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=250: Selected seed 195 with value = 0.8682
+t: 250	 action: [ 2.421e-01  1.059e-01 -3.339e-01  2.238e-04  5.179e-03  1.046e-02 -9.858e-01]
+t: 251	 action: [ 2.655e-01  1.096e-01 -2.328e-01  7.115e-04  2.210e-03  8.194e-03 -9.687e-01]
+t: 252	 action: [ 0.246  0.184 -0.289 -0.003  0.007  0.002 -1.006]
+t: 253	 action: [ 0.261  0.148 -0.135  0.001  0.002  0.002 -1.007]
+t: 254	 action: [ 1.816e-01  3.570e-01 -2.330e-01 -2.311e-03 -9.453e-04  5.621e-03 -1.020e+00]
+t: 255	 action: [ 0.118  0.337 -0.062  0.003 -0.006  0.008 -1.043]
+t: 256	 action: [ 1.672e-01  3.440e-01 -9.951e-02 -6.698e-03  2.022e-05 -1.247e-04 -1.024e+00]
+t: 257	 action: [ 1.420e-01  2.319e-01  2.024e-02  2.051e-05 -6.523e-03  1.209e-03 -1.038e+00]
+t: 258	 action: [ 0.147  0.13   0.022 -0.005  0.002  0.004 -1.044]
+t: 259	 action: [ 0.129  0.063  0.037 -0.004  0.003 -0.007 -1.043]
+t: 260	 action: [ 0.131  0.08   0.093 -0.007 -0.005  0.005 -1.042]
+t: 261	 action: [ 0.162  0.014  0.106 -0.006  0.003 -0.004 -1.039]
+t: 262	 action: [ 0.067  0.034  0.167 -0.005  0.005 -0.003 -1.057]
+t: 263	 action: [ 0.016  0.052  0.222  0.001 -0.007 -0.009 -1.057]
+t: 264	 action: [ 0.083  0.041  0.2   -0.008  0.004 -0.005 -1.047]
+t: 265	 action: [ 0.116  0.045  0.253 -0.002 -0.009 -0.005 -1.049]
+[07-31 01:41:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.161 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7504
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7504
+Query 1/1: Action query time = 1.161 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7504
+t=266: Selected seed 195 with value = 0.7504
+t: 266	 action: [ 6.619e-02  6.390e-01 -3.907e-01  2.536e-04  9.667e-03  3.199e-02 -9.966e-01]
+t: 267	 action: [ 0.052  0.649 -0.288 -0.004  0.008  0.023 -0.981]
+t: 268	 action: [ 0.046  0.613 -0.349 -0.004  0.014  0.031 -1.02 ]
+t: 269	 action: [ 0.035  0.535 -0.26  -0.008  0.01   0.02  -1.001]
+t: 270	 action: [-0.009  0.64  -0.301  0.002  0.014  0.036 -1.033]
+t: 271	 action: [-1.104e-02  6.411e-01 -1.406e-01  1.858e-03 -1.025e-04  2.449e-02 -1.033e+00]
+t: 272	 action: [-0.029  0.551 -0.085 -0.005  0.015  0.022 -1.035]
+t: 273	 action: [-0.01   0.415  0.081 -0.004  0.006  0.014 -1.036]
+t: 274	 action: [ 0.098  0.159  0.135 -0.015  0.007  0.005 -1.031]
+t: 275	 action: [ 0.13   0.091  0.257 -0.01   0.009 -0.009 -1.035]
+t: 276	 action: [ 0.069  0.033  0.396 -0.005  0.003 -0.001 -1.036]
+t: 277	 action: [ 0.104 -0.038  0.44   0.003  0.009 -0.009 -1.03 ]
+t: 278	 action: [ 0.043 -0.039  0.457  0.006  0.008 -0.006 -1.039]
+t: 279	 action: [ 5.944e-04 -5.941e-02  5.152e-01  1.508e-02 -3.531e-04 -1.665e-02 -1.051e+00]
+t: 280	 action: [-0.039 -0.165  0.407  0.025  0.005 -0.01  -1.04 ]
+t: 281	 action: [-2.233e-02 -1.287e-01  3.671e-01  2.707e-02 -3.664e-04 -1.424e-02 -1.043e+00]
+[07-31 01:41:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.123 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6763
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.6763
+Query 1/1: Action query time = 1.123 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6763
+t=282: Selected seed 195 with value = 0.6763
+t: 282	 action: [ 1.289e-01  2.677e-01 -2.746e-01 -5.540e-04  2.630e-03  5.324e-02  9.514e-01]
+t: 283	 action: [ 0.121  0.313 -0.187 -0.006  0.012  0.051  0.771]
+t: 284	 action: [ 0.121  0.236 -0.077 -0.007  0.02   0.051 -1.03 ]
+t: 285	 action: [ 0.127  0.202  0.027 -0.01   0.02   0.034 -1.016]
+t: 286	 action: [ 0.055  0.245  0.066 -0.019  0.014  0.03  -1.071]
+t: 287	 action: [-0.005  0.259  0.212 -0.016  0.003  0.035 -1.039]
+t: 288	 action: [-0.003  0.115  0.402 -0.014  0.028  0.016 -1.035]
+t: 289	 action: [-0.016  0.087  0.572 -0.01   0.015  0.021 -1.039]
+t: 290	 action: [-9.649e-04 -2.652e-02  5.563e-01  4.225e-03  1.689e-02  1.254e-02 -1.047e+00]
+t: 291	 action: [ 0.004 -0.082  0.559  0.016  0.015  0.015 -1.046]
+t: 292	 action: [-0.095 -0.106  0.48   0.01   0.009  0.013 -1.053]
+t: 293	 action: [-0.041 -0.166  0.394  0.018  0.011  0.01  -1.039]
+t: 294	 action: [-0.155 -0.172  0.282  0.027  0.006  0.015 -1.048]
+t: 295	 action: [-0.205 -0.167  0.229  0.017 -0.005  0.013 -1.049]
+t: 296	 action: [-0.273 -0.2    0.172  0.014  0.001  0.013 -1.052]
+t: 297	 action: [-0.27  -0.226  0.106  0.012 -0.007  0.009 -1.03 ]
+[07-31 01:41:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.009 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6121
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.6121
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 57
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 14%|█▍        | 7/50 [03:46<23:04, 32.19s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 8...
+Query 1/1: Action query time = 1.009 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=298: Selected seed 195 with value = 0.6121
+t: 298	 action: [ 1.912e-01  5.259e-01 -1.618e-01  7.980e-04  1.574e-02  4.831e-02 -9.947e-01]
+t: 299	 action: [ 0.259  0.556 -0.081 -0.006  0.023  0.039 -0.977]
+t: 300	 action: [ 0.203  0.415 -0.045 -0.004  0.036  0.047 -1.009]
+t: 301	 action: [ 0.238  0.372  0.067 -0.008  0.038  0.029 -1.001]
+t: 302	 action: [ 0.149  0.376  0.051 -0.01   0.029  0.029 -1.003]
+t: 303	 action: [ 0.088  0.34   0.207 -0.005  0.035  0.029 -1.028]
+t: 304	 action: [ 0.091  0.142  0.356 -0.003  0.048  0.018 -1.015]
+t: 305	 action: [ 0.051  0.099  0.546 -0.004  0.052  0.015 -1.041]
+t: 306	 action: [ 0.069 -0.052  0.498 -0.002  0.03   0.01  -1.029]
+t: 307	 action: [ 0.005 -0.1    0.478  0.002  0.021  0.011 -1.041]
+t: 308	 action: [-0.055 -0.135  0.398 -0.001  0.025  0.009 -1.034]
+t: 309	 action: [-9.155e-02 -2.268e-01  2.879e-01 -6.882e-04  1.887e-02  4.512e-03 -1.031e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=57--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=57--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 57
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+[07-31 01:41:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3611
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3611
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3611
+t=10: Selected seed 195 with value = 0.3611
+t: 10	 action: [ 2.846e-01 -1.789e-01  8.757e-02  4.978e-03  3.824e-02  6.593e-04 -9.948e-01]
+t: 11	 action: [ 0.443 -0.104  0.121 -0.003  0.049 -0.003 -0.998]
+t: 12	 action: [ 0.687 -0.16   0.136  0.001  0.032  0.004 -1.011]
+t: 13	 action: [ 0.811 -0.121  0.183 -0.002  0.041  0.002 -1.019]
+t: 14	 action: [ 0.886 -0.056  0.205  0.003  0.032  0.004 -1.004]
+t: 15	 action: [ 9.044e-01 -5.958e-02  2.073e-01 -1.260e-03  3.304e-02 -4.983e-06 -1.032e+00]
+t: 16	 action: [ 0.963 -0.057  0.213  0.002  0.022  0.005 -1.009]
+t: 17	 action: [ 0.95  -0.065  0.2    0.001  0.023  0.003 -1.043]
+t: 18	 action: [ 0.93  -0.135  0.269  0.007  0.006  0.009 -1.022]
+t: 19	 action: [ 0.925 -0.109  0.273  0.008  0.011  0.006 -1.023]
+t: 20	 action: [ 0.956 -0.147  0.207  0.007 -0.004  0.009 -1.019]
+t: 21	 action: [ 0.938 -0.126  0.245  0.013  0.011  0.007 -1.014]
+t: 22	 action: [ 0.969 -0.138  0.179  0.009 -0.003  0.006 -1.006]
+t: 23	 action: [ 0.947 -0.252  0.12   0.014  0.005  0.005 -1.035]
+t: 24	 action: [ 0.979 -0.174  0.093  0.01  -0.011  0.004 -1.002]
+t: 25	 action: [ 0.955 -0.315  0.046  0.018  0.004  0.007 -1.034]
+[07-31 01:41:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3692
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3692
+Query 1/1: Action query time = 0.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3692
+t=26: Selected seed 195 with value = 0.3692
+t: 26	 action: [ 0.894 -0.076  0.01   0.003 -0.004 -0.001 -1.023]
+t: 27	 action: [ 0.919 -0.103  0.013  0.003 -0.005 -0.018 -1.017]
+t: 28	 action: [ 0.879 -0.153 -0.056  0.005 -0.012 -0.002 -1.026]
+t: 29	 action: [ 0.841 -0.208 -0.064  0.012 -0.01  -0.016 -1.016]
+t: 30	 action: [ 0.809 -0.214 -0.203  0.011 -0.026 -0.005 -1.013]
+t: 31	 action: [ 0.709 -0.284 -0.302  0.017 -0.035 -0.02  -1.033]
+t: 32	 action: [ 0.515 -0.26  -0.438  0.013 -0.05  -0.005 -1.018]
+t: 33	 action: [ 0.381 -0.29  -0.527  0.021 -0.054 -0.02  -1.034]
+t: 34	 action: [ 0.231 -0.168 -0.658  0.012 -0.071  0.008 -1.039]
+t: 35	 action: [ 0.087 -0.164 -0.769  0.012 -0.087 -0.006 -1.032]
+t: 36	 action: [ 0.008 -0.138 -0.796  0.012 -0.107  0.01  -1.037]
+t: 37	 action: [-0.067 -0.137 -0.849  0.014 -0.096  0.002 -1.018]
+t: 38	 action: [-0.169 -0.076 -0.864  0.007 -0.125  0.004 -1.037]
+t: 39	 action: [-0.117 -0.105 -0.854  0.018 -0.093 -0.001 -1.037]
+t: 40	 action: [-0.178 -0.008 -0.859  0.005 -0.116  0.006 -1.036]
+t: 41	 action: [-0.109 -0.067 -0.85   0.018 -0.067  0.007 -1.038]
+[07-31 01:41:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5387
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5387
+Query 1/1: Action query time = 0.997 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5387
+t=42: Selected seed 195 with value = 0.5387
+t: 42	 action: [-0.058  0.849 -0.518  0.007  0.003  0.015 -0.999]
+t: 43	 action: [-0.032  0.823 -0.451  0.015 -0.001  0.016 -1.002]
+t: 44	 action: [-0.078  0.873 -0.503  0.007  0.008  0.022 -0.992]
+t: 45	 action: [-0.062  0.831 -0.433  0.015  0.001  0.018 -1.001]
+t: 46	 action: [-0.073  0.859 -0.448  0.012  0.009  0.018 -0.985]
+t: 47	 action: [-0.046  0.832 -0.414  0.018 -0.002  0.02  -1.025]
+t: 48	 action: [-0.1    0.867 -0.445  0.011  0.015  0.03  -0.981]
+t: 49	 action: [-0.056  0.837 -0.416  0.017  0.004  0.022 -1.032]
+t: 50	 action: [ 0.059  0.816 -0.434  0.01  -0.006  0.014 -1.017]
+t: 51	 action: [ 0.05   0.762 -0.431  0.013  0.003  0.012 -1.016]
+t: 52	 action: [ 0.062  0.733 -0.348  0.008 -0.004  0.014 -1.02 ]
+t: 53	 action: [ 0.045  0.656 -0.371  0.009  0.006  0.006 -1.016]
+t: 54	 action: [ 0.05   0.539 -0.348  0.007  0.008  0.012 -1.002]
+t: 55	 action: [ 0.038  0.353 -0.243  0.015  0.005  0.013 -1.034]
+t: 56	 action: [ 0.054  0.161 -0.096  0.006  0.031  0.006 -1.002]
+t: 57	 action: [ 0.044  0.058  0.117  0.01   0.027  0.003 -1.043]
+[07-31 01:41:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5909
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5909
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5909
+t=58: Selected seed 195 with value = 0.5909
+t: 58	 action: [ 3.411e-02  4.345e-01 -3.249e-01  4.483e-03 -4.541e-04  4.049e-03 -1.015e+00]
+t: 59	 action: [ 0.047  0.364 -0.214  0.006  0.008 -0.009 -1.015]
+t: 60	 action: [ 0.035  0.242 -0.155  0.003  0.011  0.002 -1.011]
+t: 61	 action: [ 0.047  0.117 -0.014  0.004  0.014 -0.017 -1.019]
+t: 62	 action: [ 0.005  0.156 -0.053  0.005  0.013 -0.003 -1.   ]
+t: 63	 action: [-0.007  0.18   0.119  0.007  0.016 -0.014 -1.035]
+t: 64	 action: [-0.02   0.054  0.314  0.003  0.024 -0.009 -1.005]
+t: 65	 action: [-0.003  0.067  0.498  0.009  0.022 -0.023 -1.036]
+t: 66	 action: [ 0.016  0.006  0.535  0.036  0.013 -0.017 -1.022]
+t: 67	 action: [-0.045 -0.105  0.56   0.042  0.012 -0.02  -1.041]
+t: 68	 action: [-0.037 -0.063  0.448  0.048  0.004 -0.002 -1.036]
+t: 69	 action: [-0.121 -0.207  0.43   0.051  0.011 -0.014 -1.024]
+t: 70	 action: [-0.275 -0.177  0.315  0.067  0.002 -0.011 -1.017]
+t: 71	 action: [-0.42  -0.224  0.207  0.051  0.004 -0.014 -1.042]
+t: 72	 action: [-0.549 -0.254  0.156  0.068 -0.01  -0.005 -1.02 ]
+t: 73	 action: [-5.684e-01 -2.795e-01  4.581e-02  5.148e-02 -4.985e-04 -7.099e-03 -1.032e+00]
+[07-31 01:41:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5868
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5868
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5868
+t=74: Selected seed 195 with value = 0.5868
+t: 74	 action: [-0.013  0.413 -0.22  -0.007  0.009  0.014 -0.958]
+t: 75	 action: [ 0.051  0.288 -0.112 -0.01   0.019  0.003 -0.959]
+t: 76	 action: [ 0.029  0.129  0.05  -0.009  0.02   0.008 -1.002]
+t: 77	 action: [ 0.086  0.025  0.262 -0.011  0.03  -0.007 -1.027]
+t: 78	 action: [ 6.339e-02  5.821e-02  3.431e-01  2.170e-03  2.133e-02 -7.883e-05 -9.940e-01]
+t: 79	 action: [ 0.08   0.033  0.563 -0.014  0.014 -0.01  -1.032]
+t: 80	 action: [ 0.045 -0.024  0.608  0.01   0.029 -0.003 -1.005]
+t: 81	 action: [ 0.023 -0.055  0.7    0.005  0.021 -0.017 -1.038]
+t: 82	 action: [ 0.048 -0.095  0.593  0.016 -0.012 -0.006 -1.023]
+t: 83	 action: [-0.119 -0.155  0.555  0.027 -0.007 -0.017 -1.044]
+t: 84	 action: [-0.13  -0.093  0.399  0.02  -0.027  0.001 -1.035]
+t: 85	 action: [-0.286 -0.225  0.323  0.031 -0.016 -0.012 -1.032]
+t: 86	 action: [-0.534 -0.192  0.256  0.048 -0.024 -0.006 -1.015]
+t: 87	 action: [-0.678 -0.19   0.151  0.028 -0.028 -0.015 -1.045]
+t: 88	 action: [-0.849 -0.211  0.117  0.046 -0.04  -0.002 -1.003]
+t: 89	 action: [-0.815 -0.216  0.004  0.026 -0.036 -0.006 -1.04 ]
+[07-31 01:41:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3721
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.3721
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3721
+t=90: Selected seed 195 with value = 0.3721
+t: 90	 action: [ 0.053  0.029  0.58  -0.008  0.029 -0.038 -1.002]
+t: 91	 action: [-0.052 -0.025  0.395 -0.01   0.013 -0.039 -1.035]
+t: 92	 action: [-0.12   0.012  0.399  0.011  0.013 -0.039 -1.024]
+t: 93	 action: [-2.763e-01 -4.047e-02  1.559e-01  5.405e-04  7.503e-03 -4.858e-02 -1.043e+00]
+t: 94	 action: [-0.515  0.011  0.037  0.007  0.013 -0.04  -1.003]
+t: 95	 action: [-0.585  0.023 -0.025  0.006  0.007 -0.048 -1.046]
+t: 96	 action: [-0.726 -0.005 -0.13   0.006  0.003 -0.041 -1.023]
+t: 97	 action: [-6.502e-01  3.006e-02 -1.708e-01  3.022e-03  6.356e-04 -5.948e-02 -1.044e+00]
+t: 98	 action: [-0.708  0.042 -0.379 -0.001 -0.034 -0.026 -1.03 ]
+t: 99	 action: [-0.693  0.024 -0.535 -0.008 -0.034 -0.035 -1.046]
+t: 100	 action: [-0.684  0.02  -0.578 -0.003 -0.045 -0.023 -1.033]
+t: 101	 action: [-0.536 -0.022 -0.663 -0.008 -0.046 -0.032 -1.039]
+t: 102	 action: [-6.569e-01  1.174e-04 -6.818e-01  2.210e-03 -5.147e-02 -2.804e-02 -1.017e+00]
+t: 103	 action: [-0.522  0.012 -0.631 -0.002 -0.068 -0.046 -1.05 ]
+t: 104	 action: [-0.471 -0.014 -0.77   0.003 -0.055 -0.026 -1.025]
+t: 105	 action: [-0.366 -0.015 -0.661 -0.001 -0.071 -0.043 -1.044]
+[07-31 01:41:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4659
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4659
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4659
+t=106: Selected seed 195 with value = 0.4659
+t: 106	 action: [ 0.071  0.238 -0.387  0.036 -0.046 -0.028 -1.046]
+t: 107	 action: [ 0.078  0.323 -0.358  0.036 -0.037 -0.039 -1.04 ]
+t: 108	 action: [ 0.061  0.241 -0.325  0.029 -0.038 -0.021 -1.048]
+t: 109	 action: [ 0.094  0.246 -0.324  0.028 -0.025 -0.044 -1.046]
+t: 110	 action: [ 0.074  0.238 -0.225  0.009 -0.028 -0.018 -1.029]
+t: 111	 action: [ 0.073  0.209 -0.251  0.024 -0.013 -0.042 -1.049]
+t: 112	 action: [ 1.343e-01  1.997e-01 -2.824e-01  6.166e-04 -2.672e-02 -1.586e-02 -1.037e+00]
+t: 113	 action: [ 0.206  0.176 -0.292  0.015 -0.01  -0.047 -1.054]
+t: 114	 action: [ 0.148  0.158 -0.323  0.006 -0.027 -0.026 -1.069]
+t: 115	 action: [ 0.178  0.1   -0.443  0.01  -0.016 -0.04  -1.043]
+t: 116	 action: [ 0.229  0.118 -0.433  0.003 -0.033 -0.025 -1.073]
+t: 117	 action: [ 0.189  0.081 -0.513  0.006 -0.024 -0.033 -1.044]
+t: 118	 action: [ 0.05   0.027 -0.635 -0.005 -0.048 -0.014 -1.051]
+t: 119	 action: [ 0.033  0.027 -0.661  0.004 -0.039 -0.041 -1.047]
+t: 120	 action: [ 5.455e-04  1.376e-02 -6.886e-01 -5.837e-03 -4.565e-02 -1.837e-02 -1.053e+00]
+t: 121	 action: [ 0.026  0.01  -0.67   0.002 -0.042 -0.033 -1.051]
+[07-31 01:41:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5249
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5249
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5249
+t=122: Selected seed 195 with value = 0.5249
+t: 122	 action: [ 0.25   0.044 -0.238  0.014  0.004 -0.056 -1.07 ]
+t: 123	 action: [ 0.254  0.073 -0.274  0.011  0.005 -0.058 -1.053]
+t: 124	 action: [ 0.313  0.071 -0.205  0.007  0.004 -0.058 -1.067]
+t: 125	 action: [ 0.345  0.07  -0.243  0.007  0.005 -0.059 -1.045]
+t: 126	 action: [ 2.893e-01  8.046e-02 -2.840e-01  5.970e-03 -8.851e-04 -5.011e-02 -1.052e+00]
+t: 127	 action: [ 0.277  0.089 -0.353  0.017  0.002 -0.056 -1.052]
+t: 128	 action: [ 2.570e-01  4.805e-02 -3.546e-01  5.764e-03 -5.440e-04 -4.838e-02 -1.051e+00]
+t: 129	 action: [ 0.207  0.046 -0.405  0.015  0.001 -0.058 -1.047]
+t: 130	 action: [ 0.155  0.013 -0.403  0.011 -0.017 -0.02  -1.086]
+t: 131	 action: [ 0.048 -0.012 -0.448  0.008 -0.005 -0.028 -1.049]
+t: 132	 action: [ 0.008 -0.016 -0.515  0.008 -0.022 -0.019 -1.156]
+t: 133	 action: [-0.104 -0.038 -0.533  0.005 -0.009 -0.02  -1.154]
+t: 134	 action: [-0.114 -0.037 -0.658 -0.002 -0.03  -0.013 -1.092]
+t: 135	 action: [-0.155 -0.051 -0.601  0.008 -0.018 -0.025 -1.036]
+t: 136	 action: [-0.118 -0.068 -0.645 -0.005 -0.029 -0.014  1.083]
+t: 137	 action: [-0.076 -0.051 -0.551  0.005 -0.02  -0.01   1.206]
+[07-31 01:41:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5994
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.5994
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5994
+t=138: Selected seed 195 with value = 0.5994
+t: 138	 action: [ 0.002  0.015 -0.555  0.002  0.041  0.011 -0.857]
+t: 139	 action: [-0.007 -0.072 -0.552 -0.007  0.055  0.02   1.016]
+t: 140	 action: [ 1.016e-02 -3.706e-02 -5.071e-01 -9.618e-05  4.842e-02  1.101e-02  9.977e-01]
+t: 141	 action: [-0.007 -0.11  -0.471 -0.006  0.06   0.017  1.037]
+t: 142	 action: [-0.004 -0.074 -0.341 -0.003  0.05   0.004  1.048]
+t: 143	 action: [ 0.021 -0.096 -0.298  0.002  0.053  0.007  1.037]
+t: 144	 action: [ 1.347e-02 -1.110e-01 -1.839e-01 -4.654e-03  4.787e-02 -9.683e-04  1.013e+00]
+t: 145	 action: [ 0.021 -0.101 -0.122  0.001  0.046 -0.013  1.037]
+t: 146	 action: [ 0.007 -0.034 -0.004 -0.012  0.055 -0.019  0.986]
+t: 147	 action: [ 0.032 -0.043  0.097 -0.017  0.071 -0.035  1.03 ]
+t: 148	 action: [ 0.011 -0.012  0.266 -0.01   0.047 -0.019  0.972]
+t: 149	 action: [ 0.036 -0.016  0.431 -0.014  0.054 -0.035  1.023]
+t: 150	 action: [-0.045  0.012  0.608 -0.005  0.048 -0.032  1.01 ]
+t: 151	 action: [ 0.014  0.013  0.786 -0.011  0.041 -0.041  1.013]
+t: 152	 action: [-0.026 -0.033  0.894  0.004  0.042 -0.028  0.998]
+t: 153	 action: [ 0.015 -0.043  0.917  0.007  0.039 -0.033  1.021]
+[07-31 01:41:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8104
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8104
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8104
+t=154: Selected seed 195 with value = 0.8104
+t: 154	 action: [-0.107 -0.01  -0.161 -0.008  0.014 -0.015  0.985]
+t: 155	 action: [-0.073 -0.026  0.078 -0.004  0.016 -0.018  1.038]
+t: 156	 action: [-1.098e-01 -4.145e-02  2.190e-01  5.784e-04  6.927e-03 -2.808e-02  9.910e-01]
+t: 157	 action: [-0.059 -0.066  0.337  0.01   0.009 -0.021  1.027]
+t: 158	 action: [-0.139 -0.11   0.33   0.004  0.012 -0.015  1.009]
+t: 159	 action: [-0.047 -0.203  0.357  0.005  0.006 -0.013  1.04 ]
+t: 160	 action: [-0.108 -0.231  0.424  0.023  0.01  -0.019  1.009]
+t: 161	 action: [ 2.111e-04 -3.148e-01  4.033e-01  1.922e-02  1.317e-02 -1.429e-02  1.039e+00]
+t: 162	 action: [ 0.045 -0.387  0.062  0.041  0.047  0.006  1.002]
+t: 163	 action: [ 0.043 -0.35  -0.122  0.033  0.051  0.016  1.038]
+t: 164	 action: [ 0.034 -0.376 -0.189  0.037  0.045  0.006  0.99 ]
+t: 165	 action: [ 0.027 -0.288 -0.341  0.025  0.03   0.015  1.033]
+t: 166	 action: [-2.931e-04 -2.577e-01 -2.971e-01  1.031e-02  3.086e-02  3.070e-03  1.022e+00]
+t: 167	 action: [ 4.282e-04 -2.338e-01 -4.280e-01  6.518e-03  5.942e-04  1.773e-02  1.056e+00]
+t: 168	 action: [-1.644e-02 -1.628e-01 -4.075e-01 -1.580e-03  2.231e-02  7.177e-04  1.019e+00]
+t: 169	 action: [ 0.005 -0.16  -0.439 -0.006 -0.008  0.017  1.056]
+[07-31 01:41:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8962
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8962
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8962
+t=170: Selected seed 195 with value = 0.8962
+t: 170	 action: [-0.076 -0.078  0.189  0.005  0.028 -0.029  1.004]
+t: 171	 action: [ 0.006 -0.089  0.395  0.019  0.028 -0.021  1.042]
+t: 172	 action: [-0.046 -0.158  0.552  0.021  0.033 -0.04   1.007]
+t: 173	 action: [ 0.025 -0.196  0.635  0.031  0.032 -0.023  1.014]
+t: 174	 action: [-0.073 -0.166  0.584  0.019  0.033 -0.021  1.013]
+t: 175	 action: [ 0.055 -0.151  0.557  0.024  0.046 -0.021  1.049]
+t: 176	 action: [-0.025 -0.208  0.597  0.028  0.044 -0.026  1.006]
+t: 177	 action: [ 0.092 -0.279  0.457  0.034  0.058 -0.023  1.007]
+t: 178	 action: [ 0.047 -0.351  0.307  0.048  0.072  0.002  1.154]
+t: 179	 action: [-0.003 -0.442  0.081  0.047  0.067  0.002  0.974]
+t: 180	 action: [ 0.039 -0.317  0.002  0.028  0.067  0.007  1.128]
+t: 181	 action: [ 0.012 -0.266 -0.127  0.03   0.048  0.003  1.003]
+t: 182	 action: [ 0.012 -0.226 -0.016  0.019  0.061  0.006 -1.127]
+t: 183	 action: [-0.015 -0.185 -0.098  0.023  0.026  0.012 -1.065]
+t: 184	 action: [ 0.012 -0.099 -0.033  0.002  0.061  0.007 -1.118]
+t: 185	 action: [ 0.022 -0.063 -0.081  0.01   0.012  0.01  -1.114]
+[07-31 01:41:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9607
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9607
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=186: Selected seed 195 with value = 0.9607
+t: 186	 action: [-0.033 -0.351 -0.498 -0.001  0.039  0.033  0.974]
+t: 187	 action: [-0.02  -0.203 -0.478 -0.019  0.031  0.047  1.042]
+t: 188	 action: [-0.024 -0.203 -0.427 -0.021  0.06   0.055  1.099]
+t: 189	 action: [-0.037 -0.145 -0.324 -0.022  0.057  0.039  1.007]
+t: 190	 action: [ 0.022 -0.024 -0.223 -0.04   0.067  0.055  0.996]
+t: 191	 action: [ 0.026 -0.034 -0.129 -0.031  0.08   0.058  1.   ]
+t: 192	 action: [ 0.032  0.016  0.045 -0.036  0.109  0.055 -1.139]
+t: 193	 action: [ 0.033 -0.003  0.099 -0.025  0.1    0.034 -1.113]
+t: 194	 action: [ 0.126 -0.049  0.11  -0.015  0.066  0.011 -1.046]
+t: 195	 action: [ 0.101 -0.068  0.18  -0.013  0.063  0.007 -1.038]
+t: 196	 action: [ 0.135 -0.007  0.24  -0.005  0.061  0.009 -1.047]
+t: 197	 action: [ 0.119 -0.041  0.29  -0.009  0.062  0.003 -1.032]
+t: 198	 action: [ 1.226e-01  1.424e-02  3.431e-01 -2.609e-04  7.976e-02  2.168e-03 -1.057e+00]
+t: 199	 action: [ 0.099  0.01   0.351 -0.003  0.056 -0.002 -1.055]
+t: 200	 action: [ 1.407e-01  1.163e-02  3.247e-01 -6.246e-03  7.102e-02 -3.662e-04 -1.051e+00]
+t: 201	 action: [ 1.261e-01  1.647e-02  3.226e-01 -1.429e-03  5.250e-02 -6.599e-04 -1.044e+00]
+[07-31 01:41:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.053 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9735
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 1.053 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=202: Selected seed 195 with value = 0.9735
+t: 202	 action: [-0.047 -0.066 -0.143 -0.009  0.024  0.002  1.086]
+t: 203	 action: [-0.022 -0.099 -0.032 -0.014  0.006 -0.025  0.977]
+t: 204	 action: [-0.025  0.004  0.195 -0.009  0.004 -0.009 -1.06 ]
+t: 205	 action: [ 0.091 -0.008  0.255 -0.013 -0.003 -0.022 -1.058]
+t: 206	 action: [ 0.019  0.082  0.243 -0.021 -0.007 -0.006 -1.119]
+t: 207	 action: [ 0.095  0.078  0.384 -0.018 -0.012 -0.021 -1.104]
+t: 208	 action: [ 0.091  0.064  0.371 -0.003 -0.011 -0.012 -1.056]
+t: 209	 action: [ 0.136  0.057  0.364 -0.004 -0.013 -0.029 -1.062]
+t: 210	 action: [ 0.237  0.02   0.329  0.001 -0.04  -0.01  -1.054]
+t: 211	 action: [ 0.199 -0.015  0.247  0.005 -0.036 -0.023 -1.065]
+t: 212	 action: [ 0.149  0.015  0.138  0.005 -0.047 -0.007 -1.069]
+t: 213	 action: [ 0.119 -0.031  0.06   0.008 -0.039 -0.017 -1.055]
+t: 214	 action: [ 0.07   0.006  0.1    0.003 -0.044 -0.006 -1.06 ]
+t: 215	 action: [-3.278e-03  7.379e-04  6.318e-02  1.122e-02 -4.297e-02 -2.013e-02 -1.075e+00]
+t: 216	 action: [ 0.031  0.013  0.013  0.002 -0.045 -0.006 -1.068]
+t: 217	 action: [-0.005 -0.013  0.012  0.011 -0.038 -0.015 -1.068]
+[07-31 01:41:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9582
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 0.996 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=218: Selected seed 195 with value = 0.9582
+t: 218	 action: [ 0.04   0.021  0.062 -0.003 -0.007 -0.01  -1.003]
+t: 219	 action: [ 0.073 -0.005  0.135 -0.008 -0.003 -0.03  -0.987]
+t: 220	 action: [ 0.034  0.044  0.228 -0.004 -0.021 -0.022 -1.012]
+t: 221	 action: [ 0.099  0.043  0.282 -0.007 -0.022 -0.033 -1.038]
+t: 222	 action: [ 0.001  0.118  0.32  -0.003 -0.029 -0.009 -1.034]
+t: 223	 action: [ 0.05   0.113  0.384 -0.011 -0.025 -0.03  -1.064]
+t: 224	 action: [ 0.062  0.108  0.315 -0.003 -0.037 -0.016 -1.029]
+t: 225	 action: [ 0.114  0.093  0.299 -0.006 -0.03  -0.035 -1.052]
+t: 226	 action: [ 0.136  0.05   0.224  0.002 -0.069 -0.024 -1.05 ]
+t: 227	 action: [ 9.664e-02 -6.689e-03  1.717e-01  5.528e-04 -6.334e-02 -2.701e-02 -1.051e+00]
+t: 228	 action: [ 1.151e-01  3.136e-02  1.029e-01  9.625e-04 -7.883e-02 -1.563e-02 -1.048e+00]
+t: 229	 action: [ 0.079 -0.036  0.039  0.002 -0.065 -0.023 -1.04 ]
+t: 230	 action: [ 0.038  0.018  0.049  0.001 -0.091 -0.009 -1.058]
+t: 231	 action: [-0.002  0.003  0.013  0.005 -0.074 -0.022 -1.063]
+t: 232	 action: [ 2.086e-02  1.343e-02 -3.254e-02 -3.201e-04 -8.634e-02 -7.272e-03 -1.053e+00]
+t: 233	 action: [ 0.002 -0.029 -0.012  0.005 -0.068 -0.018 -1.054]
+[07-31 01:41:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9279
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9279
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9279
+t=234: Selected seed 195 with value = 0.9279
+t: 234	 action: [ 0.003  0.122 -0.049 -0.003  0.001 -0.01  -0.979]
+t: 235	 action: [ 0.03   0.092 -0.044 -0.013  0.003 -0.027 -0.97 ]
+t: 236	 action: [ 2.919e-02  1.107e-01  1.616e-01 -5.137e-03 -8.731e-04 -1.509e-02 -9.805e-01]
+t: 237	 action: [ 5.824e-02  7.035e-02  2.089e-01 -1.164e-02 -2.398e-04 -2.734e-02 -1.028e+00]
+t: 238	 action: [-1.584e-03  1.121e-01  3.947e-01 -2.528e-03 -9.146e-04 -4.485e-03 -1.018e+00]
+t: 239	 action: [ 0.01   0.11   0.47  -0.015 -0.005 -0.023 -1.056]
+t: 240	 action: [ 3.064e-02  4.422e-02  4.078e-01 -9.412e-04 -4.913e-03 -7.179e-03 -1.006e+00]
+t: 241	 action: [ 0.049  0.058  0.398 -0.004 -0.004 -0.025 -1.048]
+t: 242	 action: [ 0.086 -0.084  0.319  0.012 -0.036 -0.022 -1.02 ]
+t: 243	 action: [ 0.052 -0.089  0.218  0.012 -0.032 -0.027 -1.037]
+t: 244	 action: [ 0.076 -0.087  0.176  0.009 -0.052 -0.012 -1.014]
+t: 245	 action: [ 0.049 -0.108  0.052  0.012 -0.04  -0.023 -1.031]
+t: 246	 action: [-0.031 -0.033  0.055  0.004 -0.065 -0.008 -1.048]
+t: 247	 action: [-0.09  -0.049 -0.031  0.007 -0.063 -0.022 -1.056]
+t: 248	 action: [-8.047e-02 -1.121e-02 -6.045e-02  7.983e-04 -6.967e-02 -6.468e-03 -1.037e+00]
+t: 249	 action: [-0.117 -0.05  -0.101  0.007 -0.061 -0.019 -1.053]
+[07-31 01:41:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.070 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9013
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9013
+Query 1/1: Action query time = 1.070 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9013
+t=250: Selected seed 195 with value = 0.9013
+t: 250	 action: [-0.056  0.007 -0.021  0.001  0.006 -0.03  -0.983]
+t: 251	 action: [-0.034  0.028 -0.095  0.002  0.012 -0.038 -1.008]
+t: 252	 action: [-0.033 -0.018  0.073  0.005  0.011 -0.021 -0.991]
+t: 253	 action: [-0.028 -0.012 -0.011  0.01   0.011 -0.036 -1.029]
+t: 254	 action: [-0.092  0.003  0.22   0.003  0.013 -0.01  -1.049]
+t: 255	 action: [-0.149  0.12   0.176  0.012  0.005 -0.033 -1.062]
+t: 256	 action: [-0.096  0.012  0.092  0.005  0.012 -0.007 -1.028]
+t: 257	 action: [-0.123  0.07   0.064  0.017  0.007 -0.035 -1.054]
+t: 258	 action: [-0.022  0.004  0.049  0.01  -0.006 -0.019 -1.003]
+t: 259	 action: [ 0.009 -0.019 -0.073  0.012 -0.001 -0.029 -1.02 ]
+t: 260	 action: [ 0.016 -0.011 -0.039  0.009 -0.013 -0.022 -1.006]
+t: 261	 action: [ 0.047 -0.036 -0.158  0.013 -0.003 -0.027 -1.029]
+t: 262	 action: [-7.568e-02  1.652e-02 -1.997e-01  6.804e-04 -2.877e-02 -9.458e-03 -1.053e+00]
+t: 263	 action: [-0.092 -0.015 -0.254  0.009 -0.026 -0.026 -1.058]
+t: 264	 action: [-0.076  0.005 -0.285 -0.002 -0.029 -0.013 -1.034]
+t: 265	 action: [-0.06  -0.024 -0.303  0.009 -0.023 -0.024 -1.063]
+[07-31 01:41:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.028 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9079
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 1.028 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=266: Selected seed 195 with value = 0.9079
+t: 266	 action: [ 2.926e-02 -8.330e-03 -1.170e-02 -3.500e-04  1.220e-02 -2.126e-02 -8.732e-01]
+t: 267	 action: [ 3.913e-02  1.401e-02 -6.183e-02  3.392e-04  1.589e-02 -2.737e-02 -9.411e-01]
+t: 268	 action: [ 0.037 -0.016  0.089  0.004  0.016 -0.018 -0.989]
+t: 269	 action: [ 0.039 -0.007  0.042  0.006  0.012 -0.03  -1.03 ]
+t: 270	 action: [-0.02   0.016  0.269 -0.002  0.02  -0.003 -1.072]
+t: 271	 action: [-0.064  0.088  0.25   0.003  0.009 -0.019 -1.068]
+t: 272	 action: [-0.043  0.029  0.161  0.002  0.016 -0.004 -1.036]
+t: 273	 action: [-0.044  0.035  0.116  0.01   0.006 -0.027 -1.054]
+t: 274	 action: [ 0.042 -0.01   0.185  0.007 -0.007 -0.017 -0.984]
+t: 275	 action: [ 4.715e-02 -3.827e-02  6.576e-02  8.219e-03 -6.829e-04 -2.191e-02 -1.003e+00]
+t: 276	 action: [ 0.073 -0.026  0.107  0.008 -0.015 -0.022 -1.013]
+t: 277	 action: [ 7.863e-02 -4.882e-02  9.707e-04  1.038e-02 -2.524e-03 -2.404e-02 -1.034e+00]
+t: 278	 action: [-0.04   0.018 -0.035  0.002 -0.03  -0.008 -1.067]
+t: 279	 action: [-0.053 -0.051 -0.123  0.006 -0.025 -0.017 -1.064]
+t: 280	 action: [-5.031e-02  1.709e-02 -1.665e-01 -1.092e-04 -2.886e-02 -1.119e-02 -1.045e+00]
+t: 281	 action: [-0.026 -0.047 -0.252  0.007 -0.024 -0.02  -1.065]
+[07-31 01:41:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9082
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9082
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9082
+t=282: Selected seed 195 with value = 0.9082
+t: 282	 action: [ 0.007 -0.036 -0.039 -0.002  0.011 -0.025  0.987]
+t: 283	 action: [ 0.036 -0.005 -0.029  0.001  0.018 -0.037 -0.36 ]
+t: 284	 action: [ 0.032 -0.051  0.085  0.003  0.02  -0.019 -0.991]
+t: 285	 action: [ 0.049 -0.022  0.07   0.008  0.019 -0.024 -1.042]
+t: 286	 action: [ 0.006 -0.011  0.248 -0.001  0.027 -0.002 -1.063]
+t: 287	 action: [-0.026  0.049  0.258  0.007  0.021 -0.023 -1.126]
+t: 288	 action: [-2.335e-02  2.501e-02  1.398e-01  8.944e-04  2.802e-02 -3.208e-03 -1.048e+00]
+t: 289	 action: [-0.032  0.009  0.095  0.014  0.019 -0.022 -1.061]
+t: 290	 action: [ 9.460e-03  4.394e-03  1.468e-01  7.996e-03 -4.121e-04 -1.483e-02  4.498e-01]
+t: 291	 action: [ 5.242e-02 -6.766e-02  3.218e-02  9.108e-03 -1.127e-04 -2.043e-02 -8.792e-01]
+t: 292	 action: [ 0.053 -0.021  0.083  0.009 -0.006 -0.016 -1.024]
+t: 293	 action: [ 0.07  -0.067 -0.016  0.01   0.004 -0.019 -1.051]
+t: 294	 action: [-2.617e-02  2.282e-02 -3.939e-02  9.875e-04 -1.848e-02 -6.800e-03 -1.127e+00]
+t: 295	 action: [-0.038 -0.062 -0.142  0.007 -0.009 -0.013 -1.073]
+t: 296	 action: [-0.031  0.023 -0.171 -0.001 -0.015 -0.008 -1.054]
+t: 297	 action: [-0.028 -0.054 -0.254  0.007 -0.009 -0.015 -1.055]
+[07-31 01:41:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9139
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9139
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 58
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 16%|█▌        | 8/50 [04:18<22:25, 32.05s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 9...
+Query 1/1: Action query time = 0.996 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9139
+t=298: Selected seed 195 with value = 0.9139
+t: 298	 action: [-2.082e-02 -1.378e-01  1.280e-01 -2.113e-03 -9.616e-04 -2.236e-02  9.688e-01]
+t: 299	 action: [ 0.017 -0.065  0.168 -0.001 -0.002 -0.046  0.923]
+t: 300	 action: [ 9.457e-03 -1.291e-01  1.876e-01  2.823e-04  1.970e-02 -1.557e-02  1.051e+00]
+t: 301	 action: [ 0.041 -0.077  0.171  0.009  0.03  -0.039 -0.915]
+t: 302	 action: [-2.400e-02 -1.190e-01  3.317e-01  5.813e-04  2.238e-02 -1.853e-03  9.145e-01]
+t: 303	 action: [ 0.001 -0.066  0.326  0.018  0.014 -0.021 -0.822]
+t: 304	 action: [-0.008 -0.054  0.256  0.003  0.042 -0.002 -1.071]
+t: 305	 action: [ 0.042 -0.079  0.182  0.02   0.045 -0.032 -1.049]
+t: 306	 action: [-0.017 -0.084  0.245  0.016  0.007 -0.012  0.974]
+t: 307	 action: [ 0.031 -0.315  0.122  0.015  0.004 -0.02   1.009]
+t: 308	 action: [ 0.028 -0.104  0.089  0.013  0.009 -0.007  0.911]
+t: 309	 action: [ 0.072 -0.193 -0.037  0.011  0.012 -0.028  0.54 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=58--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=58--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 58
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+[07-31 01:41:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.007 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3787
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3787
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3787
+t=10: Selected seed 195 with value = 0.3787
+t: 10	 action: [ 0.281 -0.061  0.062  0.007  0.015  0.011 -1.007]
+t: 11	 action: [ 0.432 -0.049  0.098  0.008  0.03   0.01  -1.011]
+t: 12	 action: [ 0.654 -0.127  0.163  0.005  0.019  0.015 -1.016]
+t: 13	 action: [ 0.802 -0.114  0.218  0.008  0.034  0.013 -1.022]
+t: 14	 action: [ 0.854 -0.125  0.3    0.007  0.028  0.011 -1.024]
+t: 15	 action: [ 0.87  -0.142  0.281  0.014  0.032  0.013 -1.038]
+t: 16	 action: [ 0.936 -0.164  0.347  0.006  0.026  0.011 -1.02 ]
+t: 17	 action: [ 0.922 -0.181  0.302  0.017  0.033  0.014 -1.046]
+t: 18	 action: [ 0.865 -0.224  0.293  0.011  0.005  0.022 -1.031]
+t: 19	 action: [ 0.882 -0.245  0.3    0.019  0.015  0.016 -1.021]
+t: 20	 action: [ 0.891 -0.276  0.267  0.016 -0.002  0.017 -1.024]
+t: 21	 action: [ 0.901 -0.306  0.291  0.023  0.013  0.016 -1.015]
+t: 22	 action: [ 0.892 -0.284  0.241  0.024  0.001  0.018 -1.018]
+t: 23	 action: [ 0.903 -0.443  0.176  0.026  0.006  0.016 -1.038]
+t: 24	 action: [ 8.926e-01 -3.286e-01  1.718e-01  2.982e-02 -3.970e-04  1.159e-02 -1.012e+00]
+t: 25	 action: [ 0.915 -0.466  0.102  0.028  0.007  0.018 -1.039]
+[07-31 01:41:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4199
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4199
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4199
+t=26: Selected seed 195 with value = 0.4199
+t: 26	 action: [ 0.92  -0.26   0.133  0.005 -0.009  0.003 -1.024]
+t: 27	 action: [ 0.937 -0.248  0.134  0.006 -0.005 -0.011 -1.018]
+t: 28	 action: [ 0.917 -0.316  0.076  0.01  -0.01   0.005 -1.029]
+t: 29	 action: [ 0.944 -0.31   0.085  0.015 -0.003 -0.007 -1.022]
+t: 30	 action: [ 0.946 -0.318 -0.035  0.013 -0.007  0.003 -1.009]
+t: 31	 action: [ 0.921 -0.289 -0.086  0.015 -0.01  -0.007 -1.035]
+t: 32	 action: [ 0.876 -0.264 -0.277  0.01  -0.014  0.003 -1.02 ]
+t: 33	 action: [ 0.853 -0.238 -0.334  0.015 -0.015 -0.004 -1.038]
+t: 34	 action: [ 0.539 -0.192 -0.494  0.01  -0.049  0.008 -1.033]
+t: 35	 action: [ 4.212e-01 -1.482e-01 -6.080e-01  1.105e-02 -5.056e-02  3.521e-05 -1.022e+00]
+t: 36	 action: [ 0.295 -0.108 -0.738  0.01  -0.078  0.008 -1.023]
+t: 37	 action: [ 0.126 -0.083 -0.823  0.013 -0.067  0.003 -1.015]
+t: 38	 action: [ 0.049  0.002 -0.858  0.007 -0.086  0.005 -1.028]
+t: 39	 action: [-0.014 -0.04  -0.85   0.019 -0.071  0.008 -1.032]
+t: 40	 action: [-0.103  0.035 -0.894  0.006 -0.084  0.006 -1.024]
+t: 41	 action: [-0.059  0.004 -0.875  0.02  -0.059  0.012 -1.037]
+[07-31 01:41:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5248
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5248
+Query 1/1: Action query time = 0.999 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5248
+t=42: Selected seed 195 with value = 0.5248
+t: 42	 action: [-0.069  0.17  -0.864  0.009 -0.02   0.03  -1.008]
+t: 43	 action: [-0.061  0.232 -0.885  0.005 -0.021  0.032 -1.015]
+t: 44	 action: [-0.058  0.368 -0.821  0.007 -0.012  0.035 -1.008]
+t: 45	 action: [-0.065  0.419 -0.79   0.003 -0.011  0.03  -1.019]
+t: 46	 action: [-0.109  0.485 -0.74   0.004 -0.017  0.039 -1.003]
+t: 47	 action: [-1.034e-01  5.074e-01 -6.956e-01  7.359e-04 -1.439e-02  3.366e-02 -1.028e+00]
+t: 48	 action: [-0.134  0.567 -0.637  0.004 -0.012  0.038 -1.002]
+t: 49	 action: [-1.124e-01  6.584e-01 -5.635e-01  3.900e-04 -5.941e-03  2.960e-02 -1.032e+00]
+t: 50	 action: [-0.159  0.819 -0.543  0.003 -0.008  0.037 -1.008]
+t: 51	 action: [-0.173  0.819 -0.539 -0.002 -0.012  0.028 -1.014]
+t: 52	 action: [-0.187  0.847 -0.527  0.003 -0.006  0.041 -1.012]
+t: 53	 action: [-1.836e-01  8.098e-01 -5.162e-01 -5.411e-04 -6.550e-03  2.818e-02 -1.015e+00]
+t: 54	 action: [-2.733e-01  8.584e-01 -5.451e-01  2.460e-04 -1.352e-02  4.528e-02 -1.006e+00]
+t: 55	 action: [-0.274  0.851 -0.509 -0.003 -0.013  0.03  -1.023]
+t: 56	 action: [-0.279  0.863 -0.544  0.001 -0.011  0.047 -1.005]
+t: 57	 action: [-0.262  0.836 -0.498 -0.002 -0.007  0.03  -1.031]
+[07-31 01:41:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5489
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5489
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5489
+t=58: Selected seed 195 with value = 0.5489
+t: 58	 action: [-0.039  0.794 -0.454  0.012 -0.007  0.053 -0.99 ]
+t: 59	 action: [ 0.009  0.754 -0.402  0.018 -0.003  0.047 -0.996]
+t: 60	 action: [-0.059  0.812 -0.467  0.015  0.001  0.057 -0.988]
+t: 61	 action: [-0.004  0.739 -0.409  0.018  0.003  0.051 -0.999]
+t: 62	 action: [-0.044  0.786 -0.449  0.015  0.004  0.066 -0.985]
+t: 63	 action: [-0.019  0.752 -0.436  0.022  0.003  0.055 -1.009]
+t: 64	 action: [-0.074  0.779 -0.45   0.015  0.012  0.07  -0.984]
+t: 65	 action: [-0.014  0.708 -0.396  0.023  0.007  0.056 -1.019]
+t: 66	 action: [ 1.088e-01  2.633e-01 -1.760e-01  4.103e-04  2.542e-03  5.143e-02 -1.014e+00]
+t: 67	 action: [ 0.096  0.098 -0.01   0.015  0.007  0.031 -1.028]
+t: 68	 action: [ 0.123 -0.065  0.315  0.003  0.028  0.022 -1.012]
+t: 69	 action: [ 0.13  -0.139  0.546  0.015  0.034  0.016 -1.018]
+t: 70	 action: [ 0.028 -0.133  0.587  0.031  0.047  0.021 -1.005]
+t: 71	 action: [-0.061 -0.182  0.692  0.029  0.046  0.018 -1.04 ]
+t: 72	 action: [-0.261 -0.248  0.631  0.048  0.036  0.011 -1.004]
+t: 73	 action: [-0.407 -0.178  0.613  0.051  0.025  0.012 -1.039]
+[07-31 01:41:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5995
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5995
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5995
+t=74: Selected seed 195 with value = 0.5995
+t: 74	 action: [-0.279 -0.133  0.547 -0.007  0.037 -0.036 -0.993]
+t: 75	 action: [-0.451 -0.181  0.471 -0.01   0.022 -0.034 -1.024]
+t: 76	 action: [-0.585 -0.113  0.345 -0.006  0.013 -0.026 -0.991]
+t: 77	 action: [-0.701 -0.152  0.293 -0.013  0.009 -0.029 -1.03 ]
+t: 78	 action: [-0.872 -0.102  0.184 -0.001  0.01  -0.018 -0.989]
+t: 79	 action: [-0.84  -0.128  0.126 -0.015 -0.001 -0.032 -1.041]
+t: 80	 action: [-8.839e-01 -8.907e-02  7.446e-02 -4.133e-03 -6.056e-04 -1.188e-02 -9.827e-01]
+t: 81	 action: [-0.877 -0.102  0.016 -0.019 -0.007 -0.031 -1.039]
+t: 82	 action: [-8.286e-01 -7.381e-02 -5.994e-02  3.392e-04 -3.344e-02  1.752e-03 -9.943e-01]
+t: 83	 action: [-0.876 -0.127 -0.114 -0.006 -0.034 -0.01  -1.029]
+t: 84	 action: [-0.842 -0.083 -0.177 -0.002 -0.044  0.006 -0.994]
+t: 85	 action: [-0.865 -0.132 -0.253 -0.006 -0.041 -0.003 -1.02 ]
+t: 86	 action: [-8.600e-01 -1.305e-01 -3.675e-01  4.523e-04 -5.746e-02  1.606e-03 -9.802e-01]
+t: 87	 action: [-0.823 -0.115 -0.351  0.001 -0.063 -0.01  -1.035]
+t: 88	 action: [-7.967e-01 -1.228e-01 -5.165e-01 -3.023e-04 -6.952e-02  2.874e-03 -9.802e-01]
+t: 89	 action: [-0.715 -0.094 -0.498  0.004 -0.066 -0.005 -1.038]
+[07-31 01:41:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4604
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4604
+Query 1/1: Action query time = 0.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4604
+t=90: Selected seed 195 with value = 0.4604
+t: 90	 action: [-0.643  0.044 -0.155 -0.032 -0.022 -0.019 -1.025]
+t: 91	 action: [-0.577  0.069 -0.229 -0.017 -0.02  -0.043 -1.037]
+t: 92	 action: [-0.556  0.037 -0.405 -0.031 -0.032 -0.023 -1.025]
+t: 93	 action: [-0.514  0.064 -0.432 -0.009 -0.041 -0.062 -1.048]
+t: 94	 action: [-0.356  0.018 -0.567 -0.008 -0.047 -0.032 -1.024]
+t: 95	 action: [-0.334  0.055 -0.572 -0.004 -0.038 -0.056 -1.058]
+t: 96	 action: [-0.228  0.012 -0.675 -0.001 -0.058 -0.041 -1.02 ]
+t: 97	 action: [-0.197  0.026 -0.667  0.008 -0.053 -0.078 -1.062]
+t: 98	 action: [-0.151  0.013 -0.737 -0.016 -0.066 -0.068 -1.034]
+t: 99	 action: [-0.093 -0.017 -0.72  -0.004 -0.068 -0.09  -1.028]
+t: 100	 action: [-0.021 -0.026 -0.703 -0.006 -0.075 -0.072 -1.038]
+t: 101	 action: [ 0.019 -0.041 -0.631 -0.001 -0.073 -0.094 -1.016]
+t: 102	 action: [ 0.048 -0.067 -0.561  0.002 -0.064 -0.081 -1.036]
+t: 103	 action: [ 0.107 -0.046 -0.442  0.004 -0.059 -0.105 -1.05 ]
+t: 104	 action: [ 0.187 -0.047 -0.373 -0.002 -0.059 -0.084 -1.035]
+t: 105	 action: [ 0.29  -0.03  -0.292  0.004 -0.049 -0.103 -1.057]
+[07-31 01:41:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.009 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9384
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9384
+Query 1/1: Action query time = 1.009 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=106: Selected seed 195 with value = 0.9384
+t: 106	 action: [ 0.562  0.321 -0.333  0.003  0.013 -0.02  -1.045]
+t: 107	 action: [ 0.622  0.304 -0.341  0.007  0.007 -0.046 -1.037]
+t: 108	 action: [ 0.625  0.356 -0.31   0.004  0.019 -0.015 -1.044]
+t: 109	 action: [ 0.662  0.29  -0.298  0.004  0.014 -0.053 -1.036]
+t: 110	 action: [ 0.586  0.314 -0.269  0.002  0.016 -0.032 -1.048]
+t: 111	 action: [ 0.55   0.26  -0.307  0.01   0.007 -0.054 -1.061]
+t: 112	 action: [ 0.561  0.289 -0.253  0.002  0.021 -0.028 -1.046]
+t: 113	 action: [ 0.494  0.236 -0.29   0.009  0.011 -0.063 -1.06 ]
+t: 114	 action: [ 0.496  0.188 -0.212  0.004  0.03  -0.039 -1.053]
+t: 115	 action: [ 0.468  0.161 -0.211  0.014  0.031 -0.063 -1.04 ]
+t: 116	 action: [ 0.374  0.132 -0.24   0.003  0.035 -0.031 -1.051]
+t: 117	 action: [ 0.292  0.137 -0.238  0.014  0.038 -0.054 -1.038]
+t: 118	 action: [ 0.188  0.08  -0.322  0.006  0.017 -0.036 -1.051]
+t: 119	 action: [ 0.067  0.107 -0.319  0.022  0.012 -0.063 -1.052]
+t: 120	 action: [ 0.04   0.06  -0.418  0.003  0.016 -0.028 -1.05 ]
+t: 121	 action: [ 0.012  0.095 -0.368  0.021  0.015 -0.055 -1.057]
+[07-31 01:41:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9182
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9182
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=122: Selected seed 195 with value = 0.9182
+t: 122	 action: [ 0.193  0.038 -0.304 -0.002  0.008 -0.045 -1.063]
+t: 123	 action: [ 0.175  0.089 -0.364 -0.007  0.01  -0.048 -1.048]
+t: 124	 action: [ 0.159  0.079 -0.313 -0.002  0.006 -0.045 -1.062]
+t: 125	 action: [ 0.144  0.116 -0.377 -0.006  0.007 -0.05  -1.042]
+t: 126	 action: [ 0.086  0.095 -0.272 -0.009  0.009 -0.049 -1.053]
+t: 127	 action: [ 0.073  0.161 -0.293  0.002  0.003 -0.05  -1.057]
+t: 128	 action: [ 0.077  0.127 -0.305 -0.01   0.009 -0.044 -1.059]
+t: 129	 action: [ 3.783e-02  1.444e-01 -3.400e-01  8.133e-04 -4.306e-04 -5.275e-02 -1.054e+00]
+t: 130	 action: [ 0.094  0.057 -0.324 -0.009  0.016 -0.039 -1.166]
+t: 131	 action: [ 0.048  0.051 -0.348 -0.013  0.01  -0.034 -1.15 ]
+t: 132	 action: [ 0.06   0.039 -0.285 -0.008  0.014 -0.032  0.986]
+t: 133	 action: [ 0.049  0.026 -0.301 -0.012  0.008 -0.03   1.042]
+t: 134	 action: [-6.067e-04  2.873e-02 -2.478e-01 -1.294e-02  1.360e-02 -4.173e-02  1.095e+00]
+t: 135	 action: [-0.018  0.04  -0.228 -0.007 -0.002 -0.031  1.15 ]
+t: 136	 action: [-0.021  0.018 -0.09  -0.019  0.014 -0.034  0.986]
+t: 137	 action: [ 0.014  0.009 -0.071 -0.008 -0.003 -0.026  1.046]
+[07-31 01:41:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.018 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7212
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7212
+Query 1/1: Action query time = 1.018 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7212
+t=138: Selected seed 195 with value = 0.7212
+t: 138	 action: [ 0.048  0.015 -0.071  0.004 -0.005 -0.079  0.986]
+t: 139	 action: [ 0.041  0.008 -0.02   0.008 -0.012 -0.078  1.041]
+t: 140	 action: [-0.006  0.02   0.015 -0.004 -0.002 -0.072  0.992]
+t: 141	 action: [ 1.035e-02  3.632e-03  5.863e-02  5.779e-04 -3.708e-03 -6.345e-02  1.049e+00]
+t: 142	 action: [-0.07   0.022  0.195  0.003  0.011 -0.064  1.004]
+t: 143	 action: [-0.011  0.046  0.206  0.012 -0.002 -0.06   1.021]
+t: 144	 action: [-0.094  0.025  0.452 -0.001  0.019 -0.061  1.011]
+t: 145	 action: [-0.038  0.033  0.591  0.008  0.003 -0.053  1.031]
+t: 146	 action: [-0.046 -0.016  0.405 -0.005  0.021 -0.056  0.985]
+t: 147	 action: [ 0.02  -0.025  0.579  0.005  0.015 -0.038  1.024]
+t: 148	 action: [ 0.009 -0.05   0.539 -0.002  0.024 -0.049  0.984]
+t: 149	 action: [ 0.06  -0.066  0.622  0.01   0.015 -0.032  1.024]
+t: 150	 action: [ 0.008 -0.155  0.614  0.032  0.036 -0.045  0.997]
+t: 151	 action: [ 0.037 -0.231  0.631  0.027  0.01  -0.029  1.026]
+t: 152	 action: [ 0.03  -0.239  0.503  0.049  0.033 -0.039  1.01 ]
+t: 153	 action: [ 0.049 -0.344  0.391  0.035  0.006 -0.026  1.035]
+[07-31 01:41:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.044 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8144
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8144
+Query 1/1: Action query time = 1.044 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8144
+t=154: Selected seed 195 with value = 0.8144
+t: 154	 action: [-0.288  0.031  0.819  0.004  0.049 -0.062  0.983]
+t: 155	 action: [-0.26   0.05   0.86   0.026  0.059 -0.058  1.043]
+t: 156	 action: [-0.296 -0.017  0.88   0.017  0.065 -0.048  0.988]
+t: 157	 action: [-0.235 -0.014  0.936  0.033  0.078 -0.043  1.045]
+t: 158	 action: [-0.205 -0.173  0.894  0.036  0.08  -0.041  1.004]
+t: 159	 action: [-0.094 -0.188  0.892  0.046  0.1   -0.036  1.026]
+t: 160	 action: [-0.054 -0.285  0.912  0.045  0.101 -0.029  1.008]
+t: 161	 action: [ 0.041 -0.275  0.873  0.047  0.122 -0.027  1.029]
+t: 162	 action: [ 0.161 -0.356  0.839  0.041  0.106 -0.003  1.003]
+t: 163	 action: [ 0.181 -0.374  0.86   0.032  0.116 -0.006  1.034]
+t: 164	 action: [ 0.258 -0.421  0.774  0.036  0.109  0.003  0.99 ]
+t: 165	 action: [ 3.158e-01 -4.817e-01  7.545e-01  2.148e-02  1.141e-01 -4.584e-04  1.032e+00]
+t: 166	 action: [ 0.319 -0.543  0.688  0.048  0.118  0.006  1.026]
+t: 167	 action: [ 0.37  -0.612  0.61   0.029  0.113  0.01   1.035]
+t: 168	 action: [ 0.385 -0.518  0.526  0.043  0.119  0.004  1.019]
+t: 169	 action: [ 0.367 -0.607  0.459  0.018  0.112  0.012  1.03 ]
+[07-31 01:41:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.145 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8938
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 1.145 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=170: Selected seed 195 with value = 0.8938
+t: 170	 action: [ 0.348 -0.308  0.817  0.015  0.082  0.017  0.968]
+t: 171	 action: [ 0.339 -0.369  0.782  0.019  0.061  0.008  1.016]
+t: 172	 action: [ 0.429 -0.476  0.677  0.039  0.043  0.02   0.976]
+t: 173	 action: [ 0.435 -0.528  0.619  0.035  0.013  0.018  1.017]
+t: 174	 action: [ 0.507 -0.562  0.487  0.033  0.019  0.024  0.998]
+t: 175	 action: [ 0.507 -0.571  0.44   0.034 -0.004  0.031  1.008]
+t: 176	 action: [ 0.543 -0.604  0.256  0.043 -0.013  0.031  1.004]
+t: 177	 action: [ 0.559 -0.593  0.166  0.035 -0.016  0.034  1.016]
+t: 178	 action: [ 0.535 -0.587  0.002  0.031 -0.046  0.034  0.964]
+t: 179	 action: [ 0.548 -0.606 -0.072  0.021 -0.051  0.033  1.014]
+t: 180	 action: [ 0.571 -0.545 -0.226  0.014 -0.07   0.051  0.962]
+t: 181	 action: [ 0.548 -0.506 -0.274  0.004 -0.065  0.046  1.024]
+t: 182	 action: [ 0.437 -0.399 -0.392 -0.003 -0.075  0.051  0.987]
+t: 183	 action: [ 0.363 -0.343 -0.566 -0.016 -0.061  0.061  1.011]
+t: 184	 action: [ 0.327 -0.129 -0.579 -0.025 -0.087  0.078  0.99 ]
+t: 185	 action: [ 0.314 -0.081 -0.68  -0.041 -0.053  0.073  1.019]
+[07-31 01:41:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.200 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9891
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 1.200 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=186: Selected seed 195 with value = 0.9891
+t: 186	 action: [-0.036 -0.126 -0.812  0.005 -0.036  0.031  0.95 ]
+t: 187	 action: [-0.086 -0.075 -0.798 -0.008 -0.034  0.03   1.046]
+t: 188	 action: [-4.693e-02  6.717e-03 -7.697e-01 -7.280e-04 -1.947e-02  4.945e-02  1.114e+00]
+t: 189	 action: [-0.085 -0.023 -0.644 -0.008 -0.015  0.032  1.007]
+t: 190	 action: [-0.06   0.01  -0.533 -0.017 -0.012  0.044  0.976]
+t: 191	 action: [-0.045  0.051 -0.406 -0.017  0.001  0.037  1.03 ]
+t: 192	 action: [ 0.021  0.044 -0.151 -0.013  0.03   0.043 -1.131]
+t: 193	 action: [ 0.064  0.059 -0.021 -0.013  0.045  0.024 -1.108]
+t: 194	 action: [ 1.813e-01  2.184e-02  2.339e-01  2.003e-04  5.611e-02  1.668e-02 -1.060e+00]
+t: 195	 action: [ 0.187 -0.022  0.331 -0.003  0.054  0.016 -1.04 ]
+t: 196	 action: [ 1.759e-01  2.511e-02  3.604e-01  7.060e-04  5.510e-02  1.751e-02 -1.055e+00]
+t: 197	 action: [ 0.211 -0.011  0.405 -0.003  0.059  0.011 -1.027]
+t: 198	 action: [ 0.14   0.033  0.373 -0.004  0.053  0.008 -1.062]
+t: 199	 action: [ 0.12   0.059  0.42  -0.003  0.051  0.019 -1.048]
+t: 200	 action: [ 0.131  0.034  0.382 -0.006  0.041  0.009 -1.054]
+t: 201	 action: [ 8.840e-02  5.884e-02  3.745e-01  4.223e-04  4.365e-02  1.752e-02 -1.044e+00]
+[07-31 01:42:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.151 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9782
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 1.151 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=202: Selected seed 195 with value = 0.9782
+t: 202	 action: [-0.044 -0.009 -0.124  0.009  0.054  0.004  1.108]
+t: 203	 action: [ 0.007 -0.091  0.005  0.009  0.065 -0.004  0.826]
+t: 204	 action: [ 0.017 -0.007  0.025  0.012  0.061  0.005 -1.018]
+t: 205	 action: [-0.002 -0.081  0.093  0.011  0.06  -0.004 -1.034]
+t: 206	 action: [ 0.06   0.021  0.112  0.006  0.057  0.005 -1.121]
+t: 207	 action: [-0.005  0.024  0.11   0.015  0.054  0.014 -1.081]
+t: 208	 action: [ 0.073  0.014  0.132  0.005  0.054  0.001 -1.016]
+t: 209	 action: [ 4.110e-02 -1.885e-04  1.429e-01  1.595e-02  4.734e-02 -3.879e-03 -1.046e+00]
+t: 210	 action: [ 0.022  0.003  0.167  0.019  0.048  0.007 -0.936]
+t: 211	 action: [ 0.034 -0.061  0.2    0.014  0.051 -0.006 -1.009]
+t: 212	 action: [ 0.046  0.004  0.168  0.016  0.039  0.007 -1.023]
+t: 213	 action: [ 0.054 -0.061  0.195  0.011  0.041 -0.005 -1.038]
+t: 214	 action: [ 5.260e-02  7.414e-03  1.685e-01  6.403e-03  4.124e-02  5.506e-04 -1.012e+00]
+t: 215	 action: [-0.006 -0.008  0.157  0.016  0.027 -0.004 -1.051]
+t: 216	 action: [ 5.810e-02  9.264e-03  1.591e-01  2.700e-03  3.288e-02  2.637e-05 -1.027e+00]
+t: 217	 action: [ 0.026 -0.016  0.147  0.013  0.022 -0.005 -1.055]
+[07-31 01:42:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.049 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9845
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 1.049 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=218: Selected seed 195 with value = 0.9845
+t: 218	 action: [-0.125 -0.04  -0.094  0.011  0.049  0.008  1.11 ]
+t: 219	 action: [-0.051 -0.115 -0.021  0.012  0.06   0.002  0.922]
+t: 220	 action: [-0.03  -0.044  0.028  0.017  0.057  0.008 -1.024]
+t: 221	 action: [ 3.809e-03 -9.510e-02  6.670e-02  1.221e-02  5.564e-02 -7.113e-04 -1.044e+00]
+t: 222	 action: [ 0.011 -0.008  0.056  0.006  0.051  0.014 -1.107]
+t: 223	 action: [-3.088e-02 -3.373e-04  5.146e-02  1.720e-02  4.503e-02  2.088e-02 -1.044e+00]
+t: 224	 action: [ 0.027 -0.005  0.096  0.007  0.054  0.007 -1.015]
+t: 225	 action: [ 0.043 -0.002  0.094  0.017  0.044  0.002 -1.055]
+t: 226	 action: [-0.076 -0.061 -0.004  0.017  0.027  0.01   1.042]
+t: 227	 action: [-0.069 -0.091  0.024  0.011  0.039 -0.003 -0.926]
+t: 228	 action: [-0.021 -0.053  0.072  0.017  0.032  0.009 -1.021]
+t: 229	 action: [ 0.021 -0.084  0.086  0.01   0.038 -0.002 -1.051]
+t: 230	 action: [ 0.002 -0.035  0.05   0.008  0.026  0.005 -1.068]
+t: 231	 action: [-0.053 -0.02   0.033  0.014  0.017  0.001 -1.051]
+t: 232	 action: [ 0.018 -0.017  0.099  0.006  0.03   0.003 -1.016]
+t: 233	 action: [ 1.132e-02 -2.015e-02  7.824e-02  1.281e-02  2.404e-02  6.994e-04 -1.050e+00]
+[07-31 01:42:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9900
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=234: Selected seed 195 with value = 0.9900
+t: 234	 action: [ 0.019  0.043  0.174  0.018  0.037  0.006 -1.018]
+t: 235	 action: [ 0.036 -0.027  0.164  0.02   0.037  0.005 -1.031]
+t: 236	 action: [ 0.024  0.022  0.146  0.016  0.038  0.006 -1.018]
+t: 237	 action: [ 0.035 -0.03   0.152  0.017  0.038  0.001 -1.037]
+t: 238	 action: [ 0.021  0.038  0.155  0.01   0.033  0.013 -1.025]
+t: 239	 action: [-0.018  0.034  0.14   0.024  0.023  0.013 -1.068]
+t: 240	 action: [ 0.029  0.005  0.15   0.008  0.033  0.008 -1.015]
+t: 241	 action: [ 0.018  0.026  0.142  0.02   0.023  0.006 -1.058]
+t: 242	 action: [ 0.029  0.017  0.123  0.017  0.018  0.008 -1.021]
+t: 243	 action: [ 0.032 -0.038  0.12   0.016  0.021  0.001 -1.047]
+t: 244	 action: [ 0.02   0.014  0.125  0.014  0.021  0.008 -1.018]
+t: 245	 action: [ 3.498e-02 -3.717e-02  1.207e-01  1.319e-02  2.276e-02  4.389e-04 -1.041e+00]
+t: 246	 action: [ 0.015 -0.006  0.108  0.009  0.017  0.003 -1.029]
+t: 247	 action: [-0.027  0.003  0.085  0.018  0.005  0.006 -1.075]
+t: 248	 action: [ 0.017 -0.001  0.123  0.006  0.018  0.002 -1.016]
+t: 249	 action: [-0.004  0.007  0.108  0.015  0.007  0.005 -1.067]
+[07-31 01:42:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 1.003 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=250: Selected seed 195 with value = 0.9950
+t: 250	 action: [ 0.059  0.056  0.109  0.018  0.034  0.006 -1.036]
+t: 251	 action: [ 0.112  0.003  0.087  0.02   0.032  0.002 -1.04 ]
+t: 252	 action: [ 0.076  0.035  0.081  0.019  0.035  0.005 -1.032]
+t: 253	 action: [ 0.117 -0.005  0.081  0.019  0.034 -0.003 -1.039]
+t: 254	 action: [ 0.069  0.054  0.097  0.017  0.032  0.006 -1.039]
+t: 255	 action: [ 0.055  0.055  0.079  0.028  0.021  0.01  -1.073]
+t: 256	 action: [ 0.089  0.02   0.094  0.017  0.032  0.003 -1.027]
+t: 257	 action: [ 0.119  0.045  0.079  0.024  0.02   0.002 -1.061]
+t: 258	 action: [ 0.077  0.028  0.068  0.015  0.017  0.008 -1.035]
+t: 259	 action: [ 0.109 -0.02   0.063  0.016  0.021 -0.001 -1.053]
+t: 260	 action: [ 0.076  0.018  0.071  0.016  0.02   0.006 -1.032]
+t: 261	 action: [ 0.118 -0.02   0.058  0.016  0.024 -0.003 -1.043]
+t: 262	 action: [ 0.068 -0.004  0.06   0.013  0.018  0.002 -1.04 ]
+t: 263	 action: [ 0.039  0.017  0.035  0.022  0.007  0.004 -1.079]
+t: 264	 action: [ 7.895e-02  8.602e-04  7.542e-02  1.161e-02  1.906e-02 -2.830e-04 -1.027e+00]
+t: 265	 action: [ 0.093  0.022  0.046  0.02   0.008  0.002 -1.07 ]
+[07-31 01:42:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9895
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 0.996 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=266: Selected seed 195 with value = 0.9895
+t: 266	 action: [-0.034 -0.004  0.03   0.019  0.039  0.003 -0.992]
+t: 267	 action: [ 0.052 -0.04  -0.065  0.021  0.044 -0.006 -0.984]
+t: 268	 action: [ 3.317e-02  4.023e-04  3.325e-03  2.500e-02  4.217e-02  4.892e-04 -1.035e+00]
+t: 269	 action: [ 0.095 -0.028 -0.032  0.022  0.046 -0.013 -1.039]
+t: 270	 action: [ 0.033  0.021  0.045  0.023  0.041 -0.001 -1.043]
+t: 271	 action: [ 0.028  0.063  0.002  0.032  0.039  0.003 -1.074]
+t: 272	 action: [ 0.074 -0.005  0.033  0.026  0.042 -0.002 -1.038]
+t: 273	 action: [ 0.136  0.04  -0.008  0.03   0.038 -0.007 -1.063]
+t: 274	 action: [ 0.013 -0.006 -0.006  0.018  0.022  0.004 -1.011]
+t: 275	 action: [ 0.058 -0.055 -0.017  0.017  0.033 -0.009 -1.03 ]
+t: 276	 action: [ 0.045 -0.01   0.004  0.022  0.028 -0.002 -1.034]
+t: 277	 action: [ 0.113 -0.052 -0.013  0.018  0.037 -0.011 -1.042]
+t: 278	 action: [ 0.039 -0.035  0.007  0.018  0.024 -0.002 -1.047]
+t: 279	 action: [ 0.022 -0.002 -0.022  0.025  0.019 -0.004 -1.072]
+t: 280	 action: [ 0.065 -0.022  0.021  0.02   0.027 -0.005 -1.035]
+t: 281	 action: [ 0.108 -0.002 -0.028  0.025  0.024 -0.006 -1.069]
+[07-31 01:42:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9818
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=282: Selected seed 195 with value = 0.9818
+t: 282	 action: [-0.115 -0.056 -0.211  0.018  0.042  0.005  1.098]
+t: 283	 action: [-0.017 -0.131 -0.241  0.019  0.049 -0.01   0.892]
+t: 284	 action: [ 0.003 -0.013 -0.103  0.025  0.049  0.003 -1.053]
+t: 285	 action: [ 0.08  -0.05  -0.111  0.02   0.053 -0.011 -1.038]
+t: 286	 action: [ 3.128e-02  1.917e-02 -3.933e-02  2.266e-02  4.946e-02 -6.551e-04 -1.104e+00]
+t: 287	 action: [ 0.002  0.049 -0.037  0.027  0.047  0.01  -1.027]
+t: 288	 action: [ 0.085 -0.006  0.015  0.023  0.051 -0.001 -1.042]
+t: 289	 action: [ 0.17   0.048 -0.003  0.028  0.045 -0.005 -1.059]
+t: 290	 action: [-0.028 -0.034 -0.141  0.021  0.022  0.005  0.93 ]
+t: 291	 action: [-0.019 -0.099 -0.119  0.017  0.038 -0.011 -0.971]
+t: 292	 action: [ 3.032e-02 -2.720e-02 -2.176e-02  2.183e-02  3.031e-02 -8.775e-04 -1.048e+00]
+t: 293	 action: [ 0.114 -0.072 -0.008  0.017  0.04  -0.01  -1.043]
+t: 294	 action: [ 0.05  -0.044 -0.027  0.019  0.027 -0.002 -1.069]
+t: 295	 action: [-0.003 -0.004 -0.046  0.023  0.022 -0.006 -1.065]
+t: 296	 action: [ 0.082 -0.028  0.037  0.018  0.031 -0.005 -1.04 ]
+t: 297	 action: [ 0.134 -0.006  0.003  0.023  0.029 -0.005 -1.06 ]
+[07-31 01:42:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.020 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9837
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9837
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 59
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 18%|█▊        | 9/50 [04:50<21:57, 32.12s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 10...
+Query 1/1: Action query time = 1.020 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=298: Selected seed 195 with value = 0.9837
+t: 298	 action: [ 0.139  0.105 -0.098  0.005  0.028  0.007  1.097]
+t: 299	 action: [ 0.196  0.077 -0.005  0.007  0.032 -0.005  0.935]
+t: 300	 action: [ 0.191  0.154  0.048  0.005  0.037  0.005 -1.058]
+t: 301	 action: [ 0.291  0.109  0.101  0.007  0.035 -0.005 -1.039]
+t: 302	 action: [ 0.199  0.121  0.126  0.005  0.028  0.005 -1.119]
+t: 303	 action: [ 0.227  0.08   0.172  0.013  0.032  0.009 -1.036]
+t: 304	 action: [ 0.254  0.155  0.151  0.003  0.033  0.003 -1.051]
+t: 305	 action: [ 2.665e-01  9.925e-02  1.748e-01  1.272e-02  3.298e-02 -6.943e-04 -1.057e+00]
+t: 306	 action: [0.19  0.11  0.126 0.016 0.011 0.005 1.069]
+t: 307	 action: [ 0.205  0.044  0.141  0.01   0.02  -0.011 -1.023]
+t: 308	 action: [ 2.018e-01  1.100e-01  1.445e-01  1.088e-02  1.891e-02 -2.345e-05 -1.062e+00]
+t: 309	 action: [ 0.287  0.06   0.145  0.007  0.021 -0.006 -1.048]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=59--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=59--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 59
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+[07-31 01:42:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.270 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3630
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3630
+Query 1/1: Action query time = 1.270 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3630
+t=10: Selected seed 195 with value = 0.3630
+t: 10	 action: [ 2.759e-01  5.111e-02  2.132e-02 -5.686e-04  5.336e-03  5.759e-03 -1.015e+00]
+t: 11	 action: [ 0.396  0.151  0.01  -0.001  0.009  0.003 -1.024]
+t: 12	 action: [ 0.509  0.157  0.03  -0.004  0.007  0.011 -1.02 ]
+t: 13	 action: [ 0.663  0.193  0.024 -0.003  0.011  0.007 -1.022]
+t: 14	 action: [ 0.802  0.167  0.054 -0.004  0.01   0.015 -1.011]
+t: 15	 action: [ 0.823  0.191  0.014  0.001  0.005  0.009 -1.046]
+t: 16	 action: [ 0.888  0.156  0.077 -0.004  0.009  0.017 -1.015]
+t: 17	 action: [ 0.905  0.17   0.034  0.003  0.007  0.01  -1.051]
+t: 18	 action: [ 0.808  0.028  0.182  0.004  0.008  0.02  -1.024]
+t: 19	 action: [ 0.846  0.027  0.164  0.02   0.014  0.012 -1.024]
+t: 20	 action: [ 0.866 -0.038  0.164  0.009  0.008  0.015 -1.022]
+t: 21	 action: [ 0.881 -0.047  0.168  0.024  0.014  0.012 -1.013]
+t: 22	 action: [ 0.906 -0.092  0.103  0.013  0.013  0.018 -1.017]
+t: 23	 action: [ 0.931 -0.159  0.049  0.028  0.011  0.013 -1.044]
+t: 24	 action: [ 0.932 -0.137  0.042  0.016  0.011  0.009 -1.017]
+t: 25	 action: [ 0.955 -0.182  0.017  0.031  0.007  0.012 -1.047]
+[07-31 01:42:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.260 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3759
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3759
+Query 1/1: Action query time = 1.260 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3759
+t=26: Selected seed 195 with value = 0.3759
+t: 26	 action: [ 0.666 -0.114 -0.08   0.003 -0.029  0.005 -1.029]
+t: 27	 action: [ 0.678 -0.144 -0.099  0.009 -0.035 -0.003 -1.034]
+t: 28	 action: [ 0.611 -0.094 -0.152  0.005 -0.039  0.006 -1.018]
+t: 29	 action: [ 6.131e-01 -1.343e-01 -1.688e-01  1.029e-02 -4.544e-02 -9.659e-04 -1.027e+00]
+t: 30	 action: [ 6.019e-01 -9.584e-02 -3.208e-01  4.661e-03 -5.205e-02  6.216e-04 -1.016e+00]
+t: 31	 action: [ 0.559 -0.129 -0.371  0.01  -0.073 -0.007 -1.052]
+t: 32	 action: [ 0.51  -0.074 -0.49   0.002 -0.071  0.001 -1.012]
+t: 33	 action: [ 0.489 -0.104 -0.495  0.008 -0.078 -0.005 -1.048]
+t: 34	 action: [ 0.223 -0.089 -0.513  0.016 -0.089  0.017 -1.041]
+t: 35	 action: [ 0.161 -0.093 -0.621  0.014 -0.097  0.009 -1.037]
+t: 36	 action: [ 0.149 -0.075 -0.632  0.014 -0.1    0.018 -1.035]
+t: 37	 action: [ 0.097 -0.073 -0.696  0.016 -0.098  0.014 -1.024]
+t: 38	 action: [ 0.033  0.061 -0.717  0.005 -0.096  0.01  -1.04 ]
+t: 39	 action: [ 0.04   0.026 -0.715  0.017 -0.081  0.008 -1.05 ]
+t: 40	 action: [ 0.019  0.071 -0.72   0.003 -0.079  0.011 -1.034]
+t: 41	 action: [ 0.051  0.045 -0.713  0.019 -0.057  0.013 -1.053]
+[07-31 01:42:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5619
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5619
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5619
+t=42: Selected seed 195 with value = 0.5619
+t: 42	 action: [ 0.067  0.796 -0.362  0.021  0.003  0.036 -0.985]
+t: 43	 action: [ 0.083  0.8   -0.407  0.03   0.003  0.032 -1.   ]
+t: 44	 action: [ 0.055  0.826 -0.378  0.025  0.009  0.041 -0.98 ]
+t: 45	 action: [ 0.055  0.804 -0.413  0.032  0.004  0.035 -1.003]
+t: 46	 action: [ 0.068  0.83  -0.343  0.016  0.014  0.044 -0.968]
+t: 47	 action: [ 0.033  0.825 -0.425  0.034  0.005  0.04  -1.018]
+t: 48	 action: [ 0.045  0.838 -0.378  0.014  0.019  0.051 -0.964]
+t: 49	 action: [ 0.027  0.813 -0.447  0.033  0.01   0.042 -1.028]
+t: 50	 action: [ 0.134  0.737 -0.385  0.034  0.022  0.051 -1.012]
+t: 51	 action: [ 0.145  0.664 -0.47   0.028  0.022  0.038 -1.02 ]
+t: 52	 action: [ 0.134  0.546 -0.286  0.013  0.027  0.036 -1.013]
+t: 53	 action: [ 0.138  0.357 -0.243  0.021  0.036  0.021 -1.014]
+t: 54	 action: [ 0.118  0.179 -0.002  0.005  0.028  0.037 -0.998]
+t: 55	 action: [ 0.069  0.012  0.239  0.011  0.035  0.028 -1.035]
+t: 56	 action: [ 0.065 -0.074  0.406  0.003  0.056  0.013 -0.993]
+t: 57	 action: [ 0.026 -0.092  0.656  0.003  0.051  0.011 -1.035]
+[07-31 01:42:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5610
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5610
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5610
+t=58: Selected seed 195 with value = 0.5610
+t: 58	 action: [ 0.054  0.331 -0.183  0.002  0.012  0.023 -1.011]
+t: 59	 action: [ 0.113  0.205 -0.057  0.003  0.016  0.014 -1.011]
+t: 60	 action: [ 0.072  0.113  0.003 -0.003  0.027  0.015 -1.007]
+t: 61	 action: [ 0.099 -0.003  0.178  0.002  0.026  0.005 -1.015]
+t: 62	 action: [ 0.048  0.022  0.156  0.003  0.033  0.008 -0.998]
+t: 63	 action: [ 0.023  0.033  0.348  0.006  0.025  0.01  -1.031]
+t: 64	 action: [ 1.040e-02 -3.143e-02  4.810e-01  4.236e-03  3.812e-02  5.416e-04 -1.005e+00]
+t: 65	 action: [-0.023 -0.058  0.615  0.011  0.031  0.002 -1.034]
+t: 66	 action: [ 0.01  -0.117  0.562  0.021  0.004  0.006 -1.022]
+t: 67	 action: [-1.389e-01 -1.956e-01  5.408e-01  2.636e-02  3.712e-03  1.956e-04 -1.036e+00]
+t: 68	 action: [-0.127 -0.088  0.388  0.021 -0.004  0.008 -1.034]
+t: 69	 action: [-0.262 -0.247  0.345  0.029  0.003  0.003 -1.025]
+t: 70	 action: [-0.508 -0.169  0.22   0.041 -0.009  0.005 -1.011]
+t: 71	 action: [-0.636 -0.193  0.117  0.03  -0.022  0.011 -1.04 ]
+t: 72	 action: [-0.771 -0.166  0.089  0.038 -0.016  0.008 -1.002]
+t: 73	 action: [-0.783 -0.189  0.006  0.03  -0.017  0.017 -1.028]
+[07-31 01:42:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4368
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.4368
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4368
+t=74: Selected seed 195 with value = 0.4368
+t: 74	 action: [ 0.022  0.006  0.4   -0.024  0.019 -0.008 -1.   ]
+t: 75	 action: [ 0.062 -0.069  0.499 -0.015  0.025 -0.02  -1.024]
+t: 76	 action: [-0.013 -0.046  0.571 -0.009  0.014 -0.018 -1.012]
+t: 77	 action: [-0.08  -0.091  0.533 -0.008  0.02  -0.028 -1.023]
+t: 78	 action: [-0.196 -0.094  0.453  0.005  0.02  -0.021 -0.999]
+t: 79	 action: [-0.267 -0.08   0.407 -0.002  0.01  -0.028 -1.047]
+t: 80	 action: [-0.452 -0.112  0.297  0.004  0.01  -0.024 -1.013]
+t: 81	 action: [-0.485 -0.089  0.229  0.007  0.009 -0.034 -1.042]
+t: 82	 action: [-0.636  0.021  0.069  0.019 -0.015 -0.003 -1.021]
+t: 83	 action: [-0.745 -0.064 -0.001 -0.005 -0.004 -0.01  -1.041]
+t: 84	 action: [-0.779  0.011 -0.053  0.007 -0.021  0.001 -1.027]
+t: 85	 action: [-0.817 -0.081 -0.172 -0.011 -0.003 -0.005 -1.023]
+t: 86	 action: [-0.884 -0.001 -0.189  0.016 -0.022  0.002 -0.997]
+t: 87	 action: [-0.852 -0.049 -0.219 -0.008 -0.029 -0.006 -1.044]
+t: 88	 action: [-0.848 -0.02  -0.355  0.007 -0.025  0.003 -1.001]
+t: 89	 action: [-8.043e-01 -6.172e-02 -3.422e-01 -9.147e-03 -2.638e-02 -5.527e-04 -1.035e+00]
+[07-31 01:42:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4136
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4136
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4136
+t=90: Selected seed 195 with value = 0.4136
+t: 90	 action: [-0.28   0.063 -0.023 -0.002  0.004 -0.019 -1.021]
+t: 91	 action: [-2.825e-01  1.040e-01 -7.181e-02  1.747e-04 -6.412e-04 -2.742e-02 -1.048e+00]
+t: 92	 action: [-3.731e-01  3.595e-02 -1.653e-01  2.493e-03 -7.163e-04 -2.110e-02 -1.027e+00]
+t: 93	 action: [-3.420e-01  2.216e-02 -2.676e-01 -5.716e-04 -5.204e-03 -4.330e-02 -1.068e+00]
+t: 94	 action: [-0.432  0.023 -0.393 -0.002 -0.003 -0.03  -1.019]
+t: 95	 action: [-0.373  0.019 -0.373 -0.005  0.002 -0.038 -1.061]
+t: 96	 action: [-0.329  0.019 -0.66  -0.012 -0.008 -0.03  -1.027]
+t: 97	 action: [-0.274  0.04  -0.661 -0.011 -0.003 -0.058 -1.085]
+t: 98	 action: [-0.097  0.012 -0.701 -0.011 -0.01  -0.012 -1.02 ]
+t: 99	 action: [ 0.024  0.018 -0.775 -0.009 -0.007 -0.049 -1.053]
+t: 100	 action: [ 0.102 -0.003 -0.757 -0.013 -0.015 -0.025 -0.953]
+t: 101	 action: [ 0.17  -0.011 -0.775 -0.009 -0.012 -0.015 -0.854]
+t: 102	 action: [ 0.09   0.022 -0.695 -0.002 -0.026 -0.036 -1.018]
+t: 103	 action: [ 0.086  0.078 -0.631 -0.003 -0.027 -0.072 -1.066]
+t: 104	 action: [ 0.18   0.024 -0.576 -0.013 -0.028 -0.052 -0.905]
+t: 105	 action: [ 0.213  0.067 -0.533 -0.006 -0.026 -0.016  0.238]
+[07-31 01:42:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4971
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4971
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4971
+t=106: Selected seed 195 with value = 0.4971
+t: 106	 action: [ 0.344  0.237 -0.427  0.008  0.001 -0.024 -1.062]
+t: 107	 action: [ 0.357  0.218 -0.395  0.015 -0.002 -0.045 -1.035]
+t: 108	 action: [ 0.328  0.192 -0.409  0.016 -0.004 -0.035 -1.069]
+t: 109	 action: [ 0.358  0.157 -0.337  0.015 -0.004 -0.057 -1.036]
+t: 110	 action: [ 0.375  0.203 -0.27   0.009 -0.003 -0.04  -1.044]
+t: 111	 action: [ 0.356  0.166 -0.161  0.019 -0.005 -0.052 -1.054]
+t: 112	 action: [ 0.432  0.174 -0.168  0.006 -0.009 -0.05  -1.053]
+t: 113	 action: [ 0.407  0.135 -0.101  0.012 -0.01  -0.066 -1.051]
+t: 114	 action: [ 0.479  0.091 -0.049  0.012  0.001 -0.039 -1.086]
+t: 115	 action: [ 0.486  0.064 -0.098  0.011  0.007 -0.046 -1.047]
+t: 116	 action: [ 0.426  0.035 -0.195  0.008 -0.007 -0.025 -1.105]
+t: 117	 action: [ 0.41   0.027 -0.258  0.007  0.003 -0.032 -1.04 ]
+t: 118	 action: [ 0.282  0.04  -0.361  0.005 -0.02  -0.029 -1.074]
+t: 119	 action: [ 0.135  0.026 -0.372  0.009 -0.015 -0.044 -1.049]
+t: 120	 action: [ 0.152  0.029 -0.566 -0.005 -0.03  -0.018 -1.088]
+t: 121	 action: [ 0.051  0.017 -0.521  0.003 -0.025 -0.029 -1.048]
+[07-31 01:42:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.037 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5612
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5612
+Query 1/1: Action query time = 1.037 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5612
+t=122: Selected seed 195 with value = 0.5612
+t: 122	 action: [ 7.609e-02  9.809e-02 -3.793e-01  3.030e-04 -4.149e-03 -3.287e-03 -1.072e+00]
+t: 123	 action: [ 0.101  0.101 -0.467  0.001  0.002 -0.012 -1.037]
+t: 124	 action: [ 6.082e-02  5.204e-02 -4.256e-01 -2.364e-03 -8.084e-04  4.044e-03 -1.282e+00]
+t: 125	 action: [ 0.052  0.06  -0.49  -0.002  0.005  0.004 -1.157]
+t: 126	 action: [ 0.02   0.017 -0.411 -0.002  0.003 -0.006 -1.061]
+t: 127	 action: [ 2.843e-02  1.986e-02 -4.821e-01  9.314e-03  9.515e-04 -1.221e-02 -1.038e+00]
+t: 128	 action: [ 0.021  0.008 -0.406 -0.006  0.003 -0.002  0.803]
+t: 129	 action: [ 0.031 -0.002 -0.469  0.007  0.002 -0.009  1.179]
+t: 130	 action: [-0.052  0.079 -0.43  -0.01   0.003 -0.001  0.993]
+t: 131	 action: [-0.037  0.092 -0.382 -0.021  0.011 -0.009  1.038]
+t: 132	 action: [-6.264e-02  7.957e-02 -3.329e-01 -1.709e-02  6.733e-03 -4.916e-04  9.801e-01]
+t: 133	 action: [-0.074  0.081 -0.264 -0.022  0.011 -0.015  1.022]
+t: 134	 action: [-0.077  0.091 -0.153 -0.009  0.016 -0.009  1.025]
+t: 135	 action: [-0.062  0.078 -0.071 -0.02   0.008 -0.015  1.041]
+t: 136	 action: [-0.079  0.111  0.026 -0.013  0.01  -0.014  1.023]
+t: 137	 action: [-0.044  0.08   0.043 -0.027  0.002 -0.021  1.036]
+[07-31 01:42:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7208
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7208
+Query 1/1: Action query time = 0.997 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7208
+t=138: Selected seed 195 with value = 0.7208
+t: 138	 action: [-9.027e-02 -2.270e-02 -4.720e-02 -5.104e-03  2.764e-02 -7.981e-04  9.827e-01]
+t: 139	 action: [-0.091 -0.038  0.028 -0.006  0.025 -0.012  1.031]
+t: 140	 action: [-0.081 -0.012  0.253 -0.003  0.014 -0.013  0.983]
+t: 141	 action: [-0.046 -0.036  0.438 -0.004  0.02  -0.015  1.027]
+t: 142	 action: [-0.061 -0.024  0.556 -0.004  0.026 -0.009  0.998]
+t: 143	 action: [-0.013 -0.052  0.8    0.013  0.029 -0.016  1.01 ]
+t: 144	 action: [-0.052 -0.082  0.881  0.011  0.03  -0.019  0.991]
+t: 145	 action: [-0.016 -0.166  0.93   0.031  0.043 -0.021  1.009]
+t: 146	 action: [-0.165 -0.295  0.863  0.021  0.039  0.004  0.98 ]
+t: 147	 action: [-0.149 -0.47   0.9    0.034  0.039 -0.002  1.025]
+t: 148	 action: [-0.213 -0.518  0.787  0.037  0.039  0.003  0.962]
+t: 149	 action: [-0.182 -0.673  0.736  0.048  0.041  0.003  1.018]
+t: 150	 action: [-0.227 -0.658  0.563  0.053  0.052  0.002  0.992]
+t: 151	 action: [-0.296 -0.779  0.389  0.051  0.045  0.006  1.008]
+t: 152	 action: [-2.593e-01 -7.530e-01  2.519e-01  4.110e-02  5.390e-02  8.128e-04  9.784e-01]
+t: 153	 action: [-0.299 -0.8    0.117  0.039  0.043  0.008  0.999]
+[07-31 01:42:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8820
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=154: Selected seed 195 with value = 0.8820
+t: 154	 action: [-0.321 -0.746 -0.11   0.021  0.046  0.009  0.951]
+t: 155	 action: [-0.285 -0.765 -0.187  0.014  0.035  0.013  1.038]
+t: 156	 action: [-0.329 -0.603 -0.33   0.013  0.021  0.006  0.97 ]
+t: 157	 action: [-0.294 -0.555 -0.419  0.002  0.011  0.021  1.031]
+t: 158	 action: [-0.322 -0.397 -0.535 -0.016  0.005  0.015  0.963]
+t: 159	 action: [-0.283 -0.363 -0.609 -0.02   0.003  0.036  1.048]
+t: 160	 action: [-3.052e-01 -2.563e-01 -6.440e-01 -4.537e-02 -3.529e-04  2.862e-02  9.841e-01]
+t: 161	 action: [-0.23  -0.178 -0.69  -0.034 -0.006  0.038  1.035]
+t: 162	 action: [-0.156 -0.241 -0.638 -0.036 -0.012  0.02   1.   ]
+t: 163	 action: [-0.216 -0.163 -0.625 -0.033 -0.011  0.043  0.868]
+t: 164	 action: [-0.17  -0.171 -0.565 -0.06  -0.002  0.024  1.106]
+t: 165	 action: [-1.984e-01 -1.365e-01 -4.716e-01 -4.008e-02 -2.391e-04  2.772e-02  1.058e+00]
+t: 166	 action: [-0.236 -0.093 -0.314 -0.062 -0.006  0.023  0.978]
+t: 167	 action: [-0.227 -0.07  -0.233 -0.032 -0.019  0.052 -0.14 ]
+t: 168	 action: [-1.275e-01 -6.243e-02 -3.637e-02 -5.421e-02 -7.735e-04  1.590e-02 -1.123e+00]
+t: 169	 action: [-0.074 -0.055  0.029 -0.028 -0.015  0.03  -1.102]
+[07-31 01:42:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9916
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 0.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=170: Selected seed 195 with value = 0.9916
+t: 170	 action: [ 2.078e-01  5.518e-03  2.658e-01 -6.048e-04  1.198e-01 -2.260e-02 -1.054e+00]
+t: 171	 action: [ 0.239 -0.036  0.301 -0.007  0.111 -0.038 -1.048]
+t: 172	 action: [ 0.252  0.047  0.378 -0.002  0.117 -0.023 -1.041]
+t: 173	 action: [ 0.296  0.047  0.392 -0.006  0.116 -0.036 -1.037]
+t: 174	 action: [ 0.241  0.129  0.471 -0.002  0.118 -0.024 -1.037]
+t: 175	 action: [ 0.254  0.129  0.477 -0.003  0.116 -0.036 -1.062]
+t: 176	 action: [ 0.289  0.181  0.499 -0.003  0.111 -0.026 -1.032]
+t: 177	 action: [ 2.974e-01  1.462e-01  4.394e-01 -1.020e-03  1.098e-01 -3.595e-02 -1.058e+00]
+t: 178	 action: [ 0.341  0.187  0.435  0.005  0.066 -0.033 -1.049]
+t: 179	 action: [ 0.326  0.093  0.399  0.005  0.071 -0.043 -1.05 ]
+t: 180	 action: [ 0.269  0.152  0.366  0.004  0.052 -0.025 -1.042]
+t: 181	 action: [ 0.268  0.075  0.334  0.007  0.058 -0.039 -1.046]
+t: 182	 action: [ 0.192  0.1    0.35   0.01   0.048 -0.025 -1.047]
+t: 183	 action: [ 0.105  0.09   0.269  0.011  0.034 -0.039 -1.06 ]
+t: 184	 action: [ 0.139  0.071  0.298  0.007  0.038 -0.021 -1.046]
+t: 185	 action: [ 0.093  0.064  0.238  0.012  0.029 -0.034 -1.063]
+[07-31 01:42:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9556
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=186: Selected seed 195 with value = 0.9556
+t: 186	 action: [ 0.116 -0.011 -0.291 -0.001 -0.014 -0.003 -1.041]
+t: 187	 action: [ 0.126  0.035 -0.233 -0.003 -0.02  -0.027 -1.029]
+t: 188	 action: [ 0.114  0.068 -0.059 -0.004 -0.026 -0.014 -1.043]
+t: 189	 action: [ 0.15   0.105 -0.038 -0.009 -0.036 -0.034 -1.031]
+t: 190	 action: [ 0.059  0.21   0.007 -0.009 -0.034 -0.013 -1.043]
+t: 191	 action: [ 0.051  0.193  0.097 -0.008 -0.044 -0.037 -1.062]
+t: 192	 action: [ 0.087  0.253  0.099 -0.011 -0.043 -0.027 -1.045]
+t: 193	 action: [ 0.089  0.184  0.153 -0.011 -0.044 -0.044 -1.05 ]
+t: 194	 action: [ 0.147  0.108  0.126  0.002 -0.045 -0.03  -1.066]
+t: 195	 action: [ 0.112  0.067  0.09   0.003 -0.05  -0.046 -1.055]
+t: 196	 action: [ 1.620e-01  1.082e-01  3.134e-02  8.045e-04 -4.903e-02 -3.217e-02 -1.061e+00]
+t: 197	 action: [ 0.155  0.066  0.021  0.002 -0.048 -0.041 -1.042]
+t: 198	 action: [ 0.075  0.046  0.04   0.002 -0.047 -0.027 -1.062]
+t: 199	 action: [ 0.02   0.068  0.01   0.01  -0.052 -0.048 -1.058]
+t: 200	 action: [ 0.078  0.051 -0.028 -0.003 -0.045 -0.03  -1.058]
+t: 201	 action: [ 0.041  0.06  -0.014  0.006 -0.047 -0.043 -1.058]
+[07-31 01:42:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9340
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=202: Selected seed 195 with value = 0.9340
+t: 202	 action: [ 0.072 -0.006 -0.25   0.002 -0.011 -0.016 -1.027]
+t: 203	 action: [ 0.036 -0.019 -0.234  0.004 -0.01  -0.041 -1.003]
+t: 204	 action: [ 0.009  0.024 -0.031 -0.002 -0.026 -0.036 -1.03 ]
+t: 205	 action: [ 0.019  0.033 -0.044 -0.004 -0.031 -0.057 -1.023]
+t: 206	 action: [-0.08   0.11   0.072 -0.005 -0.03  -0.026 -1.033]
+t: 207	 action: [-0.027  0.157  0.12  -0.016 -0.041 -0.049 -1.045]
+t: 208	 action: [-0.059  0.165  0.203 -0.004 -0.045 -0.042 -1.034]
+t: 209	 action: [ 0.001  0.158  0.186 -0.013 -0.04  -0.063 -1.039]
+t: 210	 action: [ 0.056  0.07   0.17   0.003 -0.054 -0.027 -1.049]
+t: 211	 action: [ 0.036  0.029  0.121  0.004 -0.046 -0.041 -1.039]
+t: 212	 action: [ 0.072  0.071  0.113  0.002 -0.061 -0.031 -1.046]
+t: 213	 action: [ 0.058  0.02   0.04   0.004 -0.047 -0.038 -1.031]
+t: 214	 action: [-0.01   0.024  0.077  0.005 -0.061 -0.022 -1.049]
+t: 215	 action: [-0.039  0.039  0.009  0.011 -0.046 -0.042 -1.044]
+t: 216	 action: [ 0.008  0.016  0.002  0.002 -0.056 -0.026 -1.045]
+t: 217	 action: [-0.004  0.017 -0.032  0.011 -0.04  -0.037 -1.045]
+[07-31 01:42:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9439
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 1.005 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=218: Selected seed 195 with value = 0.9439
+t: 218	 action: [ 0.101  0.011 -0.108  0.001 -0.01  -0.028 -1.032]
+t: 219	 action: [ 0.059 -0.008 -0.093 -0.002 -0.004 -0.045 -1.011]
+t: 220	 action: [ 2.210e-02  1.010e-02  9.635e-02  6.724e-04 -2.452e-02 -4.277e-02 -1.031e+00]
+t: 221	 action: [ 1.435e-02  5.871e-03  7.321e-02 -7.620e-04 -1.744e-02 -5.532e-02 -1.030e+00]
+t: 222	 action: [-0.073  0.038  0.104 -0.001 -0.03  -0.029 -1.038]
+t: 223	 action: [-0.024  0.065  0.101 -0.007 -0.022 -0.048 -1.054]
+t: 224	 action: [-0.065  0.044  0.135 -0.003 -0.04  -0.037 -1.036]
+t: 225	 action: [-3.045e-03  5.714e-02  4.108e-02 -1.627e-04 -2.137e-02 -5.645e-02 -1.045e+00]
+t: 226	 action: [ 0.073  0.017  0.124  0.009 -0.043 -0.012 -1.05 ]
+t: 227	 action: [ 0.04   0.004  0.049  0.011 -0.034 -0.027 -1.036]
+t: 228	 action: [ 0.067  0.03   0.051  0.008 -0.05  -0.014 -1.048]
+t: 229	 action: [ 0.049 -0.006 -0.004  0.011 -0.039 -0.025 -1.03 ]
+t: 230	 action: [-0.016  0.008  0.011  0.013 -0.053 -0.008 -1.052]
+t: 231	 action: [-0.014  0.018 -0.049  0.014 -0.042 -0.026 -1.05 ]
+t: 232	 action: [-0.016  0.005 -0.07   0.009 -0.053 -0.011 -1.048]
+t: 233	 action: [ 0.002 -0.007 -0.129  0.012 -0.04  -0.024 -1.049]
+[07-31 01:42:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9460
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=234: Selected seed 195 with value = 0.9460
+t: 234	 action: [ 1.058e-01  1.221e-02 -1.212e-01 -4.698e-04 -3.646e-03 -3.403e-02 -1.027e+00]
+t: 235	 action: [ 6.847e-02  2.154e-02 -1.094e-01 -2.262e-03 -4.863e-04 -4.401e-02 -1.006e+00]
+t: 236	 action: [ 0.037  0.01   0.126 -0.001 -0.011 -0.039 -1.029]
+t: 237	 action: [ 0.025  0.011  0.083 -0.002 -0.005 -0.048 -1.032]
+t: 238	 action: [-0.019  0.021  0.13  -0.005 -0.01  -0.028 -1.042]
+t: 239	 action: [-0.011  0.055  0.116 -0.005 -0.006 -0.045 -1.059]
+t: 240	 action: [-0.046  0.009  0.147 -0.004 -0.015 -0.029 -1.037]
+t: 241	 action: [-0.003  0.02   0.052  0.002 -0.004 -0.047 -1.048]
+t: 242	 action: [ 0.132 -0.047  0.133  0.011 -0.017 -0.011 -1.047]
+t: 243	 action: [ 0.079 -0.045  0.041  0.015 -0.005 -0.023 -1.04 ]
+t: 244	 action: [ 0.097 -0.046  0.047  0.015 -0.023 -0.009 -1.042]
+t: 245	 action: [ 0.059 -0.057 -0.042  0.016 -0.009 -0.019 -1.033]
+t: 246	 action: [-0.01  -0.052 -0.053  0.017 -0.029 -0.005 -1.053]
+t: 247	 action: [ 0.005 -0.038 -0.159  0.015 -0.016 -0.019 -1.056]
+t: 248	 action: [-0.039 -0.02  -0.204  0.012 -0.031 -0.007 -1.047]
+t: 249	 action: [-0.001 -0.043 -0.285  0.014 -0.018 -0.015 -1.054]
+[07-31 01:42:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9552
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=250: Selected seed 195 with value = 0.9552
+t: 250	 action: [ 0.107  0.05  -0.012 -0.003  0.003 -0.021 -1.013]
+t: 251	 action: [ 0.074  0.077  0.025 -0.005  0.004 -0.027 -0.982]
+t: 252	 action: [ 4.951e-02  2.527e-02  1.821e-01 -1.854e-03 -4.867e-04 -2.195e-02 -1.025e+00]
+t: 253	 action: [ 0.038  0.042  0.175 -0.003  0.002 -0.026 -1.03 ]
+t: 254	 action: [-5.508e-04  1.871e-02  2.075e-01 -3.216e-03  9.887e-06 -1.241e-02 -1.045e+00]
+t: 255	 action: [-0.01   0.052  0.202 -0.007 -0.002 -0.025 -1.058]
+t: 256	 action: [-2.980e-02 -5.304e-04  1.907e-01 -2.741e-03 -1.822e-03 -1.164e-02 -1.038e+00]
+t: 257	 action: [ 1.668e-03  2.006e-03  1.259e-01  2.744e-03 -8.016e-04 -2.388e-02 -1.048e+00]
+t: 258	 action: [ 0.122 -0.049  0.146  0.008 -0.004  0.001 -1.049]
+t: 259	 action: [ 0.076 -0.041  0.081  0.013  0.005 -0.01  -1.04 ]
+t: 260	 action: [ 0.088 -0.04   0.081  0.011 -0.011  0.002 -1.047]
+t: 261	 action: [ 0.056 -0.047  0.025  0.014  0.004 -0.008 -1.032]
+t: 262	 action: [-3.538e-03 -6.028e-02 -1.827e-02  1.056e-02 -1.459e-02 -9.987e-04 -1.057e+00]
+t: 263	 action: [ 0.004 -0.039 -0.049  0.014 -0.005 -0.008 -1.056]
+t: 264	 action: [-0.032 -0.025 -0.098  0.007 -0.02  -0.003 -1.052]
+t: 265	 action: [-0.009 -0.048 -0.113  0.012 -0.009 -0.005 -1.052]
+[07-31 01:42:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9513
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=266: Selected seed 195 with value = 0.9513
+t: 266	 action: [ 0.101  0.072 -0.043 -0.004 -0.002 -0.012 -1.013]
+t: 267	 action: [ 0.08   0.086  0.033 -0.004  0.004 -0.02  -0.987]
+t: 268	 action: [ 0.061  0.032  0.19  -0.003 -0.004 -0.015 -1.022]
+t: 269	 action: [ 0.059  0.046  0.225 -0.002  0.001 -0.021 -1.029]
+t: 270	 action: [ 1.360e-02  1.626e-02  2.753e-01  2.607e-04 -3.464e-03 -8.119e-03 -1.041e+00]
+t: 271	 action: [-1.833e-04  3.985e-02  2.743e-01 -7.927e-03 -4.105e-03 -1.781e-02 -1.062e+00]
+t: 272	 action: [-1.212e-02 -1.182e-02  2.454e-01  7.172e-04 -6.231e-03 -7.578e-03 -1.035e+00]
+t: 273	 action: [ 0.016 -0.023  0.193  0.002 -0.004 -0.019 -1.05 ]
+t: 274	 action: [ 0.127 -0.084  0.172  0.01  -0.007  0.003 -1.051]
+t: 275	 action: [ 0.073 -0.066  0.078  0.013  0.002 -0.006 -1.039]
+t: 276	 action: [ 0.095 -0.068  0.081  0.015 -0.018  0.004 -1.048]
+t: 277	 action: [ 0.058 -0.072  0.015  0.014 -0.005 -0.003 -1.029]
+t: 278	 action: [-4.029e-03 -6.582e-02 -2.441e-02  9.118e-03 -1.969e-02  8.468e-04 -1.058e+00]
+t: 279	 action: [ 0.001 -0.061 -0.069  0.009 -0.016 -0.002 -1.057]
+t: 280	 action: [-4.574e-02 -2.445e-02 -1.310e-01  4.537e-03 -2.678e-02  3.239e-04 -1.053e+00]
+t: 281	 action: [-0.026 -0.065 -0.17   0.007 -0.025  0.002 -1.051]
+[07-31 01:42:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9352
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 0.994 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=282: Selected seed 195 with value = 0.9352
+t: 282	 action: [ 0.121  0.037 -0.011 -0.01  -0.011 -0.003 -1.002]
+t: 283	 action: [ 0.138  0.055  0.098 -0.001  0.003 -0.016 -0.978]
+t: 284	 action: [ 0.101  0.024  0.273 -0.007 -0.009 -0.009 -1.013]
+t: 285	 action: [ 0.117  0.009  0.345  0.003  0.002 -0.021 -1.028]
+t: 286	 action: [ 0.043 -0.028  0.434  0.005 -0.014 -0.005 -1.04 ]
+t: 287	 action: [ 0.013 -0.043  0.441 -0.003 -0.008 -0.014 -1.064]
+t: 288	 action: [-0.002 -0.1    0.399  0.01  -0.012 -0.007 -1.033]
+t: 289	 action: [ 0.021 -0.11   0.329  0.01  -0.003 -0.019 -1.053]
+t: 290	 action: [ 1.205e-01 -1.502e-01  2.538e-01  1.500e-02 -2.393e-03  8.903e-04 -1.043e+00]
+t: 291	 action: [ 0.058 -0.121  0.092  0.019  0.006 -0.008 -1.037]
+t: 292	 action: [ 0.089 -0.129  0.114  0.019 -0.014  0.003 -1.038]
+t: 293	 action: [ 5.195e-02 -1.183e-01 -1.457e-04  1.954e-02  3.034e-03 -2.223e-03 -1.031e+00]
+t: 294	 action: [-1.367e-02 -9.516e-02 -1.631e-02  1.584e-02 -1.641e-02  5.716e-04 -1.056e+00]
+t: 295	 action: [-0.019 -0.105 -0.113  0.014 -0.009 -0.001 -1.057]
+t: 296	 action: [-0.071 -0.024 -0.159  0.007 -0.025  0.001 -1.049]
+t: 297	 action: [-0.072 -0.08  -0.246  0.01  -0.018  0.005 -1.052]
+[07-31 01:42:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9094
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9094
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 60
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 20%|██        | 10/50 [05:22<21:24, 32.10s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 11...
+Query 1/1: Action query time = 0.994 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=298: Selected seed 195 with value = 0.9094
+t: 298	 action: [ 0.067  0.211 -0.224 -0.006 -0.007 -0.001 -0.847]
+t: 299	 action: [ 0.065  0.179 -0.116  0.005  0.002 -0.019 -0.871]
+t: 300	 action: [ 0.069  0.091  0.1   -0.009 -0.002 -0.011 -0.983]
+t: 301	 action: [ 6.727e-02  8.354e-02  2.193e-01  1.016e-03  8.521e-03 -3.126e-02 -1.024e+00]
+t: 302	 action: [-3.048e-02  3.044e-02  3.836e-01 -6.254e-04 -9.527e-03 -8.198e-03 -1.043e+00]
+t: 303	 action: [-3.563e-02  1.019e-02  4.529e-01  4.157e-03 -5.767e-04 -2.085e-02 -1.073e+00]
+t: 304	 action: [-0.053 -0.056  0.472  0.013 -0.002 -0.014 -1.018]
+t: 305	 action: [ 0.003 -0.093  0.45   0.021  0.005 -0.032 -1.051]
+t: 306	 action: [ 0.072 -0.182  0.41   0.026  0.023 -0.022 -1.028]
+t: 307	 action: [ 0.051 -0.17   0.184  0.033  0.024 -0.031 -1.038]
+t: 308	 action: [ 0.068 -0.19   0.203  0.035  0.016 -0.017 -1.027]
+t: 309	 action: [ 0.06  -0.174  0.042  0.034  0.018 -0.023 -1.03 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=60--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=60--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 60
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+[07-31 01:42:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4063
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4063
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4063
+t=10: Selected seed 195 with value = 0.4063
+t: 10	 action: [ 0.477 -0.106  0.1    0.004  0.018  0.011 -1.028]
+t: 11	 action: [ 0.613 -0.098  0.125  0.005  0.028  0.01  -1.013]
+t: 12	 action: [ 0.741 -0.254  0.18   0.004  0.02   0.018 -1.025]
+t: 13	 action: [ 0.83  -0.226  0.207  0.011  0.033  0.013 -1.019]
+t: 14	 action: [ 0.875 -0.266  0.265  0.008  0.024  0.012 -1.038]
+t: 15	 action: [ 0.858 -0.264  0.221  0.016  0.021  0.015 -1.046]
+t: 16	 action: [ 0.902 -0.294  0.27   0.01   0.022  0.015 -1.033]
+t: 17	 action: [ 0.885 -0.305  0.224  0.023  0.027  0.015 -1.05 ]
+t: 18	 action: [ 0.87  -0.316  0.226  0.009  0.002  0.014 -1.033]
+t: 19	 action: [ 0.893 -0.317  0.254  0.016  0.013  0.01  -1.015]
+t: 20	 action: [ 0.907 -0.304  0.166  0.012  0.003  0.013 -1.023]
+t: 21	 action: [ 0.912 -0.314  0.202  0.017  0.017  0.01  -1.009]
+t: 22	 action: [ 0.916 -0.306  0.162  0.018  0.007  0.011 -1.023]
+t: 23	 action: [ 0.927 -0.398  0.105  0.023  0.016  0.013 -1.041]
+t: 24	 action: [ 0.939 -0.195  0.079  0.014  0.011  0.008 -1.016]
+t: 25	 action: [ 0.924 -0.289  0.023  0.022  0.021  0.013 -1.041]
+[07-31 01:42:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4465
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4465
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4465
+t=26: Selected seed 195 with value = 0.4465
+t: 26	 action: [ 0.839 -0.362  0.079  0.007 -0.015  0.005 -1.019]
+t: 27	 action: [ 0.9   -0.323  0.071  0.011 -0.006 -0.004 -1.011]
+t: 28	 action: [ 0.87  -0.358 -0.021  0.01  -0.015  0.005 -1.019]
+t: 29	 action: [ 0.889 -0.304  0.007  0.017 -0.004 -0.003 -1.02 ]
+t: 30	 action: [ 0.864 -0.259 -0.124  0.008 -0.013  0.005 -1.017]
+t: 31	 action: [ 0.85  -0.201 -0.161  0.018 -0.007  0.002 -1.042]
+t: 32	 action: [ 0.704 -0.103 -0.361  0.003 -0.02   0.006 -1.018]
+t: 33	 action: [ 0.573 -0.064 -0.435  0.018 -0.01   0.003 -1.04 ]
+t: 34	 action: [ 0.305 -0.002 -0.542  0.015 -0.058  0.011 -1.03 ]
+t: 35	 action: [ 0.196 -0.02  -0.624  0.015 -0.065  0.012 -1.023]
+t: 36	 action: [ 0.122  0.011 -0.744  0.015 -0.074  0.016 -1.024]
+t: 37	 action: [ 0.036  0.025 -0.789  0.016 -0.064  0.015 -1.016]
+t: 38	 action: [ 0.017  0.075 -0.831  0.008 -0.064  0.02  -1.029]
+t: 39	 action: [-0.024  0.097 -0.794  0.026 -0.036  0.022 -1.032]
+t: 40	 action: [-0.067  0.113 -0.833  0.003 -0.043  0.026 -1.023]
+t: 41	 action: [-0.055  0.171 -0.791  0.024 -0.019  0.026 -1.036]
+[07-31 01:42:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5546
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5546
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5546
+t=42: Selected seed 195 with value = 0.5546
+t: 42	 action: [-1.208e-01  7.558e-01 -6.331e-01  4.136e-03  9.391e-04  2.687e-02 -1.001e+00]
+t: 43	 action: [-0.139  0.793 -0.577  0.005 -0.002  0.026 -1.014]
+t: 44	 action: [-0.148  0.814 -0.584  0.004  0.005  0.033 -0.998]
+t: 45	 action: [-0.152  0.819 -0.54   0.006  0.001  0.026 -1.018]
+t: 46	 action: [-2.079e-01  8.255e-01 -5.541e-01  2.771e-03  5.495e-05  3.470e-02 -9.914e-01]
+t: 47	 action: [-0.217  0.824 -0.532  0.005 -0.003  0.027 -1.028]
+t: 48	 action: [-0.224  0.834 -0.528  0.003  0.003  0.041 -0.988]
+t: 49	 action: [-2.146e-01  8.363e-01 -5.130e-01  6.635e-03 -2.562e-05  2.659e-02 -1.034e+00]
+t: 50	 action: [-1.617e-01  8.450e-01 -5.703e-01  3.306e-03  2.514e-04  2.653e-02 -1.002e+00]
+t: 51	 action: [-1.442e-01  8.174e-01 -5.505e-01  1.751e-03 -2.599e-04  2.367e-02 -1.015e+00]
+t: 52	 action: [-0.173  0.839 -0.537  0.004  0.002  0.03  -1.001]
+t: 53	 action: [-0.154  0.788 -0.527  0.004  0.001  0.024 -1.021]
+t: 54	 action: [-0.249  0.827 -0.525  0.002 -0.003  0.034 -0.996]
+t: 55	 action: [-0.22   0.81  -0.496  0.002 -0.006  0.025 -1.029]
+t: 56	 action: [-2.421e-01  7.833e-01 -5.038e-01  3.101e-03 -9.802e-04  3.620e-02 -9.929e-01]
+t: 57	 action: [-0.215  0.755 -0.484  0.003 -0.002  0.027 -1.037]
+[07-31 01:42:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5688
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5688
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5688
+t=58: Selected seed 195 with value = 0.5688
+t: 58	 action: [-0.015  0.745 -0.462  0.005 -0.006  0.045 -1.009]
+t: 59	 action: [ 0.03   0.679 -0.513  0.013  0.005  0.027 -1.007]
+t: 60	 action: [ 0.002  0.588 -0.358  0.003  0.006  0.036 -1.016]
+t: 61	 action: [ 0.032  0.408 -0.262  0.01   0.008  0.018 -1.013]
+t: 62	 action: [ 0.035  0.339 -0.114  0.005  0.014  0.019 -0.999]
+t: 63	 action: [ 0.037  0.192  0.098  0.013  0.015  0.016 -1.031]
+t: 64	 action: [ 0.034  0.011  0.349  0.004  0.026  0.007 -1.008]
+t: 65	 action: [ 0.036 -0.026  0.541  0.012  0.025  0.003 -1.036]
+t: 66	 action: [-0.016 -0.093  0.665 -0.003 -0.008  0.009 -1.021]
+t: 67	 action: [-0.213 -0.154  0.656 -0.003 -0.005  0.002 -1.026]
+t: 68	 action: [-0.345 -0.062  0.595 -0.002 -0.029  0.008 -1.025]
+t: 69	 action: [-0.575 -0.136  0.506 -0.007 -0.023  0.002 -1.015]
+t: 70	 action: [-7.781e-01 -9.922e-02  3.722e-01  7.777e-03 -2.021e-02  8.589e-04 -1.005e+00]
+t: 71	 action: [-8.115e-01 -9.692e-02  2.731e-01 -1.681e-03 -2.013e-02 -9.483e-04 -1.039e+00]
+t: 72	 action: [-0.919 -0.077  0.185  0.007 -0.033  0.002 -0.992]
+t: 73	 action: [-0.869 -0.092  0.11  -0.005 -0.025  0.003 -1.038]
+[07-31 01:42:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5788
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=74: Selected seed 195 with value = 0.5788
+t: 74	 action: [-0.75  -0.082  0.13   0.003  0.003 -0.033 -1.009]
+t: 75	 action: [-0.807 -0.098  0.057 -0.006 -0.003 -0.031 -1.029]
+t: 76	 action: [-0.836 -0.064  0.009  0.007 -0.011 -0.025 -1.008]
+t: 77	 action: [-0.855 -0.068 -0.024 -0.004 -0.018 -0.031 -1.036]
+t: 78	 action: [-0.837 -0.066 -0.162  0.009 -0.024 -0.022 -0.993]
+t: 79	 action: [-8.217e-01 -3.288e-02 -1.775e-01 -9.261e-04 -3.511e-02 -3.884e-02 -1.041e+00]
+t: 80	 action: [-0.801 -0.083 -0.337  0.007 -0.042 -0.021 -0.995]
+t: 81	 action: [-0.712 -0.033 -0.362 -0.002 -0.061 -0.041 -1.039]
+t: 82	 action: [-0.69  -0.004 -0.436  0.008 -0.076 -0.02  -1.015]
+t: 83	 action: [-0.626 -0.03  -0.512  0.002 -0.084 -0.039 -1.026]
+t: 84	 action: [-0.503 -0.026 -0.573  0.007 -0.105 -0.026 -1.015]
+t: 85	 action: [-0.414 -0.052 -0.609  0.004 -0.103 -0.042 -1.02 ]
+t: 86	 action: [-0.455 -0.02  -0.593  0.003 -0.114 -0.033 -1.008]
+t: 87	 action: [-0.38  -0.038 -0.567  0.006 -0.102 -0.052 -1.04 ]
+t: 88	 action: [-0.364 -0.074 -0.63   0.005 -0.125 -0.042 -1.009]
+t: 89	 action: [-0.328 -0.063 -0.587  0.009 -0.102 -0.055 -1.046]
+[07-31 01:42:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7830
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7830
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7830
+t=90: Selected seed 195 with value = 0.7830
+t: 90	 action: [-0.783  0.166 -0.451  0.029 -0.019 -0.024 -1.035]
+t: 91	 action: [-5.551e-01  1.764e-01 -5.100e-01  3.218e-02 -7.689e-04 -6.001e-02 -1.031e+00]
+t: 92	 action: [-0.396  0.227 -0.503  0.029  0.002 -0.041 -1.04 ]
+t: 93	 action: [-0.264  0.201 -0.526  0.029  0.012 -0.076 -1.03 ]
+t: 94	 action: [-0.055  0.256 -0.411  0.035  0.03  -0.062 -1.02 ]
+t: 95	 action: [ 0.076  0.312 -0.391  0.039  0.021 -0.085 -1.049]
+t: 96	 action: [ 0.18   0.202 -0.424  0.029  0.044 -0.081 -1.023]
+t: 97	 action: [ 0.29   0.234 -0.385  0.031  0.023 -0.1   -1.048]
+t: 98	 action: [ 0.39   0.26  -0.518  0.004  0.003 -0.094 -1.038]
+t: 99	 action: [ 0.524  0.198 -0.484  0.007  0.006 -0.107 -1.028]
+t: 100	 action: [ 0.542  0.224 -0.478  0.002 -0.001 -0.093 -1.038]
+t: 101	 action: [ 0.636  0.168 -0.452  0.007  0.007 -0.11  -1.021]
+t: 102	 action: [ 5.299e-01  1.340e-01 -4.188e-01  5.171e-04  7.120e-03 -1.125e-01 -1.039e+00]
+t: 103	 action: [ 0.495  0.114 -0.387  0.013 -0.001 -0.116 -1.057]
+t: 104	 action: [ 0.512  0.087 -0.36  -0.002  0.005 -0.11  -1.035]
+t: 105	 action: [ 4.654e-01  7.203e-02 -3.650e-01  1.215e-02 -2.160e-04 -1.169e-01 -1.063e+00]
+[07-31 01:42:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5460
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.5460
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5460
+t=106: Selected seed 195 with value = 0.5460
+t: 106	 action: [ 0.394  0.048 -0.206  0.004  0.014 -0.08  -1.052]
+t: 107	 action: [ 0.38   0.11  -0.319  0.007  0.005 -0.077 -1.053]
+t: 108	 action: [ 0.335  0.038 -0.206  0.002  0.015 -0.077 -1.055]
+t: 109	 action: [ 0.329  0.1   -0.328  0.005  0.003 -0.076 -1.044]
+t: 110	 action: [ 0.252  0.06  -0.233  0.009  0.007 -0.074 -1.034]
+t: 111	 action: [ 0.169  0.145 -0.356  0.021 -0.003 -0.077 -1.063]
+t: 112	 action: [ 0.158  0.031 -0.318  0.007  0.007 -0.063 -1.04 ]
+t: 113	 action: [ 0.08   0.123 -0.41   0.018 -0.003 -0.075 -1.054]
+t: 114	 action: [ 1.416e-01 -6.116e-04 -4.465e-01  5.060e-03 -4.302e-03 -2.736e-02 -1.031e+00]
+t: 115	 action: [ 0.058 -0.017 -0.566 -0.002 -0.003 -0.012 -1.129]
+t: 116	 action: [-0.013 -0.048 -0.573  0.005 -0.007 -0.013 -1.147]
+t: 117	 action: [-0.097 -0.072 -0.655 -0.006 -0.002 -0.013 -1.152]
+t: 118	 action: [-0.06  -0.02  -0.584 -0.001 -0.02  -0.016 -1.016]
+t: 119	 action: [-9.328e-02  1.556e-02 -6.057e-01  7.006e-04 -1.082e-02 -4.322e-03  1.185e+00]
+t: 120	 action: [-0.078 -0.03  -0.61  -0.004 -0.019 -0.011  1.108]
+t: 121	 action: [-0.033 -0.002 -0.566 -0.006 -0.014 -0.002  1.167]
+[07-31 01:42:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6337
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.6337
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6337
+t=122: Selected seed 195 with value = 0.6337
+t: 122	 action: [ 0.049  0.038 -0.429 -0.009 -0.004 -0.023  0.987]
+t: 123	 action: [ 0.041  0.019 -0.385 -0.012  0.007 -0.021  1.035]
+t: 124	 action: [ 0.047  0.029 -0.411 -0.005  0.004 -0.008  0.98 ]
+t: 125	 action: [ 0.02   0.004 -0.292 -0.01   0.009 -0.014  1.042]
+t: 126	 action: [ 0.033  0.017 -0.217 -0.012  0.012 -0.035  1.001]
+t: 127	 action: [ 0.034  0.02  -0.163 -0.007 -0.002 -0.02   1.025]
+t: 128	 action: [ 0.038  0.027 -0.073 -0.011  0.017 -0.028  0.994]
+t: 129	 action: [ 0.018  0.024 -0.031 -0.009 -0.002 -0.02   1.03 ]
+t: 130	 action: [ 0.055  0.045  0.066 -0.011  0.021 -0.033  0.985]
+t: 131	 action: [ 0.061  0.066  0.146 -0.008  0.034 -0.041  1.037]
+t: 132	 action: [ 0.049  0.079  0.293 -0.007  0.016 -0.036  0.978]
+t: 133	 action: [ 0.042  0.099  0.419 -0.011  0.027 -0.04   1.032]
+t: 134	 action: [-0.002  0.059  0.621  0.003  0.026 -0.064  0.998]
+t: 135	 action: [ 0.026  0.077  0.831 -0.002  0.012 -0.047  1.015]
+t: 136	 action: [-0.021  0.067  0.921  0.012  0.033 -0.068  0.998]
+t: 137	 action: [ 0.01   0.022  0.96   0.01   0.025 -0.042  1.019]
+[07-31 01:42:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.198 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7712
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7712
+Query 1/1: Action query time = 1.198 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7712
+t=138: Selected seed 195 with value = 0.7712
+t: 138	 action: [-0.253  0.022  0.42   0.009  0.014 -0.066  0.978]
+t: 139	 action: [-0.21   0.058  0.415  0.033  0.022 -0.065  1.059]
+t: 140	 action: [-0.31   0.008  0.561  0.041  0.021 -0.064  0.976]
+t: 141	 action: [-0.256  0.001  0.553  0.052  0.04  -0.06   1.059]
+t: 142	 action: [-0.284 -0.067  0.515  0.053  0.047 -0.051  1.007]
+t: 143	 action: [-0.204 -0.124  0.473  0.061  0.079 -0.055  1.058]
+t: 144	 action: [-0.261 -0.159  0.658  0.065  0.066 -0.05   1.002]
+t: 145	 action: [-0.142 -0.189  0.685  0.068  0.1   -0.051  1.042]
+t: 146	 action: [-0.048 -0.25   0.533  0.067  0.098 -0.022  0.995]
+t: 147	 action: [ 0.009 -0.234  0.503  0.049  0.101 -0.019  1.03 ]
+t: 148	 action: [ 0.013 -0.302  0.484  0.056  0.086 -0.007  0.983]
+t: 149	 action: [ 0.052 -0.325  0.381  0.038  0.08  -0.013  1.033]
+t: 150	 action: [ 0.084 -0.417  0.354  0.024  0.09  -0.005  1.023]
+t: 151	 action: [ 1.121e-01 -4.088e-01  2.087e-01  1.618e-02  7.393e-02 -3.758e-04  1.054e+00]
+t: 152	 action: [ 0.123 -0.419  0.209  0.011  0.065 -0.004  1.013]
+t: 153	 action: [ 0.123 -0.437  0.157 -0.003  0.049  0.001  1.037]
+[07-31 01:43:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8725
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8725
+Query 1/1: Action query time = 0.994 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8725
+t=154: Selected seed 195 with value = 0.8725
+t: 154	 action: [-0.008 -0.149  0.829  0.005  0.09  -0.044  0.965]
+t: 155	 action: [ 0.021 -0.078  0.85   0.016  0.108 -0.04   1.018]
+t: 156	 action: [ 0.048 -0.172  0.843  0.004  0.098 -0.027  0.971]
+t: 157	 action: [ 0.04  -0.143  0.895  0.006  0.113 -0.025  1.021]
+t: 158	 action: [ 0.12  -0.254  0.833  0.002  0.114 -0.013  0.994]
+t: 159	 action: [ 0.121 -0.239  0.836  0.009  0.112 -0.017  1.015]
+t: 160	 action: [ 0.183 -0.288  0.741 -0.006  0.115 -0.004  0.997]
+t: 161	 action: [ 1.802e-01 -3.350e-01  6.914e-01 -6.518e-04  1.116e-01 -9.315e-03  1.020e+00]
+t: 162	 action: [ 0.284 -0.518  0.576  0.035  0.12   0.01   0.963]
+t: 163	 action: [ 0.242 -0.677  0.455  0.025  0.104  0.008  1.005]
+t: 164	 action: [ 0.293 -0.58   0.305  0.027  0.093  0.008  0.966]
+t: 165	 action: [ 0.258 -0.709  0.231  0.016  0.074  0.016  1.01 ]
+t: 166	 action: [ 0.318 -0.631  0.134  0.007  0.077  0.018  0.993]
+t: 167	 action: [ 0.293 -0.747  0.063 -0.014  0.048  0.031  1.016]
+t: 168	 action: [ 0.317 -0.578 -0.014 -0.007  0.045  0.024  0.998]
+t: 169	 action: [ 0.3   -0.671 -0.015 -0.028  0.022  0.035  1.022]
+[07-31 01:43:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9559
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=170: Selected seed 195 with value = 0.9559
+t: 170	 action: [ 0.455 -0.573  0.4    0.041  0.038  0.016  0.959]
+t: 171	 action: [ 0.443 -0.684  0.287  0.04   0.034  0.019  1.021]
+t: 172	 action: [ 0.457 -0.594  0.136  0.043  0.019  0.023  0.974]
+t: 173	 action: [ 0.479 -0.654  0.083  0.038  0.027  0.025  1.022]
+t: 174	 action: [ 0.514 -0.569 -0.021  0.032  0.023  0.023  0.988]
+t: 175	 action: [ 0.543 -0.657 -0.077  0.036  0.009  0.036  1.002]
+t: 176	 action: [ 0.479 -0.428 -0.27   0.012  0.021  0.044  1.001]
+t: 177	 action: [ 0.447 -0.495 -0.326  0.018  0.018  0.04   1.01 ]
+t: 178	 action: [ 0.362 -0.306 -0.514  0.009 -0.023  0.048  0.954]
+t: 179	 action: [ 2.752e-01 -1.956e-01 -6.766e-01  8.457e-04 -4.119e-02  5.627e-02  1.021e+00]
+t: 180	 action: [ 0.267 -0.17  -0.659  0.004 -0.026  0.076  0.967]
+t: 181	 action: [ 0.152 -0.133 -0.694 -0.014 -0.026  0.082  0.88 ]
+t: 182	 action: [ 0.079 -0.035 -0.599 -0.01   0.002  0.093  0.981]
+t: 183	 action: [ 0.043 -0.056 -0.654 -0.026 -0.003  0.086  1.006]
+t: 184	 action: [ 0.045  0.023 -0.44  -0.021  0.007  0.109  0.998]
+t: 185	 action: [ 0.041 -0.034 -0.322 -0.032  0.016  0.112 -0.236]
+[07-31 01:43:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.154 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9454
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9454
+Query 1/1: Action query time = 1.154 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9454
+t=186: Selected seed 195 with value = 0.9454
+t: 186	 action: [ 3.822e-02  7.301e-03 -5.507e-01 -9.116e-04 -2.473e-02  5.348e-02  1.097e+00]
+t: 187	 action: [ 0.039 -0.099 -0.287 -0.014 -0.016  0.038  1.01 ]
+t: 188	 action: [ 0.066  0.036 -0.173 -0.001 -0.012  0.039 -1.029]
+t: 189	 action: [ 0.187 -0.032  0.016 -0.016  0.007  0.023 -1.028]
+t: 190	 action: [ 0.097  0.082  0.041 -0.013 -0.012  0.035 -1.152]
+t: 191	 action: [ 0.188  0.03   0.32  -0.025  0.007  0.029 -1.091]
+t: 192	 action: [ 0.185  0.144  0.467 -0.004  0.006  0.023 -1.023]
+t: 193	 action: [ 0.287  0.057  0.586 -0.011  0.03   0.018 -1.05 ]
+t: 194	 action: [ 0.238  0.058  0.613  0.009  0.002  0.029 -1.036]
+t: 195	 action: [ 0.267  0.017  0.608  0.006  0.013  0.027 -1.032]
+t: 196	 action: [ 0.202  0.038  0.503  0.014  0.008  0.037 -1.041]
+t: 197	 action: [ 0.255  0.016  0.44   0.008  0.018  0.03  -1.031]
+t: 198	 action: [ 0.152  0.023  0.417  0.031  0.014  0.038 -1.044]
+t: 199	 action: [ 0.121  0.009  0.319  0.018  0.026  0.034 -1.053]
+t: 200	 action: [ 0.103  0.013  0.179  0.022  0.019  0.046 -1.044]
+t: 201	 action: [ 0.101  0.021  0.108  0.017  0.034  0.036 -1.057]
+[07-31 01:43:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9852
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=202: Selected seed 195 with value = 0.9852
+t: 202	 action: [-0.052  0.042  0.205  0.006  0.026  0.008 -1.017]
+t: 203	 action: [-0.051 -0.018  0.198  0.012  0.025  0.006 -1.031]
+t: 204	 action: [-0.06   0.025  0.187  0.005  0.024  0.008 -1.013]
+t: 205	 action: [-0.049 -0.025  0.188  0.009  0.023  0.004 -1.034]
+t: 206	 action: [-5.458e-02  3.857e-02  1.839e-01 -4.227e-04  2.310e-02  1.446e-02 -1.021e+00]
+t: 207	 action: [-0.094  0.033  0.169  0.014  0.01   0.013 -1.063]
+t: 208	 action: [-5.955e-02  7.465e-03  1.803e-01 -8.507e-04  1.981e-02  1.041e-02 -1.012e+00]
+t: 209	 action: [-0.065  0.018  0.177  0.011  0.009  0.007 -1.055]
+t: 210	 action: [-0.065  0.021  0.164  0.008  0.01   0.008 -1.023]
+t: 211	 action: [-0.061 -0.027  0.159  0.009  0.01   0.002 -1.045]
+t: 212	 action: [-0.076  0.02   0.166  0.006  0.008  0.009 -1.012]
+t: 213	 action: [-0.054 -0.03   0.159  0.006  0.009  0.002 -1.039]
+t: 214	 action: [-7.246e-02  1.093e-03  1.388e-01  9.078e-04  8.299e-03  3.782e-03 -1.028e+00]
+t: 215	 action: [-0.113  0.006  0.121  0.01  -0.002  0.005 -1.072]
+t: 216	 action: [-8.323e-02  5.461e-03  1.533e-01 -4.847e-04  6.678e-03  3.747e-03 -1.011e+00]
+t: 217	 action: [-0.086  0.002  0.146  0.007 -0.003  0.005 -1.065]
+[07-31 01:43:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9980
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=218: Selected seed 195 with value = 0.9980
+t: 218	 action: [ 0.032  0.07   0.137  0.019  0.029  0.009 -1.025]
+t: 219	 action: [ 0.062  0.012  0.123  0.017  0.026  0.009 -1.036]
+t: 220	 action: [ 0.037  0.04   0.108  0.016  0.029  0.008 -1.021]
+t: 221	 action: [ 0.064  0.006  0.107  0.015  0.028  0.005 -1.035]
+t: 222	 action: [ 0.034  0.051  0.119  0.012  0.028  0.01  -1.026]
+t: 223	 action: [ 0.016  0.056  0.096  0.022  0.013  0.014 -1.065]
+t: 224	 action: [ 0.044  0.017  0.112  0.009  0.027  0.007 -1.013]
+t: 225	 action: [ 0.054  0.047  0.096  0.019  0.014  0.008 -1.058]
+t: 226	 action: [ 0.035  0.035  0.1    0.015  0.016  0.01  -1.025]
+t: 227	 action: [ 0.056  0.001  0.097  0.015  0.018  0.006 -1.046]
+t: 228	 action: [ 0.034  0.023  0.098  0.012  0.019  0.009 -1.02 ]
+t: 229	 action: [ 6.217e-02  1.118e-04  8.624e-02  1.332e-02  2.036e-02  4.040e-03 -1.039e+00]
+t: 230	 action: [ 0.031  0.002  0.089  0.009  0.018  0.005 -1.027]
+t: 231	 action: [ 0.007  0.037  0.064  0.019  0.004  0.009 -1.073]
+t: 232	 action: [ 0.037  0.003  0.097  0.006  0.018  0.004 -1.013]
+t: 233	 action: [ 0.037  0.037  0.072  0.016  0.006  0.007 -1.066]
+[07-31 01:43:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+t: 234	 action: [ 0.082  0.074  0.077  0.019  0.028  0.006 -1.037]
+t: 235	 action: [ 0.139  0.029  0.064  0.017  0.024  0.003 -1.044]
+t: 236	 action: [ 0.097  0.051  0.059  0.018  0.028  0.005 -1.034]
+t: 237	 action: [ 0.153  0.019  0.063  0.016  0.026 -0.002 -1.036]
+t: 238	 action: [ 0.091  0.063  0.074  0.017  0.028  0.002 -1.036]
+t: 239	 action: [ 0.105  0.064  0.058  0.025  0.014  0.007 -1.067]
+t: 240	 action: [ 1.105e-01  3.177e-02  6.809e-02  1.582e-02  2.568e-02  7.743e-04 -1.026e+00]
+t: 241	 action: [ 1.593e-01  5.491e-02  5.172e-02  2.186e-02  1.405e-02  4.987e-04 -1.057e+00]
+t: 242	 action: [ 0.085  0.05   0.056  0.016  0.016  0.009 -1.036]
+t: 243	 action: [ 1.339e-01  1.239e-02  5.638e-02  1.459e-02  1.800e-02 -9.503e-04 -1.050e+00]
+t: 244	 action: [ 0.092  0.031  0.056  0.015  0.019  0.007 -1.035]
+t: 245	 action: [ 0.152  0.009  0.047  0.014  0.019 -0.003 -1.038]
+t: 246	 action: [ 0.084  0.01   0.052  0.014  0.018  0.002 -1.036]
+t: 247	 action: [ 0.09   0.042  0.031  0.021  0.005  0.002 -1.072]
+t: 248	 action: [ 1.005e-01  1.055e-02  5.809e-02  1.138e-02  1.754e-02  7.300e-05 -1.027e+00]
+t: 249	 action: [ 1.404e-01  4.208e-02  2.754e-02  1.887e-02  5.274e-03  5.589e-04 -1.063e+00]
+[07-31 01:43:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9883
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 0.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=250: Selected seed 195 with value = 0.9883
+t: 250	 action: [-7.997e-02 -1.135e-04 -4.945e-02  2.078e-02  3.104e-02 -3.376e-03 -1.031e+00]
+t: 251	 action: [ 0.028 -0.023 -0.146  0.018  0.034 -0.009 -1.024]
+t: 252	 action: [ 0.011  0.009 -0.059  0.027  0.034 -0.004 -1.041]
+t: 253	 action: [ 0.088 -0.004 -0.12   0.022  0.039 -0.015 -1.035]
+t: 254	 action: [ 0.023  0.032 -0.03   0.026  0.034 -0.004 -1.046]
+t: 255	 action: [ 0.038  0.089 -0.064  0.029  0.035 -0.002 -1.065]
+t: 256	 action: [ 6.193e-02 -1.022e-03 -4.093e-02  3.054e-02  3.526e-02 -4.500e-03 -1.038e+00]
+t: 257	 action: [ 0.129  0.059 -0.079  0.032  0.036 -0.01  -1.059]
+t: 258	 action: [-2.333e-02  5.088e-03 -6.635e-02  2.056e-02  1.543e-02 -8.755e-05 -1.036e+00]
+t: 259	 action: [ 0.037 -0.036 -0.06   0.015  0.025 -0.012 -1.035]
+t: 260	 action: [ 0.022  0.004 -0.045  0.024  0.023 -0.005 -1.038]
+t: 261	 action: [ 0.11  -0.025 -0.057  0.018  0.032 -0.013 -1.038]
+t: 262	 action: [ 0.028 -0.014 -0.045  0.021  0.019 -0.004 -1.048]
+t: 263	 action: [ 0.029  0.023 -0.058  0.025  0.016 -0.008 -1.065]
+t: 264	 action: [ 0.054 -0.013 -0.037  0.024  0.024 -0.008 -1.035]
+t: 265	 action: [ 0.098  0.016 -0.076  0.026  0.023 -0.009 -1.065]
+[07-31 01:43:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9785
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 1.004 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=266: Selected seed 195 with value = 0.9785
+t: 266	 action: [-0.143 -0.038 -0.287  0.015  0.032  0.004  1.073]
+t: 267	 action: [-0.047 -0.1   -0.303  0.015  0.038 -0.007  0.85 ]
+t: 268	 action: [-0.016 -0.004 -0.231  0.022  0.042  0.003 -1.052]
+t: 269	 action: [ 0.044 -0.032 -0.232  0.018  0.046 -0.011 -1.038]
+t: 270	 action: [-0.022  0.038 -0.157  0.015  0.039 -0.001 -1.101]
+t: 271	 action: [-0.042  0.074 -0.161  0.024  0.041  0.012 -1.029]
+t: 272	 action: [ 0.043 -0.012 -0.102  0.02   0.043 -0.002 -1.049]
+t: 273	 action: [ 0.081  0.044 -0.115  0.027  0.041 -0.007 -1.061]
+t: 274	 action: [-0.056 -0.031 -0.219  0.018  0.015  0.005 -0.108]
+t: 275	 action: [-0.019 -0.087 -0.212  0.013  0.026 -0.008 -0.999]
+t: 276	 action: [ 0.004 -0.024 -0.106  0.02   0.026 -0.001 -1.051]
+t: 277	 action: [ 0.08  -0.064 -0.109  0.014  0.036 -0.009 -1.043]
+t: 278	 action: [ 0.006 -0.017 -0.098  0.015  0.019 -0.002 -1.037]
+t: 279	 action: [-0.044  0.023 -0.114  0.02   0.013 -0.005 -1.063]
+t: 280	 action: [ 0.041 -0.023 -0.046  0.015  0.026 -0.007 -1.046]
+t: 281	 action: [ 0.055 -0.005 -0.074  0.022  0.025 -0.007 -1.061]
+[07-31 01:43:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9687
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 0.985 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=282: Selected seed 195 with value = 0.9687
+t: 282	 action: [ 0.028  0.018 -0.363  0.003  0.052  0.004  1.099]
+t: 283	 action: [ 0.091 -0.058 -0.263  0.01   0.06  -0.014  0.968]
+t: 284	 action: [ 0.105  0.012 -0.227  0.004  0.062  0.003  0.951]
+t: 285	 action: [ 0.127 -0.049 -0.069  0.011  0.068 -0.023 -1.039]
+t: 286	 action: [ 1.649e-01  2.102e-02 -9.023e-03  6.149e-03  5.139e-02  3.023e-04 -1.078e+00]
+t: 287	 action: [ 0.14   0.006  0.028  0.018  0.059  0.004 -1.028]
+t: 288	 action: [ 0.192 -0.005  0.052  0.005  0.059 -0.001 -1.016]
+t: 289	 action: [ 0.2   -0.004  0.067  0.019  0.065 -0.021 -1.053]
+t: 290	 action: [ 1.207e-01 -5.059e-05 -4.305e-03  1.305e-02  2.363e-02 -4.664e-03  1.096e+00]
+t: 291	 action: [ 0.128 -0.07   0.009  0.011  0.039 -0.027 -0.899]
+t: 292	 action: [ 0.129 -0.012  0.026  0.01   0.03  -0.013 -1.049]
+t: 293	 action: [ 0.178 -0.066  0.042  0.009  0.045 -0.022 -1.045]
+t: 294	 action: [ 0.164 -0.021  0.038  0.009  0.023 -0.008 -1.099]
+t: 295	 action: [ 0.126 -0.042  0.022  0.015  0.023 -0.026 -1.039]
+t: 296	 action: [ 0.16  -0.032  0.057  0.007  0.028 -0.012 -1.055]
+t: 297	 action: [ 0.123 -0.038  0.055  0.013  0.036 -0.02  -1.054]
+[07-31 01:43:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9689
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9689
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 61
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 22%|██▏       | 11/50 [05:53<20:45, 31.95s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 12...
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=298: Selected seed 195 with value = 0.9689
+t: 298	 action: [-4.262e-04 -2.185e-02 -1.936e-01  3.480e-03  4.642e-02  4.467e-03  9.515e-01]
+t: 299	 action: [ 2.186e-02 -1.008e-01 -7.738e-02  4.533e-03  5.298e-02  1.100e-04  1.055e+00]
+t: 300	 action: [ 0.073 -0.026 -0.06   0.004  0.072  0.002  0.933]
+t: 301	 action: [ 0.079 -0.091  0.008  0.009  0.08  -0.033 -0.985]
+t: 302	 action: [ 0.118 -0.02   0.13   0.008  0.061  0.002  0.956]
+t: 303	 action: [ 0.098 -0.071  0.179  0.018  0.078  0.005  0.979]
+t: 304	 action: [ 0.179 -0.032  0.207  0.007  0.079 -0.002 -0.979]
+t: 305	 action: [ 0.208 -0.041  0.232  0.021  0.094 -0.034 -1.039]
+t: 306	 action: [ 0.109 -0.068  0.102  0.027  0.046 -0.013  1.102]
+t: 307	 action: [ 0.097 -0.293  0.096  0.023  0.065 -0.036  0.424]
+t: 308	 action: [ 0.137 -0.093  0.094  0.021  0.052 -0.018 -0.883]
+t: 309	 action: [ 0.207 -0.146  0.094  0.016  0.072 -0.03  -1.006]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=61--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=61--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 61
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+[07-31 01:43:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.009 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3666
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3666
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3666
+t=10: Selected seed 195 with value = 0.3666
+t: 10	 action: [ 0.372  0.029  0.032 -0.01   0.015  0.007 -1.017]
+t: 11	 action: [ 0.536 -0.003  0.07  -0.008  0.013  0.007 -1.015]
+t: 12	 action: [ 0.711 -0.081  0.109 -0.007  0.011  0.012 -1.02 ]
+t: 13	 action: [ 0.831 -0.12   0.152 -0.007  0.009  0.01  -1.022]
+t: 14	 action: [ 0.892 -0.139  0.211  0.005  0.011  0.013 -1.036]
+t: 15	 action: [ 8.756e-01 -1.788e-01  2.004e-01  1.696e-03  6.162e-05  1.390e-02 -1.042e+00]
+t: 16	 action: [ 0.931 -0.213  0.214  0.005  0.001  0.015 -1.033]
+t: 17	 action: [ 9.226e-01 -2.213e-01  2.046e-01  7.134e-03 -6.425e-04  1.450e-02 -1.048e+00]
+t: 18	 action: [ 0.912 -0.256  0.16   0.005 -0.007  0.015 -1.025]
+t: 19	 action: [ 0.929 -0.263  0.183  0.011  0.005  0.011 -1.025]
+t: 20	 action: [ 0.943 -0.269  0.123  0.007 -0.008  0.011 -1.017]
+t: 21	 action: [ 0.947 -0.286  0.132  0.016  0.008  0.01  -1.013]
+t: 22	 action: [ 0.96  -0.243  0.088  0.007 -0.012  0.013 -1.02 ]
+t: 23	 action: [ 9.731e-01 -3.100e-01  5.761e-02  1.748e-02  8.979e-04  1.243e-02 -1.044e+00]
+t: 24	 action: [ 0.976 -0.198  0.027  0.008 -0.011  0.007 -1.014]
+t: 25	 action: [ 0.98  -0.271  0.002  0.02   0.004  0.012 -1.043]
+[07-31 01:43:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4610
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4610
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4610
+t=26: Selected seed 195 with value = 0.4610
+t: 26	 action: [ 0.907 -0.238  0.077  0.003 -0.031  0.004 -1.032]
+t: 27	 action: [ 9.165e-01 -2.195e-01  5.749e-02  1.096e-02 -3.085e-02  8.026e-04 -1.028e+00]
+t: 28	 action: [ 0.9   -0.27   0.009  0.008 -0.039  0.008 -1.033]
+t: 29	 action: [ 0.921 -0.262  0.024  0.019 -0.034  0.006 -1.031]
+t: 30	 action: [ 0.941 -0.225 -0.082  0.008 -0.043  0.01  -1.014]
+t: 31	 action: [ 0.918 -0.236 -0.096  0.019 -0.056  0.009 -1.041]
+t: 32	 action: [ 0.872 -0.178 -0.264  0.004 -0.053  0.017 -1.02 ]
+t: 33	 action: [ 0.827 -0.185 -0.332  0.02  -0.056  0.013 -1.041]
+t: 34	 action: [ 0.512 -0.17  -0.385  0.012 -0.069  0.021 -1.034]
+t: 35	 action: [ 0.421 -0.106 -0.477  0.019 -0.067  0.021 -1.026]
+t: 36	 action: [ 0.28  -0.116 -0.582  0.011 -0.088  0.033 -1.018]
+t: 37	 action: [ 0.145 -0.048 -0.662  0.02  -0.073  0.028 -1.016]
+t: 38	 action: [ 0.105  0.012 -0.773 -0.002 -0.1    0.033 -1.031]
+t: 39	 action: [ 8.102e-04 -1.147e-02 -7.537e-01  1.853e-02 -7.845e-02  2.906e-02 -1.029e+00]
+t: 40	 action: [-0.068  0.047 -0.84  -0.004 -0.089  0.043 -1.018]
+t: 41	 action: [-0.052  0.045 -0.823  0.018 -0.066  0.037 -1.033]
+[07-31 01:43:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.032 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5030
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5030
+Query 1/1: Action query time = 1.032 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5030
+t=42: Selected seed 195 with value = 0.5030
+t: 42	 action: [-0.051  0.661 -0.689  0.006 -0.027  0.033 -1.022]
+t: 43	 action: [-0.026  0.73  -0.643  0.008 -0.037  0.029 -1.021]
+t: 44	 action: [-0.068  0.805 -0.646  0.006 -0.024  0.032 -1.008]
+t: 45	 action: [-0.035  0.777 -0.587  0.009 -0.031  0.028 -1.021]
+t: 46	 action: [-0.062  0.813 -0.6    0.001 -0.025  0.032 -1.01 ]
+t: 47	 action: [-0.049  0.811 -0.566  0.01  -0.038  0.03  -1.031]
+t: 48	 action: [-0.067  0.842 -0.59   0.002 -0.02   0.035 -0.998]
+t: 49	 action: [-0.034  0.825 -0.55   0.012 -0.026  0.029 -1.036]
+t: 50	 action: [-0.009  0.818 -0.634  0.008 -0.031  0.029 -1.03 ]
+t: 51	 action: [ 0.016  0.766 -0.657  0.01  -0.04   0.025 -1.023]
+t: 52	 action: [ 0.003  0.815 -0.637  0.007 -0.022  0.029 -1.018]
+t: 53	 action: [ 0.024  0.759 -0.613  0.01  -0.027  0.024 -1.024]
+t: 54	 action: [-0.057  0.795 -0.608  0.003 -0.025  0.03  -1.017]
+t: 55	 action: [-0.024  0.747 -0.556  0.009 -0.036  0.026 -1.035]
+t: 56	 action: [-0.041  0.675 -0.583  0.003 -0.011  0.026 -1.004]
+t: 57	 action: [-0.017  0.636 -0.448  0.009 -0.017  0.025 -1.044]
+[07-31 01:43:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6113
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6113
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6113
+t=58: Selected seed 195 with value = 0.6113
+t: 58	 action: [ 5.135e-02  2.327e-01 -4.017e-01 -6.666e-04  8.489e-04  3.293e-02 -1.022e+00]
+t: 59	 action: [ 0.072  0.207 -0.18   0.003  0.009  0.025 -1.023]
+t: 60	 action: [ 0.04   0.103 -0.137 -0.005  0.009  0.023 -1.008]
+t: 61	 action: [ 6.351e-02  4.669e-02  1.554e-02  1.004e-03  1.109e-02  1.862e-02 -1.024e+00]
+t: 62	 action: [-0.037  0.012 -0.026  0.004  0.022  0.025 -1.008]
+t: 63	 action: [-0.014  0.058  0.086  0.008  0.014  0.025 -1.033]
+t: 64	 action: [-0.094 -0.039  0.293  0.002  0.026  0.013 -1.003]
+t: 65	 action: [-0.032 -0.079  0.379  0.012  0.014  0.017 -1.038]
+t: 66	 action: [-0.007 -0.22   0.346  0.038  0.024  0.019 -1.029]
+t: 67	 action: [-0.107 -0.274  0.267  0.035  0.013  0.024 -1.045]
+t: 68	 action: [-0.121 -0.166  0.185  0.029  0.022  0.026 -1.025]
+t: 69	 action: [-0.187 -0.269  0.081  0.025  0.015  0.028 -1.03 ]
+t: 70	 action: [-0.345 -0.094 -0.015  0.03   0.013  0.044 -1.021]
+t: 71	 action: [-0.412 -0.155 -0.088  0.026  0.002  0.041 -1.039]
+t: 72	 action: [-5.837e-01 -9.687e-02 -1.753e-01 -3.756e-05  1.559e-02  5.177e-02 -1.006e+00]
+t: 73	 action: [-0.491 -0.11  -0.208  0.013  0.008  0.044 -1.015]
+[07-31 01:43:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6338
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6338
+Query 1/1: Action query time = 1.004 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6338
+t=74: Selected seed 195 with value = 0.6338
+t: 74	 action: [ 0.08   0.391 -0.351 -0.004  0.004  0.032 -1.009]
+t: 75	 action: [ 0.121  0.322 -0.141 -0.008  0.015  0.021 -1.014]
+t: 76	 action: [ 0.076  0.169 -0.063 -0.006  0.012  0.019 -0.999]
+t: 77	 action: [ 0.108  0.069  0.088 -0.008  0.019  0.011 -1.016]
+t: 78	 action: [ 0.027  0.138  0.042 -0.011  0.022  0.015 -0.996]
+t: 79	 action: [ 0.02   0.152  0.219 -0.009  0.016  0.016 -1.032]
+t: 80	 action: [-0.035 -0.001  0.452 -0.001  0.025  0.002 -0.997]
+t: 81	 action: [ 0.002 -0.009  0.601 -0.002  0.021  0.008 -1.034]
+t: 82	 action: [ 0.027 -0.198  0.625  0.019  0.001  0.01  -1.014]
+t: 83	 action: [-0.087 -0.229  0.597  0.03  -0.002  0.005 -1.04 ]
+t: 84	 action: [-0.074 -0.166  0.467  0.025  0.001  0.011 -1.021]
+t: 85	 action: [-0.169 -0.261  0.393  0.032  0.002  0.007 -1.022]
+t: 86	 action: [-0.387 -0.137  0.234  0.049 -0.002  0.011 -1.013]
+t: 87	 action: [-0.48  -0.16   0.158  0.033 -0.016  0.017 -1.044]
+t: 88	 action: [-6.047e-01 -1.180e-01  5.280e-02  3.444e-02  8.074e-04  1.773e-02 -1.009e+00]
+t: 89	 action: [-0.542 -0.153  0.02   0.027 -0.005  0.023 -1.026]
+[07-31 01:43:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6314
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6314
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6314
+t=90: Selected seed 195 with value = 0.6314
+t: 90	 action: [ 0.112  0.301 -0.191  0.002  0.017  0.008 -1.022]
+t: 91	 action: [ 1.659e-01  2.138e-01 -7.420e-02 -1.071e-03  2.140e-02 -4.247e-04 -1.008e+00]
+t: 92	 action: [ 0.106  0.087 -0.02  -0.003  0.027  0.008 -1.018]
+t: 93	 action: [ 0.112  0.016  0.12  -0.001  0.034 -0.005 -1.004]
+t: 94	 action: [ 6.096e-02  3.573e-02  1.826e-01  1.549e-03  3.972e-02  3.179e-04 -1.012e+00]
+t: 95	 action: [ 0.018  0.04   0.334  0.002  0.031 -0.002 -1.031]
+t: 96	 action: [-0.011 -0.003  0.501  0.004  0.044 -0.003 -1.02 ]
+t: 97	 action: [-0.02  -0.032  0.59   0.005  0.041 -0.007 -1.03 ]
+t: 98	 action: [-0.003 -0.06   0.595  0.012  0.012 -0.003 -1.024]
+t: 99	 action: [-0.184 -0.113  0.607  0.028  0.011 -0.008 -1.034]
+t: 100	 action: [-0.165 -0.021  0.529  0.016  0.005  0.005 -1.042]
+t: 101	 action: [-0.307 -0.124  0.485  0.03   0.01  -0.008 -1.024]
+t: 102	 action: [-5.835e-01 -5.367e-02  3.503e-01  4.371e-02 -6.267e-04  4.122e-03 -1.013e+00]
+t: 103	 action: [-6.717e-01 -7.399e-02  2.644e-01  3.209e-02 -1.465e-02  8.222e-04 -1.039e+00]
+t: 104	 action: [-0.791 -0.058  0.243  0.038 -0.004  0.005 -1.009]
+t: 105	 action: [-0.786 -0.106  0.148  0.032 -0.008  0.006 -1.034]
+[07-31 01:43:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4985
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 0.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=106: Selected seed 195 with value = 0.4985
+t: 106	 action: [ 0.127  0.21  -0.119 -0.002  0.013  0.004 -1.023]
+t: 107	 action: [ 0.146  0.19  -0.026 -0.002  0.02  -0.003 -1.029]
+t: 108	 action: [ 0.102  0.037 -0.002 -0.003  0.018  0.002 -1.031]
+t: 109	 action: [ 0.084  0.003  0.091 -0.006  0.03  -0.012 -1.03 ]
+t: 110	 action: [ 0.037 -0.017  0.133  0.002  0.028 -0.003 -1.016]
+t: 111	 action: [ 1.494e-02 -2.485e-02  1.539e-01 -4.883e-04  2.181e-02 -1.115e-02 -1.060e+00]
+t: 112	 action: [-7.209e-02 -5.175e-02  2.570e-01 -9.575e-04  2.722e-02 -1.157e-02 -1.030e+00]
+t: 113	 action: [-0.028 -0.066  0.295 -0.005  0.023 -0.021 -1.066]
+t: 114	 action: [-0.141 -0.058  0.145  0.011  0.011  0.002 -1.035]
+t: 115	 action: [-0.335 -0.122  0.089 -0.001  0.011 -0.006 -1.045]
+t: 116	 action: [-0.361  0.005  0.052  0.003  0.002  0.003 -1.051]
+t: 117	 action: [-0.493 -0.083 -0.01  -0.007  0.011 -0.007 -1.04 ]
+t: 118	 action: [-0.75  -0.018 -0.138 -0.003 -0.008  0.004 -1.018]
+t: 119	 action: [-0.744 -0.047 -0.109 -0.014 -0.012 -0.004 -1.058]
+t: 120	 action: [-0.832 -0.014 -0.266 -0.005 -0.013  0.003 -1.026]
+t: 121	 action: [-0.764 -0.073 -0.244 -0.017 -0.011 -0.004 -1.052]
+[07-31 01:43:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4188
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4188
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4188
+t=122: Selected seed 195 with value = 0.4188
+t: 122	 action: [ 0.188  0.277 -0.214 -0.003  0.004  0.002 -1.013]
+t: 123	 action: [ 0.211  0.309 -0.15  -0.002  0.008 -0.006 -1.037]
+t: 124	 action: [ 1.633e-01  5.888e-02 -1.634e-01 -1.733e-03  8.742e-03  9.384e-05 -1.023e+00]
+t: 125	 action: [ 0.126  0.061 -0.1   -0.002  0.011 -0.012 -1.046]
+t: 126	 action: [ 8.511e-02  2.161e-02 -1.870e-01  1.917e-03  1.138e-02 -6.067e-04 -1.006e+00]
+t: 127	 action: [ 0.045 -0.034 -0.164  0.003  0.011 -0.01  -1.06 ]
+t: 128	 action: [-0.004 -0.039 -0.237 -0.002  0.012 -0.002 -1.019]
+t: 129	 action: [ 0.019 -0.09  -0.188 -0.002  0.01  -0.017 -1.08 ]
+t: 130	 action: [-0.109 -0.19  -0.298  0.006  0.004  0.006 -1.018]
+t: 131	 action: [-1.694e-01 -1.514e-01 -3.910e-01 -5.818e-03  8.546e-03 -3.280e-04 -1.046e+00]
+t: 132	 action: [-1.681e-01 -1.352e-01 -4.127e-01  4.064e-04  2.317e-03  6.627e-03 -1.019e+00]
+t: 133	 action: [-0.22  -0.097 -0.486 -0.014  0.007  0.001 -1.024]
+t: 134	 action: [-0.386  0.035 -0.493 -0.008 -0.01   0.003 -1.015]
+t: 135	 action: [-0.324  0.048 -0.522 -0.02  -0.01  -0.007 -1.065]
+t: 136	 action: [-3.235e-01  5.706e-02 -5.244e-01 -3.006e-02 -9.303e-03  9.011e-04 -9.915e-01]
+t: 137	 action: [-0.244  0.067 -0.505 -0.028 -0.014  0.002 -0.345]
+[07-31 01:43:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5486
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.5486
+Query 1/1: Action query time = 0.995 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5486
+t=138: Selected seed 195 with value = 0.5486
+t: 138	 action: [ 0.183  0.195 -0.469 -0.004  0.009  0.002 -1.03 ]
+t: 139	 action: [ 0.156  0.229 -0.359 -0.003  0.01  -0.005 -1.02 ]
+t: 140	 action: [ 7.439e-02  2.747e-02 -3.476e-01 -4.881e-03  1.218e-02  9.152e-04 -1.040e+00]
+t: 141	 action: [ 5.742e-02  7.927e-04 -2.052e-01 -3.171e-03  1.536e-02 -8.686e-03 -1.027e+00]
+t: 142	 action: [ 3.491e-03  4.402e-02 -1.394e-01  7.780e-04  2.029e-02 -1.607e-03 -1.042e+00]
+t: 143	 action: [-4.325e-03  8.890e-03  1.681e-02  8.825e-04  4.748e-03 -7.343e-03 -1.060e+00]
+t: 144	 action: [-0.071 -0.004  0.106 -0.007  0.02  -0.008 -1.042]
+t: 145	 action: [-0.019 -0.045  0.188 -0.002  0.006 -0.014 -1.056]
+t: 146	 action: [ 3.717e-03 -2.415e-01  1.731e-01  1.779e-02 -3.977e-04 -8.957e-03 -1.054e+00]
+t: 147	 action: [ 0.003 -0.228  0.109  0.009  0.002 -0.014 -1.047]
+t: 148	 action: [ 0.002 -0.206  0.059  0.006 -0.011 -0.008 -1.061]
+t: 149	 action: [-0.002 -0.197 -0.068  0.001 -0.003 -0.014 -1.04 ]
+t: 150	 action: [-1.248e-01 -8.104e-02 -3.987e-02 -7.542e-04 -1.010e-02 -7.498e-03 -1.044e+00]
+t: 151	 action: [-1.364e-01 -5.191e-02 -7.415e-02  9.311e-04 -1.883e-02 -1.612e-02 -1.053e+00]
+t: 152	 action: [-0.122 -0.01  -0.22  -0.01  -0.014 -0.01  -1.047]
+t: 153	 action: [-0.125 -0.007 -0.267 -0.008 -0.018 -0.015 -1.05 ]
+[07-31 01:43:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6185
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.6185
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6185
+t=154: Selected seed 195 with value = 0.6185
+t: 154	 action: [ 0.169  0.065 -0.514 -0.002  0.016  0.001 -1.032]
+t: 155	 action: [ 0.171  0.086 -0.4    0.004  0.021 -0.011 -1.025]
+t: 156	 action: [ 1.162e-01  6.805e-03 -3.770e-01 -2.786e-03  1.434e-02 -1.482e-04 -1.050e+00]
+t: 157	 action: [ 0.108 -0.027 -0.254  0.002  0.016 -0.015 -1.026]
+t: 158	 action: [ 4.289e-02  3.769e-02 -1.745e-01  1.725e-04  2.697e-02 -7.289e-04 -1.041e+00]
+t: 159	 action: [ 0.027  0.036 -0.012  0.009  0.02  -0.013 -1.062]
+t: 160	 action: [ 0.007  0.031  0.089 -0.007  0.017 -0.007 -1.05 ]
+t: 161	 action: [ 0.024  0.004  0.183  0.003  0.008 -0.021 -1.052]
+t: 162	 action: [ 1.921e-01 -1.330e-01  1.349e-01  2.306e-02 -5.379e-04 -1.462e-02 -1.075e+00]
+t: 163	 action: [ 0.193 -0.12   0.075  0.01   0.004 -0.021 -1.048]
+t: 164	 action: [ 0.178 -0.109  0.015  0.009 -0.011 -0.012 -1.089]
+t: 165	 action: [ 0.15  -0.118 -0.057  0.003 -0.001 -0.02  -1.039]
+t: 166	 action: [ 0.073 -0.013 -0.097 -0.004 -0.015 -0.017 -1.065]
+t: 167	 action: [ 1.846e-02 -2.245e-02 -9.195e-02 -1.302e-04 -1.776e-02 -2.455e-02 -1.052e+00]
+t: 168	 action: [ 0.013  0.025 -0.283 -0.01  -0.02  -0.017 -1.072]
+t: 169	 action: [-0.01  -0.007 -0.239 -0.008 -0.019 -0.022 -1.049]
+[07-31 01:43:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7964
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7964
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7964
+t=170: Selected seed 195 with value = 0.7964
+t: 170	 action: [ 0.171  0.005 -0.398 -0.002  0.014 -0.003 -1.035]
+t: 171	 action: [ 1.985e-01  3.218e-03 -3.171e-01  6.524e-04  1.754e-02 -1.648e-02 -1.032e+00]
+t: 172	 action: [ 0.136 -0.002 -0.233  0.002  0.004 -0.007 -1.047]
+t: 173	 action: [ 0.147 -0.029 -0.144  0.002  0.005 -0.021 -1.026]
+t: 174	 action: [ 0.07   0.06  -0.135 -0.001  0.009 -0.007 -1.041]
+t: 175	 action: [ 6.859e-02  7.016e-02  1.644e-02  9.751e-03 -9.015e-04 -1.890e-02 -1.059e+00]
+t: 176	 action: [ 0.064  0.038  0.004 -0.006 -0.008 -0.015 -1.047]
+t: 177	 action: [ 0.055  0.022  0.114  0.006 -0.009 -0.027 -1.047]
+t: 178	 action: [ 0.288 -0.016  0.065  0.013 -0.01  -0.012 -1.072]
+t: 179	 action: [ 0.278 -0.049  0.014  0.006 -0.003 -0.024 -1.048]
+t: 180	 action: [ 0.214 -0.026 -0.054  0.009 -0.018 -0.01  -1.087]
+t: 181	 action: [ 0.175 -0.064 -0.111  0.003 -0.008 -0.024 -1.043]
+t: 182	 action: [ 0.102  0.013 -0.129 -0.002 -0.02  -0.019 -1.071]
+t: 183	 action: [ 0.012 -0.023 -0.118  0.005 -0.022 -0.029 -1.046]
+t: 184	 action: [-0.002  0.028 -0.26  -0.006 -0.023 -0.02  -1.074]
+t: 185	 action: [-3.315e-02  1.668e-03 -2.001e-01 -6.805e-04 -2.038e-02 -2.617e-02 -1.007e+00]
+[07-31 01:43:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8318
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8318
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8318
+t=186: Selected seed 195 with value = 0.8318
+t: 186	 action: [ 0.06   0.001 -0.447 -0.007  0.013 -0.012 -1.039]
+t: 187	 action: [ 0.041  0.027 -0.298 -0.009  0.014 -0.021 -1.042]
+t: 188	 action: [ 0.032  0.046 -0.298 -0.007  0.008 -0.011 -1.064]
+t: 189	 action: [ 0.025  0.053 -0.153 -0.008  0.007 -0.017 -1.059]
+t: 190	 action: [-0.051  0.129 -0.186 -0.01   0.015 -0.013 -1.067]
+t: 191	 action: [-0.034  0.144 -0.075 -0.004  0.005 -0.018 -1.067]
+t: 192	 action: [-0.046  0.111 -0.058 -0.01   0.01  -0.016 -1.034]
+t: 193	 action: [-5.018e-02  9.549e-02 -1.037e-03 -4.331e-03 -4.293e-04 -1.938e-02 -9.803e-01]
+t: 194	 action: [ 8.500e-02  6.512e-02 -1.375e-01 -3.919e-03  1.042e-02  9.109e-04 -1.036e+00]
+t: 195	 action: [ 6.289e-02  3.558e-02 -1.653e-01 -6.059e-03  6.221e-03  5.505e-04 -1.129e+00]
+t: 196	 action: [-0.029  0.015 -0.246 -0.002  0.003  0.001 -1.156]
+t: 197	 action: [-6.434e-02 -1.789e-02 -2.807e-01 -2.972e-03  2.723e-03  1.607e-04 -1.125e+00]
+t: 198	 action: [-0.066  0.017 -0.321 -0.008  0.002 -0.008 -1.044]
+t: 199	 action: [-1.029e-01 -9.132e-04 -2.600e-01 -3.298e-04 -5.430e-03 -5.530e-03  1.173e+00]
+t: 200	 action: [-1.082e-01 -5.908e-03 -3.261e-01 -9.315e-03 -6.648e-04 -1.002e-02  1.078e+00]
+t: 201	 action: [-0.049 -0.019 -0.292 -0.002 -0.008 -0.003  1.163]
+[07-31 01:43:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7427
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7427
+Query 1/1: Action query time = 1.000 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7427
+t=202: Selected seed 195 with value = 0.7427
+t: 202	 action: [ 2.232e-02  1.848e-03 -1.234e-01 -3.395e-02 -6.436e-04  3.699e-03  9.936e-01]
+t: 203	 action: [ 0.043  0.064  0.091 -0.039 -0.006  0.003  1.044]
+t: 204	 action: [ 6.339e-02  3.386e-02  2.683e-01 -2.343e-02 -9.691e-03 -7.413e-04  9.950e-01]
+t: 205	 action: [ 0.074  0.069  0.514 -0.034 -0.014  0.004  1.035]
+t: 206	 action: [ 0.107  0.017  0.466 -0.032  0.006 -0.002  1.011]
+t: 207	 action: [ 1.143e-01  3.630e-02  7.163e-01 -2.290e-02 -1.532e-02 -4.901e-04  1.040e+00]
+t: 208	 action: [ 0.083 -0.083  0.775  0.008  0.005 -0.006  1.011]
+t: 209	 action: [ 0.077 -0.157  0.825  0.011 -0.011 -0.001  1.029]
+t: 210	 action: [-0.003 -0.291  0.319  0.034  0.025  0.012  0.983]
+t: 211	 action: [ 1.896e-03 -4.141e-01  2.346e-01  2.266e-02  9.360e-04  1.501e-02  1.034e+00]
+t: 212	 action: [-0.012 -0.215  0.012  0.008  0.014  0.018  0.981]
+t: 213	 action: [-0.003 -0.263 -0.007  0.01  -0.006  0.019  1.021]
+t: 214	 action: [-0.068 -0.013 -0.044 -0.004  0.02   0.006  1.001]
+t: 215	 action: [-0.093 -0.133 -0.09   0.012 -0.008  0.016  1.04 ]
+t: 216	 action: [-0.115  0.028 -0.122 -0.009  0.007  0.011  1.008]
+t: 217	 action: [-8.392e-02  2.973e-02 -1.108e-01  8.060e-04 -2.189e-02  2.128e-02  1.027e+00]
+[07-31 01:43:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8392
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8392
+Query 1/1: Action query time = 0.986 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8392
+t=218: Selected seed 195 with value = 0.8392
+t: 218	 action: [-0.206 -0.118 -0.545 -0.005 -0.005  0.021  1.143]
+t: 219	 action: [-0.237 -0.124 -0.479 -0.009  0.003  0.026  1.053]
+t: 220	 action: [-0.186 -0.015 -0.463 -0.007  0.002  0.012  1.132]
+t: 221	 action: [-0.216 -0.078 -0.237 -0.004  0.014  0.004 -1.009]
+t: 222	 action: [-0.203  0.052 -0.242 -0.015  0.013  0.007 -1.117]
+t: 223	 action: [-0.108  0.069 -0.021 -0.019  0.012  0.019 -1.11 ]
+t: 224	 action: [-0.005  0.069  0.122 -0.017  0.027  0.003 -1.109]
+t: 225	 action: [ 0.047  0.08   0.233 -0.019  0.039 -0.004 -1.057]
+t: 226	 action: [ 0.233  0.012  0.388  0.02   0.05   0.009 -1.077]
+t: 227	 action: [ 0.247 -0.021  0.382  0.021  0.064  0.011 -1.046]
+t: 228	 action: [ 0.239 -0.016  0.292  0.03   0.05   0.01  -1.096]
+t: 229	 action: [ 0.2   -0.089  0.246  0.028  0.066  0.007 -1.035]
+t: 230	 action: [ 0.099 -0.076  0.177  0.025  0.052  0.005 -1.085]
+t: 231	 action: [ 0.028 -0.128  0.131  0.031  0.058  0.01  -1.067]
+t: 232	 action: [ 0.028 -0.106  0.091  0.029  0.05   0.003 -1.091]
+t: 233	 action: [ 0.025 -0.128  0.065  0.033  0.054  0.007 -1.056]
+[07-31 01:43:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8921
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.8921
+Query 1/1: Action query time = 0.991 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=234: Selected seed 195 with value = 0.8921
+t: 234	 action: [ 0.019 -0.001 -0.458 -0.005  0.015  0.005  0.858]
+t: 235	 action: [ 0.013 -0.031 -0.296 -0.012  0.013 -0.014 -0.079]
+t: 236	 action: [-0.01   0.037 -0.28  -0.006  0.005 -0.002 -1.042]
+t: 237	 action: [-0.003  0.023 -0.09  -0.013  0.003 -0.018 -1.044]
+t: 238	 action: [-0.105  0.177 -0.137 -0.018  0.01  -0.002 -1.122]
+t: 239	 action: [-0.086  0.159 -0.002 -0.017 -0.006 -0.017 -1.094]
+t: 240	 action: [-0.096  0.186  0.045 -0.022  0.002 -0.012 -1.053]
+t: 241	 action: [-0.098  0.124  0.114 -0.013 -0.008 -0.024 -1.06 ]
+t: 242	 action: [ 0.01   0.014  0.052 -0.007 -0.003 -0.012 -1.033]
+t: 243	 action: [ 7.221e-03 -1.180e-02  2.551e-02 -8.941e-03  8.816e-04 -2.767e-02 -1.113e+00]
+t: 244	 action: [-0.102 -0.016 -0.033 -0.004 -0.007 -0.012 -1.202]
+t: 245	 action: [-0.148 -0.081 -0.102 -0.005  0.002 -0.014 -1.115]
+t: 246	 action: [-0.145 -0.013 -0.1   -0.008 -0.007 -0.018 -1.024]
+t: 247	 action: [-0.219 -0.04  -0.059  0.001 -0.01  -0.032 -0.63 ]
+t: 248	 action: [-0.172 -0.101 -0.177 -0.007 -0.007 -0.017  1.001]
+t: 249	 action: [-0.099 -0.076 -0.17   0.002 -0.009 -0.013  1.151]
+[07-31 01:43:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9205
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9205
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9205
+t=250: Selected seed 195 with value = 0.9205
+t: 250	 action: [-0.063 -0.11  -0.222 -0.01   0.017  0.005  0.973]
+t: 251	 action: [-0.006 -0.155 -0.014 -0.025  0.021  0.009  1.098]
+t: 252	 action: [-2.165e-02  3.072e-04 -3.689e-02 -1.301e-02  6.057e-03 -1.625e-03  7.117e-01]
+t: 253	 action: [ 0.027 -0.084  0.12  -0.017  0.009 -0.033 -0.233]
+t: 254	 action: [-0.079  0.066 -0.014 -0.032  0.014  0.002  0.96 ]
+t: 255	 action: [ 0.017  0.002  0.082 -0.023  0.003  0.013  0.931]
+t: 256	 action: [-0.032  0.03   0.044 -0.018  0.004 -0.006 -0.714]
+t: 257	 action: [ 0.027 -0.069  0.093 -0.007  0.005 -0.037 -0.956]
+t: 258	 action: [ 0.005 -0.045 -0.249 -0.005  0.007  0.004 -0.86 ]
+t: 259	 action: [ 0.003 -0.087 -0.308 -0.013  0.006  0.002 -1.138]
+t: 260	 action: [-0.115 -0.081 -0.288 -0.005  0.002  0.003 -1.155]
+t: 261	 action: [-0.134 -0.13  -0.324 -0.006  0.003 -0.002 -1.134]
+t: 262	 action: [-0.139 -0.032 -0.277 -0.012  0.003 -0.003 -0.873]
+t: 263	 action: [-0.211 -0.06  -0.229 -0.003 -0.005 -0.002  1.204]
+t: 264	 action: [-0.128 -0.054 -0.186 -0.008 -0.001 -0.007  1.068]
+t: 265	 action: [-5.492e-02 -5.030e-02 -1.556e-01 -3.556e-04 -9.845e-03 -4.015e-04  1.181e+00]
+[07-31 01:43:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8848
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8848
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8848
+t=266: Selected seed 195 with value = 0.8848
+t: 266	 action: [ 0.066 -0.051  0.067 -0.022  0.019 -0.007  1.005]
+t: 267	 action: [ 0.163 -0.037  0.339 -0.026  0.004 -0.008  1.046]
+t: 268	 action: [ 0.183 -0.003  0.481 -0.011  0.011 -0.009  1.006]
+t: 269	 action: [ 2.318e-01 -5.774e-02  6.634e-01 -2.254e-02 -5.604e-04 -9.316e-03  1.018e+00]
+t: 270	 action: [ 0.222 -0.047  0.554 -0.022  0.026 -0.013  1.031]
+t: 271	 action: [ 0.188 -0.099  0.667 -0.017  0.018  0.003  1.049]
+t: 272	 action: [ 1.414e-01 -1.900e-01  6.322e-01 -8.689e-04  2.653e-02 -8.550e-03  9.742e-01]
+t: 273	 action: [ 0.107 -0.307  0.534  0.006  0.022  0.003  0.61 ]
+t: 274	 action: [-0.111 -0.278 -0.173  0.014  0.041  0.006 -1.16 ]
+t: 275	 action: [-0.145 -0.337 -0.194  0.01   0.019  0.009 -1.148]
+t: 276	 action: [-0.127 -0.237 -0.324  0.01   0.026  0.006  1.035]
+t: 277	 action: [-7.187e-02 -2.214e-01 -2.491e-01  8.328e-03  6.728e-04  1.455e-02  1.058e+00]
+t: 278	 action: [-1.461e-01 -7.851e-02 -3.197e-01 -2.546e-03  3.063e-02 -1.799e-04  1.060e+00]
+t: 279	 action: [-0.088 -0.096 -0.264  0.014  0.007  0.013  1.211]
+t: 280	 action: [-0.112 -0.023 -0.182 -0.005  0.013 -0.003  1.03 ]
+t: 281	 action: [-3.385e-02  4.417e-04 -1.225e-01  7.567e-03 -1.306e-02  1.411e-02  1.043e+00]
+[07-31 01:43:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8971
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 1.001 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=282: Selected seed 195 with value = 0.8971
+t: 282	 action: [-0.17  -0.147 -0.496 -0.007 -0.052  0.018  1.128]
+t: 283	 action: [-0.194 -0.145 -0.346 -0.013 -0.042  0.017  1.039]
+t: 284	 action: [-0.161 -0.017 -0.275 -0.007 -0.047  0.012  1.081]
+t: 285	 action: [-0.119 -0.093 -0.086 -0.011 -0.013  0.002 -0.979]
+t: 286	 action: [-0.128  0.053  0.03  -0.024 -0.028  0.006 -1.107]
+t: 287	 action: [ 0.013  0.091  0.225 -0.031 -0.01   0.008 -1.098]
+t: 288	 action: [ 0.111  0.089  0.336 -0.018 -0.001  0.004 -1.092]
+t: 289	 action: [ 0.209  0.099  0.521 -0.024  0.004 -0.003 -1.034]
+t: 290	 action: [ 0.176 -0.003  0.512  0.007  0.031  0.022 -1.037]
+t: 291	 action: [ 0.17  -0.038  0.459  0.014  0.045  0.02  -1.042]
+t: 292	 action: [ 0.216 -0.015  0.386  0.02   0.029  0.027 -1.055]
+t: 293	 action: [ 0.224 -0.051  0.314  0.021  0.044  0.02  -1.041]
+t: 294	 action: [ 0.079 -0.004  0.284  0.025  0.033  0.032 -1.045]
+t: 295	 action: [ 0.049 -0.005  0.222  0.027  0.031  0.026 -1.063]
+t: 296	 action: [ 0.08  -0.003  0.17   0.026  0.026  0.03  -1.051]
+t: 297	 action: [ 0.124 -0.011  0.162  0.028  0.026  0.026 -1.049]
+[07-31 01:43:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7860
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7860
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 62
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 24%|██▍       | 12/50 [06:25<20:09, 31.84s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 13...
+Query 1/1: Action query time = 0.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7860
+t=298: Selected seed 195 with value = 0.7860
+t: 298	 action: [ 0.047  0.083 -0.333  0.001 -0.006  0.009 -0.839]
+t: 299	 action: [ 4.179e-02  1.163e-01 -2.606e-01  8.386e-05 -6.897e-03  2.430e-03 -8.795e-01]
+t: 300	 action: [ 0.044  0.102 -0.33  -0.002 -0.006  0.007 -1.008]
+t: 301	 action: [ 0.044  0.09  -0.206  0.002 -0.006 -0.003 -1.005]
+t: 302	 action: [ 0.002  0.236 -0.216 -0.001 -0.012  0.002 -1.03 ]
+t: 303	 action: [-9.677e-03  2.188e-01 -7.069e-02  5.708e-03 -1.630e-02  5.449e-05 -1.041e+00]
+t: 304	 action: [ 0.02   0.25  -0.072 -0.007 -0.013 -0.002 -1.026]
+t: 305	 action: [ 0.038  0.181  0.051  0.003 -0.014 -0.008 -1.037]
+t: 306	 action: [ 0.096  0.074 -0.006 -0.006 -0.021  0.002 -1.038]
+t: 307	 action: [ 0.063  0.031  0.046 -0.008 -0.013 -0.018 -1.044]
+t: 308	 action: [ 0.081  0.029  0.149 -0.002 -0.027 -0.004 -1.033]
+t: 309	 action: [ 0.068  0.003  0.172 -0.004 -0.01  -0.016 -1.034]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=62--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=62--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 62
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+[07-31 01:43:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.202 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3647
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3647
+Query 1/1: Action query time = 1.202 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3647
+t=10: Selected seed 195 with value = 0.3647
+t: 10	 action: [ 0.016 -0.083 -0.014  0.017 -0.006  0.008 -1.003]
+t: 11	 action: [ 0.143 -0.059  0.009  0.021  0.004  0.011 -1.011]
+t: 12	 action: [ 0.241 -0.003  0.02   0.013 -0.005  0.016 -1.019]
+t: 13	 action: [ 0.475  0.008  0.028  0.015  0.006  0.013 -1.019]
+t: 14	 action: [ 0.593  0.095  0.086  0.014 -0.005  0.021 -1.005]
+t: 15	 action: [ 0.695  0.145  0.016  0.02   0.003  0.017 -1.037]
+t: 16	 action: [ 0.77   0.146  0.099  0.009 -0.005  0.026 -1.006]
+t: 17	 action: [ 0.832  0.187  0.027  0.016  0.004  0.017 -1.046]
+t: 18	 action: [ 0.721  0.176  0.097  0.011  0.008  0.022 -1.025]
+t: 19	 action: [ 0.769  0.162  0.071  0.015  0.01   0.015 -1.021]
+t: 20	 action: [ 7.606e-01  1.203e-01  9.582e-02  1.152e-02  2.139e-04  2.187e-02 -1.024e+00]
+t: 21	 action: [ 0.791  0.086  0.118  0.016  0.01   0.016 -1.016]
+t: 22	 action: [ 0.794  0.106  0.085  0.014 -0.004  0.023 -1.009]
+t: 23	 action: [ 0.817  0.038  0.033  0.018  0.001  0.016 -1.037]
+t: 24	 action: [ 0.83   0.057  0.057  0.014 -0.011  0.019 -1.007]
+t: 25	 action: [ 0.869 -0.056  0.06   0.019  0.001  0.017 -1.043]
+[07-31 01:43:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3787
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3787
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3787
+t=26: Selected seed 195 with value = 0.3787
+t: 26	 action: [ 0.233  0.006 -0.464  0.01  -0.04   0.015 -1.043]
+t: 27	 action: [ 0.212  0.021 -0.563  0.009 -0.045  0.01  -1.036]
+t: 28	 action: [ 0.341  0.054 -0.495  0.005 -0.041  0.018 -1.034]
+t: 29	 action: [ 0.255  0.082 -0.596  0.002 -0.047  0.01  -1.036]
+t: 30	 action: [ 0.271  0.131 -0.559  0.002 -0.044  0.008 -1.036]
+t: 31	 action: [ 0.227  0.146 -0.646  0.008 -0.045  0.001 -1.047]
+t: 32	 action: [ 0.374  0.225 -0.564 -0.002 -0.043  0.01  -1.027]
+t: 33	 action: [ 3.157e-01  1.576e-01 -6.251e-01  1.073e-03 -3.949e-02 -8.290e-04 -1.048e+00]
+t: 34	 action: [ 0.476  0.172 -0.558  0.008 -0.054  0.02  -1.043]
+t: 35	 action: [ 0.549  0.11  -0.571  0.006 -0.052  0.007 -1.044]
+t: 36	 action: [ 0.623  0.171 -0.552  0.004 -0.05   0.018 -1.04 ]
+t: 37	 action: [ 6.520e-01  1.183e-01 -5.613e-01  7.404e-04 -4.455e-02  7.851e-03 -1.035e+00]
+t: 38	 action: [ 0.621  0.184 -0.518 -0.002 -0.047  0.006 -1.032]
+t: 39	 action: [ 0.447  0.131 -0.551  0.005 -0.044 -0.004 -1.053]
+t: 40	 action: [ 0.572  0.108 -0.474 -0.005 -0.039  0.005 -1.02 ]
+t: 41	 action: [ 4.492e-01  1.189e-01 -5.316e-01  3.719e-04 -3.091e-02 -2.023e-03 -1.057e+00]
+[07-31 01:43:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6266
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6266
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6266
+t=42: Selected seed 195 with value = 0.6266
+t: 42	 action: [ 0.035  0.417 -0.419 -0.002 -0.007 -0.008 -1.013]
+t: 43	 action: [ 0.035  0.42  -0.4    0.002 -0.003 -0.021 -1.004]
+t: 44	 action: [ 1.379e-02  3.342e-01 -3.829e-01 -4.786e-03  9.760e-04 -6.139e-03 -1.009e+00]
+t: 45	 action: [ 0.019  0.271 -0.362 -0.004  0.003 -0.026 -1.003]
+t: 46	 action: [-0.009  0.396 -0.322 -0.004  0.007 -0.007 -1.013]
+t: 47	 action: [-0.002  0.341 -0.196  0.002  0.005 -0.018 -1.036]
+t: 48	 action: [-0.021  0.306 -0.112 -0.013  0.014 -0.01  -1.005]
+t: 49	 action: [ 0.012  0.203  0.05  -0.009  0.012 -0.024 -1.034]
+t: 50	 action: [ 0.006  0.029  0.165 -0.011  0.005 -0.023 -1.014]
+t: 51	 action: [-0.022 -0.04   0.286 -0.004  0.01  -0.03  -1.031]
+t: 52	 action: [-0.021  0.009  0.379 -0.008  0.005 -0.022 -1.013]
+t: 53	 action: [-1.150e-01 -6.206e-02  4.092e-01 -8.647e-04  1.370e-02 -2.829e-02 -1.017e+00]
+t: 54	 action: [-0.196 -0.048  0.318 -0.001  0.007 -0.019 -1.016]
+t: 55	 action: [-3.599e-01 -2.120e-02  2.931e-01  9.538e-03 -2.589e-04 -2.760e-02 -1.045e+00]
+t: 56	 action: [-0.433 -0.093  0.305  0.004  0.006 -0.017 -1.008]
+t: 57	 action: [-5.330e-01 -6.153e-02  2.200e-01  1.874e-02 -1.635e-04 -2.192e-02 -1.041e+00]
+[07-31 01:43:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.045 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6005
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6005
+Query 1/1: Action query time = 1.045 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6005
+t=58: Selected seed 195 with value = 0.6005
+t: 58	 action: [ 0.102  0.243 -0.23  -0.006 -0.003 -0.008 -1.024]
+t: 59	 action: [ 0.163  0.205 -0.238 -0.004 -0.003 -0.024 -1.02 ]
+t: 60	 action: [ 0.119  0.109 -0.134 -0.004  0.003 -0.004 -1.017]
+t: 61	 action: [ 0.165  0.071 -0.059 -0.004  0.002 -0.026 -1.017]
+t: 62	 action: [ 0.067  0.079  0.054 -0.004  0.009 -0.013 -1.014]
+t: 63	 action: [ 0.065  0.096  0.223  0.003  0.006 -0.027 -1.049]
+t: 64	 action: [ 0.03   0.103  0.281 -0.005  0.014 -0.012 -1.011]
+t: 65	 action: [ 0.03   0.105  0.459  0.005  0.012 -0.031 -1.041]
+t: 66	 action: [-2.052e-03  5.964e-04  4.067e-01  1.976e-02  5.767e-03 -5.493e-03 -1.029e+00]
+t: 67	 action: [-0.096 -0.067  0.399  0.031  0.007 -0.017 -1.038]
+t: 68	 action: [-0.085 -0.006  0.346  0.026  0.007 -0.002 -1.028]
+t: 69	 action: [-0.208 -0.111  0.264  0.035  0.008 -0.016 -1.025]
+t: 70	 action: [-0.395 -0.03   0.205  0.039 -0.004 -0.009 -1.023]
+t: 71	 action: [-0.54  -0.053  0.106  0.037 -0.004 -0.018 -1.048]
+t: 72	 action: [-0.701 -0.103  0.134  0.045 -0.004 -0.009 -1.   ]
+t: 73	 action: [-0.725 -0.104  0.024  0.039 -0.004 -0.014 -1.041]
+[07-31 01:43:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4656
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.4656
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4656
+t=74: Selected seed 195 with value = 0.4656
+t: 74	 action: [ 0.12   0.21  -0.425  0.018 -0.031 -0.005 -1.038]
+t: 75	 action: [ 0.104  0.251 -0.375  0.025 -0.03  -0.023 -1.04 ]
+t: 76	 action: [ 0.07   0.121 -0.29   0.014 -0.033 -0.008 -1.039]
+t: 77	 action: [ 0.073  0.122 -0.234  0.019 -0.03  -0.041 -1.048]
+t: 78	 action: [ 0.04   0.141 -0.118  0.009 -0.02  -0.012 -1.019]
+t: 79	 action: [ 0.023  0.149 -0.023  0.026 -0.017 -0.032 -1.052]
+t: 80	 action: [-4.232e-02  1.246e-01  6.768e-03 -6.838e-05 -2.575e-02 -2.063e-02 -1.026e+00]
+t: 81	 action: [ 0.01   0.12   0.049  0.02  -0.022 -0.054 -1.058]
+t: 82	 action: [-0.12   0.11   0.07   0.039 -0.033 -0.034 -1.046]
+t: 83	 action: [-0.275  0.069 -0.012  0.037 -0.028 -0.043 -1.04 ]
+t: 84	 action: [-0.332  0.053 -0.097  0.041 -0.031 -0.033 -1.045]
+t: 85	 action: [-0.437  0.03  -0.181  0.038 -0.024 -0.036 -1.039]
+t: 86	 action: [-0.699  0.029 -0.187  0.048 -0.037 -0.026 -1.025]
+t: 87	 action: [-0.695 -0.006 -0.241  0.04  -0.028 -0.044 -1.042]
+t: 88	 action: [-0.809 -0.04  -0.383  0.042 -0.03  -0.027 -1.012]
+t: 89	 action: [-0.741 -0.037 -0.36   0.039 -0.018 -0.035 -1.047]
+[07-31 01:43:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4788
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4788
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4788
+t=90: Selected seed 195 with value = 0.4788
+t: 90	 action: [ 0.112  0.121 -0.473  0.014 -0.038 -0.031 -1.048]
+t: 91	 action: [ 0.05   0.156 -0.423  0.028 -0.033 -0.051 -1.037]
+t: 92	 action: [ 0.027  0.109 -0.372  0.017 -0.036 -0.037 -1.047]
+t: 93	 action: [ 0.028  0.1   -0.349  0.025 -0.026 -0.061 -1.04 ]
+t: 94	 action: [-0.057  0.096 -0.237  0.014 -0.026 -0.04  -1.032]
+t: 95	 action: [ 8.052e-04  1.071e-01 -1.539e-01  2.768e-02 -1.631e-02 -5.865e-02 -1.057e+00]
+t: 96	 action: [-0.06   0.067 -0.195  0.011 -0.025 -0.044 -1.037]
+t: 97	 action: [ 0.021  0.072 -0.178  0.022 -0.011 -0.069 -1.058]
+t: 98	 action: [ 0.045  0.022 -0.161  0.038 -0.021 -0.043 -1.055]
+t: 99	 action: [ 0.039  0.01  -0.327  0.028 -0.011 -0.045 -1.039]
+t: 100	 action: [ 0.06   0.03  -0.371  0.026 -0.028 -0.035 -1.059]
+t: 101	 action: [ 0.05   0.016 -0.505  0.02  -0.017 -0.036 -1.038]
+t: 102	 action: [-0.036  0.012 -0.573  0.015 -0.034 -0.021 -1.047]
+t: 103	 action: [-0.048 -0.004 -0.607  0.017 -0.022 -0.04  -1.049]
+t: 104	 action: [-0.141 -0.004 -0.705  0.005 -0.038 -0.017 -1.048]
+t: 105	 action: [-0.129 -0.016 -0.664  0.011 -0.028 -0.03  -1.052]
+[07-31 01:44:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5276
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 1.000 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=106: Selected seed 195 with value = 0.5276
+t: 106	 action: [ 0.176 -0.042 -0.242  0.027 -0.013 -0.032 -1.061]
+t: 107	 action: [ 0.138  0.004 -0.354  0.021 -0.006 -0.034 -1.054]
+t: 108	 action: [ 0.142 -0.021 -0.247  0.019 -0.011 -0.024 -1.057]
+t: 109	 action: [ 0.142  0.008 -0.342  0.017 -0.007 -0.029 -1.046]
+t: 110	 action: [ 0.08   0.017 -0.21   0.035 -0.014 -0.026 -1.03 ]
+t: 111	 action: [ 0.141  0.035 -0.366  0.029 -0.006 -0.033 -1.047]
+t: 112	 action: [ 0.103  0.004 -0.342  0.028 -0.017 -0.023 -1.034]
+t: 113	 action: [ 0.117  0.009 -0.408  0.023 -0.007 -0.034 -1.045]
+t: 114	 action: [ 0.064  0.002 -0.447  0.009 -0.018 -0.009 -1.065]
+t: 115	 action: [ 3.011e-02  8.014e-04 -5.065e-01  7.083e-03 -7.083e-03 -7.842e-03 -1.148e+00]
+t: 116	 action: [-0.031 -0.028 -0.496  0.007 -0.016 -0.012 -1.166]
+t: 117	 action: [-0.078 -0.024 -0.55   0.006 -0.009 -0.015 -1.159]
+t: 118	 action: [-6.476e-02 -4.629e-02 -5.204e-01  7.677e-04 -2.267e-02 -1.247e-02 -1.037e+00]
+t: 119	 action: [-0.039 -0.019 -0.529  0.008 -0.014 -0.009  1.207]
+t: 120	 action: [-0.062 -0.067 -0.377 -0.003 -0.022 -0.021  1.108]
+t: 121	 action: [-0.013 -0.017 -0.357  0.006 -0.017 -0.014  1.174]
+[07-31 01:44:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6015
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.6015
+Query 1/1: Action query time = 1.001 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6015
+t=122: Selected seed 195 with value = 0.6015
+t: 122	 action: [-0.027  0.015 -0.507 -0.004  0.029  0.006  0.987]
+t: 123	 action: [ 0.006 -0.046 -0.429 -0.004  0.044  0.006  1.02 ]
+t: 124	 action: [ 0.003 -0.038 -0.411 -0.004  0.037  0.001  0.979]
+t: 125	 action: [-0.005 -0.096 -0.342 -0.001  0.049  0.002  1.017]
+t: 126	 action: [ 0.024 -0.075 -0.24  -0.002  0.04  -0.004  1.01 ]
+t: 127	 action: [ 0.027 -0.105 -0.189  0.005  0.047 -0.006  1.03 ]
+t: 128	 action: [ 0.022 -0.092 -0.099 -0.003  0.037 -0.014  0.997]
+t: 129	 action: [ 0.012 -0.092 -0.056  0.005  0.044 -0.021  1.037]
+t: 130	 action: [-0.009 -0.005  0.074 -0.018  0.04  -0.043  0.979]
+t: 131	 action: [ 0.026  0.002  0.197 -0.011  0.045 -0.05   1.02 ]
+t: 132	 action: [-0.009  0.002  0.305 -0.014  0.035 -0.038  0.969]
+t: 133	 action: [ 0.02   0.017  0.452 -0.003  0.031 -0.037  1.011]
+t: 134	 action: [-1.916e-02 -1.726e-04  5.871e-01 -3.485e-03  3.834e-02 -5.026e-02  9.990e-01]
+t: 135	 action: [ 2.858e-03 -8.015e-04  7.895e-01  4.790e-03  3.246e-02 -4.531e-02  1.018e+00]
+t: 136	 action: [-0.016 -0.072  0.859  0.006  0.04  -0.039  0.995]
+t: 137	 action: [-5.229e-04 -6.429e-02  9.135e-01  1.898e-02  3.386e-02 -3.078e-02  1.027e+00]
+[07-31 01:44:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8193
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.8193
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8193
+t=138: Selected seed 195 with value = 0.8193
+t: 138	 action: [-0.08  -0.027  0.073 -0.003  0.014 -0.071  0.979]
+t: 139	 action: [-0.075 -0.04   0.19   0.007  0.018 -0.058  1.036]
+t: 140	 action: [-0.134 -0.054  0.277  0.014  0.016 -0.07   0.986]
+t: 141	 action: [-0.121 -0.054  0.207  0.025  0.012 -0.05   1.023]
+t: 142	 action: [-0.171 -0.061  0.217  0.023  0.021 -0.041  1.002]
+t: 143	 action: [-0.105 -0.136  0.125  0.027  0.021 -0.026  1.029]
+t: 144	 action: [-0.161 -0.152  0.143  0.035  0.023 -0.033  1.005]
+t: 145	 action: [-0.062 -0.144  0.034  0.033  0.026 -0.02   1.031]
+t: 146	 action: [ 0.059 -0.242 -0.135  0.04   0.048 -0.002  1.   ]
+t: 147	 action: [ 0.065 -0.277 -0.199  0.032  0.056  0.001  1.032]
+t: 148	 action: [ 0.064 -0.289 -0.3    0.036  0.046  0.002  0.991]
+t: 149	 action: [ 0.063 -0.243 -0.347  0.025  0.039  0.003  1.021]
+t: 150	 action: [ 0.055 -0.299 -0.258  0.017  0.036 -0.004  1.02 ]
+t: 151	 action: [ 0.051 -0.263 -0.308  0.018  0.019  0.007  1.044]
+t: 152	 action: [ 0.039 -0.244 -0.282  0.009  0.024 -0.004  1.018]
+t: 153	 action: [ 3.963e-02 -2.045e-01 -2.974e-01  6.412e-03 -8.026e-04  5.902e-03  1.046e+00]
+[07-31 01:44:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7106
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7106
+Query 1/1: Action query time = 0.998 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7106
+t=154: Selected seed 195 with value = 0.7106
+t: 154	 action: [-0.129  0.035  0.413  0.02   0.035 -0.079  0.999]
+t: 155	 action: [-0.096  0.049  0.445  0.038  0.069 -0.078  1.061]
+t: 156	 action: [-0.209  0.03   0.526  0.039  0.052 -0.076  0.995]
+t: 157	 action: [-0.166  0.054  0.529  0.047  0.088 -0.069  1.062]
+t: 158	 action: [-0.197  0.029  0.549  0.052  0.072 -0.084  1.018]
+t: 159	 action: [-0.196  0.075  0.508  0.057  0.111 -0.076  1.046]
+t: 160	 action: [-0.23   0.018  0.624  0.056  0.091 -0.081  1.007]
+t: 161	 action: [-0.196  0.063  0.524  0.057  0.128 -0.067  1.038]
+t: 162	 action: [-0.06  -0.026  0.515  0.051  0.105 -0.065  1.003]
+t: 163	 action: [ 0.007 -0.024  0.48   0.051  0.102 -0.04   1.051]
+t: 164	 action: [-0.01  -0.031  0.411  0.015  0.082 -0.043  0.994]
+t: 165	 action: [ 0.035 -0.044  0.34   0.025  0.066 -0.03   1.068]
+t: 166	 action: [ 0.022 -0.065  0.303  0.01   0.061 -0.036  1.029]
+t: 167	 action: [ 0.045 -0.064  0.237 -0.004  0.041 -0.015  1.05 ]
+t: 168	 action: [ 0.039 -0.082  0.229 -0.011  0.032 -0.014  1.019]
+t: 169	 action: [ 0.03  -0.104  0.171 -0.023  0.02  -0.01   1.046]
+[07-31 01:44:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8090
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8090
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8090
+t=170: Selected seed 195 with value = 0.8090
+t: 170	 action: [-0.086 -0.171  0.656  0.025  0.055 -0.072  0.985]
+t: 171	 action: [-0.053 -0.065  0.701  0.028  0.076 -0.059  1.043]
+t: 172	 action: [-0.059 -0.129  0.701  0.013  0.075 -0.057  0.987]
+t: 173	 action: [-0.028 -0.062  0.74   0.02   0.099 -0.045  1.044]
+t: 174	 action: [ 0.004 -0.052  0.738  0.014  0.096 -0.044  1.009]
+t: 175	 action: [ 0.049 -0.047  0.737  0.027  0.126 -0.037  1.043]
+t: 176	 action: [ 4.588e-02 -3.049e-02  7.335e-01  8.949e-04  1.163e-01 -2.551e-02  1.009e+00]
+t: 177	 action: [ 0.051 -0.065  0.663  0.013  0.142 -0.024  1.042]
+t: 178	 action: [ 0.246 -0.166  0.636  0.009  0.095 -0.015  0.986]
+t: 179	 action: [ 0.262 -0.147  0.637  0.011  0.092 -0.012  1.036]
+t: 180	 action: [ 2.753e-01 -1.644e-01  5.268e-01  5.859e-04  8.879e-02 -2.666e-03  9.871e-01]
+t: 181	 action: [ 0.277 -0.184  0.506 -0.005  0.074 -0.003  1.039]
+t: 182	 action: [ 0.263 -0.271  0.45  -0.005  0.076  0.003  1.018]
+t: 183	 action: [ 0.247 -0.276  0.317 -0.017  0.049  0.012  1.048]
+t: 184	 action: [ 0.251 -0.247  0.361 -0.017  0.055  0.003  1.021]
+t: 185	 action: [ 0.242 -0.309  0.287 -0.029  0.034  0.017  1.048]
+[07-31 01:44:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.171 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 1.171 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=186: Selected seed 195 with value = 0.8936
+t: 186	 action: [ 0.307 -0.204  0.863 -0.014  0.059 -0.015  0.963]
+t: 187	 action: [ 0.326 -0.174  0.88  -0.014  0.045 -0.029  1.018]
+t: 188	 action: [ 0.445 -0.217  0.745 -0.012  0.05   0.002  0.969]
+t: 189	 action: [ 0.474 -0.283  0.762 -0.013  0.054 -0.007  1.015]
+t: 190	 action: [ 0.521 -0.336  0.709 -0.008  0.056  0.004  0.996]
+t: 191	 action: [ 0.562 -0.432  0.689 -0.007  0.047  0.004  1.01 ]
+t: 192	 action: [ 0.54  -0.455  0.471  0.006  0.051  0.005  1.   ]
+t: 193	 action: [ 0.563 -0.522  0.418  0.004  0.051  0.014  1.007]
+t: 194	 action: [ 0.534 -0.589  0.235  0.003  0.034  0.012  0.956]
+t: 195	 action: [ 0.557 -0.638  0.161 -0.007  0.013  0.016  0.997]
+t: 196	 action: [ 0.49  -0.631  0.025  0.006  0.018  0.017  0.961]
+t: 197	 action: [ 0.506 -0.699 -0.004 -0.003  0.007  0.026  1.002]
+t: 198	 action: [ 0.491 -0.529 -0.125 -0.01   0.019  0.023  0.986]
+t: 199	 action: [ 4.524e-01 -5.870e-01 -1.664e-01 -2.919e-02  4.324e-04  4.263e-02  1.011e+00]
+t: 200	 action: [ 0.445 -0.323 -0.364 -0.022  0.004  0.041  0.997]
+t: 201	 action: [ 0.445 -0.323 -0.384 -0.05  -0.009  0.049  1.012]
+[07-31 01:44:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9524
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9524
+Query 1/1: Action query time = 1.010 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9524
+t=202: Selected seed 195 with value = 0.9524
+t: 202	 action: [ 0.385 -0.534  0.239  0.034  0.02   0.004  0.944]
+t: 203	 action: [ 0.304 -0.632  0.166  0.018  0.011 -0.003  1.016]
+t: 204	 action: [ 0.373 -0.526 -0.003  0.025  0.011  0.007  0.958]
+t: 205	 action: [ 0.307 -0.591 -0.075  0.015  0.008  0.01   1.018]
+t: 206	 action: [ 0.37  -0.39  -0.238 -0.006  0.015  0.018  0.973]
+t: 207	 action: [ 0.29  -0.551 -0.377  0.003 -0.002  0.023  1.003]
+t: 208	 action: [ 0.306 -0.269 -0.55  -0.011  0.009  0.04   0.984]
+t: 209	 action: [ 0.194 -0.293 -0.685 -0.012 -0.005  0.031  1.008]
+t: 210	 action: [ 0.282 -0.267 -0.633 -0.003 -0.033  0.058  0.942]
+t: 211	 action: [ 0.123 -0.167 -0.795 -0.026 -0.061  0.06   1.017]
+t: 212	 action: [ 0.224 -0.139 -0.694 -0.014 -0.037  0.083  0.959]
+t: 213	 action: [ 0.093 -0.139 -0.713 -0.035 -0.068  0.068  1.002]
+t: 214	 action: [ 0.079 -0.026 -0.519 -0.026 -0.023  0.093  0.973]
+t: 215	 action: [ 0.005 -0.007 -0.512 -0.036 -0.021  0.077  1.018]
+t: 216	 action: [ 0.045  0.046 -0.227 -0.031 -0.022  0.099  0.992]
+t: 217	 action: [ 0.023  0.024 -0.106 -0.037 -0.003  0.085 -1.09 ]
+[07-31 01:44:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9695
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9695
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9695
+t=218: Selected seed 195 with value = 0.9695
+t: 218	 action: [-0.016 -0.179 -0.635  0.007 -0.023  0.039  1.124]
+t: 219	 action: [-0.03  -0.295 -0.482 -0.005  0.004  0.03   0.993]
+t: 220	 action: [ 0.023 -0.154 -0.489  0.004 -0.008  0.038  1.109]
+t: 221	 action: [ 0.031 -0.279 -0.282  0.002  0.01   0.025 -1.013]
+t: 222	 action: [ 0.014 -0.041 -0.18  -0.005 -0.003  0.04  -1.123]
+t: 223	 action: [ 0.011 -0.07  -0.046 -0.006  0.007  0.035 -1.045]
+t: 224	 action: [ 0.137  0.037  0.052 -0.007  0.007  0.03  -1.122]
+t: 225	 action: [ 0.104  0.009  0.171 -0.002  0.018  0.017 -1.04 ]
+t: 226	 action: [ 0.29  -0.022  0.13   0.008  0.006  0.012 -1.04 ]
+t: 227	 action: [ 0.304 -0.104  0.188  0.003  0.018  0.008 -1.001]
+t: 228	 action: [ 0.275  0.017  0.21   0.004 -0.002  0.014 -1.04 ]
+t: 229	 action: [ 2.981e-01 -5.388e-02  2.332e-01  3.949e-04  1.089e-02  9.967e-03 -1.022e+00]
+t: 230	 action: [ 0.186  0.033  0.185 -0.002  0.007  0.009 -1.058]
+t: 231	 action: [ 0.121  0.024  0.192  0.005  0.006  0.008 -1.044]
+t: 232	 action: [ 1.200e-01  5.323e-02  1.798e-01 -6.311e-03 -9.742e-05  7.309e-03 -1.050e+00]
+t: 233	 action: [ 7.787e-02  4.733e-02  1.742e-01  1.882e-03  5.770e-04  1.002e-02 -1.048e+00]
+[07-31 01:44:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.230 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9892
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 1.230 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=234: Selected seed 195 with value = 0.9892
+t: 234	 action: [-1.925e-01  8.170e-04 -1.814e-01  5.017e-04  2.814e-02  1.352e-02  1.132e+00]
+t: 235	 action: [-0.13  -0.081 -0.09  -0.013  0.048  0.013  0.938]
+t: 236	 action: [-0.125 -0.024 -0.007  0.002  0.03   0.012  0.131]
+t: 237	 action: [-0.07  -0.116  0.076 -0.003  0.043  0.011 -1.014]
+t: 238	 action: [-0.012  0.002  0.132 -0.012  0.025  0.017 -1.087]
+t: 239	 action: [-0.048  0.036  0.159 -0.016  0.022  0.026 -0.967]
+t: 240	 action: [ 8.369e-03 -5.775e-04  2.189e-01 -1.542e-04  2.706e-02  1.005e-02 -9.193e-01]
+t: 241	 action: [-0.038  0.028  0.233  0.001  0.028  0.009 -1.039]
+t: 242	 action: [ 0.009 -0.079  0.139  0.015  0.02   0.01   1.132]
+t: 243	 action: [ 0.012 -0.157  0.191  0.011  0.041  0.004  0.659]
+t: 244	 action: [-0.002 -0.103  0.142  0.011  0.016  0.01  -1.008]
+t: 245	 action: [ 0.003 -0.127  0.188  0.007  0.029  0.006 -1.033]
+t: 246	 action: [ 0.022 -0.067  0.172  0.009  0.019  0.006 -1.089]
+t: 247	 action: [-0.062 -0.054  0.167  0.014  0.014  0.013 -1.107]
+t: 248	 action: [-0.002 -0.054  0.162  0.006  0.016  0.005 -1.021]
+t: 249	 action: [-0.045 -0.025  0.158  0.01   0.01   0.007 -1.043]
+[07-31 01:44:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9898
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=250: Selected seed 195 with value = 0.9898
+t: 250	 action: [-0.16   0.022 -0.013  0.003  0.016  0.01   1.126]
+t: 251	 action: [-1.061e-01 -7.367e-02  6.778e-02  2.019e-04  2.014e-02  6.254e-03  9.149e-01]
+t: 252	 action: [-0.126  0.016  0.144  0.002  0.013  0.01  -1.009]
+t: 253	 action: [-0.142 -0.062  0.191  0.002  0.012  0.008 -1.044]
+t: 254	 action: [-0.097  0.027  0.217  0.002  0.011  0.012 -1.098]
+t: 255	 action: [-1.113e-01  6.641e-02  2.166e-01  3.814e-03  6.272e-06  2.322e-02 -1.062e+00]
+t: 256	 action: [-1.003e-01  4.648e-03  2.643e-01 -3.794e-05  7.764e-03  8.307e-03 -9.988e-01]
+t: 257	 action: [-1.278e-01  3.456e-02  2.603e-01  7.870e-03  3.240e-04  8.816e-03 -1.045e+00]
+t: 258	 action: [-0.08   0.011  0.243  0.006 -0.008  0.007 -0.392]
+t: 259	 action: [-6.588e-02 -3.588e-02  2.968e-01  2.980e-03  2.128e-03  7.985e-05 -9.576e-01]
+t: 260	 action: [-0.105  0.009  0.238  0.004 -0.011  0.007 -1.006]
+t: 261	 action: [-8.923e-02 -4.759e-02  2.777e-01 -8.727e-04  9.155e-06  2.932e-03 -1.050e+00]
+t: 262	 action: [-0.088 -0.009  0.236  0.003 -0.009  0.002 -0.994]
+t: 263	 action: [-0.139  0.015  0.245  0.008 -0.005  0.005 -1.051]
+t: 264	 action: [-1.102e-01 -5.283e-03  2.307e-01 -2.890e-04 -8.836e-03  2.268e-03 -1.007e+00]
+t: 265	 action: [-0.126  0.002  0.237  0.004 -0.007  0.005 -1.049]
+[07-31 01:44:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9915
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=266: Selected seed 195 with value = 0.9915
+t: 266	 action: [-0.044  0.096  0.164  0.01   0.021  0.013 -0.971]
+t: 267	 action: [-0.02   0.002  0.177  0.015  0.016  0.012 -0.983]
+t: 268	 action: [-0.088  0.079  0.178  0.009  0.015  0.012 -1.011]
+t: 269	 action: [-0.072 -0.003  0.176  0.011  0.009  0.01  -1.029]
+t: 270	 action: [-0.069  0.099  0.186  0.008  0.017  0.025 -1.016]
+t: 271	 action: [-0.118  0.076  0.176  0.023  0.001  0.024 -1.071]
+t: 272	 action: [-0.107  0.048  0.206  0.004  0.01   0.019 -1.016]
+t: 273	 action: [-0.13   0.057  0.196  0.019 -0.003  0.018 -1.054]
+t: 274	 action: [-0.051  0.033  0.178  0.008 -0.004  0.01  -0.992]
+t: 275	 action: [-0.028 -0.019  0.202  0.009  0.001  0.008 -1.022]
+t: 276	 action: [-0.106  0.035  0.209  0.005 -0.006  0.01  -1.004]
+t: 277	 action: [-7.221e-02 -1.071e-02  2.152e-01  5.277e-03 -7.181e-05  8.070e-03 -1.037e+00]
+t: 278	 action: [-0.081  0.005  0.175  0.002 -0.004  0.008 -1.017]
+t: 279	 action: [-0.118  0.033  0.181  0.016 -0.008  0.017 -1.069]
+t: 280	 action: [-1.298e-01  7.964e-03  2.133e-01 -8.582e-04 -6.472e-03  4.987e-03 -1.010e+00]
+t: 281	 action: [-0.138  0.035  0.213  0.012 -0.009  0.015 -1.064]
+[07-31 01:44:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.152 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9933
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 1.152 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=282: Selected seed 195 with value = 0.9933
+t: 282	 action: [ 0.036 -0.003 -0.036  0.013  0.04   0.005  1.091]
+t: 283	 action: [ 0.041 -0.063 -0.053  0.01   0.04  -0.004  0.864]
+t: 284	 action: [ 0.043  0.015 -0.08   0.016  0.036  0.003 -1.045]
+t: 285	 action: [ 0.076 -0.019 -0.037  0.014  0.03  -0.007 -1.05 ]
+t: 286	 action: [ 0.039  0.047 -0.035  0.009  0.034  0.003 -1.102]
+t: 287	 action: [-0.041  0.096 -0.028  0.019  0.015  0.021 -1.073]
+t: 288	 action: [ 0.023  0.07  -0.026  0.009  0.031  0.001 -1.044]
+t: 289	 action: [-0.016  0.083 -0.022  0.02   0.011  0.004 -1.071]
+t: 290	 action: [ 0.04   0.01  -0.074  0.012  0.009  0.009 -0.578]
+t: 291	 action: [ 7.700e-02 -6.830e-02 -3.753e-02  7.787e-03  1.061e-02 -9.663e-04 -9.720e-01]
+t: 292	 action: [ 0.025  0.014 -0.036  0.009  0.012  0.007 -1.042]
+t: 293	 action: [ 0.048 -0.044 -0.014  0.008  0.009 -0.005 -1.054]
+t: 294	 action: [ 7.640e-03 -3.550e-04 -4.632e-02  5.883e-03  5.611e-03  3.885e-03 -9.970e-01]
+t: 295	 action: [-0.037  0.03  -0.038  0.015 -0.005  0.007 -1.07 ]
+t: 296	 action: [-0.019  0.014 -0.009  0.002  0.008  0.001 -1.042]
+t: 297	 action: [-0.038  0.034 -0.016  0.014 -0.005  0.004 -1.076]
+[07-31 01:44:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9904
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9904
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 63
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 26%|██▌       | 13/50 [06:57<19:41, 31.94s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 14...
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=298: Selected seed 195 with value = 0.9904
+t: 298	 action: [ 0.023 -0.049 -0.172  0.015  0.042  0.005  1.125]
+t: 299	 action: [ 0.033 -0.069 -0.235  0.01   0.049 -0.004  0.912]
+t: 300	 action: [ 3.971e-02 -6.783e-04 -1.834e-01  1.871e-02  4.266e-02  1.565e-03 -1.043e+00]
+t: 301	 action: [ 0.073 -0.018 -0.175  0.015  0.04  -0.009 -1.051]
+t: 302	 action: [ 0.07   0.042 -0.137  0.009  0.045  0.006 -1.101]
+t: 303	 action: [-0.019  0.102 -0.089  0.017  0.028  0.022 -0.998]
+t: 304	 action: [ 0.032  0.044 -0.089  0.009  0.041  0.001 -1.047]
+t: 305	 action: [-0.021  0.091 -0.078  0.02   0.023  0.004 -1.068]
+t: 306	 action: [ 1.991e-02  8.264e-04 -1.902e-01  1.344e-02  6.240e-03  7.895e-03  1.108e+00]
+t: 307	 action: [ 1.384e-02 -6.740e-02 -1.718e-01  8.308e-03  1.248e-02 -3.904e-04 -7.581e-01]
+t: 308	 action: [ 0.034  0.009 -0.112  0.011  0.013  0.005 -1.036]
+t: 309	 action: [ 0.053 -0.057 -0.085  0.008  0.011 -0.006 -1.054]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=63--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=63--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 63
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 14...
+[07-31 01:44:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.034 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3527
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3527
+Query 1/1: Action query time = 1.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3527
+t=10: Selected seed 195 with value = 0.3527
+t: 10	 action: [ 0.152 -0.004  0.065  0.002  0.01   0.004 -1.01 ]
+t: 11	 action: [ 2.377e-01  8.521e-02  4.666e-02 -6.943e-04  1.539e-02  3.224e-03 -1.015e+00]
+t: 12	 action: [ 0.341  0.103  0.105 -0.002  0.015  0.006 -1.015]
+t: 13	 action: [ 0.539  0.142  0.099 -0.005  0.02   0.004 -1.022]
+t: 14	 action: [ 0.64   0.109  0.139 -0.011  0.022  0.011 -1.011]
+t: 15	 action: [ 0.734  0.15   0.139 -0.005  0.02   0.007 -1.039]
+t: 16	 action: [ 0.769  0.154  0.179 -0.009  0.025  0.009 -1.008]
+t: 17	 action: [ 0.831  0.151  0.17  -0.006  0.026  0.006 -1.048]
+t: 18	 action: [ 0.773  0.024  0.275  0.005  0.016  0.011 -1.017]
+t: 19	 action: [ 0.824 -0.002  0.28   0.013  0.021  0.006 -1.023]
+t: 20	 action: [ 0.839 -0.031  0.23   0.004  0.011  0.008 -1.016]
+t: 21	 action: [ 0.858 -0.07   0.266  0.016  0.021  0.004 -1.015]
+t: 22	 action: [ 0.848 -0.066  0.198  0.003  0.017  0.008 -1.008]
+t: 23	 action: [ 0.881 -0.205  0.161  0.015  0.019  0.004 -1.043]
+t: 24	 action: [ 0.891 -0.124  0.125  0.003  0.013  0.003 -1.007]
+t: 25	 action: [ 0.919 -0.244  0.114  0.018  0.015  0.003 -1.047]
+[07-31 01:44:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.007 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3726
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3726
+Query 1/1: Action query time = 1.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3726
+t=26: Selected seed 195 with value = 0.3726
+t: 26	 action: [ 9.646e-01 -3.802e-02  6.233e-02 -1.200e-02 -1.442e-02  7.846e-04 -1.017e+00]
+t: 27	 action: [ 0.947 -0.031  0.058 -0.005 -0.017 -0.017 -1.026]
+t: 28	 action: [ 9.613e-01 -1.207e-01  3.495e-02  8.009e-04 -2.370e-02  2.425e-03 -1.024e+00]
+t: 29	 action: [ 0.942 -0.127  0.039  0.002 -0.022 -0.013 -1.026]
+t: 30	 action: [ 0.968 -0.23  -0.031  0.009 -0.028 -0.002 -1.004]
+t: 31	 action: [ 0.938 -0.286 -0.036  0.009 -0.039 -0.017 -1.039]
+t: 32	 action: [ 0.931 -0.354 -0.159  0.011 -0.043 -0.003 -1.014]
+t: 33	 action: [ 0.904 -0.421 -0.202  0.019 -0.05  -0.016 -1.044]
+t: 34	 action: [ 0.757 -0.389 -0.342  0.015 -0.053  0.01  -1.036]
+t: 35	 action: [ 0.669 -0.35  -0.489  0.017 -0.064 -0.007 -1.037]
+t: 36	 action: [ 0.532 -0.373 -0.596  0.017 -0.088  0.011 -1.035]
+t: 37	 action: [ 3.664e-01 -3.006e-01 -7.183e-01  1.773e-02 -7.975e-02 -2.485e-04 -1.021e+00]
+t: 38	 action: [ 0.245 -0.269 -0.722  0.009 -0.115  0.004 -1.03 ]
+t: 39	 action: [ 0.124 -0.25  -0.781  0.018 -0.092 -0.003 -1.045]
+t: 40	 action: [-0.012 -0.143 -0.824  0.003 -0.117  0.005 -1.034]
+t: 41	 action: [-0.017 -0.151 -0.857  0.016 -0.084  0.006 -1.044]
+[07-31 01:44:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4697
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4697
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4697
+t=42: Selected seed 195 with value = 0.4697
+t: 42	 action: [ 0.043  0.314 -0.725  0.015 -0.05   0.027 -1.018]
+t: 43	 action: [ 0.026  0.402 -0.677  0.009 -0.059  0.024 -1.026]
+t: 44	 action: [ 0.02   0.449 -0.674  0.011 -0.048  0.029 -1.018]
+t: 45	 action: [ 0.011  0.502 -0.594  0.008 -0.054  0.024 -1.025]
+t: 46	 action: [-0.009  0.558 -0.664  0.003 -0.048  0.032 -1.016]
+t: 47	 action: [-0.008  0.586 -0.608  0.011 -0.049  0.029 -1.034]
+t: 48	 action: [-0.015  0.615 -0.636  0.003 -0.044  0.038 -1.017]
+t: 49	 action: [ 0.007  0.634 -0.548  0.009 -0.036  0.028 -1.038]
+t: 50	 action: [ 0.061  0.467 -0.741  0.015 -0.044  0.04  -1.032]
+t: 51	 action: [ 0.045  0.487 -0.765  0.003 -0.057  0.035 -1.03 ]
+t: 52	 action: [ 0.077  0.562 -0.707  0.007 -0.033  0.042 -1.033]
+t: 53	 action: [ 5.001e-02  5.615e-01 -6.623e-01  3.015e-04 -3.927e-02  3.198e-02 -1.028e+00]
+t: 54	 action: [-0.018  0.599 -0.617  0.004 -0.036  0.05  -1.027]
+t: 55	 action: [ 0.01   0.605 -0.567  0.005 -0.029  0.039 -1.042]
+t: 56	 action: [-0.011  0.531 -0.495  0.002 -0.015  0.045 -1.027]
+t: 57	 action: [ 0.016  0.499 -0.378  0.002 -0.006  0.035 -1.052]
+[07-31 01:44:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6320
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6320
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6320
+t=58: Selected seed 195 with value = 0.6320
+t: 58	 action: [ 0.105  0.222 -0.606  0.007 -0.013  0.018 -1.014]
+t: 59	 action: [ 0.093  0.278 -0.448  0.013 -0.006  0.018 -1.024]
+t: 60	 action: [ 9.496e-02  1.351e-01 -5.180e-01 -5.554e-04 -6.289e-03  1.618e-02 -1.005e+00]
+t: 61	 action: [ 0.076  0.134 -0.284  0.005  0.003  0.016 -1.018]
+t: 62	 action: [-0.039  0.087 -0.332  0.005  0.01   0.019 -0.997]
+t: 63	 action: [ 1.022e-03  1.571e-01 -1.751e-01  1.361e-02  1.281e-02  2.036e-02 -1.033e+00]
+t: 64	 action: [-0.081  0.043 -0.02  -0.003  0.016  0.011 -0.995]
+t: 65	 action: [-0.009  0.042  0.07   0.007  0.014  0.014 -1.032]
+t: 66	 action: [ 0.054 -0.089  0.345  0.026  0.029  0.013 -1.021]
+t: 67	 action: [-0.022 -0.172  0.279  0.029  0.017  0.015 -1.034]
+t: 68	 action: [-0.005 -0.135  0.221  0.023  0.02   0.017 -1.023]
+t: 69	 action: [-0.093 -0.215  0.114  0.024  0.013  0.018 -1.026]
+t: 70	 action: [-0.221 -0.05   0.11   0.021  0.012  0.025 -1.013]
+t: 71	 action: [-0.28  -0.064  0.034  0.024  0.005  0.025 -1.031]
+t: 72	 action: [-0.433 -0.063 -0.058 -0.002  0.002  0.03  -1.01 ]
+t: 73	 action: [-3.714e-01 -4.344e-02 -4.233e-02  1.378e-02 -2.631e-04  2.793e-02 -1.029e+00]
+[07-31 01:44:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6280
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6280
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6280
+t=74: Selected seed 195 with value = 0.6280
+t: 74	 action: [ 0.054  0.057 -0.453  0.003  0.002  0.006 -1.02 ]
+t: 75	 action: [ 0.039  0.04  -0.263  0.008  0.011  0.006 -1.022]
+t: 76	 action: [ 1.744e-02  2.212e-02 -1.749e-01 -9.557e-04  7.651e-03  5.650e-03 -1.014e+00]
+t: 77	 action: [ 0.03  -0.032 -0.056  0.004  0.013  0.004 -1.021]
+t: 78	 action: [-0.112  0.008 -0.118  0.002  0.02   0.003 -1.014]
+t: 79	 action: [-0.056  0.053  0.059  0.01   0.012  0.006 -1.045]
+t: 80	 action: [-1.456e-01 -5.215e-03  2.643e-01 -2.310e-03  2.251e-02 -2.225e-04 -1.013e+00]
+t: 81	 action: [-7.564e-02 -2.071e-02  3.982e-01  9.547e-03  1.232e-02  6.069e-04 -1.052e+00]
+t: 82	 action: [ 0.002 -0.173  0.411  0.039  0.016  0.008 -1.031]
+t: 83	 action: [-0.065 -0.215  0.344  0.035  0.006  0.008 -1.048]
+t: 84	 action: [-0.082 -0.147  0.267  0.031  0.012  0.013 -1.028]
+t: 85	 action: [-0.109 -0.223  0.141  0.025  0.008  0.012 -1.045]
+t: 86	 action: [-0.315 -0.046  0.104  0.027  0.007  0.009 -1.031]
+t: 87	 action: [-0.342 -0.073  0.036  0.023 -0.006  0.017 -1.059]
+t: 88	 action: [-0.483 -0.054 -0.089 -0.005  0.008  0.022 -0.991]
+t: 89	 action: [-0.373 -0.065 -0.054  0.008 -0.001  0.029 -0.259]
+[07-31 01:44:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6688
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=90: Selected seed 195 with value = 0.6688
+t: 90	 action: [ 0.051  0.151 -0.437  0.007  0.007  0.006 -1.006]
+t: 91	 action: [ 0.046  0.118 -0.299  0.003  0.011 -0.002 -1.01 ]
+t: 92	 action: [ 0.03   0.089 -0.234 -0.002  0.009  0.004 -1.003]
+t: 93	 action: [ 0.048  0.041 -0.109 -0.005  0.012 -0.008 -1.01 ]
+t: 94	 action: [-3.874e-02  1.446e-01 -1.883e-01 -5.633e-04  1.756e-02 -8.576e-04 -1.003e+00]
+t: 95	 action: [-0.016  0.194  0.068 -0.002  0.008 -0.004 -1.032]
+t: 96	 action: [-0.056  0.092  0.238 -0.01   0.015 -0.009 -1.004]
+t: 97	 action: [-0.011  0.105  0.444 -0.016  0.004 -0.014 -1.032]
+t: 98	 action: [ 0.078 -0.038  0.595  0.002 -0.015 -0.018 -1.022]
+t: 99	 action: [ 0.042 -0.081  0.621  0.016 -0.015 -0.015 -1.038]
+t: 100	 action: [ 0.058 -0.052  0.562  0.01  -0.022 -0.012 -1.03 ]
+t: 101	 action: [-0.022 -0.104  0.492  0.019 -0.017 -0.016 -1.021]
+t: 102	 action: [-0.2   -0.084  0.375  0.033 -0.019 -0.014 -1.029]
+t: 103	 action: [-0.294 -0.044  0.256  0.028 -0.036 -0.015 -1.045]
+t: 104	 action: [-0.411 -0.061  0.139  0.03  -0.022 -0.011 -1.03 ]
+t: 105	 action: [-0.375 -0.062  0.08   0.026 -0.029 -0.012 -1.037]
+[07-31 01:44:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6382
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.6382
+Query 1/1: Action query time = 1.004 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6382
+t=106: Selected seed 195 with value = 0.6382
+t: 106	 action: [ 0.05   0.417 -0.391  0.004 -0.002  0.004 -1.014]
+t: 107	 action: [ 0.078  0.385 -0.283  0.005  0.007 -0.005 -1.006]
+t: 108	 action: [ 0.046  0.225 -0.25   0.002  0.01   0.006 -1.009]
+t: 109	 action: [ 0.072  0.138 -0.128  0.002  0.012 -0.01  -1.005]
+t: 110	 action: [ 0.007  0.176 -0.13   0.003  0.018 -0.002 -1.01 ]
+t: 111	 action: [ 0.01   0.157  0.052  0.005  0.016 -0.005 -1.032]
+t: 112	 action: [-0.022  0.082  0.219 -0.004  0.028 -0.005 -1.007]
+t: 113	 action: [ 0.009  0.079  0.388 -0.006  0.03  -0.014 -1.032]
+t: 114	 action: [ 0.052 -0.019  0.541 -0.002  0.006 -0.024 -1.016]
+t: 115	 action: [ 0.002 -0.075  0.669  0.018  0.011 -0.024 -1.035]
+t: 116	 action: [ 0.026 -0.038  0.648  0.007  0.003 -0.017 -1.027]
+t: 117	 action: [-0.088 -0.115  0.621  0.024  0.011 -0.022 -1.019]
+t: 118	 action: [-0.254 -0.085  0.528  0.035  0.002 -0.02  -1.016]
+t: 119	 action: [-0.419 -0.058  0.37   0.033 -0.01  -0.022 -1.045]
+t: 120	 action: [-0.55  -0.094  0.294  0.044 -0.004 -0.015 -1.017]
+t: 121	 action: [-0.566 -0.103  0.17   0.037 -0.01  -0.015 -1.038]
+[07-31 01:44:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5844
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5844
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5844
+t=122: Selected seed 195 with value = 0.5844
+t: 122	 action: [ 0.073  0.471 -0.323  0.006 -0.001  0.004 -1.023]
+t: 123	 action: [ 0.134  0.423 -0.304  0.012  0.008 -0.004 -1.012]
+t: 124	 action: [ 0.079  0.258 -0.224  0.003  0.013  0.005 -1.027]
+t: 125	 action: [ 0.133  0.173 -0.13   0.009  0.015 -0.01  -1.01 ]
+t: 126	 action: [ 0.061  0.159 -0.08   0.006  0.013 -0.004 -1.014]
+t: 127	 action: [ 0.041  0.142  0.09   0.012  0.016 -0.007 -1.04 ]
+t: 128	 action: [ 2.812e-02  4.203e-02  2.508e-01  9.920e-04  2.222e-02 -8.043e-03 -1.022e+00]
+t: 129	 action: [ 0.04   0.043  0.437  0.009  0.027 -0.018 -1.04 ]
+t: 130	 action: [ 0.048 -0.048  0.584  0.012  0.008 -0.027 -1.022]
+t: 131	 action: [-0.055 -0.084  0.65   0.033  0.009 -0.024 -1.041]
+t: 132	 action: [-0.05  -0.019  0.573  0.02   0.003 -0.016 -1.036]
+t: 133	 action: [-0.198 -0.114  0.547  0.034  0.004 -0.022 -1.026]
+t: 134	 action: [-0.453 -0.111  0.408  0.056 -0.005 -0.017 -1.019]
+t: 135	 action: [-0.607 -0.12   0.287  0.039 -0.013 -0.019 -1.047]
+t: 136	 action: [-0.751 -0.116  0.253  0.056 -0.01  -0.01  -1.013]
+t: 137	 action: [-0.745 -0.172  0.13   0.035 -0.013 -0.013 -1.041]
+[07-31 01:44:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4101
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4101
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4101
+t=138: Selected seed 195 with value = 0.4101
+t: 138	 action: [ 0.18   0.036  0.013  0.005  0.009 -0.001 -1.018]
+t: 139	 action: [ 0.155  0.015  0.004  0.004  0.014 -0.011 -1.036]
+t: 140	 action: [ 0.091 -0.018  0.068  0.003  0.01  -0.006 -1.025]
+t: 141	 action: [ 6.761e-02 -5.063e-02  3.213e-02 -8.257e-04  1.597e-02 -1.772e-02 -1.041e+00]
+t: 142	 action: [-0.024 -0.003  0.012  0.002  0.018 -0.008 -1.006]
+t: 143	 action: [-0.028  0.042 -0.019  0.006  0.011 -0.015 -1.055]
+t: 144	 action: [-0.145  0.021 -0.025 -0.005  0.012 -0.015 -1.022]
+t: 145	 action: [-0.124  0.066 -0.045 -0.002  0.008 -0.023 -1.059]
+t: 146	 action: [-2.203e-01  3.623e-02 -1.162e-01  3.744e-04 -6.816e-03  3.429e-03 -1.022e+00]
+t: 147	 action: [-0.41   0.007 -0.216 -0.011 -0.003 -0.004 -1.045]
+t: 148	 action: [-0.452  0.034 -0.219 -0.002 -0.013  0.003 -1.033]
+t: 149	 action: [-0.551 -0.002 -0.341 -0.016 -0.003 -0.009 -1.04 ]
+t: 150	 action: [-0.728  0.003 -0.385 -0.006 -0.02   0.003 -1.006]
+t: 151	 action: [-6.822e-01  4.654e-04 -3.746e-01 -2.248e-02 -2.960e-02 -4.737e-03 -1.056e+00]
+t: 152	 action: [-7.464e-01 -1.370e-02 -4.921e-01 -6.502e-03 -2.209e-02 -5.244e-04 -1.019e+00]
+t: 153	 action: [-0.626 -0.027 -0.436 -0.023 -0.029 -0.009 -1.039]
+[07-31 01:44:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.108 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4572
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.4572
+Query 1/1: Action query time = 1.108 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4572
+t=154: Selected seed 195 with value = 0.4572
+t: 154	 action: [ 2.154e-01  4.392e-01 -3.237e-01  4.832e-03 -8.660e-04  2.606e-03 -1.041e+00]
+t: 155	 action: [ 2.729e-01  4.509e-01 -2.911e-01  1.201e-02  3.590e-03 -8.210e-05 -1.034e+00]
+t: 156	 action: [ 0.227  0.254 -0.289  0.012  0.005  0.002 -1.043]
+t: 157	 action: [ 0.263  0.236 -0.242  0.012  0.007 -0.007 -1.035]
+t: 158	 action: [ 0.159  0.164 -0.167  0.008  0.009 -0.002 -1.027]
+t: 159	 action: [ 0.141  0.114 -0.042  0.017  0.012 -0.004 -1.05 ]
+t: 160	 action: [ 0.158  0.075 -0.061  0.007  0.009 -0.004 -1.033]
+t: 161	 action: [ 0.171  0.045  0.03   0.015  0.007 -0.011 -1.054]
+t: 162	 action: [ 0.161 -0.16   0.088  0.049 -0.004 -0.003 -1.056]
+t: 163	 action: [ 0.095 -0.14  -0.025  0.027 -0.006 -0.005 -1.039]
+t: 164	 action: [ 8.744e-02 -8.179e-02 -2.013e-02  3.483e-02 -1.525e-02  3.747e-04 -1.060e+00]
+t: 165	 action: [ 0.055 -0.1   -0.196  0.017 -0.02  -0.009 -1.042]
+t: 166	 action: [-7.131e-02  4.597e-02 -1.625e-01  1.451e-02 -1.939e-02  1.329e-05 -1.046e+00]
+t: 167	 action: [-0.063  0.038 -0.279  0.003 -0.031 -0.004 -1.043]
+t: 168	 action: [-0.163  0.041 -0.375 -0.006 -0.027 -0.002 -1.051]
+t: 169	 action: [-0.115  0.049 -0.416 -0.01  -0.038 -0.007 -1.038]
+[07-31 01:44:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.080 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4688
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 1.080 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=170: Selected seed 195 with value = 0.4688
+t: 170	 action: [ 1.775e-01  6.589e-02 -3.336e-01  1.383e-02 -1.561e-03  1.700e-05 -1.051e+00]
+t: 171	 action: [ 0.211  0.049 -0.232  0.014  0.008 -0.01  -1.042]
+t: 172	 action: [ 0.13   0.012 -0.194  0.016  0.003 -0.004 -1.049]
+t: 173	 action: [ 0.143 -0.045 -0.103  0.013  0.01  -0.018 -1.039]
+t: 174	 action: [ 0.064 -0.006 -0.034  0.014  0.014 -0.005 -1.034]
+t: 175	 action: [ 0.045  0.01   0.097  0.017  0.01  -0.013 -1.061]
+t: 176	 action: [ 0.019 -0.028  0.18   0.014  0.012 -0.014 -1.038]
+t: 177	 action: [ 0.036 -0.038  0.238  0.015  0.005 -0.023 -1.057]
+t: 178	 action: [ 0.092 -0.292  0.317  0.054 -0.012 -0.029 -1.057]
+t: 179	 action: [ 0.056 -0.235  0.16   0.035 -0.009 -0.019 -1.048]
+t: 180	 action: [ 0.043 -0.162  0.085  0.041 -0.024 -0.015 -1.059]
+t: 181	 action: [ 0.027 -0.159 -0.094  0.021 -0.022 -0.016 -1.045]
+t: 182	 action: [-0.079 -0.062 -0.05   0.024 -0.03  -0.009 -1.051]
+t: 183	 action: [-0.198 -0.073 -0.193  0.007 -0.048 -0.011 -1.053]
+t: 184	 action: [-1.723e-01 -2.791e-02 -3.446e-01  6.338e-04 -3.653e-02 -3.822e-03 -1.050e+00]
+t: 185	 action: [-0.25  -0.035 -0.444 -0.009 -0.049 -0.007 -1.055]
+[07-31 01:44:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.058 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.4950
+Query 1/1: Action query time = 1.058 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4950
+t=186: Selected seed 195 with value = 0.4950
+t: 186	 action: [ 0.135  0.033 -0.295  0.016  0.001 -0.003 -1.039]
+t: 187	 action: [ 0.158  0.005 -0.213  0.013  0.01  -0.016 -1.037]
+t: 188	 action: [ 0.08   0.008 -0.191  0.009  0.005 -0.009 -1.038]
+t: 189	 action: [ 0.088 -0.051 -0.11   0.007  0.014 -0.024 -1.037]
+t: 190	 action: [ 0.025  0.009 -0.042  0.01   0.017 -0.007 -1.029]
+t: 191	 action: [ 0.011  0.048  0.113  0.012  0.009 -0.016 -1.058]
+t: 192	 action: [-8.166e-03  1.772e-02  2.109e-01  9.023e-04  1.477e-02 -1.615e-02 -1.033e+00]
+t: 193	 action: [ 0.014  0.002  0.333  0.003  0.006 -0.028 -1.053]
+t: 194	 action: [ 0.072 -0.173  0.336  0.039 -0.002 -0.029 -1.057]
+t: 195	 action: [ 5.221e-02 -1.470e-01  2.353e-01  2.433e-02 -9.551e-04 -2.439e-02 -1.047e+00]
+t: 196	 action: [ 0.059 -0.094  0.123  0.027 -0.014 -0.015 -1.058]
+t: 197	 action: [ 0.057 -0.12   0.003  0.013 -0.012 -0.02  -1.043]
+t: 198	 action: [-0.03  -0.018  0.02   0.013 -0.018 -0.011 -1.054]
+t: 199	 action: [-0.088 -0.065 -0.096  0.002 -0.035 -0.017 -1.053]
+t: 200	 action: [-0.084  0.004 -0.293 -0.004 -0.024 -0.006 -1.053]
+t: 201	 action: [-0.144 -0.041 -0.353 -0.009 -0.037 -0.011 -1.055]
+[07-31 01:44:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.071 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5103
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.5103
+Query 1/1: Action query time = 1.071 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5103
+t=202: Selected seed 195 with value = 0.5103
+t: 202	 action: [ 0.124  0.018 -0.283  0.018 -0.001 -0.007 -1.03 ]
+t: 203	 action: [ 0.138 -0.021 -0.242  0.013  0.008 -0.02  -1.03 ]
+t: 204	 action: [ 0.071  0.005 -0.225  0.008  0.003 -0.013 -1.031]
+t: 205	 action: [ 0.08  -0.053 -0.142  0.005  0.011 -0.029 -1.032]
+t: 206	 action: [ 0.025  0.024 -0.081  0.01   0.015 -0.011 -1.026]
+t: 207	 action: [ 0.018  0.06   0.059  0.011  0.008 -0.02  -1.052]
+t: 208	 action: [ 0.009  0.042  0.154 -0.002  0.014 -0.018 -1.03 ]
+t: 209	 action: [ 0.027  0.039  0.257 -0.004  0.004 -0.031 -1.047]
+t: 210	 action: [ 0.095 -0.09   0.299  0.032  0.002 -0.031 -1.055]
+t: 211	 action: [ 0.071 -0.095  0.206  0.019  0.004 -0.027 -1.045]
+t: 212	 action: [ 0.093 -0.05   0.093  0.023 -0.008 -0.018 -1.058]
+t: 213	 action: [ 0.072 -0.089  0.003  0.01  -0.003 -0.022 -1.042]
+t: 214	 action: [-0.016  0.006  0.014  0.009 -0.012 -0.012 -1.057]
+t: 215	 action: [-0.047 -0.045 -0.099  0.005 -0.026 -0.017 -1.051]
+t: 216	 action: [-0.069  0.021 -0.293 -0.005 -0.018 -0.007 -1.055]
+t: 217	 action: [-0.099 -0.029 -0.347 -0.004 -0.03  -0.012 -1.052]
+[07-31 01:44:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.054 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5501
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.5501
+Query 1/1: Action query time = 1.054 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5501
+t=218: Selected seed 195 with value = 0.5501
+t: 218	 action: [ 0.11  -0.007 -0.308  0.023 -0.001 -0.015 -1.025]
+t: 219	 action: [ 0.102 -0.047 -0.28   0.014  0.009 -0.027 -1.024]
+t: 220	 action: [ 0.052 -0.003 -0.213  0.009  0.001 -0.022 -1.026]
+t: 221	 action: [ 0.054 -0.055 -0.151  0.004  0.01  -0.035 -1.028]
+t: 222	 action: [ 0.017  0.043 -0.075  0.009  0.015 -0.017 -1.026]
+t: 223	 action: [ 0.01   0.08   0.029  0.008  0.009 -0.026 -1.047]
+t: 224	 action: [-0.006  0.053  0.151 -0.003  0.012 -0.024 -1.028]
+t: 225	 action: [ 0.015  0.059  0.24  -0.006  0.003 -0.036 -1.043]
+t: 226	 action: [ 1.033e-01 -3.272e-02  2.725e-01  2.843e-02  7.682e-04 -3.670e-02 -1.056e+00]
+t: 227	 action: [ 0.092 -0.063  0.178  0.019  0.004 -0.033 -1.044]
+t: 228	 action: [ 0.131 -0.038  0.048  0.025 -0.009 -0.025 -1.06 ]
+t: 229	 action: [ 0.106 -0.081 -0.008  0.013 -0.002 -0.027 -1.041]
+t: 230	 action: [ 9.478e-03  1.007e-03 -1.134e-02  1.154e-02 -1.329e-02 -2.028e-02 -1.059e+00]
+t: 231	 action: [-0.011 -0.056 -0.113  0.01  -0.023 -0.026 -1.05 ]
+t: 232	 action: [-1.122e-02  1.047e-02 -3.143e-01  6.758e-04 -1.935e-02 -1.423e-02 -1.056e+00]
+t: 233	 action: [-0.027 -0.045 -0.35   0.004 -0.029 -0.02  -1.05 ]
+[07-31 01:44:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6555
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.6555
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6555
+t=234: Selected seed 195 with value = 0.6555
+t: 234	 action: [ 0.056 -0.016 -0.291  0.019 -0.005 -0.032 -1.025]
+t: 235	 action: [ 0.036 -0.032 -0.274  0.012  0.007 -0.037 -1.02 ]
+t: 236	 action: [ 0.002  0.01  -0.126  0.008 -0.004 -0.039 -1.029]
+t: 237	 action: [ 0.015 -0.024 -0.087  0.003  0.007 -0.043 -1.029]
+t: 238	 action: [-0.045  0.076 -0.02   0.003  0.01  -0.031 -1.03 ]
+t: 239	 action: [-0.033  0.106  0.026  0.005  0.008 -0.035 -1.05 ]
+t: 240	 action: [-0.075  0.058  0.141 -0.003  0.008 -0.035 -1.032]
+t: 241	 action: [-3.497e-02  5.721e-02  1.786e-01 -1.014e-03  3.143e-03 -4.327e-02 -1.046e+00]
+t: 242	 action: [ 1.208e-01 -4.067e-03  2.288e-01  2.561e-02  2.970e-04 -4.049e-02 -1.063e+00]
+t: 243	 action: [ 0.148 -0.041  0.116  0.019  0.005 -0.036 -1.047]
+t: 244	 action: [ 0.16  -0.024 -0.027  0.024 -0.009 -0.026 -1.068]
+t: 245	 action: [ 0.172 -0.07  -0.054  0.015  0.002 -0.029 -1.052]
+t: 246	 action: [ 0.044 -0.005 -0.021  0.013 -0.012 -0.028 -1.066]
+t: 247	 action: [ 0.028 -0.062 -0.113  0.015 -0.014 -0.031 -1.05 ]
+t: 248	 action: [ 3.086e-02  2.220e-02 -3.205e-01 -5.557e-04 -2.035e-02 -1.904e-02 -1.062e+00]
+t: 249	 action: [ 0.005 -0.044 -0.314  0.008 -0.021 -0.023 -1.02 ]
+[07-31 01:44:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6881
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.6881
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6881
+t=250: Selected seed 195 with value = 0.6881
+t: 250	 action: [-0.047  0.009 -0.336  0.011 -0.02  -0.046 -1.032]
+t: 251	 action: [-0.032 -0.006 -0.333  0.012 -0.005 -0.05  -1.038]
+t: 252	 action: [-0.082  0.023 -0.099  0.002 -0.016 -0.051 -1.043]
+t: 253	 action: [-0.03  -0.006 -0.063  0.005 -0.001 -0.05  -1.051]
+t: 254	 action: [-0.141  0.061  0.035 -0.006 -0.002 -0.04  -1.051]
+t: 255	 action: [-0.113  0.067  0.076  0.006  0.004 -0.047 -1.06 ]
+t: 256	 action: [-0.13   0.043  0.214 -0.004  0.001 -0.042 -1.043]
+t: 257	 action: [-0.074 -0.002  0.265  0.006  0.003 -0.05  -1.053]
+t: 258	 action: [ 0.078 -0.036  0.278  0.021  0.009 -0.032 -1.029]
+t: 259	 action: [ 0.102 -0.07   0.128  0.012  0.005 -0.018 -1.109]
+t: 260	 action: [ 0.066 -0.065 -0.007  0.015  0.002 -0.017 -1.169]
+t: 261	 action: [ 0.052 -0.116 -0.083  0.008  0.006 -0.008 -1.122]
+t: 262	 action: [-0.002 -0.095  0.015  0.01  -0.003 -0.023 -1.032]
+t: 263	 action: [-1.909e-04 -1.615e-01 -1.222e-01  1.084e-02 -2.951e-03 -1.226e-02  1.156e+00]
+t: 264	 action: [ 0.007 -0.036 -0.301 -0.006 -0.012 -0.013  1.08 ]
+t: 265	 action: [ 4.096e-02 -1.030e-01 -3.342e-01 -3.963e-04 -7.441e-03 -1.274e-03  1.147e+00]
+[07-31 01:44:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.027 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8187
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 1.027 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=266: Selected seed 195 with value = 0.8187
+t: 266	 action: [-0.17  -0.036 -0.282 -0.005  0.007 -0.012  0.963]
+t: 267	 action: [-0.146 -0.114 -0.13   0.008  0.008 -0.015  1.052]
+t: 268	 action: [-1.838e-01  5.416e-04  2.332e-02 -8.159e-03  1.143e-04 -1.183e-02  9.823e-01]
+t: 269	 action: [-0.149 -0.069  0.172 -0.005 -0.002 -0.005  1.045]
+t: 270	 action: [-0.206  0.037  0.178 -0.017  0.017 -0.01   1.006]
+t: 271	 action: [-7.550e-02 -1.484e-01  1.760e-01 -2.245e-02  5.033e-03  1.931e-04  1.030e+00]
+t: 272	 action: [-0.156 -0.011  0.312 -0.02   0.017 -0.01   1.002]
+t: 273	 action: [-0.04  -0.24   0.399 -0.022  0.003  0.006  1.031]
+t: 274	 action: [ 0.015 -0.124 -0.023  0.012  0.01   0.003  1.121]
+t: 275	 action: [ 0.009 -0.256 -0.06   0.014  0.008 -0.006 -0.858]
+t: 276	 action: [ 0.024 -0.226 -0.155  0.007  0.005  0.005  0.998]
+t: 277	 action: [ 0.05  -0.306 -0.17   0.012  0.004  0.017  1.047]
+t: 278	 action: [ 2.580e-02 -2.300e-01 -1.906e-01 -5.046e-03  1.006e-02 -1.025e-05 -1.100e+00]
+t: 279	 action: [-0.013 -0.308 -0.246 -0.005 -0.008  0.008  0.99 ]
+t: 280	 action: [ 1.156e-02 -1.812e-01 -3.062e-01 -7.651e-03 -7.759e-04 -1.224e-03  1.017e+00]
+t: 281	 action: [ 0.033 -0.221 -0.329 -0.007 -0.016  0.026  1.051]
+[07-31 01:44:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.077 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8032
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8032
+Query 1/1: Action query time = 1.077 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8032
+t=282: Selected seed 195 with value = 0.8032
+t: 282	 action: [-0.139  0.004  0.09  -0.006  0.005 -0.022  1.008]
+t: 283	 action: [-1.076e-01  3.576e-02  1.983e-01 -6.403e-04  4.083e-03 -1.897e-02  1.086e+00]
+t: 284	 action: [-0.149 -0.004  0.094  0.001  0.007 -0.029  1.11 ]
+t: 285	 action: [-0.113  0.021  0.184  0.012  0.009 -0.052  0.926]
+t: 286	 action: [-1.423e-01 -8.340e-04  1.967e-01  1.082e-02  2.652e-02 -1.121e-02  1.029e+00]
+t: 287	 action: [-0.072  0.014  0.178  0.016  0.015 -0.01   1.074]
+t: 288	 action: [-0.079 -0.011  0.192  0.018  0.052 -0.016 -1.115]
+t: 289	 action: [-0.03  -0.006  0.17   0.02   0.065 -0.034 -1.134]
+t: 290	 action: [ 0.073 -0.078 -0.246  0.03   0.097  0.006  1.124]
+t: 291	 action: [ 0.085 -0.118 -0.095  0.034  0.107 -0.008 -0.927]
+t: 292	 action: [ 0.112 -0.033 -0.24   0.013  0.103  0.004 -0.997]
+t: 293	 action: [ 0.117 -0.102 -0.026  0.02   0.104 -0.009 -1.056]
+t: 294	 action: [ 7.210e-02 -2.940e-02 -6.560e-02  3.574e-03  7.982e-02  3.272e-04 -1.137e+00]
+t: 295	 action: [ 0.054 -0.065 -0.028 -0.007  0.061 -0.012 -1.076]
+t: 296	 action: [ 0.049  0.006  0.047 -0.003  0.075 -0.004 -1.078]
+t: 297	 action: [ 0.009 -0.073  0.039 -0.014  0.057 -0.01  -1.041]
+[07-31 01:44:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.065 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9654
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9654
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 64
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 28%|██▊       | 14/50 [07:29<19:12, 32.02s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 15...
+Query 1/1: Action query time = 1.065 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=298: Selected seed 195 with value = 0.9654
+t: 298	 action: [-0.143 -0.158 -0.57  -0.002  0.037  0.029  0.984]
+t: 299	 action: [-0.129 -0.143 -0.431 -0.002  0.046  0.035  1.078]
+t: 300	 action: [-0.159 -0.077 -0.323 -0.01   0.055  0.034  0.988]
+t: 301	 action: [-0.075 -0.089 -0.197 -0.008  0.063  0.013  0.973]
+t: 302	 action: [-0.072  0.011 -0.079 -0.029  0.071  0.034  1.008]
+t: 303	 action: [ 0.018 -0.009  0.068 -0.033  0.085  0.035  1.058]
+t: 304	 action: [-0.016  0.022  0.178 -0.03   0.086  0.023  0.965]
+t: 305	 action: [ 0.041  0.029  0.314 -0.027  0.091  0.013 -1.083]
+t: 306	 action: [ 1.414e-01 -1.712e-02  2.209e-01 -7.733e-04  4.870e-02  9.544e-03  1.147e+00]
+t: 307	 action: [ 0.143 -0.052  0.257 -0.002  0.063  0.009 -1.023]
+t: 308	 action: [ 1.397e-01 -2.215e-02  2.859e-01  4.754e-04  4.076e-02  1.009e-02 -1.077e+00]
+t: 309	 action: [ 0.134 -0.059  0.293 -0.001  0.047  0.005 -1.05 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=64--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=64--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 64
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 15...
+[07-31 01:44:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3829
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3829
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3829
+t=10: Selected seed 195 with value = 0.3829
+t: 10	 action: [ 0.446 -0.05   0.094  0.005  0.023  0.012 -1.023]
+t: 11	 action: [ 0.565 -0.094  0.119  0.004  0.033  0.01  -1.015]
+t: 12	 action: [ 0.737 -0.176  0.161  0.005  0.023  0.018 -1.022]
+t: 13	 action: [ 0.837 -0.195  0.18   0.007  0.035  0.013 -1.019]
+t: 14	 action: [ 0.919 -0.183  0.224  0.008  0.028  0.015 -1.034]
+t: 15	 action: [ 0.901 -0.236  0.203  0.012  0.028  0.014 -1.044]
+t: 16	 action: [ 0.959 -0.224  0.223  0.005  0.022  0.016 -1.032]
+t: 17	 action: [ 0.929 -0.254  0.187  0.017  0.026  0.014 -1.047]
+t: 18	 action: [ 9.352e-01 -2.046e-01  1.720e-01  6.635e-03 -2.586e-04  1.744e-02 -1.030e+00]
+t: 19	 action: [ 0.937 -0.21   0.193  0.01   0.01   0.011 -1.017]
+t: 20	 action: [ 0.96  -0.195  0.127  0.007 -0.002  0.014 -1.02 ]
+t: 21	 action: [ 0.956 -0.205  0.14   0.012  0.011  0.01  -1.009]
+t: 22	 action: [ 0.97  -0.21   0.113  0.006  0.002  0.012 -1.022]
+t: 23	 action: [ 0.964 -0.303  0.058  0.017  0.007  0.011 -1.038]
+t: 24	 action: [ 0.981 -0.168  0.045  0.004  0.002  0.007 -1.016]
+t: 25	 action: [ 0.963 -0.267 -0.009  0.018  0.007  0.011 -1.039]
+[07-31 01:44:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.017 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4358
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4358
+Query 1/1: Action query time = 1.017 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4358
+t=26: Selected seed 195 with value = 0.4358
+t: 26	 action: [ 0.896 -0.311  0.094  0.006 -0.017  0.006 -1.02 ]
+t: 27	 action: [ 0.94  -0.288  0.072  0.007 -0.012 -0.002 -1.021]
+t: 28	 action: [ 0.904 -0.335  0.026  0.009 -0.021  0.007 -1.025]
+t: 29	 action: [ 9.486e-01 -3.099e-01  3.056e-02  1.489e-02 -1.154e-02  3.906e-04 -1.026e+00]
+t: 30	 action: [ 0.932 -0.269 -0.044  0.008 -0.025  0.004 -1.002]
+t: 31	 action: [ 0.907 -0.267 -0.083  0.016 -0.03   0.003 -1.043]
+t: 32	 action: [ 0.85  -0.158 -0.227  0.004 -0.041  0.007 -1.013]
+t: 33	 action: [ 0.785 -0.152 -0.299  0.015 -0.046  0.004 -1.041]
+t: 34	 action: [ 0.372 -0.152 -0.42   0.015 -0.076  0.014 -1.023]
+t: 35	 action: [ 0.238 -0.086 -0.55   0.016 -0.093  0.016 -1.018]
+t: 36	 action: [ 0.155 -0.095 -0.63   0.015 -0.117  0.024 -1.012]
+t: 37	 action: [ 0.041 -0.032 -0.725  0.018 -0.108  0.022 -1.011]
+t: 38	 action: [ 0.009  0.045 -0.806  0.006 -0.131  0.022 -1.02 ]
+t: 39	 action: [-0.034  0.043 -0.783  0.023 -0.103  0.026 -1.023]
+t: 40	 action: [-8.560e-02  5.876e-02 -8.510e-01 -1.873e-04 -1.157e-01  3.298e-02 -1.010e+00]
+t: 41	 action: [-0.077  0.105 -0.831  0.023 -0.081  0.034 -1.026]
+[07-31 01:44:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5088
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5088
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5088
+t=42: Selected seed 195 with value = 0.5088
+t: 42	 action: [-0.075  0.653 -0.673  0.011 -0.024  0.028 -1.011]
+t: 43	 action: [-0.062  0.745 -0.658  0.013 -0.035  0.024 -1.019]
+t: 44	 action: [-0.086  0.792 -0.625  0.009 -0.017  0.032 -1.001]
+t: 45	 action: [-0.062  0.787 -0.606  0.012 -0.026  0.023 -1.02 ]
+t: 46	 action: [-0.111  0.797 -0.59   0.005 -0.024  0.029 -0.996]
+t: 47	 action: [-0.102  0.807 -0.576  0.013 -0.029  0.024 -1.028]
+t: 48	 action: [-0.103  0.817 -0.565  0.004 -0.017  0.034 -0.988]
+t: 49	 action: [-0.071  0.825 -0.552  0.013 -0.018  0.023 -1.033]
+t: 50	 action: [-0.072  0.838 -0.597  0.008 -0.025  0.024 -1.012]
+t: 51	 action: [-0.038  0.78  -0.634  0.011 -0.034  0.02  -1.019]
+t: 52	 action: [-0.073  0.84  -0.589  0.007 -0.019  0.026 -1.006]
+t: 53	 action: [-0.031  0.771 -0.602  0.011 -0.026  0.02  -1.022]
+t: 54	 action: [-0.115  0.816 -0.559  0.004 -0.023  0.026 -1.002]
+t: 55	 action: [-0.092  0.781 -0.54   0.01  -0.031  0.021 -1.03 ]
+t: 56	 action: [-0.105  0.773 -0.551  0.004 -0.014  0.026 -0.995]
+t: 57	 action: [-0.068  0.716 -0.483  0.01  -0.016  0.022 -1.039]
+[07-31 01:45:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6174
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6174
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6174
+t=58: Selected seed 195 with value = 0.6174
+t: 58	 action: [ 0.055  0.258 -0.349  0.001  0.005  0.025 -1.017]
+t: 59	 action: [ 0.064  0.209 -0.138  0.004  0.011  0.016 -1.017]
+t: 60	 action: [ 0.035  0.114 -0.063 -0.001  0.012  0.012 -1.008]
+t: 61	 action: [ 0.049  0.046  0.072  0.003  0.012  0.007 -1.02 ]
+t: 62	 action: [-3.738e-02  8.464e-02  8.597e-03 -3.676e-04  2.062e-02  1.185e-02 -1.005e+00]
+t: 63	 action: [-0.016  0.135  0.171  0.001  0.013  0.013 -1.03 ]
+t: 64	 action: [-9.999e-02  1.197e-02  3.893e-01 -1.233e-03  2.079e-02 -3.985e-04 -1.006e+00]
+t: 65	 action: [-3.444e-02  8.446e-04  5.558e-01  5.595e-03  1.206e-02  5.186e-03 -1.033e+00]
+t: 66	 action: [ 0.005 -0.179  0.527  0.038  0.007  0.009 -1.028]
+t: 67	 action: [-0.083 -0.25   0.488  0.04   0.004  0.006 -1.049]
+t: 68	 action: [-0.098 -0.176  0.363  0.038  0.007  0.01  -1.03 ]
+t: 69	 action: [-0.137 -0.3    0.272  0.038  0.009  0.009 -1.029]
+t: 70	 action: [-3.307e-01 -1.636e-01  1.582e-01  5.294e-02  6.137e-04  8.993e-03 -1.025e+00]
+t: 71	 action: [-0.389 -0.224  0.067  0.037 -0.008  0.02  -1.048]
+t: 72	 action: [-0.53  -0.179 -0.022  0.029  0.002  0.014 -1.018]
+t: 73	 action: [-4.418e-01 -2.264e-01 -4.696e-02  2.853e-02  2.213e-04  2.358e-02 -1.016e+00]
+[07-31 01:45:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6249
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6249
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6249
+t=74: Selected seed 195 with value = 0.6249
+t: 74	 action: [ 0.053  0.337 -0.21   0.003  0.013  0.017 -1.017]
+t: 75	 action: [ 0.099  0.248 -0.085  0.004  0.018  0.012 -1.001]
+t: 76	 action: [ 0.05   0.112  0.008 -0.003  0.026  0.012 -1.011]
+t: 77	 action: [ 7.553e-02  1.249e-02  1.889e-01  6.180e-04  3.045e-02  2.253e-03 -1.009e+00]
+t: 78	 action: [ 0.029  0.054  0.228  0.002  0.035  0.003 -1.007]
+t: 79	 action: [ 0.01   0.056  0.417  0.002  0.031  0.005 -1.029]
+t: 80	 action: [-0.029 -0.011  0.551  0.004  0.042 -0.001 -1.01 ]
+t: 81	 action: [-0.016 -0.04   0.636  0.008  0.039 -0.001 -1.029]
+t: 82	 action: [-3.338e-02 -6.338e-02  5.948e-01  1.823e-02  6.558e-03  6.152e-05 -1.024e+00]
+t: 83	 action: [-0.193 -0.135  0.572  0.028  0.008 -0.003 -1.037]
+t: 84	 action: [-1.978e-01 -5.569e-02  4.348e-01  2.408e-02 -5.317e-05  6.774e-03 -1.034e+00]
+t: 85	 action: [-0.307 -0.178  0.379  0.032  0.006 -0.003 -1.023]
+t: 86	 action: [-5.735e-01 -1.219e-01  2.642e-01  5.363e-02 -2.624e-03 -2.280e-04 -1.012e+00]
+t: 87	 action: [-6.605e-01 -1.232e-01  1.647e-01  4.008e-02 -1.462e-02  8.774e-04 -1.042e+00]
+t: 88	 action: [-0.785 -0.12   0.103  0.048 -0.008  0.001 -0.999]
+t: 89	 action: [-0.781 -0.123  0.01   0.037 -0.011  0.006 -1.027]
+[07-31 01:45:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5906
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.5906
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5906
+t=90: Selected seed 195 with value = 0.5906
+t: 90	 action: [ 0.077  0.418 -0.217  0.004  0.011  0.006 -1.024]
+t: 91	 action: [ 1.052e-01  3.620e-01 -1.588e-01  7.679e-03  2.076e-02 -3.077e-04 -1.010e+00]
+t: 92	 action: [ 7.762e-02  1.716e-01 -9.405e-02 -7.078e-04  2.404e-02  5.848e-03 -1.030e+00]
+t: 93	 action: [ 0.079  0.099  0.021  0.004  0.033 -0.008 -1.011]
+t: 94	 action: [ 0.051  0.051  0.121  0.004  0.022 -0.004 -1.018]
+t: 95	 action: [ 0.01   0.019  0.254  0.008  0.027 -0.007 -1.043]
+t: 96	 action: [-0.007 -0.017  0.412  0.005  0.031 -0.009 -1.03 ]
+t: 97	 action: [-0.003 -0.052  0.553  0.006  0.037 -0.017 -1.044]
+t: 98	 action: [-0.022 -0.085  0.531  0.02   0.018 -0.013 -1.028]
+t: 99	 action: [-0.158 -0.122  0.569  0.024  0.014 -0.017 -1.043]
+t: 100	 action: [-0.123 -0.009  0.453  0.016  0.008 -0.004 -1.05 ]
+t: 101	 action: [-0.287 -0.12   0.407  0.02   0.01  -0.017 -1.03 ]
+t: 102	 action: [-0.535 -0.056  0.285  0.03  -0.002 -0.003 -1.018]
+t: 103	 action: [-0.633 -0.105  0.203  0.009 -0.01  -0.014 -1.048]
+t: 104	 action: [-0.772 -0.058  0.165  0.024 -0.01  -0.002 -1.018]
+t: 105	 action: [-0.776 -0.151  0.074  0.003 -0.012 -0.011 -1.039]
+[07-31 01:45:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3766
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.3766
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3766
+t=106: Selected seed 195 with value = 0.3766
+t: 106	 action: [ 1.411e-01 -3.617e-02  1.972e-01  3.322e-06  1.518e-02 -4.024e-03 -1.010e+00]
+t: 107	 action: [ 0.112 -0.04   0.129 -0.004  0.011 -0.014 -1.041]
+t: 108	 action: [ 0.039 -0.077  0.131  0.002  0.01  -0.009 -1.019]
+t: 109	 action: [-0.01  -0.079  0.075 -0.005  0.011 -0.023 -1.053]
+t: 110	 action: [-1.263e-01 -4.485e-02 -3.654e-02 -6.045e-04  1.179e-02 -7.813e-03 -1.006e+00]
+t: 111	 action: [-0.162  0.001 -0.04  -0.005  0.008 -0.021 -1.062]
+t: 112	 action: [-0.26  -0.034 -0.181 -0.006  0.004 -0.01  -1.023]
+t: 113	 action: [-0.234  0.011 -0.207 -0.012  0.006 -0.03  -1.08 ]
+t: 114	 action: [-2.920e-01 -3.515e-02 -4.462e-01  8.795e-05 -1.779e-02  1.345e-03 -1.020e+00]
+t: 115	 action: [-0.367 -0.059 -0.576 -0.014 -0.014 -0.007 -1.052]
+t: 116	 action: [-0.374 -0.049 -0.617 -0.007 -0.021  0.003 -1.018]
+t: 117	 action: [-0.358 -0.07  -0.674 -0.019 -0.016 -0.003 -0.984]
+t: 118	 action: [-5.426e-01 -3.766e-04 -7.096e-01 -7.110e-03 -2.851e-02 -1.151e-03 -1.014e+00]
+t: 119	 action: [-0.427  0.001 -0.667 -0.02  -0.041 -0.015 -1.069]
+t: 120	 action: [-0.429 -0.005 -0.735 -0.016 -0.029 -0.003 -1.006]
+t: 121	 action: [-0.302 -0.011 -0.661 -0.022 -0.04  -0.008 -0.688]
+[07-31 01:45:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4847
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4847
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4847
+t=122: Selected seed 195 with value = 0.4847
+t: 122	 action: [ 0.266  0.415 -0.374 -0.002  0.001  0.002 -1.042]
+t: 123	 action: [ 2.816e-01  4.309e-01 -3.082e-01  2.238e-03  4.933e-03 -4.113e-04 -1.034e+00]
+t: 124	 action: [ 0.196  0.188 -0.32  -0.002  0.003  0.003 -1.044]
+t: 125	 action: [ 1.905e-01  1.431e-01 -1.906e-01  6.692e-04  5.804e-03 -4.555e-03 -1.032e+00]
+t: 126	 action: [ 0.129  0.144 -0.125  0.002  0.012 -0.003 -1.035]
+t: 127	 action: [ 0.083  0.08  -0.006  0.006  0.004 -0.004 -1.054]
+t: 128	 action: [ 0.058  0.033  0.063 -0.006  0.011 -0.006 -1.04 ]
+t: 129	 action: [ 6.323e-02 -1.214e-02  1.330e-01  1.843e-03  6.689e-04 -1.142e-02 -1.056e+00]
+t: 130	 action: [ 0.045 -0.212  0.186  0.024 -0.009 -0.008 -1.058]
+t: 131	 action: [ 0.028 -0.214  0.103  0.014 -0.017 -0.011 -1.041]
+t: 132	 action: [-0.003 -0.172  0.087  0.013 -0.019 -0.01  -1.062]
+t: 133	 action: [-0.01  -0.185 -0.063  0.006 -0.027 -0.014 -1.042]
+t: 134	 action: [-0.142 -0.052 -0.006  0.007 -0.019 -0.006 -1.049]
+t: 135	 action: [-0.136 -0.044 -0.084  0.001 -0.037 -0.013 -1.047]
+t: 136	 action: [-1.617e-01  5.086e-04 -1.947e-01 -7.789e-03 -2.354e-02 -1.121e-02 -1.052e+00]
+t: 137	 action: [-0.131 -0.015 -0.284 -0.008 -0.035 -0.015 -1.052]
+[07-31 01:45:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4776
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=138: Selected seed 195 with value = 0.4776
+t: 138	 action: [ 2.005e-01  2.567e-01 -4.192e-01  2.155e-03 -9.002e-04  1.744e-04 -1.050e+00]
+t: 139	 action: [ 2.154e-01  2.642e-01 -3.333e-01  8.142e-03 -7.645e-04 -6.335e-03 -1.034e+00]
+t: 140	 action: [ 1.465e-01  9.892e-02 -3.465e-01  7.668e-03  7.042e-04  6.868e-04 -1.052e+00]
+t: 141	 action: [ 0.155  0.086 -0.228  0.008  0.001 -0.012 -1.031]
+t: 142	 action: [ 0.101  0.109 -0.185  0.004  0.012 -0.002 -1.041]
+t: 143	 action: [ 8.789e-02  9.333e-02 -2.208e-02  1.378e-02  1.014e-03 -8.800e-03 -1.052e+00]
+t: 144	 action: [ 9.273e-02  4.344e-02  2.390e-02 -6.973e-04  7.359e-03 -5.140e-03 -1.047e+00]
+t: 145	 action: [ 0.105  0.035  0.124  0.007 -0.003 -0.017 -1.051]
+t: 146	 action: [ 0.221 -0.173  0.197  0.034  0.002 -0.025 -1.077]
+t: 147	 action: [ 0.206 -0.15   0.096  0.019  0.004 -0.018 -1.045]
+t: 148	 action: [ 0.183 -0.121  0.042  0.021 -0.013 -0.015 -1.083]
+t: 149	 action: [ 0.125 -0.12  -0.097  0.01  -0.007 -0.016 -1.045]
+t: 150	 action: [ 0.051  0.02  -0.071  0.006 -0.015 -0.014 -1.065]
+t: 151	 action: [-0.008 -0.01  -0.178  0.005 -0.022 -0.014 -1.048]
+t: 152	 action: [-0.05   0.045 -0.353 -0.008 -0.024 -0.009 -1.069]
+t: 153	 action: [-0.05   0.024 -0.421 -0.005 -0.029 -0.011 -1.05 ]
+[07-31 01:45:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.035 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4794
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 1.035 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=154: Selected seed 195 with value = 0.4794
+t: 154	 action: [ 1.745e-01  4.630e-02 -3.719e-01  1.269e-02 -3.200e-04  2.129e-04 -1.050e+00]
+t: 155	 action: [ 0.201  0.056 -0.306  0.014  0.002 -0.006 -1.033]
+t: 156	 action: [ 1.406e-01  2.750e-02 -2.968e-01  9.356e-03  2.006e-03  5.525e-04 -1.052e+00]
+t: 157	 action: [ 0.145  0.023 -0.158  0.008  0.001 -0.01  -1.025]
+t: 158	 action: [ 0.092  0.055 -0.171  0.006  0.01  -0.003 -1.043]
+t: 159	 action: [ 0.054  0.117  0.009  0.017 -0.001 -0.006 -1.048]
+t: 160	 action: [ 0.075  0.056  0.045 -0.005  0.003 -0.006 -1.049]
+t: 161	 action: [ 0.059  0.085  0.179  0.003 -0.006 -0.013 -1.041]
+t: 162	 action: [ 0.218  0.021  0.234  0.019 -0.007 -0.024 -1.081]
+t: 163	 action: [ 0.22  -0.003  0.148  0.01  -0.006 -0.02  -1.047]
+t: 164	 action: [ 0.178  0.025  0.036  0.009 -0.023 -0.007 -1.091]
+t: 165	 action: [ 0.144  0.002 -0.031  0.004 -0.02  -0.014 -1.043]
+t: 166	 action: [ 6.903e-02  4.598e-02 -4.330e-02  9.791e-04 -2.486e-02 -1.280e-02 -1.074e+00]
+t: 167	 action: [-0.02   0.012 -0.127  0.003 -0.036 -0.014 -1.045]
+t: 168	 action: [-0.04   0.036 -0.353 -0.007 -0.034 -0.007 -1.079]
+t: 169	 action: [-0.095  0.01  -0.369 -0.005 -0.042 -0.007 -1.048]
+[07-31 01:45:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.161 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5085
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5085
+Query 1/1: Action query time = 1.161 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5085
+t=170: Selected seed 195 with value = 0.5085
+t: 170	 action: [ 0.071  0.074 -0.359  0.002 -0.004 -0.002 -1.047]
+t: 171	 action: [ 0.096  0.081 -0.269  0.002  0.005 -0.011 -1.034]
+t: 172	 action: [ 4.601e-02  9.849e-02 -2.489e-01 -2.082e-03 -6.984e-04 -1.249e-03 -1.049e+00]
+t: 173	 action: [ 0.055  0.09  -0.119 -0.005  0.005 -0.01  -1.033]
+t: 174	 action: [ 5.507e-03  1.037e-01 -1.053e-01 -3.835e-04  9.129e-03 -2.731e-03 -1.043e+00]
+t: 175	 action: [-1.009e-03  1.647e-01  7.794e-03  6.114e-03  4.553e-04 -6.763e-03 -1.051e+00]
+t: 176	 action: [-0.023  0.107  0.073 -0.008  0.007 -0.005 -1.045]
+t: 177	 action: [-0.005  0.126  0.155 -0.003 -0.004 -0.011 -1.048]
+t: 178	 action: [ 0.086  0.054  0.111  0.006 -0.012 -0.012 -1.077]
+t: 179	 action: [ 0.071  0.046  0.073  0.003 -0.014 -0.015 -1.053]
+t: 180	 action: [ 7.140e-02  4.226e-02 -7.917e-02  6.996e-04 -2.244e-02  1.010e-03 -1.075e+00]
+t: 181	 action: [ 6.966e-02  2.536e-02 -9.571e-02 -5.753e-04 -2.260e-02 -6.935e-03 -1.091e+00]
+t: 182	 action: [ 0.014  0.052 -0.141 -0.004 -0.021 -0.008 -1.07 ]
+t: 183	 action: [-4.102e-02  2.171e-02 -1.565e-01  3.727e-04 -3.173e-02 -9.654e-03 -1.047e+00]
+t: 184	 action: [-0.045  0.021 -0.4   -0.008 -0.026 -0.004 -1.04 ]
+t: 185	 action: [-0.111 -0.005 -0.326 -0.006 -0.033  0.005  0.992]
+[07-31 01:45:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.223 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5402
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.5402
+Query 1/1: Action query time = 1.223 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5402
+t=186: Selected seed 195 with value = 0.5402
+t: 186	 action: [ 0.011  0.073 -0.577 -0.003 -0.01  -0.008 -1.063]
+t: 187	 action: [ 5.072e-02  9.503e-02 -4.852e-01 -4.655e-04 -3.371e-03 -1.541e-02 -1.042e+00]
+t: 188	 action: [-6.169e-06  1.084e-01 -5.301e-01 -5.392e-04 -5.805e-03 -3.170e-03 -1.059e+00]
+t: 189	 action: [ 0.03   0.104 -0.417  0.001  0.003 -0.011 -1.03 ]
+t: 190	 action: [-0.025  0.16  -0.371  0.003  0.008 -0.003 -1.051]
+t: 191	 action: [-0.012  0.16  -0.256  0.009  0.001 -0.011 -1.049]
+t: 192	 action: [-0.052  0.138 -0.243  0.001  0.009 -0.004 -1.054]
+t: 193	 action: [-0.042  0.118 -0.184  0.009  0.001 -0.014 -1.042]
+t: 194	 action: [ 5.774e-03  1.071e-01 -2.300e-01 -1.000e-03  4.513e-03  2.966e-03 -1.205e+00]
+t: 195	 action: [-0.017  0.064 -0.186 -0.006  0.002 -0.002 -1.127]
+t: 196	 action: [-4.832e-02  6.740e-02 -3.629e-01 -3.288e-03 -1.925e-04  5.199e-03 -1.153e+00]
+t: 197	 action: [-0.087  0.036 -0.283 -0.007  0.002 -0.002 -1.126]
+t: 198	 action: [-0.057  0.044 -0.337 -0.005  0.003 -0.002  0.989]
+t: 199	 action: [-0.049  0.005 -0.283 -0.003 -0.004 -0.003  1.213]
+t: 200	 action: [-0.064  0.021 -0.313 -0.011  0.004 -0.004  1.11 ]
+t: 201	 action: [-0.05  -0.003 -0.251 -0.006 -0.005 -0.002  1.176]
+[07-31 01:45:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.228 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6724
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.6724
+Query 1/1: Action query time = 1.228 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6724
+t=202: Selected seed 195 with value = 0.6724
+t: 202	 action: [-0.09   0.019 -0.131 -0.012  0.012  0.006  0.995]
+t: 203	 action: [-0.095 -0.002 -0.032 -0.019  0.017  0.006  1.027]
+t: 204	 action: [-8.025e-02  5.169e-02  1.300e-01 -1.561e-02  1.290e-03 -1.532e-04  9.945e-01]
+t: 205	 action: [-0.04   0.042  0.234 -0.02   0.007 -0.001  1.032]
+t: 206	 action: [-0.06   0.089  0.365 -0.034  0.012 -0.004  1.006]
+t: 207	 action: [ 0.05   0.097  0.602 -0.027  0.008 -0.004  1.03 ]
+t: 208	 action: [-0.004  0.083  0.769 -0.016  0.009 -0.011  1.001]
+t: 209	 action: [ 0.063  0.049  0.882 -0.013  0.021 -0.013  1.032]
+t: 210	 action: [ 0.046  0.011  0.66  -0.008  0.032  0.002  0.986]
+t: 211	 action: [ 4.829e-02  6.012e-03  7.631e-01  2.455e-03  2.854e-02 -3.429e-04  1.023e+00]
+t: 212	 action: [ 0.045 -0.115  0.717 -0.004  0.028 -0.001  0.973]
+t: 213	 action: [ 0.067 -0.18   0.78   0.015  0.025 -0.002  1.018]
+t: 214	 action: [ 0.002 -0.29   0.713  0.029  0.036 -0.002  0.991]
+t: 215	 action: [-0.008 -0.422  0.666  0.041  0.015  0.002  1.026]
+t: 216	 action: [-0.045 -0.492  0.512  0.049  0.022 -0.001  0.991]
+t: 217	 action: [-0.026 -0.631  0.417  0.045  0.009  0.002  1.022]
+[07-31 01:45:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.207 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6974
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6974
+Query 1/1: Action query time = 1.207 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6974
+t=218: Selected seed 195 with value = 0.6974
+t: 218	 action: [-0.122 -0.128 -0.566  0.023  0.023  0.013  1.142]
+t: 219	 action: [-0.166 -0.106 -0.654  0.018  0.014  0.016  1.052]
+t: 220	 action: [-0.11  -0.019 -0.657  0.03   0.021  0.012  1.112]
+t: 221	 action: [-0.155 -0.049 -0.676  0.025  0.016  0.009 -1.025]
+t: 222	 action: [-0.128 -0.041 -0.608  0.007  0.021  0.02  -1.104]
+t: 223	 action: [-0.138 -0.017 -0.599  0.005  0.011  0.027 -1.099]
+t: 224	 action: [-0.089  0.013 -0.561  0.004  0.027  0.018 -1.073]
+t: 225	 action: [-0.114  0.024 -0.608  0.003  0.02   0.002 -1.061]
+t: 226	 action: [ 0.057 -0.061 -0.662  0.027  0.039  0.032 -0.972]
+t: 227	 action: [-0.068 -0.119 -0.707  0.009  0.026  0.036 -1.058]
+t: 228	 action: [-0.169 -0.078 -0.745  0.017  0.031  0.042 -1.133]
+t: 229	 action: [-0.321 -0.15  -0.786  0.006  0.021  0.042 -1.134]
+t: 230	 action: [-0.322 -0.108 -0.75   0.007  0.028  0.047 -0.971]
+t: 231	 action: [-0.361 -0.119 -0.776 -0.004  0.013  0.042  0.804]
+t: 232	 action: [-0.409 -0.133 -0.654 -0.002  0.018  0.047  1.027]
+t: 233	 action: [-0.334 -0.125 -0.731 -0.012  0.013  0.041  1.21 ]
+[07-31 01:45:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.188 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6663
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.6663
+Query 1/1: Action query time = 1.188 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=234: Selected seed 195 with value = 0.6663
+t: 234	 action: [-0.099 -0.002 -0.206 -0.037  0.012  0.027  0.993]
+t: 235	 action: [-0.067  0.027 -0.047 -0.035  0.021  0.023  1.025]
+t: 236	 action: [-0.072  0.061  0.081 -0.04   0.011  0.008  0.995]
+t: 237	 action: [-0.017  0.085  0.208 -0.036  0.015  0.015  1.036]
+t: 238	 action: [-0.04   0.138  0.275 -0.053  0.024  0.01   1.008]
+t: 239	 action: [ 0.039  0.2    0.494 -0.032  0.011  0.012  1.027]
+t: 240	 action: [ 0.031  0.195  0.673 -0.029  0.025 -0.002  1.006]
+t: 241	 action: [ 0.081  0.175  0.813 -0.013  0.02  -0.003  1.027]
+t: 242	 action: [ 0.061  0.069  0.552 -0.023  0.02   0.013  0.985]
+t: 243	 action: [ 0.092  0.125  0.699 -0.024 -0.004  0.013  1.019]
+t: 244	 action: [ 0.128  0.077  0.689 -0.03   0.009  0.009  0.977]
+t: 245	 action: [ 0.144  0.115  0.79  -0.014 -0.011  0.009  1.021]
+t: 246	 action: [ 0.037 -0.03   0.808  0.018  0.014  0.004  0.992]
+t: 247	 action: [ 0.004 -0.113  0.839  0.04  -0.014  0.006  1.023]
+t: 248	 action: [-0.046 -0.321  0.673  0.053  0.003  0.003  0.995]
+t: 249	 action: [-0.022 -0.448  0.606  0.064 -0.021  0.007  1.021]
+[07-31 01:45:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.153 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7947
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7947
+Query 1/1: Action query time = 1.153 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7947
+t=250: Selected seed 195 with value = 0.7947
+t: 250	 action: [-0.113 -0.181 -0.646  0.018  0.021  0.027  1.152]
+t: 251	 action: [-0.166 -0.135 -0.661  0.014  0.01   0.027  1.048]
+t: 252	 action: [-0.067 -0.102 -0.669  0.029  0.014  0.021  1.122]
+t: 253	 action: [-0.132 -0.103 -0.598  0.024  0.01   0.012 -1.027]
+t: 254	 action: [-0.126 -0.093 -0.46   0.006  0.011  0.027 -1.095]
+t: 255	 action: [-0.152 -0.04  -0.433  0.006  0.003  0.03  -1.092]
+t: 256	 action: [-8.283e-02 -3.148e-05 -2.961e-01  7.706e-03  1.435e-02  1.834e-02 -1.069e+00]
+t: 257	 action: [-0.111 -0.012 -0.336  0.008  0.006  0.002 -1.067]
+t: 258	 action: [ 0.083 -0.113 -0.475  0.024  0.024  0.039 -0.943]
+t: 259	 action: [-0.063 -0.154 -0.622  0.014  0.01   0.04  -1.115]
+t: 260	 action: [-0.149 -0.111 -0.644  0.02   0.018  0.049 -1.113]
+t: 261	 action: [-0.296 -0.166 -0.701  0.013  0.008  0.04  -1.119]
+t: 262	 action: [-0.316 -0.137 -0.675  0.007  0.012  0.061 -0.906]
+t: 263	 action: [-3.476e-01 -1.378e-01 -7.064e-01 -5.285e-03 -3.862e-04  4.539e-02  1.194e+00]
+t: 264	 action: [-3.692e-01 -1.322e-01 -5.251e-01 -8.615e-04  8.764e-03  6.009e-02  1.026e+00]
+t: 265	 action: [-0.31  -0.133 -0.615 -0.012  0.002  0.041  1.212]
+[07-31 01:45:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.057 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6958
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.6958
+Query 1/1: Action query time = 1.057 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6958
+t=266: Selected seed 195 with value = 0.6958
+t: 266	 action: [-0.061 -0.016 -0.117 -0.027  0.014  0.006  0.996]
+t: 267	 action: [-1.113e-02  3.265e-03  5.673e-02 -1.896e-02  1.003e-02  1.999e-04  1.032e+00]
+t: 268	 action: [-0.023  0.039  0.197 -0.018  0.008 -0.006  0.995]
+t: 269	 action: [ 0.015  0.058  0.391 -0.014  0.006 -0.008  1.039]
+t: 270	 action: [ 0.053  0.089  0.449 -0.018  0.018 -0.005  1.012]
+t: 271	 action: [ 0.103  0.127  0.683 -0.008  0.006 -0.012  1.026]
+t: 272	 action: [ 0.122  0.079  0.802  0.006  0.019 -0.022  1.006]
+t: 273	 action: [ 0.179  0.063  0.889  0.021  0.015 -0.02   1.024]
+t: 274	 action: [ 0.06  -0.031  0.57   0.005  0.014  0.008  0.992]
+t: 275	 action: [ 4.798e-02 -3.860e-02  6.316e-01  2.046e-02 -8.313e-04  2.986e-03  1.033e+00]
+t: 276	 action: [ 0.068 -0.12   0.549  0.01   0.009  0.006  0.983]
+t: 277	 action: [ 6.382e-02 -2.160e-01  5.598e-01  2.991e-02  1.847e-04  2.843e-03  1.025e+00]
+t: 278	 action: [ 1.508e-03 -2.626e-01  5.544e-01  5.440e-02  9.934e-03  2.834e-04  9.984e-01]
+t: 279	 action: [-1.388e-02 -4.022e-01  4.783e-01  5.323e-02 -7.682e-03 -2.035e-04  1.024e+00]
+t: 280	 action: [-5.385e-02 -4.976e-01  3.053e-01  6.387e-02  2.421e-03 -6.707e-04  9.991e-01]
+t: 281	 action: [-0.016 -0.639  0.198  0.058 -0.008  0.003  1.018]
+[07-31 01:45:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.085 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8348
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8348
+Query 1/1: Action query time = 1.085 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8348
+t=282: Selected seed 195 with value = 0.8348
+t: 282	 action: [-0.089 -0.167 -0.525  0.011 -0.007  0.016  1.155]
+t: 283	 action: [-0.117 -0.126 -0.515  0.006 -0.004  0.018  1.048]
+t: 284	 action: [ 0.003 -0.05  -0.453  0.019 -0.01   0.007  1.129]
+t: 285	 action: [-0.027 -0.106 -0.339  0.014  0.003  0.001 -1.014]
+t: 286	 action: [-0.064  0.02  -0.227  0.003 -0.009  0.008 -1.1  ]
+t: 287	 action: [-5.507e-02  3.910e-02 -1.488e-01  1.903e-04 -3.528e-03  1.512e-02 -1.095e+00]
+t: 288	 action: [ 0.053  0.059 -0.024  0.001  0.002  0.003 -1.094]
+t: 289	 action: [ 7.498e-02  6.267e-02 -2.116e-02  1.510e-03 -8.563e-04 -7.040e-03 -1.057e+00]
+t: 290	 action: [ 0.199 -0.045 -0.174  0.032  0.029  0.033 -1.06 ]
+t: 291	 action: [ 0.068 -0.087 -0.331  0.019  0.014  0.032 -1.059]
+t: 292	 action: [ 0.116 -0.072 -0.306  0.04   0.026  0.04  -1.296]
+t: 293	 action: [-0.046 -0.121 -0.412  0.02   0.009  0.033 -1.097]
+t: 294	 action: [-0.073 -0.066 -0.395  0.019  0.02   0.056 -1.09 ]
+t: 295	 action: [-0.084 -0.083 -0.373  0.008  0.005  0.038 -1.035]
+t: 296	 action: [-0.125 -0.063 -0.358  0.017  0.018  0.059  0.581]
+t: 297	 action: [-0.13  -0.091 -0.337  0.005  0.004  0.042  1.182]
+[07-31 01:45:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.104 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7151
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7151
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 65
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 30%|███       | 15/50 [08:02<18:51, 32.31s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 16...
+Query 1/1: Action query time = 1.104 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7151
+t=298: Selected seed 195 with value = 0.7151
+t: 298	 action: [-0.047  0.015 -0.142 -0.043  0.012  0.005  0.995]
+t: 299	 action: [ 0.031  0.061  0.105 -0.044  0.016  0.003  1.047]
+t: 300	 action: [-3.169e-05  2.713e-02  2.235e-01 -2.972e-02  7.654e-03  9.797e-04  9.957e-01]
+t: 301	 action: [ 0.055  0.074  0.51  -0.041  0.006  0.005  1.042]
+t: 302	 action: [ 0.056  0.022  0.475 -0.014  0.022  0.002  1.014]
+t: 303	 action: [ 7.986e-02  1.410e-02  6.862e-01 -1.468e-02  5.575e-03 -5.698e-04  1.037e+00]
+t: 304	 action: [ 0.07  -0.046  0.743  0.019  0.025 -0.004  1.002]
+t: 305	 action: [ 0.111 -0.214  0.813  0.028  0.02  -0.003  0.959]
+t: 306	 action: [ 0.071 -0.318  0.513  0.023  0.033  0.009  1.002]
+t: 307	 action: [ 0.102 -0.406  0.461  0.011  0.018  0.012  1.043]
+t: 308	 action: [ 0.089 -0.322  0.206  0.013  0.023  0.013  0.996]
+t: 309	 action: [ 0.117 -0.434  0.131  0.009  0.005  0.016  1.033]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=65--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=65--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 65
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 16...
+[07-31 01:45:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3741
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3741
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3741
+t=10: Selected seed 195 with value = 0.3741
+t: 10	 action: [ 0.194 -0.084  0.068 -0.007 -0.017 -0.002 -1.007]
+t: 11	 action: [ 0.28  -0.017  0.038 -0.013 -0.017 -0.012 -1.012]
+t: 12	 action: [ 0.528 -0.072  0.066 -0.014 -0.028  0.001 -1.013]
+t: 13	 action: [ 0.678 -0.033  0.068 -0.011 -0.028 -0.005 -1.023]
+t: 14	 action: [ 0.836  0.027  0.06  -0.011 -0.034  0.002 -1.02 ]
+t: 15	 action: [ 8.483e-01  3.727e-04  3.961e-02 -1.136e-02 -3.042e-02 -5.727e-03 -1.036e+00]
+t: 16	 action: [ 0.976 -0.023  0.053 -0.008 -0.04   0.004 -1.016]
+t: 17	 action: [ 0.954 -0.036  0.031 -0.006 -0.028 -0.002 -1.045]
+t: 18	 action: [ 0.937 -0.115  0.119  0.006 -0.037  0.013 -1.02 ]
+t: 19	 action: [ 0.927 -0.08   0.136  0.002 -0.028  0.007 -1.03 ]
+t: 20	 action: [ 0.968 -0.13   0.073  0.007 -0.041  0.009 -1.01 ]
+t: 21	 action: [ 0.953 -0.117  0.103  0.007 -0.027  0.006 -1.019]
+t: 22	 action: [ 0.997 -0.16   0.051  0.006 -0.047  0.012 -1.015]
+t: 23	 action: [ 0.972 -0.26   0.042  0.009 -0.029  0.007 -1.039]
+t: 24	 action: [ 1.001 -0.186 -0.013  0.009 -0.048  0.003 -1.004]
+t: 25	 action: [ 0.99  -0.315  0.003  0.015 -0.025  0.006 -1.04 ]
+[07-31 01:45:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4690
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4690
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4690
+t=26: Selected seed 195 with value = 0.4690
+t: 26	 action: [ 0.728 -0.095 -0.018  0.005 -0.059  0.016 -1.047]
+t: 27	 action: [ 0.718 -0.081 -0.06   0.011 -0.079  0.009 -1.028]
+t: 28	 action: [ 0.735 -0.188 -0.146  0.008 -0.065  0.015 -1.043]
+t: 29	 action: [ 0.688 -0.212 -0.202  0.02  -0.077  0.008 -1.022]
+t: 30	 action: [ 0.703 -0.33  -0.243  0.012 -0.053  0.013 -1.031]
+t: 31	 action: [ 0.657 -0.403 -0.334  0.016 -0.07   0.01  -1.039]
+t: 32	 action: [ 0.637 -0.374 -0.429  0.008 -0.053  0.012 -1.032]
+t: 33	 action: [ 0.554 -0.378 -0.519  0.018 -0.061  0.009 -1.035]
+t: 34	 action: [ 0.362 -0.351 -0.517  0.014 -0.055  0.026 -1.041]
+t: 35	 action: [ 0.221 -0.288 -0.598  0.006 -0.058  0.018 -1.035]
+t: 36	 action: [ 0.179 -0.324 -0.663  0.012 -0.063  0.031 -1.024]
+t: 37	 action: [ 0.061 -0.229 -0.706  0.007 -0.06   0.024 -1.019]
+t: 38	 action: [-6.940e-02 -2.132e-01 -7.907e-01  1.609e-04 -6.888e-02  3.702e-02 -1.040e+00]
+t: 39	 action: [-0.126 -0.108 -0.837  0.009 -0.061  0.025 -1.037]
+t: 40	 action: [-2.692e-01 -1.556e-01 -8.171e-01 -5.073e-04 -5.902e-02  4.227e-02 -1.034e+00]
+t: 41	 action: [-0.279 -0.057 -0.87   0.014 -0.04   0.033 -1.039]
+[07-31 01:45:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5360
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5360
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5360
+t=42: Selected seed 195 with value = 0.5360
+t: 42	 action: [-0.052  0.862 -0.482  0.004 -0.01   0.02  -1.001]
+t: 43	 action: [-0.01   0.841 -0.462  0.003 -0.006  0.021 -0.999]
+t: 44	 action: [-0.076  0.891 -0.488  0.003 -0.004  0.025 -0.991]
+t: 45	 action: [-0.032  0.845 -0.462  0.005  0.001  0.026 -1.004]
+t: 46	 action: [-0.045  0.885 -0.448  0.002 -0.002  0.024 -0.996]
+t: 47	 action: [-2.998e-02  8.657e-01 -4.345e-01  5.201e-03 -4.047e-04  2.672e-02 -1.025e+00]
+t: 48	 action: [-7.355e-02  8.983e-01 -4.674e-01  4.016e-04  4.111e-03  3.585e-02 -9.903e-01]
+t: 49	 action: [-0.032  0.867 -0.452  0.007  0.003  0.032 -1.036]
+t: 50	 action: [-8.683e-03  8.691e-01 -4.492e-01  5.805e-03  5.608e-04  3.653e-02 -1.018e+00]
+t: 51	 action: [ 0.015  0.805 -0.522  0.008  0.009  0.029 -1.015]
+t: 52	 action: [ 0.008  0.806 -0.423  0.004  0.005  0.037 -1.016]
+t: 53	 action: [ 0.021  0.707 -0.47   0.008  0.016  0.022 -1.011]
+t: 54	 action: [ 0.003  0.58  -0.378  0.003  0.015  0.034 -1.009]
+t: 55	 action: [ 0.013  0.424 -0.234  0.011  0.017  0.026 -1.037]
+t: 56	 action: [ 0.044  0.133  0.02   0.003  0.05   0.014 -1.002]
+t: 57	 action: [ 0.042  0.059  0.315  0.008  0.056  0.01  -1.046]
+[07-31 01:45:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6145
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6145
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6145
+t=58: Selected seed 195 with value = 0.6145
+t: 58	 action: [ 0.1    0.035 -0.543  0.002 -0.012  0.003 -1.016]
+t: 59	 action: [ 0.106 -0.035 -0.278  0.005 -0.001 -0.007 -1.011]
+t: 60	 action: [ 7.696e-02  3.878e-02 -2.764e-01 -2.223e-03 -4.277e-03  4.961e-04 -1.016e+00]
+t: 61	 action: [ 0.063 -0.035 -0.073 -0.005  0.003 -0.011 -1.009]
+t: 62	 action: [ 0.015  0.066 -0.12  -0.001  0.013 -0.002 -1.002]
+t: 63	 action: [-0.009  0.116  0.057  0.005  0.007 -0.006 -1.033]
+t: 64	 action: [-0.042  0.088  0.173 -0.009  0.019 -0.006 -1.008]
+t: 65	 action: [-0.044  0.098  0.296 -0.002  0.006 -0.011 -1.032]
+t: 66	 action: [ 0.008  0.018  0.251  0.013  0.029  0.005 -1.041]
+t: 67	 action: [-0.124 -0.09   0.195  0.01   0.011 -0.002 -1.026]
+t: 68	 action: [-0.122  0.027  0.102  0.003  0.023  0.008 -1.049]
+t: 69	 action: [-2.287e-01 -8.889e-02  4.497e-02  4.018e-03  1.204e-02 -1.655e-04 -1.021e+00]
+t: 70	 action: [-0.36   0.006  0.023  0.002  0.019  0.007 -1.036]
+t: 71	 action: [-4.738e-01 -5.945e-02 -2.767e-02  1.043e-02 -5.061e-04  7.861e-03 -1.035e+00]
+t: 72	 action: [-5.585e-01 -2.065e-02 -1.107e-01 -1.186e-04  2.164e-02  5.148e-03 -1.033e+00]
+t: 73	 action: [-5.417e-01 -5.857e-02 -7.772e-02  8.249e-03 -5.233e-04  8.869e-03 -1.037e+00]
+[07-31 01:45:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6470
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6470
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6470
+t=74: Selected seed 195 with value = 0.6470
+t: 74	 action: [ 0.014  0.009 -0.434  0.012 -0.002 -0.008 -1.009]
+t: 75	 action: [ 0.03  -0.058 -0.239  0.012  0.007 -0.024 -0.993]
+t: 76	 action: [-9.768e-03 -4.035e-02 -1.275e-01  8.905e-04  5.752e-03 -1.432e-02 -1.011e+00]
+t: 77	 action: [ 1.207e-02 -1.066e-01  2.114e-02 -4.943e-04  9.960e-03 -3.040e-02 -1.007e+00]
+t: 78	 action: [-0.057 -0.017  0.05   0.002  0.019 -0.013 -1.008]
+t: 79	 action: [-0.042  0.027  0.151  0.007  0.015 -0.023 -1.041]
+t: 80	 action: [-0.099  0.018  0.36  -0.002  0.023 -0.022 -1.013]
+t: 81	 action: [-1.157e-01  6.698e-03  4.625e-01  8.638e-04  1.584e-02 -2.846e-02 -1.034e+00]
+t: 82	 action: [-0.042 -0.129  0.349  0.018  0.015 -0.022 -1.031]
+t: 83	 action: [-0.156 -0.144  0.282  0.014  0.006 -0.025 -1.032]
+t: 84	 action: [-0.154 -0.072  0.192  0.008  0.008 -0.01  -1.035]
+t: 85	 action: [-0.244 -0.148  0.071  0.01   0.006 -0.02  -1.021]
+t: 86	 action: [-0.389 -0.102  0.074  0.008  0.008 -0.006 -1.025]
+t: 87	 action: [-0.503 -0.09  -0.006  0.013 -0.006 -0.013 -1.043]
+t: 88	 action: [-0.596 -0.088 -0.051  0.005  0.005 -0.003 -1.022]
+t: 89	 action: [-0.591 -0.086 -0.1    0.011 -0.005 -0.007 -1.036]
+[07-31 01:45:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5759
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.5759
+Query 1/1: Action query time = 0.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5759
+t=90: Selected seed 195 with value = 0.5759
+t: 90	 action: [ 1.108e-01 -7.880e-02 -3.019e-01  3.631e-03  3.529e-04 -1.129e-02 -1.035e+00]
+t: 91	 action: [ 0.13  -0.087 -0.157  0.006  0.004 -0.027 -1.013]
+t: 92	 action: [ 0.084 -0.076 -0.095 -0.002  0.005 -0.013 -1.03 ]
+t: 93	 action: [ 0.096 -0.102  0.004 -0.002  0.009 -0.032 -1.019]
+t: 94	 action: [-7.918e-04 -3.381e-03  8.219e-02 -1.618e-03  2.219e-02 -1.131e-02 -1.031e+00]
+t: 95	 action: [-0.002  0.065  0.181  0.004  0.016 -0.023 -1.052]
+t: 96	 action: [-0.03   0.081  0.294 -0.004  0.023 -0.016 -1.03 ]
+t: 97	 action: [-0.016  0.082  0.402 -0.003  0.016 -0.03  -1.043]
+t: 98	 action: [ 6.301e-02  6.155e-03  2.370e-01  1.340e-02 -2.550e-04 -2.138e-02 -1.045e+00]
+t: 99	 action: [ 0.055 -0.039  0.154  0.016 -0.001 -0.025 -1.034]
+t: 100	 action: [ 0.011  0.002  0.1    0.01  -0.008 -0.006 -1.038]
+t: 101	 action: [ 0.009 -0.074  0.029  0.014 -0.006 -0.021 -1.026]
+t: 102	 action: [-0.112 -0.055 -0.022  0.011 -0.009 -0.012 -1.044]
+t: 103	 action: [-0.267 -0.086 -0.057  0.015 -0.024 -0.02  -1.047]
+t: 104	 action: [-0.312 -0.128 -0.167  0.005 -0.013 -0.006 -1.037]
+t: 105	 action: [-0.406 -0.127 -0.158  0.012 -0.024 -0.014 -1.041]
+[07-31 01:45:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.237 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5525
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 1.237 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=106: Selected seed 195 with value = 0.5525
+t: 106	 action: [ 0.175 -0.027 -0.287  0.013 -0.003 -0.011 -1.043]
+t: 107	 action: [ 0.208 -0.051 -0.252  0.017 -0.001 -0.026 -1.021]
+t: 108	 action: [ 1.367e-01 -1.261e-02 -2.013e-01  8.283e-03  8.422e-05 -9.968e-03 -1.038e+00]
+t: 109	 action: [ 0.168 -0.061 -0.148  0.011  0.003 -0.03  -1.019]
+t: 110	 action: [ 0.045  0.065 -0.057  0.003  0.016 -0.01  -1.036]
+t: 111	 action: [ 0.048  0.105  0.049  0.016  0.009 -0.024 -1.052]
+t: 112	 action: [ 0.035  0.109  0.113 -0.006  0.016 -0.014 -1.035]
+t: 113	 action: [ 0.043  0.122  0.209  0.005  0.005 -0.03  -1.043]
+t: 114	 action: [ 0.132  0.052  0.159  0.013 -0.005 -0.021 -1.054]
+t: 115	 action: [ 0.111  0.026  0.089  0.016 -0.007 -0.024 -1.033]
+t: 116	 action: [ 0.092  0.036  0.039  0.008 -0.014 -0.006 -1.047]
+t: 117	 action: [ 0.091 -0.016 -0.011  0.013 -0.013 -0.021 -1.027]
+t: 118	 action: [-0.032  0.002 -0.094  0.01  -0.017 -0.012 -1.054]
+t: 119	 action: [-0.132 -0.055 -0.125  0.016 -0.032 -0.02  -1.045]
+t: 120	 action: [-0.183 -0.068 -0.275  0.003 -0.022 -0.007 -1.048]
+t: 121	 action: [-0.288 -0.105 -0.237  0.013 -0.033 -0.014 -1.045]
+[07-31 01:45:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.154 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5806
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5806
+Query 1/1: Action query time = 1.154 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5806
+t=122: Selected seed 195 with value = 0.5806
+t: 122	 action: [ 0.135 -0.037 -0.347  0.011  0.002 -0.022 -1.032]
+t: 123	 action: [ 0.124 -0.039 -0.279  0.016  0.004 -0.03  -1.019]
+t: 124	 action: [ 0.097  0.001 -0.248  0.005  0.006 -0.017 -1.03 ]
+t: 125	 action: [ 0.091 -0.029 -0.171  0.01   0.007 -0.03  -1.018]
+t: 126	 action: [ 7.273e-03  7.434e-02 -9.875e-02  9.989e-04  2.117e-02 -1.586e-02 -1.028e+00]
+t: 127	 action: [-8.089e-04  9.474e-02 -4.243e-02  1.357e-02  1.240e-02 -2.508e-02 -1.051e+00]
+t: 128	 action: [-0.011  0.101 -0.003 -0.006  0.022 -0.015 -1.03 ]
+t: 129	 action: [-0.001  0.101  0.041  0.005  0.006 -0.027 -1.039]
+t: 130	 action: [ 0.088  0.048  0.02   0.008  0.002 -0.013 -1.052]
+t: 131	 action: [ 6.607e-02  1.942e-02 -1.543e-02  1.203e-02  1.030e-03 -1.781e-02 -1.034e+00]
+t: 132	 action: [ 4.487e-02  3.405e-02 -1.227e-01  7.261e-03 -6.865e-03 -4.864e-04 -1.049e+00]
+t: 133	 action: [ 0.054 -0.02  -0.16   0.011 -0.002 -0.014 -1.028]
+t: 134	 action: [-2.605e-02  6.565e-03 -2.545e-01 -5.000e-04 -1.049e-02 -8.604e-03 -1.054e+00]
+t: 135	 action: [-0.108 -0.038 -0.268  0.012 -0.019 -0.012 -1.051]
+t: 136	 action: [-0.156 -0.044 -0.439 -0.004 -0.015 -0.005 -1.048]
+t: 137	 action: [-0.243 -0.065 -0.371  0.009 -0.022 -0.008 -1.048]
+[07-31 01:45:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.116 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7492
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7492
+Query 1/1: Action query time = 1.116 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7492
+t=138: Selected seed 195 with value = 0.7492
+t: 138	 action: [ 0.085  0.022 -0.335 -0.004 -0.002 -0.026 -1.052]
+t: 139	 action: [ 0.075  0.012 -0.351 -0.011  0.003 -0.025 -1.038]
+t: 140	 action: [ 5.419e-02  6.081e-02 -4.040e-01 -2.097e-03  1.033e-03 -1.194e-02 -1.049e+00]
+t: 141	 action: [ 0.049  0.054 -0.397 -0.008  0.007 -0.016 -1.029]
+t: 142	 action: [-0.02   0.084 -0.391 -0.008  0.004 -0.02  -1.04 ]
+t: 143	 action: [-4.612e-03  1.012e-01 -3.889e-01 -6.638e-03  1.017e-03 -1.706e-02 -1.048e+00]
+t: 144	 action: [-0.012  0.102 -0.419 -0.009  0.007 -0.008 -1.044]
+t: 145	 action: [-0.017  0.1   -0.404 -0.008  0.003 -0.011 -1.04 ]
+t: 146	 action: [-0.084  0.064 -0.418 -0.008  0.002 -0.007 -1.184]
+t: 147	 action: [-0.125  0.037 -0.444 -0.017  0.007 -0.006 -1.147]
+t: 148	 action: [-0.093  0.062 -0.49  -0.015  0.003  0.002 -1.109]
+t: 149	 action: [-0.086  0.029 -0.446 -0.016  0.009  0.006  1.058]
+t: 150	 action: [-0.124  0.051 -0.459 -0.02   0.006 -0.006  1.104]
+t: 151	 action: [-0.064  0.048 -0.44  -0.015 -0.003  0.002  1.188]
+t: 152	 action: [-0.106  0.032 -0.284 -0.035  0.01  -0.005  1.075]
+t: 153	 action: [-0.026  0.023 -0.272 -0.019 -0.003  0.015  1.094]
+[07-31 01:45:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.013 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5009
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.5009
+Query 1/1: Action query time = 1.013 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5009
+t=154: Selected seed 195 with value = 0.5009
+t: 154	 action: [-0.02  -0.007 -0.312 -0.026  0.005 -0.003  0.983]
+t: 155	 action: [-6.085e-02 -2.407e-02 -1.812e-01 -2.711e-02  5.759e-04 -2.123e-02  1.026e+00]
+t: 156	 action: [-0.019  0.024 -0.093 -0.04   0.008 -0.007  0.982]
+t: 157	 action: [-0.036  0.004 -0.036 -0.034  0.006 -0.018  1.028]
+t: 158	 action: [-0.002  0.059  0.042 -0.038  0.012 -0.017  0.997]
+t: 159	 action: [ 0.005  0.105  0.147 -0.027 -0.005 -0.023  1.005]
+t: 160	 action: [ 0.005  0.082  0.322 -0.031  0.011 -0.026  0.995]
+t: 161	 action: [ 0.002  0.112  0.465 -0.019 -0.005 -0.026  1.013]
+t: 162	 action: [ 0.047  0.043  0.412 -0.019  0.01  -0.033  0.97 ]
+t: 163	 action: [ 0.041  0.044  0.591 -0.025  0.002 -0.039  1.026]
+t: 164	 action: [ 0.052  0.032  0.668 -0.015  0.005 -0.031  0.962]
+t: 165	 action: [ 0.062  0.056  0.817 -0.015  0.003 -0.038  1.025]
+t: 166	 action: [ 0.051  0.037  0.829  0.002  0.013 -0.046  0.981]
+t: 167	 action: [ 0.001  0.009  0.881  0.016  0.003 -0.036  1.015]
+t: 168	 action: [ 0.008 -0.043  0.81   0.023  0.01  -0.049  0.982]
+t: 169	 action: [-0.022 -0.182  0.8    0.037  0.003 -0.036  1.023]
+[07-31 01:45:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5284
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5284
+Query 1/1: Action query time = 1.002 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5284
+t=170: Selected seed 195 with value = 0.5284
+t: 170	 action: [-0.138 -0.215  0.399  0.048  0.024 -0.003  1.112]
+t: 171	 action: [-0.142 -0.264  0.148  0.046  0.016 -0.019  1.049]
+t: 172	 action: [-1.622e-01 -4.711e-02 -8.430e-02  5.840e-02  2.245e-02 -5.954e-04  1.112e+00]
+t: 173	 action: [-0.164 -0.08  -0.393  0.05   0.022 -0.005 -1.017]
+t: 174	 action: [-0.187  0.027 -0.475  0.044  0.02   0.007 -1.12 ]
+t: 175	 action: [-0.114  0.065 -0.605  0.039  0.011  0.006 -1.117]
+t: 176	 action: [-0.079  0.085 -0.739  0.038  0.018  0.008 -1.094]
+t: 177	 action: [-0.036  0.094 -0.776  0.035  0.01  -0.001 -1.049]
+t: 178	 action: [ 0.079  0.027 -0.811  0.037  0.012  0.018 -1.05 ]
+t: 179	 action: [ 0.028 -0.016 -0.838  0.014  0.013  0.026 -1.039]
+t: 180	 action: [-0.031  0.008 -0.827  0.026  0.013  0.028 -1.071]
+t: 181	 action: [-0.052 -0.027 -0.835  0.007  0.013  0.03  -1.027]
+t: 182	 action: [-0.135 -0.02  -0.779  0.018  0.004  0.023 -1.054]
+t: 183	 action: [-1.930e-01 -3.532e-02 -7.987e-01  4.135e-03 -5.836e-04  2.799e-02 -1.044e+00]
+t: 184	 action: [-0.257 -0.032 -0.726  0.004 -0.006  0.019 -1.067]
+t: 185	 action: [-0.235 -0.029 -0.758 -0.002 -0.002  0.029 -1.05 ]
+[07-31 01:45:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5926
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.5926
+Query 1/1: Action query time = 1.004 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5926
+t=186: Selected seed 195 with value = 0.5926
+t: 186	 action: [-0.136  0.002 -0.554 -0.006  0.014  0.006  0.97 ]
+t: 187	 action: [-0.164 -0.061 -0.461 -0.014  0.017 -0.004  1.021]
+t: 188	 action: [-0.116 -0.004 -0.414 -0.011  0.025  0.003  0.976]
+t: 189	 action: [-0.132 -0.047 -0.286 -0.012  0.029 -0.009  1.02 ]
+t: 190	 action: [-0.086  0.012 -0.196 -0.012  0.034 -0.004  0.995]
+t: 191	 action: [-0.075  0.016 -0.116 -0.003  0.027 -0.007  1.022]
+t: 192	 action: [-0.039  0.022 -0.017 -0.013  0.033 -0.012  0.997]
+t: 193	 action: [-0.039  0.022  0.037 -0.002  0.022 -0.017  1.025]
+t: 194	 action: [ 0.002 -0.031  0.066 -0.007  0.013 -0.022  0.977]
+t: 195	 action: [ 2.372e-02 -2.410e-02  1.528e-01 -6.126e-03 -3.498e-04 -3.616e-02  1.017e+00]
+t: 196	 action: [ 0.035  0.023  0.285 -0.008 -0.007 -0.029  0.967]
+t: 197	 action: [ 0.044  0.007  0.469 -0.002 -0.006 -0.042  1.014]
+t: 198	 action: [ 0.019  0.043  0.672  0.004 -0.005 -0.038  0.987]
+t: 199	 action: [ 0.005  0.056  0.878  0.004 -0.005 -0.038  1.01 ]
+t: 200	 action: [ 0.006  0.024  0.894  0.01  -0.018 -0.043  0.992]
+t: 201	 action: [-0.014 -0.012  0.964  0.022 -0.009 -0.04   1.014]
+[07-31 01:45:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5892
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=202: Selected seed 195 with value = 0.5892
+t: 202	 action: [-0.119 -0.09   0.232  0.031  0.046 -0.022  1.126]
+t: 203	 action: [-0.109 -0.085  0.145  0.034  0.048 -0.037  1.035]
+t: 204	 action: [-0.141 -0.023  0.092  0.046  0.054 -0.019  1.12 ]
+t: 205	 action: [-0.14  -0.048  0.057  0.04   0.064 -0.021 -1.017]
+t: 206	 action: [-1.450e-01  3.163e-03  5.135e-04  2.035e-02  5.515e-02 -1.416e-02 -1.107e+00]
+t: 207	 action: [-0.086  0.025 -0.018  0.025  0.056 -0.019 -1.109]
+t: 208	 action: [-0.028  0.038 -0.258  0.017  0.058 -0.009 -1.073]
+t: 209	 action: [-0.003  0.03  -0.263  0.025  0.061 -0.019 -1.05 ]
+t: 210	 action: [ 0.057 -0.007 -0.407  0.026  0.06   0.006 -1.052]
+t: 211	 action: [ 0.021 -0.04  -0.549  0.013  0.055  0.006 -1.057]
+t: 212	 action: [ 0.002 -0.004 -0.623  0.014  0.056  0.009 -1.065]
+t: 213	 action: [-0.036 -0.018 -0.689  0.005  0.045  0.013 -1.05 ]
+t: 214	 action: [-0.077 -0.017 -0.659  0.004  0.033  0.006 -1.056]
+t: 215	 action: [-0.144 -0.018 -0.699  0.005  0.022  0.01  -1.065]
+t: 216	 action: [-0.17  -0.018 -0.66  -0.004  0.014  0.006 -1.055]
+t: 217	 action: [-0.211 -0.003 -0.708 -0.003  0.012  0.016 -1.053]
+[07-31 01:45:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6082
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6082
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6082
+t=218: Selected seed 195 with value = 0.6082
+t: 218	 action: [-0.107  0.004 -0.451 -0.003  0.018  0.009  0.968]
+t: 219	 action: [-0.113 -0.017 -0.252 -0.012  0.019  0.009  1.023]
+t: 220	 action: [-0.085  0.009 -0.237 -0.005  0.028  0.011  0.976]
+t: 221	 action: [-0.074 -0.015 -0.084 -0.011  0.03   0.008  1.03 ]
+t: 222	 action: [-0.036  0.017 -0.052 -0.005  0.034  0.003  0.99 ]
+t: 223	 action: [-0.018  0.002  0.05  -0.003  0.028  0.001  1.019]
+t: 224	 action: [-1.453e-03  3.360e-02  1.142e-01 -8.772e-03  2.818e-02 -3.385e-04  9.929e-01]
+t: 225	 action: [-0.002  0.017  0.243 -0.002  0.022 -0.006  1.026]
+t: 226	 action: [-0.025  0.02   0.256 -0.011  0.016 -0.012  0.967]
+t: 227	 action: [ 0.022  0.016  0.358 -0.015  0.013 -0.021  1.017]
+t: 228	 action: [-0.005  0.021  0.523 -0.01   0.006 -0.013  0.964]
+t: 229	 action: [ 0.03   0.022  0.674 -0.014  0.01  -0.021  1.015]
+t: 230	 action: [-0.023  0.03   0.815  0.011  0.011 -0.016  0.979]
+t: 231	 action: [ 0.003 -0.027  0.912  0.015  0.021 -0.021  1.008]
+t: 232	 action: [-0.05  -0.02   0.901  0.019  0.005 -0.013  0.984]
+t: 233	 action: [-0.038 -0.162  0.915  0.033  0.026 -0.015  1.014]
+[07-31 01:45:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7781
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7781
+Query 1/1: Action query time = 0.996 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7781
+t=234: Selected seed 195 with value = 0.7781
+t: 234	 action: [-0.059 -0.285  0.679  0.069  0.056 -0.033  0.985]
+t: 235	 action: [-0.014 -0.468  0.615  0.075  0.051 -0.034  1.047]
+t: 236	 action: [-0.106 -0.49   0.489  0.064  0.059 -0.013  0.978]
+t: 237	 action: [-0.063 -0.638  0.339  0.061  0.062 -0.012  1.024]
+t: 238	 action: [-0.135 -0.713  0.227  0.054  0.064 -0.008  0.998]
+t: 239	 action: [-0.128 -0.807  0.07   0.05   0.072  0.006  1.046]
+t: 240	 action: [-1.757e-01 -7.513e-01  4.215e-02  2.738e-02  6.339e-02  8.482e-04  9.944e-01]
+t: 241	 action: [-0.132 -0.772 -0.088  0.029  0.072  0.016  1.031]
+t: 242	 action: [-0.198 -0.715 -0.2    0.005  0.038  0.01   0.98 ]
+t: 243	 action: [-0.185 -0.685 -0.366  0.001  0.024  0.027  1.027]
+t: 244	 action: [-0.222 -0.581 -0.387 -0.017  0.021  0.019  0.963]
+t: 245	 action: [-0.195 -0.497 -0.508 -0.017  0.005  0.034  1.032]
+t: 246	 action: [-0.219 -0.351 -0.551 -0.027 -0.008  0.025  1.007]
+t: 247	 action: [-0.187 -0.276 -0.599 -0.037 -0.018  0.043  1.042]
+t: 248	 action: [-0.221 -0.18  -0.596 -0.059 -0.031  0.03   0.993]
+t: 249	 action: [-0.142 -0.111 -0.58  -0.044 -0.029  0.046  1.029]
+[07-31 01:45:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9263
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9263
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9263
+t=250: Selected seed 195 with value = 0.9263
+t: 250	 action: [-0.14  -0.212 -0.517 -0.036 -0.022  0.027  0.964]
+t: 251	 action: [-0.156 -0.178 -0.456 -0.043 -0.019  0.03   1.062]
+t: 252	 action: [-0.127 -0.083 -0.383 -0.048 -0.027  0.03   1.091]
+t: 253	 action: [-0.164 -0.087 -0.301 -0.044 -0.014  0.016  1.01 ]
+t: 254	 action: [-0.114 -0.002 -0.183 -0.068 -0.01   0.033  0.985]
+t: 255	 action: [-0.073  0.023 -0.066 -0.048 -0.013  0.038  1.045]
+t: 256	 action: [-0.052  0.023  0.041 -0.047  0.012  0.028 -1.128]
+t: 257	 action: [-0.035  0.051  0.115 -0.03   0.007  0.017 -1.127]
+t: 258	 action: [ 0.107 -0.069  0.21  -0.02   0.006  0.008 -1.04 ]
+t: 259	 action: [ 0.141 -0.049  0.273 -0.011  0.01  -0.002 -1.036]
+t: 260	 action: [ 0.159 -0.013  0.288 -0.007  0.013  0.007 -1.035]
+t: 261	 action: [ 0.192 -0.024  0.323 -0.005  0.022 -0.008 -1.027]
+t: 262	 action: [ 0.11   0.027  0.361  0.003  0.027 -0.005 -1.057]
+t: 263	 action: [ 0.122  0.035  0.353  0.006  0.012 -0.008 -1.054]
+t: 264	 action: [ 0.12   0.014  0.352 -0.004  0.027 -0.009 -1.046]
+t: 265	 action: [ 0.117  0.033  0.318  0.006  0.019 -0.009 -1.046]
+[07-31 01:45:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9777
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=266: Selected seed 195 with value = 0.9777
+t: 266	 action: [ 0.063 -0.102 -0.15  -0.009  0.001  0.003  1.096]
+t: 267	 action: [ 0.043 -0.105 -0.14  -0.018 -0.012 -0.014  0.977]
+t: 268	 action: [ 0.05  -0.025 -0.018 -0.007 -0.005 -0.005 -1.046]
+t: 269	 action: [ 0.127 -0.05  -0.001 -0.015 -0.018 -0.02  -1.03 ]
+t: 270	 action: [ 0.037  0.056 -0.024 -0.014 -0.01  -0.004 -1.113]
+t: 271	 action: [ 0.098  0.05   0.104 -0.021 -0.027 -0.012 -1.098]
+t: 272	 action: [ 0.118  0.067  0.071 -0.009 -0.005 -0.017 -1.05 ]
+t: 273	 action: [ 0.188  0.076  0.159 -0.011 -0.013 -0.029 -1.057]
+t: 274	 action: [ 0.189  0.022  0.177  0.005 -0.016 -0.019 -1.052]
+t: 275	 action: [ 0.193 -0.025  0.149  0.008 -0.017 -0.03  -1.07 ]
+t: 276	 action: [ 0.154  0.016  0.11   0.008 -0.013 -0.017 -1.068]
+t: 277	 action: [ 0.158 -0.027  0.077  0.01  -0.009 -0.026 -1.045]
+t: 278	 action: [ 0.092  0.004  0.123  0.017 -0.015 -0.016 -1.058]
+t: 279	 action: [ 0.026  0.008  0.125  0.016 -0.013 -0.03  -1.067]
+t: 280	 action: [ 0.065  0.007  0.075  0.012 -0.011 -0.02  -1.064]
+t: 281	 action: [ 0.016  0.003  0.083  0.015 -0.006 -0.026 -1.06 ]
+[07-31 01:45:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9643
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=282: Selected seed 195 with value = 0.9643
+t: 282	 action: [ 0.052  0.005 -0.138 -0.003 -0.007 -0.008 -1.026]
+t: 283	 action: [ 0.043 -0.006 -0.079 -0.004 -0.012 -0.032 -1.013]
+t: 284	 action: [ 0.01   0.021  0.079 -0.004 -0.02  -0.026 -1.03 ]
+t: 285	 action: [ 0.039  0.033  0.087 -0.005 -0.029 -0.04  -1.029]
+t: 286	 action: [-0.034  0.069  0.134 -0.005 -0.025 -0.02  -1.036]
+t: 287	 action: [-9.637e-03  1.015e-01  2.039e-01 -1.052e-04 -4.685e-02 -3.899e-02 -1.062e+00]
+t: 288	 action: [ 0.003  0.115  0.213 -0.005 -0.029 -0.035 -1.035]
+t: 289	 action: [ 0.043  0.106  0.203  0.003 -0.037 -0.048 -1.046]
+t: 290	 action: [ 0.08   0.042  0.181  0.005 -0.032 -0.028 -1.049]
+t: 291	 action: [ 0.074  0.009  0.144  0.011 -0.032 -0.04  -1.051]
+t: 292	 action: [ 0.107  0.04   0.101  0.006 -0.032 -0.033 -1.046]
+t: 293	 action: [ 0.11   0.006  0.064  0.011 -0.029 -0.038 -1.039]
+t: 294	 action: [ 0.049  0.006  0.091  0.017 -0.035 -0.023 -1.049]
+t: 295	 action: [ 0.015  0.032  0.053  0.019 -0.04  -0.04  -1.055]
+t: 296	 action: [ 0.048  0.012  0.033  0.009 -0.032 -0.03  -1.045]
+t: 297	 action: [ 0.019  0.021  0.015  0.016 -0.032 -0.038 -1.058]
+[07-31 01:45:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9624
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9624
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 66
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 32%|███▏      | 16/50 [08:34<18:16, 32.24s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 17...
+Query 1/1: Action query time = 0.990 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9624
+t=298: Selected seed 195 with value = 0.9624
+t: 298	 action: [ 0.08   0.02  -0.132 -0.002  0.002 -0.009 -1.02 ]
+t: 299	 action: [ 0.083 -0.007 -0.082 -0.003  0.002 -0.031 -0.998]
+t: 300	 action: [ 0.031  0.016  0.104 -0.002 -0.012 -0.033 -1.017]
+t: 301	 action: [ 0.051  0.004  0.131 -0.003 -0.018 -0.044 -1.026]
+t: 302	 action: [-6.608e-03  2.411e-02  1.961e-01  2.727e-04 -1.114e-02 -1.734e-02 -1.029e+00]
+t: 303	 action: [ 0.004  0.067  0.306 -0.005 -0.024 -0.038 -1.052]
+t: 304	 action: [-0.011  0.033  0.276 -0.002 -0.022 -0.036 -1.024]
+t: 305	 action: [ 0.016  0.065  0.254  0.003 -0.023 -0.049 -1.043]
+t: 306	 action: [ 0.077  0.023  0.223  0.006 -0.031 -0.022 -1.042]
+t: 307	 action: [ 0.051 -0.021  0.207  0.015 -0.026 -0.032 -1.037]
+t: 308	 action: [ 0.082  0.024  0.159  0.008 -0.034 -0.024 -1.037]
+t: 309	 action: [ 0.062 -0.024  0.13   0.015 -0.026 -0.031 -1.03 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=66--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=66--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 66
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 17...
+[07-31 01:46:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.215 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3550
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3550
+Query 1/1: Action query time = 1.215 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3550
+t=10: Selected seed 195 with value = 0.3550
+t: 10	 action: [ 0.176 -0.028  0.043  0.004  0.009  0.003 -1.011]
+t: 11	 action: [ 0.319 -0.041  0.074  0.003  0.017  0.001 -1.017]
+t: 12	 action: [ 0.521 -0.11   0.126  0.003  0.009  0.008 -1.02 ]
+t: 13	 action: [ 0.706 -0.119  0.174  0.005  0.017  0.006 -1.025]
+t: 14	 action: [ 0.79  -0.119  0.239  0.005  0.016  0.008 -1.025]
+t: 15	 action: [ 0.83  -0.163  0.232  0.01   0.014  0.008 -1.042]
+t: 16	 action: [ 0.905 -0.164  0.258  0.002  0.012  0.011 -1.023]
+t: 17	 action: [ 0.908 -0.191  0.246  0.014  0.012  0.01  -1.048]
+t: 18	 action: [ 0.875 -0.245  0.291  0.008  0.005  0.017 -1.029]
+t: 19	 action: [ 0.901 -0.227  0.3    0.014  0.013  0.011 -1.026]
+t: 20	 action: [ 9.082e-01 -2.349e-01  2.245e-01  8.768e-03 -2.448e-04  1.285e-02 -1.023e+00]
+t: 21	 action: [ 0.924 -0.229  0.249  0.015  0.012  0.01  -1.016]
+t: 22	 action: [ 9.286e-01 -2.326e-01  1.785e-01  1.068e-02 -6.071e-04  1.649e-02 -1.018e+00]
+t: 23	 action: [ 0.947 -0.32   0.129  0.02   0.005  0.013 -1.041]
+t: 24	 action: [ 0.947 -0.18   0.093  0.008 -0.003  0.009 -1.013]
+t: 25	 action: [ 0.96  -0.269  0.036  0.018  0.004  0.013 -1.042]
+[07-31 01:46:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4195
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4195
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4195
+t=26: Selected seed 195 with value = 0.4195
+t: 26	 action: [ 9.572e-01 -1.418e-01  1.123e-01  2.385e-03 -4.981e-03  5.201e-04 -1.023e+00]
+t: 27	 action: [ 0.962 -0.121  0.104  0.007 -0.006 -0.014 -1.02 ]
+t: 28	 action: [ 0.934 -0.243  0.063  0.01  -0.008  0.004 -1.031]
+t: 29	 action: [ 0.958 -0.248  0.073  0.021 -0.002 -0.01  -1.022]
+t: 30	 action: [ 9.702e-01 -2.910e-01 -7.349e-02  1.667e-02 -5.149e-03  7.887e-04 -1.012e+00]
+t: 31	 action: [ 0.911 -0.285 -0.119  0.021 -0.009 -0.011 -1.032]
+t: 32	 action: [ 8.566e-01 -3.067e-01 -3.157e-01  2.051e-02 -1.405e-02  2.122e-04 -1.027e+00]
+t: 33	 action: [ 0.796 -0.296 -0.398  0.025 -0.017 -0.009 -1.035]
+t: 34	 action: [ 0.484 -0.263 -0.531  0.014 -0.046  0.004 -1.031]
+t: 35	 action: [ 0.353 -0.199 -0.641  0.018 -0.049 -0.009 -1.023]
+t: 36	 action: [ 0.235 -0.152 -0.757  0.012 -0.078  0.007 -1.02 ]
+t: 37	 action: [ 0.085 -0.115 -0.826  0.016 -0.065 -0.005 -1.014]
+t: 38	 action: [-0.009 -0.057 -0.873  0.01  -0.095  0.001 -1.028]
+t: 39	 action: [-0.023 -0.077 -0.847  0.022 -0.072 -0.002 -1.029]
+t: 40	 action: [-0.111 -0.004 -0.906  0.006 -0.101  0.002 -1.023]
+t: 41	 action: [-0.037 -0.036 -0.884  0.02  -0.061  0.003 -1.035]
+[07-31 01:46:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5110
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5110
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5110
+t=42: Selected seed 195 with value = 0.5110
+t: 42	 action: [-0.036  0.408 -0.787  0.01  -0.021  0.026 -1.009]
+t: 43	 action: [-0.036  0.522 -0.787  0.009 -0.025  0.027 -1.015]
+t: 44	 action: [-0.031  0.665 -0.661  0.007 -0.013  0.033 -1.006]
+t: 45	 action: [-0.039  0.721 -0.628  0.007 -0.015  0.026 -1.02 ]
+t: 46	 action: [-0.075  0.678 -0.671  0.005 -0.018  0.033 -1.002]
+t: 47	 action: [-0.061  0.664 -0.621  0.009 -0.012  0.029 -1.026]
+t: 48	 action: [-0.089  0.754 -0.594  0.004 -0.013  0.038 -1.   ]
+t: 49	 action: [-0.058  0.77  -0.536  0.007 -0.005  0.027 -1.031]
+t: 50	 action: [-0.073  0.846 -0.561  0.005 -0.012  0.031 -1.009]
+t: 51	 action: [-0.055  0.828 -0.548  0.007 -0.016  0.025 -1.016]
+t: 52	 action: [-0.074  0.853 -0.54   0.006 -0.007  0.036 -1.013]
+t: 53	 action: [-0.053  0.808 -0.526  0.005 -0.009  0.024 -1.019]
+t: 54	 action: [-0.143  0.842 -0.54   0.003 -0.012  0.037 -1.006]
+t: 55	 action: [-0.129  0.835 -0.519  0.005 -0.015  0.025 -1.026]
+t: 56	 action: [-0.14   0.838 -0.537  0.003 -0.008  0.039 -1.006]
+t: 57	 action: [-0.107  0.803 -0.52   0.003 -0.009  0.026 -1.033]
+[07-31 01:46:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6269
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6269
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6269
+t=58: Selected seed 195 with value = 0.6269
+t: 58	 action: [ 4.395e-02  4.663e-01 -4.266e-01  5.790e-04  4.012e-03  1.343e-02 -1.005e+00]
+t: 59	 action: [ 5.018e-02  4.253e-01 -2.730e-01 -6.442e-04  9.849e-03  1.204e-02 -1.016e+00]
+t: 60	 action: [ 0.043  0.302 -0.217 -0.001  0.011  0.012 -0.999]
+t: 61	 action: [ 0.04   0.202 -0.073 -0.006  0.012  0.006 -1.02 ]
+t: 62	 action: [-0.021  0.294 -0.166 -0.001  0.014  0.005 -0.994]
+t: 63	 action: [-0.013  0.308  0.032 -0.003  0.01   0.007 -1.027]
+t: 64	 action: [-8.483e-02  1.562e-01  2.432e-01 -9.270e-03  1.554e-02 -9.161e-04 -9.978e-01]
+t: 65	 action: [-0.026  0.149  0.446 -0.011  0.007 -0.002 -1.031]
+t: 66	 action: [-1.411e-02  1.978e-02  5.447e-01  1.325e-02 -6.907e-03  8.603e-04 -1.019e+00]
+t: 67	 action: [-0.058 -0.08   0.584  0.025 -0.011 -0.004 -1.039]
+t: 68	 action: [-0.074 -0.049  0.535  0.032 -0.012  0.005 -1.028]
+t: 69	 action: [-0.124 -0.165  0.503  0.035 -0.018 -0.003 -1.026]
+t: 70	 action: [-0.291 -0.109  0.396  0.059 -0.012 -0.002 -1.016]
+t: 71	 action: [-0.355 -0.112  0.285  0.047 -0.022 -0.002 -1.037]
+t: 72	 action: [-0.487 -0.169  0.2    0.062 -0.018 -0.001 -1.018]
+t: 73	 action: [-4.416e-01 -1.813e-01  1.027e-01  4.772e-02 -1.878e-02  8.229e-04 -1.030e+00]
+[07-31 01:46:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5957
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5957
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5957
+t=74: Selected seed 195 with value = 0.5957
+t: 74	 action: [ 0.053  0.487 -0.266  0.003  0.007  0.039 -1.005]
+t: 75	 action: [ 0.108  0.388 -0.135  0.001  0.014  0.026 -1.   ]
+t: 76	 action: [ 6.944e-02  2.221e-01 -1.085e-01 -1.006e-03  2.680e-02  3.197e-02 -1.009e+00]
+t: 77	 action: [ 0.101  0.087  0.084  0.003  0.029  0.016 -1.017]
+t: 78	 action: [ 0.056  0.104  0.064  0.005  0.026  0.017 -0.995]
+t: 79	 action: [ 0.024  0.087  0.253  0.004  0.025  0.018 -1.03 ]
+t: 80	 action: [ 0.016 -0.014  0.356  0.005  0.04   0.005 -1.007]
+t: 81	 action: [ 0.005 -0.021  0.539  0.008  0.035  0.007 -1.034]
+t: 82	 action: [-0.027 -0.054  0.531  0.021  0.008  0.006 -1.023]
+t: 83	 action: [-1.429e-01 -1.566e-01  5.441e-01  2.643e-02  6.055e-04  2.232e-03 -1.040e+00]
+t: 84	 action: [-0.16  -0.056  0.392  0.023 -0.006  0.007 -1.036]
+t: 85	 action: [-0.244 -0.228  0.381  0.028 -0.008  0.005 -1.025]
+t: 86	 action: [-0.468 -0.154  0.259  0.049 -0.01   0.001 -1.015]
+t: 87	 action: [-0.56  -0.217  0.145  0.02  -0.019  0.005 -1.041]
+t: 88	 action: [-0.746 -0.194  0.113  0.044 -0.024  0.004 -1.012]
+t: 89	 action: [-0.713 -0.244  0.022  0.018 -0.023  0.011 -1.029]
+[07-31 01:46:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4679
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4679
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4679
+t=90: Selected seed 195 with value = 0.4679
+t: 90	 action: [ 0.03   0.305 -0.136 -0.001  0.025  0.004 -1.011]
+t: 91	 action: [ 0.072  0.217 -0.021 -0.002  0.037 -0.004 -1.019]
+t: 92	 action: [ 0.038  0.054  0.108 -0.006  0.034  0.002 -1.017]
+t: 93	 action: [ 0.051 -0.015  0.282 -0.004  0.045 -0.012 -1.022]
+t: 94	 action: [ 0.038 -0.002  0.338  0.006  0.035 -0.007 -1.005]
+t: 95	 action: [ 0.002 -0.033  0.455 -0.001  0.029 -0.015 -1.041]
+t: 96	 action: [-0.054 -0.06   0.501  0.005  0.036 -0.015 -1.017]
+t: 97	 action: [-0.094 -0.088  0.564  0.002  0.027 -0.023 -1.041]
+t: 98	 action: [-0.117 -0.09   0.377  0.02   0.013 -0.006 -1.035]
+t: 99	 action: [-0.328 -0.15   0.311  0.011  0.015 -0.015 -1.046]
+t: 100	 action: [-0.406 -0.044  0.206  0.015  0.004 -0.002 -1.043]
+t: 101	 action: [-0.532 -0.146  0.094  0.007  0.015 -0.014 -1.031]
+t: 102	 action: [-8.333e-01 -1.074e-01  5.778e-02  1.998e-02 -4.284e-05 -3.398e-03 -1.009e+00]
+t: 103	 action: [-0.819 -0.156 -0.008 -0.01  -0.01  -0.016 -1.047]
+t: 104	 action: [-0.912 -0.109 -0.059  0.013 -0.008 -0.003 -1.001]
+t: 105	 action: [-0.893 -0.15  -0.122 -0.017 -0.012 -0.013 -1.034]
+[07-31 01:46:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3804
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.3804
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3804
+t=106: Selected seed 195 with value = 0.3804
+t: 106	 action: [ 3.809e-02 -2.541e-02  1.897e-01  6.381e-04  1.239e-02 -2.854e-02 -1.014e+00]
+t: 107	 action: [-0.022 -0.043  0.134  0.002  0.006 -0.023 -1.045]
+t: 108	 action: [-0.162 -0.035  0.072  0.004  0.006 -0.025 -1.022]
+t: 109	 action: [-2.488e-01 -9.081e-02  1.849e-02  8.324e-04 -1.573e-03 -2.906e-02 -1.064e+00]
+t: 110	 action: [-4.309e-01 -2.029e-02 -8.149e-02 -1.690e-04  1.232e-03 -2.338e-02 -1.015e+00]
+t: 111	 action: [-4.262e-01 -3.642e-02 -8.684e-02 -4.589e-03 -1.041e-03 -2.943e-02 -1.056e+00]
+t: 112	 action: [-0.522 -0.018 -0.37  -0.011 -0.007 -0.017 -1.021]
+t: 113	 action: [-0.422 -0.021 -0.405 -0.028 -0.011 -0.039 -1.077]
+t: 114	 action: [-0.264  0.027 -0.614  0.003 -0.023 -0.002 -1.019]
+t: 115	 action: [-0.128  0.017 -0.723 -0.005 -0.023 -0.024 -1.048]
+t: 116	 action: [-3.641e-02  2.331e-03 -7.245e-01  2.853e-04 -3.027e-02 -4.300e-03 -9.633e-01]
+t: 117	 action: [ 0.054 -0.016 -0.756 -0.007 -0.033 -0.004 -0.873]
+t: 118	 action: [-3.920e-02  2.588e-02 -7.157e-01  3.801e-04 -4.266e-02 -1.450e-02 -1.014e+00]
+t: 119	 action: [ 0.023  0.057 -0.667 -0.006 -0.053 -0.041 -1.056]
+t: 120	 action: [ 0.077  0.018 -0.661 -0.006 -0.046 -0.019 -0.904]
+t: 121	 action: [ 1.055e-01  2.918e-02 -6.041e-01 -9.623e-03 -5.557e-02  3.398e-04  3.477e-01]
+[07-31 01:46:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4764
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4764
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4764
+t=122: Selected seed 195 with value = 0.4764
+t: 122	 action: [ 2.360e-01  2.700e-01 -3.746e-01 -9.222e-04 -1.402e-02  3.372e-04 -1.053e+00]
+t: 123	 action: [ 0.276  0.279 -0.326  0.009 -0.012 -0.007 -1.035]
+t: 124	 action: [ 2.448e-01  1.991e-01 -3.227e-01  2.174e-03 -1.562e-02 -3.682e-04 -1.059e+00]
+t: 125	 action: [ 0.288  0.154 -0.231  0.009 -0.016 -0.016 -1.04 ]
+t: 126	 action: [ 0.294  0.156 -0.114  0.003 -0.005 -0.004 -1.041]
+t: 127	 action: [ 0.288  0.129 -0.028  0.014 -0.019 -0.011 -1.054]
+t: 128	 action: [ 0.311  0.065  0.014  0.004 -0.013 -0.008 -1.05 ]
+t: 129	 action: [ 0.306  0.055  0.065  0.01  -0.027 -0.022 -1.056]
+t: 130	 action: [ 0.321 -0.04   0.072  0.023 -0.013 -0.019 -1.082]
+t: 131	 action: [ 0.299 -0.076  0.004  0.021 -0.01  -0.021 -1.044]
+t: 132	 action: [ 0.256 -0.069 -0.06   0.021 -0.025 -0.016 -1.091]
+t: 133	 action: [ 0.17  -0.096 -0.194  0.016 -0.023 -0.019 -1.045]
+t: 134	 action: [ 0.1   -0.014 -0.218  0.014 -0.03  -0.012 -1.069]
+t: 135	 action: [ 8.700e-04 -3.126e-02 -3.078e-01  1.478e-02 -3.751e-02 -2.061e-02 -1.045e+00]
+t: 136	 action: [-2.432e-02  1.919e-03 -4.466e-01  5.189e-04 -3.542e-02 -1.266e-02 -1.075e+00]
+t: 137	 action: [-0.039 -0.014 -0.485  0.007 -0.041 -0.017 -1.05 ]
+[07-31 01:46:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4959
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4959
+t=138: Selected seed 195 with value = 0.4959
+t: 138	 action: [ 0.062  0.048 -0.414  0.024 -0.006 -0.003 -1.054]
+t: 139	 action: [ 7.442e-02  8.162e-02 -3.840e-01  1.732e-02 -7.212e-04 -9.475e-03 -1.035e+00]
+t: 140	 action: [ 0.03   0.071 -0.4    0.021 -0.005 -0.002 -1.053]
+t: 141	 action: [ 4.464e-02  1.022e-01 -3.197e-01  1.133e-02  5.725e-04 -1.019e-02 -1.024e+00]
+t: 142	 action: [ 0.004  0.15  -0.292  0.014  0.004 -0.004 -1.043]
+t: 143	 action: [ 0.013  0.189 -0.172  0.017 -0.001 -0.007 -1.05 ]
+t: 144	 action: [-2.109e-02  1.435e-01 -1.885e-01  3.047e-03 -3.383e-04 -6.252e-03 -1.047e+00]
+t: 145	 action: [ 0.009  0.155 -0.109  0.009 -0.004 -0.012 -1.041]
+t: 146	 action: [ 0.141  0.079  0.006  0.006 -0.009 -0.021 -1.081]
+t: 147	 action: [ 0.137  0.071 -0.02   0.004 -0.008 -0.02  -1.044]
+t: 148	 action: [ 0.12   0.057 -0.148  0.002 -0.019 -0.01  -1.095]
+t: 149	 action: [ 1.029e-01  4.599e-02 -1.966e-01  1.338e-04 -1.563e-02 -1.685e-02 -1.043e+00]
+t: 150	 action: [ 0.052  0.056 -0.236 -0.002 -0.02  -0.015 -1.076]
+t: 151	 action: [ 0.007  0.02  -0.256  0.002 -0.025 -0.015 -1.044]
+t: 152	 action: [-0.034  0.027 -0.446 -0.007 -0.026 -0.01  -1.085]
+t: 153	 action: [-0.068 -0.004 -0.408 -0.003 -0.029 -0.013 -1.039]
+[07-31 01:46:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6022
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.6022
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6022
+t=154: Selected seed 195 with value = 0.6022
+t: 154	 action: [ 0.027  0.137 -0.556 -0.003 -0.008  0.009 -1.076]
+t: 155	 action: [ 0.058  0.1   -0.552 -0.004  0.003  0.002 -1.042]
+t: 156	 action: [-0.01   0.053 -0.564 -0.002 -0.003  0.01  -1.222]
+t: 157	 action: [-0.024  0.048 -0.544 -0.005  0.006  0.017 -1.151]
+t: 158	 action: [-0.03   0.019 -0.405 -0.002  0.009  0.005 -1.078]
+t: 159	 action: [-0.003  0.03  -0.515  0.005  0.003  0.001 -1.045]
+t: 160	 action: [-0.031  0.014 -0.336 -0.006  0.011  0.004  1.053]
+t: 161	 action: [-2.311e-05  2.409e-02 -4.373e-01  3.244e-03  5.080e-03 -4.220e-04  1.178e+00]
+t: 162	 action: [-0.049  0.048 -0.47  -0.008  0.009  0.007  0.992]
+t: 163	 action: [ 6.941e-03  7.291e-02 -3.951e-01 -1.800e-02  1.259e-02 -2.281e-04  1.040e+00]
+t: 164	 action: [-0.032  0.074 -0.355 -0.015  0.017  0.01   0.979]
+t: 165	 action: [-0.023  0.059 -0.263 -0.022  0.017 -0.002  1.023]
+t: 166	 action: [-0.057  0.081 -0.151 -0.007  0.026  0.002  1.022]
+t: 167	 action: [-0.008  0.063 -0.114 -0.012  0.019 -0.006  1.047]
+t: 168	 action: [-4.360e-02  1.035e-01  5.580e-02 -1.383e-02  2.906e-02 -5.470e-04  1.023e+00]
+t: 169	 action: [ 8.152e-04  7.050e-02  7.604e-02 -2.104e-02  2.333e-02 -1.086e-02  1.034e+00]
+[07-31 01:46:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7362
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7362
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7362
+t=170: Selected seed 195 with value = 0.7362
+t: 170	 action: [-0.156  0.001 -0.006 -0.005  0.014 -0.003  0.986]
+t: 171	 action: [-0.093 -0.032  0.101 -0.006  0.02  -0.011  1.037]
+t: 172	 action: [-0.1    0.008  0.311 -0.004  0.007 -0.014  0.985]
+t: 173	 action: [-0.022 -0.06   0.562 -0.004  0.022 -0.014  1.028]
+t: 174	 action: [-5.596e-02 -6.359e-02  6.250e-01 -1.832e-04  2.867e-02 -9.416e-03  1.007e+00]
+t: 175	 action: [ 0.006 -0.131  0.823  0.017  0.045 -0.013  1.031]
+t: 176	 action: [-0.054 -0.23   0.881  0.029  0.039 -0.016  0.998]
+t: 177	 action: [ 0.003 -0.369  0.929  0.04   0.061 -0.016  1.023]
+t: 178	 action: [-0.103 -0.467  0.779  0.038  0.063  0.004  0.99 ]
+t: 179	 action: [-0.072 -0.641  0.742  0.051  0.067 -0.002  1.028]
+t: 180	 action: [-0.135 -0.63   0.6    0.047  0.049  0.003  0.978]
+t: 181	 action: [-0.078 -0.747  0.497  0.059  0.045 -0.001  1.018]
+t: 182	 action: [-0.172 -0.742  0.3    0.065  0.046  0.001  1.005]
+t: 183	 action: [-0.22  -0.767  0.171  0.059  0.023  0.005  1.023]
+t: 184	 action: [-0.196 -0.759  0.095  0.052  0.028 -0.001  0.993]
+t: 185	 action: [-0.188 -0.752 -0.023  0.045  0.006  0.006  1.015]
+[07-31 01:46:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8571
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8571
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8571
+t=186: Selected seed 195 with value = 0.8571
+t: 186	 action: [-1.496e-01 -1.243e-01 -5.536e-03 -4.513e-03  9.329e-04  1.647e-03  9.889e-01]
+t: 187	 action: [-0.148 -0.113 -0.035 -0.008 -0.001 -0.002  1.06 ]
+t: 188	 action: [-1.452e-01 -9.891e-02 -2.648e-02  3.452e-04 -1.287e-02 -1.985e-03  1.121e+00]
+t: 189	 action: [-1.821e-01 -1.102e-01 -1.025e-01 -7.875e-04 -4.748e-03 -2.497e-02  1.003e+00]
+t: 190	 action: [-2.245e-01 -1.285e-01 -7.257e-02  9.288e-04  6.018e-03  1.583e-03  1.010e+00]
+t: 191	 action: [-1.680e-01 -6.385e-02 -8.701e-02  6.129e-04 -4.923e-03 -5.710e-03  1.072e+00]
+t: 192	 action: [-0.196 -0.089 -0.044 -0.004  0.023  0.002 -1.113]
+t: 193	 action: [-0.129 -0.063 -0.118  0.001  0.006 -0.013 -1.091]
+t: 194	 action: [-0.077 -0.356 -0.186  0.017  0.078  0.015  1.036]
+t: 195	 action: [-0.104 -0.41  -0.277  0.026  0.057  0.031  1.068]
+t: 196	 action: [-0.074 -0.318 -0.429  0.008  0.066  0.015  1.001]
+t: 197	 action: [-0.084 -0.317 -0.424  0.013  0.047  0.02   1.019]
+t: 198	 action: [-0.101 -0.322 -0.37  -0.007  0.056  0.023  1.067]
+t: 199	 action: [-0.086 -0.31  -0.287 -0.016  0.035  0.035  1.08 ]
+t: 200	 action: [-0.081 -0.186 -0.156 -0.004  0.041  0.008  1.008]
+t: 201	 action: [-0.032 -0.192 -0.127 -0.02   0.022  0.024 -1.093]
+[07-31 01:46:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9117
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=202: Selected seed 195 with value = 0.9117
+t: 202	 action: [-0.123 -0.002 -0.5   -0.037 -0.079 -0.004  1.011]
+t: 203	 action: [-0.075 -0.043 -0.263 -0.031 -0.067 -0.01   1.079]
+t: 204	 action: [-0.113 -0.003 -0.132 -0.017 -0.081 -0.018  1.106]
+t: 205	 action: [-0.058 -0.015  0.083 -0.024 -0.052 -0.054  0.945]
+t: 206	 action: [-0.075  0.015  0.187 -0.005 -0.015 -0.016  1.029]
+t: 207	 action: [ 2.344e-02  2.544e-02  3.572e-01 -1.164e-02 -5.130e-04 -1.994e-02  1.052e+00]
+t: 208	 action: [ 2.438e-02  1.145e-02  5.264e-01 -9.147e-04  1.869e-02 -2.726e-02 -1.124e+00]
+t: 209	 action: [ 0.122  0.018  0.588  0.005  0.029 -0.045 -1.135]
+t: 210	 action: [ 0.139  0.015  0.525  0.009  0.073 -0.026 -1.075]
+t: 211	 action: [ 0.176 -0.02   0.516  0.017  0.086 -0.037 -1.048]
+t: 212	 action: [ 0.17   0.02   0.426  0.008  0.079 -0.023 -1.073]
+t: 213	 action: [ 0.204 -0.005  0.402  0.015  0.094 -0.039 -1.045]
+t: 214	 action: [ 0.065  0.021  0.413  0.022  0.076 -0.016 -1.077]
+t: 215	 action: [ 0.092  0.033  0.372  0.024  0.083 -0.034 -1.066]
+t: 216	 action: [ 0.081  0.042  0.334  0.012  0.074 -0.017 -1.066]
+t: 217	 action: [ 0.118  0.031  0.289  0.021  0.079 -0.032 -1.062]
+[07-31 01:46:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9690
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=218: Selected seed 195 with value = 0.9690
+t: 218	 action: [ 0.045 -0.067 -0.477  0.003  0.013  0.006  1.118]
+t: 219	 action: [ 4.489e-02 -1.023e-01 -4.913e-01  3.294e-03  5.752e-04 -3.985e-03  9.986e-01]
+t: 220	 action: [ 0.055 -0.003 -0.538 -0.008  0.009  0.005  0.795]
+t: 221	 action: [ 0.056 -0.053 -0.465 -0.004  0.003 -0.01  -1.022]
+t: 222	 action: [-0.021  0.097 -0.358 -0.018 -0.003  0.004 -1.133]
+t: 223	 action: [-0.053  0.067 -0.207 -0.022 -0.008  0.003 -1.122]
+t: 224	 action: [-0.009  0.095 -0.066 -0.027 -0.004 -0.001 -1.049]
+t: 225	 action: [-0.027  0.089  0.061 -0.022 -0.006 -0.016 -1.059]
+t: 226	 action: [ 0.101  0.024  0.084 -0.013 -0.014 -0.018 -1.066]
+t: 227	 action: [ 1.401e-01  3.565e-03  1.296e-01 -1.258e-02  4.790e-04 -2.824e-02 -1.053e+00]
+t: 228	 action: [ 0.178  0.032  0.27  -0.018 -0.021 -0.025 -1.071]
+t: 229	 action: [ 0.213  0.021  0.288 -0.014  0.005 -0.03  -1.035]
+t: 230	 action: [ 0.077  0.052  0.338 -0.004 -0.016 -0.014 -1.072]
+t: 231	 action: [ 0.055  0.069  0.355 -0.005 -0.009 -0.028 -1.061]
+t: 232	 action: [ 0.136  0.075  0.357 -0.006 -0.015 -0.018 -1.067]
+t: 233	 action: [ 0.099  0.07   0.328 -0.003 -0.007 -0.026 -1.051]
+[07-31 01:46:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9683
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=234: Selected seed 195 with value = 0.9683
+t: 234	 action: [ 0.135  0.01  -0.441 -0.003  0.002  0.004 -1.008]
+t: 235	 action: [ 0.101 -0.031 -0.338  0.002 -0.007 -0.012 -0.975]
+t: 236	 action: [ 6.504e-02  3.769e-02 -2.135e-01 -5.733e-03 -1.437e-02  2.380e-04 -1.032e+00]
+t: 237	 action: [ 0.03   0.003 -0.133 -0.004 -0.024 -0.022 -1.03 ]
+t: 238	 action: [-0.041  0.116  0.01  -0.005 -0.033 -0.002 -1.051]
+t: 239	 action: [-0.036  0.128  0.168 -0.005 -0.022 -0.021 -1.059]
+t: 240	 action: [-0.09   0.122  0.194 -0.008 -0.042 -0.006 -1.046]
+t: 241	 action: [-0.045  0.108  0.328 -0.008 -0.027 -0.029 -1.049]
+t: 242	 action: [ 1.133e-01  5.633e-02  2.417e-01  2.514e-04 -2.718e-02 -3.037e-02 -1.061e+00]
+t: 243	 action: [ 1.272e-01  3.749e-02  2.287e-01 -8.622e-04 -2.182e-02 -3.619e-02 -1.052e+00]
+t: 244	 action: [ 0.166  0.063  0.196 -0.004 -0.034 -0.03  -1.055]
+t: 245	 action: [ 0.188  0.04   0.174 -0.002 -0.023 -0.033 -1.034]
+t: 246	 action: [ 0.086  0.067  0.143 -0.003 -0.028 -0.019 -1.062]
+t: 247	 action: [ 0.048  0.079  0.133  0.004 -0.018 -0.034 -1.055]
+t: 248	 action: [ 0.122  0.088  0.089 -0.006 -0.028 -0.021 -1.052]
+t: 249	 action: [ 0.063  0.076  0.094  0.003 -0.018 -0.029 -1.049]
+[07-31 01:46:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9303
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 0.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=250: Selected seed 195 with value = 0.9303
+t: 250	 action: [ 1.291e-01  3.045e-02 -4.633e-01  5.255e-04  3.386e-03  1.951e-03 -1.017e+00]
+t: 251	 action: [ 7.249e-02 -1.246e-02 -4.380e-01  5.744e-03  3.434e-04 -1.692e-02 -9.846e-01]
+t: 252	 action: [ 0.043  0.048 -0.242 -0.004 -0.007 -0.003 -1.027]
+t: 253	 action: [ 0.019 -0.003 -0.221 -0.002 -0.011 -0.029 -1.025]
+t: 254	 action: [-0.098  0.091 -0.033 -0.002 -0.019 -0.003 -1.04 ]
+t: 255	 action: [-5.489e-02  1.073e-01  1.361e-01 -2.176e-04 -1.535e-02 -2.447e-02 -1.055e+00]
+t: 256	 action: [-0.157  0.091  0.215 -0.007 -0.034 -0.008 -1.041]
+t: 257	 action: [-0.096  0.089  0.346 -0.008 -0.027 -0.034 -1.05 ]
+t: 258	 action: [ 0.049  0.049  0.293  0.002 -0.025 -0.038 -1.052]
+t: 259	 action: [ 0.058  0.015  0.273  0.003 -0.022 -0.04  -1.037]
+t: 260	 action: [ 0.089  0.051  0.262 -0.002 -0.039 -0.034 -1.047]
+t: 261	 action: [ 0.1    0.013  0.207  0.002 -0.03  -0.036 -1.029]
+t: 262	 action: [ 0.025  0.049  0.176  0.005 -0.036 -0.021 -1.05 ]
+t: 263	 action: [ 0.013  0.059  0.13   0.009 -0.031 -0.036 -1.048]
+t: 264	 action: [ 0.043  0.061  0.101 -0.002 -0.041 -0.02  -1.046]
+t: 265	 action: [ 0.024  0.05   0.065  0.008 -0.034 -0.03  -1.047]
+[07-31 01:46:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9127
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9127
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9127
+t=266: Selected seed 195 with value = 0.9127
+t: 266	 action: [ 0.14   0.043 -0.424  0.002 -0.004 -0.007 -1.014]
+t: 267	 action: [ 7.336e-02  4.200e-02 -4.269e-01  5.978e-03 -5.414e-04 -2.870e-02 -9.935e-01]
+t: 268	 action: [ 0.049  0.042 -0.2   -0.004 -0.011 -0.013 -1.026]
+t: 269	 action: [ 2.668e-02  1.329e-02 -2.133e-01  5.659e-04 -8.951e-03 -3.791e-02 -1.027e+00]
+t: 270	 action: [-0.102  0.096 -0.017 -0.003 -0.017 -0.008 -1.039]
+t: 271	 action: [-0.052  0.097  0.126  0.003 -0.007 -0.033 -1.057]
+t: 272	 action: [-0.164  0.068  0.177 -0.007 -0.026 -0.011 -1.043]
+t: 273	 action: [-0.09   0.065  0.296 -0.003 -0.019 -0.04  -1.052]
+t: 274	 action: [ 0.042  0.019  0.275  0.012 -0.021 -0.04  -1.051]
+t: 275	 action: [ 0.034 -0.014  0.22   0.011 -0.024 -0.043 -1.035]
+t: 276	 action: [ 0.046  0.034  0.216  0.006 -0.038 -0.032 -1.05 ]
+t: 277	 action: [ 0.052 -0.015  0.121  0.007 -0.035 -0.037 -1.03 ]
+t: 278	 action: [-0.033  0.043  0.109  0.014 -0.04  -0.022 -1.055]
+t: 279	 action: [-0.018  0.026  0.07   0.011 -0.041 -0.038 -1.046]
+t: 280	 action: [-0.033  0.039  0.024  0.004 -0.047 -0.019 -1.051]
+t: 281	 action: [-0.014  0.021  0.012  0.008 -0.047 -0.031 -1.048]
+[07-31 01:46:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9186
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9186
+Query 1/1: Action query time = 0.988 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9186
+t=282: Selected seed 195 with value = 0.9186
+t: 282	 action: [ 0.193  0.066 -0.178 -0.004 -0.022 -0.03  -1.015]
+t: 283	 action: [ 0.159  0.072 -0.181  0.005 -0.011 -0.051 -0.982]
+t: 284	 action: [ 0.122  0.028  0.125 -0.005 -0.023 -0.033 -1.027]
+t: 285	 action: [ 0.091  0.028  0.081  0.006 -0.018 -0.056 -1.031]
+t: 286	 action: [-0.024  0.038  0.198 -0.006 -0.021 -0.024 -1.049]
+t: 287	 action: [-0.002  0.045  0.243  0.006 -0.005 -0.052 -1.064]
+t: 288	 action: [-9.929e-02  5.367e-03  1.700e-01  4.206e-06 -2.169e-02 -2.263e-02 -1.047e+00]
+t: 289	 action: [-0.015 -0.031  0.134  0.012 -0.007 -0.055 -1.055]
+t: 290	 action: [ 0.074 -0.082  0.175  0.031 -0.013 -0.037 -1.053]
+t: 291	 action: [ 0.033 -0.076  0.041  0.022 -0.005 -0.045 -1.04 ]
+t: 292	 action: [ 0.036 -0.021  0.079  0.02  -0.027 -0.029 -1.05 ]
+t: 293	 action: [ 0.03  -0.064 -0.034  0.016 -0.011 -0.036 -1.034]
+t: 294	 action: [-0.058 -0.005 -0.019  0.02  -0.027 -0.023 -1.062]
+t: 295	 action: [-0.047 -0.024 -0.081  0.017 -0.021 -0.041 -1.053]
+t: 296	 action: [-0.09   0.035 -0.128  0.004 -0.036 -0.019 -1.059]
+t: 297	 action: [-0.064 -0.01  -0.174  0.011 -0.027 -0.031 -1.053]
+[07-31 01:46:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9059
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9059
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 67
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 34%|███▍      | 17/50 [09:06<17:35, 31.99s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 18...
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9059
+t=298: Selected seed 195 with value = 0.9059
+t: 298	 action: [ 0.201  0.082  0.121 -0.008 -0.032 -0.033 -1.   ]
+t: 299	 action: [ 0.221  0.128  0.166  0.007 -0.013 -0.049 -0.961]
+t: 300	 action: [ 0.176  0.047  0.338 -0.002 -0.022 -0.033 -1.025]
+t: 301	 action: [ 0.185  0.056  0.308  0.013 -0.01  -0.053 -1.034]
+t: 302	 action: [ 0.052  0.001  0.38   0.008 -0.023 -0.02  -1.05 ]
+t: 303	 action: [ 0.041 -0.034  0.307  0.012 -0.001 -0.046 -1.074]
+t: 304	 action: [-0.024 -0.099  0.216  0.024 -0.015 -0.02  -1.049]
+t: 305	 action: [ 0.029 -0.145  0.111  0.022  0.002 -0.051 -1.061]
+t: 306	 action: [ 1.103e-01 -1.513e-01  1.731e-01  3.597e-02 -1.960e-04 -2.140e-02 -1.057e+00]
+t: 307	 action: [ 0.041 -0.142  0.028  0.025  0.005 -0.031 -1.049]
+t: 308	 action: [ 0.061 -0.109  0.039  0.033 -0.013 -0.013 -1.053]
+t: 309	 action: [ 2.360e-02 -1.290e-01 -1.046e-01  2.075e-02  6.676e-04 -2.086e-02 -1.039e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=67--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=67--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 67
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 18...
+[07-31 01:46:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.247 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3849
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3849
+Query 1/1: Action query time = 1.247 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3849
+t=10: Selected seed 195 with value = 0.3849
+t: 10	 action: [ 0.099  0.014 -0.054 -0.003  0.008  0.005 -0.997]
+t: 11	 action: [ 0.33   0.08  -0.009 -0.014  0.012  0.003 -0.989]
+t: 12	 action: [ 0.501  0.075 -0.004 -0.015  0.01   0.012 -1.021]
+t: 13	 action: [ 0.687  0.131  0.031 -0.022  0.013  0.008 -1.01 ]
+t: 14	 action: [ 0.766  0.112  0.064 -0.017  0.015  0.009 -1.013]
+t: 15	 action: [ 0.812  0.121  0.048 -0.017  0.009  0.007 -1.027]
+t: 16	 action: [ 0.884  0.085  0.099 -0.022  0.016  0.012 -1.02 ]
+t: 17	 action: [ 0.889  0.102  0.088 -0.02   0.011  0.009 -1.04 ]
+t: 18	 action: [ 0.843 -0.031  0.123 -0.037 -0.006  0.013 -1.036]
+t: 19	 action: [ 0.869  0.03   0.173 -0.018  0.009  0.008 -1.015]
+t: 20	 action: [ 0.885 -0.129  0.116 -0.01  -0.018  0.012 -1.03 ]
+t: 21	 action: [ 0.892 -0.06   0.179 -0.004  0.005  0.009 -1.013]
+t: 22	 action: [ 9.029e-01 -1.902e-01  1.270e-01  7.390e-04 -1.724e-02  1.070e-02 -1.024e+00]
+t: 23	 action: [ 9.094e-01 -3.119e-01  1.229e-01 -3.991e-03 -5.869e-04  1.039e-02 -1.032e+00]
+t: 24	 action: [ 0.913 -0.33   0.062  0.009 -0.027  0.008 -1.018]
+t: 25	 action: [ 0.918 -0.45   0.083  0.011 -0.002  0.012 -1.037]
+[07-31 01:46:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.214 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4562
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 1.214 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=26: Selected seed 195 with value = 0.4562
+t: 26	 action: [ 8.773e-01 -2.805e-01  1.424e-03 -6.165e-04 -3.403e-02  5.729e-03 -1.036e+00]
+t: 27	 action: [ 0.82  -0.319  0.013  0.007 -0.033 -0.003 -1.029]
+t: 28	 action: [ 0.783 -0.38  -0.036  0.011 -0.042  0.007 -1.036]
+t: 29	 action: [ 0.718 -0.424 -0.035  0.02  -0.038 -0.003 -1.029]
+t: 30	 action: [ 0.612 -0.58  -0.056  0.035 -0.034  0.003 -1.036]
+t: 31	 action: [ 5.324e-01 -6.309e-01 -6.231e-02  3.470e-02 -2.735e-02 -3.894e-04 -1.056e+00]
+t: 32	 action: [ 0.478 -0.606 -0.119  0.044 -0.045  0.003 -1.032]
+t: 33	 action: [ 3.949e-01 -5.796e-01 -1.557e-01  3.863e-02 -3.473e-02  9.394e-05 -1.053e+00]
+t: 34	 action: [ 0.329 -0.468 -0.301  0.045 -0.077  0.013 -1.047]
+t: 35	 action: [ 0.307 -0.471 -0.312  0.031 -0.056  0.004 -1.03 ]
+t: 36	 action: [ 0.255 -0.355 -0.432  0.039 -0.091  0.013 -1.032]
+t: 37	 action: [ 0.191 -0.293 -0.466  0.027 -0.061  0.005 -1.019]
+t: 38	 action: [ 0.157 -0.102 -0.49   0.012 -0.091  0.005 -1.042]
+t: 39	 action: [ 0.092 -0.076 -0.503  0.018 -0.058  0.004 -1.054]
+t: 40	 action: [ 0.045  0.058 -0.597  0.004 -0.079  0.007 -1.028]
+t: 41	 action: [ 0.022  0.059 -0.634  0.016 -0.042  0.008 -1.054]
+[07-31 01:46:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.145 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5512
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5512
+Query 1/1: Action query time = 1.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5512
+t=42: Selected seed 195 with value = 0.5512
+t: 42	 action: [-0.066  0.755 -0.48   0.004 -0.018  0.014 -0.983]
+t: 43	 action: [-0.038  0.76  -0.491  0.011 -0.014  0.015 -1.009]
+t: 44	 action: [-0.089  0.794 -0.433  0.004 -0.011  0.018 -0.974]
+t: 45	 action: [-0.071  0.794 -0.447  0.01  -0.006  0.019 -1.012]
+t: 46	 action: [-6.388e-02  8.064e-01 -3.967e-01 -6.134e-04  2.056e-05  1.673e-02 -9.730e-01]
+t: 47	 action: [-0.052  0.811 -0.4    0.013 -0.001  0.021 -1.031]
+t: 48	 action: [-0.081  0.819 -0.374 -0.001  0.007  0.026 -0.965]
+t: 49	 action: [-0.054  0.824 -0.389  0.012  0.001  0.026 -1.036]
+t: 50	 action: [-0.018  0.79  -0.445  0.007 -0.008  0.025 -0.997]
+t: 51	 action: [-7.286e-04  7.631e-01 -4.790e-01  4.060e-03 -1.282e-03  2.129e-02 -1.018e+00]
+t: 52	 action: [-0.031  0.768 -0.43   0.006 -0.001  0.028 -0.992]
+t: 53	 action: [-1.764e-02  7.205e-01 -4.611e-01 -2.583e-04  5.266e-03  2.216e-02 -1.019e+00]
+t: 54	 action: [-7.174e-02  7.150e-01 -4.534e-01 -6.218e-04  2.019e-03  2.397e-02 -9.920e-01]
+t: 55	 action: [-5.960e-02  6.619e-01 -4.078e-01  1.737e-03 -2.344e-04  2.181e-02 -1.034e+00]
+t: 56	 action: [-0.07   0.548 -0.413 -0.003  0.013  0.024 -0.983]
+t: 57	 action: [-0.023  0.44  -0.296 -0.004  0.002  0.023 -1.042]
+[07-31 01:46:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.189 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6280
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6280
+Query 1/1: Action query time = 1.189 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6280
+t=58: Selected seed 195 with value = 0.6280
+t: 58	 action: [ 1.965e-02  1.569e-02 -3.279e-01  1.199e-02 -9.019e-04 -5.331e-03 -1.013e+00]
+t: 59	 action: [ 0.03  -0.032 -0.187  0.01   0.006 -0.022 -1.   ]
+t: 60	 action: [-0.018 -0.02  -0.141  0.003  0.009 -0.006 -1.011]
+t: 61	 action: [ 0.014 -0.078 -0.035  0.002  0.013 -0.026 -1.007]
+t: 62	 action: [-0.054  0.03  -0.01   0.002  0.022 -0.009 -1.012]
+t: 63	 action: [-0.036  0.087  0.137  0.007  0.022 -0.021 -1.04 ]
+t: 64	 action: [-0.105  0.068  0.262 -0.004  0.03  -0.012 -1.011]
+t: 65	 action: [-0.081  0.086  0.376 -0.004  0.032 -0.026 -1.036]
+t: 66	 action: [-0.043 -0.049  0.464  0.012  0.009 -0.027 -1.024]
+t: 67	 action: [-0.109 -0.089  0.489  0.024  0.007 -0.028 -1.038]
+t: 68	 action: [-0.086 -0.044  0.404  0.012  0.003 -0.015 -1.034]
+t: 69	 action: [-0.183 -0.108  0.338  0.024  0.005 -0.024 -1.023]
+t: 70	 action: [-3.640e-01 -7.288e-02  2.252e-01  2.896e-02  8.926e-04 -1.553e-02 -1.020e+00]
+t: 71	 action: [-0.501 -0.048  0.133  0.028 -0.012 -0.024 -1.048]
+t: 72	 action: [-0.614 -0.08   0.116  0.029 -0.005 -0.009 -1.016]
+t: 73	 action: [-0.624 -0.079  0.043  0.028 -0.014 -0.015 -1.039]
+[07-31 01:46:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.171 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5699
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5699
+Query 1/1: Action query time = 1.171 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5699
+t=74: Selected seed 195 with value = 0.5699
+t: 74	 action: [ 1.005e-01  2.101e-01 -1.843e-01  7.683e-04 -2.002e-03  6.762e-03 -1.021e+00]
+t: 75	 action: [ 0.134  0.174 -0.196  0.006  0.001  0.004 -1.015]
+t: 76	 action: [ 0.081  0.066 -0.099 -0.003  0.004  0.01  -1.014]
+t: 77	 action: [ 1.093e-01  2.019e-02 -2.041e-02  2.965e-03  3.744e-03  6.416e-05 -1.020e+00]
+t: 78	 action: [ 4.844e-02  6.459e-02  5.041e-02 -3.252e-03  1.293e-02  7.254e-04 -1.012e+00]
+t: 79	 action: [ 2.280e-02  1.076e-01  2.037e-01  8.321e-03  5.000e-03 -1.703e-04 -1.047e+00]
+t: 80	 action: [-0.009  0.034  0.312 -0.003  0.016 -0.003 -1.009]
+t: 81	 action: [ 0.004  0.071  0.472  0.005  0.005 -0.007 -1.045]
+t: 82	 action: [-9.046e-04  1.800e-02  5.022e-01  1.334e-02 -1.738e-02 -1.778e-02 -1.026e+00]
+t: 83	 action: [-0.083 -0.046  0.507  0.031 -0.019 -0.021 -1.04 ]
+t: 84	 action: [-0.097  0.015  0.445  0.022 -0.024 -0.011 -1.033]
+t: 85	 action: [-0.196 -0.075  0.388  0.034 -0.031 -0.022 -1.025]
+t: 86	 action: [-0.471 -0.05   0.328  0.049 -0.034 -0.015 -1.019]
+t: 87	 action: [-0.581 -0.09   0.215  0.035 -0.044 -0.022 -1.044]
+t: 88	 action: [-0.724 -0.093  0.225  0.05  -0.04  -0.013 -1.005]
+t: 89	 action: [-0.735 -0.135  0.102  0.033 -0.041 -0.019 -1.033]
+[07-31 01:46:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.168 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4689
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4689
+Query 1/1: Action query time = 1.168 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4689
+t=90: Selected seed 195 with value = 0.4689
+t: 90	 action: [ 1.901e-01  2.073e-01 -2.337e-01 -5.543e-04 -1.384e-02 -6.570e-03 -1.025e+00]
+t: 91	 action: [ 2.270e-01  2.229e-01 -2.852e-01  1.136e-02 -1.377e-04 -1.791e-02 -1.028e+00]
+t: 92	 action: [ 1.683e-01  3.587e-02 -1.783e-01  5.105e-04 -5.602e-03 -5.491e-03 -1.033e+00]
+t: 93	 action: [ 0.194 -0.007 -0.203  0.009  0.006 -0.025 -1.035]
+t: 94	 action: [ 0.12   0.006 -0.047  0.003  0.006 -0.019 -1.018]
+t: 95	 action: [ 0.099  0.013 -0.045  0.017  0.008 -0.023 -1.051]
+t: 96	 action: [ 0.052  0.003  0.053 -0.003  0.007 -0.021 -1.029]
+t: 97	 action: [ 0.068  0.029  0.052  0.011  0.004 -0.033 -1.058]
+t: 98	 action: [-0.045 -0.058  0.019  0.034 -0.008 -0.014 -1.029]
+t: 99	 action: [-0.152 -0.101 -0.014  0.022 -0.005 -0.021 -1.035]
+t: 100	 action: [-0.189  0.005 -0.018  0.019 -0.013 -0.015 -1.033]
+t: 101	 action: [-0.289 -0.068 -0.146  0.014 -0.008 -0.025 -1.039]
+t: 102	 action: [-0.439  0.026 -0.143  0.011 -0.016 -0.009 -1.023]
+t: 103	 action: [-0.475  0.012 -0.18   0.011 -0.021 -0.022 -1.045]
+t: 104	 action: [-0.526  0.006 -0.219 -0.002 -0.016 -0.013 -1.028]
+t: 105	 action: [-0.482  0.026 -0.247  0.005 -0.018 -0.025 -1.051]
+[07-31 01:46:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.177 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4700
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4700
+Query 1/1: Action query time = 1.177 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4700
+t=106: Selected seed 195 with value = 0.4700
+t: 106	 action: [ 0.238  0.112 -0.25   0.019 -0.016 -0.005 -1.035]
+t: 107	 action: [ 0.246  0.162 -0.289  0.025 -0.009 -0.018 -1.027]
+t: 108	 action: [ 0.196  0.044 -0.222  0.019 -0.009 -0.004 -1.037]
+t: 109	 action: [ 2.178e-01  6.065e-02 -2.319e-01  2.136e-02  3.365e-04 -2.429e-02 -1.034e+00]
+t: 110	 action: [ 0.105  0.079 -0.081  0.012  0.005 -0.008 -1.026]
+t: 111	 action: [ 0.134  0.109 -0.022  0.025  0.012 -0.018 -1.05 ]
+t: 112	 action: [ 0.109  0.073  0.039  0.004  0.007 -0.011 -1.031]
+t: 113	 action: [ 0.174  0.095  0.077  0.017  0.008 -0.027 -1.054]
+t: 114	 action: [ 0.119 -0.034  0.07   0.052 -0.015 -0.03  -1.052]
+t: 115	 action: [ 0.085 -0.054  0.034  0.036 -0.013 -0.027 -1.035]
+t: 116	 action: [ 6.889e-02 -3.160e-04 -2.255e-02  4.262e-02 -1.930e-02 -2.828e-02 -1.054e+00]
+t: 117	 action: [ 0.041 -0.047 -0.134  0.026 -0.019 -0.027 -1.038]
+t: 118	 action: [-0.094  0.021 -0.188  0.027 -0.026 -0.015 -1.048]
+t: 119	 action: [-0.126 -0.009 -0.26   0.018 -0.03  -0.021 -1.04 ]
+t: 120	 action: [-0.224  0.005 -0.349  0.01  -0.025 -0.016 -1.051]
+t: 121	 action: [-0.238  0.007 -0.398  0.01  -0.029 -0.019 -1.044]
+[07-31 01:46:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.114 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4829
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 1.114 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=122: Selected seed 195 with value = 0.4829
+t: 122	 action: [ 0.225  0.014 -0.153  0.025 -0.008 -0.006 -1.041]
+t: 123	 action: [ 2.480e-01  1.006e-02 -1.596e-01  2.674e-02  9.309e-05 -1.879e-02 -1.034e+00]
+t: 124	 action: [ 0.144 -0.001 -0.106  0.021 -0.003 -0.007 -1.041]
+t: 125	 action: [ 0.157 -0.021 -0.08   0.02   0.003 -0.024 -1.034]
+t: 126	 action: [ 0.072  0.041 -0.01   0.015  0.01  -0.007 -1.028]
+t: 127	 action: [ 0.072  0.092  0.08   0.021  0.011 -0.018 -1.055]
+t: 128	 action: [ 0.043  0.059  0.113  0.004  0.009 -0.011 -1.032]
+t: 129	 action: [ 0.07   0.078  0.198  0.01   0.007 -0.025 -1.05 ]
+t: 130	 action: [ 0.195 -0.024  0.233  0.033 -0.012 -0.033 -1.058]
+t: 131	 action: [ 0.191 -0.036  0.135  0.027 -0.007 -0.027 -1.04 ]
+t: 132	 action: [ 0.187 -0.007  0.038  0.024 -0.021 -0.02  -1.063]
+t: 133	 action: [ 0.153 -0.044 -0.078  0.018 -0.018 -0.023 -1.038]
+t: 134	 action: [ 0.05  -0.009 -0.092  0.022 -0.025 -0.015 -1.055]
+t: 135	 action: [-0.024 -0.067 -0.192  0.017 -0.034 -0.019 -1.046]
+t: 136	 action: [-0.087 -0.058 -0.375  0.009 -0.032 -0.009 -1.059]
+t: 137	 action: [-0.148 -0.074 -0.446  0.009 -0.041 -0.014 -1.048]
+[07-31 01:46:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.106 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5428
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.5428
+Query 1/1: Action query time = 1.106 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5428
+t=138: Selected seed 195 with value = 0.5428
+t: 138	 action: [ 0.151  0.005 -0.147  0.018 -0.001 -0.012 -1.042]
+t: 139	 action: [ 0.126 -0.009 -0.146  0.022  0.005 -0.027 -1.031]
+t: 140	 action: [ 0.058 -0.028 -0.054  0.02   0.001 -0.017 -1.036]
+t: 141	 action: [ 0.051 -0.053 -0.047  0.019  0.009 -0.031 -1.03 ]
+t: 142	 action: [-0.003  0.03   0.013  0.014  0.016 -0.015 -1.03 ]
+t: 143	 action: [-0.008  0.072  0.086  0.022  0.017 -0.025 -1.055]
+t: 144	 action: [-0.061  0.052  0.167  0.015  0.014 -0.023 -1.029]
+t: 145	 action: [-0.025  0.036  0.254  0.018  0.011 -0.033 -1.047]
+t: 146	 action: [ 0.098 -0.071  0.263  0.047 -0.003 -0.033 -1.055]
+t: 147	 action: [ 0.078 -0.075  0.154  0.039  0.002 -0.029 -1.039]
+t: 148	 action: [ 0.098 -0.057  0.048  0.043 -0.013 -0.019 -1.055]
+t: 149	 action: [ 0.09  -0.087 -0.065  0.031 -0.005 -0.024 -1.039]
+t: 150	 action: [ 0.023 -0.051 -0.076  0.037 -0.018 -0.018 -1.052]
+t: 151	 action: [-0.038 -0.11  -0.203  0.027 -0.022 -0.022 -1.047]
+t: 152	 action: [-0.058 -0.079 -0.356  0.023 -0.026 -0.01  -1.049]
+t: 153	 action: [-0.135 -0.091 -0.442  0.017 -0.031 -0.016 -1.05 ]
+[07-31 01:46:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5725
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.5725
+Query 1/1: Action query time = 0.995 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5725
+t=154: Selected seed 195 with value = 0.5725
+t: 154	 action: [ 0.073  0.044 -0.208  0.014 -0.009 -0.017 -1.035]
+t: 155	 action: [ 4.906e-02  4.444e-02 -1.976e-01  1.916e-02 -4.033e-04 -2.900e-02 -1.025e+00]
+t: 156	 action: [-0.011  0.019 -0.064  0.015 -0.006 -0.024 -1.032]
+t: 157	 action: [ 0.01  -0.015 -0.049  0.017  0.007 -0.036 -1.028]
+t: 158	 action: [-0.067  0.038  0.051  0.015  0.008 -0.021 -1.033]
+t: 159	 action: [-0.057  0.08   0.108  0.02   0.015 -0.03  -1.053]
+t: 160	 action: [-0.112  0.03   0.231  0.022  0.008 -0.03  -1.031]
+t: 161	 action: [-0.074 -0.007  0.335  0.021  0.014 -0.039 -1.048]
+t: 162	 action: [ 0.11  -0.108  0.357  0.051  0.001 -0.039 -1.055]
+t: 163	 action: [ 0.093 -0.115  0.222  0.042  0.008 -0.034 -1.039]
+t: 164	 action: [ 0.104 -0.107  0.12   0.048 -0.007 -0.025 -1.056]
+t: 165	 action: [ 0.102 -0.133 -0.018  0.033  0.005 -0.028 -1.042]
+t: 166	 action: [ 0.038 -0.095  0.017  0.038 -0.014 -0.026 -1.054]
+t: 167	 action: [-0.018 -0.135 -0.165  0.028 -0.009 -0.03  -1.047]
+t: 168	 action: [-0.045 -0.043 -0.291  0.02  -0.023 -0.016 -1.05 ]
+t: 169	 action: [-0.128 -0.078 -0.437  0.017 -0.018 -0.023 -1.051]
+[07-31 01:46:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5978
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5978
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5978
+t=170: Selected seed 195 with value = 0.5978
+t: 170	 action: [-0.03   0.047 -0.175  0.007 -0.029 -0.03  -1.024]
+t: 171	 action: [-0.039  0.042 -0.168  0.016 -0.019 -0.037 -1.009]
+t: 172	 action: [-0.123  0.028  0.008  0.007 -0.027 -0.039 -1.034]
+t: 173	 action: [-7.714e-02  8.969e-04  3.463e-02  1.361e-02 -4.773e-03 -4.403e-02 -1.029e+00]
+t: 174	 action: [-0.186  0.049  0.183  0.009 -0.012 -0.03  -1.041]
+t: 175	 action: [-0.148  0.057  0.239  0.017  0.007 -0.036 -1.058]
+t: 176	 action: [-0.169  0.024  0.341  0.022 -0.007 -0.038 -1.043]
+t: 177	 action: [-0.09  -0.06   0.482  0.022  0.011 -0.046 -1.052]
+t: 178	 action: [ 1.315e-01 -1.550e-01  4.345e-01  4.949e-02  8.863e-04 -4.157e-02 -1.057e+00]
+t: 179	 action: [ 0.152 -0.157  0.286  0.038  0.009 -0.04  -1.046]
+t: 180	 action: [ 0.146 -0.144  0.181  0.049 -0.004 -0.027 -1.064]
+t: 181	 action: [ 0.172 -0.163  0.034  0.031  0.009 -0.032 -1.048]
+t: 182	 action: [ 0.075 -0.143  0.066  0.034 -0.01  -0.031 -1.063]
+t: 183	 action: [ 0.03  -0.172 -0.148  0.024 -0.002 -0.037 -1.047]
+t: 184	 action: [ 0.009 -0.027 -0.26   0.015 -0.017 -0.02  -1.059]
+t: 185	 action: [-0.034 -0.08  -0.413  0.013 -0.008 -0.028 -1.039]
+[07-31 01:46:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6350
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.6350
+Query 1/1: Action query time = 0.995 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6350
+t=186: Selected seed 195 with value = 0.6350
+t: 186	 action: [-0.05   0.075 -0.07   0.003 -0.036 -0.037 -0.714]
+t: 187	 action: [-0.092  0.042 -0.055  0.013 -0.029 -0.049 -0.797]
+t: 188	 action: [-0.172  0.032  0.159  0.004 -0.031 -0.042 -1.012]
+t: 189	 action: [-0.118 -0.014  0.252  0.011 -0.016 -0.049 -1.044]
+t: 190	 action: [-0.299  0.035  0.361  0.016 -0.019 -0.027 -1.109]
+t: 191	 action: [-0.17  -0.043  0.464  0.021  0.01  -0.045 -1.093]
+t: 192	 action: [-0.218 -0.021  0.435  0.031 -0.007 -0.031 -1.046]
+t: 193	 action: [-0.085 -0.163  0.521  0.03   0.013 -0.047 -1.052]
+t: 194	 action: [ 0.129 -0.225  0.393  0.055  0.007 -0.028 -1.048]
+t: 195	 action: [ 0.15  -0.229  0.217  0.032  0.011 -0.03  -1.059]
+t: 196	 action: [ 0.167 -0.153  0.144  0.046  0.006 -0.008 -1.036]
+t: 197	 action: [ 0.21  -0.176 -0.022  0.023  0.01  -0.014 -1.028]
+t: 198	 action: [ 0.065 -0.116 -0.025  0.021 -0.009 -0.016 -1.068]
+t: 199	 action: [ 0.027 -0.156 -0.213  0.011 -0.003 -0.024 -1.045]
+t: 200	 action: [ 0.013  0.023 -0.349 -0.005 -0.014 -0.008 -1.004]
+t: 201	 action: [-0.009 -0.045 -0.464 -0.007 -0.006  0.001  0.876]
+[07-31 01:46:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7087
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7087
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7087
+t=202: Selected seed 195 with value = 0.7087
+t: 202	 action: [-0.051  0.112 -0.011 -0.009 -0.049 -0.038  1.007]
+t: 203	 action: [-0.05   0.104  0.142 -0.004 -0.035 -0.05   0.876]
+t: 204	 action: [-0.144  0.051  0.337 -0.003 -0.039 -0.038 -1.072]
+t: 205	 action: [-0.082  0.04   0.552  0.001 -0.019 -0.051 -0.933]
+t: 206	 action: [-0.235 -0.017  0.551  0.015 -0.024 -0.025 -0.785]
+t: 207	 action: [-0.105 -0.177  0.674  0.014  0.005 -0.028 -0.808]
+t: 208	 action: [-0.138 -0.188  0.6    0.036 -0.01  -0.02   0.324]
+t: 209	 action: [-0.023 -0.361  0.565  0.027  0.009 -0.039  0.716]
+t: 210	 action: [ 0.101 -0.335  0.385  0.069  0.006 -0.02  -1.053]
+t: 211	 action: [ 0.103 -0.347  0.193  0.042  0.01  -0.023 -1.058]
+t: 212	 action: [ 0.138 -0.255  0.086  0.058  0.009  0.005 -1.022]
+t: 213	 action: [ 0.15  -0.261 -0.122  0.035  0.011  0.01  -1.068]
+t: 214	 action: [-0.007 -0.159 -0.131  0.031 -0.012 -0.007 -1.094]
+t: 215	 action: [-0.02  -0.208 -0.328  0.011 -0.004 -0.015 -1.053]
+t: 216	 action: [-3.623e-02 -3.599e-03 -4.604e-01 -5.683e-03 -1.580e-02 -3.956e-04 -9.559e-01]
+t: 217	 action: [-0.014 -0.034 -0.57  -0.016 -0.008  0.024  1.093]
+[07-31 01:46:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8153
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8153
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8153
+t=218: Selected seed 195 with value = 0.8153
+t: 218	 action: [-0.099  0.051 -0.002 -0.01  -0.081 -0.042  0.999]
+t: 219	 action: [-8.821e-02  7.848e-02  1.502e-01  1.288e-04 -7.568e-02 -4.882e-02  1.060e+00]
+t: 220	 action: [-0.143  0.036  0.359 -0.006 -0.083 -0.039  0.993]
+t: 221	 action: [-0.107 -0.025  0.591  0.007 -0.054 -0.03   1.041]
+t: 222	 action: [-0.195 -0.067  0.596  0.011 -0.045 -0.028  1.002]
+t: 223	 action: [-0.091 -0.222  0.691  0.014 -0.01  -0.023  1.026]
+t: 224	 action: [-0.154 -0.299  0.672  0.029 -0.025 -0.017  0.997]
+t: 225	 action: [-0.027 -0.473  0.671  0.026  0.007 -0.008  1.002]
+t: 226	 action: [ 0.005 -0.448  0.447  0.068  0.011 -0.009  1.101]
+t: 227	 action: [ 0.02  -0.556  0.257  0.053  0.021 -0.029  0.041]
+t: 228	 action: [ 0.065 -0.483  0.156  0.061  0.013  0.003  0.731]
+t: 229	 action: [ 0.105 -0.545 -0.016  0.045  0.023 -0.002 -0.157]
+t: 230	 action: [ 9.065e-03 -4.042e-01 -1.138e-01  2.968e-02  3.093e-03  8.633e-04 -1.103e+00]
+t: 231	 action: [-0.028 -0.501 -0.297  0.008  0.003 -0.006 -0.878]
+t: 232	 action: [-0.006 -0.221 -0.39   0.01   0.006  0.002 -0.757]
+t: 233	 action: [ 0.013 -0.184 -0.543 -0.004  0.003  0.022 -0.244]
+[07-31 01:46:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9507
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=234: Selected seed 195 with value = 0.9507
+t: 234	 action: [-0.104 -0.206 -0.542  0.015  0.011  0.009  0.954]
+t: 235	 action: [-0.121 -0.109 -0.619  0.012  0.004  0.013  1.035]
+t: 236	 action: [-0.107 -0.113 -0.721  0.014  0.006  0.015  0.968]
+t: 237	 action: [-1.215e-01 -3.777e-02 -7.141e-01  1.191e-02 -4.798e-04  2.087e-02  1.035e+00]
+t: 238	 action: [-0.087  0.025 -0.673 -0.007  0.004  0.025  0.976]
+t: 239	 action: [-0.049  0.062 -0.735 -0.024 -0.007  0.035  1.052]
+t: 240	 action: [-0.033  0.055 -0.587 -0.008  0.006  0.036  0.986]
+t: 241	 action: [ 0.019  0.066 -0.582 -0.03   0.002  0.038  1.039]
+t: 242	 action: [ 0.178 -0.015 -0.612  0.003  0.011  0.019  1.021]
+t: 243	 action: [ 0.21  -0.037 -0.543 -0.003  0.025  0.026  0.929]
+t: 244	 action: [ 2.709e-01  1.305e-02 -3.378e-01 -8.355e-04  2.473e-02  2.000e-02  1.093e+00]
+t: 245	 action: [ 0.261 -0.022 -0.285 -0.014  0.029  0.01   1.037]
+t: 246	 action: [ 0.097  0.048 -0.074 -0.011  0.003  0.014  0.978]
+t: 247	 action: [ 0.093  0.038 -0.05  -0.036  0.004  0.028  0.55 ]
+t: 248	 action: [ 0.105  0.108  0.058 -0.021 -0.005  0.008 -1.111]
+t: 249	 action: [ 7.286e-02  3.835e-02  4.232e-02 -3.323e-02  9.854e-04  1.390e-02 -1.094e+00]
+[07-31 01:46:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9364
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9364
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9364
+t=250: Selected seed 195 with value = 0.9364
+t: 250	 action: [-1.244e-01 -4.202e-02 -7.241e-01 -6.047e-03  1.072e-04  6.974e-03  9.727e-01]
+t: 251	 action: [-1.415e-01 -2.336e-02 -5.640e-01 -7.706e-04  9.815e-04  2.187e-02  1.074e+00]
+t: 252	 action: [-0.103  0.007 -0.478 -0.006  0.018  0.005  1.122]
+t: 253	 action: [-7.973e-02 -1.043e-02 -2.717e-01  1.160e-04  1.805e-02 -1.213e-03  1.031e+00]
+t: 254	 action: [-0.119  0.047 -0.17  -0.011  0.025  0.004  1.002]
+t: 255	 action: [-0.037  0.063 -0.041 -0.03   0.027  0.025  1.037]
+t: 256	 action: [-0.017  0.042  0.091 -0.007  0.059 -0.003 -1.12 ]
+t: 257	 action: [-0.006  0.051  0.137 -0.021  0.066 -0.002 -1.114]
+t: 258	 action: [0.152 0.043 0.149 0.016 0.077 0.012 1.135]
+t: 259	 action: [ 0.167 -0.013  0.163  0.009  0.079  0.009 -1.011]
+t: 260	 action: [ 0.173  0.046  0.113  0.006  0.084  0.02  -1.059]
+t: 261	 action: [ 0.127 -0.006  0.136  0.001  0.078  0.012 -1.045]
+t: 262	 action: [ 0.091  0.057  0.151  0.005  0.065  0.01  -1.133]
+t: 263	 action: [ 0.043  0.025  0.126 -0.003  0.045  0.005 -1.051]
+t: 264	 action: [ 0.067  0.058  0.051 -0.005  0.062  0.017 -1.058]
+t: 265	 action: [ 0.025  0.004  0.053 -0.005  0.046  0.013 -1.024]
+[07-31 01:46:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9790
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=266: Selected seed 195 with value = 0.9790
+t: 266	 action: [-0.073 -0.021 -0.656 -0.003  0.047  0.019  0.882]
+t: 267	 action: [-3.932e-02 -6.279e-02 -4.442e-01  9.790e-04  3.260e-02  1.657e-02  9.945e-01]
+t: 268	 action: [-0.098 -0.024 -0.272 -0.01   0.034  0.015  1.129]
+t: 269	 action: [-0.069 -0.064 -0.074 -0.01   0.019  0.009  0.95 ]
+t: 270	 action: [-0.063 -0.003 -0.044 -0.015  0.026  0.018  0.873]
+t: 271	 action: [ 0.009  0.012  0.076 -0.027  0.015  0.023 -0.996]
+t: 272	 action: [-0.037  0.004  0.238 -0.011  0.023  0.007 -1.104]
+t: 273	 action: [-0.027  0.027  0.331 -0.012  0.007  0.008 -1.107]
+t: 274	 action: [-0.01   0.001  0.145 -0.016  0.02   0.014  1.137]
+t: 275	 action: [ 0.021 -0.036  0.184 -0.016  0.006  0.008  0.803]
+t: 276	 action: [-0.009  0.003  0.229 -0.005  0.002  0.012 -1.01 ]
+t: 277	 action: [ 0.023 -0.039  0.277 -0.008  0.001  0.004 -1.034]
+t: 278	 action: [ 3.407e-03  2.173e-03  3.627e-01  3.961e-04 -2.168e-04  4.819e-03 -1.117e+00]
+t: 279	 action: [-0.023  0.029  0.349 -0.001 -0.007  0.007 -1.11 ]
+t: 280	 action: [ 0.01   0.003  0.415 -0.003 -0.011  0.003 -1.028]
+t: 281	 action: [-1.175e-02  1.656e-02  3.771e-01  3.682e-03 -1.678e-02 -2.434e-04 -1.050e+00]
+[07-31 01:46:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9777
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=282: Selected seed 195 with value = 0.9777
+t: 282	 action: [-0.113  0.005 -0.569 -0.005  0.033  0.008  0.967]
+t: 283	 action: [-0.026 -0.06  -0.39   0.003  0.021 -0.006  1.025]
+t: 284	 action: [-0.116 -0.012 -0.223 -0.007  0.019  0.007  1.13 ]
+t: 285	 action: [-0.035 -0.051 -0.048 -0.005  0.012 -0.01   0.   ]
+t: 286	 action: [-0.061  0.006  0.035 -0.007  0.014  0.003  0.037]
+t: 287	 action: [ 0.017  0.041  0.157 -0.018  0.007  0.004 -1.084]
+t: 288	 action: [ 3.287e-02 -2.693e-03  2.934e-01 -5.958e-03  7.732e-03 -2.025e-04 -1.092e+00]
+t: 289	 action: [ 0.067  0.048  0.396 -0.006  0.003 -0.015 -1.069]
+t: 290	 action: [ 9.395e-02 -3.853e-04  3.940e-01  3.761e-03  1.038e-02  6.105e-03 -1.038e+00]
+t: 291	 action: [ 7.849e-02 -4.449e-02  4.158e-01  8.468e-04  5.623e-03 -1.570e-03 -1.035e+00]
+t: 292	 action: [ 0.071 -0.001  0.4    0.009 -0.004  0.006 -1.017]
+t: 293	 action: [ 0.099 -0.041  0.411  0.005  0.005 -0.006 -1.036]
+t: 294	 action: [ 6.145e-02 -1.651e-02  4.221e-01  1.737e-02 -5.149e-04 -1.369e-03 -1.052e+00]
+t: 295	 action: [ 7.328e-03  1.907e-03  4.058e-01  1.482e-02 -2.549e-03 -6.391e-04 -1.045e+00]
+t: 296	 action: [ 0.057 -0.014  0.409  0.014 -0.011 -0.003 -1.03 ]
+t: 297	 action: [ 0.027 -0.002  0.364  0.015 -0.008 -0.003 -1.048]
+[07-31 01:46:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9476
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9476
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 68
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 36%|███▌      | 18/50 [09:39<17:12, 32.25s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 19...
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9476
+t=298: Selected seed 195 with value = 0.9476
+t: 298	 action: [-0.122  0.002 -0.515 -0.002  0.012  0.001  0.86 ]
+t: 299	 action: [-0.072 -0.06  -0.399  0.009  0.006 -0.018  1.   ]
+t: 300	 action: [-0.119 -0.01  -0.243 -0.01   0.004  0.002  1.113]
+t: 301	 action: [-0.037 -0.049 -0.077 -0.005  0.006 -0.021  0.259]
+t: 302	 action: [-0.121  0.016  0.069 -0.004  0.004  0.002  0.805]
+t: 303	 action: [-4.787e-03  2.601e-02  1.702e-01 -1.940e-02  8.504e-05  1.412e-03 -1.023e+00]
+t: 304	 action: [ 8.879e-03 -5.533e-03  2.948e-01 -4.660e-03  3.001e-03 -2.530e-04 -1.103e+00]
+t: 305	 action: [ 5.298e-02  3.046e-02  4.021e-01 -1.800e-03  5.783e-04 -2.114e-02 -1.061e+00]
+t: 306	 action: [ 0.114 -0.033  0.419  0.014  0.025 -0.001 -1.046]
+t: 307	 action: [ 0.097 -0.085  0.428  0.015  0.024 -0.011 -1.042]
+t: 308	 action: [ 8.885e-02 -4.789e-02  4.220e-01  2.141e-02  1.550e-02 -7.051e-04 -1.029e+00]
+t: 309	 action: [ 0.103 -0.092  0.399  0.019  0.016 -0.015 -1.038]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=68--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=68--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 68
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 19...
+[07-31 01:47:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3630
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3630
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3630
+t=10: Selected seed 195 with value = 0.3630
+t: 10	 action: [ 1.137e-01  1.211e-02  1.259e-02  5.032e-04  6.115e-03  5.470e-03 -9.973e-01]
+t: 11	 action: [ 0.242  0.028  0.063  0.004  0.007  0.007 -1.008]
+t: 12	 action: [ 3.493e-01 -4.581e-02  1.006e-01  4.837e-04  3.207e-03  1.162e-02 -1.017e+00]
+t: 13	 action: [ 0.545 -0.06   0.174  0.005  0.005  0.01  -1.018]
+t: 14	 action: [ 0.639 -0.107  0.251  0.006  0.006  0.013 -1.019]
+t: 15	 action: [ 6.861e-01 -1.470e-01  2.374e-01  1.246e-02 -8.470e-04  1.349e-02 -1.035e+00]
+t: 16	 action: [ 7.843e-01 -1.744e-01  2.961e-01  6.029e-03 -8.803e-04  1.733e-02 -1.019e+00]
+t: 17	 action: [ 0.81  -0.202  0.282  0.015 -0.002  0.015 -1.043]
+t: 18	 action: [ 0.803 -0.204  0.252  0.009 -0.002  0.017 -1.025]
+t: 19	 action: [ 0.841 -0.188  0.287  0.018  0.009  0.01  -1.022]
+t: 20	 action: [ 0.865 -0.214  0.206  0.011 -0.006  0.013 -1.02 ]
+t: 21	 action: [ 0.885 -0.216  0.255  0.02   0.01   0.01  -1.012]
+t: 22	 action: [ 0.893 -0.164  0.178  0.012 -0.004  0.015 -1.015]
+t: 23	 action: [ 0.911 -0.257  0.162  0.02   0.004  0.011 -1.038]
+t: 24	 action: [ 0.928 -0.11   0.106  0.01  -0.004  0.008 -1.011]
+t: 25	 action: [ 0.945 -0.208  0.083  0.02   0.003  0.011 -1.038]
+[07-31 01:47:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4289
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4289
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4289
+t=26: Selected seed 195 with value = 0.4289
+t: 26	 action: [ 9.455e-01 -8.781e-02  1.018e-01 -2.519e-04 -1.030e-02 -1.793e-03 -1.024e+00]
+t: 27	 action: [ 0.936 -0.049  0.089  0.006 -0.011 -0.014 -1.027]
+t: 28	 action: [ 0.944 -0.168  0.071  0.004 -0.012  0.003 -1.029]
+t: 29	 action: [ 0.939 -0.152  0.072  0.017 -0.005 -0.009 -1.03 ]
+t: 30	 action: [ 0.994 -0.213 -0.018  0.006 -0.007  0.002 -1.014]
+t: 31	 action: [ 0.949 -0.194 -0.037  0.015 -0.018 -0.011 -1.038]
+t: 32	 action: [ 0.962 -0.27  -0.179  0.008 -0.01   0.002 -1.024]
+t: 33	 action: [ 0.92  -0.284 -0.253  0.023 -0.017 -0.008 -1.042]
+t: 34	 action: [ 0.692 -0.352 -0.324  0.018 -0.027  0.009 -1.035]
+t: 35	 action: [ 0.586 -0.298 -0.44   0.02  -0.025 -0.004 -1.035]
+t: 36	 action: [ 0.445 -0.225 -0.566  0.016 -0.049  0.011 -1.019]
+t: 37	 action: [ 0.289 -0.178 -0.679  0.018 -0.043  0.001 -1.02 ]
+t: 38	 action: [ 0.171 -0.125 -0.743  0.008 -0.07   0.004 -1.031]
+t: 39	 action: [ 6.549e-02 -1.349e-01 -7.449e-01  2.213e-02 -6.024e-02 -9.110e-04 -1.038e+00]
+t: 40	 action: [-0.021 -0.069 -0.842  0.004 -0.087  0.005 -1.023]
+t: 41	 action: [-0.03  -0.102 -0.797  0.022 -0.062  0.006 -1.04 ]
+[07-31 01:47:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4727
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4727
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4727
+t=42: Selected seed 195 with value = 0.4727
+t: 42	 action: [-0.058  0.092 -0.8    0.013 -0.04   0.032 -1.009]
+t: 43	 action: [-0.058  0.115 -0.843  0.006 -0.05   0.029 -1.02 ]
+t: 44	 action: [-0.008  0.212 -0.802  0.007 -0.036  0.034 -1.012]
+t: 45	 action: [-6.434e-05  3.289e-01 -8.119e-01  2.596e-03 -4.331e-02  2.745e-02 -1.020e+00]
+t: 46	 action: [-0.036  0.343 -0.806  0.003 -0.045  0.033 -1.007]
+t: 47	 action: [-0.005  0.326 -0.766  0.002 -0.047  0.029 -1.029]
+t: 48	 action: [-0.014  0.47  -0.735  0.003 -0.04   0.033 -1.009]
+t: 49	 action: [ 0.017  0.557 -0.645 -0.002 -0.037  0.026 -1.032]
+t: 50	 action: [ 0.024  0.734 -0.63   0.005 -0.028  0.041 -1.013]
+t: 51	 action: [ 0.018  0.735 -0.616 -0.002 -0.032  0.028 -1.02 ]
+t: 52	 action: [ 0.031  0.81  -0.631  0.004 -0.022  0.037 -1.018]
+t: 53	 action: [ 0.029  0.765 -0.532 -0.004 -0.024  0.027 -1.019]
+t: 54	 action: [-0.039  0.837 -0.631 -0.002 -0.03   0.036 -1.009]
+t: 55	 action: [-0.015  0.823 -0.546 -0.006 -0.039  0.025 -1.033]
+t: 56	 action: [-0.04   0.857 -0.619 -0.006 -0.022  0.03  -1.012]
+t: 57	 action: [-0.008  0.8   -0.497 -0.009 -0.029  0.024 -1.04 ]
+[07-31 01:47:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6059
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6059
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6059
+t=58: Selected seed 195 with value = 0.6059
+t: 58	 action: [ 0.08   0.773 -0.541  0.011 -0.015  0.025 -0.984]
+t: 59	 action: [ 0.159  0.755 -0.496  0.017 -0.007  0.027 -1.014]
+t: 60	 action: [ 0.076  0.782 -0.541  0.012 -0.004  0.028 -0.982]
+t: 61	 action: [ 0.11   0.734 -0.494  0.017 -0.001  0.029 -1.017]
+t: 62	 action: [ 0.06   0.771 -0.492  0.006  0.004  0.031 -0.969]
+t: 63	 action: [ 0.049  0.755 -0.507  0.023  0.003  0.032 -1.027]
+t: 64	 action: [ 0.032  0.681 -0.45   0.004  0.015  0.033 -0.97 ]
+t: 65	 action: [ 0.031  0.624 -0.42   0.027  0.009  0.031 -1.036]
+t: 66	 action: [ 0.1    0.147 -0.072  0.005  0.007  0.014 -1.009]
+t: 67	 action: [ 0.069  0.002  0.087  0.024  0.017  0.011 -1.029]
+t: 68	 action: [ 0.053 -0.088  0.35   0.025  0.018  0.01  -1.008]
+t: 69	 action: [ 0.021 -0.147  0.505  0.037  0.02   0.009 -1.023]
+t: 70	 action: [-0.067 -0.149  0.486  0.041  0.024  0.008 -0.999]
+t: 71	 action: [-0.205 -0.132  0.498  0.043  0.01   0.012 -1.031]
+t: 72	 action: [-0.33  -0.189  0.465  0.044  0.012  0.008 -0.991]
+t: 73	 action: [-0.462 -0.101  0.348  0.048  0.003  0.017 -1.034]
+[07-31 01:47:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6888
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6888
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6888
+t=74: Selected seed 195 with value = 0.6888
+t: 74	 action: [-0.051 -0.194  0.668  0.009  0.063 -0.055 -0.991]
+t: 75	 action: [-0.124 -0.216  0.664  0.018  0.059 -0.063 -1.018]
+t: 76	 action: [-0.257 -0.19   0.592  0.009  0.035 -0.055 -1.005]
+t: 77	 action: [-0.333 -0.206  0.562  0.013  0.028 -0.068 -1.026]
+t: 78	 action: [-0.581 -0.21   0.466  0.013  0.034 -0.054 -0.992]
+t: 79	 action: [-0.668 -0.122  0.446  0.021  0.015 -0.062 -1.042]
+t: 80	 action: [-0.735 -0.12   0.358  0.006  0.017 -0.05  -1.   ]
+t: 81	 action: [-0.769 -0.057  0.27   0.013  0.008 -0.069 -1.044]
+t: 82	 action: [-0.805  0.008  0.186  0.012 -0.017 -0.02  -1.025]
+t: 83	 action: [-0.768 -0.054  0.163  0.01  -0.011 -0.026 -1.038]
+t: 84	 action: [-0.802  0.004  0.053  0.009 -0.026 -0.01  -1.028]
+t: 85	 action: [-0.783 -0.067  0.066  0.011 -0.013 -0.018 -1.024]
+t: 86	 action: [-0.841 -0.019 -0.019  0.016 -0.021 -0.008 -0.997]
+t: 87	 action: [-0.809 -0.028 -0.06   0.025 -0.019 -0.018 -1.035]
+t: 88	 action: [-0.8   -0.055 -0.256  0.016 -0.029 -0.006 -1.   ]
+t: 89	 action: [-0.761 -0.047 -0.234  0.03  -0.023 -0.011 -1.034]
+[07-31 01:47:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4664
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4664
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4664
+t=90: Selected seed 195 with value = 0.4664
+t: 90	 action: [-0.739  0.155 -0.339  0.005 -0.05  -0.016 -1.022]
+t: 91	 action: [-0.763  0.157 -0.432  0.013 -0.046 -0.04  -1.031]
+t: 92	 action: [-0.73   0.111 -0.437  0.006 -0.045 -0.016 -1.035]
+t: 93	 action: [-0.698  0.112 -0.492  0.011 -0.046 -0.049 -1.038]
+t: 94	 action: [-0.646  0.068 -0.496  0.006 -0.05  -0.019 -1.009]
+t: 95	 action: [-0.578  0.115 -0.517  0.018 -0.031 -0.047 -1.046]
+t: 96	 action: [-0.496  0.026 -0.556  0.006 -0.042 -0.023 -1.019]
+t: 97	 action: [-0.438  0.089 -0.561  0.017 -0.031 -0.06  -1.052]
+t: 98	 action: [-0.28   0.059 -0.585  0.004 -0.045 -0.033 -1.026]
+t: 99	 action: [-0.136  0.039 -0.636  0.006 -0.036 -0.065 -1.032]
+t: 100	 action: [-0.067  0.039 -0.623  0.005 -0.031 -0.045 -1.025]
+t: 101	 action: [ 0.025  0.02  -0.62   0.008 -0.02  -0.062 -1.025]
+t: 102	 action: [ 0.036  0.009 -0.539  0.008 -0.03  -0.048 -1.026]
+t: 103	 action: [ 0.1    0.02  -0.515  0.013 -0.012 -0.078 -1.042]
+t: 104	 action: [ 1.980e-01  3.351e-04 -5.097e-01  4.609e-03 -1.642e-02 -6.572e-02 -1.011e+00]
+t: 105	 action: [ 0.259  0.011 -0.468  0.015  0.001 -0.073 -1.049]
+[07-31 01:47:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5066
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.5066
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5066
+t=106: Selected seed 195 with value = 0.5066
+t: 106	 action: [ 3.641e-01  2.448e-01 -2.665e-01 -2.008e-04 -9.731e-04 -4.693e-02 -1.048e+00]
+t: 107	 action: [ 0.417  0.193 -0.232  0.004  0.008 -0.067 -1.034]
+t: 108	 action: [ 0.428  0.197 -0.235  0.001  0.007 -0.052 -1.043]
+t: 109	 action: [ 0.481  0.133 -0.213  0.005  0.019 -0.08  -1.042]
+t: 110	 action: [ 4.660e-01  1.203e-01 -2.269e-01  1.036e-03  1.206e-02 -6.259e-02 -1.044e+00]
+t: 111	 action: [ 0.471  0.108 -0.271  0.011  0.021 -0.075 -1.062]
+t: 112	 action: [ 4.715e-01  6.711e-02 -2.399e-01 -3.114e-04  1.716e-02 -6.619e-02 -1.041e+00]
+t: 113	 action: [ 0.47   0.07  -0.312  0.012  0.025 -0.088 -1.061]
+t: 114	 action: [ 0.414  0.006 -0.271  0.006  0.024 -0.064 -1.048]
+t: 115	 action: [ 0.4   -0.017 -0.404  0.012  0.022 -0.062 -1.045]
+t: 116	 action: [ 0.359 -0.011 -0.378  0.006  0.015 -0.052 -1.049]
+t: 117	 action: [ 0.272 -0.038 -0.496  0.009  0.012 -0.051 -1.044]
+t: 118	 action: [ 1.760e-01 -1.706e-02 -5.325e-01 -5.823e-04  1.793e-03 -4.462e-02 -1.050e+00]
+t: 119	 action: [ 0.061 -0.002 -0.614  0.015  0.003 -0.057 -1.055]
+t: 120	 action: [ 0.019 -0.015 -0.652 -0.003 -0.008 -0.028 -1.052]
+t: 121	 action: [-2.805e-02 -1.062e-02 -6.584e-01  1.067e-02  3.080e-04 -4.367e-02 -1.055e+00]
+[07-31 01:47:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8647
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8647
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8647
+t=122: Selected seed 195 with value = 0.8647
+t: 122	 action: [ 8.008e-02  7.437e-03 -3.768e-01 -3.038e-03  5.464e-04 -3.520e-02 -9.724e-01]
+t: 123	 action: [ 0.065 -0.023 -0.451 -0.012  0.008 -0.017 -1.129]
+t: 124	 action: [ 3.052e-02 -9.004e-03 -4.219e-01 -3.260e-04  3.381e-03 -2.972e-02 -1.180e+00]
+t: 125	 action: [ 0.005 -0.042 -0.473 -0.007  0.008 -0.02  -1.152]
+t: 126	 action: [ 0.024  0.002 -0.364 -0.003  0.003 -0.038 -0.926]
+t: 127	 action: [ 0.003  0.004 -0.309 -0.003  0.002 -0.018  1.19 ]
+t: 128	 action: [ 0.006  0.007 -0.334 -0.005  0.004 -0.028  1.078]
+t: 129	 action: [ 3.675e-02  2.367e-04 -2.287e-01 -3.744e-03  4.089e-04 -2.712e-02  1.148e+00]
+t: 130	 action: [ 0.082  0.015 -0.115 -0.01   0.03  -0.034  0.993]
+t: 131	 action: [ 1.155e-01  2.783e-03  4.528e-04 -1.610e-02  3.210e-02 -3.376e-02  1.030e+00]
+t: 132	 action: [ 0.086  0.018  0.034 -0.017  0.03  -0.03   0.99 ]
+t: 133	 action: [ 0.081  0.016  0.141 -0.018  0.025 -0.034  1.024]
+t: 134	 action: [ 0.019  0.003  0.115 -0.012  0.025 -0.043  1.009]
+t: 135	 action: [ 0.044 -0.004  0.207 -0.013  0.006 -0.032  1.033]
+t: 136	 action: [ 0.03   0.009  0.295 -0.019  0.02  -0.043  1.019]
+t: 137	 action: [ 0.048 -0.013  0.41  -0.022  0.003 -0.032  1.036]
+[07-31 01:47:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7870
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7870
+Query 1/1: Action query time = 0.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7870
+t=138: Selected seed 195 with value = 0.7870
+t: 138	 action: [-1.508e-01  4.203e-02  3.345e-01 -1.924e-04 -1.168e-02 -3.994e-02  9.865e-01]
+t: 139	 action: [-0.162  0.077  0.433  0.032 -0.002 -0.042  1.053]
+t: 140	 action: [-0.278  0.023  0.505  0.023  0.001 -0.043  0.985]
+t: 141	 action: [-0.232  0.055  0.605  0.043  0.01  -0.038  1.04 ]
+t: 142	 action: [-0.364 -0.007  0.635  0.037  0.035 -0.049  1.001]
+t: 143	 action: [-0.248  0.007  0.711  0.049  0.047 -0.054  1.03 ]
+t: 144	 action: [-0.325 -0.036  0.772  0.056  0.067 -0.056  0.99 ]
+t: 145	 action: [-0.17  -0.045  0.814  0.058  0.09  -0.05   1.012]
+t: 146	 action: [-0.173 -0.074  0.671  0.038  0.092 -0.041  0.994]
+t: 147	 action: [-0.021  0.006  0.704  0.049  0.094 -0.016  1.039]
+t: 148	 action: [-0.018 -0.189  0.665  0.037  0.103 -0.023  0.985]
+t: 149	 action: [ 0.118 -0.155  0.584  0.046  0.095 -0.006  1.04 ]
+t: 150	 action: [ 0.106 -0.332  0.578  0.044  0.107 -0.016  1.01 ]
+t: 151	 action: [ 0.22  -0.419  0.533  0.047  0.092 -0.004  1.042]
+t: 152	 action: [ 0.12  -0.43   0.381  0.046  0.104 -0.003  0.997]
+t: 153	 action: [ 0.177 -0.513  0.314  0.042  0.078  0.003  1.029]
+[07-31 01:47:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8636
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=154: Selected seed 195 with value = 0.8636
+t: 154	 action: [-0.153 -0.256  0.589  0.009  0.068  0.004  0.954]
+t: 155	 action: [-0.145 -0.23   0.664  0.035  0.078  0.008  1.016]
+t: 156	 action: [-0.097 -0.343  0.678  0.026  0.077  0.006  0.959]
+t: 157	 action: [-0.055 -0.414  0.688  0.042  0.09   0.015  1.01 ]
+t: 158	 action: [-0.023 -0.433  0.525  0.029  0.09   0.004  0.978]
+t: 159	 action: [ 0.035 -0.523  0.551  0.045  0.105  0.017  1.02 ]
+t: 160	 action: [ 0.064 -0.479  0.48   0.027  0.099  0.008  0.981]
+t: 161	 action: [ 0.095 -0.566  0.399  0.042  0.108  0.024  1.009]
+t: 162	 action: [ 0.254 -0.552  0.199  0.037  0.089  0.014  0.971]
+t: 163	 action: [ 0.258 -0.684  0.217  0.042  0.087  0.033  1.013]
+t: 164	 action: [ 0.243 -0.587  0.131  0.037  0.078  0.023  0.968]
+t: 165	 action: [ 0.268 -0.692  0.176  0.037  0.069  0.038  1.018]
+t: 166	 action: [ 0.212 -0.703  0.065  0.026  0.068  0.035  0.986]
+t: 167	 action: [ 0.237 -0.744  0.039  0.017  0.047  0.042  1.019]
+t: 168	 action: [ 0.188 -0.513  0.107 -0.003  0.044  0.039  0.981]
+t: 169	 action: [ 0.246 -0.615  0.059 -0.003  0.02   0.044  0.995]
+[07-31 01:47:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9055
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=170: Selected seed 195 with value = 0.9055
+t: 170	 action: [ 0.222 -0.334  0.721  0.003  0.095  0.006  0.969]
+t: 171	 action: [ 0.24  -0.296  0.761  0.003  0.107  0.002  1.025]
+t: 172	 action: [ 0.378 -0.396  0.729  0.006  0.082  0.01   0.978]
+t: 173	 action: [ 0.431 -0.383  0.731  0.002  0.086  0.021  1.028]
+t: 174	 action: [ 4.503e-01 -4.347e-01  6.539e-01 -1.236e-04  6.988e-02  8.645e-03  9.883e-01]
+t: 175	 action: [ 0.608 -0.418  0.654  0.005  0.063  0.022  1.022]
+t: 176	 action: [ 0.611 -0.376  0.451 -0.007  0.05   0.017  1.   ]
+t: 177	 action: [ 0.716 -0.378  0.388 -0.004  0.041  0.035  1.029]
+t: 178	 action: [ 6.345e-01 -4.290e-01  3.758e-02 -4.322e-03  5.500e-04  3.606e-02  9.723e-01]
+t: 179	 action: [ 0.681 -0.484  0.007 -0.015 -0.006  0.048  1.02 ]
+t: 180	 action: [ 0.691 -0.311 -0.16  -0.004 -0.015  0.051  0.967]
+t: 181	 action: [ 0.743 -0.386 -0.166 -0.018 -0.009  0.053  1.033]
+t: 182	 action: [ 0.62  -0.23  -0.148 -0.013 -0.01   0.051  0.987]
+t: 183	 action: [ 0.636 -0.251 -0.197 -0.015 -0.014  0.058  1.026]
+t: 184	 action: [ 0.498 -0.058 -0.167 -0.015 -0.012  0.059  0.984]
+t: 185	 action: [ 0.541 -0.085 -0.197 -0.021 -0.014  0.061  1.026]
+[07-31 01:47:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9672
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=186: Selected seed 195 with value = 0.9672
+t: 186	 action: [ 0.015 -0.118 -0.625  0.006  0.014  0.055  0.861]
+t: 187	 action: [-2.257e-02 -7.125e-02 -6.689e-01  3.967e-04  2.276e-02  3.183e-02  9.980e-01]
+t: 188	 action: [ 0.032 -0.02  -0.55   0.003  0.026  0.06   1.105]
+t: 189	 action: [ 0.02  -0.066 -0.463  0.003  0.03   0.034  0.982]
+t: 190	 action: [ 0.013  0.013 -0.373 -0.006  0.023  0.058  0.884]
+t: 191	 action: [ 0.049  0.052 -0.259  0.003  0.037  0.041 -1.051]
+t: 192	 action: [ 0.072  0.048 -0.081 -0.005  0.045  0.046 -1.144]
+t: 193	 action: [ 0.119  0.06   0.055  0.005  0.065  0.02  -1.115]
+t: 194	 action: [ 2.664e-01  3.287e-02  2.371e-01  4.153e-04  3.081e-02  1.676e-02 -1.047e+00]
+t: 195	 action: [ 2.478e-01  3.890e-03  3.108e-01  7.343e-04  2.909e-02  1.283e-02 -1.046e+00]
+t: 196	 action: [ 0.219  0.045  0.306  0.001  0.029  0.013 -1.033]
+t: 197	 action: [ 2.297e-01  1.507e-02  3.371e-01  9.991e-04  2.733e-02  7.484e-03 -1.035e+00]
+t: 198	 action: [ 0.13   0.069  0.342 -0.001  0.029  0.012 -1.052]
+t: 199	 action: [ 0.108  0.059  0.35   0.002  0.025  0.012 -1.05 ]
+t: 200	 action: [ 0.104  0.095  0.308 -0.002  0.026  0.007 -1.039]
+t: 201	 action: [ 0.085  0.057  0.291  0.002  0.023  0.01  -1.053]
+[07-31 01:47:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9790
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=202: Selected seed 195 with value = 0.9790
+t: 202	 action: [-4.241e-02  3.468e-02 -2.499e-01  5.677e-04  2.706e-02  1.492e-02  1.127e+00]
+t: 203	 action: [-2.029e-02 -6.815e-02 -9.152e-02 -6.920e-04  3.494e-02  1.100e-02  9.172e-01]
+t: 204	 action: [-0.028  0.019  0.009  0.001  0.018  0.01  -1.014]
+t: 205	 action: [-0.03  -0.071  0.068  0.001  0.016  0.006 -1.039]
+t: 206	 action: [-0.011  0.052  0.118 -0.002  0.018  0.028 -1.114]
+t: 207	 action: [-0.061  0.072  0.152  0.002  0.009  0.029 -1.086]
+t: 208	 action: [-1.147e-02  1.056e-02  2.676e-01  1.122e-04  1.012e-02  1.331e-02 -1.010e+00]
+t: 209	 action: [-0.044  0.044  0.278  0.005  0.002  0.009 -1.051]
+t: 210	 action: [-0.025  0.012  0.276  0.007 -0.007  0.009 -0.999]
+t: 211	 action: [-1.851e-02 -5.212e-02  2.785e-01  9.720e-03  1.429e-04  2.274e-03 -1.037e+00]
+t: 212	 action: [-0.056  0.003  0.245  0.006 -0.011  0.007 -1.017]
+t: 213	 action: [-2.757e-02 -6.205e-02  2.499e-01  6.837e-03 -4.081e-04  2.433e-03 -1.045e+00]
+t: 214	 action: [-0.055 -0.007  0.233  0.004 -0.008  0.005 -1.014]
+t: 215	 action: [-0.108 -0.011  0.188  0.014 -0.007  0.007 -1.063]
+t: 216	 action: [-0.079 -0.003  0.214  0.001 -0.011  0.003 -1.016]
+t: 217	 action: [-0.089 -0.013  0.179  0.011 -0.01   0.005 -1.054]
+[07-31 01:47:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9904
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=218: Selected seed 195 with value = 0.9904
+t: 218	 action: [-0.043  0.105  0.082  0.009  0.025  0.01  -1.009]
+t: 219	 action: [-0.039  0.023  0.046  0.014  0.02   0.009 -1.03 ]
+t: 220	 action: [-0.101  0.069  0.068  0.01   0.02   0.007 -1.012]
+t: 221	 action: [-0.085  0.001  0.055  0.013  0.014  0.003 -1.038]
+t: 222	 action: [-0.1    0.118  0.063  0.006  0.02   0.022 -1.012]
+t: 223	 action: [-0.151  0.087  0.051  0.021  0.004  0.02  -1.076]
+t: 224	 action: [-0.153  0.045  0.08   0.007  0.015  0.014 -1.004]
+t: 225	 action: [-1.652e-01  5.641e-02  6.605e-02  2.006e-02 -6.655e-04  1.056e-02 -1.059e+00]
+t: 226	 action: [-0.066  0.067  0.032  0.008 -0.001  0.009 -1.012]
+t: 227	 action: [-0.058  0.003  0.009  0.01   0.002  0.005 -1.044]
+t: 228	 action: [-1.296e-01  3.438e-02  5.114e-02  7.332e-03 -5.697e-04  8.085e-03 -1.009e+00]
+t: 229	 action: [-0.103 -0.01   0.032  0.009  0.001  0.002 -1.043]
+t: 230	 action: [-0.114  0.024  0.011  0.004 -0.001  0.007 -1.013]
+t: 231	 action: [-0.165  0.032 -0.014  0.015 -0.007  0.013 -1.077]
+t: 232	 action: [-0.181  0.005  0.05   0.003 -0.002  0.004 -1.   ]
+t: 233	 action: [-0.192  0.026  0.023  0.014 -0.006  0.009 -1.068]
+[07-31 01:47:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9868
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=234: Selected seed 195 with value = 0.9868
+t: 234	 action: [ 0.007  0.093 -0.003  0.004  0.028  0.006 -0.959]
+t: 235	 action: [ 0.025  0.036 -0.061  0.008  0.023  0.001 -0.968]
+t: 236	 action: [-0.02   0.082 -0.022  0.008  0.023  0.003 -1.012]
+t: 237	 action: [ 0.004  0.024 -0.029  0.012  0.014 -0.009 -1.04 ]
+t: 238	 action: [-0.031  0.143 -0.006  0.004  0.024  0.005 -1.021]
+t: 239	 action: [-0.067  0.13  -0.005  0.021  0.006  0.012 -1.085]
+t: 240	 action: [-7.949e-02  6.635e-02  7.256e-03  8.471e-03  1.732e-02  7.299e-04 -1.014e+00]
+t: 241	 action: [-9.361e-02  7.023e-02 -6.657e-03  2.337e-02 -1.140e-03  2.005e-04 -1.064e+00]
+t: 242	 action: [-0.01   0.07  -0.04   0.007 -0.008  0.007 -1.005]
+t: 243	 action: [ 1.160e-02  2.055e-03 -6.977e-02  4.541e-03 -5.741e-04 -1.911e-03 -1.034e+00]
+t: 244	 action: [-0.047  0.029 -0.024  0.006 -0.006  0.003 -1.011]
+t: 245	 action: [ 1.620e-03 -1.841e-02 -5.371e-02  6.786e-03 -3.337e-05 -7.176e-03 -1.045e+00]
+t: 246	 action: [-0.05   0.025 -0.059  0.004 -0.008  0.002 -1.025]
+t: 247	 action: [-0.082  0.029 -0.088  0.013 -0.009  0.006 -1.076]
+t: 248	 action: [-0.125 -0.004 -0.028  0.003 -0.008 -0.001 -1.01 ]
+t: 249	 action: [-1.359e-01  8.453e-03 -6.549e-02  1.548e-02 -7.961e-03  5.251e-04 -1.072e+00]
+[07-31 01:47:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.011 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9772
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 1.011 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=250: Selected seed 195 with value = 0.9772
+t: 250	 action: [-5.466e-02  7.522e-03 -3.686e-01  4.952e-04  2.916e-02  4.346e-03  1.111e+00]
+t: 251	 action: [-0.031  0.005 -0.383  0.004  0.032 -0.009  0.889]
+t: 252	 action: [-2.625e-02  3.377e-02 -3.370e-01  8.178e-03  3.228e-02 -3.292e-04 -1.023e+00]
+t: 253	 action: [ 0.03   0.032 -0.307  0.013  0.032 -0.017 -1.046]
+t: 254	 action: [-2.506e-03  7.886e-02 -1.594e-01  5.428e-03  3.217e-02 -2.417e-04 -1.116e+00]
+t: 255	 action: [-0.072  0.114 -0.125  0.018  0.019  0.015 -1.01 ]
+t: 256	 action: [-0.008  0.021 -0.079  0.01   0.027 -0.003 -1.028]
+t: 257	 action: [-0.024  0.072 -0.073  0.024  0.011 -0.008 -1.068]
+t: 258	 action: [-0.007  0.009 -0.148  0.007 -0.011  0.003 -0.969]
+t: 259	 action: [ 3.412e-02 -2.717e-02 -1.845e-01  3.534e-03  2.301e-04 -1.022e-02 -1.016e+00]
+t: 260	 action: [-0.009 -0.001 -0.057  0.008 -0.009 -0.007 -1.033]
+t: 261	 action: [ 0.039 -0.056 -0.085  0.006  0.002 -0.014 -1.047]
+t: 262	 action: [-0.02  -0.015 -0.075  0.005 -0.009 -0.002 -1.023]
+t: 263	 action: [-0.061  0.001 -0.108  0.013 -0.011 -0.003 -1.057]
+t: 264	 action: [-0.065 -0.029 -0.021  0.004 -0.01  -0.007 -1.03 ]
+t: 265	 action: [-0.071 -0.033 -0.069  0.016 -0.009 -0.007 -1.066]
+[07-31 01:47:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9612
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9612
+Query 1/1: Action query time = 1.003 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=266: Selected seed 195 with value = 0.9612
+t: 266	 action: [-1.335e-01 -7.313e-04 -3.189e-01 -1.225e-03  3.381e-02  5.784e-03  9.393e-01]
+t: 267	 action: [-0.053 -0.12  -0.313 -0.002  0.047  0.006  1.055]
+t: 268	 action: [-0.045 -0.01  -0.291  0.002  0.049  0.008  1.034]
+t: 269	 action: [ 0.002 -0.09  -0.261  0.006  0.061 -0.015 -0.966]
+t: 270	 action: [ 4.351e-04  4.562e-03 -2.672e-02  4.988e-03  3.508e-02  4.072e-03  9.411e-01]
+t: 271	 action: [ 0.022 -0.085 -0.008  0.006  0.026  0.02   0.994]
+t: 272	 action: [ 0.073 -0.034  0.024  0.002  0.045  0.004 -1.06 ]
+t: 273	 action: [ 0.049 -0.05   0.019  0.013  0.042 -0.011 -1.046]
+t: 274	 action: [ 0.11  -0.05  -0.072  0.007  0.006 -0.002  0.917]
+t: 275	 action: [ 0.106 -0.218 -0.127  0.003  0.011 -0.004  0.515]
+t: 276	 action: [ 0.085 -0.12  -0.034  0.007  0.006 -0.006 -0.912]
+t: 277	 action: [ 0.121 -0.161 -0.075  0.006  0.014 -0.016 -0.971]
+t: 278	 action: [ 0.099 -0.17  -0.036  0.005  0.01  -0.003 -0.688]
+t: 279	 action: [ 0.008 -0.236 -0.085  0.011 -0.005  0.004  0.39 ]
+t: 280	 action: [ 0.053 -0.207  0.017  0.008  0.005 -0.007 -1.007]
+t: 281	 action: [ 4.403e-05 -1.482e-01 -4.119e-02  1.428e-02 -4.120e-03 -1.054e-02 -1.040e+00]
+[07-31 01:47:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9855
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=282: Selected seed 195 with value = 0.9855
+t: 282	 action: [-0.126  0.013 -0.342  0.005  0.042  0.005  1.01 ]
+t: 283	 action: [-2.856e-02 -1.048e-01 -2.317e-01  7.183e-03  6.000e-02 -7.948e-04  9.638e-01]
+t: 284	 action: [-0.055  0.006 -0.088  0.001  0.042  0.005 -0.708]
+t: 285	 action: [ 0.008 -0.068 -0.005  0.005  0.054 -0.005 -1.008]
+t: 286	 action: [ 0.082  0.033  0.095  0.001  0.027  0.005 -0.64 ]
+t: 287	 action: [ 0.091  0.051  0.105  0.001  0.029  0.017 -1.03 ]
+t: 288	 action: [ 1.348e-01  2.650e-02  2.432e-01 -1.786e-04  2.828e-02  1.908e-03 -1.030e+00]
+t: 289	 action: [ 0.158  0.082  0.285  0.006  0.032 -0.002 -1.041]
+t: 290	 action: [ 0.147 -0.023  0.28   0.009 -0.002  0.005  1.074]
+t: 291	 action: [ 0.159 -0.097  0.282  0.01   0.008 -0.008 -0.935]
+t: 292	 action: [ 0.147 -0.014  0.27   0.003 -0.007  0.004 -1.021]
+t: 293	 action: [ 0.202 -0.058  0.289  0.004  0.002 -0.009 -1.035]
+t: 294	 action: [ 1.770e-01 -2.082e-02  3.039e-01  5.237e-03 -1.077e-02 -8.326e-04 -1.101e+00]
+t: 295	 action: [ 0.134 -0.016  0.259  0.014 -0.004 -0.006 -1.048]
+t: 296	 action: [ 0.125 -0.002  0.247 -0.001 -0.012 -0.002 -1.032]
+t: 297	 action: [ 0.09   0.014  0.218  0.009 -0.006 -0.005 -1.043]
+[07-31 01:47:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.092 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9763
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9763
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 69
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 38%|███▊      | 19/50 [10:10<16:32, 32.02s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 20...
+Query 1/1: Action query time = 1.092 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=298: Selected seed 195 with value = 0.9763
+t: 298	 action: [-6.668e-02  5.014e-02 -2.130e-01  1.664e-05  3.420e-02  4.997e-03  1.113e+00]
+t: 299	 action: [ 0.004 -0.021 -0.114  0.006  0.043 -0.006  0.948]
+t: 300	 action: [-0.006  0.04   0.063  0.002  0.034  0.004 -1.011]
+t: 301	 action: [ 0.033 -0.011  0.107  0.006  0.036 -0.009 -1.041]
+t: 302	 action: [ 0.046  0.073  0.164  0.003  0.028  0.003 -1.103]
+t: 303	 action: [ 0.022  0.078  0.194  0.009  0.023  0.012 -1.048]
+t: 304	 action: [ 6.978e-02  3.608e-02  2.737e-01  3.222e-04  2.634e-02 -9.997e-04 -1.019e+00]
+t: 305	 action: [ 0.056  0.054  0.287  0.011  0.023 -0.005 -1.052]
+t: 306	 action: [ 0.07   0.004  0.218  0.012 -0.003  0.003  0.726]
+t: 307	 action: [ 0.082 -0.045  0.21   0.01   0.005 -0.012 -0.972]
+t: 308	 action: [ 0.055 -0.014  0.205  0.008 -0.005 -0.002 -1.025]
+t: 309	 action: [ 0.083 -0.066  0.219  0.008  0.002 -0.012 -1.046]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=69--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=69--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 69
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 20...
+[07-31 01:47:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3387
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3387
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3387
+t=10: Selected seed 195 with value = 0.3387
+t: 10	 action: [ 0.103 -0.071  0.067  0.006  0.02   0.005 -1.01 ]
+t: 11	 action: [ 0.244 -0.056  0.092  0.005  0.034  0.001 -1.014]
+t: 12	 action: [ 0.418 -0.085  0.152  0.005  0.019  0.007 -1.021]
+t: 13	 action: [ 0.617 -0.086  0.204  0.003  0.032  0.004 -1.023]
+t: 14	 action: [ 0.723 -0.075  0.267  0.004  0.027  0.007 -1.019]
+t: 15	 action: [ 0.779 -0.101  0.242  0.006  0.03   0.006 -1.038]
+t: 16	 action: [ 0.857 -0.085  0.293  0.003  0.022  0.008 -1.017]
+t: 17	 action: [ 0.871 -0.117  0.253  0.007  0.026  0.007 -1.045]
+t: 18	 action: [ 0.827 -0.144  0.279  0.008  0.005  0.013 -1.03 ]
+t: 19	 action: [ 0.869 -0.148  0.263  0.007  0.012  0.007 -1.026]
+t: 20	 action: [ 0.861 -0.143  0.207  0.008 -0.005  0.011 -1.027]
+t: 21	 action: [ 0.891 -0.178  0.203  0.01   0.01   0.008 -1.015]
+t: 22	 action: [ 0.883 -0.111  0.168  0.008 -0.003  0.013 -1.014]
+t: 23	 action: [ 0.904 -0.197  0.105  0.011  0.002  0.008 -1.038]
+t: 24	 action: [ 0.903 -0.082  0.084  0.006 -0.008  0.009 -1.011]
+t: 25	 action: [ 9.228e-01 -1.810e-01  2.383e-02  1.207e-02  5.339e-04  1.018e-02 -1.038e+00]
+[07-31 01:47:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3810
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3810
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3810
+t=26: Selected seed 195 with value = 0.3810
+t: 26	 action: [ 9.474e-01 -8.470e-03  5.687e-02  9.307e-04 -5.776e-03  2.088e-03 -1.024e+00]
+t: 27	 action: [ 9.534e-01 -6.275e-03  5.275e-02 -1.013e-04 -3.773e-03 -1.560e-02 -1.022e+00]
+t: 28	 action: [ 0.941 -0.088  0.023  0.005 -0.01   0.004 -1.031]
+t: 29	 action: [ 0.953 -0.112  0.04   0.008 -0.002 -0.012 -1.02 ]
+t: 30	 action: [ 9.713e-01 -1.476e-01 -6.590e-02  9.281e-03 -8.022e-03 -2.160e-04 -1.012e+00]
+t: 31	 action: [ 0.939 -0.185 -0.09   0.011 -0.006 -0.014 -1.031]
+t: 32	 action: [ 0.929 -0.224 -0.221  0.009 -0.017 -0.002 -1.025]
+t: 33	 action: [ 0.891 -0.286 -0.296  0.018 -0.013 -0.014 -1.035]
+t: 34	 action: [ 0.691 -0.306 -0.403  0.014 -0.033  0.007 -1.038]
+t: 35	 action: [ 0.568 -0.273 -0.545  0.013 -0.04  -0.011 -1.033]
+t: 36	 action: [ 0.427 -0.253 -0.671  0.014 -0.065  0.009 -1.028]
+t: 37	 action: [ 0.225 -0.208 -0.761  0.013 -0.058 -0.005 -1.018]
+t: 38	 action: [ 0.103 -0.165 -0.799  0.009 -0.096  0.003 -1.03 ]
+t: 39	 action: [ 0.023 -0.152 -0.819  0.016 -0.081 -0.005 -1.038]
+t: 40	 action: [-0.092 -0.093 -0.864  0.006 -0.113  0.005 -1.029]
+t: 41	 action: [-0.058 -0.101 -0.875  0.015 -0.079  0.001 -1.039]
+[07-31 01:47:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4628
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4628
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4628
+t=42: Selected seed 195 with value = 0.4628
+t: 42	 action: [-0.01   0.427 -0.682  0.008 -0.026  0.025 -1.013]
+t: 43	 action: [-0.006  0.574 -0.659  0.006 -0.032  0.024 -1.019]
+t: 44	 action: [ 9.090e-04  5.709e-01 -6.241e-01  5.696e-03 -1.941e-02  2.997e-02 -1.014e+00]
+t: 45	 action: [ 0.001  0.645 -0.566  0.002 -0.02   0.022 -1.019]
+t: 46	 action: [-0.026  0.628 -0.634  0.004 -0.021  0.031 -1.008]
+t: 47	 action: [-0.009  0.687 -0.586  0.008 -0.018  0.026 -1.03 ]
+t: 48	 action: [-0.025  0.677 -0.598  0.004 -0.015  0.036 -1.01 ]
+t: 49	 action: [ 0.011  0.726 -0.529  0.004 -0.006  0.023 -1.035]
+t: 50	 action: [ 0.047  0.666 -0.623  0.008 -0.022  0.029 -1.02 ]
+t: 51	 action: [ 0.036  0.65  -0.653 -0.002 -0.023  0.025 -1.022]
+t: 52	 action: [ 0.051  0.696 -0.596  0.008 -0.015  0.029 -1.025]
+t: 53	 action: [ 0.041  0.648 -0.595 -0.005 -0.013  0.023 -1.022]
+t: 54	 action: [ 0.004  0.685 -0.589  0.005 -0.021  0.035 -1.015]
+t: 55	 action: [ 1.780e-02  6.765e-01 -5.519e-01  7.932e-04 -1.399e-02  2.619e-02 -1.037e+00]
+t: 56	 action: [-0.003  0.659 -0.543  0.004 -0.01   0.032 -1.02 ]
+t: 57	 action: [ 0.02   0.572 -0.46  -0.001 -0.005  0.024 -1.044]
+[07-31 01:47:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6082
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6082
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6082
+t=58: Selected seed 195 with value = 0.6082
+t: 58	 action: [ 5.431e-02  4.291e-01 -4.431e-01  8.121e-05 -5.660e-03  7.054e-03 -1.009e+00]
+t: 59	 action: [ 0.068  0.382 -0.27  -0.002  0.004  0.007 -1.016]
+t: 60	 action: [ 5.696e-02  3.302e-01 -2.654e-01 -8.470e-04  1.617e-03  6.850e-03 -1.002e+00]
+t: 61	 action: [ 0.05   0.244 -0.097 -0.004  0.008  0.002 -1.014]
+t: 62	 action: [-0.01   0.294 -0.209 -0.003  0.008  0.004 -0.996]
+t: 63	 action: [-0.009  0.326 -0.013 -0.002  0.01   0.006 -1.029]
+t: 64	 action: [-7.463e-02  1.979e-01  1.590e-01 -7.381e-03  1.345e-02 -6.911e-04 -1.001e+00]
+t: 65	 action: [-0.024  0.189  0.314 -0.003  0.01  -0.002 -1.031]
+t: 66	 action: [ 0.018  0.023  0.504  0.024  0.011  0.008 -1.021]
+t: 67	 action: [-0.053 -0.08   0.503  0.034  0.009  0.006 -1.039]
+t: 68	 action: [-0.07  -0.058  0.44   0.038  0.01   0.008 -1.025]
+t: 69	 action: [-0.129 -0.174  0.392  0.042  0.01   0.008 -1.023]
+t: 70	 action: [-0.31  -0.124  0.265  0.059  0.003  0.009 -1.019]
+t: 71	 action: [-0.36  -0.154  0.177  0.05   0.002  0.014 -1.042]
+t: 72	 action: [-0.485 -0.198  0.13   0.057  0.002  0.01  -1.022]
+t: 73	 action: [-0.423 -0.225  0.049  0.049  0.006  0.017 -1.033]
+[07-31 01:47:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6145
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6145
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6145
+t=74: Selected seed 195 with value = 0.6145
+t: 74	 action: [ 0.061  0.277 -0.177  0.005  0.012  0.026 -1.004]
+t: 75	 action: [ 0.088  0.208 -0.044  0.001  0.017  0.016 -0.999]
+t: 76	 action: [ 6.545e-02  1.088e-01  1.537e-03  9.598e-04  2.370e-02  1.608e-02 -1.006e+00]
+t: 77	 action: [ 8.617e-02  1.610e-02  1.591e-01  1.323e-04  2.382e-02  5.050e-03 -1.015e+00]
+t: 78	 action: [ 0.039  0.074  0.112  0.006  0.028  0.01  -0.994]
+t: 79	 action: [ 0.008  0.093  0.24   0.004  0.02   0.008 -1.031]
+t: 80	 action: [ 0.02   0.001  0.416  0.006  0.035  0.002 -1.008]
+t: 81	 action: [ 0.001 -0.014  0.54   0.008  0.03  -0.002 -1.036]
+t: 82	 action: [-0.005 -0.071  0.51   0.034  0.012  0.007 -1.022]
+t: 83	 action: [-0.082 -0.154  0.496  0.037  0.002  0.001 -1.039]
+t: 84	 action: [-8.868e-02 -1.072e-01  3.623e-01  3.834e-02  7.769e-04  7.372e-03 -1.032e+00]
+t: 85	 action: [-0.165 -0.242  0.306  0.043 -0.002  0.004 -1.025]
+t: 86	 action: [-2.981e-01 -1.802e-01  2.272e-01  5.495e-02 -9.999e-04  5.448e-03 -1.020e+00]
+t: 87	 action: [-0.451 -0.24   0.1    0.032 -0.006  0.006 -1.041]
+t: 88	 action: [-0.579 -0.244  0.086  0.053 -0.013  0.009 -1.023]
+t: 89	 action: [-0.598 -0.278 -0.018  0.031 -0.008  0.012 -1.025]
+[07-31 01:47:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5916
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.5916
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5916
+t=90: Selected seed 195 with value = 0.5916
+t: 90	 action: [-4.954e-03  3.661e-01 -2.321e-01  6.872e-04  2.124e-02  2.062e-02 -9.945e-01]
+t: 91	 action: [ 3.731e-02  3.075e-01 -1.382e-01 -7.683e-04  3.058e-02  1.545e-02 -9.832e-01]
+t: 92	 action: [ 0.012  0.094  0.019 -0.003  0.035  0.014 -1.006]
+t: 93	 action: [ 3.680e-02  2.588e-02  1.875e-01  7.862e-04  4.227e-02  4.813e-03 -1.012e+00]
+t: 94	 action: [ 0.022  0.037  0.265  0.005  0.033  0.002 -1.002]
+t: 95	 action: [-2.241e-03  2.217e-02  4.120e-01 -4.309e-04  2.862e-02  4.466e-03 -1.026e+00]
+t: 96	 action: [-0.046 -0.024  0.497  0.008  0.041 -0.002 -1.009]
+t: 97	 action: [-0.044 -0.059  0.575  0.008  0.03  -0.005 -1.03 ]
+t: 98	 action: [-0.08  -0.072  0.437  0.023  0.011  0.004 -1.029]
+t: 99	 action: [-0.29  -0.12   0.396  0.024  0.008 -0.005 -1.047]
+t: 100	 action: [-3.613e-01 -4.438e-02  2.740e-01  1.816e-02 -4.242e-04  4.807e-03 -1.039e+00]
+t: 101	 action: [-0.478 -0.143  0.206  0.019  0.007 -0.002 -1.03 ]
+t: 102	 action: [-7.853e-01 -1.401e-01  1.680e-01  3.209e-02 -3.075e-03  5.464e-04 -1.006e+00]
+t: 103	 action: [-0.769 -0.184  0.078  0.002 -0.011 -0.004 -1.042]
+t: 104	 action: [-0.897 -0.179  0.08   0.025 -0.012  0.002 -0.995]
+t: 105	 action: [-0.878 -0.196 -0.007 -0.005 -0.012  0.001 -1.031]
+[07-31 01:47:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3699
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.3699
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3699
+t=106: Selected seed 195 with value = 0.3699
+t: 106	 action: [ 0.1    0.229  0.051 -0.011  0.025 -0.004 -1.01 ]
+t: 107	 action: [ 0.102  0.255  0.099 -0.016  0.021 -0.018 -1.036]
+t: 108	 action: [ 0.074  0.035  0.229 -0.007  0.023 -0.009 -1.021]
+t: 109	 action: [ 0.048  0.053  0.213 -0.015  0.015 -0.022 -1.043]
+t: 110	 action: [-0.075  0.054  0.193 -0.003  0.024 -0.013 -1.005]
+t: 111	 action: [-0.081  0.04   0.138 -0.011  0.008 -0.025 -1.052]
+t: 112	 action: [-0.238 -0.01   0.073 -0.005  0.018 -0.014 -1.024]
+t: 113	 action: [-0.202 -0.012  0.042 -0.009  0.009 -0.029 -1.054]
+t: 114	 action: [-0.339 -0.066 -0.118  0.001 -0.016 -0.002 -1.026]
+t: 115	 action: [-0.511 -0.11  -0.261 -0.013 -0.014 -0.01  -1.053]
+t: 116	 action: [-5.853e-01 -6.502e-02 -3.339e-01  2.998e-04 -2.298e-02 -1.152e-03 -1.034e+00]
+t: 117	 action: [-0.62  -0.101 -0.473 -0.017 -0.019 -0.011 -1.041]
+t: 118	 action: [-0.793 -0.106 -0.515 -0.004 -0.031 -0.001 -1.01 ]
+t: 119	 action: [-0.673 -0.079 -0.522 -0.018 -0.044 -0.016 -1.059]
+t: 120	 action: [-0.716 -0.128 -0.665 -0.002 -0.036 -0.004 -1.016]
+t: 121	 action: [-0.591 -0.079 -0.629 -0.019 -0.044 -0.017 -1.043]
+[07-31 01:47:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4641
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4641
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4641
+t=122: Selected seed 195 with value = 0.4641
+t: 122	 action: [ 0.191  0.413 -0.332  0.004 -0.011  0.007 -1.044]
+t: 123	 action: [ 0.2    0.451 -0.284  0.008 -0.005  0.002 -1.036]
+t: 124	 action: [ 0.216  0.287 -0.302  0.007 -0.011  0.008 -1.047]
+t: 125	 action: [ 0.22   0.264 -0.252  0.006 -0.008 -0.003 -1.041]
+t: 126	 action: [ 1.821e-01  2.381e-01 -1.725e-01  6.803e-04 -5.489e-03  4.234e-03 -1.035e+00]
+t: 127	 action: [ 0.136  0.193 -0.14   0.009 -0.012 -0.001 -1.05 ]
+t: 128	 action: [ 0.205  0.136 -0.126 -0.003 -0.011  0.003 -1.044]
+t: 129	 action: [ 0.202  0.102 -0.085  0.006 -0.022 -0.008 -1.056]
+t: 130	 action: [ 0.122 -0.008 -0.14   0.02  -0.024  0.003 -1.063]
+t: 131	 action: [ 0.072 -0.041 -0.253  0.019 -0.033 -0.007 -1.048]
+t: 132	 action: [ 9.181e-02 -3.311e-02 -2.024e-01  1.799e-02 -3.572e-02  7.407e-04 -1.066e+00]
+t: 133	 action: [ 0.053 -0.068 -0.358  0.014 -0.05  -0.009 -1.051]
+t: 134	 action: [-8.331e-03 -2.018e-02 -3.408e-01  1.591e-02 -4.885e-02  3.302e-04 -1.055e+00]
+t: 135	 action: [-0.073 -0.038 -0.403  0.015 -0.066 -0.011 -1.054]
+t: 136	 action: [-0.084 -0.045 -0.452  0.005 -0.055 -0.004 -1.059]
+t: 137	 action: [-0.107 -0.039 -0.493  0.008 -0.07  -0.012 -1.057]
+[07-31 01:47:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4726
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4726
+Query 1/1: Action query time = 0.991 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4726
+t=138: Selected seed 195 with value = 0.4726
+t: 138	 action: [ 0.145  0.232 -0.486  0.002 -0.016  0.012 -1.059]
+t: 139	 action: [ 0.151  0.293 -0.416  0.008 -0.027  0.008 -1.042]
+t: 140	 action: [ 0.15   0.183 -0.466  0.015 -0.015  0.004 -1.058]
+t: 141	 action: [ 0.157  0.202 -0.367  0.01  -0.027  0.001 -1.031]
+t: 142	 action: [ 0.112  0.227 -0.324  0.002 -0.01   0.006 -1.043]
+t: 143	 action: [ 0.113  0.235 -0.216  0.011 -0.033  0.005 -1.048]
+t: 144	 action: [ 0.13   0.153 -0.211  0.002 -0.015 -0.004 -1.045]
+t: 145	 action: [ 0.144  0.158 -0.137  0.009 -0.032 -0.006 -1.041]
+t: 146	 action: [ 0.275  0.008  0.016  0.015 -0.019 -0.01  -1.087]
+t: 147	 action: [ 0.255  0.015 -0.052  0.011 -0.018 -0.014 -1.047]
+t: 148	 action: [ 0.244  0.012 -0.113  0.006 -0.032 -0.004 -1.094]
+t: 149	 action: [ 0.186  0.005 -0.228  0.004 -0.03  -0.012 -1.042]
+t: 150	 action: [ 0.087  0.013 -0.256  0.005 -0.038 -0.006 -1.072]
+t: 151	 action: [-0.001 -0.027 -0.327  0.007 -0.051 -0.013 -1.04 ]
+t: 152	 action: [-0.04   0.004 -0.473 -0.006 -0.047 -0.005 -1.074]
+t: 153	 action: [-0.044 -0.029 -0.488 -0.001 -0.055 -0.011 -1.041]
+[07-31 01:47:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5601
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.5601
+Query 1/1: Action query time = 0.988 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5601
+t=154: Selected seed 195 with value = 0.5601
+t: 154	 action: [ 5.550e-02  1.104e-02 -5.296e-01 -6.262e-03 -8.763e-03  6.055e-05 -1.057e+00]
+t: 155	 action: [ 0.109  0.02  -0.493 -0.003  0.006 -0.009 -1.048]
+t: 156	 action: [ 0.096  0.032 -0.55  -0.006 -0.002  0.002 -1.056]
+t: 157	 action: [ 0.13   0.034 -0.494 -0.004  0.008 -0.007 -1.035]
+t: 158	 action: [ 3.540e-02  4.782e-02 -4.324e-01  1.758e-03  1.089e-02 -1.935e-05 -1.035e+00]
+t: 159	 action: [ 0.025  0.047 -0.396  0.006  0.008 -0.008 -1.048]
+t: 160	 action: [ 0.048  0.024 -0.361 -0.004  0.014 -0.001 -1.048]
+t: 161	 action: [ 0.032  0.029 -0.348 -0.001  0.009 -0.013 -1.046]
+t: 162	 action: [ 0.043  0.052 -0.442 -0.002  0.007  0.002 -1.189]
+t: 163	 action: [-0.012  0.049 -0.382 -0.008  0.01   0.003 -1.144]
+t: 164	 action: [ 0.02   0.043 -0.454 -0.009  0.008  0.003  1.   ]
+t: 165	 action: [ 0.014  0.049 -0.392 -0.009  0.011 -0.008  1.036]
+t: 166	 action: [ 0.003  0.062 -0.377 -0.006  0.016 -0.005  1.112]
+t: 167	 action: [ 0.003  0.06  -0.334 -0.005  0.003 -0.002  1.205]
+t: 168	 action: [ 2.387e-04  7.831e-02 -2.184e-01 -1.339e-02  1.906e-02 -1.306e-02  1.021e+00]
+t: 169	 action: [ 0.04   0.057 -0.192 -0.011  0.005 -0.018  1.05 ]
+[07-31 01:47:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6736
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.6736
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6736
+t=170: Selected seed 195 with value = 0.6736
+t: 170	 action: [-0.084  0.006 -0.295 -0.011  0.027  0.019  0.978]
+t: 171	 action: [-0.031 -0.005 -0.139 -0.023  0.02   0.012  1.023]
+t: 172	 action: [-0.035  0.034  0.023 -0.024  0.008  0.002  0.978]
+t: 173	 action: [ 0.005  0.025  0.144 -0.027  0.007  0.002  1.031]
+t: 174	 action: [ 6.726e-04  5.953e-02  2.440e-01 -4.149e-02  1.544e-02  5.623e-04  9.978e-01]
+t: 175	 action: [ 3.621e-02  8.202e-02  5.197e-01 -3.050e-02  1.271e-03 -8.394e-04  1.014e+00]
+t: 176	 action: [ 0.041  0.027  0.772 -0.012  0.002 -0.008  0.992]
+t: 177	 action: [ 0.068  0.009  0.891 -0.008  0.001 -0.016  1.016]
+t: 178	 action: [ 2.058e-04 -1.456e-01  8.403e-01  1.060e-02  7.919e-04  9.902e-03  9.838e-01]
+t: 179	 action: [ 0.013 -0.222  0.908  0.031 -0.002  0.01   1.023]
+t: 180	 action: [-1.878e-02 -3.672e-01  8.821e-01  2.832e-02  1.961e-05  8.310e-03  9.710e-01]
+t: 181	 action: [ 0.031 -0.481  0.882  0.049 -0.001  0.008  1.015]
+t: 182	 action: [-0.051 -0.5    0.817  0.053  0.008  0.006  0.991]
+t: 183	 action: [-0.071 -0.647  0.752  0.052 -0.003  0.008  1.013]
+t: 184	 action: [-0.105 -0.684  0.579  0.061  0.005  0.005  0.987]
+t: 185	 action: [-0.089 -0.746  0.421  0.053 -0.004  0.01   1.005]
+[07-31 01:47:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8359
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8359
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8359
+t=186: Selected seed 195 with value = 0.8359
+t: 186	 action: [-1.766e-01 -6.595e-01  4.617e-01  4.100e-02  3.286e-02  3.326e-04  9.822e-01]
+t: 187	 action: [-0.131 -0.763  0.303  0.033  0.04  -0.003  1.046]
+t: 188	 action: [-2.080e-01 -7.254e-01  1.596e-01  3.967e-02  2.491e-02  4.039e-04  9.797e-01]
+t: 189	 action: [-0.161 -0.803  0.051  0.028  0.029  0.002  1.031]
+t: 190	 action: [-0.228 -0.783 -0.089  0.052  0.038  0.003  0.998]
+t: 191	 action: [-0.198 -0.768 -0.24   0.033  0.031  0.014  1.036]
+t: 192	 action: [-0.247 -0.689 -0.392  0.025  0.025  0.002  1.002]
+t: 193	 action: [-0.172 -0.606 -0.545  0.018  0.019  0.016  1.032]
+t: 194	 action: [-0.2   -0.569 -0.625  0.014  0.007  0.015  0.985]
+t: 195	 action: [-0.225 -0.435 -0.751  0.007  0.014  0.031  1.029]
+t: 196	 action: [-0.235 -0.421 -0.806  0.001  0.011  0.02   0.979]
+t: 197	 action: [-0.234 -0.314 -0.847 -0.008  0.015  0.034  1.043]
+t: 198	 action: [-0.29  -0.192 -0.764 -0.009  0.008  0.021  1.003]
+t: 199	 action: [-0.297 -0.197 -0.754 -0.004  0.008  0.036  1.032]
+t: 200	 action: [-0.246 -0.126 -0.621 -0.03   0.014  0.019  1.002]
+t: 201	 action: [-0.185 -0.151 -0.61  -0.013  0.014  0.034  1.043]
+[07-31 01:47:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9834
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 0.990 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=202: Selected seed 195 with value = 0.9834
+t: 202	 action: [-0.035 -0.053 -0.237  0.003  0.083  0.004  1.111]
+t: 203	 action: [ 0.022 -0.127 -0.169 -0.001  0.069 -0.006  1.007]
+t: 204	 action: [ 5.244e-02  3.591e-03  5.861e-02  4.341e-05  8.329e-02 -1.719e-03 -1.026e+00]
+t: 205	 action: [ 0.263 -0.042  0.165 -0.009  0.074 -0.011 -1.033]
+t: 206	 action: [ 0.191  0.097  0.22  -0.028  0.082 -0.004 -1.123]
+t: 207	 action: [ 0.293  0.128  0.38  -0.021  0.085 -0.011 -1.121]
+t: 208	 action: [ 0.318  0.138  0.458 -0.017  0.083 -0.009 -1.016]
+t: 209	 action: [ 0.41   0.121  0.513 -0.012  0.085 -0.017 -1.055]
+t: 210	 action: [ 0.406  0.167  0.524 -0.009  0.075 -0.007 -1.037]
+t: 211	 action: [ 0.42   0.097  0.505 -0.006  0.074 -0.016 -1.049]
+t: 212	 action: [ 0.366  0.158  0.509 -0.005  0.067 -0.004 -1.033]
+t: 213	 action: [ 0.379  0.097  0.467 -0.002  0.069 -0.015 -1.034]
+t: 214	 action: [ 0.24   0.116  0.495  0.008  0.065 -0.008 -1.037]
+t: 215	 action: [ 0.146  0.11   0.458  0.006  0.056 -0.017 -1.069]
+t: 216	 action: [ 0.198  0.108  0.464  0.005  0.059 -0.008 -1.032]
+t: 217	 action: [ 0.143  0.101  0.38   0.008  0.053 -0.014 -1.056]
+[07-31 01:47:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9132
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9132
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=218: Selected seed 195 with value = 0.9132
+t: 218	 action: [ 4.692e-02 -7.733e-04 -3.679e-01  5.446e-03  1.252e-02  4.782e-03 -8.047e-01]
+t: 219	 action: [ 0.074 -0.041 -0.362  0.007  0.003 -0.004 -0.829]
+t: 220	 action: [ 0.062  0.019 -0.317 -0.001  0.007  0.003 -1.008]
+t: 221	 action: [ 1.004e-01 -1.798e-02 -2.110e-01  4.687e-03 -6.674e-04 -1.301e-02 -1.027e+00]
+t: 222	 action: [ 4.460e-02  1.059e-01 -1.658e-01 -5.123e-03  3.845e-03 -5.909e-04 -1.046e+00]
+t: 223	 action: [ 0.036  0.131 -0.029  0.002 -0.006 -0.008 -1.087]
+t: 224	 action: [ 0.098  0.117  0.011 -0.009 -0.004 -0.005 -1.028]
+t: 225	 action: [ 0.127  0.109  0.121 -0.001 -0.006 -0.019 -1.05 ]
+t: 226	 action: [ 0.146  0.031  0.15  -0.001 -0.009 -0.013 -1.042]
+t: 227	 action: [ 1.633e-01  2.779e-03  1.779e-01 -1.580e-04  4.542e-04 -2.772e-02 -1.054e+00]
+t: 228	 action: [ 0.197  0.03   0.204 -0.002 -0.014 -0.015 -1.038]
+t: 229	 action: [ 2.238e-01  6.736e-03  2.089e-01 -8.863e-04  4.381e-03 -2.623e-02 -1.035e+00]
+t: 230	 action: [ 0.124  0.036  0.221 -0.003 -0.004 -0.016 -1.047]
+t: 231	 action: [ 0.086  0.061  0.224  0.004 -0.005 -0.03  -1.057]
+t: 232	 action: [ 0.146  0.058  0.168 -0.007 -0.004 -0.018 -1.038]
+t: 233	 action: [ 0.101  0.06   0.164  0.004 -0.005 -0.025 -1.052]
+[07-31 01:47:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.056 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7513
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 1.056 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=234: Selected seed 195 with value = 0.7513
+t: 234	 action: [ 2.575e-02  7.787e-02 -2.992e-01  6.740e-04 -7.407e-03  1.413e-02 -9.854e-01]
+t: 235	 action: [ 0.016  0.109 -0.286  0.002 -0.009  0.007 -0.957]
+t: 236	 action: [ 0.007  0.145 -0.236 -0.003 -0.009  0.008 -1.011]
+t: 237	 action: [ 0.018  0.14  -0.152 -0.003 -0.012 -0.002 -1.014]
+t: 238	 action: [-0.077  0.286 -0.118 -0.003 -0.007  0.012 -1.034]
+t: 239	 action: [-4.954e-02  2.899e-01  1.277e-02  5.280e-05 -1.013e-02  2.162e-03 -1.048e+00]
+t: 240	 action: [-0.064  0.278  0.06  -0.011 -0.012 -0.001 -1.029]
+t: 241	 action: [-0.006  0.214  0.176 -0.005 -0.009 -0.009 -1.043]
+t: 242	 action: [ 0.021  0.063  0.217 -0.003 -0.012 -0.008 -1.04 ]
+t: 243	 action: [ 0.038  0.026  0.248 -0.001 -0.006 -0.024 -1.045]
+t: 244	 action: [ 3.500e-02  1.684e-02  2.795e-01 -2.468e-04 -1.539e-02 -1.162e-02 -1.040e+00]
+t: 245	 action: [ 0.058 -0.025  0.251  0.003 -0.001 -0.023 -1.032]
+t: 246	 action: [-0.022 -0.003  0.249  0.005 -0.007 -0.015 -1.047]
+t: 247	 action: [-0.035  0.026  0.206  0.013 -0.005 -0.029 -1.055]
+t: 248	 action: [-0.048 -0.02   0.162  0.008 -0.007 -0.018 -1.042]
+t: 249	 action: [-0.025 -0.014  0.114  0.017 -0.004 -0.025 -1.051]
+[07-31 01:47:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.295 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7264
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7264
+Query 1/1: Action query time = 1.295 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7264
+t=250: Selected seed 195 with value = 0.7264
+t: 250	 action: [ 0.054  0.235 -0.332  0.008 -0.004  0.017 -0.988]
+t: 251	 action: [ 2.898e-02  2.665e-01 -3.267e-01  9.911e-03 -7.491e-04  9.762e-03 -9.798e-01]
+t: 252	 action: [ 1.707e-02  2.360e-01 -2.962e-01  6.398e-04 -3.348e-03  1.337e-02 -1.003e+00]
+t: 253	 action: [ 1.298e-02  2.284e-01 -2.135e-01  4.106e-03 -3.484e-03  9.792e-04 -1.017e+00]
+t: 254	 action: [-8.003e-02  3.799e-01 -1.802e-01  5.956e-04 -4.528e-04  2.223e-02 -1.025e+00]
+t: 255	 action: [-0.065  0.419 -0.03   0.007 -0.006  0.007 -1.049]
+t: 256	 action: [-0.108  0.321  0.073 -0.009 -0.005  0.006 -1.023]
+t: 257	 action: [-0.044  0.277  0.215 -0.004 -0.01  -0.006 -1.043]
+t: 258	 action: [ 0.005  0.048  0.332 -0.007 -0.021 -0.017 -1.024]
+t: 259	 action: [ 0.019 -0.009  0.415  0.003 -0.009 -0.029 -1.037]
+t: 260	 action: [-1.285e-02 -2.586e-02  4.407e-01  7.185e-05 -2.484e-02 -2.010e-02 -1.024e+00]
+t: 261	 action: [ 0.013 -0.088  0.388  0.011 -0.009 -0.029 -1.03 ]
+t: 262	 action: [-0.113 -0.076  0.392  0.021 -0.021 -0.023 -1.037]
+t: 263	 action: [-0.168 -0.057  0.288  0.025 -0.014 -0.035 -1.044]
+t: 264	 action: [-0.246 -0.18   0.227  0.025 -0.024 -0.027 -1.035]
+t: 265	 action: [-0.226 -0.134  0.118  0.027 -0.013 -0.031 -1.045]
+[07-31 01:47:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.275 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6740
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.6740
+Query 1/1: Action query time = 1.275 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6740
+t=266: Selected seed 195 with value = 0.6740
+t: 266	 action: [ 0.089  0.497 -0.3    0.001 -0.011  0.015 -1.003]
+t: 267	 action: [ 0.065  0.517 -0.298  0.004  0.003  0.009 -1.003]
+t: 268	 action: [ 5.647e-02  3.483e-01 -2.270e-01 -4.680e-04 -9.000e-03  1.359e-02 -1.003e+00]
+t: 269	 action: [ 3.776e-02  2.767e-01 -1.668e-01  4.227e-04  3.253e-03  1.485e-03 -1.017e+00]
+t: 270	 action: [-0.024  0.382 -0.078 -0.002 -0.006  0.017 -1.015]
+t: 271	 action: [-0.03   0.361  0.045 -0.003 -0.004  0.007 -1.046]
+t: 272	 action: [-0.108  0.201  0.204 -0.017 -0.006  0.006 -1.012]
+t: 273	 action: [-0.043  0.154  0.435 -0.012 -0.007 -0.004 -1.044]
+t: 274	 action: [ 1.389e-04  7.522e-03  4.490e-01 -4.882e-03 -1.906e-02 -1.401e-02 -1.015e+00]
+t: 275	 action: [-0.047 -0.055  0.516  0.012 -0.008 -0.021 -1.031]
+t: 276	 action: [-0.061 -0.054  0.489  0.003 -0.025 -0.012 -1.016]
+t: 277	 action: [-0.113 -0.133  0.434  0.018 -0.015 -0.023 -1.032]
+t: 278	 action: [-0.285 -0.144  0.423  0.033 -0.026 -0.013 -1.025]
+t: 279	 action: [-0.42  -0.151  0.302  0.026 -0.024 -0.024 -1.044]
+t: 280	 action: [-0.56  -0.207  0.236  0.033 -0.032 -0.015 -1.02 ]
+t: 281	 action: [-0.522 -0.209  0.103  0.025 -0.029 -0.023 -1.043]
+[07-31 01:48:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.219 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4791
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.4791
+Query 1/1: Action query time = 1.219 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4791
+t=282: Selected seed 195 with value = 0.4791
+t: 282	 action: [ 0.168  0.636 -0.257  0.003 -0.007  0.016 -1.038]
+t: 283	 action: [ 0.165  0.599 -0.255  0.006  0.005  0.009 -1.034]
+t: 284	 action: [ 1.613e-01  5.167e-01 -2.556e-01  4.886e-03 -1.190e-04  1.810e-02 -1.036e+00]
+t: 285	 action: [ 0.159  0.456 -0.209  0.006  0.005  0.005 -1.029]
+t: 286	 action: [ 1.133e-01  4.636e-01 -1.504e-01  3.431e-03 -7.261e-04  1.658e-02 -1.025e+00]
+t: 287	 action: [ 0.044  0.4   -0.044  0.006  0.008  0.007 -1.046]
+t: 288	 action: [ 0.06   0.224 -0.009 -0.001  0.002  0.011 -1.03 ]
+t: 289	 action: [ 4.828e-02  1.724e-01  1.239e-01  6.635e-03  3.723e-03  2.664e-04 -1.046e+00]
+t: 290	 action: [ 0.124 -0.007  0.297  0.026 -0.006  0.003 -1.044]
+t: 291	 action: [ 0.083 -0.044  0.277  0.025 -0.008 -0.008 -1.035]
+t: 292	 action: [ 0.033 -0.053  0.267  0.022 -0.016  0.004 -1.048]
+t: 293	 action: [-0.01  -0.141  0.136  0.018 -0.022 -0.012 -1.042]
+t: 294	 action: [-0.134 -0.074  0.167  0.033 -0.027  0.002 -1.046]
+t: 295	 action: [-0.244 -0.165  0.051  0.006 -0.033 -0.007 -1.042]
+t: 296	 action: [-3.323e-01 -1.254e-01 -8.909e-03  1.553e-02 -4.175e-02 -8.540e-04 -1.052e+00]
+t: 297	 action: [-0.336 -0.17  -0.092 -0.007 -0.04  -0.01  -1.046]
+[07-31 01:48:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.213 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4344
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.4344
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 70
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 40%|████      | 20/50 [10:43<16:08, 32.28s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 21...
+Query 1/1: Action query time = 1.213 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4344
+t=298: Selected seed 195 with value = 0.4344
+t: 298	 action: [ 0.131  0.481 -0.266  0.001 -0.005  0.016 -1.061]
+t: 299	 action: [ 0.14   0.518 -0.301  0.006  0.002  0.007 -1.038]
+t: 300	 action: [ 1.831e-01  3.944e-01 -1.891e-01  6.086e-03 -6.636e-04  6.846e-03 -1.056e+00]
+t: 301	 action: [ 0.199  0.393 -0.205  0.006  0.004 -0.003 -1.035]
+t: 302	 action: [ 0.117  0.308 -0.112  0.001  0.004  0.006 -1.047]
+t: 303	 action: [ 8.837e-02  2.793e-01 -6.457e-02  7.813e-03  9.446e-03 -5.920e-04 -1.043e+00]
+t: 304	 action: [ 0.147  0.183 -0.051  0.005  0.006 -0.001 -1.047]
+t: 305	 action: [ 0.159  0.166 -0.004  0.011  0.004 -0.012 -1.042]
+t: 306	 action: [ 0.167  0.008 -0.003  0.024 -0.006  0.007 -1.069]
+t: 307	 action: [ 0.091 -0.009 -0.166  0.014 -0.009 -0.002 -1.046]
+t: 308	 action: [ 0.082 -0.002 -0.162  0.01  -0.019  0.007 -1.065]
+t: 309	 action: [ 0.003 -0.052 -0.335  0.005 -0.023 -0.007 -1.043]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=70--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=70--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 70
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 21...
+[07-31 01:48:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.320 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3944
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3944
+Query 1/1: Action query time = 1.320 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3944
+t=10: Selected seed 195 with value = 0.3944
+t: 10	 action: [ 0.462 -0.062  0.187 -0.002  0.033  0.005 -1.021]
+t: 11	 action: [ 0.515 -0.043  0.232 -0.002  0.046 -0.005 -1.008]
+t: 12	 action: [ 0.69  -0.1    0.246  0.002  0.03   0.007 -1.018]
+t: 13	 action: [ 0.76  -0.106  0.281  0.003  0.045 -0.003 -1.016]
+t: 14	 action: [ 0.807 -0.122  0.28   0.005  0.032  0.005 -1.026]
+t: 15	 action: [ 0.832 -0.156  0.241  0.005  0.034  0.001 -1.031]
+t: 16	 action: [ 0.854 -0.16   0.253  0.004  0.024  0.006 -1.027]
+t: 17	 action: [ 0.893 -0.184  0.199  0.013  0.031  0.001 -1.039]
+t: 18	 action: [ 0.832 -0.371  0.182  0.01  -0.002  0.009 -1.024]
+t: 19	 action: [ 8.458e-01 -3.784e-01  1.760e-01  1.737e-02  9.059e-03 -7.195e-04 -1.011e+00]
+t: 20	 action: [ 0.864 -0.352  0.087  0.011 -0.004  0.007 -1.019]
+t: 21	 action: [ 0.865 -0.379  0.069  0.018  0.01  -0.001 -1.003]
+t: 22	 action: [ 8.505e-01 -3.225e-01  7.824e-02  1.681e-02 -8.849e-04  5.219e-03 -1.015e+00]
+t: 23	 action: [ 0.869 -0.368  0.029  0.023  0.005  0.002 -1.034]
+t: 24	 action: [ 8.432e-01 -1.666e-01 -2.322e-02  1.161e-02  4.997e-04  1.282e-03 -1.015e+00]
+t: 25	 action: [ 8.475e-01 -2.238e-01 -3.114e-02  2.132e-02  7.346e-04  1.954e-03 -1.034e+00]
+[07-31 01:48:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.263 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4442
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4442
+Query 1/1: Action query time = 1.263 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4442
+t=26: Selected seed 195 with value = 0.4442
+t: 26	 action: [ 0.867 -0.293 -0.013  0.007  0.009  0.003 -1.021]
+t: 27	 action: [ 9.333e-01 -2.065e-01  6.825e-04  1.123e-03  6.153e-03 -6.013e-03 -1.018e+00]
+t: 28	 action: [ 0.865 -0.178 -0.12   0.005  0.005  0.003 -1.028]
+t: 29	 action: [ 0.859 -0.093 -0.14   0.001  0.002 -0.006 -1.024]
+t: 30	 action: [ 0.807 -0.027 -0.208  0.004 -0.005  0.004 -1.027]
+t: 31	 action: [ 7.102e-01  2.298e-02 -2.747e-01  9.856e-03  1.459e-03  8.405e-04 -1.052e+00]
+t: 32	 action: [ 5.292e-01  8.857e-02 -4.228e-01 -6.481e-04 -2.022e-02  3.985e-03 -1.029e+00]
+t: 33	 action: [ 3.847e-01  9.228e-02 -4.730e-01  8.699e-03 -2.572e-03 -4.480e-04 -1.046e+00]
+t: 34	 action: [ 0.198  0.018 -0.555  0.008 -0.053  0.011 -1.039]
+t: 35	 action: [ 0.138  0.016 -0.568  0.011 -0.038  0.007 -1.031]
+t: 36	 action: [ 0.089  0.023 -0.688  0.01  -0.06   0.012 -1.036]
+t: 37	 action: [ 0.035  0.002 -0.654  0.013 -0.037  0.009 -1.021]
+t: 38	 action: [ 0.046  0.023 -0.718  0.003 -0.046  0.019 -1.035]
+t: 39	 action: [ 0.005  0.002 -0.599  0.021 -0.022  0.017 -1.042]
+t: 40	 action: [-0.048  0.018 -0.75   0.005 -0.033  0.021 -1.034]
+t: 41	 action: [-0.034  0.017 -0.596  0.021 -0.012  0.02  -1.042]
+[07-31 01:48:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.389 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5184
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5184
+Query 1/1: Action query time = 1.389 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5184
+t=42: Selected seed 195 with value = 0.5184
+t: 42	 action: [-0.079 -0.117 -0.824  0.01  -0.053  0.015 -0.997]
+t: 43	 action: [-0.078 -0.102 -0.769  0.012 -0.039  0.022 -1.016]
+t: 44	 action: [-0.113 -0.011 -0.854  0.007 -0.047  0.017 -0.997]
+t: 45	 action: [-0.086  0.034 -0.756  0.01  -0.031  0.02  -1.023]
+t: 46	 action: [-0.13   0.144 -0.693  0.004 -0.045  0.028 -1.002]
+t: 47	 action: [-0.048  0.233 -0.66   0.016 -0.027  0.026 -1.043]
+t: 48	 action: [-0.057  0.413 -0.573  0.003 -0.04   0.027 -1.   ]
+t: 49	 action: [-0.009  0.593 -0.468  0.012 -0.017  0.023 -1.047]
+t: 50	 action: [ 0.003  0.756 -0.529  0.004 -0.021  0.028 -1.001]
+t: 51	 action: [-5.857e-04  7.770e-01 -5.005e-01  1.583e-03 -1.046e-02  2.671e-02 -1.014e+00]
+t: 52	 action: [-0.024  0.816 -0.469  0.003 -0.012  0.033 -0.999]
+t: 53	 action: [-1.519e-03  7.979e-01 -4.456e-01  8.951e-04 -2.153e-03  2.677e-02 -1.018e+00]
+t: 54	 action: [-0.071  0.831 -0.44   0.004 -0.013  0.036 -1.005]
+t: 55	 action: [-0.045  0.826 -0.388  0.006 -0.004  0.027 -1.038]
+t: 56	 action: [-0.092  0.849 -0.424  0.003 -0.005  0.041 -1.003]
+t: 57	 action: [-5.240e-02  8.243e-01 -3.690e-01  4.671e-03 -3.404e-04  2.824e-02 -1.046e+00]
+[07-31 01:48:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.255 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5320
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 1.255 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=58: Selected seed 195 with value = 0.5320
+t: 58	 action: [-0.103  0.828 -0.413  0.004  0.008  0.02  -1.   ]
+t: 59	 action: [-0.063  0.805 -0.359  0.011  0.002  0.022 -0.992]
+t: 60	 action: [-0.114  0.836 -0.409  0.004  0.01   0.025 -0.996]
+t: 61	 action: [-0.075  0.807 -0.346  0.014  0.003  0.024 -0.996]
+t: 62	 action: [-0.104  0.825 -0.375  0.004  0.012  0.027 -0.988]
+t: 63	 action: [-0.091  0.809 -0.379  0.014  0.002  0.028 -1.018]
+t: 64	 action: [-0.121  0.83  -0.38   0.003  0.015  0.036 -0.985]
+t: 65	 action: [-0.075  0.808 -0.385  0.016  0.007  0.03  -1.027]
+t: 66	 action: [-0.022  0.751 -0.308  0.007  0.004  0.023 -1.019]
+t: 67	 action: [ 0.006  0.643 -0.348  0.011  0.011  0.01  -1.014]
+t: 68	 action: [ 0.011  0.51  -0.248  0.003  0.007  0.009 -1.021]
+t: 69	 action: [ 0.055  0.281 -0.129  0.011  0.034 -0.005 -1.013]
+t: 70	 action: [ 0.089  0.166  0.083  0.004  0.034  0.004 -1.004]
+t: 71	 action: [ 0.067  0.038  0.304  0.014  0.041 -0.008 -1.037]
+t: 72	 action: [ 0.095 -0.043  0.558  0.03   0.059 -0.002 -1.001]
+t: 73	 action: [ 0.064 -0.046  0.64   0.031  0.04  -0.019 -1.036]
+[07-31 01:48:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.188 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7427
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7427
+Query 1/1: Action query time = 1.188 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7427
+t=74: Selected seed 195 with value = 0.7427
+t: 74	 action: [-0.064 -0.132  0.735 -0.008  0.065 -0.05  -1.013]
+t: 75	 action: [-0.186 -0.176  0.721  0.014  0.05  -0.053 -1.017]
+t: 76	 action: [-0.298 -0.159  0.599  0.022  0.032 -0.052 -1.011]
+t: 77	 action: [-0.482 -0.212  0.494  0.037  0.01  -0.056 -1.018]
+t: 78	 action: [-0.661 -0.206  0.278  0.038  0.016 -0.051 -1.007]
+t: 79	 action: [-0.753 -0.216  0.178  0.037 -0.004 -0.057 -1.036]
+t: 80	 action: [-0.839 -0.224  0.109  0.038 -0.004 -0.049 -1.004]
+t: 81	 action: [-0.822 -0.198  0.008  0.032 -0.007 -0.063 -1.032]
+t: 82	 action: [-0.84  -0.116 -0.092  0.022 -0.032 -0.034 -1.023]
+t: 83	 action: [-0.83  -0.138 -0.123  0.014 -0.021 -0.041 -1.031]
+t: 84	 action: [-0.825 -0.112 -0.219  0.012 -0.039 -0.033 -1.023]
+t: 85	 action: [-0.824 -0.115 -0.257  0.01  -0.031 -0.036 -1.015]
+t: 86	 action: [-0.859 -0.122 -0.325  0.019 -0.043 -0.03  -0.999]
+t: 87	 action: [-0.78  -0.104 -0.345  0.02  -0.04  -0.044 -1.032]
+t: 88	 action: [-0.776 -0.101 -0.472  0.007 -0.043 -0.031 -0.997]
+t: 89	 action: [-0.698 -0.073 -0.46   0.017 -0.044 -0.04  -1.03 ]
+[07-31 01:48:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.240 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7091
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7091
+Query 1/1: Action query time = 1.240 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7091
+t=90: Selected seed 195 with value = 0.7091
+t: 90	 action: [-0.79   0.097 -0.336  0.003 -0.02  -0.028 -1.026]
+t: 91	 action: [-0.696  0.114 -0.373  0.023 -0.009 -0.05  -1.035]
+t: 92	 action: [-0.556  0.077 -0.441  0.007 -0.01  -0.028 -1.018]
+t: 93	 action: [-4.527e-01  9.889e-02 -4.463e-01  2.879e-02 -8.746e-04 -5.848e-02 -1.041e+00]
+t: 94	 action: [-0.236  0.028 -0.496  0.008 -0.01  -0.031 -1.011]
+t: 95	 action: [-0.12   0.076 -0.467  0.031  0.003 -0.061 -1.053]
+t: 96	 action: [-0.019  0.003 -0.513  0.012 -0.002 -0.035 -1.006]
+t: 97	 action: [ 0.066  0.05  -0.465  0.033  0.004 -0.07  -1.055]
+t: 98	 action: [ 0.015  0.025 -0.615  0.006 -0.021 -0.05  -1.029]
+t: 99	 action: [ 0.035  0.047 -0.642  0.018 -0.007 -0.071 -1.031]
+t: 100	 action: [ 0.077  0.027 -0.632  0.005 -0.025 -0.044 -1.033]
+t: 101	 action: [ 0.084  0.054 -0.644  0.017 -0.013 -0.069 -1.034]
+t: 102	 action: [ 0.04   0.022 -0.552  0.004 -0.018 -0.054 -1.026]
+t: 103	 action: [ 0.058  0.068 -0.478  0.019 -0.004 -0.081 -1.058]
+t: 104	 action: [ 1.633e-01  4.117e-02 -4.666e-01  7.238e-04 -1.678e-02 -5.205e-02 -1.025e+00]
+t: 105	 action: [ 0.19   0.078 -0.418  0.017 -0.008 -0.078 -1.067]
+[07-31 01:48:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.342 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9340
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 1.342 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=106: Selected seed 195 with value = 0.9340
+t: 106	 action: [ 0.49   0.065 -0.072 -0.007  0.007 -0.051 -1.04 ]
+t: 107	 action: [ 0.568  0.056 -0.022 -0.007  0.009 -0.07  -1.008]
+t: 108	 action: [ 0.569  0.076  0.088 -0.011 -0.001 -0.057 -1.052]
+t: 109	 action: [ 0.612  0.05   0.127 -0.008 -0.001 -0.079 -1.03 ]
+t: 110	 action: [ 0.573  0.069  0.186 -0.01   0.005 -0.049 -1.045]
+t: 111	 action: [ 0.524  0.052  0.142 -0.004 -0.007 -0.078 -1.045]
+t: 112	 action: [ 0.568  0.079  0.144 -0.008 -0.009 -0.052 -1.053]
+t: 113	 action: [ 0.496  0.01   0.039 -0.001 -0.017 -0.084 -1.04 ]
+t: 114	 action: [ 0.493  0.026 -0.008  0.007 -0.025 -0.061 -1.056]
+t: 115	 action: [ 0.48   0.023 -0.086  0.012 -0.015 -0.072 -1.029]
+t: 116	 action: [ 0.407  0.026 -0.123  0.009 -0.04  -0.06  -1.062]
+t: 117	 action: [ 0.348  0.021 -0.243  0.012 -0.029 -0.064 -1.02 ]
+t: 118	 action: [ 0.208 -0.006 -0.209  0.006 -0.046 -0.045 -1.056]
+t: 119	 action: [ 0.06  -0.019 -0.32   0.02  -0.043 -0.071 -1.043]
+t: 120	 action: [ 0.106  0.001 -0.378  0.003 -0.055 -0.043 -1.054]
+t: 121	 action: [ 0.013 -0.011 -0.425  0.019 -0.047 -0.059 -1.036]
+[07-31 01:48:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.534 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9601
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 1.534 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=122: Selected seed 195 with value = 0.9601
+t: 122	 action: [ 0.195  0.017 -0.111 -0.002  0.026 -0.036 -1.042]
+t: 123	 action: [ 0.189  0.045 -0.119 -0.018  0.03  -0.032 -1.021]
+t: 124	 action: [ 0.127  0.021  0.024 -0.003  0.024 -0.029 -1.048]
+t: 125	 action: [ 0.102  0.037 -0.035 -0.021  0.017 -0.032 -1.034]
+t: 126	 action: [ 0.079  0.029  0.053 -0.013  0.019 -0.017 -1.055]
+t: 127	 action: [ 0.04   0.063 -0.033 -0.016  0.008 -0.027 -1.067]
+t: 128	 action: [ 0.039  0.006 -0.011 -0.009  0.017 -0.011 -1.054]
+t: 129	 action: [ 0.022  0.015 -0.106 -0.014  0.002 -0.025 -1.054]
+t: 130	 action: [ 9.144e-02 -4.306e-02 -7.476e-02 -9.621e-04 -1.463e-02 -8.789e-03 -1.067e+00]
+t: 131	 action: [ 0.045 -0.046 -0.144 -0.017 -0.006 -0.012 -1.05 ]
+t: 132	 action: [ 0.06  -0.043 -0.113 -0.003 -0.016 -0.002 -1.069]
+t: 133	 action: [ 0.04  -0.062 -0.191 -0.017 -0.006 -0.011 -1.039]
+t: 134	 action: [-0.012 -0.053 -0.156 -0.003 -0.02  -0.002 -1.074]
+t: 135	 action: [-0.034 -0.042 -0.22  -0.01  -0.019 -0.008 -1.062]
+t: 136	 action: [-3.701e-02 -4.817e-02 -1.943e-01 -6.010e-03 -1.862e-02 -8.426e-04 -1.072e+00]
+t: 137	 action: [-0.04  -0.058 -0.254 -0.01  -0.017 -0.006 -1.057]
+[07-31 01:48:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.350 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9679
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 1.350 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=138: Selected seed 195 with value = 0.9679
+t: 138	 action: [ 0.055 -0.084 -0.124 -0.003  0.014 -0.011 -1.059]
+t: 139	 action: [ 0.041 -0.071 -0.221 -0.02   0.015 -0.01  -1.042]
+t: 140	 action: [ 0.023 -0.075 -0.074 -0.006  0.016  0.003 -1.068]
+t: 141	 action: [ 0.026 -0.07  -0.123 -0.025  0.011 -0.005 -1.045]
+t: 142	 action: [ 0.034 -0.027 -0.046 -0.017  0.015 -0.002 -1.066]
+t: 143	 action: [-0.009 -0.006 -0.076 -0.021  0.004 -0.002 -1.058]
+t: 144	 action: [ 0.027 -0.025 -0.035 -0.019  0.02   0.002 -1.074]
+t: 145	 action: [-1.376e-02 -2.513e-02 -4.930e-02 -2.527e-02  2.110e-03 -4.625e-04 -1.051e+00]
+t: 146	 action: [ 0.023 -0.047 -0.155 -0.018  0.012  0.001 -1.057]
+t: 147	 action: [ 0.027 -0.048 -0.129 -0.027  0.014 -0.007 -1.101]
+t: 148	 action: [ 0.015 -0.017 -0.092 -0.029  0.013  0.008  0.933]
+t: 149	 action: [ 0.038 -0.057 -0.103 -0.032  0.013  0.002  1.033]
+t: 150	 action: [-4.351e-03 -1.554e-02 -9.515e-02 -3.878e-02  1.446e-02  6.572e-05 -1.067e+00]
+t: 151	 action: [-0.041 -0.018 -0.096 -0.027 -0.002  0.005  1.126]
+t: 152	 action: [-0.002 -0.066 -0.068 -0.043  0.018  0.002  0.948]
+t: 153	 action: [ 2.898e-02 -3.236e-02 -7.165e-02 -3.313e-02 -1.391e-04  1.458e-02  1.019e+00]
+[07-31 01:48:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.531 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9569
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 1.531 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=154: Selected seed 195 with value = 0.9569
+t: 154	 action: [-0.08  -0.158 -0.37   0.006  0.014 -0.019 -1.151]
+t: 155	 action: [-0.078 -0.128 -0.307  0.009  0.006  0.003 -0.987]
+t: 156	 action: [-0.079 -0.116 -0.414  0.006  0.021 -0.004 -1.151]
+t: 157	 action: [-0.072 -0.111 -0.298  0.008  0.009  0.008 -1.139]
+t: 158	 action: [-2.408e-02 -6.584e-02 -2.263e-01  9.023e-05  2.831e-02 -9.592e-03  1.073e+00]
+t: 159	 action: [-0.015 -0.094 -0.142 -0.016  0.019  0.013  1.186]
+t: 160	 action: [-0.004 -0.029 -0.152 -0.008  0.034 -0.003  1.052]
+t: 161	 action: [-0.006 -0.028 -0.05  -0.032  0.028  0.005  1.144]
+t: 162	 action: [-0.061 -0.244 -0.342  0.002  0.011 -0.02   1.003]
+t: 163	 action: [ 0.025 -0.172 -0.21  -0.011  0.014 -0.01   1.058]
+t: 164	 action: [-0.018 -0.174 -0.307 -0.005  0.015 -0.012  0.984]
+t: 165	 action: [ 0.05  -0.116 -0.115 -0.007  0.012 -0.01   1.051]
+t: 166	 action: [ 0.017 -0.07  -0.075 -0.016  0.016 -0.02   1.017]
+t: 167	 action: [ 0.044 -0.034 -0.035 -0.028  0.003 -0.002  1.047]
+t: 168	 action: [ 0.029 -0.014  0.027 -0.035  0.02  -0.017  1.005]
+t: 169	 action: [ 0.058 -0.011  0.087 -0.043  0.007 -0.004  1.048]
+[07-31 01:48:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.341 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5975
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5975
+Query 1/1: Action query time = 1.341 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5975
+t=170: Selected seed 195 with value = 0.5975
+t: 170	 action: [-0.218 -0.016  0.36  -0.005 -0.027 -0.087  0.989]
+t: 171	 action: [-0.165 -0.04   0.459  0.004 -0.009 -0.081  1.024]
+t: 172	 action: [-0.26  -0.006  0.509  0.007 -0.01  -0.078  1.002]
+t: 173	 action: [-0.192 -0.026  0.565  0.016  0.001 -0.076  1.032]
+t: 174	 action: [-0.248 -0.019  0.621  0.023  0.035 -0.066  1.017]
+t: 175	 action: [-0.158 -0.017  0.626  0.026  0.046 -0.064  1.011]
+t: 176	 action: [-0.203 -0.02   0.675  0.042  0.066 -0.062  1.027]
+t: 177	 action: [-0.077 -0.021  0.598  0.035  0.088 -0.063  1.018]
+t: 178	 action: [-0.006 -0.081  0.603  0.026  0.072 -0.044  1.022]
+t: 179	 action: [ 0.111 -0.046  0.675  0.031  0.08  -0.038  1.055]
+t: 180	 action: [ 0.113 -0.035  0.573  0.023  0.081 -0.047  1.014]
+t: 181	 action: [ 0.227 -0.047  0.581  0.025  0.094 -0.058  1.036]
+t: 182	 action: [ 0.128 -0.053  0.543  0.03   0.099 -0.024  1.029]
+t: 183	 action: [ 0.195 -0.033  0.523  0.028  0.088 -0.016  1.023]
+t: 184	 action: [ 0.167 -0.014  0.564  0.024  0.101 -0.035  0.991]
+t: 185	 action: [ 0.185 -0.038  0.513  0.023  0.083 -0.026  0.785]
+[07-31 01:48:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.092 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7477
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7477
+Query 1/1: Action query time = 1.092 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7477
+t=186: Selected seed 195 with value = 0.7477
+t: 186	 action: [-0.104 -0.126  0.534  0.026  0.127 -0.038  0.989]
+t: 187	 action: [-0.062 -0.1    0.515  0.021  0.157 -0.042  1.031]
+t: 188	 action: [-0.057 -0.122  0.682  0.029  0.125 -0.028  0.994]
+t: 189	 action: [-0.005 -0.103  0.695  0.019  0.156 -0.034  1.024]
+t: 190	 action: [-0.003 -0.085  0.795  0.012  0.15  -0.016  1.015]
+t: 191	 action: [ 0.034 -0.076  0.786  0.015  0.147 -0.036  1.031]
+t: 192	 action: [ 0.083 -0.061  0.889  0.009  0.141 -0.011  1.021]
+t: 193	 action: [ 0.107 -0.098  0.859  0.012  0.14  -0.03   1.032]
+t: 194	 action: [ 0.226 -0.116  0.847  0.008  0.114  0.003  0.997]
+t: 195	 action: [ 0.297 -0.154  0.839  0.002  0.136  0.002  1.036]
+t: 196	 action: [ 0.438 -0.169  0.781  0.005  0.084  0.003  0.984]
+t: 197	 action: [ 0.531 -0.244  0.743  0.003  0.099  0.009  1.029]
+t: 198	 action: [ 0.573 -0.277  0.744  0.009  0.077  0.005  1.023]
+t: 199	 action: [ 0.653 -0.345  0.561  0.02   0.051  0.02   1.051]
+t: 200	 action: [ 0.67  -0.307  0.535  0.01   0.041  0.001  1.018]
+t: 201	 action: [ 0.707 -0.392  0.393  0.027  0.019  0.019  1.044]
+[07-31 01:48:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.037 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9168
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9168
+Query 1/1: Action query time = 1.037 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9168
+t=202: Selected seed 195 with value = 0.9168
+t: 202	 action: [ 0.535 -0.317  0.632  0.024  0.032  0.016  0.967]
+t: 203	 action: [ 0.492 -0.433  0.563  0.021  0.007  0.015  1.017]
+t: 204	 action: [ 0.603 -0.412  0.438  0.038 -0.004  0.02   0.977]
+t: 205	 action: [ 0.6   -0.498  0.333  0.031 -0.003  0.023  1.021]
+t: 206	 action: [ 0.65  -0.455  0.173  0.032 -0.017  0.022  0.993]
+t: 207	 action: [ 0.675 -0.555  0.104  0.031 -0.018  0.034  0.999]
+t: 208	 action: [ 0.67  -0.424  0.001  0.024 -0.034  0.037  1.002]
+t: 209	 action: [ 0.68  -0.506 -0.093  0.025 -0.041  0.038  1.009]
+t: 210	 action: [ 0.612 -0.387 -0.26   0.012 -0.047  0.053  0.963]
+t: 211	 action: [ 0.58  -0.382 -0.322  0.008 -0.06   0.055  1.012]
+t: 212	 action: [ 0.57  -0.264 -0.436  0.01  -0.065  0.072  0.969]
+t: 213	 action: [ 0.464 -0.215 -0.489 -0.003 -0.074  0.068  1.024]
+t: 214	 action: [ 0.299 -0.091 -0.525 -0.007 -0.062  0.1    0.985]
+t: 215	 action: [ 0.191 -0.075 -0.629 -0.022 -0.074  0.091  0.999]
+t: 216	 action: [ 0.107  0.049 -0.572 -0.03  -0.065  0.119  0.993]
+t: 217	 action: [ 0.051  0.021 -0.633 -0.032 -0.063  0.1    1.013]
+[07-31 01:48:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.296 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9767
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 1.296 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=218: Selected seed 195 with value = 0.9767
+t: 218	 action: [-0.063 -0.16  -0.699  0.027 -0.008  0.038  0.924]
+t: 219	 action: [-0.041 -0.155 -0.689  0.02   0.002  0.025  1.015]
+t: 220	 action: [-0.034 -0.076 -0.544  0.018  0.013  0.046  1.11 ]
+t: 221	 action: [-0.041 -0.149 -0.45   0.015  0.021  0.027  0.93 ]
+t: 222	 action: [ 0.009 -0.042 -0.257  0.009  0.023  0.036  0.808]
+t: 223	 action: [ 0.002 -0.052 -0.099  0.011  0.029  0.032 -1.044]
+t: 224	 action: [ 0.079  0.014  0.024 -0.002  0.042  0.032 -1.13 ]
+t: 225	 action: [ 0.101 -0.006  0.168  0.006  0.071  0.012 -1.121]
+t: 226	 action: [ 0.148  0.021  0.369  0.003  0.013  0.034 -1.05 ]
+t: 227	 action: [ 0.166 -0.023  0.461 -0.004  0.021  0.028 -1.033]
+t: 228	 action: [ 0.16   0.026  0.443  0.002  0.011  0.038 -1.043]
+t: 229	 action: [ 0.198 -0.003  0.491 -0.01   0.015  0.028 -1.027]
+t: 230	 action: [ 0.121  0.042  0.463  0.006  0.007  0.031 -1.057]
+t: 231	 action: [ 0.119  0.047  0.478  0.003  0.01   0.028 -1.038]
+t: 232	 action: [ 1.422e-01  5.774e-02  4.405e-01 -2.626e-04  1.820e-03  3.241e-02 -1.047e+00]
+t: 233	 action: [ 0.123  0.052  0.437 -0.001  0.007  0.031 -1.045]
+[07-31 01:48:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.288 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9938
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 1.288 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=234: Selected seed 195 with value = 0.9938
+t: 234	 action: [-0.088  0.018  0.217  0.004  0.014  0.012 -0.981]
+t: 235	 action: [-0.073 -0.032  0.233  0.004  0.007  0.013 -0.999]
+t: 236	 action: [-0.093  0.02   0.218  0.004  0.014  0.013 -0.993]
+t: 237	 action: [-0.067 -0.029  0.234  0.002  0.009  0.015 -1.023]
+t: 238	 action: [-9.018e-02  4.707e-04  2.005e-01  2.451e-04  1.247e-02  1.286e-02 -1.002e+00]
+t: 239	 action: [-0.109  0.025  0.2    0.006 -0.002  0.016 -1.036]
+t: 240	 action: [-0.088  0.006  0.214 -0.001  0.013  0.011 -1.002]
+t: 241	 action: [-6.808e-02  1.929e-02  2.199e-01  3.033e-03  1.506e-04  1.456e-02 -1.046e+00]
+t: 242	 action: [-0.1    0.012  0.192  0.005  0.008  0.01  -0.981]
+t: 243	 action: [-0.079 -0.026  0.223  0.003  0.007  0.012 -1.013]
+t: 244	 action: [-0.099  0.018  0.208  0.003  0.008  0.012 -0.992]
+t: 245	 action: [-6.953e-02 -2.505e-02  2.278e-01  3.832e-04  7.458e-03  1.385e-02 -1.023e+00]
+t: 246	 action: [-1.008e-01 -2.903e-03  1.795e-01  5.448e-05  7.101e-03  5.799e-03 -1.004e+00]
+t: 247	 action: [-0.11   0.023  0.19   0.005 -0.003  0.014 -1.046]
+t: 248	 action: [-0.094  0.008  0.203 -0.002  0.008  0.006 -1.   ]
+t: 249	 action: [-0.073  0.017  0.215  0.001 -0.002  0.014 -1.051]
+[07-31 01:48:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.217 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.217 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+t: 250	 action: [ 0.004  0.03   0.098  0.007  0.017  0.011 -1.015]
+t: 251	 action: [ 0.049 -0.004  0.109  0.003  0.008  0.013 -1.028]
+t: 252	 action: [ 0.006  0.028  0.104  0.005  0.014  0.009 -1.016]
+t: 253	 action: [ 0.057  0.002  0.117  0.002  0.008  0.01  -1.028]
+t: 254	 action: [ 1.654e-02  2.858e-02  1.042e-01  2.883e-04  1.628e-02  6.404e-03 -1.023e+00]
+t: 255	 action: [ 0.037  0.059  0.093  0.007  0.001  0.014 -1.054]
+t: 256	 action: [ 2.422e-02  1.759e-02  1.173e-01 -5.063e-04  1.406e-02  5.449e-03 -1.019e+00]
+t: 257	 action: [ 0.064  0.053  0.108  0.005  0.002  0.01  -1.048]
+t: 258	 action: [ 4.920e-04  2.215e-02  8.874e-02  6.327e-03  9.094e-03  1.119e-02 -1.014e+00]
+t: 259	 action: [ 0.044 -0.003  0.101  0.002  0.008  0.011 -1.034]
+t: 260	 action: [ 0.003  0.024  0.101  0.004  0.009  0.011 -1.015]
+t: 261	 action: [ 0.055  0.002  0.11   0.001  0.007  0.009 -1.028]
+t: 262	 action: [ 1.234e-02  7.672e-03  9.074e-02  1.422e-04  1.047e-02  6.019e-03 -1.025e+00]
+t: 263	 action: [ 3.222e-02  5.178e-02  8.401e-02  6.601e-03  8.009e-05  1.122e-02 -1.058e+00]
+t: 264	 action: [ 2.166e-02  1.387e-02  1.101e-01 -7.714e-04  9.650e-03  4.933e-03 -1.018e+00]
+t: 265	 action: [ 5.803e-02  5.082e-02  1.021e-01  3.358e-03  2.459e-04  1.016e-02 -1.054e+00]
+[07-31 01:48:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.267 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.267 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+t: 266	 action: [ 0.095  0.043  0.072  0.005  0.02   0.002 -1.025]
+t: 267	 action: [ 0.161  0.013  0.083 -0.001  0.012 -0.002 -1.033]
+t: 268	 action: [ 0.1    0.04   0.066  0.005  0.018  0.001 -1.022]
+t: 269	 action: [ 1.768e-01  1.662e-02  8.324e-02  8.951e-04  9.530e-03 -5.241e-03 -1.027e+00]
+t: 270	 action: [ 9.922e-02  3.744e-02  8.180e-02 -1.690e-04  1.786e-02 -2.554e-03 -1.026e+00]
+t: 271	 action: [ 1.557e-01  6.658e-02  7.065e-02  6.455e-03  2.614e-03 -8.622e-04 -1.052e+00]
+t: 272	 action: [ 1.152e-01  3.043e-02  8.132e-02  3.013e-05  1.521e-02 -2.667e-03 -1.021e+00]
+t: 273	 action: [ 0.19   0.062  0.068  0.006  0.002 -0.004 -1.045]
+t: 274	 action: [ 0.087  0.041  0.064  0.006  0.011  0.006 -1.023]
+t: 275	 action: [ 0.156  0.011  0.08  -0.001  0.011 -0.004 -1.037]
+t: 276	 action: [ 0.095  0.035  0.066  0.005  0.011  0.004 -1.022]
+t: 277	 action: [ 1.741e-01  1.641e-02  7.799e-02  5.104e-06  7.952e-03 -5.287e-03 -1.027e+00]
+t: 278	 action: [ 9.201e-02  2.069e-02  6.959e-02  1.901e-04  1.067e-02  1.805e-04 -1.028e+00]
+t: 279	 action: [ 0.149  0.058  0.061  0.006  0.002 -0.004 -1.056]
+t: 280	 action: [ 1.098e-01  2.454e-02  7.439e-02 -2.029e-05  9.698e-03 -2.175e-03 -1.020e+00]
+t: 281	 action: [ 1.822e-01  5.943e-02  6.166e-02  4.921e-03  6.109e-04 -3.765e-03 -1.051e+00]
+[07-31 01:48:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.999 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+t: 282	 action: [ 0.121  0.073  0.063  0.006  0.015 -0.006 -1.026]
+t: 283	 action: [ 0.209  0.037  0.068 -0.001  0.009 -0.007 -1.036]
+t: 284	 action: [ 0.126  0.076  0.046  0.007  0.016 -0.004 -1.019]
+t: 285	 action: [ 0.222  0.042  0.057  0.003  0.009 -0.009 -1.026]
+t: 286	 action: [ 0.116  0.082  0.068  0.001  0.013 -0.007 -1.025]
+t: 287	 action: [ 1.705e-01  9.048e-02  5.080e-02  7.578e-03  9.121e-04 -4.050e-03 -1.054e+00]
+t: 288	 action: [ 0.128  0.069  0.047  0.002  0.013 -0.006 -1.015]
+t: 289	 action: [ 0.199  0.079  0.028  0.009  0.001 -0.007 -1.042]
+t: 290	 action: [ 0.114  0.078  0.052  0.008  0.004  0.004 -1.025]
+t: 291	 action: [ 0.203  0.033  0.07  -0.001  0.01  -0.009 -1.038]
+t: 292	 action: [ 0.119  0.071  0.044  0.007  0.007  0.001 -1.02 ]
+t: 293	 action: [ 0.219  0.039  0.053  0.002  0.007 -0.009 -1.028]
+t: 294	 action: [ 0.105  0.061  0.052  0.002  0.004 -0.002 -1.026]
+t: 295	 action: [ 1.606e-01  7.765e-02  4.165e-02  6.728e-03 -1.369e-04 -7.310e-03 -1.056e+00]
+t: 296	 action: [ 0.119  0.058  0.04   0.002  0.006 -0.005 -1.015]
+t: 297	 action: [ 1.896e-01  7.400e-02  2.370e-02  7.817e-03 -1.006e-03 -7.423e-03 -1.048e+00]
+[07-31 01:48:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.332 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9900
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9900
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 71
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 42%|████▏     | 21/50 [11:22<16:30, 34.14s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 22...
+Query 1/1: Action query time = 1.332 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=298: Selected seed 195 with value = 0.9900
+t: 298	 action: [-0.015  0.024  0.05   0.01   0.017 -0.024 -1.014]
+t: 299	 action: [ 0.085 -0.017  0.028  0.004  0.013 -0.015 -1.031]
+t: 300	 action: [ 0.016  0.055 -0.019  0.018  0.02  -0.018 -1.01 ]
+t: 301	 action: [ 0.1    0.013 -0.018  0.014  0.015 -0.017 -1.025]
+t: 302	 action: [-0.008  0.066  0.03   0.006  0.017 -0.014 -1.023]
+t: 303	 action: [ 0.007  0.083 -0.001  0.016  0.004 -0.01  -1.057]
+t: 304	 action: [ 0.017  0.066 -0.052  0.019  0.017 -0.011 -1.012]
+t: 305	 action: [ 0.032  0.061 -0.057  0.023  0.007 -0.015 -1.041]
+t: 306	 action: [-3.721e-03  5.119e-02 -1.089e-02  1.703e-02 -3.039e-03  1.109e-04 -1.012e+00]
+t: 307	 action: [ 0.083 -0.013  0.006  0.006  0.007 -0.014 -1.034]
+t: 308	 action: [ 0.017  0.072 -0.031  0.023  0.004 -0.002 -1.011]
+t: 309	 action: [ 0.107  0.01  -0.026  0.012  0.008 -0.016 -1.029]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=71--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=71--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 71
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 22...
+[07-31 01:48:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.015 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3565
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3565
+Query 1/1: Action query time = 1.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3565
+t=10: Selected seed 195 with value = 0.3565
+t: 10	 action: [ 0.153 -0.096  0.005  0.007  0.015  0.005 -1.009]
+t: 11	 action: [ 0.287 -0.026  0.048  0.002  0.024  0.005 -1.004]
+t: 12	 action: [ 0.536 -0.112  0.093  0.003  0.019  0.01  -1.026]
+t: 13	 action: [ 0.692 -0.036  0.161 -0.002  0.03   0.01  -1.019]
+t: 14	 action: [ 0.764 -0.022  0.21   0.004  0.026  0.009 -1.024]
+t: 15	 action: [ 0.806 -0.03   0.202  0.001  0.028  0.009 -1.036]
+t: 16	 action: [ 0.88  -0.029  0.242  0.003  0.024  0.012 -1.025]
+t: 17	 action: [ 8.752e-01 -3.114e-02  2.187e-01  6.326e-04  2.793e-02  1.148e-02 -1.044e+00]
+t: 18	 action: [ 0.83  -0.172  0.286  0.008  0.008  0.017 -1.036]
+t: 19	 action: [ 0.846 -0.135  0.302  0.009  0.017  0.015 -1.021]
+t: 20	 action: [ 0.871 -0.216  0.244  0.01   0.001  0.016 -1.028]
+t: 21	 action: [ 0.874 -0.197  0.284  0.014  0.014  0.015 -1.016]
+t: 22	 action: [ 0.883 -0.216  0.229  0.016  0.004  0.017 -1.019]
+t: 23	 action: [ 0.888 -0.383  0.185  0.017  0.009  0.016 -1.037]
+t: 24	 action: [ 0.908 -0.261  0.162  0.021  0.001  0.013 -1.013]
+t: 25	 action: [ 0.918 -0.444  0.121  0.021  0.008  0.017 -1.04 ]
+[07-31 01:48:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.030 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3853
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3853
+Query 1/1: Action query time = 1.030 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3853
+t=26: Selected seed 195 with value = 0.3853
+t: 26	 action: [ 0.946 -0.141  0.115  0.001 -0.011  0.003 -1.016]
+t: 27	 action: [ 0.943 -0.127  0.108  0.001 -0.011 -0.012 -1.021]
+t: 28	 action: [ 0.935 -0.243  0.075  0.005 -0.014  0.005 -1.027]
+t: 29	 action: [ 0.941 -0.238  0.076  0.01  -0.006 -0.008 -1.023]
+t: 30	 action: [ 0.977 -0.28   0.007  0.01  -0.011  0.003 -1.007]
+t: 31	 action: [ 0.937 -0.306 -0.02   0.014 -0.013 -0.009 -1.038]
+t: 32	 action: [ 0.935 -0.322 -0.153  0.011 -0.02   0.002 -1.022]
+t: 33	 action: [ 0.902 -0.353 -0.22   0.018 -0.023 -0.008 -1.04 ]
+t: 34	 action: [ 0.685 -0.349 -0.383  0.015 -0.044  0.009 -1.033]
+t: 35	 action: [ 0.552 -0.283 -0.521  0.015 -0.053 -0.005 -1.028]
+t: 36	 action: [ 0.421 -0.225 -0.639  0.012 -0.091  0.011 -1.025]
+t: 37	 action: [ 0.233 -0.178 -0.742  0.012 -0.077  0.002 -1.015]
+t: 38	 action: [ 0.13  -0.137 -0.789  0.007 -0.115  0.005 -1.028]
+t: 39	 action: [ 3.422e-02 -1.281e-01 -8.132e-01  1.738e-02 -8.902e-02  6.598e-04 -1.037e+00]
+t: 40	 action: [-0.036 -0.119 -0.866  0.002 -0.129  0.006 -1.027]
+t: 41	 action: [-0.023 -0.095 -0.873  0.016 -0.086  0.009 -1.036]
+[07-31 01:48:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.250 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4874
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4874
+Query 1/1: Action query time = 1.250 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4874
+t=42: Selected seed 195 with value = 0.4874
+t: 42	 action: [-0.012  0.256 -0.837  0.013 -0.032  0.022 -1.011]
+t: 43	 action: [-0.016  0.365 -0.848  0.01  -0.044  0.024 -1.018]
+t: 44	 action: [-0.009  0.522 -0.706  0.008 -0.025  0.028 -1.009]
+t: 45	 action: [-0.019  0.65  -0.689  0.007 -0.036  0.023 -1.021]
+t: 46	 action: [-0.05   0.587 -0.694  0.005 -0.031  0.025 -1.004]
+t: 47	 action: [-0.036  0.569 -0.655  0.008 -0.033  0.025 -1.028]
+t: 48	 action: [-0.059  0.685 -0.611  0.004 -0.024  0.032 -1.002]
+t: 49	 action: [-0.036  0.734 -0.544  0.005 -0.022  0.023 -1.032]
+t: 50	 action: [-0.031  0.81  -0.585  0.006 -0.022  0.028 -1.013]
+t: 51	 action: [-0.01   0.797 -0.586  0.005 -0.03   0.021 -1.018]
+t: 52	 action: [-0.033  0.837 -0.554  0.005 -0.017  0.031 -1.015]
+t: 53	 action: [-0.01   0.787 -0.554  0.004 -0.024  0.021 -1.02 ]
+t: 54	 action: [-9.894e-02  8.230e-01 -5.470e-01  9.639e-04 -2.302e-02  3.047e-02 -1.006e+00]
+t: 55	 action: [-0.082  0.821 -0.533  0.002 -0.034  0.021 -1.03 ]
+t: 56	 action: [-9.950e-02  8.273e-01 -5.420e-01  2.339e-04 -1.592e-02  3.147e-02 -1.007e+00]
+t: 57	 action: [-7.188e-02  7.925e-01 -5.294e-01  8.623e-06 -2.466e-02  2.209e-02 -1.037e+00]
+[07-31 01:48:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.268 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6039
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6039
+Query 1/1: Action query time = 1.268 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6039
+t=58: Selected seed 195 with value = 0.6039
+t: 58	 action: [ 0.083  0.699 -0.515  0.011 -0.007  0.033 -0.987]
+t: 59	 action: [ 0.158  0.696 -0.499  0.014  0.004  0.032 -1.014]
+t: 60	 action: [ 0.083  0.694 -0.473  0.006  0.008  0.039 -0.989]
+t: 61	 action: [ 0.112  0.658 -0.45   0.01   0.009  0.03  -1.017]
+t: 62	 action: [ 0.079  0.62  -0.414  0.005  0.015  0.036 -0.974]
+t: 63	 action: [ 0.064  0.573 -0.374  0.021  0.013  0.035 -1.028]
+t: 64	 action: [ 4.475e-02  4.088e-01 -1.734e-01  5.228e-04  3.226e-02  3.249e-02 -9.794e-01]
+t: 65	 action: [ 0.046  0.25  -0.028  0.021  0.025  0.026 -1.038]
+t: 66	 action: [ 0.082 -0.025  0.372  0.02   0.037  0.011 -1.013]
+t: 67	 action: [ 0.037 -0.125  0.502  0.029  0.027  0.009 -1.032]
+t: 68	 action: [ 0.046 -0.133  0.56   0.032  0.034  0.011 -1.019]
+t: 69	 action: [-0.069 -0.187  0.552  0.036  0.023  0.01  -1.024]
+t: 70	 action: [-0.21  -0.178  0.47   0.041  0.033  0.009 -1.002]
+t: 71	 action: [-0.337 -0.127  0.366  0.041  0.014  0.014 -1.03 ]
+t: 72	 action: [-0.529 -0.211  0.342  0.044  0.012  0.01  -0.994]
+t: 73	 action: [-0.572 -0.11   0.223  0.042  0.007  0.018 -1.034]
+[07-31 01:48:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.291 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6573
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6573
+Query 1/1: Action query time = 1.291 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6573
+t=74: Selected seed 195 with value = 0.6573
+t: 74	 action: [-0.171 -0.165  0.707  0.004  0.046 -0.042 -0.989]
+t: 75	 action: [-0.265 -0.218  0.632  0.014  0.02  -0.053 -1.024]
+t: 76	 action: [-0.463 -0.143  0.539  0.004  0.011 -0.042 -1.005]
+t: 77	 action: [-0.516 -0.162  0.446  0.009  0.008 -0.049 -1.031]
+t: 78	 action: [-0.722 -0.122  0.338  0.006 -0.003 -0.036 -0.981]
+t: 79	 action: [-0.747 -0.082  0.272  0.014 -0.006 -0.05  -1.045]
+t: 80	 action: [-0.776 -0.067  0.23   0.003 -0.015 -0.03  -0.997]
+t: 81	 action: [-0.785 -0.039  0.131  0.007 -0.019 -0.048 -1.046]
+t: 82	 action: [-0.736 -0.004  0.076  0.008 -0.039  0.003 -1.015]
+t: 83	 action: [-0.741 -0.066  0.062  0.01  -0.032 -0.009 -1.033]
+t: 84	 action: [-0.756 -0.028 -0.048  0.007 -0.044  0.005 -1.015]
+t: 85	 action: [-0.744 -0.091 -0.039  0.009 -0.032 -0.003 -1.024]
+t: 86	 action: [-0.814 -0.076 -0.14   0.011 -0.045  0.002 -0.997]
+t: 87	 action: [-0.805 -0.076 -0.181  0.023 -0.04  -0.003 -1.038]
+t: 88	 action: [-0.776 -0.1   -0.349  0.011 -0.047  0.001 -0.999]
+t: 89	 action: [-0.744 -0.084 -0.356  0.025 -0.042  0.002 -1.041]
+[07-31 01:48:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.301 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4633
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4633
+Query 1/1: Action query time = 1.301 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4633
+t=90: Selected seed 195 with value = 0.4633
+t: 90	 action: [-7.581e-01  1.549e-01 -3.271e-01  2.043e-04 -3.379e-02 -1.445e-02 -1.028e+00]
+t: 91	 action: [-0.742  0.147 -0.419  0.008 -0.027 -0.044 -1.041]
+t: 92	 action: [-6.803e-01  1.361e-01 -4.452e-01  8.473e-04 -3.112e-02 -2.030e-02 -1.037e+00]
+t: 93	 action: [-0.572  0.13  -0.501  0.01  -0.031 -0.067 -1.053]
+t: 94	 action: [-0.533  0.15  -0.517  0.002 -0.034 -0.032 -1.017]
+t: 95	 action: [-0.423  0.195 -0.524  0.015 -0.02  -0.059 -1.053]
+t: 96	 action: [-0.257  0.117 -0.588  0.001 -0.027 -0.042 -1.026]
+t: 97	 action: [-0.213  0.172 -0.563  0.017 -0.023 -0.083 -1.058]
+t: 98	 action: [-0.07   0.142 -0.603  0.002 -0.036 -0.05  -1.025]
+t: 99	 action: [ 0.028  0.076 -0.622  0.002 -0.029 -0.08  -1.028]
+t: 100	 action: [ 0.065  0.065 -0.639  0.002 -0.032 -0.07  -1.019]
+t: 101	 action: [ 0.149  0.045 -0.608  0.004 -0.026 -0.071 -1.012]
+t: 102	 action: [ 0.153  0.023 -0.594  0.003 -0.031 -0.076 -1.026]
+t: 103	 action: [ 0.181  0.024 -0.574  0.012 -0.026 -0.094 -1.045]
+t: 104	 action: [ 2.571e-01  5.212e-03 -5.622e-01  8.354e-04 -2.544e-02 -9.787e-02 -1.009e+00]
+t: 105	 action: [ 0.306  0.007 -0.542  0.013 -0.019 -0.084 -1.045]
+[07-31 01:48:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.237 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5423
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 1.237 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=106: Selected seed 195 with value = 0.5423
+t: 106	 action: [ 2.749e-01  1.185e-01 -3.783e-01  1.431e-03  7.617e-04 -7.719e-02 -1.050e+00]
+t: 107	 action: [ 0.283  0.105 -0.326  0.004  0.005 -0.098 -1.033]
+t: 108	 action: [ 0.33   0.112 -0.33   0.003  0.01  -0.088 -1.045]
+t: 109	 action: [ 0.37   0.078 -0.298  0.006  0.017 -0.11  -1.036]
+t: 110	 action: [ 0.348  0.083 -0.237  0.002  0.014 -0.09  -1.044]
+t: 111	 action: [ 0.417  0.085 -0.249  0.01   0.019 -0.105 -1.058]
+t: 112	 action: [ 0.4    0.07  -0.319 -0.002  0.02  -0.093 -1.044]
+t: 113	 action: [ 0.428  0.059 -0.338  0.013  0.026 -0.115 -1.053]
+t: 114	 action: [ 0.328  0.016 -0.381  0.006  0.031 -0.065 -1.048]
+t: 115	 action: [ 0.285 -0.009 -0.516  0.007  0.035 -0.06  -1.047]
+t: 116	 action: [ 0.226 -0.02  -0.523  0.006  0.025 -0.042 -1.05 ]
+t: 117	 action: [ 0.144 -0.045 -0.628  0.005  0.025 -0.043 -1.046]
+t: 118	 action: [ 1.013e-01 -1.302e-02 -5.663e-01  9.208e-04  1.321e-02 -3.792e-02 -1.054e+00]
+t: 119	 action: [ 0.027  0.008 -0.64   0.011  0.01  -0.05  -1.055]
+t: 120	 action: [-0.016 -0.018 -0.675 -0.003  0.006 -0.017 -1.054]
+t: 121	 action: [-0.031 -0.004 -0.691  0.007  0.003 -0.031 -1.056]
+[07-31 01:48:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.396 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6146
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 1.396 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=122: Selected seed 195 with value = 0.6146
+t: 122	 action: [ 0.05   0.116 -0.551 -0.016  0.012 -0.017 -1.184]
+t: 123	 action: [ 0.029  0.096 -0.508 -0.015  0.005  0.004 -1.124]
+t: 124	 action: [ 0.038  0.103 -0.516 -0.019  0.022 -0.009 -1.184]
+t: 125	 action: [ 0.016  0.064 -0.473 -0.012  0.006  0.004 -1.143]
+t: 126	 action: [ 0.036  0.103 -0.354 -0.028  0.012 -0.027  1.087]
+t: 127	 action: [ 0.06   0.106 -0.31  -0.004 -0.001  0.005  1.193]
+t: 128	 action: [ 0.037  0.089 -0.229 -0.029  0.02  -0.021  1.069]
+t: 129	 action: [ 5.778e-02  7.227e-02 -2.091e-01 -2.216e-03 -6.445e-04 -4.877e-03  1.158e+00]
+t: 130	 action: [ 0.089  0.062 -0.083 -0.015  0.028 -0.028  0.992]
+t: 131	 action: [ 0.105  0.069 -0.033 -0.019  0.01  -0.022  1.036]
+t: 132	 action: [ 0.081  0.079 -0.014 -0.013  0.03  -0.029  0.99 ]
+t: 133	 action: [ 0.069  0.075  0.036 -0.018  0.015 -0.018  1.051]
+t: 134	 action: [ 0.036  0.064  0.057 -0.021  0.022 -0.048  1.012]
+t: 135	 action: [ 5.094e-02  9.058e-02  1.461e-01 -1.258e-02 -3.796e-04 -1.944e-02  1.023e+00]
+t: 136	 action: [ 0.035  0.108  0.277 -0.022  0.017 -0.055  1.013]
+t: 137	 action: [ 0.06   0.108  0.483 -0.018  0.001 -0.022  1.046]
+[07-31 01:49:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.478 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7927
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7927
+Query 1/1: Action query time = 1.478 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7927
+t=138: Selected seed 195 with value = 0.7927
+t: 138	 action: [ 0.02   0.035  0.209 -0.007 -0.014 -0.01   0.999]
+t: 139	 action: [ 0.016  0.064  0.299  0.005 -0.008 -0.014  1.055]
+t: 140	 action: [-0.094  0.009  0.464  0.011 -0.024 -0.03   0.996]
+t: 141	 action: [-0.081  0.005  0.554  0.023 -0.012 -0.017  1.046]
+t: 142	 action: [-0.171  0.005  0.612  0.019 -0.002 -0.029  1.012]
+t: 143	 action: [-0.128  0.02   0.655  0.023  0.004 -0.038  1.04 ]
+t: 144	 action: [-0.249 -0.024  0.759  0.044  0.011 -0.049  1.   ]
+t: 145	 action: [-0.137 -0.08   0.783  0.039  0.027 -0.036  1.024]
+t: 146	 action: [-0.205 -0.051  0.629  0.032  0.038 -0.019  0.997]
+t: 147	 action: [-0.126  0.002  0.617  0.044  0.013 -0.002  1.038]
+t: 148	 action: [-0.075 -0.161  0.593  0.037  0.053 -0.013  0.996]
+t: 149	 action: [ 0.038 -0.192  0.488  0.042  0.033  0.004  1.045]
+t: 150	 action: [-0.042 -0.386  0.501  0.036  0.083 -0.008  1.004]
+t: 151	 action: [ 0.099 -0.493  0.469  0.039  0.055  0.004  1.046]
+t: 152	 action: [ 0.049 -0.455  0.357  0.033  0.1   -0.002  0.999]
+t: 153	 action: [ 0.134 -0.59   0.273  0.03   0.073  0.011  1.044]
+[07-31 01:49:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.014 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8436
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8436
+Query 1/1: Action query time = 1.014 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8436
+t=154: Selected seed 195 with value = 0.8436
+t: 154	 action: [-0.035 -0.038 -0.318  0.016 -0.015  0.026  0.894]
+t: 155	 action: [-0.062 -0.035 -0.425  0.014 -0.018  0.044  0.877]
+t: 156	 action: [-0.042  0.118 -0.461  0.012 -0.008  0.044  1.03 ]
+t: 157	 action: [-0.15   0.317 -0.56   0.013 -0.018  0.029  0.486]
+t: 158	 action: [-0.117  0.317 -0.433  0.004 -0.016  0.047  0.863]
+t: 159	 action: [-0.101  0.497 -0.457  0.008 -0.016  0.056  0.766]
+t: 160	 action: [-1.032e-01  4.540e-01 -4.382e-01 -2.822e-03 -9.917e-04  6.261e-02 -1.008e+00]
+t: 161	 action: [-1.359e-01  6.090e-01 -3.882e-01  4.621e-03 -6.425e-04  3.264e-02 -1.072e+00]
+t: 162	 action: [-0.105 -0.123 -0.479  0.03   0.025  0.071  1.045]
+t: 163	 action: [-0.146 -0.194 -0.57   0.036  0.016  0.063  0.898]
+t: 164	 action: [-0.009 -0.136 -0.406  0.012  0.067  0.079  0.892]
+t: 165	 action: [-0.013 -0.12  -0.42   0.024  0.066  0.045 -0.956]
+t: 166	 action: [-0.043 -0.028 -0.243  0.003  0.086  0.084 -1.093]
+t: 167	 action: [-4.748e-04 -7.265e-02 -1.913e-01  3.892e-03  5.683e-02  5.505e-02 -1.084e+00]
+t: 168	 action: [ 0.127  0.014 -0.021 -0.005  0.102  0.077 -1.022]
+t: 169	 action: [ 0.105  0.006  0.029 -0.004  0.058  0.039 -1.057]
+[07-31 01:49:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8561
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8561
+Query 1/1: Action query time = 0.998 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8561
+t=170: Selected seed 195 with value = 0.8561
+t: 170	 action: [-1.457e-02 -5.863e-02  5.418e-01 -4.976e-04  2.899e-02 -2.499e-02  9.978e-01]
+t: 171	 action: [ 0.049 -0.129  0.726  0.021  0.043 -0.022  1.027]
+t: 172	 action: [-0.006 -0.253  0.753  0.028  0.039 -0.024  0.992]
+t: 173	 action: [ 0.054 -0.403  0.759  0.041  0.052 -0.015  1.016]
+t: 174	 action: [ 0.01  -0.408  0.735  0.052  0.04  -0.008  1.013]
+t: 175	 action: [ 0.065 -0.511  0.687  0.044  0.049 -0.009  1.034]
+t: 176	 action: [ 0.013 -0.514  0.521  0.057  0.046 -0.003  1.005]
+t: 177	 action: [ 0.069 -0.597  0.291  0.05   0.055 -0.005  1.018]
+t: 178	 action: [ 0.033 -0.638  0.354  0.083  0.053  0.002  0.993]
+t: 179	 action: [ 0.029 -0.753  0.1    0.07   0.054  0.016  1.025]
+t: 180	 action: [ 0.022 -0.526  0.016  0.064  0.055  0.003  0.981]
+t: 181	 action: [ 0.014 -0.626 -0.216  0.052  0.036  0.016  1.023]
+t: 182	 action: [-0.046 -0.295 -0.213  0.029  0.028  0.005  1.016]
+t: 183	 action: [-0.025 -0.424 -0.357  0.029  0.006  0.022  1.042]
+t: 184	 action: [-0.039 -0.169 -0.408 -0.002  0.027  0.006  1.01 ]
+t: 185	 action: [-0.003 -0.186 -0.412  0.011 -0.003  0.022  1.044]
+[07-31 01:49:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9308
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 0.998 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=186: Selected seed 195 with value = 0.9308
+t: 186	 action: [-0.298 -0.168 -0.493  0.012  0.006  0.029  0.982]
+t: 187	 action: [-0.283 -0.177 -0.464  0.012 -0.005  0.054  1.058]
+t: 188	 action: [-0.235 -0.19  -0.527  0.008  0.048  0.044  1.029]
+t: 189	 action: [-0.3   -0.12  -0.449  0.016  0.03   0.033  0.956]
+t: 190	 action: [-2.789e-01 -9.574e-02 -3.824e-01  2.372e-04  1.519e-02  4.490e-02  1.007e+00]
+t: 191	 action: [-0.168 -0.118 -0.284 -0.011  0.019  0.057  1.061]
+t: 192	 action: [-9.819e-02 -6.029e-03 -1.009e-01 -9.104e-04  7.098e-02  5.163e-02 -1.004e+00]
+t: 193	 action: [-0.036 -0.013  0.024 -0.007  0.08   0.035 -1.084]
+t: 194	 action: [ 0.206 -0.251 -0.093  0.014  0.077  0.035  1.089]
+t: 195	 action: [ 0.172 -0.255  0.092  0.023  0.093  0.025 -0.987]
+t: 196	 action: [ 0.256 -0.221  0.315  0.028  0.083  0.025 -1.072]
+t: 197	 action: [ 0.167 -0.131  0.421  0.027  0.085  0.018 -1.049]
+t: 198	 action: [ 0.182 -0.083  0.287  0.002  0.106  0.041 -1.11 ]
+t: 199	 action: [ 0.059 -0.062  0.333  0.013  0.086  0.017 -1.088]
+t: 200	 action: [ 0.082 -0.001  0.374  0.014  0.088  0.035 -1.065]
+t: 201	 action: [ 0.007  0.016  0.285  0.023  0.055  0.019 -1.061]
+[07-31 01:49:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.043 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9495
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 1.043 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=202: Selected seed 195 with value = 0.9495
+t: 202	 action: [-0.054 -0.13  -0.029 -0.008  0.022  0.011  0.981]
+t: 203	 action: [-9.122e-04 -1.461e-01  8.437e-02 -1.490e-02  2.387e-02  1.701e-02  1.033e+00]
+t: 204	 action: [-7.030e-05 -6.761e-02  2.645e-01 -1.832e-02  2.318e-02  9.967e-03  9.970e-01]
+t: 205	 action: [ 0.049 -0.135  0.388 -0.019  0.025  0.013  1.02 ]
+t: 206	 action: [ 9.135e-04 -5.248e-02  4.167e-01 -2.656e-02  2.847e-02  7.493e-03  9.897e-01]
+t: 207	 action: [ 0.024 -0.126  0.47  -0.02   0.023  0.021  1.035]
+t: 208	 action: [ 0.066 -0.066  0.473 -0.015  0.037  0.005  0.991]
+t: 209	 action: [ 0.135 -0.221  0.45  -0.009  0.04   0.014  1.   ]
+t: 210	 action: [ 0.101 -0.105  0.367 -0.005  0.014  0.008  1.112]
+t: 211	 action: [ 0.112 -0.145  0.268 -0.011  0.009 -0.01   0.931]
+t: 212	 action: [ 0.169 -0.084  0.21  -0.011  0.004  0.009  1.054]
+t: 213	 action: [ 1.982e-01 -1.519e-01  1.489e-01 -1.123e-02 -8.147e-04 -9.187e-03  9.927e-01]
+t: 214	 action: [ 1.636e-01 -3.460e-02  2.251e-01 -3.907e-03  7.255e-03 -7.963e-04 -1.131e+00]
+t: 215	 action: [ 0.163 -0.128  0.141  0.002 -0.012  0.006 -1.087]
+t: 216	 action: [ 0.179 -0.021  0.195 -0.007 -0.009 -0.002 -1.116]
+t: 217	 action: [ 0.253 -0.12   0.153  0.002 -0.017  0.003 -1.099]
+[07-31 01:49:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.232 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9325
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 1.232 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=218: Selected seed 195 with value = 0.9325
+t: 218	 action: [-0.148 -0.362 -0.257 -0.005  0.01   0.012  0.98 ]
+t: 219	 action: [-0.165 -0.316 -0.275 -0.023  0.005  0.021  1.038]
+t: 220	 action: [-0.116 -0.309 -0.394 -0.01   0.011  0.018  0.995]
+t: 221	 action: [-0.126 -0.228 -0.403 -0.02   0.005  0.022  1.037]
+t: 222	 action: [-0.076 -0.171 -0.308 -0.048  0.009  0.022  0.992]
+t: 223	 action: [-0.047 -0.159 -0.341 -0.041  0.008  0.032  1.037]
+t: 224	 action: [ 0.023 -0.096 -0.161 -0.051  0.019  0.031  1.006]
+t: 225	 action: [ 0.068 -0.083 -0.105 -0.039  0.029  0.032  1.026]
+t: 226	 action: [ 0.29  -0.148 -0.105 -0.029  0.023  0.012  1.133]
+t: 227	 action: [ 0.364 -0.115  0.006 -0.031  0.025 -0.001  1.014]
+t: 228	 action: [ 0.444 -0.006  0.168 -0.033  0.027  0.011  1.081]
+t: 229	 action: [ 0.418 -0.031  0.308 -0.03   0.029 -0.01   1.051]
+t: 230	 action: [ 0.295  0.048  0.376 -0.022  0.039  0.003 -1.136]
+t: 231	 action: [ 0.18   0.018  0.464 -0.011  0.037  0.008 -1.083]
+t: 232	 action: [ 2.631e-01  4.034e-02  5.454e-01 -8.331e-04  3.569e-02 -1.962e-03 -1.139e+00]
+t: 233	 action: [ 2.111e-01 -1.295e-02  5.184e-01  9.860e-03  4.078e-02  7.125e-04 -1.110e+00]
+[07-31 01:49:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.317 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9406
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9406
+Query 1/1: Action query time = 1.317 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9406
+t=234: Selected seed 195 with value = 0.9406
+t: 234	 action: [-0.173 -0.292 -0.518 -0.007 -0.005  0.012  0.977]
+t: 235	 action: [-0.191 -0.228 -0.462 -0.025  0.005  0.014  1.049]
+t: 236	 action: [-1.226e-01 -2.417e-01 -3.622e-01 -2.598e-02 -1.116e-04  1.489e-02  1.007e+00]
+t: 237	 action: [-0.09  -0.187 -0.313 -0.03   0.017  0.014  1.047]
+t: 238	 action: [-0.056 -0.114 -0.137 -0.051  0.031  0.013  0.996]
+t: 239	 action: [ 0.052 -0.107  0.019 -0.048  0.046  0.02   1.039]
+t: 240	 action: [ 0.122 -0.059  0.232 -0.044  0.043  0.008  1.021]
+t: 241	 action: [ 0.223 -0.029  0.475 -0.032  0.071  0.014  1.027]
+t: 242	 action: [ 0.352 -0.123  0.314 -0.033  0.035  0.004  1.126]
+t: 243	 action: [ 0.399 -0.06   0.488 -0.028  0.045 -0.019  0.99 ]
+t: 244	 action: [ 0.502 -0.01   0.528 -0.006  0.035 -0.006  0.936]
+t: 245	 action: [ 4.623e-01 -3.281e-02  5.483e-01 -6.304e-04  6.015e-02 -2.862e-02 -1.028e+00]
+t: 246	 action: [ 0.38   0.004  0.59  -0.002  0.048 -0.002 -1.134]
+t: 247	 action: [ 1.567e-01 -2.191e-02  4.559e-01  8.092e-03  5.259e-02  1.450e-04 -1.071e+00]
+t: 248	 action: [ 0.276 -0.012  0.522  0.013  0.047 -0.009 -1.085]
+t: 249	 action: [ 0.145 -0.043  0.315  0.022  0.061 -0.024 -1.062]
+[07-31 01:49:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.258 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9539
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9539
+Query 1/1: Action query time = 1.258 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9539
+t=250: Selected seed 195 with value = 0.9539
+t: 250	 action: [-0.014 -0.235 -0.589 -0.016  0.01   0.015  0.989]
+t: 251	 action: [-0.048 -0.147 -0.507 -0.028  0.004  0.024  1.066]
+t: 252	 action: [ 0.034 -0.16  -0.405 -0.02   0.01   0.017  1.055]
+t: 253	 action: [-0.016 -0.091 -0.308 -0.024  0.01   0.006  0.956]
+t: 254	 action: [ 0.024 -0.008 -0.153 -0.049  0.004  0.01   1.02 ]
+t: 255	 action: [ 7.811e-02  1.808e-02  3.785e-02 -5.448e-02 -6.601e-04  2.158e-02  1.050e+00]
+t: 256	 action: [ 0.196  0.059  0.15  -0.034  0.008  0.001 -1.086]
+t: 257	 action: [ 2.171e-01  9.181e-02  3.660e-01 -3.712e-02  1.821e-02  7.111e-04 -1.114e+00]
+t: 258	 action: [ 0.385  0.059  0.244 -0.019  0.014  0.008  1.079]
+t: 259	 action: [ 0.363  0.066  0.357 -0.019  0.03  -0.012 -0.782]
+t: 260	 action: [ 4.353e-01  1.084e-01  3.884e-01 -2.187e-03  9.150e-03  5.624e-04 -1.004e+00]
+t: 261	 action: [ 0.476  0.089  0.438 -0.006  0.03  -0.019 -1.033]
+t: 262	 action: [ 0.363  0.116  0.419 -0.008  0.018 -0.002 -1.127]
+t: 263	 action: [ 0.228  0.099  0.412 -0.007  0.028 -0.016 -1.108]
+t: 264	 action: [ 0.324  0.101  0.427 -0.004  0.015 -0.007 -1.018]
+t: 265	 action: [ 0.217  0.09   0.382  0.005  0.03  -0.017 -1.037]
+[07-31 01:49:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.182 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9925
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 1.182 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=266: Selected seed 195 with value = 0.9925
+t: 266	 action: [ 2.590e-02 -2.780e-02 -3.048e-01  5.986e-04  2.925e-02  5.325e-03  1.086e+00]
+t: 267	 action: [ 0.027 -0.066 -0.16  -0.004  0.019  0.002  0.955]
+t: 268	 action: [ 5.939e-02  6.316e-03 -6.510e-03 -3.905e-04  2.176e-02  2.377e-03 -1.041e+00]
+t: 269	 action: [ 6.583e-02 -3.086e-02  6.560e-02  1.226e-04  1.627e-02 -1.093e-02 -1.031e+00]
+t: 270	 action: [ 0.076  0.04   0.132 -0.014  0.017 -0.001 -1.098]
+t: 271	 action: [ 0.068  0.074  0.276 -0.012  0.009  0.005 -1.078]
+t: 272	 action: [ 1.772e-01  4.599e-02  2.905e-01 -5.907e-04  1.804e-02 -2.577e-03 -1.032e+00]
+t: 273	 action: [ 1.675e-01  8.476e-02  3.502e-01 -1.944e-04  1.628e-02 -1.385e-02 -1.050e+00]
+t: 274	 action: [ 0.226  0.026  0.278  0.003  0.025 -0.003 -1.046]
+t: 275	 action: [ 0.226  0.013  0.268  0.008  0.03  -0.012 -1.04 ]
+t: 276	 action: [ 1.868e-01  1.025e-02  2.412e-01  5.135e-03  2.110e-02  2.456e-05 -1.048e+00]
+t: 277	 action: [ 0.183  0.003  0.236  0.011  0.027 -0.011 -1.03 ]
+t: 278	 action: [ 1.473e-01  1.539e-02  2.426e-01  5.877e-04  2.275e-02 -3.421e-03 -1.044e+00]
+t: 279	 action: [ 0.072  0.039  0.206  0.011  0.016 -0.01  -1.065]
+t: 280	 action: [ 1.299e-01  7.132e-04  1.983e-01  1.801e-04  1.996e-02 -4.034e-03 -1.041e+00]
+t: 281	 action: [ 0.068  0.031  0.172  0.014  0.017 -0.009 -1.056]
+[07-31 01:49:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.188 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9882
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 1.188 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=282: Selected seed 195 with value = 0.9882
+t: 282	 action: [ 0.101  0.085  0.041 -0.01   0.01   0.002 -1.025]
+t: 283	 action: [ 9.266e-02  5.374e-02  9.978e-02 -1.118e-02  1.365e-04 -1.418e-02 -1.025e+00]
+t: 284	 action: [ 0.082  0.059  0.127 -0.005 -0.003 -0.002 -1.012]
+t: 285	 action: [ 6.503e-02  4.131e-02  1.582e-01 -3.013e-03 -1.029e-03 -1.791e-02 -1.034e+00]
+t: 286	 action: [ 6.946e-02  4.829e-02  1.601e-01 -1.306e-02  1.061e-03  2.289e-04 -1.027e+00]
+t: 287	 action: [ 0.008  0.048  0.173 -0.007 -0.009 -0.01  -1.056]
+t: 288	 action: [ 0.059  0.013  0.192 -0.001 -0.006 -0.002 -1.016]
+t: 289	 action: [ 5.740e-03  2.158e-02  1.769e-01 -9.831e-04 -6.194e-03 -1.607e-02 -1.054e+00]
+t: 290	 action: [ 1.035e-01  1.078e-02  1.590e-01 -2.664e-04 -1.661e-02 -6.636e-03 -1.035e+00]
+t: 291	 action: [ 6.637e-02 -2.395e-02  1.628e-01 -5.885e-04 -9.651e-03 -2.228e-02 -1.042e+00]
+t: 292	 action: [ 7.230e-02  2.894e-03  1.368e-01 -4.080e-04 -2.226e-02 -7.439e-03 -1.020e+00]
+t: 293	 action: [ 4.827e-02 -3.496e-02  1.506e-01  7.802e-04 -1.119e-02 -2.085e-02 -1.036e+00]
+t: 294	 action: [ 0.047 -0.015  0.13  -0.001 -0.017 -0.003 -1.038]
+t: 295	 action: [-0.004 -0.014  0.098  0.003 -0.019 -0.019 -1.065]
+t: 296	 action: [ 0.034 -0.028  0.13  -0.001 -0.022 -0.005 -1.024]
+t: 297	 action: [-0.003 -0.029  0.105  0.004 -0.02  -0.017 -1.061]
+[07-31 01:49:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.253 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9833
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9833
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 72
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 44%|████▍     | 22/50 [11:58<16:15, 34.84s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 23...
+Query 1/1: Action query time = 1.253 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=298: Selected seed 195 with value = 0.9833
+t: 298	 action: [ 0.078  0.035  0.101 -0.006  0.029  0.006 -1.008]
+t: 299	 action: [ 0.054  0.02   0.126 -0.006  0.013 -0.005 -1.006]
+t: 300	 action: [ 4.082e-02  1.355e-02  1.344e-01 -9.010e-04  1.406e-02  4.656e-03 -1.001e+00]
+t: 301	 action: [ 3.097e-02  6.478e-03  1.555e-01  8.568e-04  7.094e-03 -7.406e-03 -1.033e+00]
+t: 302	 action: [ 3.296e-02  1.310e-04  1.536e-01 -4.930e-03  1.948e-02  3.863e-03 -1.022e+00]
+t: 303	 action: [-2.134e-02  1.323e-02  1.338e-01 -7.246e-04 -9.434e-04  2.969e-03 -1.057e+00]
+t: 304	 action: [ 2.509e-02 -1.109e-02  1.640e-01 -1.713e-04  9.434e-03  1.826e-03 -1.008e+00]
+t: 305	 action: [-1.842e-02 -4.916e-03  1.400e-01  4.165e-03  6.199e-04 -2.181e-03 -1.056e+00]
+t: 306	 action: [ 4.401e-02 -7.541e-03  1.644e-01 -1.934e-06  3.143e-03  5.037e-03 -1.020e+00]
+t: 307	 action: [ 3.148e-02 -3.582e-02  1.514e-01  3.841e-04  3.023e-03 -9.786e-03 -1.039e+00]
+t: 308	 action: [ 3.490e-02 -1.379e-02  1.750e-01  9.713e-05 -5.519e-03  2.097e-03 -1.007e+00]
+t: 309	 action: [ 0.035 -0.041  0.165  0.002  0.003 -0.01  -1.034]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=72--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=72--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 72
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 23...
+[07-31 01:49:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3339
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3339
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3339
+t=10: Selected seed 195 with value = 0.3339
+t: 10	 action: [ 1.635e-01 -1.273e-01  7.995e-03 -7.594e-04  2.093e-02  9.733e-05 -9.780e-01]
+t: 11	 action: [ 0.239 -0.083  0.023 -0.004  0.021 -0.005 -0.999]
+t: 12	 action: [ 0.493 -0.185  0.054 -0.008  0.015  0.005 -1.007]
+t: 13	 action: [ 6.473e-01 -1.313e-01  9.256e-02 -5.529e-03  1.401e-02  9.105e-04 -1.024e+00]
+t: 14	 action: [ 0.783 -0.156  0.135  0.001  0.01   0.005 -1.011]
+t: 15	 action: [ 8.395e-01 -1.575e-01  1.259e-01 -6.328e-04  3.947e-03  6.273e-04 -1.037e+00]
+t: 16	 action: [ 9.378e-01 -1.647e-01  1.388e-01 -3.013e-04  1.919e-03  7.552e-03 -1.011e+00]
+t: 17	 action: [ 9.202e-01 -1.563e-01  1.327e-01 -1.104e-04 -1.109e-03  3.608e-03 -1.048e+00]
+t: 18	 action: [ 0.924 -0.238  0.164  0.007 -0.012  0.013 -1.015]
+t: 19	 action: [ 0.942 -0.182  0.198  0.009  0.002  0.009 -1.028]
+t: 20	 action: [ 0.954 -0.242  0.139  0.009 -0.019  0.011 -1.006]
+t: 21	 action: [ 0.962 -0.212  0.177  0.015 -0.002  0.008 -1.023]
+t: 22	 action: [ 0.966 -0.243  0.116  0.008 -0.023  0.012 -1.007]
+t: 23	 action: [ 0.972 -0.333  0.087  0.016 -0.006  0.01  -1.04 ]
+t: 24	 action: [ 0.979 -0.258  0.069  0.012 -0.028  0.007 -0.997]
+t: 25	 action: [ 0.979 -0.361  0.037  0.02  -0.009  0.01  -1.044]
+[07-31 01:49:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4486
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4486
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4486
+t=26: Selected seed 195 with value = 0.4486
+t: 26	 action: [ 9.076e-01 -1.983e-01  6.168e-02  9.734e-04 -3.585e-02  2.790e-03 -1.029e+00]
+t: 27	 action: [ 0.899 -0.163  0.048  0.006 -0.037 -0.006 -1.025]
+t: 28	 action: [ 0.901 -0.262  0.001  0.003 -0.039  0.005 -1.032]
+t: 29	 action: [ 0.901 -0.239  0.008  0.014 -0.029 -0.002 -1.03 ]
+t: 30	 action: [ 0.941 -0.282 -0.075  0.007 -0.033  0.007 -1.021]
+t: 31	 action: [ 9.092e-01 -3.145e-01 -6.343e-02  1.561e-02 -3.737e-02  4.380e-04 -1.048e+00]
+t: 32	 action: [ 0.893 -0.275 -0.219  0.004 -0.038  0.008 -1.028]
+t: 33	 action: [ 0.845 -0.291 -0.272  0.017 -0.036  0.005 -1.048]
+t: 34	 action: [ 0.568 -0.274 -0.363  0.011 -0.061  0.016 -1.035]
+t: 35	 action: [ 0.48  -0.203 -0.491  0.013 -0.063  0.013 -1.029]
+t: 36	 action: [ 0.336 -0.199 -0.571  0.01  -0.086  0.025 -1.021]
+t: 37	 action: [ 0.202 -0.144 -0.663  0.015 -0.072  0.021 -1.016]
+t: 38	 action: [ 0.156 -0.052 -0.77  -0.002 -0.107  0.019 -1.035]
+t: 39	 action: [ 0.055 -0.085 -0.767  0.014 -0.084  0.02  -1.037]
+t: 40	 action: [-0.027 -0.005 -0.842 -0.005 -0.101  0.03  -1.023]
+t: 41	 action: [-0.025 -0.03  -0.829  0.014 -0.075  0.029 -1.038]
+[07-31 01:49:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5106
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5106
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5106
+t=42: Selected seed 195 with value = 0.5106
+t: 42	 action: [-0.028  0.649 -0.674  0.009 -0.025  0.021 -1.018]
+t: 43	 action: [-0.01   0.74  -0.656  0.014 -0.035  0.02  -1.019]
+t: 44	 action: [-0.031  0.793 -0.621  0.008 -0.018  0.026 -1.004]
+t: 45	 action: [-0.012  0.78  -0.598  0.014 -0.025  0.022 -1.018]
+t: 46	 action: [-0.047  0.805 -0.564  0.001 -0.017  0.022 -1.006]
+t: 47	 action: [-0.022  0.802 -0.551  0.016 -0.025  0.022 -1.029]
+t: 48	 action: [-0.036  0.817 -0.533  0.001 -0.008  0.031 -0.991]
+t: 49	 action: [-8.554e-04  8.140e-01 -5.232e-01  1.631e-02 -1.029e-02  2.344e-02 -1.033e+00]
+t: 50	 action: [-1.722e-04  8.432e-01 -5.781e-01  6.840e-03 -2.382e-02  1.803e-02 -1.023e+00]
+t: 51	 action: [ 0.021  0.787 -0.609  0.012 -0.033  0.016 -1.021]
+t: 52	 action: [ 0.008  0.847 -0.568  0.005 -0.015  0.022 -1.013]
+t: 53	 action: [ 0.029  0.778 -0.574  0.011 -0.019  0.018 -1.022]
+t: 54	 action: [-0.051  0.816 -0.534  0.001 -0.016  0.02  -1.011]
+t: 55	 action: [-0.018  0.757 -0.515  0.011 -0.021  0.019 -1.03 ]
+t: 56	 action: [-4.890e-02  7.243e-01 -5.185e-01  8.801e-04 -1.690e-03  2.167e-02 -9.986e-01]
+t: 57	 action: [-0.006  0.647 -0.443  0.011 -0.004  0.021 -1.04 ]
+[07-31 01:49:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6099
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6099
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6099
+t=58: Selected seed 195 with value = 0.6099
+t: 58	 action: [ 4.678e-02  2.205e-01 -4.493e-01  3.406e-04  1.367e-05  2.313e-02 -1.020e+00]
+t: 59	 action: [ 0.076  0.167 -0.215  0.005  0.005  0.017 -1.022]
+t: 60	 action: [ 0.039  0.1   -0.22  -0.003  0.008  0.014 -1.01 ]
+t: 61	 action: [ 0.064  0.033 -0.034  0.002  0.008  0.011 -1.024]
+t: 62	 action: [-0.015  0.022 -0.103  0.004  0.019  0.015 -1.004]
+t: 63	 action: [-0.015  0.066  0.057  0.008  0.012  0.016 -1.03 ]
+t: 64	 action: [-5.497e-02 -5.651e-03  2.392e-01 -9.898e-04  2.250e-02  2.439e-03 -1.004e+00]
+t: 65	 action: [-0.022 -0.035  0.341  0.009  0.01   0.008 -1.032]
+t: 66	 action: [ 0.024 -0.156  0.386  0.037  0.021  0.011 -1.03 ]
+t: 67	 action: [-0.05  -0.239  0.349  0.034  0.012  0.014 -1.043]
+t: 68	 action: [-0.049 -0.13   0.254  0.031  0.016  0.014 -1.03 ]
+t: 69	 action: [-0.116 -0.259  0.154  0.028  0.011  0.017 -1.031]
+t: 70	 action: [-0.269 -0.117  0.093  0.038  0.005  0.021 -1.025]
+t: 71	 action: [-0.373 -0.187 -0.008  0.03  -0.005  0.027 -1.038]
+t: 72	 action: [-0.512 -0.141 -0.047  0.014  0.005  0.025 -1.021]
+t: 73	 action: [-4.589e-01 -1.740e-01 -6.865e-02  2.035e-02  8.063e-04  2.781e-02 -1.033e+00]
+[07-31 01:49:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5883
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5883
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5883
+t=74: Selected seed 195 with value = 0.5883
+t: 74	 action: [ 0.071  0.329 -0.33   0.003  0.005  0.029 -1.01 ]
+t: 75	 action: [ 0.107  0.25  -0.138  0.004  0.012  0.018 -1.018]
+t: 76	 action: [ 0.066  0.161 -0.103 -0.001  0.014  0.018 -1.001]
+t: 77	 action: [ 9.702e-02  5.897e-02  5.300e-02  8.695e-04  1.350e-02  9.734e-03 -1.020e+00]
+t: 78	 action: [ 1.274e-02  1.236e-01 -4.839e-03 -3.327e-04  1.981e-02  1.380e-02 -9.948e-01]
+t: 79	 action: [ 9.812e-03  1.686e-01  1.901e-01 -8.885e-04  1.228e-02  1.425e-02 -1.026e+00]
+t: 80	 action: [-0.028  0.023  0.381 -0.002  0.022  0.002 -0.996]
+t: 81	 action: [ 4.360e-03  4.085e-02  5.555e-01 -2.616e-04  1.213e-02  6.691e-03 -1.029e+00]
+t: 82	 action: [ 0.058 -0.104  0.599  0.026 -0.003  0.006 -1.019]
+t: 83	 action: [-3.218e-02 -2.004e-01  5.808e-01  3.033e-02 -4.319e-04  1.375e-03 -1.042e+00]
+t: 84	 action: [-0.014 -0.121  0.453  0.032 -0.004  0.009 -1.025]
+t: 85	 action: [-0.114 -0.27   0.396  0.035  0.003  0.004 -1.024]
+t: 86	 action: [-0.316 -0.15   0.254  0.053 -0.01   0.005 -1.016]
+t: 87	 action: [-0.451 -0.202  0.152  0.037 -0.02   0.012 -1.041]
+t: 88	 action: [-0.58  -0.183  0.077  0.046 -0.011  0.007 -1.014]
+t: 89	 action: [-0.553 -0.218  0.01   0.036 -0.01   0.017 -1.026]
+[07-31 01:49:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6107
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6107
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6107
+t=90: Selected seed 195 with value = 0.6107
+t: 90	 action: [ 0.082  0.353 -0.244  0.002  0.015  0.009 -1.02 ]
+t: 91	 action: [ 0.175  0.252 -0.096  0.004  0.018  0.003 -1.007]
+t: 92	 action: [ 0.092  0.095 -0.006 -0.004  0.029  0.008 -1.015]
+t: 93	 action: [ 0.146  0.004  0.178  0.004  0.034 -0.004 -1.008]
+t: 94	 action: [ 0.082  0.029  0.251  0.004  0.041 -0.002 -1.01 ]
+t: 95	 action: [ 0.053  0.026  0.467  0.007  0.036 -0.003 -1.025]
+t: 96	 action: [ 0.02  -0.021  0.587  0.007  0.049 -0.005 -1.013]
+t: 97	 action: [ 0.003 -0.051  0.673  0.016  0.042 -0.009 -1.025]
+t: 98	 action: [-0.012 -0.074  0.598  0.021  0.013 -0.002 -1.024]
+t: 99	 action: [-0.202 -0.128  0.574  0.029  0.01  -0.005 -1.035]
+t: 100	 action: [-0.209 -0.032  0.429  0.021  0.002  0.005 -1.036]
+t: 101	 action: [-0.358 -0.13   0.381  0.028  0.004 -0.004 -1.024]
+t: 102	 action: [-6.572e-01 -9.049e-02  2.569e-01  4.987e-02 -2.910e-03  7.959e-05 -1.003e+00]
+t: 103	 action: [-0.739 -0.106  0.159  0.033 -0.014  0.001 -1.038]
+t: 104	 action: [-0.862 -0.083  0.125  0.039 -0.011  0.002 -0.99 ]
+t: 105	 action: [-0.849 -0.112  0.026  0.026 -0.012  0.006 -1.033]
+[07-31 01:49:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4480
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4480
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4480
+t=106: Selected seed 195 with value = 0.4480
+t: 106	 action: [ 0.145  0.19  -0.162  0.007  0.016  0.002 -1.021]
+t: 107	 action: [ 0.162  0.153 -0.115  0.005  0.022 -0.002 -1.036]
+t: 108	 action: [ 0.099  0.041 -0.073  0.003  0.021  0.001 -1.025]
+t: 109	 action: [ 8.053e-02  2.352e-03 -5.316e-03 -8.429e-05  2.973e-02 -9.383e-03 -1.034e+00]
+t: 110	 action: [ 0.032  0.014  0.046  0.005  0.031 -0.005 -1.008]
+t: 111	 action: [ 0.007  0.028  0.07   0.007  0.023 -0.009 -1.054]
+t: 112	 action: [-0.095 -0.002  0.138 -0.002  0.026 -0.011 -1.022]
+t: 113	 action: [-0.057  0.017  0.146 -0.001  0.017 -0.018 -1.056]
+t: 114	 action: [-2.130e-01  4.127e-02  1.398e-01  7.994e-03 -1.181e-03  9.428e-04 -1.034e+00]
+t: 115	 action: [-4.057e-01 -1.357e-02  8.045e-02 -3.788e-03  8.780e-04 -6.939e-03 -1.044e+00]
+t: 116	 action: [-0.442  0.033  0.075  0.003 -0.015  0.002 -1.048]
+t: 117	 action: [-0.562 -0.03   0.002 -0.009 -0.004 -0.007 -1.039]
+t: 118	 action: [-0.807  0.004 -0.096 -0.003 -0.018  0.002 -1.013]
+t: 119	 action: [-0.787 -0.018 -0.081 -0.018 -0.031 -0.005 -1.054]
+t: 120	 action: [-8.551e-01 -1.002e-02 -2.027e-01 -3.565e-03 -2.775e-02  2.934e-04 -1.025e+00]
+t: 121	 action: [-0.793 -0.047 -0.212 -0.019 -0.033 -0.004 -1.051]
+[07-31 01:49:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4025
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4025
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4025
+t=122: Selected seed 195 with value = 0.4025
+t: 122	 action: [ 0.196  0.336 -0.27  -0.002  0.002  0.001 -1.018]
+t: 123	 action: [ 0.213  0.361 -0.211  0.002  0.006 -0.004 -1.037]
+t: 124	 action: [ 1.687e-01  1.046e-01 -1.877e-01 -1.168e-03  8.021e-03  6.723e-04 -1.028e+00]
+t: 125	 action: [ 1.393e-01  1.211e-01 -1.284e-01 -6.692e-04  1.181e-02 -1.105e-02 -1.044e+00]
+t: 126	 action: [ 0.093  0.08  -0.177  0.001  0.012 -0.002 -1.007]
+t: 127	 action: [ 0.057  0.03  -0.122  0.004  0.012 -0.009 -1.055]
+t: 128	 action: [ 0.02   0.015 -0.199 -0.003  0.013 -0.004 -1.021]
+t: 129	 action: [ 0.032 -0.025 -0.125 -0.002  0.01  -0.016 -1.068]
+t: 130	 action: [-0.056 -0.111 -0.272  0.012  0.006  0.004 -1.023]
+t: 131	 action: [-1.203e-01 -1.088e-01 -3.637e-01 -4.315e-04  9.463e-03 -8.607e-04 -1.045e+00]
+t: 132	 action: [-0.14  -0.069 -0.396  0.002  0.001  0.005 -1.028]
+t: 133	 action: [-0.191 -0.078 -0.467 -0.01   0.005 -0.004 -1.023]
+t: 134	 action: [-3.568e-01  3.561e-02 -4.868e-01 -5.755e-03 -1.086e-02  9.287e-04 -1.020e+00]
+t: 135	 action: [-0.31   0.053 -0.485 -0.02  -0.015 -0.008 -1.058]
+t: 136	 action: [-0.311  0.05  -0.538 -0.016 -0.015 -0.002 -1.015]
+t: 137	 action: [-0.23   0.062 -0.484 -0.029 -0.024 -0.009 -0.891]
+[07-31 01:49:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4746
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4746
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4746
+t=138: Selected seed 195 with value = 0.4746
+t: 138	 action: [ 0.203  0.328 -0.439 -0.004 -0.003  0.001 -1.055]
+t: 139	 action: [ 0.195  0.339 -0.328  0.002  0.004 -0.005 -1.038]
+t: 140	 action: [ 0.142  0.14  -0.343 -0.002 -0.002  0.002 -1.056]
+t: 141	 action: [ 0.119  0.131 -0.23   0.003  0.004 -0.009 -1.035]
+t: 142	 action: [ 0.072  0.117 -0.165  0.002  0.007 -0.002 -1.042]
+t: 143	 action: [ 0.047  0.079 -0.018  0.01   0.006 -0.007 -1.056]
+t: 144	 action: [ 0.028  0.034  0.021 -0.003  0.005 -0.005 -1.047]
+t: 145	 action: [ 0.04   0.006  0.084  0.009  0.003 -0.013 -1.055]
+t: 146	 action: [ 0.119 -0.235  0.208  0.042 -0.005 -0.02  -1.067]
+t: 147	 action: [ 0.072 -0.209  0.069  0.024 -0.001 -0.014 -1.048]
+t: 148	 action: [ 0.07  -0.169 -0.004  0.026 -0.015 -0.008 -1.077]
+t: 149	 action: [ 0.043 -0.166 -0.165  0.012 -0.013 -0.012 -1.049]
+t: 150	 action: [-0.047 -0.05  -0.106  0.012 -0.018 -0.009 -1.055]
+t: 151	 action: [-0.114 -0.05  -0.248  0.005 -0.028 -0.01  -1.051]
+t: 152	 action: [-0.133 -0.009 -0.38  -0.008 -0.025 -0.004 -1.061]
+t: 153	 action: [-0.166 -0.015 -0.446 -0.008 -0.033 -0.006 -1.053]
+[07-31 01:49:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4812
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.4812
+Query 1/1: Action query time = 0.989 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4812
+t=154: Selected seed 195 with value = 0.4812
+t: 154	 action: [ 1.490e-01  4.625e-02 -5.007e-01  1.058e-03  4.265e-03 -3.756e-03 -1.058e+00]
+t: 155	 action: [ 0.138  0.055 -0.396  0.01   0.01  -0.016 -1.039]
+t: 156	 action: [ 0.117  0.016 -0.375  0.003  0.004 -0.006 -1.06 ]
+t: 157	 action: [ 0.096  0.004 -0.245  0.006  0.007 -0.019 -1.029]
+t: 158	 action: [ 0.036  0.043 -0.194  0.002  0.013 -0.005 -1.047]
+t: 159	 action: [ 0.025  0.057 -0.061  0.015  0.006 -0.015 -1.055]
+t: 160	 action: [ 0.017  0.046 -0.047 -0.007  0.006 -0.009 -1.052]
+t: 161	 action: [ 3.134e-02  3.323e-02  2.760e-02  4.183e-03  3.213e-04 -2.118e-02 -1.044e+00]
+t: 162	 action: [ 0.151 -0.067  0.069  0.015 -0.007 -0.025 -1.078]
+t: 163	 action: [ 0.093 -0.051 -0.019  0.005 -0.005 -0.019 -1.052]
+t: 164	 action: [ 0.115 -0.01  -0.136  0.001 -0.019 -0.009 -1.088]
+t: 165	 action: [ 0.074 -0.022 -0.224 -0.003 -0.014 -0.014 -1.045]
+t: 166	 action: [-0.017  0.044 -0.242 -0.008 -0.024 -0.013 -1.07 ]
+t: 167	 action: [-0.057 -0.002 -0.304 -0.007 -0.035 -0.014 -1.053]
+t: 168	 action: [-0.105  0.033 -0.472 -0.011 -0.032 -0.007 -1.075]
+t: 169	 action: [-0.124  0.002 -0.47  -0.015 -0.038 -0.009 -1.053]
+[07-31 01:49:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5452
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5452
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5452
+t=170: Selected seed 195 with value = 0.5452
+t: 170	 action: [ 0.088  0.015 -0.39  -0.01   0.005  0.003 -1.087]
+t: 171	 action: [ 0.132  0.047 -0.328 -0.017  0.01  -0.005 -1.055]
+t: 172	 action: [ 0.099  0.084 -0.369 -0.012  0.006  0.006 -1.091]
+t: 173	 action: [ 1.412e-01  8.453e-02 -2.826e-01 -1.976e-02  8.828e-03 -2.463e-04 -1.043e+00]
+t: 174	 action: [ 0.033  0.149 -0.259 -0.009  0.013  0.001 -1.064]
+t: 175	 action: [ 0.023  0.139 -0.184 -0.008  0.011 -0.005 -1.054]
+t: 176	 action: [ 6.356e-02  1.189e-01 -1.922e-01 -1.362e-02  1.298e-02  2.315e-04 -1.081e+00]
+t: 177	 action: [ 0.022  0.097 -0.15  -0.015  0.01  -0.009 -1.052]
+t: 178	 action: [ 0.084  0.097 -0.313 -0.009  0.012  0.005 -1.191]
+t: 179	 action: [ 0.001  0.076 -0.238 -0.018  0.008  0.011 -1.156]
+t: 180	 action: [ 0.024  0.05  -0.349 -0.018  0.01   0.008  1.005]
+t: 181	 action: [ 0.017  0.072 -0.227 -0.021  0.01   0.003  1.04 ]
+t: 182	 action: [ 0.01   0.051 -0.335 -0.014  0.013  0.002  1.104]
+t: 183	 action: [-1.744e-02  5.057e-02 -2.512e-01 -1.154e-02  6.378e-05  7.721e-03  1.186e+00]
+t: 184	 action: [-0.021  0.039 -0.224 -0.025  0.014 -0.001  1.032]
+t: 185	 action: [ 1.368e-03  6.071e-02 -1.517e-01 -1.789e-02  7.560e-04 -1.450e-03  1.062e+00]
+[07-31 01:49:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.024 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7563
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7563
+Query 1/1: Action query time = 1.024 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7563
+t=186: Selected seed 195 with value = 0.7563
+t: 186	 action: [-0.109  0.01  -0.019 -0.019 -0.005 -0.006  0.99 ]
+t: 187	 action: [-0.029 -0.016  0.198 -0.021  0.009 -0.011  1.039]
+t: 188	 action: [-0.061  0.009  0.415 -0.013 -0.009 -0.015  0.993]
+t: 189	 action: [ 0.001 -0.068  0.684 -0.02   0.012 -0.012  1.032]
+t: 190	 action: [-1.711e-02 -1.489e-01  7.272e-01  5.873e-04  1.699e-02 -1.107e-02  1.000e+00]
+t: 191	 action: [ 0.013 -0.217  0.83   0.012  0.038 -0.01   1.036]
+t: 192	 action: [-0.045 -0.353  0.868  0.021  0.032 -0.013  0.998]
+t: 193	 action: [ 0.01  -0.454  0.847  0.034  0.051 -0.008  1.029]
+t: 194	 action: [-0.05  -0.554  0.667  0.033  0.042  0.005  0.99 ]
+t: 195	 action: [-5.654e-05 -6.880e-01  5.017e-01  4.228e-02  4.257e-02  4.140e-03  1.041e+00]
+t: 196	 action: [-0.086 -0.657  0.352  0.038  0.032  0.003  0.985]
+t: 197	 action: [-0.028 -0.725  0.197  0.045  0.024  0.004  1.034]
+t: 198	 action: [-0.155 -0.725  0.066  0.044  0.036  0.003  0.996]
+t: 199	 action: [-0.197 -0.756 -0.041  0.037  0.013  0.013  1.036]
+t: 200	 action: [-1.918e-01 -7.262e-01 -5.039e-02  3.569e-02  2.648e-02 -4.903e-04  9.912e-01]
+t: 201	 action: [-0.203 -0.72  -0.17   0.027 -0.001  0.012  1.032]
+[07-31 01:49:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8857
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8857
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8857
+t=202: Selected seed 195 with value = 0.8857
+t: 202	 action: [-0.142 -0.081 -0.52  -0.003 -0.038  0.012  1.158]
+t: 203	 action: [-0.206 -0.085 -0.432 -0.01  -0.037  0.007  1.062]
+t: 204	 action: [-0.148 -0.012 -0.361 -0.005 -0.021  0.004  1.138]
+t: 205	 action: [-0.169 -0.065 -0.192 -0.007 -0.006 -0.014 -1.009]
+t: 206	 action: [-1.596e-01  4.864e-02 -1.178e-01 -2.122e-02 -1.111e-03  1.947e-03 -1.112e+00]
+t: 207	 action: [-0.052  0.051  0.067 -0.031  0.003  0.003 -1.101]
+t: 208	 action: [-0.001  0.042  0.214 -0.018  0.03  -0.001 -1.122]
+t: 209	 action: [ 0.072  0.052  0.347 -0.026  0.038 -0.022 -1.06 ]
+t: 210	 action: [ 0.203 -0.01   0.449  0.021  0.086  0.005 -1.081]
+t: 211	 action: [ 0.198 -0.075  0.436  0.023  0.088  0.001 -1.053]
+t: 212	 action: [ 0.217 -0.028  0.413  0.028  0.091  0.005 -1.106]
+t: 213	 action: [ 0.172 -0.098  0.341  0.025  0.094 -0.005 -1.042]
+t: 214	 action: [ 6.342e-02 -7.666e-02  2.913e-01  2.824e-02  9.139e-02 -5.856e-05 -1.090e+00]
+t: 215	 action: [ 0.041 -0.111  0.269  0.031  0.085  0.001 -1.062]
+t: 216	 action: [ 0.014 -0.051  0.221  0.027  0.086 -0.002 -1.096]
+t: 217	 action: [ 0.054 -0.102  0.213  0.032  0.083 -0.004 -1.053]
+[07-31 01:49:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8920
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8920
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8920
+t=218: Selected seed 195 with value = 0.8920
+t: 218	 action: [ 0.067 -0.001 -0.55   0.01   0.007  0.013  0.824]
+t: 219	 action: [ 0.056 -0.004 -0.565  0.006  0.004  0.003  0.203]
+t: 220	 action: [ 0.045  0.02  -0.619 -0.003  0.008  0.006 -1.021]
+t: 221	 action: [ 0.04   0.014 -0.492  0.002  0.008 -0.004 -1.025]
+t: 222	 action: [-0.018  0.124 -0.417 -0.002  0.014  0.009 -1.103]
+t: 223	 action: [-3.343e-02  1.437e-01 -2.372e-01 -9.369e-04  1.185e-02  3.341e-03 -1.090e+00]
+t: 224	 action: [ 0.002  0.133 -0.082 -0.007  0.013 -0.003 -1.036]
+t: 225	 action: [ 0.006  0.126  0.073 -0.006  0.004 -0.013 -1.048]
+t: 226	 action: [ 0.108  0.032  0.104 -0.019 -0.005 -0.019 -1.053]
+t: 227	 action: [ 1.091e-01  1.385e-02  2.130e-01 -1.843e-02  2.187e-04 -3.644e-02 -1.047e+00]
+t: 228	 action: [ 0.131  0.03   0.281 -0.027 -0.013 -0.024 -1.051]
+t: 229	 action: [ 1.131e-01  4.974e-04  3.025e-01 -1.790e-02  3.894e-03 -3.130e-02 -1.031e+00]
+t: 230	 action: [ 0.031  0.034  0.283 -0.011 -0.002 -0.021 -1.056]
+t: 231	 action: [-0.011  0.043  0.278 -0.007 -0.01  -0.037 -1.055]
+t: 232	 action: [ 0.012  0.029  0.201 -0.011 -0.005 -0.023 -1.048]
+t: 233	 action: [-0.015  0.027  0.186 -0.003 -0.007 -0.029 -1.048]
+[07-31 01:49:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9090
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=234: Selected seed 195 with value = 0.9090
+t: 234	 action: [ 2.332e-02 -1.654e-03 -4.830e-01 -2.497e-04  9.512e-03  1.792e-02  1.057e+00]
+t: 235	 action: [ 0.007 -0.01  -0.491 -0.008  0.004  0.007  0.868]
+t: 236	 action: [-0.004  0.022 -0.439 -0.004  0.004  0.006 -1.043]
+t: 237	 action: [-0.002  0.029 -0.347 -0.009  0.002 -0.008 -1.031]
+t: 238	 action: [-0.098  0.15  -0.27  -0.005  0.006  0.011 -1.099]
+t: 239	 action: [-0.079  0.155 -0.106 -0.014 -0.005  0.01  -1.126]
+t: 240	 action: [-0.088  0.172  0.017 -0.014 -0.003 -0.003 -1.046]
+t: 241	 action: [-0.035  0.144  0.147 -0.012 -0.008 -0.018 -1.043]
+t: 242	 action: [ 0.008  0.028  0.224 -0.009 -0.025 -0.023 -1.052]
+t: 243	 action: [ 0.015  0.007  0.277 -0.009 -0.02  -0.038 -1.048]
+t: 244	 action: [-0.007  0.008  0.263 -0.007 -0.03  -0.029 -1.055]
+t: 245	 action: [ 0.013 -0.022  0.251 -0.006 -0.014 -0.035 -1.033]
+t: 246	 action: [-0.089  0.022  0.226 -0.001 -0.021 -0.027 -1.057]
+t: 247	 action: [-0.114  0.029  0.199  0.002 -0.022 -0.041 -1.055]
+t: 248	 action: [-1.318e-01 -5.842e-05  1.092e-01 -2.705e-03 -2.000e-02 -2.998e-02 -1.052e+00]
+t: 249	 action: [-1.389e-01  5.930e-04  8.779e-02  6.364e-03 -1.412e-02 -3.520e-02 -1.044e+00]
+[07-31 01:49:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9342
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 0.993 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=250: Selected seed 195 with value = 0.9342
+t: 250	 action: [ 0.043  0.007 -0.46   0.003  0.008  0.008  0.668]
+t: 251	 action: [ 5.249e-03 -2.221e-02 -5.217e-01 -4.241e-04  1.695e-03 -7.858e-03  2.726e-01]
+t: 252	 action: [-0.018  0.03  -0.433 -0.003 -0.001  0.003 -1.041]
+t: 253	 action: [-0.01   0.013 -0.392 -0.004 -0.002 -0.019 -1.031]
+t: 254	 action: [-1.314e-01  1.392e-01 -2.571e-01 -1.072e-03 -4.929e-04  1.532e-03 -1.133e+00]
+t: 255	 action: [-0.097  0.151 -0.105 -0.007 -0.009 -0.011 -1.107]
+t: 256	 action: [-0.116  0.15   0.007 -0.01  -0.012 -0.007 -1.045]
+t: 257	 action: [-0.052  0.126  0.134 -0.01  -0.014 -0.03  -1.042]
+t: 258	 action: [ 0.036  0.05   0.19  -0.015 -0.025 -0.024 -1.051]
+t: 259	 action: [ 0.032  0.022  0.228 -0.013 -0.02  -0.042 -1.044]
+t: 260	 action: [ 0.015  0.03   0.2   -0.016 -0.031 -0.029 -1.05 ]
+t: 261	 action: [ 0.031 -0.014  0.195 -0.01  -0.017 -0.038 -1.032]
+t: 262	 action: [-0.07   0.032  0.149 -0.005 -0.023 -0.026 -1.055]
+t: 263	 action: [-0.096  0.032  0.148 -0.001 -0.024 -0.045 -1.05 ]
+t: 264	 action: [-0.127  0.012  0.06  -0.004 -0.024 -0.03  -1.051]
+t: 265	 action: [-0.132 -0.004  0.063  0.004 -0.017 -0.039 -1.041]
+[07-31 01:49:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9648
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=266: Selected seed 195 with value = 0.9648
+t: 266	 action: [ 0.121 -0.021 -0.288  0.002  0.009 -0.009 -1.026]
+t: 267	 action: [ 0.118 -0.037 -0.34  -0.003  0.004 -0.03  -1.002]
+t: 268	 action: [ 3.670e-02  8.976e-03 -2.500e-01 -1.486e-03 -3.888e-04 -2.025e-02 -1.036e+00]
+t: 269	 action: [ 3.898e-02 -6.903e-03 -2.704e-01 -5.330e-03  3.390e-04 -4.303e-02 -1.025e+00]
+t: 270	 action: [-1.721e-02  1.044e-01 -1.914e-01 -2.327e-03  5.171e-04 -1.125e-02 -1.045e+00]
+t: 271	 action: [-0.004  0.13  -0.109 -0.006 -0.009 -0.033 -1.063]
+t: 272	 action: [-0.027  0.085 -0.083 -0.007 -0.007 -0.022 -1.042]
+t: 273	 action: [-0.01   0.097  0.002 -0.007 -0.011 -0.048 -1.041]
+t: 274	 action: [ 0.084  0.056  0.019 -0.003 -0.009 -0.023 -1.053]
+t: 275	 action: [ 0.04   0.031  0.018 -0.01  -0.004 -0.042 -1.046]
+t: 276	 action: [ 0.033  0.039  0.014 -0.007 -0.017 -0.026 -1.049]
+t: 277	 action: [ 0.03   0.006  0.008 -0.009 -0.005 -0.041 -1.036]
+t: 278	 action: [-0.033  0.046 -0.013 -0.005 -0.012 -0.023 -1.059]
+t: 279	 action: [-0.053  0.054  0.025 -0.002 -0.013 -0.045 -1.049]
+t: 280	 action: [-0.072  0.031 -0.017 -0.007 -0.016 -0.028 -1.053]
+t: 281	 action: [-6.796e-02  3.740e-02  1.773e-02 -8.502e-04 -1.302e-02 -4.133e-02 -1.048e+00]
+[07-31 01:49:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9668
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9668
+Query 1/1: Action query time = 0.992 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=282: Selected seed 195 with value = 0.9668
+t: 282	 action: [ 0.114  0.003 -0.243 -0.007  0.009 -0.018 -1.055]
+t: 283	 action: [ 0.1    0.004 -0.25  -0.015  0.009 -0.036 -1.054]
+t: 284	 action: [ 0.028  0.017 -0.192 -0.007  0.011 -0.019 -1.053]
+t: 285	 action: [ 0.035 -0.003 -0.198 -0.013  0.011 -0.037 -1.047]
+t: 286	 action: [-0.013  0.051 -0.171 -0.009  0.013 -0.016 -1.053]
+t: 287	 action: [-0.023  0.052 -0.145 -0.005  0.007 -0.035 -1.061]
+t: 288	 action: [-0.019  0.033 -0.11  -0.007  0.015 -0.018 -1.047]
+t: 289	 action: [-0.013  0.03  -0.076 -0.002  0.008 -0.039 -1.052]
+t: 290	 action: [-0.004  0.036 -0.185 -0.012  0.009 -0.009 -1.05 ]
+t: 291	 action: [ 0.009  0.015 -0.193 -0.018  0.009 -0.014 -1.131]
+t: 292	 action: [-0.057  0.019 -0.175 -0.011  0.008 -0.013 -1.185]
+t: 293	 action: [-0.074 -0.019 -0.184 -0.015  0.01  -0.012 -1.14 ]
+t: 294	 action: [-0.07   0.016 -0.155 -0.011  0.009 -0.014 -1.047]
+t: 295	 action: [-0.075  0.004 -0.107 -0.009 -0.002 -0.014  1.199]
+t: 296	 action: [-0.063 -0.021 -0.087 -0.011  0.011 -0.02   1.092]
+t: 297	 action: [-0.014 -0.008 -0.058 -0.007 -0.002 -0.011  1.16 ]
+[07-31 01:49:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7377
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7377
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 73
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 46%|████▌     | 23/50 [12:29<15:12, 33.78s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 24...
+Query 1/1: Action query time = 0.994 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7377
+t=298: Selected seed 195 with value = 0.7377
+t: 298	 action: [-0.023  0.024 -0.726 -0.008  0.005  0.007 -1.187]
+t: 299	 action: [-7.272e-02 -1.001e-03 -6.093e-01 -2.406e-02  1.033e-03  1.918e-02 -1.130e+00]
+t: 300	 action: [-0.062 -0.002 -0.621 -0.011  0.022  0.009 -1.184]
+t: 301	 action: [-0.083 -0.007 -0.425 -0.022  0.011  0.019 -1.149]
+t: 302	 action: [-1.141e-02  5.536e-03 -3.259e-01 -1.772e-02  2.360e-02  1.451e-04  1.088e+00]
+t: 303	 action: [-0.029  0.002 -0.197 -0.015  0.011  0.017  1.197]
+t: 304	 action: [-6.555e-03 -6.537e-04 -4.464e-02 -2.080e-02  3.428e-02  1.572e-03  1.075e+00]
+t: 305	 action: [-0.006  0.03   0.036 -0.014  0.023  0.005  1.157]
+t: 306	 action: [-0.052 -0.145 -0.29  -0.028  0.034  0.009  0.992]
+t: 307	 action: [ 0.011 -0.031  0.001 -0.032  0.019  0.016  1.033]
+t: 308	 action: [-0.029 -0.123 -0.098 -0.033  0.041  0.011  0.991]
+t: 309	 action: [ 0.031 -0.036  0.126 -0.029  0.019  0.02   1.034]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=73--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=73--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 73
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 24...
+[07-31 01:49:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3583
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3583
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3583
+t=10: Selected seed 195 with value = 0.3583
+t: 10	 action: [ 0.27  -0.031  0.09   0.005  0.024  0.007 -1.014]
+t: 11	 action: [ 0.33  -0.037  0.151  0.002  0.039  0.006 -1.009]
+t: 12	 action: [ 0.542 -0.13   0.196  0.004  0.028  0.012 -1.024]
+t: 13	 action: [ 0.661 -0.136  0.266  0.005  0.045  0.009 -1.019]
+t: 14	 action: [ 0.755 -0.169  0.309  0.008  0.036  0.009 -1.025]
+t: 15	 action: [ 0.802 -0.202  0.288  0.01   0.039  0.011 -1.04 ]
+t: 16	 action: [ 0.872 -0.218  0.319  0.006  0.032  0.01  -1.025]
+t: 17	 action: [ 0.869 -0.241  0.292  0.015  0.041  0.011 -1.046]
+t: 18	 action: [ 0.846 -0.324  0.268  0.011  0.007  0.014 -1.03 ]
+t: 19	 action: [ 0.864 -0.329  0.289  0.012  0.019  0.009 -1.016]
+t: 20	 action: [ 0.891 -0.317  0.183  0.011  0.005  0.012 -1.022]
+t: 21	 action: [ 0.887 -0.336  0.219  0.012  0.022  0.009 -1.009]
+t: 22	 action: [ 0.877 -0.308  0.185  0.01   0.013  0.01  -1.017]
+t: 23	 action: [ 0.892 -0.388  0.14   0.017  0.024  0.01  -1.038]
+t: 24	 action: [ 0.906 -0.211  0.098  0.006  0.018  0.006 -1.012]
+t: 25	 action: [ 0.897 -0.291  0.051  0.015  0.03   0.01  -1.038]
+[07-31 01:49:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4376
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4376
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4376
+t=26: Selected seed 195 with value = 0.4376
+t: 26	 action: [ 0.915 -0.271  0.107  0.004  0.008  0.004 -1.022]
+t: 27	 action: [ 0.945 -0.266  0.095  0.002  0.006 -0.002 -1.018]
+t: 28	 action: [ 0.921 -0.261  0.029  0.006  0.008  0.006 -1.03 ]
+t: 29	 action: [ 9.540e-01 -2.646e-01  4.237e-02  7.232e-03  7.378e-03  8.220e-05 -1.024e+00]
+t: 30	 action: [ 0.957 -0.217 -0.036  0.008  0.007  0.006 -1.009]
+t: 31	 action: [ 0.932 -0.234 -0.067  0.016  0.004  0.002 -1.037]
+t: 32	 action: [ 0.905 -0.141 -0.232  0.005 -0.003  0.006 -1.02 ]
+t: 33	 action: [ 8.613e-01 -1.443e-01 -2.768e-01  1.618e-02  1.001e-03  1.940e-03 -1.035e+00]
+t: 34	 action: [ 0.582 -0.123 -0.433  0.014 -0.038  0.015 -1.039]
+t: 35	 action: [ 0.404 -0.087 -0.488  0.015 -0.046  0.011 -1.029]
+t: 36	 action: [ 0.303 -0.067 -0.634  0.016 -0.065  0.015 -1.029]
+t: 37	 action: [ 0.122 -0.038 -0.64   0.015 -0.065  0.011 -1.02 ]
+t: 38	 action: [-9.540e-04  3.756e-02 -7.495e-01  1.313e-02 -7.547e-02  2.093e-02 -1.033e+00]
+t: 39	 action: [-0.089  0.027 -0.694  0.022 -0.057  0.017 -1.035]
+t: 40	 action: [-0.214  0.03  -0.8    0.011 -0.073  0.021 -1.03 ]
+t: 41	 action: [-0.223  0.06  -0.731  0.021 -0.044  0.018 -1.037]
+[07-31 01:49:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4834
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4834
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4834
+t=42: Selected seed 195 with value = 0.4834
+t: 42	 action: [-0.223 -0.052 -0.742  0.011 -0.052  0.037 -0.997]
+t: 43	 action: [-0.198 -0.082 -0.84   0.011 -0.051  0.038 -1.014]
+t: 44	 action: [-0.158 -0.013 -0.816  0.009 -0.044  0.041 -0.999]
+t: 45	 action: [-0.115 -0.004 -0.846  0.011 -0.039  0.04  -1.017]
+t: 46	 action: [-0.138  0.11  -0.788  0.007 -0.045  0.059 -1.001]
+t: 47	 action: [-0.04   0.179 -0.746  0.015 -0.031  0.046 -1.034]
+t: 48	 action: [-0.028  0.297 -0.707  0.003 -0.036  0.055 -1.   ]
+t: 49	 action: [ 0.022  0.438 -0.645  0.015 -0.017  0.044 -1.038]
+t: 50	 action: [ 0.013  0.71  -0.536  0.004 -0.013  0.051 -1.006]
+t: 51	 action: [ 0.008  0.743 -0.543 -0.004 -0.005  0.043 -1.017]
+t: 52	 action: [-1.312e-02  8.244e-01 -4.915e-01  2.619e-04 -4.887e-03  5.557e-02 -1.005e+00]
+t: 53	 action: [ 1.094e-02  7.882e-01 -4.774e-01 -5.696e-03 -8.145e-04  4.273e-02 -1.016e+00]
+t: 54	 action: [-0.065  0.852 -0.486  0.002 -0.011  0.061 -1.007]
+t: 55	 action: [-0.022  0.844 -0.453 -0.002 -0.003  0.044 -1.03 ]
+t: 56	 action: [-8.837e-02  8.840e-01 -4.711e-01 -3.798e-04 -2.255e-03  6.487e-02 -1.006e+00]
+t: 57	 action: [-2.873e-02  8.395e-01 -3.950e-01 -3.907e-03 -9.361e-04  4.445e-02 -1.039e+00]
+[07-31 01:50:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5273
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5273
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5273
+t=58: Selected seed 195 with value = 0.5273
+t: 58	 action: [-0.126  0.857 -0.487  0.005 -0.002  0.031 -1.   ]
+t: 59	 action: [-0.102  0.82  -0.425  0.008 -0.003  0.033 -0.992]
+t: 60	 action: [-0.14   0.878 -0.492  0.004 -0.003  0.037 -0.998]
+t: 61	 action: [-0.114  0.828 -0.426  0.01  -0.004  0.035 -0.996]
+t: 62	 action: [-1.335e-01  8.685e-01 -4.632e-01  3.763e-03  3.374e-04  4.041e-02 -9.898e-01]
+t: 63	 action: [-0.129  0.835 -0.449  0.011 -0.003  0.039 -1.015]
+t: 64	 action: [-1.523e-01  8.837e-01 -4.750e-01  3.727e-03 -4.294e-04  5.084e-02 -9.875e-01]
+t: 65	 action: [-1.127e-01  8.437e-01 -4.557e-01  1.264e-02 -7.977e-04  3.977e-02 -1.024e+00]
+t: 66	 action: [-0.05   0.79  -0.407  0.007 -0.008  0.053 -1.016]
+t: 67	 action: [-0.034  0.699 -0.456  0.012  0.002  0.032 -1.013]
+t: 68	 action: [-4.869e-02  6.044e-01 -3.524e-01  1.654e-04 -1.247e-02  2.227e-02 -1.022e+00]
+t: 69	 action: [-0.003  0.386 -0.275  0.009  0.015  0.012 -1.011]
+t: 70	 action: [ 0.03   0.167 -0.018  0.008  0.015  0.025 -1.007]
+t: 71	 action: [ 0.035 -0.018  0.205  0.016  0.016  0.014 -1.038]
+t: 72	 action: [ 0.057 -0.062  0.553  0.036  0.049  0.004 -1.007]
+t: 73	 action: [ 0.052 -0.076  0.662  0.033  0.043 -0.005 -1.039]
+[07-31 01:50:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6902
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6902
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6902
+t=74: Selected seed 195 with value = 0.6902
+t: 74	 action: [-0.056 -0.133  0.771 -0.009  0.039 -0.034 -0.997]
+t: 75	 action: [-0.185 -0.177  0.719 -0.002  0.023 -0.041 -1.014]
+t: 76	 action: [-3.335e-01 -1.207e-01  6.136e-01 -4.086e-04  8.311e-03 -3.546e-02 -1.006e+00]
+t: 77	 action: [-0.488 -0.155  0.506  0.002  0.007 -0.045 -1.021]
+t: 78	 action: [-6.891e-01 -1.180e-01  3.570e-01  1.012e-02 -1.386e-04 -3.321e-02 -9.905e-01]
+t: 79	 action: [-0.76  -0.112  0.256  0.01  -0.01  -0.042 -1.042]
+t: 80	 action: [-0.835 -0.109  0.215  0.007 -0.017 -0.033 -0.999]
+t: 81	 action: [-0.816 -0.09   0.092  0.006 -0.028 -0.049 -1.041]
+t: 82	 action: [-0.806 -0.051  0.031  0.007 -0.052 -0.018 -1.023]
+t: 83	 action: [-0.811 -0.101  0.012 -0.002 -0.044 -0.027 -1.027]
+t: 84	 action: [-0.805 -0.06  -0.085  0.003 -0.062 -0.014 -1.025]
+t: 85	 action: [-0.813 -0.094 -0.134 -0.005 -0.052 -0.023 -1.017]
+t: 86	 action: [-8.492e-01 -9.382e-02 -1.982e-01  6.779e-04 -6.178e-02 -1.202e-02 -9.976e-01]
+t: 87	 action: [-0.8   -0.087 -0.26   0.008 -0.066 -0.028 -1.033]
+t: 88	 action: [-7.871e-01 -8.638e-02 -3.791e-01  7.179e-04 -6.395e-02 -1.170e-02 -9.998e-01]
+t: 89	 action: [-0.717 -0.072 -0.398  0.009 -0.067 -0.025 -1.035]
+[07-31 01:50:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4627
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4627
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4627
+t=90: Selected seed 195 with value = 0.4627
+t: 90	 action: [-0.858  0.047 -0.336 -0.004 -0.045 -0.003 -1.025]
+t: 91	 action: [-0.773  0.113 -0.425  0.002 -0.04  -0.016 -1.031]
+t: 92	 action: [-0.713  0.089 -0.52  -0.006 -0.045 -0.001 -1.03 ]
+t: 93	 action: [-0.622  0.128 -0.553  0.007 -0.044 -0.029 -1.041]
+t: 94	 action: [-0.472  0.097 -0.639  0.005 -0.057 -0.01  -1.014]
+t: 95	 action: [-0.403  0.141 -0.659  0.014 -0.042 -0.027 -1.051]
+t: 96	 action: [-0.323  0.079 -0.669  0.003 -0.051 -0.013 -1.018]
+t: 97	 action: [-0.285  0.122 -0.666  0.019 -0.042 -0.044 -1.058]
+t: 98	 action: [-0.253  0.056 -0.7    0.004 -0.062 -0.016 -1.031]
+t: 99	 action: [-0.156  0.043 -0.705  0.011 -0.066 -0.044 -1.027]
+t: 100	 action: [-0.084  0.026 -0.697  0.004 -0.058 -0.019 -1.04 ]
+t: 101	 action: [-1.013e-03  2.502e-02 -6.503e-01  1.179e-02 -5.525e-02 -4.979e-02 -1.027e+00]
+t: 102	 action: [ 0.017  0.01  -0.629  0.008 -0.044 -0.029 -1.029]
+t: 103	 action: [ 0.108  0.017 -0.573  0.022 -0.035 -0.059 -1.051]
+t: 104	 action: [ 0.185  0.002 -0.518  0.005 -0.034 -0.039 -1.029]
+t: 105	 action: [ 0.282  0.013 -0.46   0.021 -0.019 -0.064 -1.062]
+[07-31 01:50:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8986
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8986
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8986
+t=106: Selected seed 195 with value = 0.8986
+t: 106	 action: [ 0.3    0.108 -0.348  0.008  0.005 -0.03  -1.051]
+t: 107	 action: [ 0.4    0.128 -0.265  0.011  0.009 -0.051 -1.033]
+t: 108	 action: [ 0.483  0.177 -0.271  0.004  0.015 -0.035 -1.051]
+t: 109	 action: [ 0.573  0.151 -0.205  0.008  0.019 -0.061 -1.035]
+t: 110	 action: [ 0.553  0.174 -0.195  0.002  0.017 -0.053 -1.045]
+t: 111	 action: [ 0.558  0.147 -0.178  0.013  0.025 -0.063 -1.06 ]
+t: 112	 action: [ 5.646e-01  1.836e-01 -2.322e-01 -2.474e-05  2.019e-02 -5.693e-02 -1.050e+00]
+t: 113	 action: [ 0.543  0.135 -0.233  0.014  0.03  -0.074 -1.06 ]
+t: 114	 action: [ 0.459  0.084 -0.166  0.008  0.03  -0.059 -1.058]
+t: 115	 action: [ 0.378  0.05  -0.249  0.012  0.029 -0.067 -1.039]
+t: 116	 action: [ 0.273  0.027 -0.295  0.011  0.027 -0.052 -1.058]
+t: 117	 action: [ 0.172  0.015 -0.382  0.011  0.023 -0.055 -1.037]
+t: 118	 action: [ 0.125  0.024 -0.448  0.005  0.016 -0.046 -1.058]
+t: 119	 action: [ 0.025  0.031 -0.472  0.016  0.01  -0.065 -1.051]
+t: 120	 action: [-2.468e-02 -3.113e-04 -5.781e-01  1.527e-03  1.320e-02 -3.459e-02 -1.060e+00]
+t: 121	 action: [-0.036  0.017 -0.559  0.013  0.006 -0.053 -1.055]
+[07-31 01:50:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8766
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8766
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8766
+t=122: Selected seed 195 with value = 0.8766
+t: 122	 action: [ 6.659e-02  3.947e-02 -2.987e-01  2.287e-04  1.884e-02 -4.382e-02 -1.045e+00]
+t: 123	 action: [ 0.033  0.061 -0.379 -0.007  0.023 -0.045 -1.039]
+t: 124	 action: [ 0.025  0.062 -0.319 -0.001  0.022 -0.033 -1.05 ]
+t: 125	 action: [ 0.007  0.071 -0.356 -0.005  0.025 -0.036 -1.039]
+t: 126	 action: [-0.021  0.057 -0.272 -0.004  0.021 -0.038 -1.032]
+t: 127	 action: [-0.057  0.112 -0.353  0.002  0.018 -0.04  -1.044]
+t: 128	 action: [-0.039  0.041 -0.324 -0.007  0.022 -0.025 -1.043]
+t: 129	 action: [-0.088  0.079 -0.371  0.002  0.02  -0.034 -1.048]
+t: 130	 action: [-0.053 -0.019 -0.46  -0.015  0.031 -0.028 -1.189]
+t: 131	 action: [-0.085 -0.025 -0.441 -0.014  0.039 -0.024 -1.152]
+t: 132	 action: [-0.057 -0.068 -0.495 -0.018  0.031 -0.012  0.978]
+t: 133	 action: [-0.013 -0.055 -0.395 -0.015  0.039 -0.014  1.054]
+t: 134	 action: [-0.049 -0.045 -0.301 -0.012  0.032 -0.02   1.1  ]
+t: 135	 action: [-5.386e-02  8.946e-04 -2.255e-01 -4.832e-03  1.835e-02 -1.209e-02  1.159e+00]
+t: 136	 action: [-0.046 -0.031 -0.102 -0.029  0.03  -0.011  0.994]
+t: 137	 action: [-1.815e-03 -2.537e-04 -4.062e-02 -1.180e-02  1.591e-02 -4.916e-03  1.065e+00]
+[07-31 01:50:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=138: Selected seed 195 with value = 0.6997
+t: 138	 action: [-6.492e-04 -2.986e-02 -2.786e-01  2.434e-04  4.245e-03 -2.243e-02  9.836e-01]
+t: 139	 action: [ 3.184e-02 -4.993e-02 -1.385e-01 -6.673e-03  3.480e-04 -1.710e-02  1.034e+00]
+t: 140	 action: [-1.227e-02 -4.307e-02 -1.341e-01 -7.939e-04  1.104e-02 -1.453e-02  9.811e-01]
+t: 141	 action: [ 0.019 -0.056 -0.054 -0.006  0.005 -0.012  1.038]
+t: 142	 action: [ 0.014 -0.013 -0.024 -0.005  0.013 -0.029  1.008]
+t: 143	 action: [ 0.024 -0.022 -0.009 -0.003 -0.005 -0.017  1.037]
+t: 144	 action: [ 6.745e-03  6.821e-04  6.754e-02 -1.266e-02  1.423e-02 -2.802e-02  1.001e+00]
+t: 145	 action: [ 0.017 -0.003  0.101 -0.006 -0.005 -0.018  1.037]
+t: 146	 action: [-0.009 -0.017  0.157 -0.006  0.029 -0.012  0.984]
+t: 147	 action: [ 0.033 -0.032  0.275  0.009  0.039 -0.016  1.03 ]
+t: 148	 action: [-0.019 -0.013  0.47  -0.005  0.027 -0.014  0.974]
+t: 149	 action: [ 0.026 -0.024  0.639  0.013  0.038 -0.015  1.021]
+t: 150	 action: [-0.088 -0.033  0.805  0.013  0.032 -0.015  1.004]
+t: 151	 action: [-0.064 -0.085  0.904  0.02   0.034 -0.018  1.027]
+t: 152	 action: [-0.164 -0.159  0.923  0.034  0.033 -0.014  0.997]
+t: 153	 action: [-0.123 -0.311  0.916  0.037  0.036 -0.014  1.024]
+[07-31 01:50:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8176
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8176
+Query 1/1: Action query time = 0.984 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8176
+t=154: Selected seed 195 with value = 0.8176
+t: 154	 action: [-0.154  0.215 -0.44   0.006 -0.031  0.025  0.979]
+t: 155	 action: [-0.197  0.306 -0.357  0.011 -0.058  0.013  0.678]
+t: 156	 action: [-0.346  0.3   -0.399  0.006 -0.023  0.029 -0.921]
+t: 157	 action: [-0.409  0.361 -0.377  0.017 -0.043  0.025 -1.013]
+t: 158	 action: [-0.418  0.262 -0.417  0.004 -0.033  0.03  -1.022]
+t: 159	 action: [-0.372  0.445 -0.257  0.015 -0.034  0.018 -1.032]
+t: 160	 action: [-0.443  0.321 -0.335  0.004 -0.015  0.039 -0.985]
+t: 161	 action: [-0.48   0.451 -0.206  0.019 -0.003  0.025 -1.069]
+t: 162	 action: [-0.318 -0.013 -0.369  0.013  0.035  0.028 -1.028]
+t: 163	 action: [-3.279e-01 -2.324e-04 -3.420e-01  2.276e-02  2.169e-02  2.894e-02 -1.062e+00]
+t: 164	 action: [-0.146 -0.006 -0.206  0.009  0.068  0.04  -1.024]
+t: 165	 action: [-0.109  0.007 -0.229  0.015  0.053  0.03  -0.99 ]
+t: 166	 action: [-0.113  0.012 -0.062  0.004  0.069  0.04   0.408]
+t: 167	 action: [-0.054  0.005 -0.025  0.011  0.054  0.035  1.1  ]
+t: 168	 action: [ 0.025  0.026  0.03  -0.006  0.088  0.051  0.889]
+t: 169	 action: [0.036 0.045 0.05  0.002 0.061 0.035 1.   ]
+[07-31 01:50:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6634
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.6634
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6634
+t=170: Selected seed 195 with value = 0.6634
+t: 170	 action: [-0.041 -0.062 -0.385  0.004  0.026 -0.004  0.994]
+t: 171	 action: [-0.022 -0.09  -0.252  0.007  0.044 -0.003  1.028]
+t: 172	 action: [-0.059 -0.069 -0.204  0.001  0.039  0.002  0.988]
+t: 173	 action: [-4.758e-02 -9.047e-02 -7.793e-02  8.663e-03  5.160e-02  1.011e-03  1.033e+00]
+t: 174	 action: [-1.359e-02 -6.963e-02 -2.759e-02  9.215e-04  4.662e-02 -8.744e-03  1.013e+00]
+t: 175	 action: [ 7.305e-03 -7.837e-02  2.324e-02  1.101e-02  4.247e-02 -1.201e-04  1.032e+00]
+t: 176	 action: [-2.097e-02 -7.482e-02  1.987e-01  6.205e-04  5.779e-02 -5.951e-03  1.004e+00]
+t: 177	 action: [ 0.003 -0.073  0.279  0.012  0.049 -0.001  1.035]
+t: 178	 action: [-0.004 -0.144  0.461  0.005  0.043 -0.026  0.983]
+t: 179	 action: [ 0.036 -0.19   0.616  0.019  0.058 -0.01   1.025]
+t: 180	 action: [-0.001 -0.18   0.623  0.012  0.055 -0.01   0.969]
+t: 181	 action: [ 0.044 -0.252  0.713  0.024  0.067 -0.006  1.019]
+t: 182	 action: [ 0.03  -0.202  0.73   0.034  0.068 -0.024  1.004]
+t: 183	 action: [ 0.031 -0.275  0.693  0.026  0.058 -0.004  1.031]
+t: 184	 action: [ 0.029 -0.265  0.632  0.032  0.077 -0.01   0.997]
+t: 185	 action: [ 0.031 -0.372  0.517  0.024  0.067 -0.002  1.033]
+[07-31 01:50:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8939
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8939
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8939
+t=186: Selected seed 195 with value = 0.8939
+t: 186	 action: [-2.539e-01 -9.998e-02  6.513e-02 -3.771e-05  2.752e-03  2.745e-02  9.558e-01]
+t: 187	 action: [-0.273 -0.106 -0.007  0.005 -0.002  0.043  1.04 ]
+t: 188	 action: [-0.179 -0.184  0.007  0.009  0.014  0.02   0.985]
+t: 189	 action: [-0.192 -0.271  0.021  0.021  0.016  0.033  1.031]
+t: 190	 action: [-0.233 -0.367 -0.016  0.013  0.024  0.025  0.985]
+t: 191	 action: [-0.155 -0.453  0.003  0.023  0.028  0.043  1.055]
+t: 192	 action: [-0.075 -0.348  0.115  0.013  0.054  0.023  0.994]
+t: 193	 action: [ 0.001 -0.381  0.145  0.026  0.083  0.034  0.972]
+t: 194	 action: [ 0.191 -0.466 -0.137  0.035  0.09   0.006  1.121]
+t: 195	 action: [ 0.183 -0.501  0.008  0.039  0.091  0.009  1.009]
+t: 196	 action: [ 0.285 -0.411  0.069  0.035  0.087  0.002  1.072]
+t: 197	 action: [ 0.225 -0.367  0.161  0.036  0.086 -0.004  1.011]
+t: 198	 action: [ 2.669e-01 -2.059e-01  1.107e-01  5.509e-05  9.397e-02  3.385e-03 -1.132e+00]
+t: 199	 action: [ 0.199 -0.108  0.121  0.01   0.082  0.011 -1.102]
+t: 200	 action: [ 0.228 -0.091  0.232  0.002  0.074  0.002 -1.129]
+t: 201	 action: [ 0.165 -0.004  0.206  0.006  0.052  0.005 -1.129]
+[07-31 01:50:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8982
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8982
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8982
+t=202: Selected seed 195 with value = 0.8982
+t: 202	 action: [-2.096e-01 -3.646e-01  4.022e-01 -2.151e-04  3.184e-02  5.301e-03  9.727e-01]
+t: 203	 action: [-0.189 -0.415  0.409  0.01   0.017  0.01   1.032]
+t: 204	 action: [-0.123 -0.42   0.474  0.016  0.019  0.003  0.989]
+t: 205	 action: [-0.092 -0.462  0.412  0.019  0.013  0.009  1.027]
+t: 206	 action: [-0.125 -0.577  0.303  0.014  0.031  0.003  0.985]
+t: 207	 action: [-0.056 -0.598  0.207  0.014  0.021  0.022  1.032]
+t: 208	 action: [ 2.695e-02 -4.167e-01  2.275e-01 -3.912e-04  2.487e-02  2.741e-03  9.979e-01]
+t: 209	 action: [ 0.1   -0.481  0.095  0.008  0.028  0.023  1.014]
+t: 210	 action: [ 0.35  -0.343 -0.265  0.001  0.004  0.012  1.131]
+t: 211	 action: [ 3.642e-01 -3.490e-01 -1.586e-01 -7.802e-04  5.757e-03  8.728e-03  9.895e-01]
+t: 212	 action: [ 0.46  -0.099 -0.218 -0.003  0.012  0.013  1.101]
+t: 213	 action: [ 0.39  -0.181 -0.072 -0.006  0.019 -0.001  1.036]
+t: 214	 action: [ 0.303  0.028 -0.028 -0.015  0.023  0.008 -1.128]
+t: 215	 action: [ 0.15  -0.006 -0.003 -0.017  0.002  0.023 -1.042]
+t: 216	 action: [ 0.213  0.022  0.134 -0.012  0.029  0.004 -1.138]
+t: 217	 action: [ 0.11   0.008  0.149 -0.006  0.024  0.019 -1.117]
+[07-31 01:50:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9049
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=218: Selected seed 195 with value = 0.9049
+t: 218	 action: [ 0.026 -0.101 -0.454 -0.009  0.005  0.04   1.01 ]
+t: 219	 action: [ 0.058 -0.085 -0.305 -0.032  0.013  0.052  1.062]
+t: 220	 action: [ 0.082  0.004 -0.215 -0.009  0.016  0.049  1.058]
+t: 221	 action: [ 0.066 -0.007 -0.085 -0.028  0.028  0.021  0.836]
+t: 222	 action: [ 0.088  0.066  0.017 -0.037  0.006  0.032  1.017]
+t: 223	 action: [ 0.21   0.062  0.096 -0.039  0.015  0.043  1.01 ]
+t: 224	 action: [ 0.177  0.114  0.24  -0.021  0.023  0.033 -1.094]
+t: 225	 action: [ 0.223  0.076  0.333 -0.026  0.039  0.02  -1.139]
+t: 226	 action: [1.376e-01 5.790e-04 2.380e-01 8.496e-03 1.611e-02 3.593e-02 1.045e+00]
+t: 227	 action: [ 0.113  0.006  0.222  0.007  0.02   0.024 -1.016]
+t: 228	 action: [ 0.171  0.037  0.234  0.007 -0.001  0.04  -1.033]
+t: 229	 action: [ 0.236  0.041  0.247  0.009  0.002  0.021 -1.037]
+t: 230	 action: [ 9.905e-02  8.873e-02  2.432e-01  1.107e-02  1.054e-03  4.248e-02 -1.107e+00]
+t: 231	 action: [ 0.059  0.078  0.184  0.01  -0.009  0.031 -1.067]
+t: 232	 action: [ 0.128  0.145  0.165  0.002 -0.028  0.042 -1.04 ]
+t: 233	 action: [ 0.103  0.1    0.17   0.011 -0.011  0.034 -1.035]
+[07-31 01:50:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9523
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9523
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9523
+t=234: Selected seed 195 with value = 0.9523
+t: 234	 action: [-3.882e-02 -2.061e-01 -3.614e-01 -3.498e-04  2.188e-02  5.153e-03  1.054e+00]
+t: 235	 action: [-3.729e-02 -1.960e-01 -3.226e-01  7.823e-04  2.606e-02 -3.308e-03  9.360e-01]
+t: 236	 action: [ 0.022 -0.026 -0.16  -0.005  0.027  0.002 -0.939]
+t: 237	 action: [ 0.108 -0.05  -0.109 -0.006  0.03  -0.016 -1.024]
+t: 238	 action: [ 0.061  0.119  0.02  -0.02   0.017 -0.004 -1.062]
+t: 239	 action: [ 0.089  0.105  0.129 -0.027  0.008  0.002 -1.048]
+t: 240	 action: [ 0.184  0.186  0.175 -0.012  0.022 -0.006 -0.985]
+t: 241	 action: [ 0.228  0.146  0.251 -0.011  0.023 -0.018 -1.058]
+t: 242	 action: [ 0.25   0.07   0.172  0.01   0.005  0.003 -0.994]
+t: 243	 action: [ 0.329  0.042  0.186  0.008  0.008 -0.012 -1.023]
+t: 244	 action: [ 0.289  0.041  0.144  0.008  0.001  0.006 -0.999]
+t: 245	 action: [ 0.339  0.031  0.154  0.011  0.02  -0.01  -1.036]
+t: 246	 action: [ 0.187  0.024  0.135  0.011  0.011 -0.004 -1.047]
+t: 247	 action: [ 0.083  0.025  0.104  0.015  0.005  0.002 -1.053]
+t: 248	 action: [ 0.167  0.016  0.067  0.008  0.006 -0.004 -1.015]
+t: 249	 action: [ 0.075  0.017  0.05   0.021  0.015  0.004 -1.05 ]
+[07-31 01:50:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9462
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9462
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9462
+t=250: Selected seed 195 with value = 0.9462
+t: 250	 action: [ 9.270e-02  3.379e-02 -2.212e-01  7.324e-04  8.514e-03  6.837e-03 -1.004e+00]
+t: 251	 action: [ 1.432e-01  8.378e-02 -2.166e-01 -5.336e-03 -5.606e-04 -9.061e-03 -1.024e+00]
+t: 252	 action: [ 1.956e-01  2.099e-01 -1.758e-01 -3.704e-04  4.948e-03  5.364e-03 -1.001e+00]
+t: 253	 action: [ 0.303  0.201 -0.117 -0.006 -0.002 -0.013 -1.03 ]
+t: 254	 action: [ 2.100e-01  3.353e-01 -1.339e-01 -7.000e-03 -1.226e-04  3.665e-03 -1.017e+00]
+t: 255	 action: [ 0.194  0.264  0.003 -0.009 -0.007 -0.006 -1.051]
+t: 256	 action: [ 0.283  0.369  0.009 -0.013 -0.008  0.001 -1.018]
+t: 257	 action: [ 0.291  0.264  0.129 -0.013 -0.011 -0.012 -1.054]
+t: 258	 action: [ 3.069e-01  2.757e-01  1.457e-01  2.944e-03 -3.642e-02 -9.800e-04 -1.023e+00]
+t: 259	 action: [ 0.351  0.226  0.173 -0.012 -0.035 -0.025 -1.037]
+t: 260	 action: [ 3.181e-01  2.175e-01  1.632e-01  7.404e-04 -4.003e-02 -1.922e-03 -1.014e+00]
+t: 261	 action: [ 0.338  0.163  0.174 -0.011 -0.033 -0.021 -1.039]
+t: 262	 action: [ 0.162  0.101  0.164  0.003 -0.058 -0.001 -1.031]
+t: 263	 action: [ 0.036  0.009  0.15   0.003 -0.05  -0.014 -1.05 ]
+t: 264	 action: [ 0.138  0.057  0.044 -0.002 -0.059 -0.005 -1.025]
+t: 265	 action: [ 0.043  0.003  0.074  0.004 -0.043 -0.009 -1.053]
+[07-31 01:50:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9446
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=266: Selected seed 195 with value = 0.9446
+t: 266	 action: [ 1.134e-01  1.193e-01 -2.632e-01  1.181e-04  1.100e-02  4.519e-03 -1.004e+00]
+t: 267	 action: [ 0.122  0.167 -0.273 -0.002  0.003 -0.011 -1.03 ]
+t: 268	 action: [ 1.824e-01  2.924e-01 -1.960e-01  1.518e-04  8.160e-03  2.661e-03 -9.955e-01]
+t: 269	 action: [ 2.317e-01  2.527e-01 -1.599e-01 -2.753e-03 -3.019e-04 -1.631e-02 -1.033e+00]
+t: 270	 action: [ 0.157  0.376 -0.175 -0.003  0.004  0.002 -1.008]
+t: 271	 action: [ 0.141  0.292 -0.006 -0.006 -0.004 -0.009 -1.053]
+t: 272	 action: [ 0.23   0.401 -0.001 -0.014 -0.004 -0.002 -1.003]
+t: 273	 action: [ 0.225  0.286  0.175 -0.013 -0.008 -0.017 -1.053]
+t: 274	 action: [ 0.269  0.295  0.153  0.003 -0.022 -0.001 -1.026]
+t: 275	 action: [ 0.299  0.226  0.189 -0.008 -0.022 -0.023 -1.04 ]
+t: 276	 action: [ 2.716e-01  2.298e-01  1.915e-01  9.254e-04 -2.487e-02 -3.862e-03 -1.019e+00]
+t: 277	 action: [ 0.277  0.166  0.2   -0.007 -0.023 -0.021 -1.044]
+t: 278	 action: [ 0.155  0.107  0.162  0.002 -0.036 -0.002 -1.025]
+t: 279	 action: [ 0.042  0.027  0.163  0.003 -0.044 -0.014 -1.051]
+t: 280	 action: [ 0.122  0.056  0.049 -0.002 -0.036 -0.006 -1.022]
+t: 281	 action: [ 0.032  0.021  0.069  0.005 -0.042 -0.012 -1.052]
+[07-31 01:50:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9428
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 1.002 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=282: Selected seed 195 with value = 0.9428
+t: 282	 action: [ 9.651e-02  1.226e-01 -3.241e-01  1.235e-04  7.611e-03  2.317e-03 -1.006e+00]
+t: 283	 action: [ 8.400e-02  1.461e-01 -3.361e-01 -2.228e-04  1.639e-04 -1.643e-02 -1.024e+00]
+t: 284	 action: [ 0.133  0.254 -0.256 -0.001  0.002  0.001 -0.998]
+t: 285	 action: [ 0.152  0.195 -0.214 -0.004 -0.01  -0.023 -1.031]
+t: 286	 action: [ 0.098  0.295 -0.14  -0.004 -0.005 -0.004 -1.01 ]
+t: 287	 action: [ 0.103  0.205  0.037 -0.003 -0.016 -0.023 -1.051]
+t: 288	 action: [ 0.188  0.333  0.055 -0.019 -0.018 -0.009 -1.001]
+t: 289	 action: [ 0.203  0.216  0.239 -0.013 -0.037 -0.034 -1.05 ]
+t: 290	 action: [ 0.266  0.259  0.206 -0.002 -0.046 -0.024 -1.036]
+t: 291	 action: [ 0.304  0.192  0.247 -0.008 -0.061 -0.043 -1.04 ]
+t: 292	 action: [ 0.313  0.228  0.208 -0.006 -0.042 -0.027 -1.024]
+t: 293	 action: [ 0.308  0.162  0.201 -0.006 -0.053 -0.041 -1.041]
+t: 294	 action: [ 0.221  0.124  0.181 -0.002 -0.048 -0.019 -1.031]
+t: 295	 action: [ 0.131  0.07   0.157  0.004 -0.055 -0.041 -1.052]
+t: 296	 action: [ 0.181  0.069  0.049 -0.004 -0.04  -0.024 -1.019]
+t: 297	 action: [ 0.076  0.041  0.032  0.008 -0.044 -0.038 -1.05 ]
+[07-31 01:50:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9620
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9620
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 74
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 48%|████▊     | 24/50 [13:01<14:21, 33.12s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 25...
+Query 1/1: Action query time = 0.988 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=298: Selected seed 195 with value = 0.9620
+t: 298	 action: [ 0.212  0.132 -0.318 -0.001  0.004 -0.005 -1.03 ]
+t: 299	 action: [ 0.219  0.135 -0.346 -0.002  0.002 -0.029 -1.025]
+t: 300	 action: [ 0.239  0.234 -0.263 -0.007  0.002 -0.006 -1.021]
+t: 301	 action: [ 0.247  0.173 -0.227 -0.007 -0.003 -0.036 -1.035]
+t: 302	 action: [ 0.193  0.243 -0.107 -0.007 -0.007 -0.014 -1.03 ]
+t: 303	 action: [ 0.224  0.151  0.04  -0.008 -0.006 -0.037 -1.058]
+t: 304	 action: [ 0.244  0.261  0.025 -0.018 -0.013 -0.021 -1.018]
+t: 305	 action: [ 0.266  0.156  0.166 -0.014 -0.015 -0.048 -1.057]
+t: 306	 action: [ 0.324  0.17   0.081  0.002 -0.013 -0.031 -1.059]
+t: 307	 action: [ 0.34   0.124  0.097  0.007 -0.019 -0.054 -1.041]
+t: 308	 action: [ 0.342  0.129  0.089 -0.001 -0.014 -0.035 -1.044]
+t: 309	 action: [ 0.317  0.1    0.065  0.006 -0.02  -0.053 -1.042]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=74--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=74--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 74
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 25...
+[07-31 01:50:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3394
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3394
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3394
+t=10: Selected seed 195 with value = 0.3394
+t: 10	 action: [ 0.13  -0.124  0.07   0.007  0.016  0.004 -1.001]
+t: 11	 action: [ 0.252 -0.063  0.091  0.011  0.027  0.003 -1.013]
+t: 12	 action: [ 0.478 -0.111  0.139  0.005  0.015  0.006 -1.013]
+t: 13	 action: [ 0.654 -0.073  0.174  0.008  0.023  0.005 -1.024]
+t: 14	 action: [ 0.763 -0.08   0.229  0.004  0.019  0.007 -1.011]
+t: 15	 action: [ 0.805 -0.071  0.204  0.011  0.019  0.007 -1.035]
+t: 16	 action: [ 0.881 -0.08   0.252  0.002  0.013  0.006 -1.008]
+t: 17	 action: [ 0.887 -0.078  0.217  0.01   0.011  0.007 -1.043]
+t: 18	 action: [ 0.837 -0.108  0.263  0.009  0.004  0.012 -1.025]
+t: 19	 action: [ 0.869 -0.115  0.27   0.014  0.011  0.007 -1.025]
+t: 20	 action: [ 0.86  -0.102  0.212  0.01  -0.007  0.01  -1.021]
+t: 21	 action: [ 0.887 -0.149  0.25   0.015  0.009  0.008 -1.015]
+t: 22	 action: [ 0.884 -0.076  0.187  0.012 -0.003  0.011 -1.009]
+t: 23	 action: [ 0.907 -0.202  0.163  0.017  0.003  0.007 -1.036]
+t: 24	 action: [ 0.898 -0.047  0.117  0.01  -0.01   0.007 -1.004]
+t: 25	 action: [ 0.93  -0.216  0.107  0.016  0.001  0.009 -1.036]
+[07-31 01:50:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3572
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3572
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3572
+t=26: Selected seed 195 with value = 0.3572
+t: 26	 action: [ 0.929  0.005  0.039  0.002 -0.018  0.002 -1.022]
+t: 27	 action: [ 0.935  0.03   0.048  0.003 -0.02  -0.015 -1.025]
+t: 28	 action: [ 0.939 -0.075  0.003  0.005 -0.023  0.005 -1.028]
+t: 29	 action: [ 0.94  -0.081  0.035  0.011 -0.018 -0.011 -1.022]
+t: 30	 action: [ 0.963 -0.161 -0.083  0.009 -0.023  0.001 -1.011]
+t: 31	 action: [ 0.94  -0.195 -0.083  0.011 -0.031 -0.014 -1.032]
+t: 32	 action: [ 9.325e-01 -2.482e-01 -2.390e-01  8.234e-03 -3.221e-02  4.797e-04 -1.023e+00]
+t: 33	 action: [ 0.9   -0.295 -0.287  0.017 -0.037 -0.012 -1.036]
+t: 34	 action: [ 0.694 -0.3   -0.422  0.016 -0.046  0.009 -1.038]
+t: 35	 action: [ 0.579 -0.265 -0.557  0.015 -0.051 -0.009 -1.032]
+t: 36	 action: [ 0.421 -0.247 -0.674  0.014 -0.081  0.011 -1.03 ]
+t: 37	 action: [ 0.225 -0.203 -0.769  0.016 -0.065 -0.002 -1.017]
+t: 38	 action: [ 0.126 -0.134 -0.808  0.006 -0.1    0.004 -1.031]
+t: 39	 action: [ 0.011 -0.127 -0.839  0.017 -0.082 -0.004 -1.037]
+t: 40	 action: [-0.104 -0.044 -0.863  0.003 -0.116  0.005 -1.033]
+t: 41	 action: [-0.081 -0.071 -0.892  0.017 -0.076  0.004 -1.039]
+[07-31 01:50:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=42: Selected seed 195 with value = 0.4997
+t: 42	 action: [-0.054  0.84  -0.581  0.006 -0.022  0.048 -1.009]
+t: 43	 action: [-0.029  0.794 -0.52   0.01  -0.027  0.036 -1.011]
+t: 44	 action: [-0.078  0.865 -0.586  0.005 -0.016  0.046 -1.003]
+t: 45	 action: [-0.07   0.795 -0.511  0.009 -0.019  0.034 -1.012]
+t: 46	 action: [-0.087  0.871 -0.562  0.002 -0.012  0.048 -1.   ]
+t: 47	 action: [-0.079  0.831 -0.532  0.011 -0.015  0.037 -1.023]
+t: 48	 action: [-0.114  0.876 -0.58   0.002 -0.005  0.051 -0.995]
+t: 49	 action: [-0.072  0.824 -0.542  0.009 -0.005  0.035 -1.03 ]
+t: 50	 action: [-0.019  0.65  -0.713  0.008 -0.024  0.037 -1.02 ]
+t: 51	 action: [ 0.005  0.624 -0.708  0.005 -0.034  0.03  -1.019]
+t: 52	 action: [ 0.013  0.54  -0.676  0.003 -0.015  0.033 -1.019]
+t: 53	 action: [ 0.036  0.484 -0.583  0.002 -0.01   0.022 -1.013]
+t: 54	 action: [ 0.015  0.335 -0.458  0.006 -0.004  0.034 -1.011]
+t: 55	 action: [ 0.034  0.185 -0.289  0.007  0.002  0.027 -1.036]
+t: 56	 action: [ 0.017  0.103 -0.088  0.002  0.023  0.025 -1.005]
+t: 57	 action: [ 0.029  0.022  0.184 -0.003  0.017  0.018 -1.045]
+[07-31 01:50:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5603
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5603
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5603
+t=58: Selected seed 195 with value = 0.5603
+t: 58	 action: [ 5.797e-02  5.220e-01 -3.796e-01 -7.429e-04 -2.053e-03  1.188e-02 -1.010e+00]
+t: 59	 action: [ 0.09   0.44  -0.214 -0.001  0.01   0.01  -1.017]
+t: 60	 action: [ 0.07   0.329 -0.208 -0.002  0.01   0.009 -1.004]
+t: 61	 action: [ 0.074  0.202 -0.041 -0.002  0.013  0.003 -1.018]
+t: 62	 action: [ 2.742e-02  1.943e-01 -1.095e-01  7.295e-04  1.397e-02  3.205e-03 -9.934e-01]
+t: 63	 action: [ 9.018e-03  1.927e-01  8.226e-02  3.939e-04  1.476e-02  8.099e-03 -1.028e+00]
+t: 64	 action: [-0.017  0.034  0.241 -0.003  0.023 -0.002 -0.997]
+t: 65	 action: [-1.211e-03  5.104e-02  4.408e-01  3.115e-03  1.966e-02 -3.500e-05 -1.032e+00]
+t: 66	 action: [ 0.044 -0.051  0.546  0.025  0.013  0.006 -1.017]
+t: 67	 action: [-4.475e-02 -1.519e-01  5.612e-01  3.240e-02  1.216e-02  5.204e-04 -1.039e+00]
+t: 68	 action: [-0.028 -0.097  0.475  0.034  0.011  0.007 -1.026]
+t: 69	 action: [-0.147 -0.235  0.434  0.039  0.013  0.003 -1.023]
+t: 70	 action: [-0.321 -0.152  0.298  0.052  0.001  0.006 -1.013]
+t: 71	 action: [-0.431 -0.174  0.201  0.042 -0.003  0.013 -1.039]
+t: 72	 action: [-0.576 -0.187  0.165  0.053 -0.002  0.007 -1.014]
+t: 73	 action: [-5.442e-01 -1.982e-01  6.488e-02  4.259e-02  1.108e-04  1.642e-02 -1.031e+00]
+[07-31 01:50:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5905
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5905
+t=74: Selected seed 195 with value = 0.5905
+t: 74	 action: [ 0.044  0.426 -0.227  0.003  0.02   0.037 -1.004]
+t: 75	 action: [ 0.099  0.337 -0.089  0.004  0.024  0.024 -0.991]
+t: 76	 action: [ 0.053  0.153  0.029 -0.001  0.036  0.03  -1.004]
+t: 77	 action: [ 0.079  0.052  0.212  0.005  0.038  0.013 -1.006]
+t: 78	 action: [ 0.055  0.035  0.233  0.008  0.038  0.013 -0.997]
+t: 79	 action: [ 0.027  0.019  0.405  0.008  0.037  0.015 -1.023]
+t: 80	 action: [ 0.004 -0.04   0.514  0.01   0.048  0.005 -1.006]
+t: 81	 action: [-0.01  -0.064  0.603  0.016  0.042  0.005 -1.026]
+t: 82	 action: [-0.059 -0.11   0.482  0.027  0.016  0.01  -1.022]
+t: 83	 action: [-0.233 -0.172  0.435  0.027  0.01   0.01  -1.036]
+t: 84	 action: [-0.281 -0.078  0.289  0.021  0.004  0.015 -1.037]
+t: 85	 action: [-0.383 -0.204  0.203  0.022  0.007  0.01  -1.021]
+t: 86	 action: [-0.653 -0.138  0.163  0.038  0.003  0.009 -1.007]
+t: 87	 action: [-0.691 -0.162  0.059  0.014 -0.002  0.013 -1.036]
+t: 88	 action: [-0.846 -0.148  0.037  0.029 -0.007  0.019 -0.996]
+t: 89	 action: [-0.824 -0.156 -0.032  0.007 -0.003  0.017 -1.028]
+[07-31 01:50:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3897
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.3897
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3897
+t=90: Selected seed 195 with value = 0.3897
+t: 90	 action: [ 0.066  0.329 -0.168 -0.002  0.027  0.001 -1.009]
+t: 91	 action: [ 0.1    0.256 -0.06  -0.003  0.037 -0.011 -1.033]
+t: 92	 action: [ 0.068  0.048  0.084 -0.005  0.031 -0.003 -1.018]
+t: 93	 action: [ 0.068  0.002  0.224 -0.009  0.041 -0.018 -1.034]
+t: 94	 action: [ 0.039 -0.002  0.265  0.002  0.034 -0.016 -1.001]
+t: 95	 action: [ 0.015 -0.021  0.325 -0.003  0.024 -0.024 -1.052]
+t: 96	 action: [-6.499e-02 -5.205e-02  3.935e-01  8.622e-04  3.046e-02 -2.374e-02 -1.016e+00]
+t: 97	 action: [-0.059 -0.068  0.437 -0.005  0.016 -0.03  -1.051]
+t: 98	 action: [-0.156 -0.067  0.262  0.011  0.002 -0.008 -1.034]
+t: 99	 action: [-0.367 -0.151  0.151 -0.003  0.007 -0.016 -1.051]
+t: 100	 action: [-0.471 -0.029  0.097  0.005 -0.008 -0.003 -1.041]
+t: 101	 action: [-0.601 -0.143 -0.005 -0.011  0.005 -0.014 -1.034]
+t: 102	 action: [-0.861 -0.091 -0.07   0.004 -0.011 -0.002 -1.01 ]
+t: 103	 action: [-0.82  -0.158 -0.081 -0.024 -0.022 -0.017 -1.054]
+t: 104	 action: [-9.098e-01 -8.161e-02 -2.553e-01 -5.343e-04 -1.857e-02 -2.118e-03 -1.008e+00]
+t: 105	 action: [-0.87  -0.152 -0.274 -0.026 -0.022 -0.013 -1.04 ]
+[07-31 01:50:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3911
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.3911
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3911
+t=106: Selected seed 195 with value = 0.3911
+t: 106	 action: [ 8.771e-03 -1.878e-02  1.222e-01 -4.722e-04  1.285e-02 -2.065e-02 -1.010e+00]
+t: 107	 action: [-0.073 -0.037  0.083  0.002  0.005 -0.016 -1.04 ]
+t: 108	 action: [-2.172e-01 -3.992e-02  1.021e-04  2.254e-03  4.790e-03 -1.445e-02 -1.019e+00]
+t: 109	 action: [-0.321 -0.09  -0.065 -0.001 -0.002 -0.017 -1.05 ]
+t: 110	 action: [-0.491 -0.002 -0.179 -0.002  0.005 -0.015 -1.009]
+t: 111	 action: [-0.464 -0.019 -0.179 -0.003  0.004 -0.022 -1.053]
+t: 112	 action: [-0.548 -0.001 -0.429 -0.012 -0.002 -0.009 -1.014]
+t: 113	 action: [-4.584e-01 -5.400e-03 -4.643e-01 -1.702e-02  4.269e-05 -2.461e-02 -1.070e+00]
+t: 114	 action: [-3.266e-01  3.707e-02 -5.489e-01 -6.641e-04 -2.063e-02  4.142e-03 -1.013e+00]
+t: 115	 action: [-0.194  0.034 -0.658 -0.009 -0.022 -0.01  -1.045]
+t: 116	 action: [-0.099  0.003 -0.626 -0.003 -0.028  0.002 -1.002]
+t: 117	 action: [ 1.519e-02 -2.050e-03 -6.848e-01 -9.670e-03 -2.961e-02  8.462e-04 -9.836e-01]
+t: 118	 action: [-6.846e-02  3.228e-02 -6.236e-01 -5.106e-04 -3.888e-02 -6.506e-03 -1.006e+00]
+t: 119	 action: [-0.002  0.072 -0.604 -0.008 -0.048 -0.024 -1.06 ]
+t: 120	 action: [ 0.033  0.022 -0.571 -0.008 -0.044 -0.011 -0.974]
+t: 121	 action: [ 0.068  0.04  -0.547 -0.009 -0.051 -0.006 -0.454]
+[07-31 01:50:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4743
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4743
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4743
+t=122: Selected seed 195 with value = 0.4743
+t: 122	 action: [ 0.221  0.314 -0.343 -0.003 -0.01   0.003 -1.054]
+t: 123	 action: [ 2.733e-01  3.249e-01 -3.124e-01  9.640e-04 -1.305e-02 -4.698e-03 -1.036e+00]
+t: 124	 action: [ 0.264  0.246 -0.336 -0.003 -0.014  0.001 -1.064]
+t: 125	 action: [ 0.334  0.193 -0.263  0.004 -0.023 -0.013 -1.037]
+t: 126	 action: [ 0.369  0.241 -0.187  0.002 -0.008 -0.004 -1.04 ]
+t: 127	 action: [ 0.355  0.169 -0.123  0.007 -0.029 -0.01  -1.051]
+t: 128	 action: [ 0.432  0.161 -0.096 -0.003 -0.019 -0.008 -1.054]
+t: 129	 action: [ 0.415  0.099 -0.048  0.005 -0.042 -0.021 -1.053]
+t: 130	 action: [ 0.424  0.013 -0.016  0.007 -0.018 -0.014 -1.086]
+t: 131	 action: [ 0.419 -0.013 -0.064  0.014 -0.015 -0.029 -1.045]
+t: 132	 action: [ 0.383 -0.001 -0.101  0.004 -0.03  -0.015 -1.098]
+t: 133	 action: [ 0.304 -0.033 -0.195  0.01  -0.027 -0.023 -1.041]
+t: 134	 action: [ 0.224  0.011 -0.223  0.006 -0.038 -0.015 -1.068]
+t: 135	 action: [ 0.069 -0.018 -0.273  0.013 -0.043 -0.032 -1.046]
+t: 136	 action: [ 0.08   0.018 -0.411 -0.003 -0.043 -0.017 -1.079]
+t: 137	 action: [-0.002 -0.009 -0.421  0.008 -0.046 -0.026 -1.049]
+[07-31 01:50:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4829
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=138: Selected seed 195 with value = 0.4829
+t: 138	 action: [ 0.032  0.005 -0.528  0.034 -0.012 -0.007 -1.057]
+t: 139	 action: [ 0.036  0.036 -0.459  0.022 -0.008 -0.017 -1.038]
+t: 140	 action: [ 0.016  0.027 -0.478  0.024 -0.012 -0.005 -1.058]
+t: 141	 action: [ 0.028  0.077 -0.382  0.012 -0.007 -0.017 -1.024]
+t: 142	 action: [-0.008  0.122 -0.38   0.018 -0.006 -0.005 -1.042]
+t: 143	 action: [ 0.001  0.193 -0.239  0.017 -0.009 -0.016 -1.052]
+t: 144	 action: [-2.520e-02  1.450e-01 -2.501e-01 -1.044e-03 -9.456e-03 -6.431e-03 -1.046e+00]
+t: 145	 action: [ 0.004  0.174 -0.151  0.004 -0.01  -0.02  -1.046]
+t: 146	 action: [ 1.879e-01  1.278e-01 -1.883e-01 -6.235e-04 -1.574e-02 -8.290e-03 -1.086e+00]
+t: 147	 action: [ 0.191  0.088 -0.147 -0.003 -0.013 -0.017 -1.047]
+t: 148	 action: [ 0.173  0.068 -0.294 -0.002 -0.022 -0.002 -1.105]
+t: 149	 action: [ 0.157  0.05  -0.275 -0.005 -0.017 -0.012 -1.054]
+t: 150	 action: [ 0.081  0.034 -0.394 -0.006 -0.026 -0.007 -1.074]
+t: 151	 action: [ 0.019  0.012 -0.333 -0.004 -0.026 -0.017 -1.049]
+t: 152	 action: [-0.002 -0.002 -0.509 -0.01  -0.028 -0.006 -1.08 ]
+t: 153	 action: [-0.021 -0.013 -0.435 -0.007 -0.025 -0.011 -0.888]
+[07-31 01:50:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5919
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.5919
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5919
+t=154: Selected seed 195 with value = 0.5919
+t: 154	 action: [ 0.007  0.087 -0.608 -0.001  0.005  0.013 -1.211]
+t: 155	 action: [-0.028  0.043 -0.655 -0.008  0.004  0.028 -1.138]
+t: 156	 action: [-0.064  0.043 -0.662 -0.002  0.015  0.018 -1.204]
+t: 157	 action: [-0.101  0.018 -0.659 -0.007  0.013  0.029 -1.157]
+t: 158	 action: [-4.838e-02 -5.123e-04 -5.866e-01 -7.182e-03  2.456e-02  1.653e-02  1.097e+00]
+t: 159	 action: [-0.032  0.026 -0.562  0.004  0.019  0.028  1.176]
+t: 160	 action: [-0.034  0.024 -0.443 -0.01   0.03   0.019  1.08 ]
+t: 161	 action: [-1.922e-02  5.245e-02 -3.878e-01  6.727e-05  2.710e-02  1.723e-02  1.158e+00]
+t: 162	 action: [-0.033  0.017 -0.332 -0.014  0.029  0.01   0.982]
+t: 163	 action: [ 0.006  0.022 -0.188 -0.004  0.037  0.008  1.029]
+t: 164	 action: [ 0.024  0.07  -0.109 -0.045  0.033  0.01   0.979]
+t: 165	 action: [ 4.360e-02  9.981e-02 -2.270e-02 -2.973e-02  3.174e-02 -9.597e-04  1.026e+00]
+t: 166	 action: [ 0.03   0.2    0.134 -0.045  0.028 -0.001  1.006]
+t: 167	 action: [ 0.062  0.212  0.395 -0.073  0.011 -0.01   1.034]
+t: 168	 action: [ 0.087  0.241  0.468 -0.049  0.008 -0.008  1.004]
+t: 169	 action: [ 0.094  0.219  0.732 -0.069  0.005 -0.02   1.035]
+[07-31 01:50:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7476
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7476
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7476
+t=170: Selected seed 195 with value = 0.7476
+t: 170	 action: [-0.057 -0.012  0.196 -0.003  0.017 -0.002  0.978]
+t: 171	 action: [-0.013 -0.025  0.499 -0.002  0.026 -0.008  1.029]
+t: 172	 action: [-0.053 -0.038  0.701 -0.001  0.008 -0.002  0.978]
+t: 173	 action: [-1.979e-02 -1.175e-01  8.954e-01 -1.327e-03  2.089e-02  1.004e-03  1.017e+00]
+t: 174	 action: [-0.041 -0.239  0.907  0.017  0.022 -0.005  0.992]
+t: 175	 action: [-0.036 -0.336  0.916  0.033  0.029 -0.001  1.025]
+t: 176	 action: [-0.083 -0.439  0.889  0.038  0.029 -0.003  0.985]
+t: 177	 action: [-0.06  -0.576  0.837  0.044  0.035  0.008  1.018]
+t: 178	 action: [-0.13  -0.629  0.693  0.038  0.03   0.007  0.976]
+t: 179	 action: [-0.095 -0.74   0.438  0.044  0.023  0.01   1.022]
+t: 180	 action: [-0.162 -0.723  0.284  0.033  0.016  0.011  0.961]
+t: 181	 action: [-0.143 -0.808  0.099  0.043  0.008  0.017  1.014]
+t: 182	 action: [-0.233 -0.75  -0.012  0.036  0.012  0.014  0.993]
+t: 183	 action: [-0.296 -0.763 -0.161  0.033 -0.002  0.02   1.017]
+t: 184	 action: [-0.263 -0.73  -0.205  0.016 -0.001  0.014  0.98 ]
+t: 185	 action: [-0.288 -0.675 -0.391  0.018 -0.011  0.023  1.014]
+[07-31 01:50:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8979
+Query 1/1: Action query time = 0.992 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8979
+t=186: Selected seed 195 with value = 0.8979
+t: 186	 action: [-0.349 -0.719 -0.321  0.025 -0.009  0.018  0.958]
+t: 187	 action: [-0.358 -0.676 -0.398  0.001 -0.018  0.021  1.034]
+t: 188	 action: [-0.325 -0.564 -0.546  0.013 -0.027  0.025  0.971]
+t: 189	 action: [-0.363 -0.473 -0.623 -0.009 -0.021  0.025  1.031]
+t: 190	 action: [-0.319 -0.306 -0.749 -0.008 -0.01   0.041  0.974]
+t: 191	 action: [-0.315 -0.244 -0.755 -0.009 -0.007  0.038  1.039]
+t: 192	 action: [-0.254 -0.168 -0.751 -0.027  0.012  0.048  0.993]
+t: 193	 action: [-0.221 -0.135 -0.691 -0.017  0.03   0.038  1.025]
+t: 194	 action: [-0.093 -0.125 -0.482 -0.029  0.025  0.012  1.135]
+t: 195	 action: [-0.141 -0.096 -0.385 -0.035  0.045  0.01   1.044]
+t: 196	 action: [-0.041 -0.068 -0.171 -0.041  0.054  0.012  1.118]
+t: 197	 action: [-0.104 -0.062 -0.091 -0.035  0.071  0.004  1.054]
+t: 198	 action: [-0.085  0.037  0.043 -0.034  0.087  0.002 -1.165]
+t: 199	 action: [-2.967e-02  6.770e-02  1.777e-01 -9.321e-03  9.391e-02 -5.915e-04 -1.116e+00]
+t: 200	 action: [-7.367e-04  2.477e-02  2.110e-01 -2.966e-02  7.993e-02  1.904e-03 -1.131e+00]
+t: 201	 action: [ 0.022  0.072  0.303 -0.007  0.086 -0.002 -1.116]
+[07-31 01:50:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9929
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=202: Selected seed 195 with value = 0.9929
+t: 202	 action: [ 0.118 -0.002  0.197 -0.003  0.088 -0.003 -1.023]
+t: 203	 action: [ 0.216 -0.046  0.228 -0.006  0.093 -0.019 -1.052]
+t: 204	 action: [ 0.151  0.007  0.32  -0.003  0.097 -0.006 -1.011]
+t: 205	 action: [ 0.258 -0.005  0.354 -0.006  0.105 -0.02  -1.031]
+t: 206	 action: [ 0.172  0.075  0.391 -0.004  0.104 -0.015 -1.023]
+t: 207	 action: [ 0.185  0.086  0.426 -0.002  0.103 -0.024 -1.046]
+t: 208	 action: [ 0.197  0.081  0.409 -0.004  0.099 -0.016 -1.019]
+t: 209	 action: [ 1.984e-01  7.620e-02  4.036e-01 -3.139e-04  9.485e-02 -2.692e-02 -1.044e+00]
+t: 210	 action: [ 3.031e-01  4.292e-02  3.160e-01 -8.780e-04  8.979e-02 -3.070e-03 -1.030e+00]
+t: 211	 action: [ 0.311  0.023  0.282 -0.002  0.096 -0.016 -1.04 ]
+t: 212	 action: [ 2.593e-01  3.416e-02  2.645e-01  1.221e-03  7.151e-02 -1.439e-04 -1.023e+00]
+t: 213	 action: [ 2.838e-01  2.129e-02  2.315e-01  3.648e-05  8.269e-02 -1.476e-02 -1.032e+00]
+t: 214	 action: [ 1.883e-01  3.478e-02  2.391e-01  2.001e-04  7.206e-02 -5.319e-03 -1.032e+00]
+t: 215	 action: [ 0.149  0.043  0.217  0.002  0.067 -0.013 -1.057]
+t: 216	 action: [ 0.18   0.037  0.23  -0.003  0.061 -0.007 -1.028]
+t: 217	 action: [ 0.144  0.041  0.21   0.003  0.059 -0.012 -1.064]
+[07-31 01:50:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7825
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7825
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7825
+t=218: Selected seed 195 with value = 0.7825
+t: 218	 action: [ 0.069 -0.001 -0.286  0.022 -0.011  0.008 -0.938]
+t: 219	 action: [ 0.038  0.03  -0.326  0.016 -0.003  0.004 -0.938]
+t: 220	 action: [ 0.078  0.077 -0.297  0.005 -0.008  0.006 -0.992]
+t: 221	 action: [ 0.069  0.1   -0.299  0.01  -0.004  0.003 -0.997]
+t: 222	 action: [ 0.016  0.297 -0.273 -0.002 -0.014  0.01  -1.008]
+t: 223	 action: [ 0.011  0.302 -0.138  0.009 -0.008  0.003 -1.04 ]
+t: 224	 action: [ 0.049  0.337 -0.151 -0.006 -0.014  0.004 -1.012]
+t: 225	 action: [ 9.006e-02  2.531e-01 -2.254e-02 -3.678e-04 -1.025e-02 -1.666e-03 -1.039e+00]
+t: 226	 action: [ 1.366e-01  1.111e-01 -9.488e-02 -8.227e-04 -1.596e-02  7.016e-03 -1.024e+00]
+t: 227	 action: [ 1.248e-01  3.786e-02 -3.741e-02  6.865e-04 -2.934e-03 -1.178e-02 -1.040e+00]
+t: 228	 action: [ 1.895e-01  6.447e-02  3.895e-02 -1.262e-03 -2.386e-02  6.118e-04 -1.023e+00]
+t: 229	 action: [ 1.827e-01  1.384e-02  7.513e-02  1.914e-04 -4.610e-03 -1.190e-02 -1.034e+00]
+t: 230	 action: [ 1.130e-01  1.363e-02  7.344e-02 -3.290e-03 -1.100e-02 -1.796e-04 -1.032e+00]
+t: 231	 action: [ 0.035  0.042  0.146  0.006 -0.006 -0.015 -1.062]
+t: 232	 action: [ 0.115  0.013  0.133 -0.005 -0.008 -0.006 -1.025]
+t: 233	 action: [ 0.045  0.03   0.169  0.006 -0.007 -0.014 -1.056]
+[07-31 01:50:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7924
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7924
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7924
+t=234: Selected seed 195 with value = 0.7924
+t: 234	 action: [ 0.074  0.041 -0.331  0.002 -0.002  0.014  0.298]
+t: 235	 action: [ 0.02   0.056 -0.36   0.005  0.     0.001  0.157]
+t: 236	 action: [ 0.057  0.091 -0.234 -0.003 -0.006  0.007 -1.012]
+t: 237	 action: [ 3.649e-02  1.036e-01 -1.457e-01  2.155e-04 -5.135e-03 -4.890e-03 -1.023e+00]
+t: 238	 action: [-0.05   0.303 -0.15  -0.002 -0.013  0.008 -1.158]
+t: 239	 action: [-0.055  0.322 -0.02  -0.01  -0.017 -0.009 -1.06 ]
+t: 240	 action: [-3.361e-02  2.957e-01  9.831e-02 -1.195e-02 -2.014e-02  2.603e-04 -1.032e+00]
+t: 241	 action: [ 7.949e-04  2.459e-01  2.187e-01 -1.914e-02 -2.439e-02 -1.479e-02 -1.036e+00]
+t: 242	 action: [ 0.085  0.072  0.235 -0.003 -0.034 -0.005 -1.029]
+t: 243	 action: [ 8.559e-02  1.481e-02  2.615e-01  7.081e-06 -2.655e-02 -2.395e-02 -1.048e+00]
+t: 244	 action: [ 1.151e-01  1.439e-02  2.399e-01  9.706e-04 -3.965e-02 -9.071e-03 -1.035e+00]
+t: 245	 action: [ 0.116 -0.05   0.207  0.005 -0.025 -0.021 -1.038]
+t: 246	 action: [ 0.026 -0.025  0.236  0.012 -0.032 -0.01  -1.04 ]
+t: 247	 action: [-0.014 -0.007  0.176  0.012 -0.028 -0.029 -1.052]
+t: 248	 action: [-0.001 -0.071  0.104  0.009 -0.028 -0.014 -1.036]
+t: 249	 action: [-0.022 -0.06   0.061  0.013 -0.02  -0.024 -1.044]
+[07-31 01:50:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7337
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7337
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7337
+t=250: Selected seed 195 with value = 0.7337
+t: 250	 action: [ 1.268e-01  3.247e-01 -2.903e-01 -1.992e-04 -1.042e-02  1.592e-02 -9.839e-01]
+t: 251	 action: [ 0.103  0.358 -0.255  0.003 -0.003  0.008 -0.985]
+t: 252	 action: [ 0.112  0.293 -0.171 -0.003 -0.013  0.011 -1.005]
+t: 253	 action: [ 0.087  0.276 -0.103 -0.002 -0.008  0.001 -1.017]
+t: 254	 action: [ 7.283e-03  4.719e-01 -8.933e-02 -8.938e-04 -1.259e-02  1.106e-02 -1.018e+00]
+t: 255	 action: [-1.452e-02  5.155e-01  5.732e-02 -6.191e-03 -1.386e-02  5.752e-04 -1.048e+00]
+t: 256	 action: [-0.041  0.387  0.161 -0.012 -0.021  0.001 -1.018]
+t: 257	 action: [-0.023  0.339  0.324 -0.017 -0.02  -0.009 -1.038]
+t: 258	 action: [ 0.132  0.101  0.35  -0.005 -0.027 -0.003 -1.021]
+t: 259	 action: [ 0.106  0.029  0.372  0.004 -0.019 -0.017 -1.036]
+t: 260	 action: [ 0.1    0.015  0.346  0.002 -0.035 -0.003 -1.022]
+t: 261	 action: [ 0.083 -0.075  0.283  0.011 -0.023 -0.017 -1.03 ]
+t: 262	 action: [-0.024 -0.059  0.298  0.025 -0.036 -0.008 -1.03 ]
+t: 263	 action: [-0.114 -0.072  0.19   0.021 -0.031 -0.023 -1.041]
+t: 264	 action: [-0.148 -0.18   0.144  0.023 -0.039 -0.01  -1.029]
+t: 265	 action: [-0.169 -0.167  0.05   0.021 -0.029 -0.021 -1.039]
+[07-31 01:50:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6391
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.6391
+Query 1/1: Action query time = 0.994 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6391
+t=266: Selected seed 195 with value = 0.6391
+t: 266	 action: [ 0.127  0.676 -0.242 -0.003 -0.008  0.037 -0.982]
+t: 267	 action: [ 1.554e-01  6.590e-01 -2.613e-01 -4.296e-03  4.887e-04  2.374e-02 -9.789e-01]
+t: 268	 action: [ 0.173  0.491 -0.137 -0.009 -0.004  0.037 -0.996]
+t: 269	 action: [ 0.174  0.406 -0.055 -0.009  0.005  0.016 -1.014]
+t: 270	 action: [ 0.088  0.464  0.002 -0.009 -0.003  0.032 -1.004]
+t: 271	 action: [ 2.506e-02  3.909e-01  9.650e-02 -1.186e-02 -7.094e-04  1.712e-02 -1.037e+00]
+t: 272	 action: [ 0.019  0.183  0.284 -0.01  -0.002  0.019 -1.004]
+t: 273	 action: [ 0.007  0.129  0.476 -0.011 -0.004  0.005 -1.038]
+t: 274	 action: [ 0.038 -0.009  0.463  0.002 -0.027  0.002 -1.013]
+t: 275	 action: [-0.083 -0.075  0.465  0.017 -0.017 -0.009 -1.029]
+t: 276	 action: [-0.097 -0.081  0.366  0.009 -0.041  0.004 -1.019]
+t: 277	 action: [-0.176 -0.18   0.323  0.022 -0.032 -0.009 -1.027]
+t: 278	 action: [-0.38  -0.169  0.287  0.041 -0.047 -0.002 -1.021]
+t: 279	 action: [-0.5   -0.22   0.168  0.028 -0.049 -0.013 -1.04 ]
+t: 280	 action: [-0.66  -0.229  0.148  0.035 -0.062 -0.002 -1.018]
+t: 281	 action: [-0.643 -0.253  0.023  0.023 -0.054 -0.011 -1.041]
+[07-31 01:50:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4196
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.4196
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4196
+t=282: Selected seed 195 with value = 0.4196
+t: 282	 action: [ 0.034  0.73  -0.254 -0.007  0.001  0.029 -1.004]
+t: 283	 action: [ 0.05   0.628 -0.247 -0.014  0.013  0.02  -1.032]
+t: 284	 action: [ 0.088  0.495 -0.076 -0.021  0.009  0.029 -1.012]
+t: 285	 action: [ 0.093  0.326  0.046 -0.021  0.013  0.015 -1.036]
+t: 286	 action: [ 0.094  0.292  0.061 -0.014  0.004  0.014 -0.995]
+t: 287	 action: [ 0.04   0.201  0.177 -0.018  0.005  0.012 -1.052]
+t: 288	 action: [ 0.061  0.01   0.408  0.003  0.01   0.006 -1.007]
+t: 289	 action: [ 0.032 -0.021  0.547 -0.008  0.002  0.004 -1.053]
+t: 290	 action: [ 0.069 -0.051  0.463  0.01  -0.029  0.005 -1.022]
+t: 291	 action: [-0.13  -0.155  0.394  0.021 -0.024 -0.001 -1.039]
+t: 292	 action: [-0.226 -0.094  0.266  0.018 -0.042  0.005 -1.037]
+t: 293	 action: [-3.587e-01 -2.311e-01  1.382e-01  2.478e-02 -4.120e-02  6.287e-04 -1.035e+00]
+t: 294	 action: [-0.652 -0.218  0.148  0.045 -0.06   0.003 -1.025]
+t: 295	 action: [-0.716 -0.263  0.018  0.022 -0.066 -0.002 -1.047]
+t: 296	 action: [-0.875 -0.245 -0.021  0.038 -0.084  0.002 -1.018]
+t: 297	 action: [-0.836 -0.236 -0.142  0.018 -0.071  0.001 -1.047]
+[07-31 01:50:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4237
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.4237
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 75
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 50%|█████     | 25/50 [13:33<13:36, 32.66s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 26...
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4237
+t=298: Selected seed 195 with value = 0.4237
+t: 298	 action: [-4.722e-02  3.222e-02 -1.234e-01  6.987e-04 -1.597e-02 -2.959e-04 -1.043e+00]
+t: 299	 action: [-0.066  0.124 -0.144  0.003 -0.024 -0.002 -1.048]
+t: 300	 action: [-7.643e-02  3.453e-02 -1.096e-01  2.337e-03 -2.948e-02 -3.413e-04 -1.036e+00]
+t: 301	 action: [-1.243e-01  5.150e-02 -2.480e-01  4.215e-04 -4.605e-02 -8.967e-03 -1.056e+00]
+t: 302	 action: [-3.068e-01  2.793e-02 -2.905e-01  4.355e-06 -3.242e-02  2.294e-03 -1.039e+00]
+t: 303	 action: [-0.361  0.041 -0.275  0.001 -0.032 -0.011 -1.046]
+t: 304	 action: [-3.390e-01  1.099e-02 -5.017e-01 -4.309e-04 -5.238e-02  1.524e-03 -1.035e+00]
+t: 305	 action: [-3.278e-01  2.120e-02 -5.289e-01 -3.103e-06 -5.781e-02 -1.995e-02 -1.050e+00]
+t: 306	 action: [-0.231  0.036 -0.705  0.003 -0.044  0.009 -1.05 ]
+t: 307	 action: [-0.091  0.031 -0.796  0.004 -0.052 -0.009 -1.056]
+t: 308	 action: [-2.221e-02  1.612e-02 -7.491e-01  3.986e-05 -5.608e-02  6.740e-03 -1.054e+00]
+t: 309	 action: [ 0.052  0.025 -0.786  0.004 -0.064 -0.003 -1.051]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=75--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=75--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 75
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 26...
+[07-31 01:50:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3623
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3623
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3623
+t=10: Selected seed 195 with value = 0.3623
+t: 10	 action: [ 0.062  0.014 -0.038  0.007  0.01   0.004 -0.988]
+t: 11	 action: [ 0.147  0.09   0.007  0.01   0.013  0.003 -1.01 ]
+t: 12	 action: [ 0.273  0.094 -0.005  0.003  0.018  0.007 -1.009]
+t: 13	 action: [ 0.487  0.125  0.026  0.006  0.022  0.004 -1.015]
+t: 14	 action: [ 6.100e-01  1.072e-01  5.716e-02 -1.425e-04  2.156e-02  9.758e-03 -1.004e+00]
+t: 15	 action: [ 0.741  0.134  0.031  0.009  0.022  0.007 -1.033]
+t: 16	 action: [ 0.778  0.16   0.1   -0.003  0.029  0.009 -1.008]
+t: 17	 action: [ 0.855  0.143  0.073  0.008  0.033  0.005 -1.042]
+t: 18	 action: [ 0.783  0.055  0.175  0.01   0.027  0.014 -1.024]
+t: 19	 action: [ 0.825  0.052  0.19   0.017  0.032  0.008 -1.02 ]
+t: 20	 action: [ 0.831  0.04   0.163  0.009  0.023  0.011 -1.024]
+t: 21	 action: [ 0.844 -0.012  0.212  0.017  0.028  0.007 -1.01 ]
+t: 22	 action: [ 0.821 -0.006  0.146  0.006  0.022  0.011 -1.02 ]
+t: 23	 action: [ 0.842 -0.164  0.119  0.019  0.027  0.006 -1.036]
+t: 24	 action: [ 0.849 -0.027  0.093  0.004  0.018  0.006 -1.018]
+t: 25	 action: [ 0.863 -0.205  0.098  0.019  0.022  0.006 -1.039]
+[07-31 01:51:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3476
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3476
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3476
+t=26: Selected seed 195 with value = 0.3476
+t: 26	 action: [ 8.787e-01 -5.933e-02 -7.188e-02  2.426e-04 -1.389e-02  4.046e-03 -1.020e+00]
+t: 27	 action: [ 0.896 -0.139 -0.039  0.003 -0.011 -0.003 -1.029]
+t: 28	 action: [ 0.876 -0.117 -0.11   0.001 -0.023  0.005 -1.017]
+t: 29	 action: [ 8.932e-01 -1.839e-01 -7.543e-02  6.406e-03 -2.357e-02  9.958e-04 -1.028e+00]
+t: 30	 action: [ 8.716e-01 -1.706e-01 -1.491e-01  6.460e-03 -3.516e-02  8.250e-04 -1.011e+00]
+t: 31	 action: [ 0.82  -0.257 -0.144  0.013 -0.042 -0.006 -1.047]
+t: 32	 action: [ 0.797 -0.227 -0.249  0.008 -0.056  0.001 -1.011]
+t: 33	 action: [ 0.726 -0.272 -0.229  0.014 -0.058 -0.002 -1.047]
+t: 34	 action: [ 0.572 -0.2   -0.364  0.018 -0.09   0.013 -1.043]
+t: 35	 action: [ 0.54  -0.259 -0.407  0.016 -0.094  0.009 -1.04 ]
+t: 36	 action: [ 0.45  -0.181 -0.491  0.018 -0.109  0.014 -1.04 ]
+t: 37	 action: [ 0.394 -0.163 -0.555  0.016 -0.097  0.015 -1.029]
+t: 38	 action: [ 0.276  0.014 -0.537  0.009 -0.115  0.007 -1.037]
+t: 39	 action: [ 0.209 -0.052 -0.533  0.017 -0.096  0.008 -1.051]
+t: 40	 action: [ 0.163  0.081 -0.59   0.003 -0.102  0.008 -1.034]
+t: 41	 action: [ 0.143  0.031 -0.619  0.016 -0.075  0.015 -1.051]
+[07-31 01:51:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5249
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5249
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5249
+t=42: Selected seed 195 with value = 0.5249
+t: 42	 action: [-7.888e-04  8.246e-01 -4.589e-01  1.943e-02 -1.144e-02  5.207e-02 -9.902e-01]
+t: 43	 action: [ 0.022  0.807 -0.428  0.025 -0.007  0.035 -1.005]
+t: 44	 action: [-0.016  0.854 -0.496  0.023 -0.006  0.054 -0.985]
+t: 45	 action: [ 0.003  0.811 -0.442  0.028 -0.003  0.039 -1.007]
+t: 46	 action: [-0.004  0.856 -0.446  0.015 -0.001  0.051 -0.98 ]
+t: 47	 action: [ 1.266e-02  8.334e-01 -4.644e-01  2.509e-02  2.462e-04  3.977e-02 -1.022e+00]
+t: 48	 action: [-0.031  0.865 -0.491  0.016  0.004  0.056 -0.974]
+t: 49	 action: [-0.002  0.828 -0.489  0.026  0.002  0.043 -1.029]
+t: 50	 action: [ 0.065  0.754 -0.558  0.013 -0.007  0.054 -1.011]
+t: 51	 action: [ 5.614e-02  6.644e-01 -5.475e-01  1.898e-02 -7.814e-04  2.850e-02 -1.017e+00]
+t: 52	 action: [ 0.064  0.543 -0.406  0.002 -0.008  0.035 -1.011]
+t: 53	 action: [ 0.064  0.34  -0.3    0.013  0.007  0.018 -1.012]
+t: 54	 action: [ 0.079  0.146 -0.068  0.007  0.008  0.026 -1.   ]
+t: 55	 action: [ 0.052  0.004  0.192  0.007  0.011  0.016 -1.036]
+t: 56	 action: [ 0.04  -0.081  0.455  0.009  0.035  0.009 -0.993]
+t: 57	 action: [ 0.02  -0.071  0.675  0.004  0.048  0.007 -1.04 ]
+[07-31 01:51:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5918
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=58: Selected seed 195 with value = 0.5918
+t: 58	 action: [ 0.053  0.348 -0.201 -0.002  0.025  0.025 -1.009]
+t: 59	 action: [ 1.086e-01  2.295e-01 -2.839e-02 -5.268e-04  3.090e-02  1.339e-02 -1.001e+00]
+t: 60	 action: [ 0.056  0.104  0.106 -0.004  0.038  0.016 -1.003]
+t: 61	 action: [ 7.174e-02  2.223e-03  3.009e-01  9.470e-04  4.247e-02  4.109e-03 -1.010e+00]
+t: 62	 action: [ 0.05  -0.005  0.344  0.008  0.052  0.005 -0.999]
+t: 63	 action: [ 0.022 -0.013  0.527  0.008  0.05   0.004 -1.024]
+t: 64	 action: [-2.344e-02 -5.679e-02  5.993e-01  1.093e-02  5.509e-02 -3.190e-04 -1.004e+00]
+t: 65	 action: [-0.054 -0.078  0.661  0.023  0.048 -0.002 -1.026]
+t: 66	 action: [-0.1   -0.102  0.487  0.028  0.022  0.008 -1.025]
+t: 67	 action: [-0.314 -0.157  0.417  0.028  0.016  0.006 -1.035]
+t: 68	 action: [-0.392 -0.066  0.269  0.02   0.014  0.012 -1.034]
+t: 69	 action: [-0.497 -0.169  0.175  0.027  0.015  0.008 -1.025]
+t: 70	 action: [-0.756 -0.105  0.121  0.042  0.008  0.006 -0.999]
+t: 71	 action: [-0.765 -0.118  0.028  0.03   0.001  0.013 -1.037]
+t: 72	 action: [-0.87  -0.109  0.014  0.03   0.001  0.017 -0.983]
+t: 73	 action: [-0.863 -0.118 -0.045  0.024  0.001  0.017 -1.031]
+[07-31 01:51:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3775
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.3775
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3775
+t=74: Selected seed 195 with value = 0.3775
+t: 74	 action: [ 0.059 -0.018  0.572 -0.024  0.021 -0.013 -1.006]
+t: 75	 action: [ 0.073 -0.066  0.559 -0.018  0.017 -0.026 -1.033]
+t: 76	 action: [-0.009 -0.058  0.546 -0.01   0.012 -0.018 -1.022]
+t: 77	 action: [-0.082 -0.094  0.421 -0.015  0.011 -0.033 -1.036]
+t: 78	 action: [-0.258 -0.065  0.283  0.002  0.015 -0.022 -1.007]
+t: 79	 action: [-0.29  -0.042  0.195 -0.002  0.006 -0.036 -1.052]
+t: 80	 action: [-5.217e-01 -9.877e-02  1.209e-01  2.032e-04  2.742e-03 -2.510e-02 -1.026e+00]
+t: 81	 action: [-4.786e-01 -5.961e-02  4.125e-02 -7.888e-04  1.349e-03 -4.217e-02 -1.049e+00]
+t: 82	 action: [-0.717  0.012 -0.058  0.005 -0.033 -0.01  -1.023]
+t: 83	 action: [-0.783 -0.066 -0.171 -0.008 -0.027 -0.017 -1.049]
+t: 84	 action: [-8.181e-01 -6.814e-03 -2.425e-01 -5.453e-04 -3.893e-02 -4.356e-03 -1.034e+00]
+t: 85	 action: [-0.81  -0.079 -0.369 -0.01  -0.032 -0.013 -1.032]
+t: 86	 action: [-0.884 -0.031 -0.406  0.001 -0.042 -0.004 -1.003]
+t: 87	 action: [-0.799 -0.059 -0.405 -0.001 -0.056 -0.019 -1.056]
+t: 88	 action: [-0.804 -0.054 -0.594  0.002 -0.045 -0.004 -1.014]
+t: 89	 action: [-0.684 -0.063 -0.542  0.001 -0.056 -0.016 -1.043]
+[07-31 01:51:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4476
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4476
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4476
+t=90: Selected seed 195 with value = 0.4476
+t: 90	 action: [-0.354  0.06  -0.125  0.002 -0.016  0.001 -1.022]
+t: 91	 action: [-0.333  0.14  -0.196  0.014 -0.017 -0.009 -1.042]
+t: 92	 action: [-4.543e-01  2.506e-02 -2.205e-01  4.338e-03 -1.804e-02 -3.887e-04 -1.028e+00]
+t: 93	 action: [-0.384  0.005 -0.304  0.012 -0.018 -0.018 -1.048]
+t: 94	 action: [-4.877e-01  2.815e-02 -4.099e-01  7.575e-04 -1.360e-02 -5.708e-03 -1.021e+00]
+t: 95	 action: [-0.351  0.046 -0.4    0.008 -0.004 -0.018 -1.053]
+t: 96	 action: [-3.029e-01  2.216e-02 -5.967e-01 -8.465e-04 -1.294e-02 -1.121e-02 -1.027e+00]
+t: 97	 action: [-2.171e-01  6.634e-02 -5.930e-01  6.246e-03 -7.450e-04 -2.995e-02 -1.060e+00]
+t: 98	 action: [-0.085  0.113 -0.642 -0.006 -0.018 -0.01  -1.023]
+t: 99	 action: [ 0.052  0.106 -0.663 -0.006 -0.01  -0.034 -1.044]
+t: 100	 action: [ 0.16   0.07  -0.646 -0.01  -0.021 -0.021 -1.019]
+t: 101	 action: [ 0.26   0.079 -0.641 -0.008 -0.012 -0.02  -1.025]
+t: 102	 action: [ 0.187  0.075 -0.53  -0.002 -0.028 -0.032 -1.022]
+t: 103	 action: [ 0.207  0.102 -0.484 -0.004 -0.024 -0.051 -1.062]
+t: 104	 action: [ 0.268  0.037 -0.38  -0.013 -0.027 -0.045 -1.015]
+t: 105	 action: [ 0.322  0.071 -0.36  -0.007 -0.02  -0.032 -1.008]
+[07-31 01:51:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5115
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.5115
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5115
+t=106: Selected seed 195 with value = 0.5115
+t: 106	 action: [ 0.417  0.287 -0.338  0.004  0.009 -0.029 -1.064]
+t: 107	 action: [ 0.416  0.27  -0.347  0.014 -0.006 -0.045 -1.035]
+t: 108	 action: [ 0.4    0.224 -0.336  0.017  0.005 -0.038 -1.072]
+t: 109	 action: [ 0.414  0.205 -0.329  0.017 -0.006 -0.054 -1.034]
+t: 110	 action: [ 0.429  0.249 -0.261  0.006  0.002 -0.045 -1.04 ]
+t: 111	 action: [ 0.363  0.191 -0.217  0.019 -0.008 -0.053 -1.047]
+t: 112	 action: [ 0.435  0.219 -0.24   0.008 -0.004 -0.047 -1.053]
+t: 113	 action: [ 0.42   0.165 -0.204  0.017 -0.011 -0.061 -1.045]
+t: 114	 action: [ 0.494  0.102 -0.127  0.008 -0.001 -0.042 -1.081]
+t: 115	 action: [ 0.51   0.102 -0.197  0.008  0.006 -0.042 -1.042]
+t: 116	 action: [ 0.496  0.075 -0.242 -0.001 -0.01  -0.027 -1.1  ]
+t: 117	 action: [ 4.929e-01  7.725e-02 -3.031e-01  5.855e-04  1.874e-03 -3.180e-02 -1.041e+00]
+t: 118	 action: [ 0.403  0.084 -0.392 -0.005 -0.022 -0.032 -1.066]
+t: 119	 action: [ 0.246  0.074 -0.368 -0.002 -0.016 -0.042 -1.044]
+t: 120	 action: [ 0.262  0.063 -0.543 -0.012 -0.03  -0.021 -1.078]
+t: 121	 action: [ 0.134  0.052 -0.463 -0.011 -0.023 -0.031 -1.045]
+[07-31 01:51:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5577
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5577
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5577
+t=122: Selected seed 195 with value = 0.5577
+t: 122	 action: [ 0.166  0.181 -0.402  0.008 -0.006 -0.01  -1.084]
+t: 123	 action: [ 1.692e-01  1.444e-01 -4.453e-01  3.478e-03 -7.262e-04 -2.049e-02 -1.042e+00]
+t: 124	 action: [ 1.693e-01  9.675e-02 -4.318e-01  5.436e-03 -4.867e-03  3.729e-04 -1.089e+00]
+t: 125	 action: [ 0.123  0.09  -0.464  0.004  0.001 -0.015 -1.045]
+t: 126	 action: [ 0.08   0.038 -0.511 -0.002 -0.003 -0.005 -1.063]
+t: 127	 action: [ 0.015  0.053 -0.558  0.009 -0.005 -0.017 -1.047]
+t: 128	 action: [-7.356e-03 -1.849e-02 -5.669e-01 -3.068e-03 -3.487e-03 -2.081e-04 -1.077e+00]
+t: 129	 action: [-0.024 -0.002 -0.581  0.01  -0.002 -0.017 -1.048]
+t: 130	 action: [-0.078  0.05  -0.548 -0.002 -0.007  0.007  0.996]
+t: 131	 action: [-0.073  0.067 -0.557 -0.013  0.007  0.005  1.046]
+t: 132	 action: [-0.066  0.064 -0.499 -0.011 -0.001  0.009  0.987]
+t: 133	 action: [-0.056  0.063 -0.415 -0.009  0.009 -0.002  1.041]
+t: 134	 action: [-0.052  0.081 -0.287 -0.009  0.004  0.002  1.032]
+t: 135	 action: [-0.014  0.094 -0.176 -0.031  0.002 -0.003  1.045]
+t: 136	 action: [-0.01   0.126 -0.036 -0.021  0.003 -0.002  1.022]
+t: 137	 action: [ 0.04   0.104  0.042 -0.045  0.001 -0.014  1.049]
+[07-31 01:51:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7232
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=138: Selected seed 195 with value = 0.7232
+t: 138	 action: [-0.049 -0.02  -0.164 -0.005  0.041 -0.026  0.981]
+t: 139	 action: [-0.063 -0.024 -0.058 -0.008  0.036 -0.034  1.033]
+t: 140	 action: [-0.045 -0.018  0.125 -0.007  0.026 -0.036  0.984]
+t: 141	 action: [-0.038 -0.02   0.323 -0.013  0.026 -0.035  1.029]
+t: 142	 action: [-0.062 -0.04   0.487 -0.007  0.03  -0.016  1.001]
+t: 143	 action: [-1.771e-02 -8.750e-02  7.417e-01  8.135e-05  2.972e-02 -2.676e-02  1.014e+00]
+t: 144	 action: [-0.056 -0.113  0.896  0.006  0.034 -0.025  0.994]
+t: 145	 action: [-0.026 -0.2    0.93   0.02   0.045 -0.03   1.009]
+t: 146	 action: [-0.102 -0.298  0.904  0.003  0.036  0.002  0.97 ]
+t: 147	 action: [-0.072 -0.458  0.937  0.02   0.038 -0.004  1.024]
+t: 148	 action: [-0.149 -0.53   0.857  0.021  0.031  0.003  0.957]
+t: 149	 action: [-0.118 -0.676  0.81   0.034  0.032  0.002  1.018]
+t: 150	 action: [-2.418e-01 -6.368e-01  6.762e-01  2.899e-02  3.858e-02  2.112e-04  9.793e-01]
+t: 151	 action: [-0.344 -0.759  0.509  0.041  0.023  0.006  1.015]
+t: 152	 action: [-0.267 -0.735  0.271  0.034  0.028  0.002  0.972]
+t: 153	 action: [-0.323 -0.786  0.168  0.037  0.01   0.01   1.005]
+[07-31 01:51:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8754
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8754
+Query 1/1: Action query time = 0.991 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8754
+t=154: Selected seed 195 with value = 0.8754
+t: 154	 action: [-0.376 -0.813  0.108  0.044  0.028  0.009  0.955]
+t: 155	 action: [-3.654e-01 -8.275e-01 -5.462e-02  2.858e-02 -2.155e-04  1.217e-02  1.028e+00]
+t: 156	 action: [-0.397 -0.75  -0.19   0.031 -0.002  0.007  0.976]
+t: 157	 action: [-0.382 -0.676 -0.421  0.015 -0.024  0.021  1.022]
+t: 158	 action: [-0.396 -0.529 -0.521  0.004 -0.021  0.013  0.97 ]
+t: 159	 action: [-0.37  -0.474 -0.677  0.005 -0.026  0.027  1.042]
+t: 160	 action: [-0.362 -0.333 -0.765 -0.007 -0.036  0.025  0.994]
+t: 161	 action: [-0.275 -0.266 -0.85  -0.005 -0.032  0.031  1.034]
+t: 162	 action: [-2.102e-01 -3.384e-01 -7.701e-01  2.220e-04 -1.907e-02  2.868e-02  9.969e-01]
+t: 163	 action: [-0.276 -0.227 -0.824 -0.018 -0.016  0.041  1.009]
+t: 164	 action: [-0.114 -0.216 -0.683 -0.015  0.005  0.03   1.085]
+t: 165	 action: [-0.122 -0.142 -0.633 -0.02   0.014  0.029  1.054]
+t: 166	 action: [-0.19  -0.072 -0.424 -0.023  0.037  0.031  1.017]
+t: 167	 action: [-0.178 -0.077 -0.253 -0.008  0.035  0.037  1.034]
+t: 168	 action: [-0.014  0.023  0.008 -0.028  0.082  0.018 -1.13 ]
+t: 169	 action: [ 0.03   0.026  0.176 -0.01   0.071  0.018 -1.121]
+[07-31 01:51:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9864
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 0.994 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=170: Selected seed 195 with value = 0.9864
+t: 170	 action: [ 0.06   0.002  0.074 -0.002  0.085 -0.017  1.078]
+t: 171	 action: [ 0.146 -0.07   0.16  -0.009  0.077 -0.039  0.996]
+t: 172	 action: [ 0.162  0.018  0.333 -0.002  0.093 -0.023 -1.068]
+t: 173	 action: [ 0.296  0.015  0.435 -0.01   0.09  -0.028 -1.038]
+t: 174	 action: [ 0.28   0.053  0.499 -0.003  0.096 -0.029 -1.093]
+t: 175	 action: [ 0.346  0.08   0.575 -0.01   0.09  -0.029 -1.104]
+t: 176	 action: [ 0.348  0.102  0.606 -0.001  0.097 -0.031 -1.044]
+t: 177	 action: [ 0.412  0.1    0.541 -0.005  0.093 -0.033 -1.055]
+t: 178	 action: [ 0.335  0.129  0.54   0.009  0.051 -0.032 -1.06 ]
+t: 179	 action: [ 0.322  0.046  0.486  0.009  0.049 -0.044 -1.055]
+t: 180	 action: [ 0.31   0.077  0.41   0.006  0.04  -0.023 -1.065]
+t: 181	 action: [ 0.311  0.021  0.355  0.01   0.034 -0.033 -1.048]
+t: 182	 action: [ 0.208  0.019  0.322  0.02   0.035 -0.031 -1.052]
+t: 183	 action: [ 0.113  0.038  0.237  0.016  0.02  -0.042 -1.064]
+t: 184	 action: [ 0.147  0.002  0.267  0.014  0.028 -0.026 -1.06 ]
+t: 185	 action: [ 0.102  0.009  0.196  0.015  0.015 -0.031 -1.066]
+[07-31 01:51:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9718
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=186: Selected seed 195 with value = 0.9718
+t: 186	 action: [ 0.143 -0.019 -0.027 -0.004  0.012 -0.003 -1.034]
+t: 187	 action: [ 1.794e-01 -1.201e-02  1.396e-02 -2.885e-03  4.472e-04 -2.062e-02 -1.038e+00]
+t: 188	 action: [ 0.132  0.004  0.099 -0.006  0.005 -0.01  -1.035]
+t: 189	 action: [ 0.177  0.031  0.122 -0.004 -0.002 -0.024 -1.043]
+t: 190	 action: [ 0.08   0.088  0.129 -0.004 -0.006 -0.01  -1.038]
+t: 191	 action: [ 7.382e-02  1.009e-01  2.419e-01  4.739e-04 -1.475e-02 -2.739e-02 -1.072e+00]
+t: 192	 action: [ 0.085  0.12   0.147 -0.005 -0.012 -0.019 -1.039]
+t: 193	 action: [ 9.553e-02  9.740e-02  2.146e-01  2.636e-04 -1.203e-02 -3.311e-02 -1.062e+00]
+t: 194	 action: [ 0.189  0.034  0.133  0.005 -0.007 -0.016 -1.058]
+t: 195	 action: [ 0.196  0.022  0.102  0.012 -0.007 -0.029 -1.064]
+t: 196	 action: [ 0.186  0.024  0.016  0.003 -0.015 -0.014 -1.051]
+t: 197	 action: [ 0.2    0.017  0.034  0.01  -0.01  -0.025 -1.048]
+t: 198	 action: [ 0.114  0.019  0.01   0.004 -0.014 -0.017 -1.055]
+t: 199	 action: [ 0.055  0.042  0.038  0.012 -0.012 -0.032 -1.069]
+t: 200	 action: [ 0.097  0.034 -0.043 -0.002 -0.02  -0.02  -1.048]
+t: 201	 action: [ 0.06   0.042  0.02   0.008 -0.014 -0.029 -1.069]
+[07-31 01:51:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9506
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9506
+Query 1/1: Action query time = 1.001 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9506
+t=202: Selected seed 195 with value = 0.9506
+t: 202	 action: [ 4.872e-02  2.193e-02 -2.363e-01 -2.513e-04 -7.588e-04  2.136e-03 -1.016e+00]
+t: 203	 action: [ 0.034  0.01  -0.154  0.003 -0.003 -0.016 -1.   ]
+t: 204	 action: [ 0.03   0.046 -0.054 -0.002 -0.013 -0.007 -1.013]
+t: 205	 action: [ 0.037  0.034 -0.019 -0.001 -0.024 -0.024 -1.028]
+t: 206	 action: [-1.818e-02  1.188e-01  5.355e-02 -3.135e-04 -1.469e-02 -4.061e-03 -1.030e+00]
+t: 207	 action: [-0.017  0.125  0.148 -0.002 -0.032 -0.024 -1.055]
+t: 208	 action: [ 0.006  0.153  0.186 -0.002 -0.028 -0.017 -1.021]
+t: 209	 action: [ 0.008  0.116  0.212 -0.003 -0.036 -0.033 -1.047]
+t: 210	 action: [ 0.101  0.035  0.166  0.003 -0.032 -0.018 -1.05 ]
+t: 211	 action: [ 0.065 -0.019  0.142  0.014 -0.031 -0.032 -1.046]
+t: 212	 action: [ 0.119  0.027  0.066  0.004 -0.036 -0.021 -1.036]
+t: 213	 action: [ 0.074 -0.025  0.034  0.013 -0.031 -0.03  -1.038]
+t: 214	 action: [ 0.04  -0.007  0.034  0.013 -0.034 -0.015 -1.048]
+t: 215	 action: [-0.018 -0.001  0.008  0.018 -0.03  -0.033 -1.055]
+t: 216	 action: [ 0.014  0.007 -0.055  0.005 -0.034 -0.02  -1.035]
+t: 217	 action: [-0.029 -0.009 -0.021  0.015 -0.028 -0.031 -1.057]
+[07-31 01:51:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9419
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9419
+Query 1/1: Action query time = 0.998 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9419
+t=218: Selected seed 195 with value = 0.9419
+t: 218	 action: [ 6.191e-02  5.425e-02 -2.756e-01  9.913e-04  4.201e-03  3.217e-04 -1.019e+00]
+t: 219	 action: [ 0.037  0.029 -0.151  0.004  0.005 -0.021 -1.004]
+t: 220	 action: [ 0.018  0.051 -0.015 -0.002 -0.007 -0.014 -1.012]
+t: 221	 action: [ 2.097e-02  2.383e-02  3.215e-02 -7.358e-05 -1.150e-02 -3.082e-02 -1.026e+00]
+t: 222	 action: [-4.262e-02  9.615e-02  1.187e-01  4.265e-04 -6.974e-03 -5.451e-03 -1.026e+00]
+t: 223	 action: [-0.038  0.109  0.221 -0.004 -0.016 -0.027 -1.052]
+t: 224	 action: [-4.177e-02  1.212e-01  2.689e-01 -5.981e-04 -2.122e-02 -1.953e-02 -1.020e+00]
+t: 225	 action: [-0.017  0.101  0.291 -0.003 -0.023 -0.037 -1.046]
+t: 226	 action: [ 0.073  0.017  0.244  0.007 -0.034 -0.016 -1.047]
+t: 227	 action: [ 0.044 -0.046  0.203  0.016 -0.031 -0.027 -1.034]
+t: 228	 action: [ 0.094  0.009  0.15   0.007 -0.04  -0.017 -1.037]
+t: 229	 action: [ 0.058 -0.057  0.073  0.015 -0.034 -0.026 -1.029]
+t: 230	 action: [ 0.017 -0.036  0.094  0.018 -0.04  -0.011 -1.045]
+t: 231	 action: [-0.019 -0.031  0.034  0.018 -0.035 -0.027 -1.045]
+t: 232	 action: [-0.003 -0.011  0.011  0.013 -0.04  -0.015 -1.035]
+t: 233	 action: [-0.021 -0.041 -0.006  0.016 -0.033 -0.026 -1.05 ]
+[07-31 01:51:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9455
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=234: Selected seed 195 with value = 0.9455
+t: 234	 action: [ 0.068  0.089 -0.297  0.002  0.003 -0.001 -1.007]
+t: 235	 action: [ 0.045  0.056 -0.187  0.007  0.006 -0.02  -1.001]
+t: 236	 action: [ 0.017  0.071 -0.031 -0.002 -0.006 -0.01  -1.   ]
+t: 237	 action: [ 0.02   0.03   0.007  0.003 -0.003 -0.028 -1.026]
+t: 238	 action: [-5.513e-02  7.559e-02  1.330e-01 -6.558e-04 -5.945e-03 -4.944e-03 -1.018e+00]
+t: 239	 action: [-0.044  0.102  0.224 -0.001 -0.007 -0.025 -1.047]
+t: 240	 action: [-0.086  0.064  0.283 -0.001 -0.018 -0.012 -1.012]
+t: 241	 action: [-4.217e-02  7.583e-02  2.938e-01 -4.015e-04 -1.346e-02 -3.207e-02 -1.044e+00]
+t: 242	 action: [ 0.043 -0.026  0.297  0.013 -0.026 -0.016 -1.036]
+t: 243	 action: [ 0.02  -0.06   0.218  0.022 -0.019 -0.027 -1.031]
+t: 244	 action: [ 0.051 -0.042  0.185  0.014 -0.034 -0.013 -1.029]
+t: 245	 action: [ 0.03  -0.074  0.073  0.02  -0.025 -0.024 -1.026]
+t: 246	 action: [-0.024 -0.077  0.121  0.024 -0.035 -0.01  -1.038]
+t: 247	 action: [-0.046 -0.042  0.025  0.019 -0.027 -0.027 -1.044]
+t: 248	 action: [-0.046 -0.015  0.023  0.016 -0.038 -0.011 -1.031]
+t: 249	 action: [-0.046 -0.044 -0.021  0.015 -0.028 -0.023 -1.047]
+[07-31 01:51:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9233
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9233
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=250: Selected seed 195 with value = 0.9233
+t: 250	 action: [ 9.447e-02  2.146e-01 -3.113e-01  1.716e-03 -4.398e-03 -5.718e-04 -9.926e-01]
+t: 251	 action: [ 6.099e-02  1.700e-01 -2.054e-01  9.178e-03  5.014e-04 -1.596e-02 -9.963e-01]
+t: 252	 action: [ 0.064  0.143 -0.055 -0.004 -0.004 -0.003 -0.987]
+t: 253	 action: [ 0.043  0.083 -0.012  0.004 -0.003 -0.022 -1.023]
+t: 254	 action: [-3.761e-02  8.935e-02  1.898e-01 -3.059e-04 -5.422e-03 -4.439e-03 -1.013e+00]
+t: 255	 action: [-2.659e-02  8.342e-02  2.479e-01  5.612e-04 -4.669e-03 -1.951e-02 -1.047e+00]
+t: 256	 action: [-0.084  0.025  0.33   0.003 -0.007 -0.006 -1.005]
+t: 257	 action: [-0.037  0.03   0.334  0.004 -0.002 -0.024 -1.043]
+t: 258	 action: [ 0.053 -0.115  0.369  0.017 -0.013 -0.017 -1.025]
+t: 259	 action: [ 0.021 -0.092  0.26   0.024 -0.005 -0.029 -1.027]
+t: 260	 action: [ 0.056 -0.116  0.228  0.017 -0.024 -0.01  -1.015]
+t: 261	 action: [ 0.022 -0.098  0.09   0.021 -0.014 -0.023 -1.023]
+t: 262	 action: [-0.052 -0.1    0.131  0.022 -0.028 -0.009 -1.035]
+t: 263	 action: [-0.075 -0.061 -0.015  0.016 -0.022 -0.027 -1.043]
+t: 264	 action: [-0.107 -0.012 -0.016  0.01  -0.036 -0.007 -1.025]
+t: 265	 action: [-0.118 -0.043 -0.098  0.012 -0.027 -0.02  -1.046]
+[07-31 01:51:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8796
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8796
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8796
+t=266: Selected seed 195 with value = 0.8796
+t: 266	 action: [ 0.098  0.405 -0.329  0.002 -0.008 -0.002 -0.986]
+t: 267	 action: [ 0.053  0.36  -0.264  0.011 -0.002 -0.017 -1.001]
+t: 268	 action: [ 0.069  0.262 -0.121 -0.003 -0.002 -0.001 -0.978]
+t: 269	 action: [ 0.036  0.178 -0.063  0.008  0.002 -0.024 -1.021]
+t: 270	 action: [-0.05   0.18   0.178 -0.004 -0.006 -0.005 -1.013]
+t: 271	 action: [-4.737e-02  1.238e-01  2.039e-01  1.165e-03 -8.767e-04 -1.887e-02 -1.049e+00]
+t: 272	 action: [-1.033e-01  4.736e-02  2.451e-01 -1.084e-05 -2.561e-03 -5.261e-03 -1.001e+00]
+t: 273	 action: [-0.074  0.031  0.225  0.005  0.002 -0.025 -1.044]
+t: 274	 action: [ 0.063 -0.134  0.318  0.022 -0.001 -0.023 -1.016]
+t: 275	 action: [ 0.025 -0.111  0.175  0.026  0.004 -0.035 -1.026]
+t: 276	 action: [ 0.067 -0.112  0.181  0.02  -0.014 -0.016 -1.004]
+t: 277	 action: [ 0.028 -0.106  0.051  0.022 -0.004 -0.029 -1.025]
+t: 278	 action: [-0.08  -0.1    0.077  0.021 -0.021 -0.01  -1.035]
+t: 279	 action: [-0.114 -0.06  -0.06   0.018 -0.015 -0.031 -1.048]
+t: 280	 action: [-0.174  0.002 -0.085  0.005 -0.031 -0.009 -1.021]
+t: 281	 action: [-0.186 -0.025 -0.152  0.012 -0.025 -0.024 -1.051]
+[07-31 01:51:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8681
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8681
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8681
+t=282: Selected seed 195 with value = 0.8681
+t: 282	 action: [ 0.078  0.34  -0.114 -0.005 -0.009 -0.019 -0.989]
+t: 283	 action: [ 4.826e-02  3.109e-01 -9.972e-02  4.736e-03 -1.789e-04 -3.352e-02 -1.004e+00]
+t: 284	 action: [ 0.03   0.198  0.159 -0.007 -0.002 -0.016 -0.986]
+t: 285	 action: [ 0.029  0.167  0.21   0.003  0.004 -0.04  -1.023]
+t: 286	 action: [-0.089  0.142  0.407 -0.003 -0.01  -0.011 -1.028]
+t: 287	 action: [-0.084  0.109  0.391 -0.001 -0.004 -0.031 -1.055]
+t: 288	 action: [-1.346e-01  1.625e-02  3.525e-01 -1.868e-04 -4.208e-03 -8.577e-03 -1.014e+00]
+t: 289	 action: [-1.006e-01 -8.273e-03  2.664e-01  8.574e-03  8.183e-04 -3.671e-02 -1.047e+00]
+t: 290	 action: [ 0.052 -0.128  0.205  0.024  0.002 -0.024 -1.02 ]
+t: 291	 action: [ 0.037 -0.111  0.048  0.025  0.006 -0.036 -1.029]
+t: 292	 action: [ 0.066 -0.111  0.029  0.027 -0.008 -0.017 -1.008]
+t: 293	 action: [ 5.331e-02 -1.082e-01 -9.804e-02  2.207e-02  7.621e-04 -2.807e-02 -1.029e+00]
+t: 294	 action: [-0.084 -0.088 -0.133  0.016 -0.017 -0.007 -1.047]
+t: 295	 action: [-0.103 -0.078 -0.274  0.016 -0.01  -0.029 -1.054]
+t: 296	 action: [-0.143  0.002 -0.336  0.001 -0.023 -0.007 -1.032]
+t: 297	 action: [-0.144 -0.036 -0.36   0.011 -0.019 -0.02  -1.057]
+[07-31 01:51:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8602
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8602
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 76
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 52%|█████▏    | 26/50 [14:04<12:55, 32.31s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 27...
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=298: Selected seed 195 with value = 0.8602
+t: 298	 action: [ 0.05   0.144  0.041 -0.007 -0.002 -0.036 -1.003]
+t: 299	 action: [ 0.033  0.201  0.072  0.003  0.006 -0.046 -1.014]
+t: 300	 action: [ 0.01   0.038  0.231 -0.002  0.005 -0.033 -1.002]
+t: 301	 action: [ 0.018  0.081  0.247  0.007  0.01  -0.042 -1.027]
+t: 302	 action: [-7.632e-02  4.674e-02  3.949e-01 -4.409e-04  6.173e-03 -1.529e-02 -1.054e+00]
+t: 303	 action: [-0.092  0.041  0.314  0.007  0.004 -0.039 -1.06 ]
+t: 304	 action: [-0.1    0.018  0.254  0.002  0.012 -0.012 -1.035]
+t: 305	 action: [-0.095 -0.027  0.133  0.014  0.008 -0.036 -1.055]
+t: 306	 action: [ 0.037 -0.022  0.009  0.016  0.007 -0.015 -1.021]
+t: 307	 action: [ 0.036 -0.061 -0.146  0.018  0.006 -0.026 -1.026]
+t: 308	 action: [ 6.490e-02 -2.784e-02 -1.504e-01  1.976e-02  2.406e-04 -1.313e-02 -1.018e+00]
+t: 309	 action: [ 0.066 -0.067 -0.282  0.016  0.006 -0.02  -1.034]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=76--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=76--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 76
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 27...
+[07-31 01:51:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3757
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3757
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3757
+t=10: Selected seed 195 with value = 0.3757
+t: 10	 action: [ 0.105 -0.119 -0.026  0.006  0.01   0.005 -0.988]
+t: 11	 action: [ 0.231 -0.033  0.032  0.001  0.013  0.007 -0.995]
+t: 12	 action: [ 0.461 -0.141  0.07   0.003  0.013  0.011 -1.021]
+t: 13	 action: [ 0.624 -0.069  0.162 -0.003  0.018  0.011 -1.016]
+t: 14	 action: [ 0.718 -0.078  0.222  0.005  0.017  0.008 -1.018]
+t: 15	 action: [ 0.761 -0.071  0.221  0.003  0.012  0.011 -1.033]
+t: 16	 action: [ 0.853 -0.094  0.268  0.005  0.015  0.012 -1.021]
+t: 17	 action: [ 0.843 -0.098  0.256  0.002  0.016  0.013 -1.043]
+t: 18	 action: [ 7.963e-01 -2.045e-01  3.078e-01  9.223e-03  3.113e-04  1.647e-02 -1.034e+00]
+t: 19	 action: [ 0.817 -0.191  0.32   0.013  0.01   0.015 -1.019]
+t: 20	 action: [ 0.847 -0.28   0.278  0.013 -0.005  0.015 -1.03 ]
+t: 21	 action: [ 0.841 -0.275  0.306  0.021  0.011  0.016 -1.017]
+t: 22	 action: [ 0.854 -0.28   0.259  0.023 -0.003  0.016 -1.02 ]
+t: 23	 action: [ 0.844 -0.443  0.192  0.023  0.005  0.017 -1.037]
+t: 24	 action: [ 0.872 -0.335  0.187  0.032 -0.003  0.012 -1.016]
+t: 25	 action: [ 0.863 -0.479  0.125  0.028  0.007  0.019 -1.041]
+[07-31 01:51:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4227
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4227
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4227
+t=26: Selected seed 195 with value = 0.4227
+t: 26	 action: [ 0.94  -0.154  0.122  0.002 -0.009  0.002 -1.01 ]
+t: 27	 action: [ 0.936 -0.141  0.143  0.005 -0.006 -0.012 -1.019]
+t: 28	 action: [ 0.935 -0.221  0.101  0.003 -0.011  0.005 -1.023]
+t: 29	 action: [ 0.938 -0.221  0.097  0.013 -0.003 -0.007 -1.025]
+t: 30	 action: [ 0.99  -0.246  0.034  0.006 -0.009  0.003 -1.003]
+t: 31	 action: [ 0.955 -0.243  0.003  0.013 -0.011 -0.006 -1.038]
+t: 32	 action: [ 0.967 -0.272 -0.105  0.006 -0.014  0.004 -1.017]
+t: 33	 action: [ 0.937 -0.289 -0.139  0.018 -0.016 -0.003 -1.042]
+t: 34	 action: [ 0.731 -0.353 -0.281  0.018 -0.03   0.009 -1.03 ]
+t: 35	 action: [ 0.602 -0.264 -0.403  0.02  -0.037 -0.005 -1.026]
+t: 36	 action: [ 0.462 -0.179 -0.547  0.014 -0.058  0.01  -1.016]
+t: 37	 action: [ 2.941e-01 -1.239e-01 -6.600e-01  1.672e-02 -5.670e-02  6.762e-04 -1.016e+00]
+t: 38	 action: [ 0.181 -0.046 -0.737  0.01  -0.081  0.004 -1.023]
+t: 39	 action: [ 7.087e-02 -6.640e-02 -7.570e-01  2.043e-02 -7.135e-02  8.436e-06 -1.032e+00]
+t: 40	 action: [-0.003  0.004 -0.851  0.003 -0.095  0.005 -1.015]
+t: 41	 action: [-0.023 -0.031 -0.824  0.019 -0.068  0.007 -1.035]
+[07-31 01:51:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4730
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4730
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4730
+t=42: Selected seed 195 with value = 0.4730
+t: 42	 action: [-0.085  0.052 -0.784  0.016 -0.044  0.026 -1.004]
+t: 43	 action: [-0.06   0.017 -0.88   0.009 -0.054  0.025 -1.021]
+t: 44	 action: [-0.045  0.116 -0.844  0.011 -0.041  0.028 -1.008]
+t: 45	 action: [-0.007  0.116 -0.887  0.009 -0.05   0.026 -1.02 ]
+t: 46	 action: [-0.053  0.267 -0.842  0.003 -0.049  0.031 -1.005]
+t: 47	 action: [-0.016  0.278 -0.805  0.003 -0.055  0.027 -1.031]
+t: 48	 action: [-0.045  0.363 -0.777  0.003 -0.044  0.029 -1.005]
+t: 49	 action: [-2.042e-03  4.440e-01 -7.072e-01 -4.755e-04 -4.620e-02  2.585e-02 -1.032e+00]
+t: 50	 action: [-0.016  0.717 -0.587  0.005 -0.022  0.039 -1.008]
+t: 51	 action: [-0.012  0.733 -0.612 -0.006 -0.026  0.026 -1.021]
+t: 52	 action: [-0.021  0.817 -0.564  0.002 -0.017  0.039 -1.014]
+t: 53	 action: [-0.007  0.774 -0.527 -0.008 -0.019  0.026 -1.021]
+t: 54	 action: [-0.121  0.85  -0.591 -0.004 -0.026  0.039 -1.006]
+t: 55	 action: [-0.119  0.827 -0.539 -0.01  -0.028  0.024 -1.032]
+t: 56	 action: [-0.131  0.882 -0.59  -0.008 -0.019  0.037 -1.011]
+t: 57	 action: [-0.115  0.819 -0.492 -0.011 -0.02   0.025 -1.039]
+[07-31 01:51:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5200
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=58: Selected seed 195 with value = 0.5200
+t: 58	 action: [-0.093  0.853 -0.553  0.01  -0.02   0.014 -1.004]
+t: 59	 action: [-0.038  0.833 -0.556  0.013 -0.022  0.013 -1.006]
+t: 60	 action: [-0.103  0.89  -0.547  0.009 -0.021  0.017 -0.995]
+t: 61	 action: [-0.038  0.846 -0.535  0.015 -0.02   0.016 -1.008]
+t: 62	 action: [-0.104  0.846 -0.521  0.009 -0.014  0.011 -0.995]
+t: 63	 action: [-0.055  0.852 -0.521  0.018 -0.015  0.015 -1.028]
+t: 64	 action: [-0.107  0.874 -0.532  0.007 -0.012  0.021 -0.987]
+t: 65	 action: [-0.03   0.862 -0.515  0.02  -0.01   0.018 -1.036]
+t: 66	 action: [-0.047  0.889 -0.514  0.011 -0.027  0.01  -1.012]
+t: 67	 action: [ 0.006  0.841 -0.543  0.014 -0.03   0.01  -1.012]
+t: 68	 action: [-0.028  0.881 -0.521  0.012 -0.024  0.012 -1.011]
+t: 69	 action: [ 0.019  0.817 -0.548  0.014 -0.017  0.012 -1.016]
+t: 70	 action: [-0.066  0.819 -0.523  0.008 -0.016  0.01  -1.006]
+t: 71	 action: [-0.015  0.803 -0.508  0.018 -0.012  0.013 -1.03 ]
+t: 72	 action: [-0.027  0.681 -0.505  0.009 -0.003  0.009 -0.999]
+t: 73	 action: [ 1.566e-02  5.747e-01 -3.907e-01  1.801e-02 -2.681e-04  1.384e-02 -1.040e+00]
+[07-31 01:51:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6068
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6068
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6068
+t=74: Selected seed 195 with value = 0.6068
+t: 74	 action: [ 0.068  0.141 -0.495  0.003 -0.007  0.005 -1.02 ]
+t: 75	 action: [ 8.376e-02  7.675e-02 -2.662e-01  7.799e-03  1.870e-03  9.805e-05 -1.017e+00]
+t: 76	 action: [ 0.042  0.066 -0.267  0.006  0.002  0.004 -1.015]
+t: 77	 action: [ 0.048 -0.006 -0.082  0.006  0.006 -0.006 -1.015]
+t: 78	 action: [-1.941e-02  3.330e-02 -1.571e-01  3.444e-03  1.068e-02 -1.569e-04 -1.008e+00]
+t: 79	 action: [-3.044e-02  7.949e-02  3.479e-02  1.138e-02  8.556e-03  3.121e-04 -1.033e+00]
+t: 80	 action: [-7.907e-02  4.120e-02  1.842e-01 -5.702e-04  1.465e-02 -3.458e-03 -1.013e+00]
+t: 81	 action: [-0.058  0.031  0.294  0.013  0.006 -0.007 -1.032]
+t: 82	 action: [ 0.027 -0.12   0.394  0.039  0.027  0.01  -1.032]
+t: 83	 action: [-0.046 -0.212  0.381  0.035  0.012  0.009 -1.037]
+t: 84	 action: [-0.043 -0.083  0.276  0.03   0.021  0.011 -1.038]
+t: 85	 action: [-0.098 -0.215  0.21   0.028  0.01   0.012 -1.026]
+t: 86	 action: [-0.266 -0.073  0.136  0.031  0.012  0.009 -1.032]
+t: 87	 action: [-0.36  -0.158  0.046  0.028 -0.001  0.02  -1.041]
+t: 88	 action: [-0.464 -0.116  0.005  0.014  0.01   0.014 -1.036]
+t: 89	 action: [-0.424 -0.165 -0.019  0.021 -0.001  0.022 -1.039]
+[07-31 01:51:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6203
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6203
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6203
+t=90: Selected seed 195 with value = 0.6203
+t: 90	 action: [ 3.802e-02  1.111e-01 -3.490e-01  1.260e-02 -6.570e-04  9.305e-03 -1.014e+00]
+t: 91	 action: [ 0.066  0.037 -0.165  0.012  0.007  0.001 -1.013]
+t: 92	 action: [ 0.03   0.059 -0.076  0.008  0.007  0.005 -1.01 ]
+t: 93	 action: [ 0.054 -0.026  0.066  0.006  0.012 -0.007 -1.016]
+t: 94	 action: [-1.218e-02  3.334e-02  4.524e-02  3.525e-03  2.016e-02  9.593e-04 -1.003e+00]
+t: 95	 action: [-0.017  0.082  0.236  0.003  0.015 -0.002 -1.035]
+t: 96	 action: [-3.712e-02  2.295e-02  4.343e-01 -3.225e-04  2.298e-02 -4.210e-03 -1.007e+00]
+t: 97	 action: [-0.019  0.013  0.608  0.002  0.017 -0.011 -1.034]
+t: 98	 action: [ 0.033 -0.101  0.572  0.038  0.006 -0.01  -1.027]
+t: 99	 action: [-0.045 -0.194  0.561  0.041  0.006 -0.01  -1.043]
+t: 100	 action: [-0.026 -0.115  0.395  0.042  0.002  0.001 -1.038]
+t: 101	 action: [-0.102 -0.266  0.341  0.042  0.006 -0.007 -1.027]
+t: 102	 action: [-0.285 -0.167  0.215  0.052 -0.006 -0.002 -1.025]
+t: 103	 action: [-4.481e-01 -2.156e-01  1.141e-01  3.679e-02 -1.361e-02 -7.037e-04 -1.048e+00]
+t: 104	 action: [-5.565e-01 -1.860e-01  4.082e-02  4.165e-02 -9.291e-03  4.116e-04 -1.025e+00]
+t: 105	 action: [-0.56  -0.216 -0.015  0.033 -0.01   0.004 -1.036]
+[07-31 01:51:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6223
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.6223
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6223
+t=106: Selected seed 195 with value = 0.6223
+t: 106	 action: [ 0.029  0.232 -0.247  0.002  0.015  0.005 -1.012]
+t: 107	 action: [ 0.08   0.177 -0.124  0.005  0.014 -0.009 -0.985]
+t: 108	 action: [ 0.03   0.055 -0.032 -0.003  0.028  0.004 -1.016]
+t: 109	 action: [ 0.066 -0.018  0.125  0.005  0.028 -0.019 -1.009]
+t: 110	 action: [ 0.03   0.015  0.187  0.002  0.036 -0.004 -1.013]
+t: 111	 action: [ 0.006  0.02   0.369  0.008  0.028 -0.015 -1.035]
+t: 112	 action: [-0.015 -0.008  0.5    0.004  0.045 -0.011 -1.014]
+t: 113	 action: [-0.023 -0.035  0.602  0.015  0.037 -0.025 -1.037]
+t: 114	 action: [-0.038 -0.085  0.557  0.027  0.013 -0.023 -1.03 ]
+t: 115	 action: [-0.22  -0.117  0.558  0.041  0.01  -0.025 -1.045]
+t: 116	 action: [-0.233 -0.058  0.413  0.032  0.01  -0.012 -1.046]
+t: 117	 action: [-0.371 -0.139  0.361  0.044  0.008 -0.021 -1.032]
+t: 118	 action: [-0.644 -0.141  0.266  0.058  0.002 -0.014 -1.008]
+t: 119	 action: [-0.731 -0.125  0.176  0.045 -0.01  -0.02  -1.047]
+t: 120	 action: [-0.834 -0.147  0.154  0.051 -0.004 -0.007 -0.999]
+t: 121	 action: [-0.827 -0.133  0.039  0.038 -0.011 -0.012 -1.043]
+[07-31 01:51:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4555
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=122: Selected seed 195 with value = 0.4555
+t: 122	 action: [ 0.09   0.468 -0.305  0.008  0.004  0.003 -1.01 ]
+t: 123	 action: [ 1.135e-01  4.417e-01 -3.352e-01  1.104e-02  1.709e-02 -5.225e-04 -1.027e+00]
+t: 124	 action: [ 0.077  0.217 -0.257  0.004  0.017  0.003 -1.02 ]
+t: 125	 action: [ 0.106  0.161 -0.202  0.007  0.029 -0.007 -1.026]
+t: 126	 action: [ 0.049  0.152 -0.09   0.01   0.015 -0.005 -1.002]
+t: 127	 action: [ 0.021  0.118  0.012  0.011  0.021 -0.007 -1.049]
+t: 128	 action: [ 4.404e-03  3.467e-02  1.667e-01  8.698e-04  2.317e-02 -1.125e-02 -1.014e+00]
+t: 129	 action: [ 0.022  0.019  0.323  0.002  0.022 -0.018 -1.053]
+t: 130	 action: [ 0.002 -0.004  0.426  0.012 -0.01  -0.013 -1.017]
+t: 131	 action: [-0.148 -0.052  0.479  0.019 -0.01  -0.018 -1.039]
+t: 132	 action: [-0.195  0.007  0.419  0.01  -0.021 -0.01  -1.034]
+t: 133	 action: [-0.332 -0.079  0.363  0.013 -0.02  -0.019 -1.033]
+t: 134	 action: [-0.57  -0.077  0.289  0.022 -0.023 -0.007 -1.011]
+t: 135	 action: [-6.219e-01 -1.510e-01  2.034e-01 -8.206e-04 -3.571e-02 -1.744e-02 -1.046e+00]
+t: 136	 action: [-0.79  -0.104  0.122  0.025 -0.033 -0.01  -1.014]
+t: 137	 action: [-7.350e-01 -2.235e-01  5.375e-02 -6.834e-04 -3.781e-02 -1.604e-02 -1.043e+00]
+[07-31 01:51:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4056
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4056
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4056
+t=138: Selected seed 195 with value = 0.4056
+t: 138	 action: [ 0.129  0.255 -0.223  0.013 -0.008 -0.006 -1.022]
+t: 139	 action: [ 0.094  0.308 -0.233  0.015 -0.002 -0.012 -1.039]
+t: 140	 action: [ 0.093  0.166 -0.204  0.013 -0.003 -0.005 -1.027]
+t: 141	 action: [ 0.065  0.173 -0.223  0.011  0.007 -0.019 -1.05 ]
+t: 142	 action: [ 2.784e-02  1.616e-01 -3.158e-01  1.340e-03  6.041e-04 -5.584e-03 -1.016e+00]
+t: 143	 action: [ 0.045  0.125 -0.333  0.009  0.011 -0.015 -1.052]
+t: 144	 action: [ 7.470e-03  9.442e-02 -4.023e-01 -3.515e-03  9.829e-04 -3.836e-03 -1.027e+00]
+t: 145	 action: [ 4.217e-02  9.529e-02 -3.982e-01 -1.900e-04  1.245e-02 -2.290e-02 -1.063e+00]
+t: 146	 action: [-0.04   0.008 -0.521  0.01   0.001  0.004 -1.037]
+t: 147	 action: [-0.009 -0.026 -0.628  0.001  0.009 -0.004 -1.041]
+t: 148	 action: [-0.004  0.014 -0.642  0.001 -0.003  0.006 -1.046]
+t: 149	 action: [ 0.023 -0.018 -0.655 -0.008  0.004 -0.007 -1.035]
+t: 150	 action: [-0.159  0.04  -0.644 -0.003 -0.016 -0.001 -1.034]
+t: 151	 action: [-0.071  0.097 -0.571 -0.011 -0.015 -0.013 -1.05 ]
+t: 152	 action: [-0.082  0.049 -0.647 -0.008 -0.022 -0.002 -1.04 ]
+t: 153	 action: [ 0.005  0.092 -0.533 -0.02  -0.026 -0.014 -0.998]
+[07-31 01:51:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4720
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.4720
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4720
+t=154: Selected seed 195 with value = 0.4720
+t: 154	 action: [ 0.169  0.054 -0.381  0.014 -0.004 -0.005 -1.045]
+t: 155	 action: [ 0.14   0.04  -0.356  0.016  0.006 -0.019 -1.04 ]
+t: 156	 action: [ 0.082  0.026 -0.293  0.017 -0.005 -0.014 -1.041]
+t: 157	 action: [ 0.067  0.005 -0.248  0.012  0.004 -0.026 -1.036]
+t: 158	 action: [ 0.007  0.052 -0.154  0.019  0.006 -0.011 -1.032]
+t: 159	 action: [ 0.017  0.089 -0.036  0.019  0.003 -0.022 -1.056]
+t: 160	 action: [-0.03   0.038  0.009  0.012 -0.002 -0.023 -1.033]
+t: 161	 action: [ 0.019  0.05   0.045  0.011 -0.003 -0.031 -1.05 ]
+t: 162	 action: [ 0.101 -0.117  0.158  0.031 -0.023 -0.04  -1.067]
+t: 163	 action: [ 0.066 -0.064  0.028  0.018 -0.017 -0.03  -1.049]
+t: 164	 action: [ 0.088 -0.065 -0.072  0.011 -0.033 -0.026 -1.07 ]
+t: 165	 action: [ 0.061 -0.044 -0.211  0.005 -0.027 -0.024 -1.044]
+t: 166	 action: [-4.879e-02 -1.007e-02 -1.818e-01 -1.938e-04 -3.749e-02 -2.292e-02 -1.061e+00]
+t: 167	 action: [-0.08  -0.033 -0.299  0.003 -0.045 -0.026 -1.055]
+t: 168	 action: [-0.118 -0.011 -0.472 -0.009 -0.044 -0.013 -1.061]
+t: 169	 action: [-0.136 -0.031 -0.498 -0.007 -0.048 -0.019 -1.057]
+[07-31 01:51:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5083
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=170: Selected seed 195 with value = 0.5083
+t: 170	 action: [ 0.047 -0.118 -0.418  0.019 -0.013 -0.028 -1.049]
+t: 171	 action: [ 0.028 -0.051 -0.464  0.012 -0.005 -0.033 -1.042]
+t: 172	 action: [ 0.027 -0.008 -0.429  0.008 -0.014 -0.029 -1.044]
+t: 173	 action: [ 0.029  0.021 -0.434  0.004 -0.005 -0.036 -1.038]
+t: 174	 action: [-0.038  0.111 -0.407  0.007 -0.007 -0.028 -1.037]
+t: 175	 action: [-0.01   0.112 -0.38   0.011 -0.008 -0.033 -1.05 ]
+t: 176	 action: [-0.035  0.099 -0.347 -0.003 -0.007 -0.028 -1.032]
+t: 177	 action: [ 0.008  0.11  -0.328  0.003 -0.007 -0.038 -1.045]
+t: 178	 action: [ 1.377e-01  5.199e-02 -2.335e-01 -1.001e-03 -1.702e-02 -2.733e-02 -1.075e+00]
+t: 179	 action: [ 0.076  0.06  -0.27  -0.005 -0.009 -0.033 -1.052]
+t: 180	 action: [ 0.131  0.033 -0.334 -0.002 -0.023 -0.023 -1.211]
+t: 181	 action: [ 0.072  0.034 -0.378 -0.007 -0.014 -0.023 -1.147]
+t: 182	 action: [-0.019  0.011 -0.439 -0.008 -0.024 -0.02  -1.072]
+t: 183	 action: [-0.027  0.009 -0.421 -0.002 -0.021 -0.03  -1.045]
+t: 184	 action: [-0.059 -0.041 -0.51  -0.012 -0.025 -0.019  0.123]
+t: 185	 action: [-0.031 -0.03  -0.468 -0.004 -0.021 -0.014  1.221]
+[07-31 01:51:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5902
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.5902
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5902
+t=186: Selected seed 195 with value = 0.5902
+t: 186	 action: [-3.611e-02  3.293e-02 -6.165e-01  2.304e-04  1.922e-02  8.191e-03 -1.190e+00]
+t: 187	 action: [-0.056 -0.03  -0.66  -0.002  0.024  0.018 -1.131]
+t: 188	 action: [-0.057  0.014 -0.652 -0.003  0.031  0.011 -1.177]
+t: 189	 action: [-0.072 -0.053 -0.665 -0.004  0.031  0.017 -1.155]
+t: 190	 action: [-0.051 -0.027 -0.551 -0.007  0.032  0.008  1.095]
+t: 191	 action: [-0.025 -0.048 -0.554  0.008  0.028  0.023  1.174]
+t: 192	 action: [-0.024 -0.025 -0.365 -0.012  0.038  0.007  1.075]
+t: 193	 action: [-0.013 -0.039 -0.359  0.003  0.029  0.01   1.159]
+t: 194	 action: [-0.009  0.015 -0.245 -0.022  0.038  0.002  0.987]
+t: 195	 action: [ 0.02   0.003 -0.127 -0.022  0.049 -0.015  1.041]
+t: 196	 action: [ 0.006  0.046 -0.021 -0.042  0.037  0.008  0.981]
+t: 197	 action: [ 0.035  0.048  0.073 -0.034  0.033 -0.011  1.037]
+t: 198	 action: [-0.026  0.064  0.307 -0.032  0.031 -0.006  1.012]
+t: 199	 action: [ 0.017  0.086  0.462 -0.046  0.003 -0.021  1.026]
+t: 200	 action: [-0.009  0.072  0.579 -0.037  0.013 -0.003  1.008]
+t: 201	 action: [ 0.028  0.082  0.759 -0.049  0.004 -0.017  1.036]
+[07-31 01:51:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9628
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=202: Selected seed 195 with value = 0.9628
+t: 202	 action: [-0.146 -0.037  0.243  0.002  0.002  0.009  1.132]
+t: 203	 action: [-0.135 -0.119  0.201  0.011  0.011  0.014  1.005]
+t: 204	 action: [-0.2   -0.074  0.228  0.026  0.01   0.009  1.087]
+t: 205	 action: [-0.257 -0.142  0.201  0.03   0.022  0.002 -1.034]
+t: 206	 action: [-0.272 -0.197  0.183  0.033  0.013  0.007 -1.114]
+t: 207	 action: [-0.177 -0.245  0.131  0.04   0.015  0.024 -1.081]
+t: 208	 action: [-0.23  -0.202  0.175  0.035  0.024  0.006 -1.065]
+t: 209	 action: [-0.18  -0.157  0.099  0.039  0.032  0.003 -1.057]
+t: 210	 action: [-0.348 -0.133  0.039  0.055  0.03   0.025 -1.029]
+t: 211	 action: [-0.341 -0.18   0.004  0.046  0.039  0.035 -1.036]
+t: 212	 action: [-0.338 -0.085  0.017  0.051  0.027  0.025 -1.03 ]
+t: 213	 action: [-0.289 -0.128 -0.025  0.038  0.034  0.03  -0.921]
+t: 214	 action: [-0.331 -0.066 -0.045  0.028  0.032  0.027 -0.065]
+t: 215	 action: [-0.312 -0.093 -0.117  0.032  0.02   0.033  1.074]
+t: 216	 action: [-0.209 -0.038  0.004  0.018  0.031  0.025  0.977]
+t: 217	 action: [-0.088 -0.023 -0.078  0.026  0.016  0.033  0.981]
+[07-31 01:51:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7185
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7185
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7185
+t=218: Selected seed 195 with value = 0.7185
+t: 218	 action: [-0.012 -0.067 -0.258 -0.015 -0.003 -0.006  0.106]
+t: 219	 action: [-0.016 -0.05  -0.162 -0.025 -0.009 -0.017  1.01 ]
+t: 220	 action: [-0.014 -0.001  0.058 -0.03  -0.009 -0.012  0.805]
+t: 221	 action: [ 0.007 -0.027  0.135 -0.035 -0.008 -0.017 -1.042]
+t: 222	 action: [-0.011  0.047  0.206 -0.027 -0.009 -0.008  0.894]
+t: 223	 action: [ 0.011 -0.039  0.29  -0.021 -0.016 -0.024  1.039]
+t: 224	 action: [ 7.374e-04  3.776e-02  3.826e-01  6.126e-04 -1.140e-02 -1.048e-02  9.492e-01]
+t: 225	 action: [ 0.035 -0.119  0.542 -0.003 -0.016 -0.03   1.041]
+t: 226	 action: [ 0.004 -0.179  0.387  0.024 -0.015  0.004  0.982]
+t: 227	 action: [ 0.002 -0.236  0.24   0.011 -0.01  -0.003  1.003]
+t: 228	 action: [ 0.018 -0.18   0.117  0.014 -0.022  0.003  0.974]
+t: 229	 action: [ 0.017 -0.225  0.019  0.004 -0.011 -0.004  1.034]
+t: 230	 action: [-1.721e-02 -9.849e-02 -3.859e-02 -5.393e-04 -2.709e-02  5.157e-04  1.024e+00]
+t: 231	 action: [ 4.311e-04 -3.275e-01 -1.321e-01 -6.237e-03 -4.161e-02 -3.372e-03  1.054e+00]
+t: 232	 action: [ 0.015 -0.122 -0.266 -0.004 -0.036 -0.004  1.01 ]
+t: 233	 action: [ 0.063 -0.227 -0.282 -0.013 -0.048 -0.005  1.055]
+[07-31 01:51:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9275
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=234: Selected seed 195 with value = 0.9275
+t: 234	 action: [-0.287 -0.201 -0.157  0.004  0.01   0.005  1.017]
+t: 235	 action: [-0.248 -0.395 -0.103  0.01   0.007  0.024  1.068]
+t: 236	 action: [-0.261 -0.21  -0.136  0.007  0.029  0.009  1.084]
+t: 237	 action: [-0.269 -0.357 -0.109  0.013  0.038  0.005  0.982]
+t: 238	 action: [-0.262 -0.21  -0.057  0.004  0.022  0.006  1.036]
+t: 239	 action: [-0.088 -0.232 -0.077  0.009  0.006  0.018  1.055]
+t: 240	 action: [-0.107 -0.088  0.052 -0.004  0.048  0.012 -1.084]
+t: 241	 action: [-0.037 -0.069 -0.007  0.005  0.037  0.018 -1.112]
+t: 242	 action: [ 0.071 -0.272 -0.077  0.042  0.034  0.03   1.124]
+t: 243	 action: [ 0.018 -0.316 -0.078  0.035  0.02   0.033  0.646]
+t: 244	 action: [ 0.093 -0.146 -0.054  0.022  0.033  0.032 -1.065]
+t: 245	 action: [-0.013 -0.102 -0.025  0.02   0.022  0.026 -1.058]
+t: 246	 action: [ 0.057 -0.042 -0.154  0.005  0.047  0.038 -1.131]
+t: 247	 action: [-0.042 -0.034 -0.135  0.015  0.016  0.032 -1.113]
+t: 248	 action: [ 0.014  0.038 -0.021 -0.004  0.058  0.037 -1.067]
+t: 249	 action: [-0.114  0.04  -0.017  0.011  0.016  0.026 -1.059]
+[07-31 01:51:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9307
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 0.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=250: Selected seed 195 with value = 0.9307
+t: 250	 action: [-0.192 -0.317 -0.245 -0.003  0.016  0.002  0.967]
+t: 251	 action: [-0.172 -0.331 -0.105 -0.006  0.016 -0.009  1.049]
+t: 252	 action: [-0.158 -0.229 -0.098 -0.007  0.014 -0.001  0.978]
+t: 253	 action: [-0.131 -0.213 -0.04  -0.012  0.022 -0.009  1.03 ]
+t: 254	 action: [-0.135 -0.177  0.117 -0.015  0.039 -0.004  0.985]
+t: 255	 action: [-9.412e-02 -2.137e-01  1.664e-01 -7.331e-03  4.626e-02  3.038e-04  1.038e+00]
+t: 256	 action: [-0.085 -0.115  0.181 -0.017  0.043 -0.004  0.998]
+t: 257	 action: [-0.024 -0.141  0.152 -0.006  0.061 -0.002  1.023]
+t: 258	 action: [ 0.147 -0.03   0.165 -0.002  0.047  0.004  1.168]
+t: 259	 action: [ 1.303e-01 -3.946e-02  1.605e-01 -1.260e-04  7.084e-02 -1.190e-02 -1.030e+00]
+t: 260	 action: [ 1.808e-01  1.755e-04  1.309e-01 -2.592e-03  5.436e-02  9.726e-04 -1.071e+00]
+t: 261	 action: [ 1.041e-01  7.018e-03  9.957e-02  6.143e-04  6.862e-02 -9.696e-03 -1.075e+00]
+t: 262	 action: [ 0.041 -0.011  0.128  0.003  0.052 -0.004 -1.139]
+t: 263	 action: [-0.022 -0.068  0.066  0.012  0.058 -0.013 -1.066]
+t: 264	 action: [ 0.031 -0.007  0.104  0.002  0.057 -0.005 -1.008]
+t: 265	 action: [ 0.004 -0.035  0.03   0.012  0.056 -0.004  0.021]
+[07-31 01:51:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9380
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9380
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9380
+t=266: Selected seed 195 with value = 0.9380
+t: 266	 action: [-0.094 -0.329 -0.294 -0.005  0.02   0.002  0.98 ]
+t: 267	 action: [-0.05  -0.302 -0.153 -0.009  0.016 -0.007  1.05 ]
+t: 268	 action: [-0.076 -0.235 -0.036 -0.009  0.017  0.003  0.988]
+t: 269	 action: [-0.026 -0.2    0.027 -0.012  0.019 -0.005  1.034]
+t: 270	 action: [-0.062 -0.098  0.113 -0.015  0.039 -0.004  0.991]
+t: 271	 action: [-0.005 -0.131  0.215 -0.01   0.052 -0.001  1.035]
+t: 272	 action: [-0.047 -0.057  0.203 -0.013  0.045 -0.003  1.   ]
+t: 273	 action: [ 7.772e-03 -1.013e-01  2.414e-01  4.399e-04  6.913e-02 -2.536e-03  1.020e+00]
+t: 274	 action: [ 0.086 -0.001  0.183 -0.002  0.029  0.004  1.159]
+t: 275	 action: [ 1.113e-01 -2.449e-02  1.965e-01 -2.622e-04  4.519e-02 -1.186e-02 -1.030e+00]
+t: 276	 action: [ 1.435e-01  1.792e-02  1.843e-01 -5.990e-04  3.794e-02  2.281e-03 -1.103e+00]
+t: 277	 action: [ 0.099  0.018  0.172  0.003  0.049 -0.008 -1.049]
+t: 278	 action: [ 2.035e-02  2.316e-02  1.602e-01 -4.994e-04  3.609e-02 -3.955e-03 -1.139e+00]
+t: 279	 action: [-0.031 -0.021  0.119  0.013  0.028 -0.01  -1.072]
+t: 280	 action: [ 2.293e-02  1.027e-02  1.144e-01  7.309e-04  4.136e-02 -4.229e-03 -1.093e+00]
+t: 281	 action: [ 9.194e-04 -1.800e-02  6.192e-02  1.434e-02  2.943e-02 -2.935e-03 -1.057e+00]
+[07-31 01:51:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9354
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9354
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9354
+t=282: Selected seed 195 with value = 0.9354
+t: 282	 action: [-4.563e-02 -2.448e-01 -2.477e-01 -4.325e-04  3.511e-02  2.030e-03  9.846e-01]
+t: 283	 action: [-1.995e-02 -2.244e-01 -1.330e-01 -7.722e-04  3.053e-02 -7.618e-03  1.047e+00]
+t: 284	 action: [-5.589e-02 -1.932e-01  1.195e-02 -3.040e-03  2.490e-02  5.573e-04  9.895e-01]
+t: 285	 action: [-0.019 -0.184  0.057 -0.002  0.017 -0.007  1.044]
+t: 286	 action: [-0.026 -0.065  0.102 -0.011  0.035 -0.006  0.991]
+t: 287	 action: [ 0.006 -0.067  0.137 -0.005  0.03  -0.005  1.028]
+t: 288	 action: [-0.009 -0.05   0.165 -0.011  0.037 -0.007  0.994]
+t: 289	 action: [ 0.022 -0.08   0.163  0.005  0.045 -0.008  1.011]
+t: 290	 action: [ 0.065 -0.045  0.09  -0.001  0.026 -0.003  1.149]
+t: 291	 action: [ 0.112 -0.085  0.124 -0.008  0.033 -0.024  0.975]
+t: 292	 action: [ 0.18  -0.01   0.114 -0.003  0.029 -0.004  0.016]
+t: 293	 action: [ 2.217e-01 -5.322e-02  1.647e-01 -7.697e-04  3.567e-02 -1.989e-02 -1.050e+00]
+t: 294	 action: [ 0.063  0.014  0.21  -0.002  0.031 -0.012 -1.147]
+t: 295	 action: [ 0.02  -0.015  0.204  0.01   0.009 -0.011 -1.119]
+t: 296	 action: [ 5.981e-02 -4.534e-03  2.551e-01  7.010e-04  2.830e-02 -1.471e-02 -1.138e+00]
+t: 297	 action: [ 0.061 -0.027  0.237  0.016  0.012 -0.018 -1.062]
+[07-31 01:51:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9309
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9309
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 77
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 54%|█████▍    | 27/50 [14:35<12:16, 32.02s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 28...
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9309
+t=298: Selected seed 195 with value = 0.9309
+t: 298	 action: [-0.111 -0.278 -0.594 -0.011 -0.002  0.009  0.975]
+t: 299	 action: [-0.129 -0.198 -0.554 -0.028 -0.008  0.012  1.051]
+t: 300	 action: [-0.112 -0.196 -0.519 -0.023 -0.002  0.009  0.987]
+t: 301	 action: [-1.155e-01 -1.535e-01 -4.547e-01 -2.766e-02  4.872e-04  1.277e-02  1.049e+00]
+t: 302	 action: [-0.08  -0.1   -0.223 -0.042  0.014  0.003  0.988]
+t: 303	 action: [-0.026 -0.054 -0.135 -0.035  0.012  0.016  1.033]
+t: 304	 action: [-7.298e-04 -6.893e-02  2.605e-02 -3.755e-02  2.854e-02  1.395e-03  9.994e-01]
+t: 305	 action: [ 0.051 -0.032  0.098 -0.025  0.044  0.012  1.02 ]
+t: 306	 action: [ 0.191 -0.072  0.046 -0.025  0.028  0.008  1.15 ]
+t: 307	 action: [ 0.236 -0.054  0.146 -0.022  0.036 -0.013  1.03 ]
+t: 308	 action: [ 0.318 -0.003  0.207 -0.017  0.028  0.006  0.987]
+t: 309	 action: [ 0.291 -0.013  0.273 -0.011  0.037 -0.012 -1.04 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=77--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=77--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 77
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 28...
+[07-31 01:52:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3420
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3420
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3420
+t=10: Selected seed 195 with value = 0.3420
+t: 10	 action: [ 0.116 -0.139  0.058  0.006  0.021  0.003 -0.999]
+t: 11	 action: [ 0.234 -0.111  0.093  0.004  0.031  0.003 -1.004]
+t: 12	 action: [ 0.448 -0.172  0.14   0.004  0.019  0.009 -1.018]
+t: 13	 action: [ 0.636 -0.143  0.203  0.001  0.029  0.008 -1.02 ]
+t: 14	 action: [ 0.739 -0.139  0.255  0.004  0.023  0.008 -1.016]
+t: 15	 action: [ 0.802 -0.154  0.238  0.006  0.023  0.008 -1.036]
+t: 16	 action: [ 0.883 -0.136  0.272  0.003  0.018  0.012 -1.015]
+t: 17	 action: [ 0.888 -0.15   0.245  0.006  0.017  0.01  -1.044]
+t: 18	 action: [ 0.866 -0.204  0.294  0.009  0.007  0.014 -1.028]
+t: 19	 action: [ 0.888 -0.167  0.303  0.008  0.015  0.01  -1.024]
+t: 20	 action: [ 9.014e-01 -1.890e-01  2.176e-01  9.181e-03 -1.730e-04  1.260e-02 -1.021e+00]
+t: 21	 action: [ 0.915 -0.176  0.259  0.012  0.012  0.01  -1.016]
+t: 22	 action: [ 0.917 -0.175  0.191  0.01   0.004  0.013 -1.013]
+t: 23	 action: [ 0.928 -0.261  0.149  0.014  0.007  0.012 -1.039]
+t: 24	 action: [ 9.430e-01 -1.501e-01  1.081e-01  8.903e-03  2.763e-04  8.954e-03 -1.006e+00]
+t: 25	 action: [ 0.949 -0.253  0.056  0.017  0.004  0.012 -1.04 ]
+[07-31 01:52:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3822
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3822
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3822
+t=26: Selected seed 195 with value = 0.3822
+t: 26	 action: [ 9.550e-01 -3.809e-02  7.709e-02 -6.745e-04 -5.638e-03  2.224e-03 -1.023e+00]
+t: 27	 action: [ 9.545e-01 -1.120e-02  6.780e-02  4.099e-04 -3.943e-03 -1.184e-02 -1.023e+00]
+t: 28	 action: [ 0.945 -0.145  0.041  0.004 -0.009  0.005 -1.031]
+t: 29	 action: [ 9.578e-01 -1.540e-01  5.540e-02  1.137e-02 -2.799e-04 -8.124e-03 -1.022e+00]
+t: 30	 action: [ 0.987 -0.213 -0.06   0.009 -0.005  0.001 -1.014]
+t: 31	 action: [ 0.931 -0.231 -0.079  0.014 -0.005 -0.01  -1.033]
+t: 32	 action: [ 9.203e-01 -2.788e-01 -2.385e-01  1.031e-02 -1.344e-02  5.550e-04 -1.028e+00]
+t: 33	 action: [ 0.854 -0.312 -0.325  0.022 -0.012 -0.009 -1.035]
+t: 34	 action: [ 0.619 -0.337 -0.442  0.013 -0.035  0.009 -1.033]
+t: 35	 action: [ 0.464 -0.288 -0.574  0.013 -0.044 -0.005 -1.032]
+t: 36	 action: [ 0.33  -0.22  -0.7    0.011 -0.074  0.011 -1.021]
+t: 37	 action: [ 0.142 -0.175 -0.795  0.01  -0.067 -0.001 -1.018]
+t: 38	 action: [ 0.014 -0.142 -0.841  0.007 -0.105  0.004 -1.029]
+t: 39	 action: [-3.585e-02 -1.277e-01 -8.284e-01  1.819e-02 -8.536e-02 -2.826e-04 -1.035e+00]
+t: 40	 action: [-0.119 -0.085 -0.894  0.003 -0.125  0.005 -1.024]
+t: 41	 action: [-0.073 -0.085 -0.872  0.017 -0.083  0.006 -1.037]
+[07-31 01:52:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4763
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4763
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4763
+t=42: Selected seed 195 with value = 0.4763
+t: 42	 action: [-0.021  0.313 -0.778  0.01  -0.028  0.025 -1.01 ]
+t: 43	 action: [-0.022  0.489 -0.798  0.007 -0.035  0.027 -1.018]
+t: 44	 action: [ 0.016  0.556 -0.651  0.007 -0.022  0.032 -1.009]
+t: 45	 action: [ 0.003  0.7   -0.635  0.005 -0.024  0.027 -1.021]
+t: 46	 action: [-0.034  0.601 -0.672  0.005 -0.025  0.034 -1.004]
+t: 47	 action: [-0.019  0.616 -0.621  0.008 -0.021  0.03  -1.029]
+t: 48	 action: [-0.035  0.693 -0.603  0.004 -0.019  0.04  -1.005]
+t: 49	 action: [-0.011  0.758 -0.532  0.006 -0.01   0.028 -1.034]
+t: 50	 action: [ 0.004  0.781 -0.595  0.007 -0.019  0.032 -1.011]
+t: 51	 action: [ 0.012  0.773 -0.599  0.004 -0.02   0.026 -1.021]
+t: 52	 action: [ 0.005  0.811 -0.554  0.006 -0.014  0.035 -1.016]
+t: 53	 action: [ 0.019  0.767 -0.556  0.003 -0.014  0.025 -1.021]
+t: 54	 action: [-0.05   0.792 -0.56   0.003 -0.018  0.038 -1.007]
+t: 55	 action: [-0.028  0.805 -0.54   0.004 -0.019  0.027 -1.034]
+t: 56	 action: [-0.058  0.808 -0.546  0.002 -0.012  0.037 -1.01 ]
+t: 57	 action: [-0.026  0.767 -0.525  0.001 -0.012  0.026 -1.04 ]
+[07-31 01:52:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6293
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6293
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6293
+t=58: Selected seed 195 with value = 0.6293
+t: 58	 action: [ 7.421e-02  3.219e-01 -4.682e-01 -4.668e-07 -2.412e-03  1.113e-02 -1.007e+00]
+t: 59	 action: [ 0.082  0.279 -0.262 -0.002  0.007  0.01  -1.016]
+t: 60	 action: [ 6.809e-02  1.996e-01 -2.427e-01 -9.855e-04  3.902e-03  9.156e-03 -1.001e+00]
+t: 61	 action: [ 0.055  0.122 -0.067 -0.005  0.009  0.005 -1.017]
+t: 62	 action: [-0.029  0.226 -0.216 -0.005  0.009  0.007 -0.996]
+t: 63	 action: [-0.014  0.279  0.022 -0.005  0.007  0.008 -1.029]
+t: 64	 action: [-1.062e-01  1.467e-01  1.821e-01 -1.155e-02  1.059e-02  3.109e-04 -1.001e+00]
+t: 65	 action: [-3.089e-02  1.577e-01  3.636e-01 -8.501e-03  5.677e-03  7.762e-04 -1.031e+00]
+t: 66	 action: [ 1.821e-02  2.689e-03  5.694e-01  1.727e-02 -4.198e-05  7.869e-03 -1.021e+00]
+t: 67	 action: [-4.470e-02 -9.275e-02  5.777e-01  2.948e-02  5.082e-04  5.706e-03 -1.039e+00]
+t: 68	 action: [-5.454e-02 -6.073e-02  5.091e-01  3.372e-02 -4.009e-05  8.129e-03 -1.028e+00]
+t: 69	 action: [-0.101 -0.163  0.461  0.039  0.002  0.006 -1.024]
+t: 70	 action: [-0.305 -0.119  0.326  0.059 -0.003  0.005 -1.021]
+t: 71	 action: [-0.342 -0.128  0.226  0.05  -0.011  0.011 -1.04 ]
+t: 72	 action: [-0.48  -0.174  0.153  0.059 -0.004  0.005 -1.025]
+t: 73	 action: [-0.398 -0.188  0.071  0.05  -0.005  0.013 -1.031]
+[07-31 01:52:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6175
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=74: Selected seed 195 with value = 0.6175
+t: 74	 action: [ 0.053  0.375 -0.242  0.003  0.012  0.027 -1.01 ]
+t: 75	 action: [ 8.996e-02  3.023e-01 -8.916e-02  1.948e-04  1.725e-02  1.793e-02 -9.980e-01]
+t: 76	 action: [ 0.055  0.159 -0.008 -0.001  0.027  0.019 -1.009]
+t: 77	 action: [ 0.074  0.051  0.168 -0.002  0.026  0.007 -1.012]
+t: 78	 action: [ 0.032  0.08   0.157  0.003  0.027  0.009 -0.999]
+t: 79	 action: [ 9.100e-03  8.300e-02  3.260e-01  9.563e-04  2.406e-02  9.619e-03 -1.028e+00]
+t: 80	 action: [-7.625e-03 -5.611e-03  4.636e-01  5.595e-03  3.565e-02  7.523e-04 -1.008e+00]
+t: 81	 action: [-8.307e-03 -2.164e-02  5.960e-01  4.976e-03  3.372e-02  3.563e-05 -1.032e+00]
+t: 82	 action: [-0.034 -0.062  0.537  0.028  0.012  0.008 -1.023]
+t: 83	 action: [-0.144 -0.157  0.524  0.033  0.005  0.004 -1.038]
+t: 84	 action: [-0.152 -0.093  0.374  0.034  0.002  0.008 -1.034]
+t: 85	 action: [-2.276e-01 -2.553e-01  3.322e-01  3.756e-02  1.151e-04  4.863e-03 -1.021e+00]
+t: 86	 action: [-0.451 -0.169  0.233  0.057 -0.002  0.004 -1.015]
+t: 87	 action: [-0.559 -0.208  0.115  0.035 -0.008  0.008 -1.04 ]
+t: 88	 action: [-0.702 -0.201  0.086  0.053 -0.012  0.007 -1.01 ]
+t: 89	 action: [-0.704 -0.225 -0.012  0.032 -0.008  0.012 -1.023]
+[07-31 01:52:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5704
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=90: Selected seed 195 with value = 0.5704
+t: 90	 action: [ 0.061  0.32  -0.195  0.004  0.014  0.008 -1.018]
+t: 91	 action: [ 9.057e-02  2.721e-01 -1.024e-01  8.682e-03  2.171e-02  9.892e-04 -1.012e+00]
+t: 92	 action: [ 6.636e-02  8.529e-02 -3.030e-02  9.242e-04  2.834e-02  5.829e-03 -1.023e+00]
+t: 93	 action: [ 0.075  0.03   0.125  0.008  0.034 -0.006 -1.015]
+t: 94	 action: [ 0.048  0.029  0.198  0.006  0.027 -0.003 -1.012]
+t: 95	 action: [ 0.01   0.019  0.337  0.007  0.022 -0.007 -1.039]
+t: 96	 action: [-0.003 -0.015  0.459  0.008  0.035 -0.006 -1.02 ]
+t: 97	 action: [-0.01  -0.05   0.569  0.009  0.03  -0.015 -1.038]
+t: 98	 action: [-0.006 -0.138  0.492  0.027  0.017 -0.004 -1.028]
+t: 99	 action: [-0.152 -0.157  0.504  0.03   0.014 -0.014 -1.049]
+t: 100	 action: [-0.149 -0.048  0.384  0.022  0.011  0.001 -1.047]
+t: 101	 action: [-0.297 -0.163  0.327  0.026  0.014 -0.012 -1.031]
+t: 102	 action: [-5.351e-01 -1.268e-01  2.313e-01  3.620e-02 -1.458e-03 -4.708e-04 -1.016e+00]
+t: 103	 action: [-0.599 -0.176  0.142  0.006 -0.009 -0.011 -1.047]
+t: 104	 action: [-7.735e-01 -1.554e-01  1.268e-01  3.114e-02 -6.925e-03  2.947e-05 -1.011e+00]
+t: 105	 action: [-7.513e-01 -2.141e-01  3.918e-02 -6.474e-04 -8.665e-03 -6.308e-03 -1.033e+00]
+[07-31 01:52:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3676
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.3676
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3676
+t=106: Selected seed 195 with value = 0.3676
+t: 106	 action: [ 0.128  0.045  0.255 -0.006  0.021 -0.004 -1.006]
+t: 107	 action: [ 0.115  0.073  0.231 -0.012  0.016 -0.016 -1.037]
+t: 108	 action: [ 0.059 -0.023  0.296 -0.003  0.016 -0.01  -1.018]
+t: 109	 action: [ 0.021 -0.033  0.196 -0.013  0.013 -0.023 -1.043]
+t: 110	 action: [-1.193e-01 -1.869e-03  1.333e-01  4.970e-05  1.930e-02 -1.266e-02 -1.003e+00]
+t: 111	 action: [-0.139  0.031  0.067 -0.007  0.009 -0.025 -1.054]
+t: 112	 action: [-0.279 -0.02   0.004 -0.005  0.01  -0.017 -1.023]
+t: 113	 action: [-0.247  0.011 -0.023 -0.01   0.01  -0.031 -1.056]
+t: 114	 action: [-0.366 -0.016 -0.248  0.001 -0.02  -0.006 -1.021]
+t: 115	 action: [-0.508 -0.058 -0.396 -0.015 -0.015 -0.012 -1.051]
+t: 116	 action: [-0.554 -0.025 -0.445 -0.002 -0.028 -0.004 -1.029]
+t: 117	 action: [-0.56  -0.066 -0.549 -0.021 -0.022 -0.013 -1.037]
+t: 118	 action: [-0.746 -0.017 -0.61  -0.003 -0.034 -0.006 -1.009]
+t: 119	 action: [-0.616 -0.008 -0.587 -0.021 -0.05  -0.019 -1.061]
+t: 120	 action: [-0.657 -0.038 -0.71  -0.004 -0.039 -0.008 -1.018]
+t: 121	 action: [-0.511 -0.028 -0.638 -0.022 -0.05  -0.02  -1.038]
+[07-31 01:52:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4658
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4658
+Query 1/1: Action query time = 1.003 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4658
+t=122: Selected seed 195 with value = 0.4658
+t: 122	 action: [ 1.795e-01  4.242e-01 -3.127e-01  4.311e-04 -8.292e-03  4.330e-03 -1.033e+00]
+t: 123	 action: [ 0.145  0.469 -0.307  0.008 -0.003  0.001 -1.032]
+t: 124	 action: [ 0.153  0.269 -0.321  0.002 -0.006  0.006 -1.038]
+t: 125	 action: [ 1.150e-01  2.710e-01 -2.852e-01  5.662e-03 -2.538e-04 -8.066e-04 -1.034e+00]
+t: 126	 action: [ 8.897e-02  2.424e-01 -1.877e-01  1.422e-04 -1.165e-03  4.138e-04 -1.027e+00]
+t: 127	 action: [ 0.046  0.172 -0.129  0.006 -0.002 -0.002 -1.05 ]
+t: 128	 action: [ 4.221e-02  1.165e-01 -1.311e-01 -5.110e-03 -9.260e-04 -1.183e-03 -1.036e+00]
+t: 129	 action: [ 5.154e-02  6.862e-02 -5.238e-02  2.562e-04 -2.462e-03 -6.497e-03 -1.055e+00]
+t: 130	 action: [-0.06  -0.048 -0.019  0.014 -0.017  0.003 -1.047]
+t: 131	 action: [-0.102 -0.097 -0.131  0.012 -0.026 -0.007 -1.037]
+t: 132	 action: [-1.251e-01 -6.811e-02 -7.068e-02  9.956e-03 -2.301e-02 -7.344e-04 -1.050e+00]
+t: 133	 action: [-0.151 -0.115 -0.248  0.007 -0.036 -0.011 -1.039]
+t: 134	 action: [-2.612e-01 -3.271e-02 -1.829e-01  6.913e-03 -2.988e-02 -7.838e-04 -1.039e+00]
+t: 135	 action: [-0.257 -0.035 -0.256  0.005 -0.044 -0.012 -1.047]
+t: 136	 action: [-0.235 -0.03  -0.299 -0.004 -0.031 -0.006 -1.044]
+t: 137	 action: [-0.188 -0.017 -0.348 -0.003 -0.043 -0.015 -1.048]
+[07-31 01:52:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4758
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4758
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4758
+t=138: Selected seed 195 with value = 0.4758
+t: 138	 action: [ 0.237  0.421 -0.467 -0.002 -0.01   0.005 -1.057]
+t: 139	 action: [ 2.763e-01  4.298e-01 -4.091e-01  6.607e-03 -1.711e-02 -3.544e-04 -1.033e+00]
+t: 140	 action: [ 0.262  0.312 -0.464  0.01  -0.01   0.001 -1.058]
+t: 141	 action: [ 0.295  0.273 -0.356  0.013 -0.018 -0.007 -1.03 ]
+t: 142	 action: [ 2.842e-01  2.724e-01 -3.031e-01  3.799e-03 -2.984e-03 -1.526e-04 -1.041e+00]
+t: 143	 action: [ 0.255  0.237 -0.195  0.014 -0.018 -0.005 -1.047]
+t: 144	 action: [ 0.318  0.177 -0.225  0.006 -0.01  -0.006 -1.047]
+t: 145	 action: [ 0.29   0.16  -0.142  0.016 -0.021 -0.015 -1.045]
+t: 146	 action: [ 0.315 -0.027  0.009  0.022 -0.014 -0.014 -1.084]
+t: 147	 action: [ 0.305 -0.032 -0.095  0.018 -0.012 -0.022 -1.045]
+t: 148	 action: [ 0.279 -0.007 -0.111  0.011 -0.028 -0.013 -1.093]
+t: 149	 action: [ 0.204 -0.022 -0.25   0.011 -0.025 -0.017 -1.041]
+t: 150	 action: [ 0.111  0.031 -0.291  0.006 -0.033 -0.01  -1.068]
+t: 151	 action: [ 0.009  0.004 -0.383  0.012 -0.045 -0.023 -1.043]
+t: 152	 action: [ 0.002  0.028 -0.5   -0.005 -0.042 -0.011 -1.074]
+t: 153	 action: [-0.02   0.004 -0.525  0.004 -0.05  -0.016 -1.044]
+[07-31 01:52:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5147
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=154: Selected seed 195 with value = 0.5147
+t: 154	 action: [ 0.005 -0.033 -0.541  0.015 -0.019 -0.003 -1.042]
+t: 155	 action: [ 0.017 -0.008 -0.524  0.01  -0.012 -0.011 -1.046]
+t: 156	 action: [ 0.001  0.011 -0.554  0.006 -0.016 -0.002 -1.043]
+t: 157	 action: [ 0.023  0.033 -0.51   0.004 -0.003 -0.012 -1.041]
+t: 158	 action: [-0.03   0.088 -0.495  0.008 -0.006 -0.002 -1.035]
+t: 159	 action: [-0.016  0.106 -0.42   0.011 -0.005 -0.008 -1.059]
+t: 160	 action: [-0.018  0.085 -0.459 -0.002 -0.005 -0.003 -1.032]
+t: 161	 action: [ 0.005  0.105 -0.364  0.003 -0.002 -0.013 -1.052]
+t: 162	 action: [ 0.139  0.073 -0.429 -0.001 -0.021  0.006 -1.068]
+t: 163	 action: [ 0.126  0.067 -0.381 -0.006 -0.012 -0.003 -1.046]
+t: 164	 action: [ 0.109  0.029 -0.448 -0.004 -0.021  0.005 -1.178]
+t: 165	 action: [ 0.058  0.032 -0.429 -0.01  -0.01   0.005 -1.146]
+t: 166	 action: [ 0.025  0.023 -0.504 -0.007 -0.023  0.002 -1.066]
+t: 167	 action: [ 0.006  0.026 -0.447 -0.005 -0.015 -0.003 -0.975]
+t: 168	 action: [ 0.006 -0.018 -0.467 -0.012 -0.016 -0.002  1.096]
+t: 169	 action: [ 0.013 -0.003 -0.436 -0.011 -0.011  0.004  1.187]
+[07-31 01:52:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6209
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.6209
+Query 1/1: Action query time = 0.998 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6209
+t=170: Selected seed 195 with value = 0.6209
+t: 170	 action: [-0.166  0.008 -0.749 -0.008  0.02   0.025 -1.156]
+t: 171	 action: [-0.178 -0.038 -0.679 -0.008  0.016  0.039  0.99 ]
+t: 172	 action: [-0.118  0.022 -0.584 -0.011  0.027  0.02   0.985]
+t: 173	 action: [-0.113  0.002 -0.44  -0.004  0.025  0.032  1.055]
+t: 174	 action: [-0.064  0.045 -0.432 -0.034  0.047  0.027  1.082]
+t: 175	 action: [-0.031  0.058 -0.231 -0.022  0.048  0.036  1.049]
+t: 176	 action: [-0.001  0.065 -0.071 -0.044  0.045  0.011  1.004]
+t: 177	 action: [ 0.009  0.067  0.076 -0.041  0.045  0.015  1.035]
+t: 178	 action: [-0.003 -0.028  0.186 -0.023  0.049  0.001  0.984]
+t: 179	 action: [ 0.059  0.015  0.385 -0.025  0.037 -0.001  1.025]
+t: 180	 action: [ 0.05   0.011  0.531 -0.033  0.041  0.002  0.971]
+t: 181	 action: [ 0.106  0.035  0.744 -0.029  0.025 -0.004  1.016]
+t: 182	 action: [ 0.056  0.051  0.875 -0.012  0.028 -0.007  1.004]
+t: 183	 action: [ 6.033e-02  2.887e-02  9.641e-01 -2.535e-02  6.948e-03  1.305e-04  1.027e+00]
+t: 184	 action: [ 0.041 -0.001  0.962 -0.002  0.011 -0.006  0.989]
+t: 185	 action: [ 2.437e-02 -8.376e-02  9.762e-01 -1.430e-02  7.211e-03  4.122e-04  1.023e+00]
+[07-31 01:52:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7908
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7908
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7908
+t=186: Selected seed 195 with value = 0.7908
+t: 186	 action: [-0.041 -0.412  0.721  0.036  0.014 -0.001  0.982]
+t: 187	 action: [-0.024 -0.533  0.654  0.041  0.015 -0.004  1.027]
+t: 188	 action: [-0.093 -0.506  0.52   0.046  0.008 -0.002  0.974]
+t: 189	 action: [-0.074 -0.615  0.385  0.045  0.014  0.001  1.018]
+t: 190	 action: [-0.112 -0.648  0.207  0.06   0.025 -0.002  1.   ]
+t: 191	 action: [-0.109 -0.718  0.076  0.05   0.026  0.009  1.036]
+t: 192	 action: [-0.188 -0.651 -0.049  0.048  0.018 -0.002  0.996]
+t: 193	 action: [-0.12  -0.675 -0.175  0.038  0.014  0.01   1.035]
+t: 194	 action: [-0.148 -0.678 -0.255  0.04   0.02   0.009  0.988]
+t: 195	 action: [-0.161 -0.635 -0.356  0.035  0.01   0.018  1.029]
+t: 196	 action: [-0.177 -0.56  -0.487  0.017  0.011  0.01   0.977]
+t: 197	 action: [-0.191 -0.457 -0.564  0.019  0.003  0.019  1.026]
+t: 198	 action: [-0.222 -0.362 -0.654 -0.002  0.004  0.014  1.005]
+t: 199	 action: [-0.239 -0.276 -0.717  0.01  -0.005  0.024  1.047]
+t: 200	 action: [-0.212 -0.228 -0.688 -0.006 -0.004  0.01   1.001]
+t: 201	 action: [-0.182 -0.177 -0.713  0.002 -0.018  0.023  1.045]
+[07-31 01:52:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9171
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9171
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9171
+t=202: Selected seed 195 with value = 0.9171
+t: 202	 action: [-7.894e-02 -1.571e-01 -6.837e-01 -4.433e-04  2.653e-02  5.208e-03  9.947e-01]
+t: 203	 action: [-0.095 -0.168 -0.497 -0.008  0.014  0.013  1.066]
+t: 204	 action: [-0.131 -0.057 -0.444 -0.007  0.031  0.006  1.016]
+t: 205	 action: [-0.12  -0.102 -0.272 -0.014  0.029 -0.004  0.983]
+t: 206	 action: [-0.198 -0.008 -0.164 -0.037  0.047  0.005  1.01 ]
+t: 207	 action: [-0.122 -0.005 -0.01  -0.028  0.046  0.016  1.051]
+t: 208	 action: [-0.121  0.004  0.082 -0.038  0.055  0.002  0.948]
+t: 209	 action: [-0.009  0.02   0.192 -0.029  0.052 -0.001 -1.133]
+t: 210	 action: [ 0.033 -0.017  0.287 -0.003  0.058  0.006 -1.064]
+t: 211	 action: [ 0.046 -0.048  0.337  0.004  0.058  0.001 -1.043]
+t: 212	 action: [ 8.920e-02 -1.815e-02  3.358e-01 -7.051e-04  4.714e-02  6.434e-03 -1.059e+00]
+t: 213	 action: [ 9.544e-02 -3.989e-02  3.517e-01  7.716e-03  5.376e-02  6.111e-04 -1.034e+00]
+t: 214	 action: [ 0.027  0.017  0.361  0.004  0.046 -0.002 -1.074]
+t: 215	 action: [-0.001  0.023  0.361  0.014  0.038 -0.006 -1.056]
+t: 216	 action: [ 0.061  0.018  0.319 -0.001  0.034 -0.003 -1.059]
+t: 217	 action: [ 0.024  0.025  0.303  0.014  0.031 -0.004 -1.055]
+[07-31 01:52:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9489
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9489
+Query 1/1: Action query time = 1.010 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=218: Selected seed 195 with value = 0.9489
+t: 218	 action: [-0.068 -0.181 -0.457  0.005  0.019  0.007  0.849]
+t: 219	 action: [-3.512e-02 -2.247e-01 -4.266e-01  1.108e-04  5.787e-03 -4.402e-03  1.009e+00]
+t: 220	 action: [-0.083 -0.061 -0.424 -0.009  0.018  0.007  1.14 ]
+t: 221	 action: [-0.052 -0.117 -0.346 -0.011  0.01  -0.012  0.187]
+t: 222	 action: [-0.175  0.04  -0.253 -0.012  0.021  0.004  0.82 ]
+t: 223	 action: [-0.063  0.03  -0.102 -0.019  0.012  0.01  -1.083]
+t: 224	 action: [-9.466e-02  4.284e-02  1.644e-02 -1.627e-02  2.184e-02 -5.690e-04 -1.131e+00]
+t: 225	 action: [-0.033  0.074  0.112 -0.019  0.014 -0.022 -1.09 ]
+t: 226	 action: [ 0.12  -0.004  0.192 -0.003  0.009 -0.001 -1.057]
+t: 227	 action: [ 1.562e-01 -3.292e-03  2.116e-01  2.864e-04  8.930e-03 -1.680e-02 -1.048e+00]
+t: 228	 action: [ 2.148e-01  1.153e-02  2.276e-01 -2.496e-03  4.166e-03 -3.254e-04 -1.052e+00]
+t: 229	 action: [ 0.246  0.008  0.243  0.002  0.011 -0.018 -1.047]
+t: 230	 action: [ 0.138  0.028  0.253  0.002  0.012 -0.008 -1.064]
+t: 231	 action: [ 0.072  0.037  0.237  0.009  0.004 -0.017 -1.052]
+t: 232	 action: [ 1.391e-01  2.228e-02  1.893e-01  5.399e-04  9.975e-03 -8.071e-03 -1.055e+00]
+t: 233	 action: [ 0.061  0.039  0.169  0.011  0.002 -0.013 -1.057]
+[07-31 01:52:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9622
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 1.005 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=234: Selected seed 195 with value = 0.9622
+t: 234	 action: [ 0.011  0.005 -0.194 -0.003  0.006  0.004 -0.986]
+t: 235	 action: [ 0.037 -0.032 -0.183 -0.004  0.003 -0.013 -0.973]
+t: 236	 action: [ 1.543e-02  2.648e-02 -7.859e-02 -3.672e-03 -7.675e-04 -3.249e-03 -1.036e+00]
+t: 237	 action: [ 0.063  0.003 -0.037 -0.003 -0.001 -0.024 -1.032]
+t: 238	 action: [ 2.646e-02  1.096e-01 -3.403e-02 -5.881e-03  9.910e-04 -3.064e-03 -1.054e+00]
+t: 239	 action: [ 3.424e-02  1.233e-01  8.095e-02  8.326e-05 -6.509e-03 -1.804e-02 -1.072e+00]
+t: 240	 action: [ 0.071  0.115  0.104 -0.009 -0.002 -0.012 -1.044]
+t: 241	 action: [ 0.097  0.101  0.201  0.001 -0.005 -0.031 -1.048]
+t: 242	 action: [ 0.152  0.068  0.164 -0.001 -0.01  -0.014 -1.054]
+t: 243	 action: [ 0.132  0.031  0.164 -0.004 -0.004 -0.033 -1.059]
+t: 244	 action: [ 0.13   0.043  0.128 -0.002 -0.011 -0.017 -1.053]
+t: 245	 action: [ 0.122  0.017  0.132 -0.002  0.003 -0.032 -1.04 ]
+t: 246	 action: [ 0.087  0.028  0.125 -0.003 -0.007 -0.021 -1.059]
+t: 247	 action: [ 0.017  0.051  0.128  0.007 -0.007 -0.036 -1.062]
+t: 248	 action: [ 0.059  0.023  0.082 -0.004 -0.005 -0.023 -1.054]
+t: 249	 action: [ 0.006  0.039  0.083  0.008 -0.005 -0.032 -1.056]
+[07-31 01:52:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 1.006 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=250: Selected seed 195 with value = 0.8950
+t: 250	 action: [-0.032  0.002 -0.196 -0.001  0.006  0.005 -0.59 ]
+t: 251	 action: [-0.033 -0.03  -0.258 -0.001  0.003 -0.006 -0.425]
+t: 252	 action: [-7.726e-02  1.841e-02 -4.779e-02 -1.637e-03 -3.409e-03  3.191e-04 -1.021e+00]
+t: 253	 action: [-3.464e-02  1.890e-02 -5.228e-02 -1.028e-03 -4.927e-03 -1.945e-02 -1.029e+00]
+t: 254	 action: [-1.288e-01  1.174e-01 -4.102e-02 -4.949e-03  8.692e-04 -1.536e-03 -1.105e+00]
+t: 255	 action: [-7.437e-02  1.614e-01  2.859e-02 -4.852e-04 -6.038e-03 -1.395e-02 -1.115e+00]
+t: 256	 action: [-0.073  0.127  0.086 -0.009 -0.005 -0.011 -1.041]
+t: 257	 action: [-0.008  0.134  0.121  0.002 -0.004 -0.029 -1.04 ]
+t: 258	 action: [ 0.053  0.026  0.121  0.001 -0.014 -0.027 -1.047]
+t: 259	 action: [ 0.06  -0.003  0.101  0.004 -0.01  -0.039 -1.053]
+t: 260	 action: [ 0.065  0.011  0.087  0.003 -0.015 -0.033 -1.05 ]
+t: 261	 action: [ 0.066 -0.025  0.065  0.007 -0.003 -0.038 -1.035]
+t: 262	 action: [ 0.034  0.003  0.077  0.006 -0.012 -0.033 -1.051]
+t: 263	 action: [-0.002  0.024  0.063  0.013 -0.007 -0.043 -1.048]
+t: 264	 action: [ 2.636e-03  9.618e-04  2.578e-02  5.534e-03 -1.019e-02 -3.898e-02 -1.051e+00]
+t: 265	 action: [-0.023  0.004  0.023  0.015 -0.003 -0.041 -1.045]
+[07-31 01:52:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.008 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8939
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8939
+Query 1/1: Action query time = 1.008 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8939
+t=266: Selected seed 195 with value = 0.8939
+t: 266	 action: [ 1.062e-02  1.509e-02 -2.048e-01  9.888e-04  4.555e-03  3.627e-03 -1.006e+00]
+t: 267	 action: [ 0.008 -0.018 -0.283  0.005  0.004 -0.01  -0.969]
+t: 268	 action: [-3.806e-02  2.382e-02 -2.836e-02 -9.655e-04 -7.480e-03 -2.258e-03 -1.025e+00]
+t: 269	 action: [-0.01   0.006 -0.055  0.002 -0.006 -0.025 -1.024]
+t: 270	 action: [-0.112  0.098 -0.019 -0.003 -0.004 -0.002 -1.038]
+t: 271	 action: [-0.058  0.139  0.054  0.004 -0.007 -0.019 -1.051]
+t: 272	 action: [-0.103  0.095  0.12  -0.007 -0.014 -0.013 -1.035]
+t: 273	 action: [-0.034  0.108  0.16   0.004 -0.01  -0.035 -1.038]
+t: 274	 action: [ 0.015  0.033  0.13   0.005 -0.027 -0.028 -1.04 ]
+t: 275	 action: [ 0.024 -0.001  0.092  0.008 -0.027 -0.039 -1.042]
+t: 276	 action: [ 0.025  0.024  0.065  0.004 -0.031 -0.035 -1.042]
+t: 277	 action: [ 0.039 -0.02   0.036  0.009 -0.023 -0.04  -1.031]
+t: 278	 action: [-0.007  0.019  0.053  0.007 -0.029 -0.031 -1.044]
+t: 279	 action: [-0.03   0.035  0.028  0.012 -0.023 -0.045 -1.044]
+t: 280	 action: [-0.047  0.014 -0.018  0.005 -0.028 -0.037 -1.044]
+t: 281	 action: [-0.058  0.012 -0.008  0.013 -0.018 -0.043 -1.044]
+[07-31 01:52:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8862
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8862
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8862
+t=282: Selected seed 195 with value = 0.8862
+t: 282	 action: [ 0.027  0.026 -0.298  0.003  0.009  0.002 -1.02 ]
+t: 283	 action: [ 1.966e-06 -3.312e-02 -3.771e-01  7.651e-03  6.081e-03 -1.395e-02 -9.992e-01]
+t: 284	 action: [-0.077  0.027 -0.113 -0.002 -0.005 -0.004 -1.024]
+t: 285	 action: [-0.05  -0.014 -0.111  0.002 -0.003 -0.029 -1.022]
+t: 286	 action: [-0.194  0.081 -0.061 -0.002 -0.006 -0.003 -1.035]
+t: 287	 action: [-0.114  0.138  0.06   0.004 -0.004 -0.022 -1.049]
+t: 288	 action: [-0.182  0.081  0.104 -0.007 -0.017 -0.012 -1.033]
+t: 289	 action: [-9.096e-02  1.101e-01  1.914e-01  8.420e-04 -8.886e-03 -3.765e-02 -1.040e+00]
+t: 290	 action: [ 0.02   0.043  0.154  0.002 -0.031 -0.025 -1.038]
+t: 291	 action: [ 4.707e-02  3.686e-04  1.253e-01  6.481e-03 -2.640e-02 -3.522e-02 -1.040e+00]
+t: 292	 action: [ 0.055  0.03   0.091  0.001 -0.035 -0.031 -1.037]
+t: 293	 action: [ 0.08  -0.017  0.056  0.007 -0.025 -0.037 -1.031]
+t: 294	 action: [ 0.015  0.027  0.068  0.004 -0.034 -0.024 -1.041]
+t: 295	 action: [-6.583e-04  3.713e-02  4.318e-02  9.166e-03 -2.768e-02 -3.951e-02 -1.045e+00]
+t: 296	 action: [-0.002  0.024 -0.001  0.001 -0.033 -0.03  -1.037]
+t: 297	 action: [-0.012  0.016  0.005  0.01  -0.024 -0.038 -1.047]
+[07-31 01:52:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8984
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8984
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 78
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 56%|█████▌    | 28/50 [15:07<11:40, 31.84s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 29...
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8984
+t=298: Selected seed 195 with value = 0.8984
+t: 298	 action: [ 6.181e-02  1.861e-02 -2.840e-01  6.696e-04  5.642e-03 -7.469e-03 -1.029e+00]
+t: 299	 action: [ 0.04  -0.046 -0.307  0.008  0.005 -0.027 -1.015]
+t: 300	 action: [-0.039  0.017 -0.021 -0.004 -0.008 -0.015 -1.028]
+t: 301	 action: [-0.007 -0.031 -0.018  0.004 -0.004 -0.039 -1.026]
+t: 302	 action: [-0.138  0.052  0.013 -0.004 -0.007 -0.01  -1.036]
+t: 303	 action: [-0.06   0.092  0.132  0.005 -0.004 -0.033 -1.053]
+t: 304	 action: [-0.164  0.049  0.106 -0.007 -0.016 -0.017 -1.037]
+t: 305	 action: [-0.077  0.072  0.165  0.005 -0.007 -0.045 -1.043]
+t: 306	 action: [ 0.012  0.045  0.138  0.005 -0.023 -0.025 -1.042]
+t: 307	 action: [ 0.034  0.014  0.093  0.008 -0.018 -0.033 -1.04 ]
+t: 308	 action: [ 0.035  0.04   0.063  0.002 -0.03  -0.027 -1.043]
+t: 309	 action: [ 0.063 -0.002  0.034  0.008 -0.018 -0.034 -1.035]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=78--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=78--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 78
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 29...
+[07-31 01:52:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.026 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3497
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3497
+Query 1/1: Action query time = 1.026 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3497
+t=10: Selected seed 195 with value = 0.3497
+t: 10	 action: [ 1.232e-01 -1.561e-01  2.709e-02  1.569e-03  2.646e-02 -2.882e-04 -9.861e-01]
+t: 11	 action: [ 0.25  -0.037  0.037 -0.008  0.031 -0.006 -0.998]
+t: 12	 action: [ 0.534 -0.111  0.071 -0.007  0.023  0.004 -1.016]
+t: 13	 action: [ 7.019e-01 -3.537e-02  1.112e-01 -8.907e-03  2.495e-02  1.781e-04 -1.021e+00]
+t: 14	 action: [ 0.82  -0.027  0.122 -0.007  0.02   0.004 -1.005]
+t: 15	 action: [ 0.873 -0.003  0.125 -0.009  0.019 -0.004 -1.034]
+t: 16	 action: [ 0.953 -0.039  0.136 -0.007  0.014  0.005 -1.016]
+t: 17	 action: [ 9.416e-01 -1.456e-02  1.369e-01 -7.521e-03  1.153e-02 -5.967e-04 -1.045e+00]
+t: 18	 action: [ 9.102e-01 -9.596e-02  1.781e-01 -3.972e-03  9.950e-04  8.906e-03 -1.031e+00]
+t: 19	 action: [ 0.906 -0.057  0.176 -0.003  0.008  0.004 -1.029]
+t: 20	 action: [ 0.938 -0.105  0.107  0.003 -0.015  0.008 -1.03 ]
+t: 21	 action: [ 0.918 -0.095  0.101  0.003  0.002  0.005 -1.022]
+t: 22	 action: [ 0.948 -0.107  0.087  0.006 -0.016  0.009 -1.021]
+t: 23	 action: [ 9.296e-01 -1.570e-01  4.030e-02  7.694e-03 -8.799e-05  4.562e-03 -1.041e+00]
+t: 24	 action: [ 0.961 -0.105 -0.004  0.005 -0.028  0.007 -1.018]
+t: 25	 action: [ 0.939 -0.192 -0.003  0.011 -0.006  0.006 -1.043]
+[07-31 01:52:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3907
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3907
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3907
+t=26: Selected seed 195 with value = 0.3907
+t: 26	 action: [ 0.813 -0.231 -0.069  0.003 -0.041  0.007 -1.029]
+t: 27	 action: [ 0.792 -0.241 -0.076  0.012 -0.047 -0.003 -1.032]
+t: 28	 action: [ 0.749 -0.242 -0.126  0.006 -0.048  0.007 -1.024]
+t: 29	 action: [ 0.72  -0.277 -0.128  0.016 -0.053 -0.002 -1.027]
+t: 30	 action: [ 0.702 -0.277 -0.233  0.016 -0.049  0.002 -1.017]
+t: 31	 action: [ 0.647 -0.279 -0.288  0.019 -0.062 -0.006 -1.05 ]
+t: 32	 action: [ 0.564 -0.248 -0.399  0.015 -0.065  0.003 -1.018]
+t: 33	 action: [ 0.494 -0.253 -0.425  0.018 -0.068 -0.005 -1.046]
+t: 34	 action: [ 0.269 -0.12  -0.542  0.016 -0.097  0.015 -1.039]
+t: 35	 action: [ 0.137 -0.15  -0.607  0.018 -0.1    0.006 -1.037]
+t: 36	 action: [ 0.117 -0.116 -0.68   0.016 -0.116  0.017 -1.03 ]
+t: 37	 action: [ 0.041 -0.116 -0.699  0.02  -0.104  0.012 -1.024]
+t: 38	 action: [-0.039 -0.031 -0.774  0.013 -0.124  0.01  -1.041]
+t: 39	 action: [-0.02  -0.055 -0.764  0.022 -0.092  0.006 -1.046]
+t: 40	 action: [-0.097  0.011 -0.78   0.012 -0.101  0.014 -1.037]
+t: 41	 action: [-0.048 -0.02  -0.788  0.024 -0.066  0.014 -1.048]
+[07-31 01:52:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5673
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5673
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5673
+t=42: Selected seed 195 with value = 0.5673
+t: 42	 action: [ 0.047  0.833 -0.421  0.009 -0.002  0.039 -0.992]
+t: 43	 action: [ 0.045  0.832 -0.427  0.017  0.002  0.034 -1.001]
+t: 44	 action: [ 0.028  0.862 -0.424  0.009  0.005  0.046 -0.987]
+t: 45	 action: [ 0.028  0.833 -0.423  0.018  0.005  0.038 -1.004]
+t: 46	 action: [ 0.043  0.861 -0.373  0.013  0.01   0.046 -0.973]
+t: 47	 action: [ 0.019  0.852 -0.401  0.02   0.005  0.04  -1.026]
+t: 48	 action: [ 0.017  0.873 -0.39   0.008  0.018  0.058 -0.971]
+t: 49	 action: [ 0.015  0.848 -0.413  0.018  0.014  0.043 -1.036]
+t: 50	 action: [ 0.104  0.804 -0.376  0.012  0.01   0.064 -1.021]
+t: 51	 action: [ 0.101  0.764 -0.509  0.017  0.013  0.047 -1.023]
+t: 52	 action: [ 0.131  0.72  -0.294  0.005  0.012  0.057 -1.022]
+t: 53	 action: [ 0.136  0.575 -0.331  0.013  0.026  0.031 -1.017]
+t: 54	 action: [ 0.094  0.386 -0.152  0.002  0.018  0.044 -1.003]
+t: 55	 action: [ 6.848e-02  1.987e-01  5.474e-02  3.149e-04  3.066e-02  3.034e-02 -1.042e+00]
+t: 56	 action: [ 0.067  0.021  0.263 -0.008  0.052  0.022 -1.001]
+t: 57	 action: [ 0.056  0.016  0.564 -0.009  0.057  0.012 -1.043]
+[07-31 01:52:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5611
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5611
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5611
+t=58: Selected seed 195 with value = 0.5611
+t: 58	 action: [ 0.044  0.273 -0.299  0.002  0.002  0.009 -1.01 ]
+t: 59	 action: [ 0.097  0.16  -0.114  0.002  0.012  0.002 -1.012]
+t: 60	 action: [ 0.056  0.086 -0.091 -0.002  0.015  0.007 -1.004]
+t: 61	 action: [ 0.088 -0.019  0.09  -0.001  0.019 -0.006 -1.013]
+t: 62	 action: [ 0.033  0.032  0.072  0.002  0.025  0.001 -0.997]
+t: 63	 action: [ 1.647e-02  5.766e-02  2.550e-01  3.666e-03  2.049e-02  4.923e-06 -1.032e+00]
+t: 64	 action: [ 0.008 -0.008  0.411  0.001  0.033 -0.002 -1.   ]
+t: 65	 action: [-0.018 -0.03   0.568  0.005  0.029 -0.007 -1.034]
+t: 66	 action: [ 0.038 -0.1    0.568  0.015  0.009  0.002 -1.019]
+t: 67	 action: [-0.109 -0.178  0.555  0.022  0.007 -0.005 -1.034]
+t: 68	 action: [-0.095 -0.07   0.415  0.015  0.004  0.007 -1.034]
+t: 69	 action: [-0.247 -0.222  0.355  0.024  0.008 -0.003 -1.023]
+t: 70	 action: [-0.484 -0.163  0.232  0.036 -0.001  0.005 -1.011]
+t: 71	 action: [-0.628 -0.182  0.139  0.03  -0.014  0.007 -1.041]
+t: 72	 action: [-0.772 -0.154  0.092  0.037 -0.005  0.005 -1.002]
+t: 73	 action: [-0.775 -0.189  0.014  0.033 -0.009  0.012 -1.035]
+[07-31 01:52:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5213
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5213
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5213
+t=74: Selected seed 195 with value = 0.5213
+t: 74	 action: [ 4.171e-03  1.447e-01 -1.132e-01  1.669e-04  2.244e-02  1.081e-02 -9.908e-01]
+t: 75	 action: [ 0.053  0.097 -0.007  0.003  0.031  0.006 -0.989]
+t: 76	 action: [ 0.004  0.018  0.125 -0.003  0.028  0.007 -1.001]
+t: 77	 action: [ 0.036 -0.06   0.286  0.002  0.037 -0.006 -1.006]
+t: 78	 action: [-0.001 -0.034  0.337  0.007  0.036 -0.001 -0.99 ]
+t: 79	 action: [-0.012 -0.041  0.464  0.009  0.026 -0.003 -1.025]
+t: 80	 action: [-0.1   -0.073  0.498  0.007  0.031 -0.004 -1.002]
+t: 81	 action: [-0.16  -0.078  0.553  0.015  0.021 -0.014 -1.028]
+t: 82	 action: [-2.142e-01 -2.107e-02  3.606e-01  2.525e-02  7.418e-03 -7.753e-04 -1.032e+00]
+t: 83	 action: [-0.421 -0.088  0.295  0.018  0.008 -0.011 -1.037]
+t: 84	 action: [-0.511 -0.002  0.189  0.017 -0.003  0.003 -1.031]
+t: 85	 action: [-0.625 -0.088  0.093  0.012  0.008 -0.008 -1.025]
+t: 86	 action: [-0.889 -0.045  0.084  0.029 -0.006 -0.005 -0.996]
+t: 87	 action: [-0.834 -0.065  0.011  0.009 -0.012 -0.012 -1.036]
+t: 88	 action: [-0.894 -0.06   0.003  0.016 -0.012 -0.003 -0.985]
+t: 89	 action: [-0.899 -0.063 -0.07   0.002 -0.012 -0.007 -1.026]
+[07-31 01:52:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3966
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.3966
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3966
+t=90: Selected seed 195 with value = 0.3966
+t: 90	 action: [ 2.073e-02 -7.222e-02  1.669e-01 -3.417e-04  1.076e-02 -1.484e-02 -1.011e+00]
+t: 91	 action: [-1.986e-02 -1.095e-01  1.120e-01 -8.923e-04  6.566e-03 -1.600e-02 -1.040e+00]
+t: 92	 action: [-0.118 -0.101  0.05   0.002  0.008 -0.016 -1.018]
+t: 93	 action: [-0.198 -0.143 -0.013 -0.002  0.008 -0.025 -1.055]
+t: 94	 action: [-0.369 -0.076 -0.129 -0.002  0.007 -0.015 -1.007]
+t: 95	 action: [-0.404 -0.081 -0.131 -0.004  0.006 -0.023 -1.056]
+t: 96	 action: [-4.498e-01 -6.692e-02 -3.412e-01 -1.020e-02 -3.564e-04 -1.274e-02 -1.016e+00]
+t: 97	 action: [-0.409 -0.029 -0.416 -0.015  0.003 -0.033 -1.077]
+t: 98	 action: [-0.386 -0.058 -0.58   0.002 -0.014  0.001 -1.023]
+t: 99	 action: [-0.327 -0.064 -0.699 -0.004 -0.011 -0.011 -1.047]
+t: 100	 action: [-2.510e-01 -9.064e-02 -7.063e-01 -1.048e-03 -1.802e-02  6.016e-04 -1.008e+00]
+t: 101	 action: [-0.17  -0.072 -0.749 -0.005 -0.016 -0.001 -0.93 ]
+t: 102	 action: [-2.929e-01 -7.353e-03 -7.282e-01 -5.334e-04 -2.769e-02 -6.309e-03 -1.012e+00]
+t: 103	 action: [-0.21   0.031 -0.699 -0.004 -0.036 -0.026 -1.061]
+t: 104	 action: [-0.119  0.005 -0.71  -0.005 -0.03  -0.01  -0.981]
+t: 105	 action: [-2.947e-02  3.715e-02 -6.442e-01 -4.603e-03 -3.814e-02 -1.575e-04 -8.177e-02]
+[07-31 01:52:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4945
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=106: Selected seed 195 with value = 0.4945
+t: 106	 action: [ 0.258  0.167 -0.405 -0.007 -0.014 -0.002 -1.052]
+t: 107	 action: [ 3.395e-01  1.423e-01 -3.265e-01 -9.273e-04 -9.166e-04 -2.245e-02 -1.034e+00]
+t: 108	 action: [ 0.31   0.071 -0.275 -0.007 -0.012 -0.006 -1.055]
+t: 109	 action: [ 3.754e-01  4.081e-02 -1.784e-01 -2.692e-04 -1.866e-03 -3.383e-02 -1.040e+00]
+t: 110	 action: [ 3.679e-01  4.727e-02 -2.872e-02  7.008e-04  3.460e-03 -1.227e-02 -1.044e+00]
+t: 111	 action: [ 0.373  0.029  0.029  0.006 -0.006 -0.029 -1.059]
+t: 112	 action: [ 0.347  0.014  0.036 -0.001 -0.003 -0.022 -1.05 ]
+t: 113	 action: [ 0.331 -0.016  0.024  0.007 -0.013 -0.042 -1.059]
+t: 114	 action: [ 0.314 -0.083 -0.016  0.003 -0.012 -0.027 -1.078]
+t: 115	 action: [ 0.232 -0.095 -0.092  0.011 -0.008 -0.038 -1.047]
+t: 116	 action: [ 0.206 -0.112 -0.176  0.006 -0.019 -0.026 -1.074]
+t: 117	 action: [ 0.099 -0.105 -0.293  0.01  -0.015 -0.033 -1.042]
+t: 118	 action: [ 0.072 -0.019 -0.345  0.003 -0.023 -0.023 -1.067]
+t: 119	 action: [-0.008 -0.03  -0.389  0.011 -0.027 -0.038 -1.05 ]
+t: 120	 action: [-0.022  0.021 -0.535 -0.006 -0.026 -0.025 -1.065]
+t: 121	 action: [-0.035  0.002 -0.525  0.007 -0.026 -0.033 -1.052]
+[07-31 01:52:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5498
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=122: Selected seed 195 with value = 0.5498
+t: 122	 action: [ 7.513e-02 -1.009e-03 -3.199e-01  7.445e-04 -5.047e-03 -5.004e-02 -1.047e+00]
+t: 123	 action: [ 0.098 -0.02  -0.229  0.007  0.007 -0.048 -1.027]
+t: 124	 action: [ 0.096  0.016 -0.236  0.004 -0.005 -0.056 -1.051]
+t: 125	 action: [ 0.098 -0.003 -0.188  0.008  0.005 -0.052 -1.026]
+t: 126	 action: [-6.954e-03  5.566e-02 -1.666e-01 -7.231e-04  1.102e-02 -5.086e-02 -1.043e+00]
+t: 127	 action: [ 0.015  0.044 -0.162  0.015  0.003 -0.046 -1.051]
+t: 128	 action: [ 0.004  0.04  -0.275 -0.004  0.01  -0.051 -1.045]
+t: 129	 action: [ 1.689e-02  1.330e-02 -2.687e-01  1.385e-02 -8.922e-04 -4.985e-02 -1.039e+00]
+t: 130	 action: [ 0.042  0.005 -0.367  0.005 -0.019 -0.036 -1.06 ]
+t: 131	 action: [ 0.025 -0.043 -0.427  0.005 -0.012 -0.037 -1.047]
+t: 132	 action: [-0.01  -0.011 -0.478  0.004 -0.023 -0.029 -1.065]
+t: 133	 action: [-0.008 -0.059 -0.522  0.006 -0.012 -0.028 -1.054]
+t: 134	 action: [-0.062 -0.007 -0.556 -0.006 -0.018 -0.029 -1.061]
+t: 135	 action: [-0.07  -0.013 -0.556  0.008 -0.016 -0.033 -1.05 ]
+t: 136	 action: [-0.11  -0.005 -0.581 -0.008 -0.016 -0.027 -1.059]
+t: 137	 action: [-0.117 -0.015 -0.572  0.008 -0.013 -0.022 -0.964]
+[07-31 01:52:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5930
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.5930
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5930
+t=138: Selected seed 195 with value = 0.5930
+t: 138	 action: [-0.116 -0.002 -0.533  0.003  0.012  0.007 -1.196]
+t: 139	 action: [-0.142 -0.039 -0.616 -0.004  0.011  0.018 -1.118]
+t: 140	 action: [-1.096e-01  1.723e-02 -5.985e-01  2.679e-04  1.542e-02  8.540e-03  9.833e-01]
+t: 141	 action: [-0.097 -0.014 -0.581 -0.003  0.015  0.013  1.06 ]
+t: 142	 action: [-2.679e-02  3.616e-02 -4.548e-01 -2.648e-03  3.263e-02  8.061e-04  1.097e+00]
+t: 143	 action: [ 0.011  0.041 -0.442  0.006  0.038  0.018  1.183]
+t: 144	 action: [ 0.013  0.064 -0.288 -0.006  0.038 -0.003  1.   ]
+t: 145	 action: [ 0.003  0.053 -0.24   0.005  0.037  0.003  1.057]
+t: 146	 action: [ 0.007 -0.028 -0.133 -0.003  0.05  -0.015  0.98 ]
+t: 147	 action: [ 0.023 -0.033  0.004 -0.005  0.041 -0.025  1.026]
+t: 148	 action: [ 0.049  0.011  0.059 -0.011  0.025 -0.022  0.974]
+t: 149	 action: [ 0.05   0.016  0.207 -0.023  0.011 -0.037  1.024]
+t: 150	 action: [ 0.053  0.039  0.35  -0.011  0.027 -0.037  1.003]
+t: 151	 action: [ 0.043  0.048  0.649 -0.03  -0.003 -0.031  1.024]
+t: 152	 action: [ 0.063  0.033  0.714 -0.007 -0.008 -0.045  1.002]
+t: 153	 action: [ 0.041  0.03   0.888 -0.034 -0.012 -0.036  1.034]
+[07-31 01:52:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9223
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9223
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9223
+t=154: Selected seed 195 with value = 0.9223
+t: 154	 action: [-0.14   0.005  0.12  -0.004 -0.003  0.011  0.944]
+t: 155	 action: [-0.115 -0.001  0.124  0.003 -0.003  0.013  0.946]
+t: 156	 action: [-2.171e-01  9.887e-04  2.413e-01  2.024e-02 -9.028e-03  9.607e-03  1.072e+00]
+t: 157	 action: [-0.232 -0.014  0.24   0.019 -0.002 -0.016 -0.336]
+t: 158	 action: [-0.3   -0.025  0.265  0.018 -0.013  0.008  0.685]
+t: 159	 action: [-0.161 -0.088  0.245  0.025 -0.005  0.021 -0.831]
+t: 160	 action: [-2.407e-01 -9.219e-02  3.459e-01  3.021e-02  1.064e-03  6.085e-03 -1.071e+00]
+t: 161	 action: [-0.113 -0.081  0.308  0.034  0.022 -0.015 -1.061]
+t: 162	 action: [-0.144 -0.192  0.237  0.053  0.034  0.013  1.046]
+t: 163	 action: [-0.149 -0.384  0.184  0.056  0.06   0.009 -0.936]
+t: 164	 action: [-0.163 -0.285  0.236  0.066  0.054  0.018 -1.13 ]
+t: 165	 action: [-0.151 -0.354  0.132  0.06   0.063  0.023 -1.047]
+t: 166	 action: [-0.107 -0.204  0.167  0.056  0.076  0.022 -1.089]
+t: 167	 action: [-0.079 -0.274  0.082  0.053  0.081  0.014 -0.805]
+t: 168	 action: [-0.109 -0.213  0.133  0.058  0.09   0.029  0.839]
+t: 169	 action: [-0.023 -0.164  0.016  0.052  0.067  0.032  1.13 ]
+[07-31 01:52:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8685
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8685
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8685
+t=170: Selected seed 195 with value = 0.8685
+t: 170	 action: [-0.101 -0.195 -0.034 -0.004  0.016  0.003  0.993]
+t: 171	 action: [-0.063 -0.234  0.05  -0.007  0.008 -0.005  1.052]
+t: 172	 action: [-8.340e-02 -1.762e-01  1.594e-01 -4.004e-03  3.007e-03  8.847e-04  9.919e-01]
+t: 173	 action: [-0.027 -0.271  0.239 -0.003 -0.002 -0.001  1.038]
+t: 174	 action: [-7.555e-02 -2.075e-01  2.498e-01 -6.761e-03  1.447e-02  2.863e-04  1.010e+00]
+t: 175	 action: [-0.034 -0.335  0.233 -0.003  0.003  0.004  1.038]
+t: 176	 action: [-2.772e-02 -2.481e-01  3.476e-01  2.281e-04  1.393e-02 -1.862e-03  1.008e+00]
+t: 177	 action: [ 0.027 -0.411  0.345  0.01   0.008  0.004  1.023]
+t: 178	 action: [ 0.077 -0.331  0.208  0.012  0.009  0.006  0.915]
+t: 179	 action: [ 0.049 -0.463  0.148  0.014  0.013  0.003  0.538]
+t: 180	 action: [ 0.11  -0.355  0.117  0.013 -0.001  0.003  0.982]
+t: 181	 action: [ 0.136 -0.434  0.049  0.014  0.005  0.005  1.03 ]
+t: 182	 action: [ 0.089 -0.239  0.01   0.008  0.01  -0.004 -0.726]
+t: 183	 action: [ 0.065 -0.302 -0.042  0.011 -0.006 -0.002  0.891]
+t: 184	 action: [ 0.109 -0.207 -0.061  0.004  0.004 -0.008  1.002]
+t: 185	 action: [ 0.149 -0.27  -0.102  0.009 -0.01   0.009  1.026]
+[07-31 01:52:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9554
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=186: Selected seed 195 with value = 0.9554
+t: 186	 action: [-0.267 -0.155 -0.511 -0.006  0.014  0.047  1.002]
+t: 187	 action: [-0.245 -0.089 -0.46  -0.009  0.006  0.056  1.024]
+t: 188	 action: [-0.171 -0.038 -0.367 -0.003  0.039  0.063  1.064]
+t: 189	 action: [-0.135 -0.05  -0.268 -0.006  0.027  0.041  0.954]
+t: 190	 action: [-0.072  0.021 -0.198 -0.022  0.022  0.056  1.012]
+t: 191	 action: [ 0.03   0.046 -0.067 -0.011  0.01   0.054  0.93 ]
+t: 192	 action: [ 0.05   0.034  0.052 -0.018  0.041  0.05  -1.094]
+t: 193	 action: [ 0.059  0.063  0.133 -0.008  0.023  0.035 -1.123]
+t: 194	 action: [ 0.082 -0.062  0.202  0.03   0.041  0.043  0.4  ]
+t: 195	 action: [ 0.043 -0.068  0.255  0.031  0.043  0.025 -1.025]
+t: 196	 action: [ 0.076 -0.013  0.31   0.028  0.02   0.037 -1.085]
+t: 197	 action: [ 0.026 -0.027  0.288  0.027  0.014  0.023 -1.042]
+t: 198	 action: [ 0.036 -0.027  0.297  0.021  0.034  0.035 -1.091]
+t: 199	 action: [-0.038  0.023  0.221  0.024  0.014  0.018 -1.076]
+t: 200	 action: [ 0.005  0.003  0.249  0.017  0.002  0.027 -1.073]
+t: 201	 action: [-0.029  0.037  0.177  0.022 -0.005  0.022 -1.052]
+[07-31 01:52:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.016 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9544
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9544
+Query 1/1: Action query time = 1.016 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9544
+t=202: Selected seed 195 with value = 0.9544
+t: 202	 action: [-0.057 -0.24  -0.603 -0.001  0.04   0.011  0.988]
+t: 203	 action: [-0.062 -0.229 -0.426 -0.006  0.023  0.02   1.081]
+t: 204	 action: [-0.08  -0.137 -0.426 -0.008  0.044  0.016  0.999]
+t: 205	 action: [-0.05  -0.168 -0.29  -0.013  0.032  0.01   0.954]
+t: 206	 action: [-0.076  0.008 -0.131 -0.034  0.05   0.012  1.002]
+t: 207	 action: [-0.062  0.002 -0.014 -0.032  0.039  0.022  1.074]
+t: 208	 action: [-0.048  0.015  0.045 -0.038  0.054  0.015  0.986]
+t: 209	 action: [ 2.573e-04  8.339e-03  1.178e-01 -2.930e-02  5.051e-02  1.601e-02 -7.268e-01]
+t: 210	 action: [-8.229e-03  6.242e-04  1.197e-01 -7.825e-03  1.696e-02  9.191e-03  1.097e+00]
+t: 211	 action: [ 0.01  -0.02   0.146 -0.004  0.012 -0.005 -1.036]
+t: 212	 action: [ 1.142e-01  9.546e-03  2.413e-01 -6.927e-03  4.355e-04  7.423e-03 -1.075e+00]
+t: 213	 action: [ 0.241  0.012  0.277 -0.003  0.004 -0.007 -1.04 ]
+t: 214	 action: [ 0.172  0.029  0.374 -0.003  0.013 -0.001 -1.098]
+t: 215	 action: [ 0.198  0.073  0.36   0.004 -0.001 -0.012 -1.053]
+t: 216	 action: [ 2.593e-01  4.595e-02  3.924e-01 -5.864e-03  8.219e-04 -4.045e-03 -1.055e+00]
+t: 217	 action: [ 0.241  0.07   0.363  0.004 -0.009 -0.009 -1.037]
+[07-31 01:52:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.030 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9626
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9626
+Query 1/1: Action query time = 1.030 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9626
+t=218: Selected seed 195 with value = 0.9626
+t: 218	 action: [-5.126e-02 -2.442e-01 -6.569e-01 -8.242e-04  2.999e-02  7.999e-03  9.925e-01]
+t: 219	 action: [-0.067 -0.173 -0.507 -0.006  0.014  0.019  1.073]
+t: 220	 action: [-0.053 -0.088 -0.545 -0.008  0.043  0.009  1.101]
+t: 221	 action: [-0.083 -0.092 -0.389 -0.012  0.027  0.001  1.001]
+t: 222	 action: [-0.047  0.044 -0.203 -0.038  0.047  0.004  1.01 ]
+t: 223	 action: [-0.009  0.063 -0.081 -0.03   0.035  0.017  1.059]
+t: 224	 action: [-0.029  0.044 -0.016 -0.043  0.061  0.003 -1.1  ]
+t: 225	 action: [ 0.006  0.066  0.072 -0.029  0.053  0.002 -1.137]
+t: 226	 action: [ 0.061  0.007  0.128 -0.016  0.034  0.008 -1.055]
+t: 227	 action: [ 8.573e-02  6.949e-04  1.371e-01 -1.016e-02  2.860e-02 -3.897e-03 -1.041e+00]
+t: 228	 action: [ 0.136  0.025  0.23  -0.014  0.021  0.007 -1.05 ]
+t: 229	 action: [ 0.226  0.033  0.251 -0.008  0.022 -0.009 -1.033]
+t: 230	 action: [ 0.16   0.063  0.313 -0.012  0.024 -0.002 -1.062]
+t: 231	 action: [ 0.162  0.102  0.353 -0.004  0.012 -0.009 -1.052]
+t: 232	 action: [ 0.242  0.082  0.362 -0.009  0.013 -0.004 -1.045]
+t: 233	 action: [ 0.216  0.1    0.361 -0.002  0.005 -0.009 -1.049]
+[07-31 01:52:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9585
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=234: Selected seed 195 with value = 0.9585
+t: 234	 action: [ 8.182e-02 -1.246e-01 -2.848e-01 -2.074e-03 -6.782e-04  1.024e-02  1.040e+00]
+t: 235	 action: [ 7.578e-02 -1.261e-01 -2.630e-01 -2.879e-04 -1.523e-03  3.113e-03  9.476e-01]
+t: 236	 action: [ 0.167 -0.015 -0.215 -0.006  0.007  0.006 -1.023]
+t: 237	 action: [ 0.298 -0.001 -0.121 -0.004  0.002 -0.001 -1.036]
+t: 238	 action: [ 0.207  0.156 -0.124 -0.014 -0.003  0.007 -1.085]
+t: 239	 action: [ 0.224  0.163  0.025 -0.034 -0.008  0.008 -1.093]
+t: 240	 action: [ 0.304  0.237 -0.018 -0.022  0.01   0.002 -1.048]
+t: 241	 action: [ 0.362  0.185  0.092 -0.027 -0.004 -0.005 -1.061]
+t: 242	 action: [ 0.307  0.03   0.041 -0.005  0.002  0.006 -1.051]
+t: 243	 action: [ 2.962e-01  7.207e-03  6.531e-02 -4.866e-03  5.082e-05 -9.115e-03 -1.066e+00]
+t: 244	 action: [ 0.272  0.022  0.073 -0.005 -0.003  0.004 -1.051]
+t: 245	 action: [ 0.27   0.004  0.089 -0.002  0.003 -0.01  -1.044]
+t: 246	 action: [ 0.16   0.021  0.068 -0.004  0.002  0.001 -1.055]
+t: 247	 action: [ 8.682e-02  3.897e-02  1.280e-01  1.923e-04 -8.528e-03 -7.958e-03 -1.076e+00]
+t: 248	 action: [ 0.12   0.018  0.098 -0.007  0.005 -0.003 -1.053]
+t: 249	 action: [ 0.087  0.034  0.148  0.001 -0.006 -0.008 -1.064]
+[07-31 01:52:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8440
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=250: Selected seed 195 with value = 0.8440
+t: 250	 action: [ 0.053 -0.004 -0.295  0.013 -0.016  0.013 -0.974]
+t: 251	 action: [ 0.03   0.008 -0.273  0.013 -0.016  0.009 -0.959]
+t: 252	 action: [ 0.08   0.069 -0.292  0.001 -0.017  0.008 -1.011]
+t: 253	 action: [ 0.086  0.082 -0.176  0.009 -0.021  0.005 -1.011]
+t: 254	 action: [ 0.017  0.289 -0.215 -0.003 -0.02   0.012 -1.023]
+t: 255	 action: [ 0.008  0.286 -0.033  0.004 -0.018  0.009 -1.056]
+t: 256	 action: [ 0.097  0.34  -0.068 -0.007 -0.019  0.003 -1.027]
+t: 257	 action: [ 1.264e-01  2.519e-01  6.061e-02 -5.840e-03 -1.959e-02  9.564e-04 -1.046e+00]
+t: 258	 action: [ 0.201  0.094  0.051 -0.004 -0.021  0.007 -1.038]
+t: 259	 action: [ 0.206  0.048  0.099 -0.004 -0.016 -0.009 -1.052]
+t: 260	 action: [ 0.244  0.051  0.075 -0.004 -0.027  0.003 -1.036]
+t: 261	 action: [ 0.246  0.021  0.094 -0.002 -0.017 -0.009 -1.042]
+t: 262	 action: [ 0.131 -0.003  0.098 -0.001 -0.022  0.002 -1.045]
+t: 263	 action: [ 0.036  0.029  0.113  0.012 -0.02  -0.006 -1.07 ]
+t: 264	 action: [ 0.106 -0.001  0.063 -0.004 -0.019 -0.002 -1.04 ]
+t: 265	 action: [ 0.05   0.011  0.059  0.014 -0.019 -0.005 -1.059]
+[07-31 01:52:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7732
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7732
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7732
+t=266: Selected seed 195 with value = 0.7732
+t: 266	 action: [ 0.053  0.217 -0.335  0.017 -0.015  0.018 -1.024]
+t: 267	 action: [ 0.02   0.24  -0.29   0.015 -0.014  0.011 -1.022]
+t: 268	 action: [ 0.045  0.284 -0.265  0.008 -0.013  0.012 -1.025]
+t: 269	 action: [ 0.017  0.265 -0.189  0.008 -0.014  0.008 -1.012]
+t: 270	 action: [-0.042  0.439 -0.246  0.003 -0.013  0.019 -1.027]
+t: 271	 action: [-0.036  0.478 -0.054  0.013 -0.016  0.01  -1.052]
+t: 272	 action: [-0.021  0.45  -0.068 -0.006 -0.018  0.006 -1.03 ]
+t: 273	 action: [ 0.002  0.374  0.072  0.002 -0.018  0.002 -1.042]
+t: 274	 action: [ 1.483e-01  2.069e-01  9.743e-02 -7.085e-04 -2.824e-02  6.220e-03 -1.044e+00]
+t: 275	 action: [ 0.207  0.134  0.159  0.004 -0.029 -0.008 -1.039]
+t: 276	 action: [ 0.227  0.131  0.201  0.003 -0.041  0.002 -1.047]
+t: 277	 action: [ 0.316  0.054  0.22   0.007 -0.042 -0.01  -1.027]
+t: 278	 action: [ 0.125  0.048  0.22   0.01  -0.039  0.001 -1.044]
+t: 279	 action: [ 0.097  0.047  0.192  0.017 -0.044 -0.011 -1.05 ]
+t: 280	 action: [ 0.154  0.007  0.169  0.008 -0.046 -0.005 -1.044]
+t: 281	 action: [ 0.202  0.009  0.127  0.018 -0.052 -0.012 -1.046]
+[07-31 01:52:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6807
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.6807
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6807
+t=282: Selected seed 195 with value = 0.6807
+t: 282	 action: [ 0.02   0.174 -0.217  0.005 -0.007  0.018 -1.014]
+t: 283	 action: [ 0.016  0.19  -0.206  0.006 -0.007  0.009 -1.006]
+t: 284	 action: [-0.007  0.26  -0.107 -0.002 -0.01   0.012 -1.013]
+t: 285	 action: [ 7.229e-04  2.332e-01 -6.772e-02 -2.397e-03 -1.051e-02  9.674e-04 -1.020e+00]
+t: 286	 action: [-0.13   0.432 -0.05  -0.004 -0.008  0.011 -1.032]
+t: 287	 action: [-0.128  0.49   0.097 -0.008 -0.016  0.002 -1.05 ]
+t: 288	 action: [-1.574e-01  4.173e-01  1.821e-01 -8.357e-03 -1.359e-02  1.203e-05 -1.026e+00]
+t: 289	 action: [-0.123  0.376  0.313 -0.016 -0.014 -0.009 -1.042]
+t: 290	 action: [ 6.295e-02  1.708e-01  3.582e-01 -1.182e-04 -1.902e-02 -1.089e-02 -1.037e+00]
+t: 291	 action: [ 0.057  0.078  0.372  0.011 -0.012 -0.022 -1.036]
+t: 292	 action: [ 0.032  0.051  0.338  0.013 -0.027 -0.012 -1.037]
+t: 293	 action: [ 0.047 -0.027  0.293  0.021 -0.015 -0.024 -1.033]
+t: 294	 action: [-0.083 -0.076  0.265  0.035 -0.031 -0.02  -1.043]
+t: 295	 action: [-0.181 -0.073  0.179  0.03  -0.028 -0.029 -1.043]
+t: 296	 action: [-0.244 -0.215  0.139  0.042 -0.039 -0.022 -1.041]
+t: 297	 action: [-0.261 -0.208  0.062  0.032 -0.029 -0.027 -1.042]
+[07-31 01:52:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6161
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.6161
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 79
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 58%|█████▊    | 29/50 [15:38<11:06, 31.74s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 30...
+Query 1/1: Action query time = 1.005 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6161
+t=298: Selected seed 195 with value = 0.6161
+t: 298	 action: [ 6.463e-02  4.037e-01 -2.394e-01  3.476e-04 -7.266e-03  4.144e-02 -9.980e-01]
+t: 299	 action: [ 0.085  0.389 -0.181 -0.002  0.001  0.024 -0.99 ]
+t: 300	 action: [ 0.076  0.284 -0.079 -0.006 -0.002  0.039 -1.002]
+t: 301	 action: [ 0.091  0.186  0.047 -0.01   0.005  0.015 -1.025]
+t: 302	 action: [ 0.016  0.295  0.067 -0.008 -0.003  0.03  -1.009]
+t: 303	 action: [ 0.004  0.272  0.219 -0.013 -0.009  0.017 -1.038]
+t: 304	 action: [-0.026  0.155  0.373 -0.001 -0.005  0.015 -1.007]
+t: 305	 action: [ 0.001  0.12   0.558 -0.01  -0.01   0.004 -1.043]
+t: 306	 action: [ 2.649e-02  3.165e-02  4.670e-01  1.136e-02 -3.178e-02 -6.854e-04 -1.025e+00]
+t: 307	 action: [-0.041 -0.02   0.438  0.027 -0.028 -0.01  -1.034]
+t: 308	 action: [-0.041 -0.018  0.338  0.022 -0.044  0.003 -1.028]
+t: 309	 action: [-0.112 -0.105  0.279  0.032 -0.038 -0.01  -1.029]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=79--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=79--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 79
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 30...
+[07-31 01:53:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3622
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3622
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3622
+t=10: Selected seed 195 with value = 0.3622
+t: 10	 action: [ 0.138 -0.201  0.034  0.006  0.012  0.003 -0.983]
+t: 11	 action: [ 0.236 -0.155  0.043  0.009  0.01   0.003 -1.002]
+t: 12	 action: [ 0.404 -0.234  0.073  0.003  0.006  0.009 -1.008]
+t: 13	 action: [ 0.568 -0.187  0.116  0.006  0.005  0.007 -1.02 ]
+t: 14	 action: [ 0.757 -0.133  0.155  0.004  0.005  0.01  -1.006]
+t: 15	 action: [ 7.944e-01 -1.404e-01  1.473e-01  1.219e-02  2.328e-04  6.987e-03 -1.039e+00]
+t: 16	 action: [ 9.271e-01 -1.179e-01  1.670e-01  6.262e-04 -1.207e-03  1.271e-02 -1.012e+00]
+t: 17	 action: [ 0.9   -0.137  0.168  0.011 -0.002  0.008 -1.047]
+t: 18	 action: [ 0.917 -0.188  0.169  0.008 -0.009  0.014 -1.012]
+t: 19	 action: [ 0.932 -0.144  0.192  0.012  0.006  0.008 -1.022]
+t: 20	 action: [ 0.947 -0.159  0.13   0.007 -0.012  0.01  -1.008]
+t: 21	 action: [ 0.959 -0.152  0.153  0.014  0.007  0.007 -1.013]
+t: 22	 action: [ 0.973 -0.141  0.108  0.006 -0.013  0.012 -1.009]
+t: 23	 action: [ 0.972 -0.226  0.061  0.015  0.001  0.008 -1.04 ]
+t: 24	 action: [ 0.982 -0.111  0.04   0.004 -0.013  0.006 -1.003]
+t: 25	 action: [ 0.977 -0.226  0.003  0.016  0.001  0.008 -1.039]
+[07-31 01:53:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4394
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4394
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4394
+t=26: Selected seed 195 with value = 0.4394
+t: 26	 action: [ 0.921 -0.147  0.059  0.002 -0.04   0.003 -1.026]
+t: 27	 action: [ 0.919 -0.142  0.05   0.006 -0.04  -0.005 -1.026]
+t: 28	 action: [ 0.913 -0.203  0.013  0.004 -0.043  0.006 -1.03 ]
+t: 29	 action: [ 9.222e-01 -2.127e-01  2.550e-02  1.331e-02 -3.510e-02  2.529e-04 -1.030e+00]
+t: 30	 action: [ 0.958 -0.23  -0.061  0.006 -0.039  0.007 -1.014]
+t: 31	 action: [ 0.922 -0.261 -0.051  0.014 -0.049  0.002 -1.044]
+t: 32	 action: [ 0.907 -0.237 -0.196  0.004 -0.045  0.01  -1.022]
+t: 33	 action: [ 0.859 -0.265 -0.248  0.017 -0.049  0.006 -1.045]
+t: 34	 action: [ 0.6   -0.261 -0.326  0.012 -0.057  0.018 -1.037]
+t: 35	 action: [ 0.492 -0.196 -0.455  0.016 -0.062  0.015 -1.029]
+t: 36	 action: [ 0.342 -0.165 -0.543  0.01  -0.086  0.029 -1.02 ]
+t: 37	 action: [ 0.19  -0.112 -0.642  0.016 -0.074  0.023 -1.017]
+t: 38	 action: [ 1.434e-01 -5.069e-02 -7.592e-01 -2.928e-04 -1.050e-01  2.292e-02 -1.034e+00]
+t: 39	 action: [ 0.027 -0.063 -0.758  0.017 -0.089  0.022 -1.034]
+t: 40	 action: [-0.044  0.013 -0.856 -0.004 -0.106  0.035 -1.022]
+t: 41	 action: [-0.04  -0.005 -0.817  0.017 -0.082  0.032 -1.035]
+[07-31 01:53:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5139
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5139
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5139
+t=42: Selected seed 195 with value = 0.5139
+t: 42	 action: [-0.056  0.789 -0.632  0.003 -0.026  0.034 -1.018]
+t: 43	 action: [-0.028  0.781 -0.584  0.004 -0.034  0.029 -1.018]
+t: 44	 action: [-0.072  0.852 -0.606  0.005 -0.024  0.033 -1.005]
+t: 45	 action: [-0.053  0.799 -0.541  0.006 -0.026  0.028 -1.019]
+t: 46	 action: [-7.743e-02  8.648e-01 -5.737e-01 -3.266e-05 -1.978e-02  3.530e-02 -1.006e+00]
+t: 47	 action: [-0.058  0.831 -0.536  0.006 -0.028  0.032 -1.029]
+t: 48	 action: [-8.681e-02  8.694e-01 -5.735e-01  9.624e-04 -1.478e-02  3.968e-02 -9.958e-01]
+t: 49	 action: [-0.052  0.83  -0.529  0.008 -0.016  0.031 -1.035]
+t: 50	 action: [ 0.009  0.757 -0.686  0.007 -0.028  0.034 -1.031]
+t: 51	 action: [ 0.021  0.722 -0.689  0.006 -0.036  0.029 -1.024]
+t: 52	 action: [ 0.016  0.701 -0.677  0.005 -0.017  0.035 -1.022]
+t: 53	 action: [ 0.021  0.672 -0.598  0.005 -0.021  0.026 -1.022]
+t: 54	 action: [-0.05   0.653 -0.612  0.002 -0.022  0.036 -1.018]
+t: 55	 action: [-0.013  0.562 -0.485  0.005 -0.028  0.03  -1.036]
+t: 56	 action: [-2.694e-02  3.117e-01 -4.331e-01  8.364e-04 -4.716e-03  3.024e-02 -1.006e+00]
+t: 57	 action: [ 0.004  0.266 -0.161  0.002 -0.008  0.026 -1.045]
+[07-31 01:53:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5847
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5847
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5847
+t=58: Selected seed 195 with value = 0.5847
+t: 58	 action: [ 0.064  0.339 -0.449 -0.001 -0.001  0.036 -1.016]
+t: 59	 action: [ 8.489e-02  2.792e-01 -2.310e-01  8.525e-05  6.965e-03  2.772e-02 -1.021e+00]
+t: 60	 action: [ 0.055  0.182 -0.255 -0.004  0.008  0.028 -1.006]
+t: 61	 action: [ 0.069  0.101 -0.058 -0.003  0.01   0.02  -1.021]
+t: 62	 action: [ 0.004  0.078 -0.131  0.002  0.02   0.028 -1.   ]
+t: 63	 action: [ 2.392e-04  1.036e-01  4.300e-02  3.924e-03  1.453e-02  2.692e-02 -1.030e+00]
+t: 64	 action: [-0.045  0.003  0.221 -0.002  0.026  0.015 -0.999]
+t: 65	 action: [-0.011 -0.014  0.331  0.006  0.015  0.018 -1.034]
+t: 66	 action: [ 0.032 -0.121  0.44   0.03   0.024  0.017 -1.022]
+t: 67	 action: [-0.072 -0.213  0.412  0.032  0.014  0.021 -1.039]
+t: 68	 action: [-0.055 -0.111  0.326  0.025  0.022  0.023 -1.024]
+t: 69	 action: [-0.169 -0.247  0.245  0.026  0.015  0.024 -1.027]
+t: 70	 action: [-0.338 -0.107  0.137  0.031  0.008  0.037 -1.016]
+t: 71	 action: [-0.43  -0.148  0.039  0.025 -0.004  0.037 -1.038]
+t: 72	 action: [-0.617 -0.106  0.008  0.009  0.01   0.045 -1.01 ]
+t: 73	 action: [-0.55  -0.13  -0.039  0.017  0.004  0.04  -1.034]
+[07-31 01:53:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6001
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=74: Selected seed 195 with value = 0.6001
+t: 74	 action: [ 0.053  0.5   -0.329 -0.002  0.01   0.029 -1.009]
+t: 75	 action: [ 0.08   0.417 -0.143 -0.005  0.017  0.016 -1.01 ]
+t: 76	 action: [ 0.061  0.233 -0.074 -0.005  0.021  0.019 -1.004]
+t: 77	 action: [ 0.074  0.103  0.106 -0.006  0.022  0.006 -1.011]
+t: 78	 action: [ 0.039  0.128  0.106 -0.009  0.026  0.011 -0.997]
+t: 79	 action: [ 0.022  0.11   0.296 -0.008  0.021  0.01  -1.029]
+t: 80	 action: [-0.012 -0.012  0.499  0.002  0.033  0.002 -1.002]
+t: 81	 action: [ 9.073e-05 -2.569e-02  6.307e-01 -1.118e-03  2.648e-02  1.949e-03 -1.032e+00]
+t: 82	 action: [ 0.019 -0.128  0.598  0.015  0.007  0.01  -1.017]
+t: 83	 action: [-0.158 -0.189  0.577  0.027  0.004  0.003 -1.038]
+t: 84	 action: [-0.125 -0.129  0.454  0.019  0.006  0.011 -1.028]
+t: 85	 action: [-0.287 -0.246  0.384  0.032  0.008  0.004 -1.02 ]
+t: 86	 action: [-0.536 -0.177  0.242  0.043  0.002  0.01  -1.007]
+t: 87	 action: [-0.637 -0.183  0.149  0.033 -0.011  0.014 -1.04 ]
+t: 88	 action: [-0.773 -0.155  0.086  0.038  0.002  0.016 -0.993]
+t: 89	 action: [-0.745 -0.16   0.011  0.033 -0.002  0.019 -1.025]
+[07-31 01:53:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6184
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=90: Selected seed 195 with value = 0.6184
+t: 90	 action: [ 0.046  0.185 -0.219  0.004  0.018  0.008 -1.013]
+t: 91	 action: [ 0.085  0.138 -0.089  0.004  0.022 -0.001 -1.   ]
+t: 92	 action: [ 5.305e-02  3.191e-02 -2.199e-02 -6.810e-04  2.651e-02  5.708e-03 -1.017e+00]
+t: 93	 action: [ 0.072 -0.031  0.159  0.001  0.032 -0.01  -1.004]
+t: 94	 action: [ 0.029 -0.007  0.236  0.006  0.032 -0.003 -1.012]
+t: 95	 action: [ 0.006 -0.019  0.383  0.004  0.025 -0.008 -1.036]
+t: 96	 action: [-0.026 -0.028  0.528  0.006  0.034 -0.009 -1.02 ]
+t: 97	 action: [-0.028 -0.06   0.611  0.007  0.032 -0.015 -1.037]
+t: 98	 action: [-0.058 -0.115  0.555  0.021  0.022 -0.007 -1.029]
+t: 99	 action: [-0.258 -0.164  0.546  0.029  0.015 -0.014 -1.04 ]
+t: 100	 action: [-0.25  -0.036  0.399  0.016  0.017  0.003 -1.049]
+t: 101	 action: [-0.412 -0.153  0.323  0.026  0.017 -0.012 -1.03 ]
+t: 102	 action: [-0.711 -0.071  0.22   0.034  0.01   0.002 -1.011]
+t: 103	 action: [-0.744 -0.09   0.123  0.023 -0.002 -0.006 -1.047]
+t: 104	 action: [-0.864 -0.055  0.087  0.021  0.007  0.004 -1.007]
+t: 105	 action: [-8.614e-01 -9.838e-02 -8.671e-04  1.708e-02 -2.227e-04 -2.791e-04 -1.043e+00]
+[07-31 01:53:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4054
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4054
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4054
+t=106: Selected seed 195 with value = 0.4054
+t: 106	 action: [ 1.573e-01  4.095e-02 -4.259e-03 -2.657e-03  1.679e-02  8.123e-04 -1.004e+00]
+t: 107	 action: [ 0.126  0.055  0.018 -0.005  0.016 -0.006 -1.037]
+t: 108	 action: [ 7.164e-02 -2.248e-02  1.452e-03 -2.165e-03  1.596e-02 -8.015e-04 -1.014e+00]
+t: 109	 action: [ 0.039 -0.043  0.003 -0.007  0.017 -0.013 -1.046]
+t: 110	 action: [-6.536e-02 -2.178e-02 -7.955e-02 -5.384e-04  2.137e-02 -3.466e-04 -9.978e-01]
+t: 111	 action: [-0.065 -0.009 -0.099 -0.001  0.012 -0.011 -1.061]
+t: 112	 action: [-0.206 -0.04  -0.16  -0.004  0.016 -0.002 -1.018]
+t: 113	 action: [-0.156 -0.017 -0.19  -0.009  0.011 -0.017 -1.078]
+t: 114	 action: [-2.698e-01 -4.446e-02 -2.661e-01 -1.342e-04 -5.792e-03  5.919e-03 -1.013e+00]
+t: 115	 action: [-3.776e-01 -5.122e-02 -3.713e-01 -1.533e-02  2.372e-03  3.460e-05 -1.049e+00]
+t: 116	 action: [-0.381 -0.037 -0.393 -0.006 -0.008  0.006 -1.016]
+t: 117	 action: [-4.177e-01 -5.065e-02 -4.859e-01 -2.024e-02  1.297e-03 -1.840e-04 -1.018e+00]
+t: 118	 action: [-0.617  0.008 -0.505 -0.011 -0.016  0.004 -1.006]
+t: 119	 action: [-0.512  0.017 -0.507 -0.022 -0.019 -0.005 -1.068]
+t: 120	 action: [-0.534  0.009 -0.578 -0.021 -0.016  0.002 -1.002]
+t: 121	 action: [-0.402  0.014 -0.528 -0.024 -0.019 -0.004 -0.819]
+[07-31 01:53:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5137
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=122: Selected seed 195 with value = 0.5137
+t: 122	 action: [ 2.787e-01  2.886e-01 -4.799e-01 -2.201e-03  2.219e-03  8.354e-04 -1.033e+00]
+t: 123	 action: [ 0.278  0.325 -0.397  0.001  0.009 -0.005 -1.031]
+t: 124	 action: [ 0.192  0.082 -0.432 -0.006  0.007  0.001 -1.04 ]
+t: 125	 action: [ 0.155  0.067 -0.298 -0.003  0.014 -0.006 -1.029]
+t: 126	 action: [ 1.087e-01  8.319e-02 -2.418e-01  8.497e-04  1.458e-02 -3.002e-03 -1.030e+00]
+t: 127	 action: [ 0.071  0.022 -0.094  0.004  0.009 -0.008 -1.057]
+t: 128	 action: [ 0.003  0.017 -0.017 -0.007  0.015 -0.007 -1.034]
+t: 129	 action: [ 1.928e-02 -2.546e-02  6.903e-02 -5.614e-04  8.299e-03 -1.260e-02 -1.057e+00]
+t: 130	 action: [-0.065 -0.193  0.066  0.015 -0.004 -0.003 -1.044]
+t: 131	 action: [-0.115 -0.201  0.015  0.008 -0.002 -0.01  -1.043]
+t: 132	 action: [-1.411e-01 -1.476e-01 -2.639e-04  6.463e-03 -1.498e-02 -5.250e-03 -1.049e+00]
+t: 133	 action: [-0.172 -0.163 -0.138  0.002 -0.011 -0.011 -1.039]
+t: 134	 action: [-3.062e-01 -5.138e-02 -1.012e-01 -1.842e-04 -1.375e-02 -3.026e-03 -1.033e+00]
+t: 135	 action: [-2.900e-01 -2.992e-02 -1.404e-01  9.901e-04 -2.059e-02 -1.169e-02 -1.049e+00]
+t: 136	 action: [-0.247  0.005 -0.229 -0.009 -0.017 -0.008 -1.036]
+t: 137	 action: [-0.224  0.002 -0.262 -0.005 -0.02  -0.013 -1.052]
+[07-31 01:53:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5112
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.5112
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5112
+t=138: Selected seed 195 with value = 0.5112
+t: 138	 action: [ 0.235  0.075 -0.516 -0.005  0.011 -0.004 -1.04 ]
+t: 139	 action: [ 2.351e-01  9.271e-02 -3.806e-01  5.698e-05  2.263e-02 -2.008e-02 -1.026e+00]
+t: 140	 action: [ 0.175  0.014 -0.392 -0.006  0.013 -0.006 -1.059]
+t: 141	 action: [ 1.441e-01 -1.435e-02 -2.384e-01 -6.702e-04  2.068e-02 -2.239e-02 -1.032e+00]
+t: 142	 action: [ 9.213e-02  3.218e-02 -1.655e-01 -1.653e-04  2.362e-02 -4.828e-03 -1.048e+00]
+t: 143	 action: [ 0.06   0.01  -0.027  0.01   0.019 -0.022 -1.068]
+t: 144	 action: [ 2.259e-02  2.455e-02 -1.422e-04 -7.381e-03  1.791e-02 -1.021e-02 -1.055e+00]
+t: 145	 action: [ 0.03  -0.01   0.066  0.007  0.01  -0.026 -1.058]
+t: 146	 action: [ 0.107 -0.178  0.049  0.024 -0.003 -0.016 -1.077]
+t: 147	 action: [ 0.052 -0.122 -0.014  0.011  0.002 -0.019 -1.05 ]
+t: 148	 action: [ 0.091 -0.119 -0.098  0.005 -0.012 -0.009 -1.087]
+t: 149	 action: [ 0.048 -0.099 -0.18   0.002 -0.003 -0.017 -1.043]
+t: 150	 action: [-0.028  0.008 -0.213 -0.005 -0.018 -0.014 -1.065]
+t: 151	 action: [-2.096e-02 -1.927e-03 -2.376e-01 -2.104e-04 -2.053e-02 -2.078e-02 -1.056e+00]
+t: 152	 action: [-0.045  0.04  -0.39  -0.01  -0.02  -0.013 -1.07 ]
+t: 153	 action: [-0.027  0.013 -0.358 -0.008 -0.02  -0.017 -1.055]
+[07-31 01:53:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7231
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7231
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7231
+t=154: Selected seed 195 with value = 0.7231
+t: 154	 action: [ 0.262  0.015 -0.391  0.006  0.015 -0.007 -1.054]
+t: 155	 action: [ 0.273  0.009 -0.323  0.005  0.017 -0.024 -1.044]
+t: 156	 action: [ 0.233  0.035 -0.229  0.002  0.006 -0.012 -1.061]
+t: 157	 action: [ 0.247  0.025 -0.131  0.002  0.007 -0.026 -1.03 ]
+t: 158	 action: [ 0.163  0.108 -0.074 -0.003  0.012 -0.011 -1.045]
+t: 159	 action: [ 0.155  0.112  0.088  0.01   0.006 -0.026 -1.061]
+t: 160	 action: [ 1.571e-01  7.098e-02  2.274e-02 -7.482e-03 -7.928e-04 -1.507e-02 -1.051e+00]
+t: 161	 action: [ 0.146  0.066  0.132  0.005 -0.002 -0.031 -1.056]
+t: 162	 action: [ 0.351  0.005  0.085  0.018 -0.007 -0.012 -1.087]
+t: 163	 action: [ 0.327 -0.031  0.02   0.008 -0.002 -0.025 -1.054]
+t: 164	 action: [ 0.292 -0.016 -0.059  0.01  -0.017 -0.006 -1.095]
+t: 165	 action: [ 0.261 -0.058 -0.124  0.003 -0.008 -0.019 -1.051]
+t: 166	 action: [ 0.145  0.011 -0.152 -0.001 -0.017 -0.016 -1.078]
+t: 167	 action: [ 0.041 -0.021 -0.163  0.006 -0.018 -0.029 -1.057]
+t: 168	 action: [ 0.052  0.025 -0.339 -0.008 -0.021 -0.014 -1.059]
+t: 169	 action: [-0.001 -0.005 -0.288 -0.001 -0.018 -0.017  0.052]
+[07-31 01:53:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7175
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7175
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7175
+t=170: Selected seed 195 with value = 0.7175
+t: 170	 action: [ 0.077 -0.003 -0.408 -0.009  0.016 -0.012 -1.079]
+t: 171	 action: [ 0.113  0.053 -0.251 -0.015  0.013 -0.022 -1.051]
+t: 172	 action: [ 3.232e-02  5.191e-02 -3.213e-01 -1.011e-02  1.463e-02  5.059e-05 -1.244e+00]
+t: 173	 action: [ 0.01   0.058 -0.172 -0.016  0.01  -0.006 -1.118]
+t: 174	 action: [-0.027  0.162 -0.208 -0.014  0.02  -0.012 -1.072]
+t: 175	 action: [-0.005  0.145 -0.041 -0.01   0.013 -0.021 -1.045]
+t: 176	 action: [ 0.003  0.144 -0.083 -0.018  0.018 -0.005  0.986]
+t: 177	 action: [ 0.03   0.097 -0.005 -0.017  0.009 -0.013  1.057]
+t: 178	 action: [ 0.106  0.13  -0.212 -0.008  0.025 -0.001 -1.191]
+t: 179	 action: [ 0.034  0.088 -0.143 -0.015  0.014 -0.002 -1.14 ]
+t: 180	 action: [ 0.017  0.058 -0.317 -0.011  0.015  0.005  0.973]
+t: 181	 action: [-9.485e-04  4.568e-02 -1.946e-01 -1.706e-02  8.304e-03 -4.913e-03  1.037e+00]
+t: 182	 action: [ 0.006  0.064 -0.334 -0.016  0.021 -0.007  1.084]
+t: 183	 action: [-1.264e-02  3.790e-02 -2.017e-01 -9.984e-03  1.123e-03 -5.193e-03  1.179e+00]
+t: 184	 action: [-0.017  0.046 -0.257 -0.026  0.015 -0.005  1.002]
+t: 185	 action: [ 0.009  0.04  -0.148 -0.017 -0.001 -0.008  1.051]
+[07-31 01:53:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7402
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7402
+Query 1/1: Action query time = 0.984 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7402
+t=186: Selected seed 195 with value = 0.7402
+t: 186	 action: [-0.027 -0.006  0.078 -0.027 -0.016  0.001  1.001]
+t: 187	 action: [ 5.117e-03  1.403e-02  3.364e-01 -3.367e-02 -4.615e-05 -6.001e-03  1.042e+00]
+t: 188	 action: [-0.042  0.003  0.546 -0.025 -0.023 -0.003  1.004]
+t: 189	 action: [-0.024 -0.021  0.791 -0.031 -0.001 -0.002  1.031]
+t: 190	 action: [ 2.130e-02 -1.146e-01  8.334e-01 -4.671e-03 -5.738e-04 -3.859e-03  9.982e-01]
+t: 191	 action: [ 0.019 -0.19   0.889 -0.003  0.001 -0.007  1.033]
+t: 192	 action: [-0.029 -0.288  0.865  0.017  0.013 -0.006  0.993]
+t: 193	 action: [-0.007 -0.443  0.812  0.029  0.019 -0.003  1.015]
+t: 194	 action: [ 0.004 -0.439  0.61   0.028  0.033  0.002  0.996]
+t: 195	 action: [ 0.012 -0.557  0.44   0.041  0.038 -0.004  1.044]
+t: 196	 action: [-3.275e-02 -4.886e-01  2.341e-01  3.005e-02  2.456e-02  8.836e-04  9.909e-01]
+t: 197	 action: [-3.924e-02 -5.971e-01  1.093e-01  3.985e-02  2.883e-02  5.297e-04  1.032e+00]
+t: 198	 action: [-0.085 -0.545  0.037  0.045  0.032 -0.002  1.008]
+t: 199	 action: [-0.144 -0.688 -0.088  0.042  0.017  0.002  1.044]
+t: 200	 action: [-0.126 -0.474 -0.104  0.025  0.023 -0.006  1.008]
+t: 201	 action: [-0.156 -0.58  -0.227  0.023  0.002  0.003  1.032]
+[07-31 01:53:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8972
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=202: Selected seed 195 with value = 0.8972
+t: 202	 action: [-0.172 -0.098 -0.548 -0.009 -0.037  0.022  1.151]
+t: 203	 action: [-0.226 -0.099 -0.564 -0.017 -0.033  0.022  1.055]
+t: 204	 action: [-0.168 -0.018 -0.373 -0.009 -0.025  0.011  1.133]
+t: 205	 action: [-1.701e-01 -8.919e-02 -2.478e-01 -1.475e-02 -3.911e-03  9.428e-04 -1.016e+00]
+t: 206	 action: [-0.154  0.035 -0.154 -0.023 -0.002  0.007 -1.129]
+t: 207	 action: [-0.026  0.045  0.033 -0.03   0.005  0.012 -1.112]
+t: 208	 action: [ 3.488e-02  2.409e-02  1.876e-01 -1.907e-02  2.714e-02  9.073e-04 -1.131e+00]
+t: 209	 action: [ 0.107  0.041  0.306 -0.023  0.04  -0.009 -1.053]
+t: 210	 action: [ 0.201 -0.004  0.46   0.013  0.068  0.01  -1.069]
+t: 211	 action: [ 0.208 -0.07   0.446  0.016  0.073  0.008 -1.051]
+t: 212	 action: [ 0.221 -0.017  0.419  0.026  0.073  0.008 -1.086]
+t: 213	 action: [ 0.203 -0.087  0.353  0.022  0.08   0.002 -1.037]
+t: 214	 action: [ 0.09  -0.047  0.324  0.029  0.074  0.002 -1.074]
+t: 215	 action: [ 0.075 -0.077  0.278  0.029  0.074  0.004 -1.066]
+t: 216	 action: [ 5.768e-02 -3.938e-02  2.197e-01  2.636e-02  7.233e-02 -8.202e-04 -1.079e+00]
+t: 217	 action: [ 7.996e-02 -8.471e-02  2.169e-01  2.903e-02  7.434e-02 -9.678e-04 -1.060e+00]
+[07-31 01:53:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7434
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7434
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7434
+t=218: Selected seed 195 with value = 0.7434
+t: 218	 action: [ 8.327e-02  1.658e-01 -3.175e-01  7.828e-04 -8.060e-03  1.534e-02 -1.010e+00]
+t: 219	 action: [ 1.128e-01  2.083e-01 -2.449e-01  3.801e-06 -7.620e-03  8.383e-03 -9.950e-01]
+t: 220	 action: [ 0.098  0.221 -0.284 -0.001 -0.009  0.01  -1.019]
+t: 221	 action: [ 0.135  0.187 -0.136 -0.002 -0.01   0.002 -1.015]
+t: 222	 action: [ 4.116e-02  3.422e-01 -1.289e-01  8.840e-05 -9.147e-03  7.125e-03 -1.032e+00]
+t: 223	 action: [ 0.044  0.369  0.042  0.004 -0.013  0.004 -1.048]
+t: 224	 action: [ 7.358e-02  3.049e-01  5.973e-02 -8.378e-03 -1.280e-02 -9.416e-04 -1.025e+00]
+t: 225	 action: [ 1.189e-01  2.270e-01  2.119e-01 -6.447e-04 -1.218e-02 -6.241e-03 -1.046e+00]
+t: 226	 action: [ 0.151  0.116  0.214 -0.003 -0.013  0.003 -1.045]
+t: 227	 action: [ 0.134  0.064  0.255  0.002 -0.007 -0.014 -1.038]
+t: 228	 action: [ 1.418e-01  4.824e-02  2.833e-01 -1.791e-03 -1.641e-02  5.680e-04 -1.038e+00]
+t: 229	 action: [ 0.119  0.025  0.262  0.005 -0.002 -0.015 -1.028]
+t: 230	 action: [ 5.117e-02  1.038e-02  2.595e-01  3.802e-04 -8.504e-03 -7.253e-03 -1.047e+00]
+t: 231	 action: [-0.019  0.052  0.242  0.01  -0.011 -0.018 -1.053]
+t: 232	 action: [ 0.002  0.011  0.179 -0.001 -0.009 -0.01  -1.037]
+t: 233	 action: [-0.031  0.031  0.131  0.01  -0.009 -0.017 -1.054]
+[07-31 01:53:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7115
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7115
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7115
+t=234: Selected seed 195 with value = 0.7115
+t: 234	 action: [ 0.023  0.596 -0.3    0.007 -0.011  0.031 -1.023]
+t: 235	 action: [ 0.025  0.608 -0.275  0.009 -0.003  0.021 -1.012]
+t: 236	 action: [ 0.006  0.541 -0.288  0.002 -0.005  0.029 -1.03 ]
+t: 237	 action: [ 0.021  0.466 -0.238  0.004 -0.001  0.014 -1.017]
+t: 238	 action: [-0.039  0.576 -0.209  0.002 -0.003  0.032 -1.036]
+t: 239	 action: [-0.032  0.586 -0.079  0.012 -0.004  0.019 -1.043]
+t: 240	 action: [-0.051  0.421  0.022 -0.009 -0.001  0.014 -1.04 ]
+t: 241	 action: [-1.078e-02  3.219e-01  2.122e-01 -2.302e-05 -3.273e-03  3.427e-03 -1.045e+00]
+t: 242	 action: [ 9.567e-02  7.390e-02  3.095e-01 -1.058e-02 -9.759e-03 -8.276e-04 -1.032e+00]
+t: 243	 action: [ 1.118e-01  1.940e-03  4.786e-01  2.471e-03 -5.131e-04 -1.397e-02 -1.038e+00]
+t: 244	 action: [ 0.058 -0.024  0.523 -0.004 -0.011 -0.003 -1.034]
+t: 245	 action: [ 0.091 -0.087  0.528  0.011 -0.002 -0.017 -1.029]
+t: 246	 action: [ 0.002 -0.076  0.514  0.017 -0.01  -0.012 -1.038]
+t: 247	 action: [-0.085 -0.09   0.463  0.027 -0.012 -0.024 -1.043]
+t: 248	 action: [-0.163 -0.176  0.354  0.026 -0.014 -0.015 -1.04 ]
+t: 249	 action: [-0.21  -0.159  0.225  0.029 -0.014 -0.024 -1.045]
+[07-31 01:53:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5575
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.5575
+Query 1/1: Action query time = 0.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5575
+t=250: Selected seed 195 with value = 0.5575
+t: 250	 action: [ 1.034e-01  5.630e-01 -2.628e-01  3.547e-04  7.744e-03  2.496e-02 -1.013e+00]
+t: 251	 action: [ 0.137  0.531 -0.26  -0.006  0.023  0.018 -1.024]
+t: 252	 action: [ 0.108  0.333 -0.179 -0.004  0.022  0.026 -1.02 ]
+t: 253	 action: [ 0.124  0.242 -0.059 -0.008  0.032  0.013 -1.023]
+t: 254	 action: [ 6.864e-02  2.729e-01 -2.188e-02  2.091e-04  1.882e-02  1.348e-02 -1.007e+00]
+t: 255	 action: [ 0.02   0.227  0.112 -0.005  0.015  0.01  -1.047]
+t: 256	 action: [ 0.011  0.068  0.276 -0.003  0.028  0.005 -1.017]
+t: 257	 action: [ 8.899e-03  4.622e-02  4.676e-01 -7.832e-03  1.763e-02  7.693e-04 -1.050e+00]
+t: 258	 action: [ 0.03  -0.037  0.558  0.014  0.002  0.004 -1.025]
+t: 259	 action: [-0.092 -0.105  0.578  0.027  0.007 -0.004 -1.044]
+t: 260	 action: [-0.129 -0.047  0.478  0.016 -0.009  0.005 -1.039]
+t: 261	 action: [-0.248 -0.184  0.428  0.026 -0.007 -0.003 -1.035]
+t: 262	 action: [-0.403 -0.135  0.315  0.038 -0.017  0.002 -1.022]
+t: 263	 action: [-0.566 -0.205  0.193  0.011 -0.037 -0.006 -1.052]
+t: 264	 action: [-6.891e-01 -1.783e-01  1.568e-01  3.019e-02 -2.926e-02  7.620e-04 -1.020e+00]
+t: 265	 action: [-0.726 -0.285  0.05   0.003 -0.041 -0.002 -1.047]
+[07-31 01:53:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3696
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.3696
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3696
+t=266: Selected seed 195 with value = 0.3696
+t: 266	 action: [ 1.502e-01  2.340e-01 -3.679e-02 -6.755e-03  2.408e-02 -9.399e-04 -1.024e+00]
+t: 267	 action: [ 0.132  0.272  0.006 -0.014  0.016 -0.013 -1.046]
+t: 268	 action: [ 0.117  0.103  0.116 -0.007  0.022 -0.004 -1.026]
+t: 269	 action: [ 0.075  0.131  0.063 -0.014  0.012 -0.019 -1.056]
+t: 270	 action: [-0.038  0.148  0.04  -0.004  0.02  -0.002 -1.017]
+t: 271	 action: [-0.025  0.129  0.014 -0.009  0.01  -0.019 -1.055]
+t: 272	 action: [-0.148  0.071 -0.061 -0.006  0.012 -0.005 -1.029]
+t: 273	 action: [-0.083  0.072 -0.033 -0.008  0.009 -0.025 -1.061]
+t: 274	 action: [-0.216 -0.036 -0.275  0.007 -0.014  0.006 -1.029]
+t: 275	 action: [-0.291 -0.072 -0.439 -0.002 -0.013 -0.002 -1.055]
+t: 276	 action: [-0.356 -0.046 -0.459  0.003 -0.024  0.006 -1.031]
+t: 277	 action: [-0.326 -0.091 -0.593 -0.009 -0.024 -0.006 -1.055]
+t: 278	 action: [-5.442e-01 -4.444e-02 -6.164e-01 -7.358e-04 -4.120e-02  2.538e-03 -1.025e+00]
+t: 279	 action: [-0.405 -0.026 -0.586 -0.012 -0.052 -0.011 -1.058]
+t: 280	 action: [-4.302e-01 -6.156e-02 -7.024e-01 -1.400e-03 -5.396e-02  3.359e-04 -1.027e+00]
+t: 281	 action: [-0.295 -0.052 -0.641 -0.017 -0.057 -0.014 -1.059]
+[07-31 01:53:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4748
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.4748
+Query 1/1: Action query time = 1.000 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4748
+t=282: Selected seed 195 with value = 0.4748
+t: 282	 action: [ 0.254  0.549 -0.413 -0.005 -0.007  0.02  -1.06 ]
+t: 283	 action: [ 2.796e-01  5.400e-01 -3.648e-01 -5.315e-03  5.789e-04  7.233e-03 -1.034e+00]
+t: 284	 action: [ 0.278  0.412 -0.348 -0.005 -0.006  0.015 -1.057]
+t: 285	 action: [ 2.854e-01  3.857e-01 -2.885e-01 -1.938e-03  7.039e-04  3.553e-03 -1.029e+00]
+t: 286	 action: [ 0.237  0.341 -0.208  0.003 -0.004  0.012 -1.044]
+t: 287	 action: [ 1.695e-01  2.892e-01 -1.473e-01 -1.619e-04 -6.568e-03  1.767e-03 -1.045e+00]
+t: 288	 action: [ 1.996e-01  1.696e-01 -1.063e-01 -3.381e-04 -6.347e-03  5.293e-03 -1.046e+00]
+t: 289	 action: [ 0.17   0.151 -0.082  0.005 -0.005 -0.005 -1.045]
+t: 290	 action: [ 0.149 -0.05   0.009  0.032 -0.02   0.005 -1.076]
+t: 291	 action: [ 0.086 -0.063 -0.163  0.026 -0.025 -0.002 -1.04 ]
+t: 292	 action: [ 0.092 -0.046 -0.138  0.026 -0.029  0.005 -1.077]
+t: 293	 action: [ 0.035 -0.07  -0.319  0.019 -0.037 -0.002 -1.039]
+t: 294	 action: [-0.087 -0.034 -0.26   0.023 -0.042  0.006 -1.067]
+t: 295	 action: [-0.163 -0.033 -0.387  0.015 -0.057 -0.003 -1.041]
+t: 296	 action: [-0.192 -0.053 -0.434  0.009 -0.047  0.003 -1.065]
+t: 297	 action: [-0.211 -0.04  -0.476  0.006 -0.061 -0.003 -1.045]
+[07-31 01:53:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6393
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.6393
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 80
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 60%|██████    | 30/50 [16:09<10:31, 31.57s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 31...
+Query 1/1: Action query time = 0.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6393
+t=298: Selected seed 195 with value = 0.6393
+t: 298	 action: [ 1.101e-02  3.716e-02 -5.556e-01  3.286e-03 -1.153e-04  2.576e-02 -1.033e+00]
+t: 299	 action: [ 0.002  0.035 -0.48   0.002  0.006  0.016 -1.024]
+t: 300	 action: [-0.013  0.054 -0.462  0.005  0.003  0.011 -1.043]
+t: 301	 action: [-0.017  0.047 -0.356  0.005  0.007  0.007 -1.032]
+t: 302	 action: [-0.056  0.097 -0.302 -0.002  0.013  0.019 -1.036]
+t: 303	 action: [-0.028  0.136 -0.192 -0.003  0.003  0.015 -1.06 ]
+t: 304	 action: [-1.480e-02  3.115e-02 -3.569e-02 -4.586e-03  1.345e-02  2.985e-04 -1.039e+00]
+t: 305	 action: [ 8.966e-03  6.046e-02  3.532e-02 -6.985e-03 -8.965e-04  7.548e-04 -1.045e+00]
+t: 306	 action: [ 0.136 -0.119  0.018  0.007 -0.013  0.008 -1.074]
+t: 307	 action: [ 8.688e-02 -1.149e-01  4.528e-02  3.648e-03 -1.215e-02 -8.658e-04 -1.046e+00]
+t: 308	 action: [ 1.583e-01 -1.655e-01 -1.046e-03  1.709e-03 -2.103e-02  5.567e-03 -1.088e+00]
+t: 309	 action: [ 9.020e-02 -1.430e-01 -8.231e-02 -3.239e-04 -1.318e-02 -5.212e-03 -1.046e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=80--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=80--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 80
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 31...
+[07-31 01:53:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3746
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3746
+Query 1/1: Action query time = 1.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3746
+t=10: Selected seed 195 with value = 0.3746
+t: 10	 action: [ 0.314 -0.08   0.098  0.002  0.023  0.007 -1.016]
+t: 11	 action: [ 4.032e-01 -5.163e-02  1.404e-01 -1.537e-04  2.988e-02  6.924e-03 -1.012e+00]
+t: 12	 action: [ 6.154e-01 -1.072e-01  1.628e-01 -7.810e-04  2.186e-02  1.183e-02 -1.021e+00]
+t: 13	 action: [ 7.589e-01 -9.374e-02  2.048e-01 -8.088e-04  2.913e-02  9.257e-03 -1.020e+00]
+t: 14	 action: [ 0.854 -0.093  0.229  0.002  0.023  0.013 -1.03 ]
+t: 15	 action: [ 0.882 -0.14   0.225  0.004  0.016  0.012 -1.036]
+t: 16	 action: [ 0.943 -0.13   0.223  0.002  0.019  0.016 -1.03 ]
+t: 17	 action: [ 0.937 -0.147  0.204  0.007  0.015  0.012 -1.045]
+t: 18	 action: [ 0.911 -0.208  0.188  0.005 -0.007  0.012 -1.028]
+t: 19	 action: [ 0.922 -0.2    0.205  0.008  0.007  0.009 -1.021]
+t: 20	 action: [ 0.927 -0.231  0.142  0.006 -0.009  0.009 -1.024]
+t: 21	 action: [ 0.932 -0.218  0.153  0.011  0.008  0.008 -1.012]
+t: 22	 action: [ 0.95  -0.203  0.137  0.005 -0.008  0.01  -1.02 ]
+t: 23	 action: [ 0.947 -0.27   0.098  0.012  0.001  0.01  -1.038]
+t: 24	 action: [ 0.949 -0.176  0.08   0.002 -0.009  0.004 -1.019]
+t: 25	 action: [ 0.949 -0.241  0.037  0.014  0.001  0.009 -1.04 ]
+[07-31 01:53:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4473
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=26: Selected seed 195 with value = 0.4473
+t: 26	 action: [ 0.899 -0.283  0.08   0.005 -0.018  0.003 -1.024]
+t: 27	 action: [ 0.919 -0.254  0.076  0.009 -0.012 -0.007 -1.02 ]
+t: 28	 action: [ 0.913 -0.311  0.017  0.007 -0.022  0.005 -1.032]
+t: 29	 action: [ 0.943 -0.281  0.037  0.017 -0.011 -0.003 -1.028]
+t: 30	 action: [ 0.976 -0.267 -0.059  0.006 -0.026  0.004 -1.007]
+t: 31	 action: [ 9.468e-01 -2.516e-01 -5.580e-02  1.565e-02 -3.098e-02 -6.591e-04 -1.040e+00]
+t: 32	 action: [ 0.939 -0.199 -0.223  0.004 -0.035  0.004 -1.02 ]
+t: 33	 action: [ 0.911 -0.18  -0.257  0.017 -0.038  0.001 -1.042]
+t: 34	 action: [ 0.58  -0.183 -0.363  0.013 -0.059  0.009 -1.032]
+t: 35	 action: [ 0.459 -0.111 -0.471  0.02  -0.061  0.004 -1.022]
+t: 36	 action: [ 0.305 -0.103 -0.581  0.012 -0.079  0.013 -1.02 ]
+t: 37	 action: [ 0.154 -0.048 -0.675  0.019 -0.068  0.009 -1.013]
+t: 38	 action: [ 1.138e-01  1.744e-02 -7.482e-01  2.995e-04 -8.898e-02  9.587e-03 -1.024e+00]
+t: 39	 action: [ 0.015 -0.027 -0.742  0.019 -0.071  0.013 -1.026]
+t: 40	 action: [-0.04   0.039 -0.818 -0.002 -0.078  0.016 -1.017]
+t: 41	 action: [-0.039  0.017 -0.806  0.016 -0.055  0.019 -1.031]
+[07-31 01:53:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4923
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4923
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4923
+t=42: Selected seed 195 with value = 0.4923
+t: 42	 action: [-0.003  0.135 -0.871  0.029 -0.05   0.02  -1.006]
+t: 43	 action: [-0.006  0.185 -0.92   0.018 -0.059  0.021 -1.02 ]
+t: 44	 action: [-0.024  0.366 -0.797  0.017 -0.041  0.024 -1.003]
+t: 45	 action: [-0.019  0.436 -0.823  0.014 -0.045  0.022 -1.022]
+t: 46	 action: [-0.068  0.493 -0.744  0.007 -0.048  0.024 -0.998]
+t: 47	 action: [-0.062  0.519 -0.707  0.016 -0.046  0.024 -1.032]
+t: 48	 action: [-0.086  0.629 -0.654  0.004 -0.035  0.028 -0.993]
+t: 49	 action: [-0.072  0.668 -0.593  0.013 -0.028  0.024 -1.036]
+t: 50	 action: [-0.075  0.798 -0.56   0.006 -0.034  0.022 -1.007]
+t: 51	 action: [-0.051  0.781 -0.621  0.005 -0.04   0.019 -1.02 ]
+t: 52	 action: [-0.075  0.835 -0.547  0.005 -0.028  0.024 -1.007]
+t: 53	 action: [-0.041  0.786 -0.58   0.005 -0.027  0.02  -1.021]
+t: 54	 action: [-0.154  0.832 -0.543 -0.002 -0.035  0.026 -1.001]
+t: 55	 action: [-0.14   0.816 -0.557  0.003 -0.034  0.02  -1.032]
+t: 56	 action: [-0.153  0.841 -0.552 -0.002 -0.026  0.027 -0.998]
+t: 57	 action: [-0.127  0.806 -0.545  0.003 -0.022  0.022 -1.04 ]
+[07-31 01:53:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4942
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.4942
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4942
+t=58: Selected seed 195 with value = 0.4942
+t: 58	 action: [-0.06   0.85  -0.556  0.007 -0.027  0.017 -1.014]
+t: 59	 action: [-0.013  0.826 -0.573  0.012 -0.033  0.016 -1.009]
+t: 60	 action: [-0.073  0.891 -0.55   0.007 -0.026  0.02  -1.002]
+t: 61	 action: [-0.021  0.844 -0.55   0.015 -0.03   0.018 -1.011]
+t: 62	 action: [-0.067  0.852 -0.529  0.004 -0.019  0.016 -1.005]
+t: 63	 action: [-0.031  0.851 -0.525  0.017 -0.026  0.018 -1.027]
+t: 64	 action: [-0.077  0.877 -0.541  0.003 -0.016  0.025 -0.995]
+t: 65	 action: [-0.024  0.869 -0.524  0.02  -0.018  0.021 -1.035]
+t: 66	 action: [ 0.009  0.876 -0.54   0.01  -0.03   0.012 -1.022]
+t: 67	 action: [ 0.031  0.831 -0.58   0.015 -0.033  0.014 -1.016]
+t: 68	 action: [ 0.014  0.875 -0.551  0.009 -0.025  0.016 -1.019]
+t: 69	 action: [ 0.035  0.805 -0.574  0.015 -0.018  0.016 -1.018]
+t: 70	 action: [-0.022  0.814 -0.558  0.008 -0.017  0.016 -1.016]
+t: 71	 action: [ 0.009  0.801 -0.53   0.021 -0.013  0.018 -1.031]
+t: 72	 action: [-1.713e-04  6.971e-01 -5.454e-01  6.689e-03 -5.806e-03  1.548e-02 -1.009e+00]
+t: 73	 action: [ 2.265e-02  6.304e-01 -4.206e-01  2.090e-02 -7.710e-04  1.888e-02 -1.041e+00]
+[07-31 01:53:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6216
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6216
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6216
+t=74: Selected seed 195 with value = 0.6216
+t: 74	 action: [ 0.01   0.106 -0.18   0.016 -0.006  0.006 -1.042]
+t: 75	 action: [ 1.590e-02  1.055e-01 -1.150e-01  2.864e-02  7.748e-04  6.947e-03 -1.039e+00]
+t: 76	 action: [-0.042  0.022 -0.006  0.032  0.003  0.004 -1.03 ]
+t: 77	 action: [-0.024 -0.052  0.004  0.036  0.005  0.005 -1.038]
+t: 78	 action: [-0.115 -0.093  0.083  0.044  0.016  0.008 -1.03 ]
+t: 79	 action: [-0.184 -0.127  0.04   0.043  0.011  0.009 -1.047]
+t: 80	 action: [-0.221 -0.112  0.174  0.054  0.026  0.003 -1.025]
+t: 81	 action: [-0.27  -0.192  0.109  0.051  0.013  0.002 -1.051]
+t: 82	 action: [-0.12  -0.321 -0.057  0.047  0.059  0.027 -0.994]
+t: 83	 action: [-0.142 -0.279 -0.116  0.031  0.041  0.033 -1.114]
+t: 84	 action: [-0.241 -0.189 -0.213  0.025  0.049  0.025 -1.167]
+t: 85	 action: [-0.236 -0.196 -0.316  0.019  0.023  0.03  -1.12 ]
+t: 86	 action: [-0.267 -0.026 -0.312 -0.003  0.042  0.039 -0.969]
+t: 87	 action: [-0.296 -0.086 -0.328  0.007  0.012  0.034  1.173]
+t: 88	 action: [-0.295 -0.024 -0.347 -0.012  0.043  0.032  1.079]
+t: 89	 action: [-0.173 -0.003 -0.352 -0.01   0.017  0.033  1.149]
+[07-31 01:53:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6246
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6246
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6246
+t=90: Selected seed 195 with value = 0.6246
+t: 90	 action: [ 0.027  0.053 -0.313 -0.007  0.006  0.008  0.975]
+t: 91	 action: [ 0.033  0.049 -0.036 -0.001  0.011  0.004  0.924]
+t: 92	 action: [ 0.033  0.023  0.058 -0.003  0.005  0.003 -0.947]
+t: 93	 action: [ 0.05  -0.007  0.199  0.007  0.01  -0.01  -1.034]
+t: 94	 action: [-0.016 -0.204  0.269  0.014  0.029  0.004 -1.057]
+t: 95	 action: [-0.077 -0.327  0.241  0.021  0.014  0.009 -1.05 ]
+t: 96	 action: [-0.052 -0.276  0.437  0.034  0.033 -0.002 -1.029]
+t: 97	 action: [-0.078 -0.389  0.51   0.038  0.03  -0.015 -1.061]
+t: 98	 action: [-0.133 -0.547  0.141  0.052  0.041  0.009 -1.137]
+t: 99	 action: [-0.206 -0.624  0.081  0.038  0.037  0.014 -1.108]
+t: 100	 action: [-0.237 -0.477 -0.052  0.042  0.031  0.009  0.991]
+t: 101	 action: [-0.2   -0.587 -0.073  0.028  0.03   0.016  1.056]
+t: 102	 action: [-0.192 -0.277 -0.22   0.004  0.037  0.012  1.044]
+t: 103	 action: [-0.198 -0.427 -0.271  0.011  0.009  0.014  1.17 ]
+t: 104	 action: [-0.266 -0.171 -0.372 -0.01   0.026  0.013  1.011]
+t: 105	 action: [-0.218 -0.271 -0.391 -0.002  0.004  0.021  1.06 ]
+[07-31 01:53:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7783
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7783
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7783
+t=106: Selected seed 195 with value = 0.7783
+t: 106	 action: [-0.114 -0.128 -0.596  0.008  0.031  0.005  1.153]
+t: 107	 action: [-0.114 -0.19  -0.373  0.018  0.029 -0.008  1.04 ]
+t: 108	 action: [-1.025e-01 -1.316e-01 -3.999e-01  2.698e-04  3.157e-02  3.501e-03  1.159e+00]
+t: 109	 action: [-0.092 -0.192 -0.125  0.011  0.036 -0.01  -1.024]
+t: 110	 action: [-1.553e-01 -6.302e-02 -8.778e-02 -2.365e-03  3.236e-02  4.936e-04 -1.128e+00]
+t: 111	 action: [-0.072 -0.024  0.044 -0.006  0.023 -0.003 -1.12 ]
+t: 112	 action: [-0.063 -0.017  0.156 -0.005  0.033 -0.004 -1.116]
+t: 113	 action: [-0.021  0.006  0.242 -0.003  0.03  -0.016 -1.058]
+t: 114	 action: [ 0.085 -0.024  0.306  0.008  0.026 -0.005 -1.046]
+t: 115	 action: [ 0.036 -0.066  0.295  0.011  0.028 -0.015 -1.046]
+t: 116	 action: [ 2.618e-02 -1.966e-02  2.533e-01  9.613e-03  2.503e-02 -1.107e-04 -1.056e+00]
+t: 117	 action: [ 0.012 -0.061  0.235  0.012  0.032 -0.011 -1.037]
+t: 118	 action: [-0.056 -0.029  0.172  0.007  0.023 -0.007 -1.058]
+t: 119	 action: [-0.086 -0.027  0.14   0.016  0.012 -0.016 -1.053]
+t: 120	 action: [-0.112 -0.011  0.104  0.004  0.021 -0.007 -1.06 ]
+t: 121	 action: [-0.091 -0.028  0.067  0.016  0.013 -0.011 -1.047]
+[07-31 01:53:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7985
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7985
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7985
+t=122: Selected seed 195 with value = 0.7985
+t: 122	 action: [ 0.06  -0.073 -0.364 -0.006  0.036  0.004  1.141]
+t: 123	 action: [ 0.084 -0.108 -0.148 -0.014  0.025 -0.017  0.988]
+t: 124	 action: [ 0.102 -0.05  -0.1   -0.012  0.025  0.001 -0.974]
+t: 125	 action: [ 0.175 -0.088  0.039 -0.016  0.012 -0.014 -1.057]
+t: 126	 action: [ 4.306e-02 -1.631e-05  2.572e-03 -1.330e-02  3.220e-02  7.481e-04 -1.129e+00]
+t: 127	 action: [ 0.037 -0.065  0.102 -0.017  0.016 -0.004 -1.089]
+t: 128	 action: [ 0.039 -0.018  0.139 -0.006  0.024 -0.005 -1.094]
+t: 129	 action: [ 0.002 -0.064  0.174 -0.004  0.008 -0.017 -1.073]
+t: 130	 action: [ 0.06  -0.143  0.131  0.007 -0.003 -0.003 -0.911]
+t: 131	 action: [ 0.045 -0.125  0.11   0.003 -0.007 -0.004 -1.123]
+t: 132	 action: [-2.857e-02 -1.143e-01  6.349e-03  3.484e-03 -1.567e-02  3.879e-04 -1.178e+00]
+t: 133	 action: [-0.079 -0.137 -0.003  0.003 -0.013  0.003 -1.113]
+t: 134	 action: [-0.067 -0.009  0.036 -0.003 -0.015 -0.008 -0.905]
+t: 135	 action: [-0.094 -0.025  0.017  0.002 -0.025 -0.007  1.205]
+t: 136	 action: [-0.088  0.028 -0.042 -0.007 -0.021 -0.01   1.064]
+t: 137	 action: [-4.261e-02 -8.352e-03 -4.751e-02  8.772e-05 -2.667e-02  3.104e-03  1.182e+00]
+[07-31 01:53:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8224
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.8224
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8224
+t=138: Selected seed 195 with value = 0.8224
+t: 138	 action: [-0.092 -0.124 -0.363 -0.004  0.028  0.014  1.144]
+t: 139	 action: [-0.077 -0.195 -0.197 -0.003  0.012  0.004  1.043]
+t: 140	 action: [-0.07  -0.086 -0.137 -0.007  0.019  0.005  1.14 ]
+t: 141	 action: [-0.028 -0.153 -0.021 -0.007  0.01  -0.004 -1.027]
+t: 142	 action: [-0.027  0.014  0.003 -0.01   0.024  0.003 -1.129]
+t: 143	 action: [-6.000e-04  1.133e-02  1.329e-01 -1.057e-02  8.567e-04  6.839e-03 -1.122e+00]
+t: 144	 action: [ 0.071  0.017  0.229 -0.008  0.02  -0.005 -1.104]
+t: 145	 action: [ 0.064  0.049  0.302 -0.004  0.002 -0.011 -1.057]
+t: 146	 action: [ 0.182  0.009  0.333  0.004  0.006 -0.007 -1.046]
+t: 147	 action: [ 0.166 -0.025  0.33   0.008  0.008 -0.018 -1.056]
+t: 148	 action: [ 0.131  0.013  0.281  0.004  0.003 -0.004 -1.054]
+t: 149	 action: [ 0.113 -0.023  0.259  0.008  0.01  -0.016 -1.05 ]
+t: 150	 action: [ 0.08   0.01   0.258  0.011 -0.002 -0.012 -1.064]
+t: 151	 action: [ 0.003  0.022  0.197  0.014 -0.003 -0.019 -1.059]
+t: 152	 action: [ 0.022  0.013  0.203  0.002 -0.002 -0.013 -1.057]
+t: 153	 action: [-0.016  0.023  0.137  0.012 -0.004 -0.015 -1.043]
+[07-31 01:53:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7414
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7414
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7414
+t=154: Selected seed 195 with value = 0.7414
+t: 154	 action: [ 0.069  0.079 -0.421  0.002  0.006  0.008 -1.018]
+t: 155	 action: [ 0.057  0.055 -0.357 -0.001 -0.004  0.002 -1.03 ]
+t: 156	 action: [ 0.043  0.133 -0.432 -0.007 -0.005  0.004 -1.019]
+t: 157	 action: [ 0.048  0.099 -0.233 -0.008 -0.017 -0.002 -1.018]
+t: 158	 action: [-2.304e-04  2.909e-01 -3.822e-01 -5.265e-03 -6.190e-03  1.833e-03 -1.028e+00]
+t: 159	 action: [-1.941e-03  3.550e-01 -8.353e-02  6.156e-04 -2.851e-02  3.436e-03 -1.063e+00]
+t: 160	 action: [ 0.006  0.281 -0.134 -0.011 -0.019 -0.005 -1.026]
+t: 161	 action: [ 0.026  0.23   0.092 -0.006 -0.033 -0.006 -1.049]
+t: 162	 action: [ 0.138  0.106  0.13  -0.006 -0.025 -0.002 -1.051]
+t: 163	 action: [ 0.157  0.033  0.194 -0.004 -0.029 -0.016 -1.045]
+t: 164	 action: [ 0.102  0.052  0.262 -0.007 -0.035 -0.005 -1.052]
+t: 165	 action: [ 0.117 -0.014  0.291 -0.003 -0.03  -0.019 -1.03 ]
+t: 166	 action: [ 6.595e-02  1.800e-02  2.729e-01 -7.586e-04 -2.744e-02 -1.223e-02 -1.053e+00]
+t: 167	 action: [ 0.014  0.043  0.27   0.008 -0.037 -0.02  -1.052]
+t: 168	 action: [ 0.003  0.009  0.246 -0.002 -0.031 -0.014 -1.051]
+t: 169	 action: [-0.002  0.01   0.189  0.01  -0.035 -0.018 -1.055]
+[07-31 01:53:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7258
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7258
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7258
+t=170: Selected seed 195 with value = 0.7258
+t: 170	 action: [ 0.084  0.047 -0.519  0.009  0.01   0.002 -1.009]
+t: 171	 action: [ 0.07   0.008 -0.378  0.004  0.005 -0.01  -1.033]
+t: 172	 action: [ 4.745e-02  6.236e-02 -4.787e-01 -4.248e-03 -1.039e-03  7.845e-04 -1.014e+00]
+t: 173	 action: [ 0.03   0.029 -0.243 -0.004 -0.003 -0.012 -1.023]
+t: 174	 action: [-2.022e-02  1.589e-01 -3.915e-01 -3.522e-03 -1.480e-04  5.085e-04 -1.020e+00]
+t: 175	 action: [-0.042  0.226 -0.074  0.001 -0.01  -0.006 -1.064]
+t: 176	 action: [-0.065  0.165 -0.078 -0.011 -0.014 -0.005 -1.024]
+t: 177	 action: [-0.05   0.166  0.111 -0.007 -0.019 -0.014 -1.05 ]
+t: 178	 action: [ 0.031  0.058  0.256 -0.007 -0.032 -0.019 -1.04 ]
+t: 179	 action: [ 0.024  0.012  0.303 -0.004 -0.04  -0.025 -1.054]
+t: 180	 action: [ 0.013  0.039  0.318 -0.006 -0.039 -0.019 -1.045]
+t: 181	 action: [ 2.469e-02 -1.481e-02  3.079e-01 -1.247e-04 -3.844e-02 -2.397e-02 -1.039e+00]
+t: 182	 action: [-5.078e-02  1.518e-02  3.255e-01 -5.916e-04 -3.248e-02 -2.418e-02 -1.047e+00]
+t: 183	 action: [-0.089  0.025  0.241  0.008 -0.045 -0.028 -1.051]
+t: 184	 action: [-1.324e-01  1.250e-02  2.237e-01  9.474e-04 -3.274e-02 -2.406e-02 -1.049e+00]
+t: 185	 action: [-0.134  0.008  0.135  0.011 -0.035 -0.024 -1.052]
+[07-31 01:53:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7268
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=186: Selected seed 195 with value = 0.7268
+t: 186	 action: [ 0.069  0.039 -0.551  0.015  0.004 -0.008 -1.007]
+t: 187	 action: [ 0.052 -0.005 -0.424  0.011  0.002 -0.018 -1.031]
+t: 188	 action: [ 0.028  0.04  -0.537 -0.002 -0.005 -0.007 -1.012]
+t: 189	 action: [ 0.019  0.006 -0.293  0.002 -0.004 -0.019 -1.021]
+t: 190	 action: [-5.521e-02  1.000e-01 -4.418e-01  4.079e-04 -8.145e-04 -5.219e-03 -1.012e+00]
+t: 191	 action: [-0.057  0.174 -0.127  0.007 -0.008 -0.015 -1.063]
+t: 192	 action: [-0.106  0.112 -0.122 -0.007 -0.011 -0.009 -1.019]
+t: 193	 action: [-0.083  0.137  0.078 -0.003 -0.014 -0.021 -1.049]
+t: 194	 action: [-0.009  0.047  0.267 -0.005 -0.028 -0.026 -1.036]
+t: 195	 action: [-8.009e-03  8.607e-03  3.239e-01 -3.222e-04 -3.552e-02 -2.772e-02 -1.051e+00]
+t: 196	 action: [-0.029  0.042  0.289 -0.004 -0.038 -0.02  -1.043]
+t: 197	 action: [-0.019 -0.01   0.29   0.003 -0.037 -0.025 -1.039]
+t: 198	 action: [-0.152  0.024  0.292 -0.002 -0.03  -0.026 -1.044]
+t: 199	 action: [-0.185  0.029  0.202  0.008 -0.044 -0.029 -1.051]
+t: 200	 action: [-2.315e-01  2.380e-02  1.712e-01 -2.858e-04 -3.354e-02 -2.247e-02 -1.046e+00]
+t: 201	 action: [-0.22   0.012  0.1    0.01  -0.036 -0.023 -1.051]
+[07-31 01:53:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7972
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7972
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7972
+t=202: Selected seed 195 with value = 0.7972
+t: 202	 action: [ 5.256e-02 -1.083e-03 -5.079e-01  6.618e-03  5.545e-04 -3.091e-02 -1.023e+00]
+t: 203	 action: [ 0.035 -0.034 -0.454  0.009  0.002 -0.034 -1.05 ]
+t: 204	 action: [ 4.831e-03  1.603e-02 -5.252e-01  2.193e-04 -2.529e-03 -2.329e-02 -1.027e+00]
+t: 205	 action: [ 0.009 -0.03  -0.403  0.004  0.002 -0.029 -1.038]
+t: 206	 action: [-0.077  0.063 -0.483 -0.003  0.006 -0.02  -1.021]
+t: 207	 action: [-8.404e-02  6.891e-02 -3.319e-01  8.833e-03  9.956e-04 -2.676e-02 -1.066e+00]
+t: 208	 action: [-0.131  0.066 -0.36  -0.005  0.004 -0.015 -1.028]
+t: 209	 action: [-0.121  0.074 -0.194  0.002 -0.001 -0.026 -1.054]
+t: 210	 action: [-0.076  0.035 -0.105 -0.002 -0.006 -0.013 -1.015]
+t: 211	 action: [-0.065  0.014 -0.063 -0.006 -0.008 -0.014 -1.112]
+t: 212	 action: [-0.124  0.041 -0.187 -0.003 -0.015 -0.003 -1.166]
+t: 213	 action: [-0.179 -0.008 -0.109 -0.007 -0.011 -0.005 -1.133]
+t: 214	 action: [-0.214  0.049 -0.142 -0.01  -0.01  -0.012 -1.015]
+t: 215	 action: [-0.212  0.042 -0.081 -0.005 -0.017 -0.011  1.185]
+t: 216	 action: [-0.193  0.047 -0.155 -0.014 -0.013 -0.01   1.088]
+t: 217	 action: [-8.774e-02  4.387e-02 -6.661e-02 -7.449e-03 -1.620e-02  7.228e-04  1.189e+00]
+[07-31 01:53:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.956 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7472
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7472
+Query 1/1: Action query time = 0.956 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7472
+t=218: Selected seed 195 with value = 0.7472
+t: 218	 action: [-0.126 -0.064 -0.491 -0.007  0.032 -0.001  0.999]
+t: 219	 action: [-0.047 -0.094 -0.262 -0.009  0.031 -0.004  1.044]
+t: 220	 action: [-0.095 -0.052 -0.211 -0.013  0.026  0.001  0.998]
+t: 221	 action: [-0.02  -0.068 -0.044 -0.015  0.022  0.007  1.042]
+t: 222	 action: [-0.064 -0.043 -0.004 -0.024  0.038 -0.007  1.016]
+t: 223	 action: [ 0.025 -0.042  0.098 -0.014  0.033 -0.003  1.045]
+t: 224	 action: [-0.008 -0.047  0.209 -0.022  0.04  -0.007  1.015]
+t: 225	 action: [ 3.355e-02 -3.624e-02  3.058e-01 -1.244e-02  2.982e-02  4.715e-04  1.049e+00]
+t: 226	 action: [-0.074 -0.217  0.121  0.001  0.045  0.002  1.011]
+t: 227	 action: [-0.019 -0.262  0.143  0.005  0.025 -0.001  1.039]
+t: 228	 action: [-0.043 -0.196  0.059 -0.004  0.039  0.006  0.998]
+t: 229	 action: [ 7.090e-03 -2.405e-01  3.937e-02  1.405e-06  9.687e-03  4.504e-03  1.031e+00]
+t: 230	 action: [-0.113 -0.075  0.048 -0.014  0.036 -0.006  1.017]
+t: 231	 action: [-0.046 -0.127 -0.017  0.002  0.006  0.002  1.05 ]
+t: 232	 action: [-0.096 -0.029 -0.062 -0.022  0.025 -0.003  1.015]
+t: 233	 action: [-0.03  -0.071 -0.1   -0.007 -0.009  0.005  1.053]
+[07-31 01:53:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7803
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7803
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7803
+t=234: Selected seed 195 with value = 0.7803
+t: 234	 action: [-8.889e-02 -3.176e-03 -3.130e-02 -1.742e-02  4.148e-04  3.246e-03  1.002e+00]
+t: 235	 action: [-0.052 -0.013  0.042 -0.022  0.002 -0.01   1.016]
+t: 236	 action: [-0.097  0.008  0.166 -0.005  0.003 -0.012  1.042]
+t: 237	 action: [-0.047  0.01   0.353 -0.009  0.019 -0.047 -0.268]
+t: 238	 action: [-0.013  0.057  0.401 -0.024  0.024  0.001  0.855]
+t: 239	 action: [ 0.053  0.051  0.645 -0.019  0.03  -0.008  0.504]
+t: 240	 action: [ 1.048e-01  3.015e-02  6.786e-01 -3.867e-04  3.387e-02 -1.670e-02 -1.069e+00]
+t: 241	 action: [ 1.468e-01  2.557e-02  7.644e-01 -1.710e-04  5.375e-02 -5.349e-02 -1.017e+00]
+t: 242	 action: [ 7.028e-02 -4.729e-02  4.978e-01  2.954e-02  4.135e-02  2.801e-04  1.060e+00]
+t: 243	 action: [ 0.056 -0.102  0.462  0.034  0.063 -0.021 -0.958]
+t: 244	 action: [ 0.126 -0.115  0.397  0.039  0.041 -0.004 -0.968]
+t: 245	 action: [ 0.173 -0.109  0.347  0.032  0.065 -0.02  -1.05 ]
+t: 246	 action: [ 0.045 -0.146  0.289  0.028  0.037 -0.007 -1.13 ]
+t: 247	 action: [-0.028 -0.089  0.25   0.029  0.027 -0.026 -1.077]
+t: 248	 action: [ 4.916e-04 -4.384e-02  2.040e-01  2.111e-02  3.650e-02 -1.689e-02 -1.077e+00]
+t: 249	 action: [ 0.006 -0.063  0.127  0.026  0.028 -0.022 -1.077]
+[07-31 01:53:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9327
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9327
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9327
+t=250: Selected seed 195 with value = 0.9327
+t: 250	 action: [-0.219 -0.338 -0.441  0.015  0.02   0.013  0.971]
+t: 251	 action: [-0.183 -0.374 -0.466  0.013  0.004  0.016  1.052]
+t: 252	 action: [-1.807e-01 -2.094e-01 -4.570e-01 -1.665e-04  2.146e-02  1.897e-02  9.833e-01]
+t: 253	 action: [-0.089 -0.223 -0.448 -0.001  0.016  0.007  0.971]
+t: 254	 action: [-0.169 -0.017 -0.363 -0.021  0.039  0.014  0.999]
+t: 255	 action: [-0.025 -0.013 -0.237 -0.026  0.042  0.018  1.046]
+t: 256	 action: [-0.075  0.047 -0.112 -0.034  0.049  0.016  0.997]
+t: 257	 action: [ 0.024  0.044 -0.031 -0.031  0.056  0.013 -1.016]
+t: 258	 action: [ 0.07   0.056  0.115 -0.013  0.028  0.012  1.147]
+t: 259	 action: [ 0.056  0.023  0.163 -0.013  0.025  0.004 -1.028]
+t: 260	 action: [ 0.07   0.032  0.225 -0.006  0.019  0.011 -1.059]
+t: 261	 action: [ 0.047  0.013  0.26  -0.005  0.017  0.004 -1.036]
+t: 262	 action: [ 4.091e-02  3.407e-03  2.868e-01  1.707e-04  1.861e-02  1.607e-03 -1.125e+00]
+t: 263	 action: [ 0.008  0.026  0.272  0.006  0.01  -0.006 -1.047]
+t: 264	 action: [ 7.549e-03  6.719e-04  2.980e-01 -1.486e-03  1.074e-02 -1.984e-04 -1.049e+00]
+t: 265	 action: [-6.786e-03  1.685e-02  2.680e-01  8.300e-03  5.006e-03 -7.533e-04 -1.044e+00]
+[07-31 01:53:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9566
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9566
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=266: Selected seed 195 with value = 0.9566
+t: 266	 action: [-0.074 -0.077 -0.337 -0.001  0.024  0.033  1.072]
+t: 267	 action: [-7.647e-02 -1.574e-01 -2.684e-01 -1.036e-03  2.839e-03  1.986e-02  1.037e+00]
+t: 268	 action: [-0.098 -0.008 -0.149 -0.006  0.017  0.028  1.128]
+t: 269	 action: [-0.054 -0.071 -0.076 -0.004  0.004  0.015 -0.884]
+t: 270	 action: [-0.094  0.094 -0.009 -0.011  0.022  0.012 -0.966]
+t: 271	 action: [-0.01   0.11   0.136 -0.015  0.005  0.015 -1.127]
+t: 272	 action: [ 0.01   0.092  0.222 -0.008  0.021  0.002 -1.109]
+t: 273	 action: [ 5.486e-02  1.111e-01  3.322e-01 -8.237e-03  6.481e-03 -1.154e-04 -1.053e+00]
+t: 274	 action: [ 0.193  0.071  0.346 -0.006 -0.009  0.009 -1.047]
+t: 275	 action: [ 0.204  0.045  0.35  -0.006 -0.016  0.006 -1.038]
+t: 276	 action: [ 0.173  0.062  0.356 -0.004 -0.023  0.009 -1.045]
+t: 277	 action: [ 1.791e-01  3.889e-02  3.297e-01 -2.533e-04 -2.730e-02  4.916e-03 -1.031e+00]
+t: 278	 action: [ 9.348e-02  5.096e-02  3.132e-01  6.429e-03 -2.144e-02  8.908e-04 -1.055e+00]
+t: 279	 action: [ 0.037  0.066  0.281  0.012 -0.036  0.004 -1.04 ]
+t: 280	 action: [ 0.064  0.052  0.301  0.004 -0.027 -0.002 -1.049]
+t: 281	 action: [ 0.021  0.062  0.259  0.013 -0.041  0.004 -1.045]
+[07-31 01:53:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7334
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7334
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7334
+t=282: Selected seed 195 with value = 0.7334
+t: 282	 action: [ 1.561e-02  1.918e-01 -2.303e-01 -1.456e-04 -6.463e-03  4.316e-03 -1.028e+00]
+t: 283	 action: [-4.331e-03  1.963e-01 -2.348e-01  5.931e-04 -7.418e-03 -2.112e-03 -1.015e+00]
+t: 284	 action: [-0.032  0.218 -0.165 -0.005 -0.009  0.003 -1.023]
+t: 285	 action: [-0.034  0.169 -0.108 -0.004 -0.009 -0.008 -1.018]
+t: 286	 action: [-1.040e-01  3.265e-01 -8.110e-02 -1.655e-03 -4.812e-03  1.363e-04 -1.033e+00]
+t: 287	 action: [-0.098  0.323  0.085  0.004 -0.015 -0.007 -1.048]
+t: 288	 action: [-0.115  0.33   0.119 -0.007 -0.015 -0.004 -1.025]
+t: 289	 action: [-8.836e-02  2.495e-01  2.780e-01 -7.446e-05 -1.640e-02 -1.620e-02 -1.042e+00]
+t: 290	 action: [ 2.573e-02  1.443e-01  2.257e-01  6.155e-03 -1.364e-02 -2.543e-04 -1.049e+00]
+t: 291	 action: [ 0.027  0.072  0.218  0.009 -0.015 -0.015 -1.036]
+t: 292	 action: [ 0.019  0.091  0.259  0.011 -0.021 -0.006 -1.044]
+t: 293	 action: [ 0.038  0.029  0.216  0.012 -0.017 -0.018 -1.027]
+t: 294	 action: [-0.019  0.035  0.179  0.02  -0.023 -0.007 -1.045]
+t: 295	 action: [-0.054  0.054  0.137  0.018 -0.027 -0.019 -1.044]
+t: 296	 action: [-0.013  0.011  0.136  0.021 -0.026 -0.014 -1.035]
+t: 297	 action: [-0.03   0.022  0.089  0.019 -0.026 -0.021 -1.047]
+[07-31 01:53:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6707
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.6707
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 81
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 62%|██████▏   | 31/50 [16:40<09:56, 31.38s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 32...
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6707
+t=298: Selected seed 195 with value = 0.6707
+t: 298	 action: [ 0.059  0.328 -0.268  0.009 -0.013  0.002 -1.033]
+t: 299	 action: [ 0.044  0.349 -0.296  0.014 -0.004 -0.003 -1.029]
+t: 300	 action: [ 0.012  0.324 -0.268  0.002 -0.011  0.004 -1.021]
+t: 301	 action: [ 0.017  0.291 -0.233  0.006 -0.002 -0.009 -1.024]
+t: 302	 action: [-6.106e-02  3.999e-01 -1.884e-01  2.134e-03 -6.934e-03  7.983e-04 -1.028e+00]
+t: 303	 action: [-0.047  0.422 -0.042  0.013 -0.005 -0.005 -1.043]
+t: 304	 action: [-0.105  0.355 -0.041 -0.011 -0.013 -0.006 -1.021]
+t: 305	 action: [-5.317e-02  2.868e-01  1.472e-01  8.546e-05 -6.899e-03 -1.604e-02 -1.040e+00]
+t: 306	 action: [ 0.047  0.125  0.212 -0.005 -0.03  -0.019 -1.036]
+t: 307	 action: [ 0.063  0.058  0.275  0.003 -0.029 -0.033 -1.033]
+t: 308	 action: [ 0.038  0.043  0.329 -0.003 -0.037 -0.025 -1.031]
+t: 309	 action: [ 0.072 -0.018  0.308  0.007 -0.035 -0.035 -1.028]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=81--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=81--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 81
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 32...
+[07-31 01:54:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3645
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3645
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3645
+t=10: Selected seed 195 with value = 0.3645
+t: 10	 action: [ 0.19  -0.16   0.028  0.006  0.005  0.005 -0.988]
+t: 11	 action: [ 0.306 -0.128  0.057  0.008  0.005  0.004 -1.008]
+t: 12	 action: [ 0.504 -0.178  0.068  0.002 -0.001  0.012 -1.01 ]
+t: 13	 action: [ 0.671 -0.153  0.117  0.008  0.004  0.009 -1.022]
+t: 14	 action: [ 8.221e-01 -1.192e-01  1.524e-01  4.133e-03  1.633e-04  1.147e-02 -1.009e+00]
+t: 15	 action: [ 0.852 -0.126  0.153  0.012 -0.001  0.008 -1.041]
+t: 16	 action: [ 9.493e-01 -1.306e-01  1.646e-01  4.238e-04 -6.432e-03  1.590e-02 -1.015e+00]
+t: 17	 action: [ 0.925 -0.132  0.164  0.013 -0.002  0.01  -1.048]
+t: 18	 action: [ 0.913 -0.237  0.196  0.01  -0.013  0.018 -1.017]
+t: 19	 action: [ 0.924 -0.191  0.216  0.019  0.004  0.011 -1.022]
+t: 20	 action: [ 0.95  -0.22   0.16   0.012 -0.015  0.013 -1.012]
+t: 21	 action: [ 0.951 -0.198  0.195  0.02   0.005  0.01  -1.014]
+t: 22	 action: [ 0.964 -0.218  0.137  0.01  -0.016  0.016 -1.012]
+t: 23	 action: [ 9.689e-01 -2.852e-01  8.824e-02  2.009e-02 -3.591e-04  1.189e-02 -1.040e+00]
+t: 24	 action: [ 0.979 -0.185  0.062  0.008 -0.017  0.009 -1.007]
+t: 25	 action: [ 9.746e-01 -2.868e-01  1.862e-02  1.981e-02 -7.412e-04  1.133e-02 -1.040e+00]
+[07-31 01:54:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4393
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4393
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4393
+t=26: Selected seed 195 with value = 0.4393
+t: 26	 action: [ 0.874 -0.25   0.087  0.005 -0.038  0.004 -1.027]
+t: 27	 action: [ 0.885 -0.215  0.057  0.015 -0.037 -0.004 -1.025]
+t: 28	 action: [ 0.86  -0.323  0.029  0.013 -0.04   0.006 -1.029]
+t: 29	 action: [ 8.651e-01 -3.041e-01  2.486e-02  2.321e-02 -3.049e-02  2.386e-04 -1.028e+00]
+t: 30	 action: [ 0.895 -0.314 -0.069  0.014 -0.035  0.007 -1.018]
+t: 31	 action: [ 0.874 -0.313 -0.095  0.021 -0.049  0.003 -1.043]
+t: 32	 action: [ 0.808 -0.274 -0.252  0.009 -0.04   0.009 -1.025]
+t: 33	 action: [ 0.731 -0.259 -0.34   0.02  -0.048  0.006 -1.044]
+t: 34	 action: [ 0.447 -0.207 -0.408  0.012 -0.055  0.016 -1.033]
+t: 35	 action: [ 0.353 -0.182 -0.542  0.013 -0.055  0.014 -1.029]
+t: 36	 action: [ 0.237 -0.107 -0.627  0.01  -0.076  0.025 -1.017]
+t: 37	 action: [ 0.107 -0.102 -0.725  0.014 -0.065  0.022 -1.017]
+t: 38	 action: [ 5.600e-02  2.167e-02 -8.321e-01 -9.561e-04 -8.577e-02  2.098e-02 -1.034e+00]
+t: 39	 action: [-0.007 -0.029 -0.803  0.013 -0.074  0.021 -1.037]
+t: 40	 action: [-0.101  0.052 -0.887 -0.004 -0.08   0.033 -1.022]
+t: 41	 action: [-0.055  0.023 -0.867  0.014 -0.064  0.03  -1.039]
+[07-31 01:54:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5423
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=42: Selected seed 195 with value = 0.5423
+t: 42	 action: [-0.153  0.755 -0.673  0.002 -0.023  0.028 -1.006]
+t: 43	 action: [-0.13   0.781 -0.611  0.008 -0.031  0.024 -1.013]
+t: 44	 action: [-0.146  0.845 -0.628  0.002 -0.019  0.032 -0.99 ]
+t: 45	 action: [-0.133  0.814 -0.565  0.007 -0.024  0.025 -1.012]
+t: 46	 action: [-0.151  0.861 -0.568 -0.001 -0.017  0.028 -0.99 ]
+t: 47	 action: [-0.121  0.844 -0.546  0.007 -0.026  0.025 -1.026]
+t: 48	 action: [-1.290e-01  8.794e-01 -5.497e-01 -7.893e-04 -9.964e-03  3.580e-02 -9.756e-01]
+t: 49	 action: [-0.087  0.858 -0.524  0.006 -0.014  0.026 -1.03 ]
+t: 50	 action: [-0.102  0.839 -0.607  0.004 -0.018  0.023 -1.015]
+t: 51	 action: [-0.072  0.798 -0.608  0.004 -0.02   0.02  -1.017]
+t: 52	 action: [-0.082  0.817 -0.6    0.003 -0.009  0.027 -1.004]
+t: 53	 action: [-0.06   0.753 -0.575  0.003 -0.007  0.02  -1.017]
+t: 54	 action: [-0.13   0.802 -0.552 -0.002 -0.014  0.022 -1.001]
+t: 55	 action: [-0.085  0.733 -0.489  0.001 -0.017  0.02  -1.029]
+t: 56	 action: [-0.086  0.556 -0.452 -0.004  0.001  0.021 -0.99 ]
+t: 57	 action: [-0.031  0.465 -0.285 -0.002 -0.002  0.019 -1.037]
+[07-31 01:54:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5943
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5943
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5943
+t=58: Selected seed 195 with value = 0.5943
+t: 58	 action: [ 0.057  0.284 -0.438  0.001  0.001  0.017 -1.01 ]
+t: 59	 action: [ 0.073  0.215 -0.25   0.005  0.011  0.013 -1.018]
+t: 60	 action: [ 4.324e-02  1.660e-01 -2.476e-01  8.893e-04  9.813e-03  1.014e-02 -1.003e+00]
+t: 61	 action: [ 0.059  0.075 -0.065  0.002  0.013  0.005 -1.016]
+t: 62	 action: [-0.008  0.142 -0.165  0.001  0.018  0.011 -0.997]
+t: 63	 action: [-0.007  0.18   0.052  0.001  0.012  0.014 -1.027]
+t: 64	 action: [-0.044  0.07   0.21  -0.006  0.02  -0.001 -0.998]
+t: 65	 action: [-0.011  0.073  0.405 -0.004  0.011  0.004 -1.027]
+t: 66	 action: [ 0.045 -0.1    0.552  0.017 -0.001  0.008 -1.021]
+t: 67	 action: [-0.037 -0.194  0.563  0.026 -0.005  0.001 -1.041]
+t: 68	 action: [-0.025 -0.113  0.443  0.021 -0.002  0.009 -1.028]
+t: 69	 action: [-0.113 -0.251  0.387  0.026  0.003  0.003 -1.022]
+t: 70	 action: [-0.287 -0.134  0.243  0.033 -0.005  0.007 -1.021]
+t: 71	 action: [-0.392 -0.201  0.164  0.026 -0.016  0.014 -1.04 ]
+t: 72	 action: [-0.521 -0.144  0.066  0.025 -0.002  0.008 -1.022]
+t: 73	 action: [-0.469 -0.199  0.028  0.023 -0.005  0.016 -1.032]
+[07-31 01:54:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6153
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6153
+Query 1/1: Action query time = 0.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6153
+t=74: Selected seed 195 with value = 0.6153
+t: 74	 action: [ 0.05   0.248 -0.233  0.002  0.015  0.008 -1.014]
+t: 75	 action: [ 1.142e-01  1.585e-01 -6.401e-02  5.711e-04  2.026e-02 -3.294e-03 -1.008e+00]
+t: 76	 action: [ 0.056  0.069  0.028 -0.004  0.025  0.005 -1.007]
+t: 77	 action: [ 0.09  -0.023  0.234 -0.002  0.031 -0.011 -1.012]
+t: 78	 action: [ 3.560e-02  3.140e-02  2.573e-01  1.448e-03  3.507e-02 -5.685e-04 -1.005e+00]
+t: 79	 action: [ 1.906e-02  3.215e-02  4.260e-01 -3.457e-04  3.048e-02 -6.306e-03 -1.034e+00]
+t: 80	 action: [-0.01  -0.009  0.558  0.002  0.041 -0.006 -1.006]
+t: 81	 action: [-0.023 -0.045  0.635  0.005  0.038 -0.012 -1.031]
+t: 82	 action: [-0.03  -0.072  0.543  0.017  0.007 -0.011 -1.022]
+t: 83	 action: [-0.224 -0.143  0.498  0.024  0.007 -0.014 -1.042]
+t: 84	 action: [-0.239 -0.045  0.347  0.017  0.003  0.003 -1.033]
+t: 85	 action: [-0.368 -0.184  0.264  0.025  0.009 -0.009 -1.026]
+t: 86	 action: [-6.533e-01 -1.110e-01  2.022e-01  4.172e-02  6.520e-04 -2.794e-03 -1.005e+00]
+t: 87	 action: [-0.723 -0.121  0.11   0.032 -0.011 -0.004 -1.042]
+t: 88	 action: [-0.836 -0.101  0.062  0.033 -0.003  0.001 -0.991]
+t: 89	 action: [-0.839 -0.124 -0.021  0.029 -0.007  0.003 -1.033]
+[07-31 01:54:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5681
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=90: Selected seed 195 with value = 0.5681
+t: 90	 action: [ 0.071  0.324 -0.228  0.002  0.014  0.004 -1.014]
+t: 91	 action: [ 0.132  0.267 -0.176  0.004  0.022 -0.004 -1.011]
+t: 92	 action: [ 0.072  0.071 -0.08  -0.003  0.026  0.004 -1.022]
+t: 93	 action: [ 1.095e-01  9.036e-03  5.184e-02 -3.182e-04  3.204e-02 -1.127e-02 -1.014e+00]
+t: 94	 action: [ 0.06   0.016  0.156  0.002  0.027 -0.008 -1.011]
+t: 95	 action: [ 0.036  0.011  0.291  0.005  0.029 -0.011 -1.044]
+t: 96	 action: [ 0.008 -0.029  0.445  0.003  0.033 -0.013 -1.021]
+t: 97	 action: [ 0.003 -0.052  0.563  0.004  0.033 -0.02  -1.046]
+t: 98	 action: [-0.021 -0.077  0.553  0.02   0.009 -0.015 -1.026]
+t: 99	 action: [-0.197 -0.131  0.554  0.029  0.007 -0.018 -1.041]
+t: 100	 action: [-0.188 -0.021  0.415  0.022  0.003 -0.007 -1.044]
+t: 101	 action: [-0.357 -0.143  0.332  0.026  0.003 -0.018 -1.031]
+t: 102	 action: [-0.625 -0.079  0.249  0.041 -0.003 -0.007 -1.011]
+t: 103	 action: [-0.717 -0.117  0.136  0.022 -0.015 -0.017 -1.051]
+t: 104	 action: [-0.818 -0.058  0.1    0.033 -0.008 -0.005 -1.007]
+t: 105	 action: [-0.841 -0.131 -0.007  0.015 -0.013 -0.012 -1.044]
+[07-31 01:54:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3877
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.3877
+Query 1/1: Action query time = 1.001 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3877
+t=106: Selected seed 195 with value = 0.3877
+t: 106	 action: [ 0.107  0.044 -0.074  0.002  0.005 -0.009 -1.008]
+t: 107	 action: [ 0.079  0.078 -0.068  0.005  0.006 -0.013 -1.041]
+t: 108	 action: [ 0.021  0.001 -0.085  0.004  0.008 -0.01  -1.015]
+t: 109	 action: [ 0.003 -0.023 -0.102  0.003  0.011 -0.02  -1.058]
+t: 110	 action: [-9.626e-02  2.314e-02 -2.204e-01 -6.506e-04  8.470e-03 -1.050e-02 -1.004e+00]
+t: 111	 action: [-6.209e-02  2.802e-02 -2.749e-01  3.379e-04  1.103e-02 -1.605e-02 -1.056e+00]
+t: 112	 action: [-0.149  0.014 -0.34  -0.005  0.007 -0.008 -1.016]
+t: 113	 action: [-0.084  0.022 -0.395 -0.011  0.013 -0.024 -1.077]
+t: 114	 action: [-1.619e-01 -4.593e-02 -5.002e-01  4.098e-03  3.403e-03  7.689e-04 -1.021e+00]
+t: 115	 action: [-0.154 -0.046 -0.597 -0.006  0.008 -0.006 -1.047]
+t: 116	 action: [-1.174e-01 -3.000e-02 -6.239e-01  4.610e-04  2.032e-03  1.782e-03 -1.012e+00]
+t: 117	 action: [-0.099 -0.037 -0.641 -0.011  0.005 -0.002 -0.919]
+t: 118	 action: [-0.288  0.031 -0.636 -0.004 -0.01  -0.005 -1.017]
+t: 119	 action: [-0.194  0.07  -0.617 -0.012 -0.012 -0.015 -1.057]
+t: 120	 action: [-0.141  0.048 -0.625 -0.014 -0.012 -0.008 -0.979]
+t: 121	 action: [-0.048  0.082 -0.565 -0.017 -0.019  0.005  0.272]
+[07-31 01:54:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.017 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4814
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4814
+Query 1/1: Action query time = 1.017 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4814
+t=122: Selected seed 195 with value = 0.4814
+t: 122	 action: [ 0.298  0.156 -0.429 -0.003 -0.002 -0.001 -1.047]
+t: 123	 action: [ 0.306  0.161 -0.338  0.009  0.006 -0.013 -1.036]
+t: 124	 action: [ 0.207  0.038 -0.327  0.002 -0.002 -0.002 -1.054]
+t: 125	 action: [ 0.193  0.03  -0.226  0.008  0.006 -0.017 -1.038]
+t: 126	 action: [ 0.134  0.075 -0.134  0.003  0.009 -0.005 -1.041]
+t: 127	 action: [ 0.092  0.062  0.012  0.015  0.005 -0.015 -1.06 ]
+t: 128	 action: [ 0.048  0.026  0.051 -0.002  0.004 -0.009 -1.048]
+t: 129	 action: [ 0.057  0.017  0.113  0.01   0.002 -0.021 -1.057]
+t: 130	 action: [ 0.112 -0.175  0.16   0.035 -0.008 -0.025 -1.068]
+t: 131	 action: [ 0.058 -0.128  0.065  0.019 -0.005 -0.018 -1.044]
+t: 132	 action: [ 0.058 -0.115 -0.016  0.017 -0.018 -0.013 -1.074]
+t: 133	 action: [ 0.034 -0.104 -0.139  0.008 -0.014 -0.017 -1.046]
+t: 134	 action: [-0.053 -0.005 -0.102  0.004 -0.021 -0.014 -1.059]
+t: 135	 action: [-0.079 -0.005 -0.198  0.003 -0.028 -0.016 -1.051]
+t: 136	 action: [-0.119  0.026 -0.344 -0.01  -0.026 -0.009 -1.063]
+t: 137	 action: [-0.121  0.013 -0.376 -0.007 -0.031 -0.013 -1.054]
+[07-31 01:54:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5021
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.5021
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5021
+t=138: Selected seed 195 with value = 0.5021
+t: 138	 action: [ 0.171  0.021 -0.42   0.017  0.002 -0.002 -1.048]
+t: 139	 action: [ 0.152 -0.005 -0.377  0.018  0.006 -0.014 -1.038]
+t: 140	 action: [ 1.142e-01  1.263e-02 -3.542e-01  1.151e-02 -3.638e-05 -2.527e-03 -1.052e+00]
+t: 141	 action: [ 0.076 -0.002 -0.25   0.011  0.004 -0.017 -1.03 ]
+t: 142	 action: [ 0.02   0.065 -0.225  0.015  0.01  -0.005 -1.045]
+t: 143	 action: [ 7.913e-04  1.058e-01 -4.896e-02  2.071e-02  2.226e-03 -1.579e-02 -1.056e+00]
+t: 144	 action: [-2.929e-02  5.524e-02 -6.784e-02 -9.972e-04  1.516e-03 -7.931e-03 -1.050e+00]
+t: 145	 action: [ 0.002  0.073  0.051  0.008 -0.003 -0.021 -1.046]
+t: 146	 action: [ 0.126  0.007  0.136  0.013 -0.008 -0.023 -1.075]
+t: 147	 action: [ 0.101 -0.02   0.059  0.005 -0.006 -0.025 -1.047]
+t: 148	 action: [ 0.106  0.001 -0.046  0.003 -0.018 -0.011 -1.086]
+t: 149	 action: [ 0.079 -0.03  -0.097 -0.002 -0.013 -0.02  -1.046]
+t: 150	 action: [ 0.003  0.041 -0.092 -0.005 -0.021 -0.017 -1.07 ]
+t: 151	 action: [-0.029  0.001 -0.142 -0.002 -0.029 -0.023 -1.051]
+t: 152	 action: [-0.09   0.036 -0.335 -0.008 -0.027 -0.012 -1.077]
+t: 153	 action: [-9.728e-02 -7.192e-04 -3.164e-01 -8.491e-03 -3.043e-02 -1.754e-02 -1.050e+00]
+[07-31 01:54:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6417
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.6417
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6417
+t=154: Selected seed 195 with value = 0.6417
+t: 154	 action: [ 0.013 -0.044 -0.365 -0.005 -0.001 -0.009 -1.069]
+t: 155	 action: [ 0.039 -0.015 -0.279 -0.008  0.006 -0.019 -1.054]
+t: 156	 action: [ 0.014  0.017 -0.302 -0.008 -0.002 -0.003 -1.07 ]
+t: 157	 action: [ 0.033  0.05  -0.213 -0.01   0.005 -0.015 -1.045]
+t: 158	 action: [-0.042  0.125 -0.155 -0.006  0.007 -0.01  -1.052]
+t: 159	 action: [-9.164e-03  1.458e-01 -8.815e-02  1.009e-03  2.817e-03 -1.852e-02 -1.057e+00]
+t: 160	 action: [-0.034  0.122 -0.128 -0.01   0.006 -0.009 -1.058]
+t: 161	 action: [-1.195e-02  1.110e-01 -1.016e-01 -2.045e-03  5.480e-04 -2.098e-02 -1.052e+00]
+t: 162	 action: [ 0.092  0.083 -0.186 -0.006 -0.001 -0.001 -1.074]
+t: 163	 action: [ 0.062  0.061 -0.171 -0.01   0.001 -0.005 -1.139]
+t: 164	 action: [ 1.088e-02  3.581e-02 -3.225e-01 -5.006e-03 -8.454e-03  1.965e-04 -1.169e+00]
+t: 165	 action: [-0.051  0.013 -0.295 -0.01  -0.004 -0.006 -1.144]
+t: 166	 action: [-0.022  0.006 -0.315 -0.007 -0.006 -0.006 -1.057]
+t: 167	 action: [-0.035 -0.02  -0.299 -0.002 -0.007 -0.008  1.203]
+t: 168	 action: [-0.048 -0.011 -0.316 -0.011 -0.007 -0.01   1.101]
+t: 169	 action: [-0.039 -0.021 -0.302 -0.004 -0.008 -0.009  1.178]
+[07-31 01:54:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6531
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 0.998 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=170: Selected seed 195 with value = 0.6531
+t: 170	 action: [-0.037  0.066 -0.674 -0.008  0.026  0.011 -1.191]
+t: 171	 action: [-0.067  0.03  -0.571 -0.012  0.03   0.02  -1.12 ]
+t: 172	 action: [-0.043  0.036 -0.327 -0.016  0.029  0.009  0.991]
+t: 173	 action: [-0.03   0.022 -0.136 -0.016  0.031  0.02   1.042]
+t: 174	 action: [-0.026  0.039 -0.297 -0.019  0.038  0.009  1.07 ]
+t: 175	 action: [-0.009  0.038 -0.074 -0.005  0.034  0.02   1.146]
+t: 176	 action: [-3.535e-03  5.013e-02  8.580e-02 -1.685e-02  3.314e-02  4.949e-04  1.001e+00]
+t: 177	 action: [ 0.006  0.05   0.217 -0.012  0.028  0.001  1.037]
+t: 178	 action: [ 0.021  0.002  0.21  -0.015  0.056  0.011  0.987]
+t: 179	 action: [ 0.046  0.045  0.378 -0.017  0.051  0.009  1.023]
+t: 180	 action: [ 0.031 -0.015  0.339 -0.021  0.039  0.007  0.985]
+t: 181	 action: [ 0.053  0.033  0.434 -0.022  0.031  0.002  1.019]
+t: 182	 action: [-0.002  0.014  0.542 -0.002  0.046  0.006  1.011]
+t: 183	 action: [ 0.02  -0.003  0.575 -0.007  0.015  0.006  1.03 ]
+t: 184	 action: [-7.995e-03 -4.690e-02  6.720e-01  3.078e-03  1.963e-02 -1.713e-04  1.005e+00]
+t: 185	 action: [ 0.02  -0.058  0.699 -0.009  0.004 -0.004  1.032]
+[07-31 01:54:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8582
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=186: Selected seed 195 with value = 0.8582
+t: 186	 action: [-0.128 -0.226  0.378  0.009 -0.009  0.004  1.003]
+t: 187	 action: [-0.139 -0.414  0.314  0.018 -0.002  0.021  0.982]
+t: 188	 action: [-0.167 -0.257  0.321  0.031  0.002  0.005  1.097]
+t: 189	 action: [-0.239 -0.522  0.192  0.026  0.005  0.003  0.959]
+t: 190	 action: [-0.21  -0.404  0.154  0.035  0.023  0.007  0.989]
+t: 191	 action: [-0.157 -0.433  0.047  0.037  0.006  0.02   0.745]
+t: 192	 action: [-0.184 -0.283  0.103  0.026  0.054  0.011 -1.089]
+t: 193	 action: [-0.122 -0.263 -0.016  0.026  0.04   0.016 -1.105]
+t: 194	 action: [-0.172 -0.309 -0.134  0.056  0.027  0.042  1.064]
+t: 195	 action: [-0.231 -0.47  -0.225  0.036  0.023  0.04   0.888]
+t: 196	 action: [-0.158 -0.135 -0.273  0.04   0.027  0.051  0.976]
+t: 197	 action: [-0.175 -0.213 -0.293  0.022  0.03   0.047 -0.478]
+t: 198	 action: [-0.116 -0.031 -0.298  0.014  0.056  0.054 -1.11 ]
+t: 199	 action: [-0.119 -0.038 -0.27   0.011  0.028  0.044 -1.097]
+t: 200	 action: [-0.07   0.026 -0.188 -0.002  0.072  0.057 -1.028]
+t: 201	 action: [-0.069  0.062 -0.112  0.004  0.028  0.042 -1.076]
+[07-31 01:54:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8930
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8930
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8930
+t=202: Selected seed 195 with value = 0.8930
+t: 202	 action: [-0.094 -0.169  0.214  0.002  0.032  0.007  0.989]
+t: 203	 action: [-6.138e-02 -4.168e-01  2.376e-01 -1.750e-04  3.125e-02  2.135e-02  1.055e+00]
+t: 204	 action: [-3.933e-02 -2.236e-01  1.702e-01  1.347e-04  3.427e-02  9.878e-03  1.006e+00]
+t: 205	 action: [-0.001 -0.529  0.162 -0.006  0.041  0.026  1.043]
+t: 206	 action: [-2.907e-02 -3.043e-01  1.003e-01 -7.068e-04  5.407e-02  1.170e-02  9.930e-01]
+t: 207	 action: [ 0.012 -0.434  0.05   0.002  0.069  0.027  1.039]
+t: 208	 action: [ 0.076 -0.218  0.041 -0.008  0.073  0.015  1.001]
+t: 209	 action: [ 0.09  -0.336 -0.008 -0.004  0.087  0.025  0.999]
+t: 210	 action: [ 0.157 -0.168  0.107  0.018  0.065  0.02   1.131]
+t: 211	 action: [ 0.11  -0.215  0.133  0.013  0.077  0.013  0.986]
+t: 212	 action: [ 0.181 -0.076  0.117  0.016  0.064  0.012  1.013]
+t: 213	 action: [ 0.087 -0.112  0.139  0.014  0.079  0.002 -1.023]
+t: 214	 action: [ 0.095 -0.031  0.176  0.018  0.072  0.014 -1.147]
+t: 215	 action: [ 0.01  -0.056  0.149  0.015  0.069  0.017 -1.113]
+t: 216	 action: [ 0.078 -0.026  0.216  0.018  0.076  0.005 -1.079]
+t: 217	 action: [ 1.587e-02 -4.390e-02  2.038e-01  1.843e-02  7.031e-02 -3.209e-04 -1.041e+00]
+[07-31 01:54:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9199
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9199
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9199
+t=218: Selected seed 195 with value = 0.9199
+t: 218	 action: [-0.229 -0.168 -0.51  -0.006  0.008  0.026  0.981]
+t: 219	 action: [-0.213 -0.275 -0.402 -0.025 -0.002  0.041  1.055]
+t: 220	 action: [-0.169 -0.102 -0.49  -0.015  0.017  0.033  0.998]
+t: 221	 action: [-0.1   -0.166 -0.417 -0.029  0.017  0.044  1.03 ]
+t: 222	 action: [-0.112 -0.048 -0.258 -0.051  0.023  0.037  0.989]
+t: 223	 action: [-0.035 -0.088 -0.165 -0.039  0.025  0.047  1.058]
+t: 224	 action: [ 0.023 -0.033 -0.042 -0.057  0.043  0.042  1.002]
+t: 225	 action: [ 0.056 -0.043  0.037 -0.039  0.047  0.042  0.952]
+t: 226	 action: [ 0.186  0.039  0.074 -0.013  0.029  0.018  1.132]
+t: 227	 action: [ 0.167  0.03   0.172 -0.015  0.042  0.011 -1.028]
+t: 228	 action: [ 0.218  0.029  0.214 -0.003  0.02   0.01  -1.09 ]
+t: 229	 action: [ 0.203  0.032  0.29  -0.002  0.03   0.005 -1.035]
+t: 230	 action: [ 0.166  0.035  0.305 -0.003  0.026  0.007 -1.106]
+t: 231	 action: [ 0.073  0.039  0.318  0.006  0.022  0.002 -1.069]
+t: 232	 action: [ 1.141e-01  1.540e-02  3.034e-01  3.412e-03  1.499e-02 -8.257e-04 -1.068e+00]
+t: 233	 action: [ 0.047  0.037  0.291  0.014  0.011  0.003 -1.039]
+[07-31 01:54:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9430
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9430
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=234: Selected seed 195 with value = 0.9430
+t: 234	 action: [-8.300e-02 -2.883e-01 -4.210e-01  8.614e-04  9.616e-03  6.040e-03  9.910e-01]
+t: 235	 action: [-0.068 -0.269 -0.372 -0.016  0.002  0.016  1.073]
+t: 236	 action: [-0.021 -0.15  -0.285 -0.006  0.017  0.007  0.998]
+t: 237	 action: [ 0.007 -0.154 -0.251 -0.021  0.012  0.002  0.953]
+t: 238	 action: [ 0.033  0.033 -0.124 -0.041  0.03   0.002  1.   ]
+t: 239	 action: [ 0.071  0.057 -0.032 -0.032  0.027  0.016  1.065]
+t: 240	 action: [ 0.145  0.049  0.035 -0.042  0.039  0.001  0.948]
+t: 241	 action: [ 0.188  0.065  0.102 -0.028  0.038  0.009 -0.889]
+t: 242	 action: [ 0.246  0.045  0.108 -0.013  0.027  0.008 -1.014]
+t: 243	 action: [ 0.244  0.048  0.143 -0.016  0.039 -0.006 -1.047]
+t: 244	 action: [ 0.232  0.027  0.171 -0.004  0.019  0.005 -1.077]
+t: 245	 action: [ 0.251  0.021  0.221 -0.006  0.033 -0.008 -1.047]
+t: 246	 action: [ 1.885e-01  2.038e-02  2.682e-01 -9.569e-04  2.606e-02 -1.846e-03 -1.092e+00]
+t: 247	 action: [ 0.13   0.035  0.294  0.009  0.031 -0.008 -1.074]
+t: 248	 action: [ 0.233  0.009  0.315  0.005  0.025 -0.005 -1.063]
+t: 249	 action: [ 0.177  0.03   0.302  0.015  0.032 -0.005 -1.059]
+[07-31 01:54:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9548
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 0.982 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=250: Selected seed 195 with value = 0.9548
+t: 250	 action: [ 4.921e-02 -1.941e-01 -4.189e-01  7.756e-04 -1.741e-02  1.676e-02  9.836e-01]
+t: 251	 action: [ 0.049 -0.125 -0.382 -0.01  -0.008  0.01   1.   ]
+t: 252	 action: [ 0.097 -0.019 -0.341 -0.002 -0.014  0.011  1.092]
+t: 253	 action: [ 0.068  0.004 -0.266 -0.008 -0.004 -0.    -0.14 ]
+t: 254	 action: [ 0.12   0.168 -0.162 -0.021 -0.02   0.007 -0.04 ]
+t: 255	 action: [ 0.15   0.197  0.001 -0.034 -0.014  0.014 -1.071]
+t: 256	 action: [ 0.202  0.208  0.053 -0.028 -0.006  0.001 -1.106]
+t: 257	 action: [ 0.162  0.198  0.148 -0.026 -0.01  -0.017 -1.041]
+t: 258	 action: [ 0.149  0.025  0.23  -0.008 -0.009 -0.003 -1.051]
+t: 259	 action: [ 0.175  0.04   0.265 -0.007  0.003 -0.018 -1.05 ]
+t: 260	 action: [ 0.183  0.028  0.297 -0.004 -0.006 -0.01  -1.047]
+t: 261	 action: [ 0.244  0.031  0.303 -0.003  0.008 -0.021 -1.043]
+t: 262	 action: [ 0.143  0.02   0.346  0.006  0.006 -0.004 -1.057]
+t: 263	 action: [ 1.027e-01  4.961e-02  2.922e-01  1.350e-02  2.271e-05 -1.410e-02 -1.056e+00]
+t: 264	 action: [ 0.202  0.014  0.302  0.005  0.018 -0.009 -1.049]
+t: 265	 action: [ 0.193  0.041  0.229  0.019  0.013 -0.013 -1.049]
+[07-31 01:54:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7932
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=266: Selected seed 195 with value = 0.7932
+t: 266	 action: [ 0.039  0.037 -0.332  0.    -0.013  0.03  -0.29 ]
+t: 267	 action: [ 1.943e-02  5.236e-02 -3.101e-01 -1.567e-04 -6.911e-03  1.172e-02 -5.151e-01]
+t: 268	 action: [ 0.092  0.151 -0.268 -0.002 -0.01   0.018 -0.984]
+t: 269	 action: [ 0.115  0.155 -0.178 -0.001 -0.005  0.009 -0.991]
+t: 270	 action: [ 0.028  0.355 -0.178 -0.003 -0.013  0.021 -1.081]
+t: 271	 action: [ 0.026  0.371 -0.033 -0.009 -0.011  0.005 -1.042]
+t: 272	 action: [ 0.101  0.347  0.01  -0.016 -0.012  0.005 -1.029]
+t: 273	 action: [ 0.166  0.281  0.123 -0.017 -0.013 -0.002 -1.031]
+t: 274	 action: [ 1.817e-01  6.209e-02  1.984e-01 -6.635e-03 -3.142e-02 -1.719e-04 -1.029e+00]
+t: 275	 action: [ 0.187  0.018  0.235 -0.007 -0.02  -0.018 -1.044]
+t: 276	 action: [ 1.850e-01 -1.736e-03  2.537e-01 -9.643e-04 -4.624e-02 -6.601e-03 -1.037e+00]
+t: 277	 action: [ 0.199 -0.063  0.219  0.002 -0.026 -0.016 -1.032]
+t: 278	 action: [ 0.119 -0.048  0.235  0.009 -0.03  -0.001 -1.047]
+t: 279	 action: [ 0.037 -0.042  0.2    0.015 -0.021 -0.018 -1.059]
+t: 280	 action: [ 0.076 -0.12   0.15   0.01  -0.029 -0.005 -1.047]
+t: 281	 action: [ 0.035 -0.096  0.09   0.02  -0.017 -0.013 -1.046]
+[07-31 01:54:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7610
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 1.010 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=282: Selected seed 195 with value = 0.7610
+t: 282	 action: [ 0.153  0.285 -0.254 -0.001  0.005  0.044 -0.933]
+t: 283	 action: [ 0.17   0.33  -0.206 -0.004  0.003  0.022 -0.926]
+t: 284	 action: [ 1.620e-01  3.273e-01 -1.286e-01 -9.688e-04  3.656e-03  3.036e-02 -1.006e+00]
+t: 285	 action: [ 1.964e-01  2.965e-01 -7.600e-02 -3.356e-03  4.601e-04  1.540e-02 -1.007e+00]
+t: 286	 action: [ 0.069  0.468 -0.046 -0.005  0.007  0.028 -1.026]
+t: 287	 action: [ 0.052  0.487  0.073 -0.009 -0.01   0.012 -1.038]
+t: 288	 action: [ 5.838e-02  4.017e-01  1.924e-01 -1.872e-02 -7.419e-04  9.855e-03 -1.022e+00]
+t: 289	 action: [ 0.047  0.317  0.365 -0.019 -0.016  0.002 -1.033]
+t: 290	 action: [ 0.107  0.064  0.409 -0.006 -0.021  0.005 -1.015]
+t: 291	 action: [ 0.076  0.023  0.442  0.001 -0.012 -0.01  -1.039]
+t: 292	 action: [ 0.058 -0.013  0.438  0.002 -0.035  0.003 -1.022]
+t: 293	 action: [ 0.051 -0.096  0.368  0.012 -0.02  -0.009 -1.029]
+t: 294	 action: [-1.519e-02 -8.662e-02  3.935e-01  3.264e-02 -2.837e-02 -6.378e-04 -1.038e+00]
+t: 295	 action: [-0.074 -0.095  0.268  0.027 -0.031 -0.017 -1.05 ]
+t: 296	 action: [-0.107 -0.204  0.216  0.032 -0.034 -0.005 -1.033]
+t: 297	 action: [-0.123 -0.178  0.107  0.026 -0.03  -0.014 -1.036]
+[07-31 01:54:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7013
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7013
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 82
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 64%|██████▍   | 32/50 [17:12<09:24, 31.36s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 33...
+Query 1/1: Action query time = 0.989 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=298: Selected seed 195 with value = 0.7013
+t: 298	 action: [ 1.600e-01  6.404e-01 -2.505e-01 -1.979e-06 -1.766e-03  5.148e-02 -9.725e-01]
+t: 299	 action: [ 0.227  0.639 -0.244 -0.002  0.008  0.037 -0.948]
+t: 300	 action: [ 0.181  0.527 -0.129 -0.005  0.009  0.054 -1.001]
+t: 301	 action: [ 0.248  0.458 -0.044 -0.007  0.011  0.032 -0.995]
+t: 302	 action: [ 0.151  0.547  0.026 -0.011  0.013  0.037 -1.005]
+t: 303	 action: [ 0.105  0.477  0.127 -0.009  0.008  0.027 -1.017]
+t: 304	 action: [ 0.115  0.311  0.313 -0.033  0.023  0.026 -1.01 ]
+t: 305	 action: [ 0.083  0.236  0.506 -0.016  0.014  0.016 -1.028]
+t: 306	 action: [ 0.025  0.02   0.54  -0.014  0.002  0.007 -1.02 ]
+t: 307	 action: [-6.685e-02 -4.233e-02  5.524e-01  5.087e-03  7.847e-03 -5.091e-04 -1.028e+00]
+t: 308	 action: [-0.058 -0.057  0.495 -0.004 -0.013  0.006 -1.029]
+t: 309	 action: [-0.156 -0.138  0.42   0.014 -0.005 -0.003 -1.021]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=82--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=82--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 82
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 33...
+[07-31 01:54:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3496
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3496
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3496
+t=10: Selected seed 195 with value = 0.3496
+t: 10	 action: [ 0.214 -0.092  0.13   0.006  0.02   0.014 -1.021]
+t: 11	 action: [ 0.337 -0.059  0.152  0.006  0.035  0.013 -1.013]
+t: 12	 action: [ 0.512 -0.109  0.221  0.005  0.023  0.018 -1.023]
+t: 13	 action: [ 0.69  -0.078  0.268  0.005  0.036  0.016 -1.019]
+t: 14	 action: [ 0.77  -0.071  0.347  0.006  0.035  0.019 -1.021]
+t: 15	 action: [ 0.803 -0.075  0.298  0.007  0.038  0.017 -1.038]
+t: 16	 action: [ 0.88  -0.069  0.381  0.004  0.031  0.021 -1.02 ]
+t: 17	 action: [ 0.87  -0.08   0.315  0.007  0.035  0.018 -1.044]
+t: 18	 action: [ 0.813 -0.145  0.399  0.009  0.012  0.023 -1.029]
+t: 19	 action: [ 0.843 -0.153  0.352  0.011  0.02   0.015 -1.019]
+t: 20	 action: [ 0.847 -0.142  0.312  0.009  0.006  0.017 -1.023]
+t: 21	 action: [ 0.862 -0.164  0.294  0.013  0.021  0.016 -1.011]
+t: 22	 action: [ 0.866 -0.111  0.281  0.015  0.016  0.02  -1.014]
+t: 23	 action: [ 0.874 -0.227  0.198  0.016  0.021  0.016 -1.036]
+t: 24	 action: [ 0.897 -0.108  0.18   0.012  0.015  0.013 -1.007]
+t: 25	 action: [ 0.91  -0.211  0.101  0.017  0.024  0.016 -1.035]
+[07-31 01:54:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3961
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3961
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3961
+t=26: Selected seed 195 with value = 0.3961
+t: 26	 action: [ 0.937 -0.04   0.091 -0.005  0.002 -0.002 -1.033]
+t: 27	 action: [ 0.941 -0.02   0.057 -0.005  0.001 -0.017 -1.024]
+t: 28	 action: [ 9.270e-01 -1.355e-01  3.450e-02  3.343e-03 -4.061e-03  4.798e-04 -1.035e+00]
+t: 29	 action: [ 0.94  -0.139  0.015  0.003  0.001 -0.014 -1.021]
+t: 30	 action: [ 0.956 -0.187 -0.06   0.008 -0.005 -0.003 -1.016]
+t: 31	 action: [ 0.93  -0.229 -0.112  0.009 -0.003 -0.016 -1.034]
+t: 32	 action: [ 0.914 -0.259 -0.234  0.008 -0.013 -0.003 -1.023]
+t: 33	 action: [ 0.89  -0.305 -0.354  0.015 -0.009 -0.015 -1.036]
+t: 34	 action: [ 0.657 -0.339 -0.461  0.013 -0.035  0.007 -1.045]
+t: 35	 action: [ 0.539 -0.31  -0.613  0.006 -0.043 -0.008 -1.037]
+t: 36	 action: [ 0.418 -0.296 -0.697  0.013 -0.055  0.009 -1.035]
+t: 37	 action: [ 0.211 -0.261 -0.795  0.006 -0.058 -0.003 -1.019]
+t: 38	 action: [ 0.081 -0.225 -0.808  0.008 -0.079  0.003 -1.031]
+t: 39	 action: [ 0.006 -0.201 -0.814  0.009 -0.078 -0.004 -1.043]
+t: 40	 action: [-0.156 -0.163 -0.854  0.005 -0.088  0.005 -1.032]
+t: 41	 action: [-0.116 -0.158 -0.864  0.009 -0.076  0.003 -1.042]
+[07-31 01:54:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4510
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4510
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4510
+t=42: Selected seed 195 with value = 0.4510
+t: 42	 action: [-0.171  0.007 -0.76   0.012 -0.048  0.025 -1.007]
+t: 43	 action: [-0.19  -0.05  -0.801  0.001 -0.059  0.032 -1.02 ]
+t: 44	 action: [-0.152  0.025 -0.781  0.011 -0.041  0.035 -1.006]
+t: 45	 action: [-0.14   0.035 -0.803  0.002 -0.047  0.036 -1.022]
+t: 46	 action: [-0.216  0.062 -0.791  0.007 -0.05   0.047 -1.007]
+t: 47	 action: [-0.149  0.083 -0.731  0.005 -0.045  0.04  -1.035]
+t: 48	 action: [-0.139  0.212 -0.743  0.004 -0.038  0.054 -1.004]
+t: 49	 action: [-0.072  0.309 -0.652  0.005 -0.025  0.042 -1.038]
+t: 50	 action: [ 0.014  0.447 -0.641  0.01  -0.03   0.047 -1.015]
+t: 51	 action: [ 8.366e-03  5.270e-01 -6.825e-01  9.706e-04 -3.111e-02  4.287e-02 -1.022e+00]
+t: 52	 action: [ 0.013  0.654 -0.593  0.005 -0.018  0.053 -1.017]
+t: 53	 action: [ 1.794e-02  6.618e-01 -5.911e-01 -6.169e-04 -1.726e-02  4.124e-02 -1.021e+00]
+t: 54	 action: [-0.046  0.704 -0.589  0.003 -0.031  0.061 -1.012]
+t: 55	 action: [-3.091e-02  7.426e-01 -5.529e-01 -4.767e-04 -3.069e-02  4.666e-02 -1.038e+00]
+t: 56	 action: [-5.794e-02  7.785e-01 -5.527e-01  9.077e-04 -1.503e-02  6.138e-02 -1.014e+00]
+t: 57	 action: [-0.028  0.757 -0.478 -0.003 -0.012  0.044 -1.045]
+[07-31 01:54:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5173
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5173
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5173
+t=58: Selected seed 195 with value = 0.5173
+t: 58	 action: [-0.149  0.793 -0.546  0.012 -0.017  0.015 -0.998]
+t: 59	 action: [-0.113  0.789 -0.555  0.015 -0.02   0.017 -1.009]
+t: 60	 action: [-0.168  0.828 -0.539  0.013 -0.018  0.019 -0.997]
+t: 61	 action: [-0.113  0.812 -0.54   0.017 -0.018  0.02  -1.014]
+t: 62	 action: [-0.192  0.81  -0.535  0.014 -0.017  0.015 -0.99 ]
+t: 63	 action: [-0.16   0.825 -0.53   0.02  -0.02   0.022 -1.03 ]
+t: 64	 action: [-0.197  0.832 -0.541  0.014 -0.016  0.023 -0.991]
+t: 65	 action: [-0.131  0.842 -0.522  0.022 -0.015  0.024 -1.039]
+t: 66	 action: [-0.148  0.848 -0.496  0.013 -0.025  0.013 -1.004]
+t: 67	 action: [-0.088  0.804 -0.546  0.017 -0.028  0.014 -1.014]
+t: 68	 action: [-0.128  0.831 -0.502  0.014 -0.025  0.016 -1.005]
+t: 69	 action: [-0.074  0.77  -0.56   0.017 -0.019  0.018 -1.018]
+t: 70	 action: [-0.17   0.789 -0.506  0.013 -0.022  0.02  -0.999]
+t: 71	 action: [-0.103  0.791 -0.516  0.021 -0.021  0.02  -1.033]
+t: 72	 action: [-0.125  0.712 -0.503  0.015 -0.017  0.023 -0.999]
+t: 73	 action: [-0.044  0.699 -0.463  0.021 -0.01   0.025 -1.043]
+[07-31 01:54:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6361
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6361
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6361
+t=74: Selected seed 195 with value = 0.6361
+t: 74	 action: [ 0.038  0.293 -0.516 -0.003 -0.016  0.004 -1.006]
+t: 75	 action: [ 0.052  0.256 -0.333 -0.003 -0.001 -0.003 -1.015]
+t: 76	 action: [ 0.04   0.143 -0.333 -0.002 -0.005  0.005 -1.003]
+t: 77	 action: [ 0.045  0.087 -0.16  -0.008  0.007 -0.006 -1.01 ]
+t: 78	 action: [-0.012  0.17  -0.249 -0.005  0.006 -0.001 -0.996]
+t: 79	 action: [-7.431e-04  2.037e-01 -3.972e-02 -1.063e-03  1.011e-02 -4.176e-03 -1.025e+00]
+t: 80	 action: [-0.053  0.147  0.047 -0.015  0.013 -0.005 -0.998]
+t: 81	 action: [-0.012  0.147  0.206 -0.007  0.011 -0.011 -1.028]
+t: 82	 action: [ 6.641e-02  2.849e-02  4.770e-01 -1.404e-04  3.894e-03 -4.417e-03 -1.014e+00]
+t: 83	 action: [ 0.044 -0.043  0.564  0.012  0.006 -0.01  -1.03 ]
+t: 84	 action: [ 4.779e-02 -4.036e-03  5.749e-01  1.265e-02  2.817e-03  4.561e-04 -1.016e+00]
+t: 85	 action: [-0.017 -0.074  0.532  0.022  0.004 -0.009 -1.015]
+t: 86	 action: [-1.315e-01 -4.120e-02  4.527e-01  3.997e-02 -7.419e-04 -1.935e-03 -1.013e+00]
+t: 87	 action: [-0.263 -0.028  0.327  0.044 -0.009 -0.006 -1.032]
+t: 88	 action: [-0.343 -0.083  0.264  0.057 -0.003 -0.003 -1.014]
+t: 89	 action: [-0.38  -0.087  0.17   0.049 -0.011 -0.002 -1.027]
+[07-31 01:54:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5980
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.5980
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5980
+t=90: Selected seed 195 with value = 0.5980
+t: 90	 action: [ 6.440e-02  2.023e-01 -3.033e-01 -3.059e-04  4.926e-03  2.543e-03 -1.007e+00]
+t: 91	 action: [ 0.11   0.115 -0.112 -0.001  0.016 -0.011 -1.004]
+t: 92	 action: [ 0.057  0.054 -0.09  -0.002  0.019  0.001 -1.004]
+t: 93	 action: [ 0.071 -0.041  0.077 -0.004  0.03  -0.018 -1.013]
+t: 94	 action: [ 3.356e-02 -3.490e-03  8.190e-02  6.066e-05  3.518e-02 -3.356e-03 -9.988e-01]
+t: 95	 action: [ 0.01   0.03   0.26   0.005  0.037 -0.014 -1.03 ]
+t: 96	 action: [-2.721e-02 -7.623e-03  3.751e-01  7.376e-04  4.244e-02 -7.694e-03 -1.001e+00]
+t: 97	 action: [-0.03  -0.01   0.512  0.008  0.042 -0.021 -1.032]
+t: 98	 action: [-0.014 -0.053  0.553  0.025  0.016 -0.013 -1.021]
+t: 99	 action: [-0.165 -0.115  0.552  0.037  0.009 -0.016 -1.035]
+t: 100	 action: [-0.144 -0.05   0.435  0.031  0.007 -0.002 -1.035]
+t: 101	 action: [-0.278 -0.145  0.389  0.043  0.005 -0.013 -1.023]
+t: 102	 action: [-0.523 -0.128  0.262  0.06  -0.002 -0.006 -1.008]
+t: 103	 action: [-0.635 -0.112  0.171  0.05  -0.016 -0.01  -1.042]
+t: 104	 action: [-0.736 -0.142  0.157  0.064 -0.009 -0.004 -0.999]
+t: 105	 action: [-0.771 -0.138  0.06   0.052 -0.017 -0.004 -1.033]
+[07-31 01:54:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5186
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.5186
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5186
+t=106: Selected seed 195 with value = 0.5186
+t: 106	 action: [ 4.787e-02  4.115e-01 -2.199e-01  4.467e-03 -4.754e-04  9.081e-03 -1.012e+00]
+t: 107	 action: [ 0.09   0.361 -0.185  0.013  0.008  0.003 -1.01 ]
+t: 108	 action: [ 0.052  0.155 -0.095 -0.001  0.013  0.006 -1.019]
+t: 109	 action: [ 0.095  0.064  0.058  0.008  0.019 -0.006 -1.014]
+t: 110	 action: [ 0.064  0.053  0.138  0.002  0.016 -0.004 -1.006]
+t: 111	 action: [ 0.032  0.046  0.31   0.013  0.019 -0.006 -1.042]
+t: 112	 action: [ 0.023 -0.009  0.427  0.004  0.028 -0.007 -1.015]
+t: 113	 action: [ 0.015 -0.02   0.564  0.013  0.027 -0.016 -1.039]
+t: 114	 action: [-0.004 -0.043  0.49   0.024  0.005 -0.014 -1.028]
+t: 115	 action: [-0.165 -0.089  0.478  0.031  0.004 -0.021 -1.046]
+t: 116	 action: [-0.168  0.004  0.35   0.027 -0.007 -0.007 -1.035]
+t: 117	 action: [-0.337 -0.095  0.271  0.03  -0.005 -0.02  -1.025]
+t: 118	 action: [-0.67  -0.058  0.184  0.045 -0.017 -0.012 -1.009]
+t: 119	 action: [-0.723 -0.124  0.113  0.022 -0.03  -0.021 -1.043]
+t: 120	 action: [-0.866 -0.073  0.085  0.039 -0.027 -0.008 -0.988]
+t: 121	 action: [-0.843 -0.13   0.008  0.016 -0.031 -0.016 -1.025]
+[07-31 01:54:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3947
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.3947
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3947
+t=122: Selected seed 195 with value = 0.3947
+t: 122	 action: [ 0.109  0.026  0.033  0.007  0.002 -0.01  -1.012]
+t: 123	 action: [ 0.084  0.017  0.023  0.003  0.003 -0.017 -1.043]
+t: 124	 action: [ 8.189e-02 -7.220e-03 -4.442e-03  9.806e-03  9.305e-04 -1.173e-02 -1.018e+00]
+t: 125	 action: [ 0.04  -0.04  -0.03   0.004  0.006 -0.025 -1.056]
+t: 126	 action: [-0.06   0.021 -0.106 -0.001  0.004 -0.01  -1.005]
+t: 127	 action: [-7.444e-02  4.424e-02 -1.333e-01  8.941e-04  4.494e-03 -2.254e-02 -1.057e+00]
+t: 128	 action: [-0.114  0.029 -0.251 -0.006 -0.002 -0.01  -1.02 ]
+t: 129	 action: [-0.107  0.056 -0.307 -0.007  0.003 -0.031 -1.071]
+t: 130	 action: [-1.910e-01  1.209e-02 -5.101e-01  1.238e-03 -1.455e-02  7.673e-04 -1.023e+00]
+t: 131	 action: [-0.243 -0.028 -0.642 -0.004 -0.009 -0.008 -1.05 ]
+t: 132	 action: [-0.259 -0.003 -0.675 -0.002 -0.017  0.004 -1.021]
+t: 133	 action: [-0.242 -0.026 -0.718 -0.009 -0.015 -0.006 -1.005]
+t: 134	 action: [-0.416  0.007 -0.711 -0.003 -0.027 -0.002 -1.019]
+t: 135	 action: [-0.336  0.056 -0.654 -0.008 -0.037 -0.017 -1.058]
+t: 136	 action: [-0.319  0.016 -0.72  -0.01  -0.029 -0.003 -1.014]
+t: 137	 action: [-0.217  0.057 -0.62  -0.011 -0.04  -0.01  -0.781]
+[07-31 01:54:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4556
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4556
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4556
+t=138: Selected seed 195 with value = 0.4556
+t: 138	 action: [ 0.217  0.145 -0.278  0.004 -0.017 -0.001 -1.049]
+t: 139	 action: [ 0.257  0.157 -0.245  0.009 -0.021 -0.007 -1.032]
+t: 140	 action: [ 1.802e-01  8.399e-02 -2.470e-01  6.177e-03 -1.436e-02 -8.833e-04 -1.051e+00]
+t: 141	 action: [ 0.212  0.072 -0.16   0.006 -0.017 -0.013 -1.032]
+t: 142	 action: [ 0.146  0.116 -0.101  0.002 -0.002 -0.004 -1.037]
+t: 143	 action: [ 0.156  0.131  0.026  0.013 -0.012 -0.01  -1.05 ]
+t: 144	 action: [ 0.158  0.089  0.067 -0.005 -0.004 -0.007 -1.043]
+t: 145	 action: [ 0.196  0.092  0.16   0.005 -0.013 -0.019 -1.049]
+t: 146	 action: [ 0.295  0.006  0.215  0.021 -0.011 -0.025 -1.073]
+t: 147	 action: [ 0.3   -0.009  0.122  0.021 -0.007 -0.024 -1.04 ]
+t: 148	 action: [ 0.252  0.002  0.066  0.02  -0.022 -0.018 -1.078]
+t: 149	 action: [ 0.196 -0.029 -0.048  0.017 -0.021 -0.02  -1.037]
+t: 150	 action: [ 0.108  0.026 -0.061  0.016 -0.025 -0.016 -1.064]
+t: 151	 action: [-0.006 -0.028 -0.173  0.016 -0.032 -0.022 -1.045]
+t: 152	 action: [-0.044  0.01  -0.342  0.005 -0.032 -0.014 -1.069]
+t: 153	 action: [-0.084 -0.032 -0.422  0.01  -0.036 -0.017 -1.046]
+[07-31 01:54:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4828
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.4828
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4828
+t=154: Selected seed 195 with value = 0.4828
+t: 154	 action: [ 0.145  0.012 -0.272  0.026 -0.01  -0.005 -1.046]
+t: 155	 action: [ 0.18   0.016 -0.278  0.022 -0.003 -0.015 -1.033]
+t: 156	 action: [ 0.108  0.014 -0.242  0.02  -0.003 -0.004 -1.041]
+t: 157	 action: [ 0.131  0.032 -0.199  0.014  0.003 -0.017 -1.026]
+t: 158	 action: [ 0.075  0.086 -0.147  0.01   0.012 -0.004 -1.032]
+t: 159	 action: [ 0.065  0.135 -0.045  0.019  0.007 -0.011 -1.05 ]
+t: 160	 action: [ 0.073  0.131 -0.025 -0.003  0.012 -0.007 -1.034]
+t: 161	 action: [ 0.078  0.149  0.051  0.007  0.002 -0.017 -1.04 ]
+t: 162	 action: [ 0.207  0.081  0.091  0.01  -0.007 -0.025 -1.071]
+t: 163	 action: [ 0.189  0.073  0.043  0.011 -0.004 -0.023 -1.041]
+t: 164	 action: [ 0.189  0.064 -0.069  0.007 -0.016 -0.01  -1.071]
+t: 165	 action: [ 0.148  0.055 -0.155  0.007 -0.012 -0.017 -1.035]
+t: 166	 action: [ 8.904e-02  4.180e-02 -2.132e-01  8.249e-04 -1.985e-02 -1.109e-02 -1.069e+00]
+t: 167	 action: [-6.401e-05 -1.172e-02 -2.551e-01  8.205e-03 -2.703e-02 -1.282e-02 -1.045e+00]
+t: 168	 action: [-0.029 -0.01  -0.456 -0.004 -0.025 -0.006 -1.065]
+t: 169	 action: [-0.091 -0.046 -0.437  0.004 -0.031 -0.008 -1.047]
+[07-31 01:54:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5463
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5463
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5463
+t=170: Selected seed 195 with value = 0.5463
+t: 170	 action: [-0.034  0.042 -0.511  0.013 -0.008 -0.021 -1.059]
+t: 171	 action: [ 0.013  0.128 -0.522  0.009 -0.004 -0.029 -1.047]
+t: 172	 action: [-0.058  0.054 -0.508  0.02  -0.003 -0.018 -1.052]
+t: 173	 action: [-0.004  0.111 -0.486  0.012  0.005 -0.025 -1.037]
+t: 174	 action: [-0.108  0.088 -0.383  0.009  0.01  -0.015 -1.046]
+t: 175	 action: [-0.079  0.149 -0.439  0.014  0.007 -0.023 -1.059]
+t: 176	 action: [-0.135  0.073 -0.306  0.006  0.013 -0.016 -1.042]
+t: 177	 action: [-0.123  0.119 -0.351  0.012  0.007 -0.025 -1.047]
+t: 178	 action: [-0.031  0.019 -0.196  0.003  0.007 -0.018 -1.051]
+t: 179	 action: [ 0.012  0.008 -0.2    0.002  0.008 -0.021 -1.14 ]
+t: 180	 action: [-9.075e-02  1.902e-02 -3.318e-01  8.341e-05  5.614e-04 -1.159e-02 -1.170e+00]
+t: 181	 action: [-1.026e-01 -1.932e-02 -3.173e-01 -6.275e-04  7.369e-03 -1.514e-02 -1.146e+00]
+t: 182	 action: [-9.232e-02 -1.642e-02 -3.181e-01 -3.465e-03  1.731e-04 -1.651e-02 -1.041e+00]
+t: 183	 action: [-0.086 -0.054 -0.285  0.004 -0.001 -0.016  1.224]
+t: 184	 action: [-1.033e-01 -2.094e-02 -3.349e-01 -7.209e-03 -6.184e-04 -1.553e-02  1.104e+00]
+t: 185	 action: [-0.063 -0.061 -0.304 -0.002 -0.003 -0.011  1.183]
+[07-31 01:54:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.5979
+Query 1/1: Action query time = 0.992 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5979
+t=186: Selected seed 195 with value = 0.5979
+t: 186	 action: [-0.084  0.098 -0.727 -0.012  0.018  0.014 -1.192]
+t: 187	 action: [-0.126  0.051 -0.672 -0.018  0.02   0.021 -1.102]
+t: 188	 action: [-0.084  0.087 -0.54  -0.017  0.019  0.009  0.975]
+t: 189	 action: [-0.108  0.038 -0.378 -0.014  0.025  0.022  1.039]
+t: 190	 action: [-0.093  0.053 -0.385 -0.026  0.04   0.014  1.056]
+t: 191	 action: [-0.056  0.061 -0.273 -0.014  0.034  0.024  1.182]
+t: 192	 action: [-0.06   0.042 -0.097 -0.031  0.032  0.002  0.994]
+t: 193	 action: [-0.058  0.052  0.039 -0.023  0.029  0.008  1.041]
+t: 194	 action: [-0.038  0.027  0.056 -0.03   0.053  0.008  0.974]
+t: 195	 action: [ 0.007  0.072  0.176 -0.027  0.046  0.007  1.011]
+t: 196	 action: [-0.03   0.019  0.25  -0.029  0.036  0.007  0.974]
+t: 197	 action: [ 0.014  0.071  0.35  -0.028  0.033  0.004  1.017]
+t: 198	 action: [-0.024  0.016  0.516 -0.013  0.058  0.002  0.997]
+t: 199	 action: [-0.005  0.058  0.68  -0.023  0.019  0.002  1.023]
+t: 200	 action: [-0.022 -0.031  0.716 -0.007  0.03  -0.003  0.992]
+t: 201	 action: [-0.002  0.008  0.843 -0.031  0.01  -0.005  1.033]
+[07-31 01:54:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6353
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.6353
+Query 1/1: Action query time = 0.990 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6353
+t=202: Selected seed 195 with value = 0.6353
+t: 202	 action: [-0.117 -0.063 -0.432  0.01   0.051 -0.001  0.916]
+t: 203	 action: [-0.119 -0.072 -0.139  0.019  0.055 -0.013  1.038]
+t: 204	 action: [-0.139 -0.023 -0.315  0.022  0.05  -0.002  1.117]
+t: 205	 action: [-0.147 -0.037 -0.11   0.026  0.058 -0.021  0.415]
+t: 206	 action: [-0.114 -0.036 -0.072  0.013  0.054 -0.002  0.756]
+t: 207	 action: [-0.106 -0.028 -0.024  0.022  0.055 -0.002 -0.887]
+t: 208	 action: [-0.099  0.009 -0.147  0.013  0.059 -0.001 -1.069]
+t: 209	 action: [-1.193e-01  3.117e-04 -1.190e-01  1.958e-02  7.307e-02 -2.769e-02 -1.005e+00]
+t: 210	 action: [-0.055 -0.022 -0.632  0.002  0.073  0.009  0.767]
+t: 211	 action: [-1.287e-01 -7.482e-02 -6.103e-01  2.560e-04  6.110e-02  1.616e-02 -1.084e+00]
+t: 212	 action: [-0.152 -0.036 -0.728  0.002  0.051  0.011  0.934]
+t: 213	 action: [-0.209 -0.105 -0.682  0.003  0.032  0.027  1.096]
+t: 214	 action: [-0.143 -0.038 -0.681 -0.003  0.036  0.01  -0.756]
+t: 215	 action: [-0.23  -0.064 -0.697 -0.005  0.009  0.018  1.151]
+t: 216	 action: [-0.226 -0.077 -0.653 -0.004  0.012  0.008  0.977]
+t: 217	 action: [-0.289 -0.11  -0.688 -0.012 -0.003  0.028  1.071]
+[07-31 01:54:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7281
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7281
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7281
+t=218: Selected seed 195 with value = 0.7281
+t: 218	 action: [-0.112  0.02  -0.001 -0.016 -0.005 -0.001  0.983]
+t: 219	 action: [-0.088  0.011  0.072 -0.016  0.007 -0.009  1.039]
+t: 220	 action: [-0.071  0.027  0.304 -0.01  -0.017 -0.017  0.989]
+t: 221	 action: [-0.028  0.028  0.514 -0.012  0.004 -0.019  1.037]
+t: 222	 action: [ 0.009  0.013  0.635 -0.012  0.012 -0.018  1.004]
+t: 223	 action: [ 0.025 -0.025  0.842 -0.001  0.022 -0.031  1.052]
+t: 224	 action: [ 0.029 -0.018  0.908  0.006  0.018 -0.037  1.   ]
+t: 225	 action: [ 0.026 -0.157  0.927  0.019  0.04  -0.04   1.043]
+t: 226	 action: [-0.028 -0.17   0.817  0.018  0.075 -0.013  0.972]
+t: 227	 action: [ 0.004 -0.331  0.788  0.033  0.075 -0.013  1.038]
+t: 228	 action: [-0.084 -0.356  0.644  0.041  0.061 -0.014  0.975]
+t: 229	 action: [-0.059 -0.593  0.496  0.052  0.051 -0.011  1.035]
+t: 230	 action: [-0.131 -0.588  0.266  0.068  0.047 -0.013  0.995]
+t: 231	 action: [-0.214 -0.71   0.109  0.054  0.017 -0.01   1.051]
+t: 232	 action: [-0.17  -0.677  0.029  0.061  0.018 -0.016  1.003]
+t: 233	 action: [-2.212e-01 -7.560e-01 -9.551e-02  3.403e-02  9.440e-04 -9.104e-03  1.040e+00]
+[07-31 01:54:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8163
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=234: Selected seed 195 with value = 0.8163
+t: 234	 action: [-0.088 -0.041  0.025 -0.008  0.005 -0.003  0.999]
+t: 235	 action: [-1.018e-01 -5.832e-02  6.917e-02 -2.694e-03  7.082e-03 -2.046e-04  1.059e+00]
+t: 236	 action: [-0.117 -0.03   0.275 -0.008 -0.012 -0.005  0.995]
+t: 237	 action: [-0.207 -0.042  0.301  0.002  0.004 -0.009  1.026]
+t: 238	 action: [-0.141 -0.077  0.311  0.003  0.008 -0.001  1.02 ]
+t: 239	 action: [-0.149 -0.056  0.288  0.009  0.009 -0.009  1.063]
+t: 240	 action: [-0.162 -0.082  0.506  0.002  0.017 -0.002  0.637]
+t: 241	 action: [-0.193 -0.141  0.549  0.018  0.026 -0.01  -0.413]
+t: 242	 action: [-0.109 -0.29   0.51   0.012  0.038  0.006  0.989]
+t: 243	 action: [-0.137 -0.337  0.297  0.021  0.004  0.022  1.046]
+t: 244	 action: [-0.106 -0.292  0.132  0.008  0.016  0.016  0.989]
+t: 245	 action: [-0.127 -0.434  0.029  0.017 -0.013  0.032  1.06 ]
+t: 246	 action: [-0.114 -0.423  0.01  -0.006 -0.019  0.013  1.028]
+t: 247	 action: [-0.157 -0.576 -0.075 -0.014 -0.033  0.028  1.062]
+t: 248	 action: [-0.091 -0.404 -0.239 -0.008 -0.049  0.018  1.022]
+t: 249	 action: [-0.095 -0.517 -0.217 -0.022 -0.048  0.036  1.07 ]
+[07-31 01:54:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9296
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9296
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9296
+t=250: Selected seed 195 with value = 0.9296
+t: 250	 action: [-8.935e-02 -1.980e-01 -4.671e-01  4.673e-04 -3.106e-02  3.360e-03  9.714e-01]
+t: 251	 action: [-0.124 -0.069 -0.558 -0.01  -0.025  0.016  1.076]
+t: 252	 action: [-0.119 -0.099 -0.688 -0.001 -0.042  0.013  0.974]
+t: 253	 action: [-0.179 -0.024 -0.66  -0.009 -0.038  0.005  1.009]
+t: 254	 action: [-0.134 -0.079 -0.481 -0.027 -0.05   0.022  0.987]
+t: 255	 action: [-0.19   0.022 -0.528 -0.026 -0.02   0.025  1.079]
+t: 256	 action: [-0.141 -0.026 -0.327 -0.016 -0.018  0.04   0.757]
+t: 257	 action: [-0.166  0.025 -0.328 -0.017 -0.004  0.017 -1.099]
+t: 258	 action: [ 0.01  -0.02  -0.239 -0.004  0.033  0.014  1.152]
+t: 259	 action: [ 0.029 -0.052 -0.057  0.001  0.042  0.008 -1.014]
+t: 260	 action: [ 0.05  -0.01   0.022 -0.004  0.045  0.013 -1.199]
+t: 261	 action: [ 0.016 -0.047  0.121 -0.002  0.045  0.003 -0.985]
+t: 262	 action: [ 0.009 -0.007  0.179 -0.005  0.048  0.018 -1.129]
+t: 263	 action: [-0.01   0.004  0.217 -0.002  0.036  0.005 -1.015]
+t: 264	 action: [ 0.01  -0.004  0.297  0.005  0.039  0.011 -0.44 ]
+t: 265	 action: [0.027 0.004 0.291 0.01  0.029 0.017 0.814]
+[07-31 01:54:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9293
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9293
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9293
+t=266: Selected seed 195 with value = 0.9293
+t: 266	 action: [-1.531e-01 -4.295e-01 -4.673e-01  6.675e-04  1.720e-02  8.019e-03  9.760e-01]
+t: 267	 action: [-1.666e-01 -2.404e-01 -5.747e-01 -1.683e-02  3.226e-04  8.203e-03  1.054e+00]
+t: 268	 action: [-0.138 -0.215 -0.512 -0.012  0.012  0.006  0.982]
+t: 269	 action: [-1.213e-01 -7.015e-02 -5.596e-01 -2.144e-02 -8.289e-04  9.736e-03  1.037e+00]
+t: 270	 action: [-0.113 -0.025 -0.444 -0.041  0.014  0.003  0.986]
+t: 271	 action: [-0.09   0.048 -0.387 -0.024  0.002  0.015  1.047]
+t: 272	 action: [-0.081  0.032 -0.293 -0.038  0.021  0.003  0.995]
+t: 273	 action: [-0.008  0.072 -0.256 -0.019  0.02   0.013  1.036]
+t: 274	 action: [ 0.136  0.043 -0.114 -0.015  0.006  0.012  1.172]
+t: 275	 action: [ 0.135  0.05  -0.014 -0.011  0.013  0.003 -1.022]
+t: 276	 action: [ 0.182  0.051  0.074 -0.008  0.005  0.012 -1.082]
+t: 277	 action: [ 0.199  0.05   0.119 -0.005  0.011  0.004 -1.036]
+t: 278	 action: [ 7.889e-02  5.686e-02  1.278e-01 -6.310e-03  1.184e-02 -8.132e-04 -1.158e+00]
+t: 279	 action: [ 0.044  0.052  0.207  0.007  0.005 -0.004 -1.066]
+t: 280	 action: [ 0.08   0.025  0.179 -0.005  0.002 -0.003 -1.084]
+t: 281	 action: [ 6.231e-02  3.873e-02  1.944e-01  1.430e-02  7.207e-04  2.138e-03 -1.049e+00]
+[07-31 01:55:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9385
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9385
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9385
+t=282: Selected seed 195 with value = 0.9385
+t: 282	 action: [-4.670e-02 -2.170e-01 -1.542e-01 -1.139e-03  2.631e-02 -3.222e-04  9.854e-01]
+t: 283	 action: [-0.038 -0.177 -0.16  -0.01   0.007 -0.009  1.051]
+t: 284	 action: [-0.022 -0.13  -0.03  -0.008  0.023 -0.004  1.   ]
+t: 285	 action: [-0.003 -0.1   -0.047 -0.013  0.004 -0.015  1.051]
+t: 286	 action: [-0.041 -0.005  0.092 -0.036  0.021 -0.011  1.004]
+t: 287	 action: [ 0.035  0.03   0.219 -0.018  0.007 -0.018  1.05 ]
+t: 288	 action: [ 0.034  0.025  0.212 -0.022  0.024 -0.017  1.008]
+t: 289	 action: [ 0.106  0.054  0.304 -0.007  0.024 -0.024  1.003]
+t: 290	 action: [ 0.233  0.017  0.268 -0.006  0.04   0.004  1.17 ]
+t: 291	 action: [ 0.23   0.02   0.323  0.002  0.041 -0.011 -1.035]
+t: 292	 action: [ 0.3    0.044  0.292 -0.008  0.04   0.003 -1.086]
+t: 293	 action: [ 3.193e-01  4.132e-02  2.859e-01 -1.046e-03  3.233e-02 -8.234e-03 -1.057e+00]
+t: 294	 action: [ 1.914e-01  4.655e-02  2.596e-01  5.844e-04  3.492e-02 -4.015e-03 -1.127e+00]
+t: 295	 action: [ 0.122  0.03   0.241  0.012  0.024 -0.02  -1.078]
+t: 296	 action: [ 0.161  0.081  0.213 -0.004  0.027 -0.007 -1.084]
+t: 297	 action: [ 0.106  0.053  0.186  0.009  0.014 -0.014 -1.056]
+[07-31 01:55:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9456
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9456
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 83
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 66%|██████▌   | 33/50 [17:43<08:52, 31.34s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 34...
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9456
+t=298: Selected seed 195 with value = 0.9456
+t: 298	 action: [-0.089 -0.287 -0.418 -0.006  0.018  0.015  0.976]
+t: 299	 action: [-6.413e-02 -2.184e-01 -4.732e-01 -1.609e-02  9.166e-04  2.281e-02  1.068e+00]
+t: 300	 action: [-0.074 -0.119 -0.359 -0.016  0.014  0.016  0.99 ]
+t: 301	 action: [-2.357e-02 -7.823e-02 -3.948e-01 -1.682e-02 -7.872e-04  4.983e-03  9.747e-01]
+t: 302	 action: [-0.068 -0.005 -0.255 -0.04   0.016  0.01   0.99 ]
+t: 303	 action: [-0.02   0.02  -0.175 -0.02   0.001  0.02   1.065]
+t: 304	 action: [-0.045  0.026 -0.111 -0.029  0.021  0.008  0.994]
+t: 305	 action: [ 0.031  0.049 -0.051 -0.012  0.017  0.012 -0.895]
+t: 306	 action: [ 0.051  0.021  0.063 -0.006  0.011  0.007  1.125]
+t: 307	 action: [ 0.058  0.021  0.109 -0.007  0.009 -0.004 -1.033]
+t: 308	 action: [ 0.106  0.022  0.165 -0.008  0.002  0.009 -1.072]
+t: 309	 action: [ 0.193  0.03   0.196 -0.008  0.005 -0.002 -1.032]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=83--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=83--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 83
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 34...
+[07-31 01:55:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3392
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3392
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3392
+t=10: Selected seed 195 with value = 0.3392
+t: 10	 action: [ 0.131 -0.067  0.086  0.006  0.026  0.006 -1.007]
+t: 11	 action: [ 0.252 -0.071  0.101  0.006  0.044  0.004 -1.01 ]
+t: 12	 action: [ 0.403 -0.119  0.174  0.005  0.025  0.01  -1.02 ]
+t: 13	 action: [ 0.593 -0.139  0.226  0.008  0.039  0.007 -1.021]
+t: 14	 action: [ 0.7   -0.128  0.302  0.006  0.031  0.009 -1.018]
+t: 15	 action: [ 0.752 -0.152  0.255  0.009  0.037  0.008 -1.034]
+t: 16	 action: [ 0.832 -0.152  0.326  0.005  0.027  0.012 -1.016]
+t: 17	 action: [ 0.84  -0.192  0.267  0.012  0.032  0.01  -1.041]
+t: 18	 action: [ 0.813 -0.232  0.347  0.009  0.014  0.013 -1.027]
+t: 19	 action: [ 0.857 -0.215  0.331  0.008  0.024  0.005 -1.024]
+t: 20	 action: [ 0.861 -0.204  0.245  0.009  0.005  0.011 -1.022]
+t: 21	 action: [ 0.89  -0.235  0.246  0.01   0.018  0.006 -1.015]
+t: 22	 action: [ 0.888 -0.186  0.186  0.012  0.009  0.011 -1.011]
+t: 23	 action: [ 0.9   -0.294  0.123  0.012  0.014  0.008 -1.038]
+t: 24	 action: [ 0.914 -0.128  0.067  0.007  0.005  0.008 -1.005]
+t: 25	 action: [ 9.188e-01 -2.565e-01  2.280e-04  1.202e-02  1.012e-02  9.670e-03 -1.039e+00]
+[07-31 01:55:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3974
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3974
+Query 1/1: Action query time = 1.000 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3974
+t=26: Selected seed 195 with value = 0.3974
+t: 26	 action: [ 9.478e-01 -5.685e-02  6.155e-02 -6.933e-04  8.300e-03 -4.318e-03 -1.026e+00]
+t: 27	 action: [ 0.953 -0.038  0.053 -0.002  0.004 -0.018 -1.02 ]
+t: 28	 action: [ 9.332e-01 -1.368e-01  1.919e-02  4.739e-03  4.426e-03 -1.122e-05 -1.032e+00]
+t: 29	 action: [ 0.96  -0.147  0.037  0.007  0.004 -0.014 -1.02 ]
+t: 30	 action: [ 0.971 -0.152 -0.071  0.008  0.005 -0.003 -1.016]
+t: 31	 action: [ 0.935 -0.176 -0.086  0.01   0.002 -0.015 -1.031]
+t: 32	 action: [ 0.913 -0.19  -0.235  0.007 -0.003 -0.003 -1.027]
+t: 33	 action: [ 8.792e-01 -2.418e-01 -3.021e-01  1.636e-02 -2.057e-04 -1.417e-02 -1.034e+00]
+t: 34	 action: [ 0.664 -0.247 -0.432  0.013 -0.028  0.007 -1.037]
+t: 35	 action: [ 0.524 -0.203 -0.583  0.013 -0.033 -0.007 -1.033]
+t: 36	 action: [ 0.379 -0.153 -0.708  0.013 -0.051  0.008 -1.027]
+t: 37	 action: [ 0.184 -0.131 -0.797  0.012 -0.05  -0.003 -1.017]
+t: 38	 action: [ 0.05  -0.096 -0.832  0.01  -0.075  0.004 -1.028]
+t: 39	 action: [-5.262e-03 -1.049e-01 -8.446e-01  1.690e-02 -6.425e-02 -5.588e-04 -1.039e+00]
+t: 40	 action: [-0.115 -0.037 -0.878  0.005 -0.088  0.005 -1.027]
+t: 41	 action: [-0.07  -0.069 -0.883  0.015 -0.061  0.005 -1.038]
+[07-31 01:55:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4771
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4771
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4771
+t=42: Selected seed 195 with value = 0.4771
+t: 42	 action: [-0.202  0.057 -0.764  0.011 -0.038  0.029 -1.005]
+t: 43	 action: [-0.218  0.02  -0.779  0.006 -0.039  0.029 -1.019]
+t: 44	 action: [-0.111  0.084 -0.766  0.007 -0.031  0.035 -1.009]
+t: 45	 action: [-0.114  0.206 -0.754  0.002 -0.029  0.029 -1.022]
+t: 46	 action: [-0.162  0.135 -0.725  0.01  -0.033  0.041 -1.008]
+t: 47	 action: [-0.075  0.126 -0.66   0.009 -0.02   0.033 -1.035]
+t: 48	 action: [-0.047  0.296 -0.645  0.004 -0.025  0.044 -1.012]
+t: 49	 action: [ 0.012  0.437 -0.554  0.007 -0.009  0.031 -1.039]
+t: 50	 action: [ 0.043  0.473 -0.628  0.007 -0.025  0.037 -1.017]
+t: 51	 action: [ 0.028  0.544 -0.642  0.002 -0.02   0.034 -1.019]
+t: 52	 action: [ 0.054  0.671 -0.591  0.006 -0.016  0.038 -1.022]
+t: 53	 action: [ 4.906e-02  6.616e-01 -5.469e-01 -4.435e-05 -1.201e-02  3.272e-02 -1.021e+00]
+t: 54	 action: [ 0.021  0.714 -0.546  0.004 -0.022  0.043 -1.017]
+t: 55	 action: [ 0.019  0.741 -0.513  0.004 -0.016  0.034 -1.039]
+t: 56	 action: [ 0.014  0.771 -0.506  0.001 -0.012  0.04  -1.022]
+t: 57	 action: [ 0.026  0.738 -0.426  0.001 -0.007  0.033 -1.046]
+[07-31 01:55:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5488
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5488
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5488
+t=58: Selected seed 195 with value = 0.5488
+t: 58	 action: [-0.018  0.785 -0.401  0.007 -0.005  0.012 -0.991]
+t: 59	 action: [ 1.642e-02  7.680e-01 -4.049e-01  1.255e-02 -4.339e-04  1.758e-02 -9.953e-01]
+t: 60	 action: [-0.031  0.801 -0.394  0.007 -0.001  0.018 -0.985]
+t: 61	 action: [ 0.002  0.754 -0.4    0.018  0.001  0.021 -0.996]
+t: 62	 action: [-0.022  0.775 -0.386  0.008  0.002  0.022 -0.979]
+t: 63	 action: [-0.016  0.78  -0.444  0.02   0.001  0.024 -1.015]
+t: 64	 action: [-0.042  0.775 -0.388  0.008  0.008  0.034 -0.976]
+t: 65	 action: [-0.027  0.751 -0.443  0.024  0.003  0.027 -1.019]
+t: 66	 action: [ 0.057  0.714 -0.322  0.011 -0.014  0.028 -1.007]
+t: 67	 action: [ 0.051  0.624 -0.272  0.022 -0.002  0.014 -1.019]
+t: 68	 action: [ 0.061  0.444 -0.167  0.007  0.002  0.014 -1.008]
+t: 69	 action: [ 0.058  0.278 -0.027  0.019  0.029  0.005 -1.014]
+t: 70	 action: [ 0.064 -0.007  0.205  0.034  0.069  0.014 -0.998]
+t: 71	 action: [ 0.034 -0.138  0.369  0.037  0.061  0.003 -1.031]
+t: 72	 action: [ 0.016 -0.164  0.515  0.052  0.091  0.003 -0.995]
+t: 73	 action: [-0.005 -0.194  0.592  0.047  0.07  -0.005 -1.028]
+[07-31 01:55:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6073
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6073
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6073
+t=74: Selected seed 195 with value = 0.6073
+t: 74	 action: [ 7.058e-03  2.225e-01  6.386e-02 -2.294e-02  1.868e-02  6.112e-04 -1.009e+00]
+t: 75	 action: [ 0.047  0.061  0.243 -0.005  0.029 -0.012 -1.017]
+t: 76	 action: [ 0.049  0.008  0.419 -0.003  0.015 -0.004 -1.04 ]
+t: 77	 action: [ 0.069 -0.059  0.584  0.004  0.02  -0.02  -1.033]
+t: 78	 action: [-0.02  -0.051  0.565  0.01   0.019 -0.01  -1.007]
+t: 79	 action: [-0.06  -0.05   0.651  0.014  0.005 -0.019 -1.042]
+t: 80	 action: [-0.226 -0.085  0.551  0.009  0.004 -0.012 -1.043]
+t: 81	 action: [-0.314 -0.068  0.582  0.024  0.002 -0.025 -1.047]
+t: 82	 action: [-0.461 -0.045  0.379  0.02  -0.044 -0.004 -1.036]
+t: 83	 action: [-0.578 -0.161  0.376  0.021 -0.028 -0.013 -1.038]
+t: 84	 action: [-0.655 -0.069  0.26   0.022 -0.07   0.003 -1.045]
+t: 85	 action: [-0.673 -0.212  0.268  0.023 -0.034 -0.01  -1.028]
+t: 86	 action: [-0.799 -0.162  0.151  0.039 -0.046 -0.005 -1.011]
+t: 87	 action: [-0.781 -0.221  0.087  0.034 -0.028 -0.011 -1.041]
+t: 88	 action: [-0.793 -0.21   0.026  0.039 -0.066 -0.002 -1.011]
+t: 89	 action: [-0.771 -0.263  0.003  0.037 -0.031 -0.006 -1.039]
+[07-31 01:55:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6898
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6898
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6898
+t=90: Selected seed 195 with value = 0.6898
+t: 90	 action: [-0.592 -0.056  0.255  0.018 -0.003 -0.043 -1.018]
+t: 91	 action: [-0.656 -0.115  0.141  0.024 -0.008 -0.039 -1.028]
+t: 92	 action: [-0.718 -0.07   0.075  0.022 -0.016 -0.034 -1.013]
+t: 93	 action: [-0.737 -0.111  0.015  0.026 -0.021 -0.04  -1.034]
+t: 94	 action: [-0.796 -0.094 -0.151  0.037 -0.033 -0.025 -1.009]
+t: 95	 action: [-0.76  -0.095 -0.154  0.025 -0.035 -0.045 -1.04 ]
+t: 96	 action: [-0.759 -0.158 -0.38   0.033 -0.053 -0.023 -1.007]
+t: 97	 action: [-0.707 -0.096 -0.416  0.02  -0.056 -0.049 -1.038]
+t: 98	 action: [-0.66  -0.025 -0.547  0.017 -0.081 -0.021 -1.021]
+t: 99	 action: [-0.661 -0.053 -0.605  0.01  -0.081 -0.043 -1.026]
+t: 100	 action: [-0.571 -0.075 -0.668  0.011 -0.101 -0.023 -1.02 ]
+t: 101	 action: [-0.483 -0.077 -0.698  0.009 -0.092 -0.038 -1.02 ]
+t: 102	 action: [-0.587 -0.05  -0.644  0.009 -0.114 -0.026 -1.013]
+t: 103	 action: [-0.485 -0.052 -0.628  0.01  -0.091 -0.054 -1.044]
+t: 104	 action: [-0.464 -0.1   -0.676  0.007 -0.11  -0.03  -1.011]
+t: 105	 action: [-0.383 -0.066 -0.633  0.011 -0.085 -0.05  -1.05 ]
+[07-31 01:55:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6404
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.6404
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6404
+t=106: Selected seed 195 with value = 0.6404
+t: 106	 action: [-0.049  0.295 -0.503  0.021 -0.032 -0.062 -1.048]
+t: 107	 action: [ 0.024  0.278 -0.53   0.027 -0.02  -0.098 -1.04 ]
+t: 108	 action: [ 0.117  0.276 -0.481  0.012 -0.014 -0.087 -1.034]
+t: 109	 action: [ 0.15   0.213 -0.492  0.019 -0.001 -0.108 -1.033]
+t: 110	 action: [ 0.248  0.2   -0.419  0.006  0.003 -0.082 -1.037]
+t: 111	 action: [ 0.337  0.194 -0.427  0.027  0.007 -0.11  -1.047]
+t: 112	 action: [ 3.354e-01  1.648e-01 -4.492e-01 -6.110e-04  1.151e-02 -9.697e-02 -1.022e+00]
+t: 113	 action: [ 0.397  0.154 -0.445  0.02   0.005 -0.116 -1.042]
+t: 114	 action: [ 4.202e-01  1.656e-01 -4.793e-01 -1.565e-05  6.072e-03 -9.818e-02 -1.035e+00]
+t: 115	 action: [ 0.514  0.12  -0.421  0.003  0.009 -0.107 -1.04 ]
+t: 116	 action: [ 0.521  0.129 -0.443 -0.002  0.009 -0.1   -1.034]
+t: 117	 action: [ 0.578  0.107 -0.401  0.005  0.01  -0.104 -1.036]
+t: 118	 action: [ 0.451  0.055 -0.377 -0.004  0.005 -0.1   -1.032]
+t: 119	 action: [ 3.890e-01  5.049e-02 -4.107e-01  4.996e-03  1.027e-03 -1.119e-01 -1.055e+00]
+t: 120	 action: [ 0.413  0.033 -0.364 -0.01   0.01  -0.1   -1.027]
+t: 121	 action: [ 3.498e-01  2.642e-02 -4.452e-01  6.905e-03  3.949e-04 -1.076e-01 -1.060e+00]
+[07-31 01:55:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5737
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5737
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5737
+t=122: Selected seed 195 with value = 0.5737
+t: 122	 action: [ 0.241 -0.03  -0.306 -0.002  0.018 -0.03  -1.056]
+t: 123	 action: [ 0.215  0.031 -0.363 -0.003  0.018 -0.026 -1.057]
+t: 124	 action: [ 1.698e-01  9.245e-03 -3.344e-01 -8.117e-04  1.912e-02 -2.186e-02 -1.053e+00]
+t: 125	 action: [ 0.143  0.045 -0.371 -0.004  0.013 -0.021 -1.046]
+t: 126	 action: [ 0.115  0.033 -0.308 -0.005  0.022 -0.021 -1.049]
+t: 127	 action: [ 0.086  0.088 -0.281  0.005  0.018 -0.025 -1.057]
+t: 128	 action: [ 0.087  0.037 -0.34  -0.008  0.024 -0.013 -1.053]
+t: 129	 action: [ 0.05   0.081 -0.322 -0.001  0.014 -0.023 -1.052]
+t: 130	 action: [ 0.073 -0.003 -0.364 -0.011  0.017 -0.012 -1.156]
+t: 131	 action: [ 0.012 -0.006 -0.361 -0.014  0.017 -0.012 -1.163]
+t: 132	 action: [ 0.028 -0.036 -0.343 -0.012  0.02  -0.008  0.997]
+t: 133	 action: [ 0.016 -0.026 -0.343 -0.012  0.016 -0.011  1.033]
+t: 134	 action: [ 0.006 -0.038 -0.353 -0.011  0.015 -0.016  1.101]
+t: 135	 action: [-0.022 -0.018 -0.304 -0.009  0.002 -0.009  1.162]
+t: 136	 action: [-0.022 -0.072 -0.211 -0.021  0.018 -0.014  1.009]
+t: 137	 action: [ 6.338e-04 -3.503e-02 -1.729e-01 -9.760e-03  3.125e-03 -6.518e-03  1.053e+00]
+[07-31 01:55:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6459
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.6459
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6459
+t=138: Selected seed 195 with value = 0.6459
+t: 138	 action: [ 0.007  0.023 -0.182  0.007 -0.008 -0.063  0.983]
+t: 139	 action: [ 0.008  0.017 -0.101  0.01  -0.021 -0.063  1.05 ]
+t: 140	 action: [-0.049  0.038 -0.048 -0.005 -0.008 -0.056  0.981]
+t: 141	 action: [-0.035  0.036 -0.014 -0.002 -0.009 -0.047  1.054]
+t: 142	 action: [-0.107  0.029  0.105  0.003  0.01  -0.055  0.993]
+t: 143	 action: [-0.088  0.061  0.118  0.012 -0.004 -0.052  1.03 ]
+t: 144	 action: [-1.438e-01  3.695e-02  4.117e-01  8.490e-04  1.836e-02 -5.663e-02  9.922e-01]
+t: 145	 action: [-0.113  0.056  0.567  0.01   0.004 -0.045  1.033]
+t: 146	 action: [-9.365e-02 -9.855e-03  4.649e-01  5.373e-04  3.139e-02 -5.489e-02  9.721e-01]
+t: 147	 action: [-0.043 -0.005  0.628  0.01   0.014 -0.032  1.031]
+t: 148	 action: [-0.043 -0.023  0.627  0.004  0.036 -0.048  0.967]
+t: 149	 action: [ 0.021  0.003  0.736  0.018  0.019 -0.024  1.026]
+t: 150	 action: [-0.035 -0.104  0.736  0.036  0.055 -0.047  0.982]
+t: 151	 action: [ 0.031 -0.116  0.8    0.028  0.02  -0.025  1.031]
+t: 152	 action: [-0.015 -0.211  0.692  0.057  0.054 -0.043  0.987]
+t: 153	 action: [ 0.027 -0.301  0.655  0.04   0.013 -0.021  1.032]
+[07-31 01:55:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7797
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7797
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7797
+t=154: Selected seed 195 with value = 0.7797
+t: 154	 action: [-0.248  0.011  0.705  0.022  0.071 -0.068  0.983]
+t: 155	 action: [-0.222 -0.007  0.723  0.041  0.095 -0.071  1.044]
+t: 156	 action: [-0.24  -0.022  0.784  0.037  0.086 -0.057  0.984]
+t: 157	 action: [-0.204 -0.025  0.82   0.048  0.114 -0.059  1.044]
+t: 158	 action: [-0.168 -0.105  0.807  0.049  0.107 -0.054  1.006]
+t: 159	 action: [-0.08  -0.093  0.838  0.055  0.129 -0.06   1.023]
+t: 160	 action: [-0.067 -0.156  0.867  0.054  0.122 -0.047  1.004]
+t: 161	 action: [ 0.015 -0.129  0.872  0.057  0.144 -0.051  1.025]
+t: 162	 action: [ 0.14  -0.177  0.793  0.044  0.112 -0.019  0.999]
+t: 163	 action: [ 0.14  -0.139  0.835  0.036  0.118 -0.014  1.029]
+t: 164	 action: [ 0.242 -0.246  0.769  0.032  0.11  -0.002  0.986]
+t: 165	 action: [ 0.255 -0.226  0.758  0.022  0.111 -0.004  1.025]
+t: 166	 action: [ 0.33  -0.4    0.729  0.043  0.126  0.001  1.025]
+t: 167	 action: [ 0.341 -0.424  0.692  0.023  0.119  0.004  1.031]
+t: 168	 action: [ 0.398 -0.467  0.605  0.036  0.114  0.001  1.015]
+t: 169	 action: [ 0.347 -0.502  0.555  0.01   0.111  0.011  1.026]
+[07-31 01:55:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9034
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9034
+Query 1/1: Action query time = 0.987 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9034
+t=170: Selected seed 195 with value = 0.9034
+t: 170	 action: [ 3.340e-01 -2.342e-01  8.826e-01  1.279e-03  6.831e-02  7.561e-04  9.690e-01]
+t: 171	 action: [ 0.332 -0.276  0.88   0.003  0.059 -0.014  1.014]
+t: 172	 action: [ 0.447 -0.415  0.755  0.016  0.047  0.005  0.973]
+t: 173	 action: [ 4.498e-01 -4.945e-01  7.272e-01  1.851e-02  4.092e-02  7.327e-04  1.014e+00]
+t: 174	 action: [ 0.462 -0.615  0.635  0.011  0.041  0.009  0.998]
+t: 175	 action: [ 0.488 -0.624  0.597  0.02   0.021  0.018  1.006]
+t: 176	 action: [ 0.493 -0.718  0.364  0.037  0.021  0.012  1.001]
+t: 177	 action: [ 0.515 -0.694  0.276  0.031  0.003  0.024  1.011]
+t: 178	 action: [ 0.516 -0.712  0.098  0.019 -0.01   0.015  0.96 ]
+t: 179	 action: [ 0.55  -0.74   0.028  0.008 -0.022  0.019  1.002]
+t: 180	 action: [ 0.549 -0.645 -0.149  0.011 -0.028  0.028  0.961]
+t: 181	 action: [ 0.567 -0.656 -0.195 -0.006 -0.029  0.032  1.011]
+t: 182	 action: [ 0.494 -0.516 -0.285 -0.009 -0.025  0.033  0.986]
+t: 183	 action: [ 0.455 -0.502 -0.442 -0.03  -0.028  0.054  1.004]
+t: 184	 action: [ 0.438 -0.25  -0.55  -0.038 -0.042  0.057  0.988]
+t: 185	 action: [ 0.438 -0.187 -0.664 -0.052 -0.029  0.065  1.009]
+[07-31 01:55:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9733
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=186: Selected seed 195 with value = 0.9733
+t: 186	 action: [ 0.094 -0.378 -0.587  0.017 -0.006  0.023  0.933]
+t: 187	 action: [ 0.051 -0.268 -0.725  0.003 -0.011  0.025  1.033]
+t: 188	 action: [ 0.013 -0.247 -0.727  0.02  -0.003  0.042  0.95 ]
+t: 189	 action: [-0.067 -0.163 -0.752  0.003 -0.005  0.041  1.021]
+t: 190	 action: [-1.176e-02 -7.575e-02 -6.655e-01  8.716e-04  4.504e-02  4.904e-02  9.646e-01]
+t: 191	 action: [-0.047 -0.022 -0.701  0.01   0.057  0.044  1.02 ]
+t: 192	 action: [-0.032  0.018 -0.491  0.003  0.067  0.059  0.989]
+t: 193	 action: [ 0.001  0.008 -0.462  0.01   0.099  0.046  1.032]
+t: 194	 action: [ 0.122 -0.003 -0.128  0.007  0.066  0.025  1.046]
+t: 195	 action: [ 0.126 -0.075 -0.032  0.004  0.073  0.025 -1.03 ]
+t: 196	 action: [ 0.146  0.02   0.118  0.005  0.061  0.023 -1.088]
+t: 197	 action: [ 0.173 -0.04   0.189  0.002  0.065  0.016 -1.033]
+t: 198	 action: [ 0.118  0.012  0.206 -0.003  0.058  0.012 -1.035]
+t: 199	 action: [ 0.119  0.04   0.291  0.004  0.05   0.018 -1.051]
+t: 200	 action: [ 0.118  0.023  0.281 -0.005  0.03   0.01  -1.071]
+t: 201	 action: [ 0.076  0.057  0.314  0.006  0.035  0.016 -1.054]
+[07-31 01:55:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9654
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=202: Selected seed 195 with value = 0.9654
+t: 202	 action: [ 9.009e-02  1.980e-02 -4.139e-01  1.007e-02 -1.053e-03  2.156e-03  1.103e+00]
+t: 203	 action: [ 0.136 -0.065 -0.163  0.008  0.026  0.002  0.961]
+t: 204	 action: [ 0.09   0.015 -0.11   0.013  0.013  0.004 -1.017]
+t: 205	 action: [ 0.136 -0.06   0.097  0.013  0.034 -0.002 -1.026]
+t: 206	 action: [ 9.598e-02  2.880e-02  8.109e-02  6.766e-03  2.101e-02  5.451e-04 -1.121e+00]
+t: 207	 action: [ 0.123  0.017  0.095  0.014  0.041  0.011 -1.08 ]
+t: 208	 action: [ 1.044e-01  3.284e-02  1.543e-01  5.651e-03  2.610e-02  8.527e-04 -1.018e+00]
+t: 209	 action: [ 0.088 -0.012  0.185  0.019  0.043 -0.002 -1.038]
+t: 210	 action: [ 0.133  0.032  0.221  0.031  0.027  0.007 -1.014]
+t: 211	 action: [ 0.195 -0.023  0.283  0.023  0.032  0.001 -1.041]
+t: 212	 action: [ 0.136  0.025  0.202  0.022  0.012  0.007 -1.039]
+t: 213	 action: [ 1.968e-01 -2.439e-02  2.430e-01  1.909e-02  2.120e-02 -6.168e-04 -1.035e+00]
+t: 214	 action: [ 1.142e-01  3.133e-02  1.918e-01  1.924e-02  1.771e-02 -7.495e-04 -1.043e+00]
+t: 215	 action: [ 6.545e-02  6.832e-03  1.715e-01  2.682e-02  9.370e-03  5.830e-04 -1.060e+00]
+t: 216	 action: [ 0.115  0.03   0.159  0.011  0.006 -0.001 -1.041]
+t: 217	 action: [ 7.776e-02 -1.987e-04  1.325e-01  2.231e-02  4.177e-03 -8.542e-04 -1.053e+00]
+[07-31 01:55:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.017 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9863
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 1.017 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=218: Selected seed 195 with value = 0.9863
+t: 218	 action: [ 0.019  0.009 -0.094  0.009  0.042  0.009  1.113]
+t: 219	 action: [ 0.063 -0.104  0.009  0.012  0.057  0.005  0.892]
+t: 220	 action: [ 0.068 -0.008  0.088  0.015  0.049  0.007 -1.025]
+t: 221	 action: [ 8.025e-02 -9.358e-02  1.479e-01  1.406e-02  5.216e-02  6.077e-04 -1.045e+00]
+t: 222	 action: [ 0.096 -0.004  0.128  0.007  0.039  0.014 -1.111]
+t: 223	 action: [ 0.055  0.003  0.152  0.016  0.037  0.021 -1.064]
+t: 224	 action: [ 0.103 -0.014  0.185  0.007  0.042  0.006 -1.018]
+t: 225	 action: [ 0.088 -0.014  0.213  0.016  0.037  0.003 -1.051]
+t: 226	 action: [ 0.053 -0.013  0.13   0.018  0.027  0.007  0.06 ]
+t: 227	 action: [ 0.081 -0.08   0.165  0.015  0.038 -0.001 -0.995]
+t: 228	 action: [ 0.066 -0.041  0.163  0.015  0.029  0.005 -1.018]
+t: 229	 action: [ 0.076 -0.084  0.192  0.012  0.035 -0.003 -1.051]
+t: 230	 action: [ 0.073 -0.04   0.147  0.011  0.023  0.002 -1.012]
+t: 231	 action: [ 0.025 -0.033  0.153  0.016  0.015  0.002 -1.061]
+t: 232	 action: [ 7.931e-02 -4.530e-02  1.733e-01  7.481e-03  2.582e-02  5.063e-04 -1.017e+00]
+t: 233	 action: [ 4.500e-02 -3.836e-02  1.776e-01  1.248e-02  1.879e-02 -1.862e-04 -1.053e+00]
+[07-31 01:55:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9878
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.997 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=234: Selected seed 195 with value = 0.9878
+t: 234	 action: [-0.09  -0.068 -0.093  0.022  0.055  0.011  1.123]
+t: 235	 action: [-0.011 -0.156 -0.066  0.017  0.062  0.004  0.901]
+t: 236	 action: [ 0.013 -0.081  0.048  0.028  0.062  0.008 -1.035]
+t: 237	 action: [ 7.142e-02 -1.386e-01  5.310e-02  1.872e-02  6.175e-02 -5.734e-04 -1.046e+00]
+t: 238	 action: [ 0.065 -0.015  0.093  0.019  0.052  0.013 -1.117]
+t: 239	 action: [ 0.033  0.003  0.069  0.022  0.046  0.02  -0.966]
+t: 240	 action: [ 0.09  -0.027  0.121  0.018  0.054  0.004 -1.026]
+t: 241	 action: [ 1.333e-01 -9.584e-04  1.221e-01  2.290e-02  4.897e-02  6.178e-04 -1.049e+00]
+t: 242	 action: [-0.025 -0.107 -0.045  0.025  0.033  0.009  1.12 ]
+t: 243	 action: [-6.271e-03 -1.612e-01 -1.866e-02  1.592e-02  4.679e-02 -3.313e-04  8.076e-01]
+t: 244	 action: [ 0.033 -0.121  0.053  0.024  0.041  0.006 -1.04 ]
+t: 245	 action: [ 0.08  -0.134  0.058  0.016  0.048 -0.003 -1.048]
+t: 246	 action: [ 0.071 -0.085  0.054  0.016  0.032  0.002 -1.115]
+t: 247	 action: [ 0.029 -0.037  0.029  0.019  0.024  0.013 -1.014]
+t: 248	 action: [ 8.669e-02 -6.535e-02  9.904e-02  1.378e-02  3.702e-02 -6.843e-04 -1.029e+00]
+t: 249	 action: [ 1.005e-01 -3.081e-02  9.418e-02  1.867e-02  3.374e-02 -4.931e-04 -1.040e+00]
+[07-31 01:55:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9914
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 0.994 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=250: Selected seed 195 with value = 0.9914
+t: 250	 action: [-0.001  0.006 -0.002  0.022  0.053  0.006  1.127]
+t: 251	 action: [ 0.068 -0.083  0.049  0.021  0.065 -0.002  0.916]
+t: 252	 action: [ 0.07   0.003  0.109  0.022  0.059  0.006 -1.045]
+t: 253	 action: [ 0.117 -0.065  0.15   0.018  0.061 -0.003 -1.048]
+t: 254	 action: [ 0.132  0.002  0.14   0.018  0.049  0.007 -1.106]
+t: 255	 action: [ 0.112  0.018  0.163  0.024  0.049  0.017 -1.054]
+t: 256	 action: [ 1.420e-01 -3.810e-04  1.680e-01  1.250e-02  5.131e-02  2.574e-03 -1.032e+00]
+t: 257	 action: [ 1.795e-01  9.229e-03  1.974e-01  2.158e-02  4.935e-02  1.029e-03 -1.044e+00]
+t: 258	 action: [ 5.819e-02 -1.032e-03  8.061e-02  2.233e-02  3.466e-02  6.083e-03  1.098e+00]
+t: 259	 action: [ 0.07  -0.065  0.116  0.018  0.051 -0.005 -0.905]
+t: 260	 action: [ 0.084 -0.008  0.132  0.017  0.039  0.003 -1.037]
+t: 261	 action: [ 0.127 -0.06   0.166  0.014  0.048 -0.005 -1.052]
+t: 262	 action: [ 1.297e-01 -2.509e-02  1.270e-01  1.293e-02  3.253e-02 -4.285e-04 -1.085e+00]
+t: 263	 action: [ 9.971e-02 -9.721e-03  1.487e-01  1.977e-02  2.908e-02  4.279e-05 -1.054e+00]
+t: 264	 action: [ 0.131 -0.012  0.155  0.008  0.036 -0.002 -1.032]
+t: 265	 action: [ 1.422e-01 -1.046e-02  1.840e-01  1.670e-02  3.521e-02 -5.000e-04 -1.044e+00]
+[07-31 01:55:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9909
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=266: Selected seed 195 with value = 0.9909
+t: 266	 action: [-2.222e-05 -2.760e-02 -6.543e-02  2.602e-02  6.337e-02  7.959e-03  1.135e+00]
+t: 267	 action: [ 7.306e-02 -1.018e-01 -4.121e-02  2.036e-02  6.782e-02 -1.525e-04  9.321e-01]
+t: 268	 action: [ 0.079 -0.02   0.062  0.025  0.069  0.006 -1.06 ]
+t: 269	 action: [ 0.145 -0.088  0.079  0.018  0.066 -0.004 -1.049]
+t: 270	 action: [ 0.146 -0.003  0.104  0.023  0.06   0.01  -1.124]
+t: 271	 action: [ 0.133  0.014  0.1    0.025  0.053  0.019 -1.005]
+t: 272	 action: [ 1.706e-01  3.845e-04  1.400e-01  1.689e-02  6.358e-02  3.951e-03 -1.040e+00]
+t: 273	 action: [ 0.237  0.011  0.152  0.023  0.055  0.001 -1.052]
+t: 274	 action: [ 0.065 -0.04   0.011  0.025  0.041  0.007  1.134]
+t: 275	 action: [ 0.077 -0.102  0.027  0.018  0.055 -0.002  0.75 ]
+t: 276	 action: [ 0.101 -0.042  0.091  0.02   0.046  0.004 -1.057]
+t: 277	 action: [ 0.158 -0.087  0.107  0.016  0.054 -0.006 -1.054]
+t: 278	 action: [ 1.533e-01 -3.974e-02  9.372e-02  1.617e-02  3.966e-02  2.687e-04 -1.119e+00]
+t: 279	 action: [ 0.129 -0.016  0.096  0.021  0.033  0.013 -1.049]
+t: 280	 action: [ 0.165 -0.017  0.135  0.012  0.043 -0.001 -1.04 ]
+t: 281	 action: [ 1.988e-01 -1.339e-02  1.457e-01  1.898e-02  4.002e-02 -2.521e-04 -1.050e+00]
+[07-31 01:55:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9888
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=282: Selected seed 195 with value = 0.9888
+t: 282	 action: [-0.024 -0.044 -0.117  0.025  0.074  0.008  1.13 ]
+t: 283	 action: [ 0.06  -0.119 -0.108  0.022  0.077 -0.002  0.927]
+t: 284	 action: [ 0.075 -0.04   0.028  0.028  0.083  0.007 -0.97 ]
+t: 285	 action: [ 0.16  -0.111  0.027  0.022  0.08  -0.006 -1.041]
+t: 286	 action: [ 0.147 -0.005  0.097  0.026  0.075  0.011 -1.119]
+t: 287	 action: [ 1.351e-01  7.535e-06  7.828e-02  2.724e-02  6.838e-02  1.735e-02 -9.833e-01]
+t: 288	 action: [ 0.188 -0.003  0.129  0.021  0.081  0.004 -1.042]
+t: 289	 action: [ 2.681e-01  7.907e-03  1.283e-01  2.683e-02  7.086e-02 -4.892e-04 -1.050e+00]
+t: 290	 action: [ 0.062 -0.064 -0.013  0.027  0.048  0.006  1.131]
+t: 291	 action: [ 0.076 -0.131 -0.01   0.019  0.063 -0.004  0.877]
+t: 292	 action: [ 0.112 -0.071  0.069  0.023  0.056  0.003 -1.05 ]
+t: 293	 action: [ 0.171 -0.115  0.073  0.018  0.064 -0.007 -1.043]
+t: 294	 action: [ 0.169 -0.06   0.082  0.019  0.047 -0.001 -1.119]
+t: 295	 action: [ 0.135 -0.044  0.068  0.023  0.041  0.012 -0.996]
+t: 296	 action: [ 0.186 -0.032  0.123  0.015  0.054 -0.003 -1.04 ]
+t: 297	 action: [ 0.22  -0.028  0.124  0.022  0.051 -0.002 -1.046]
+[07-31 01:55:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9892
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9892
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 84
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 68%|██████▊   | 34/50 [18:14<08:21, 31.33s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 35...
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=298: Selected seed 195 with value = 0.9892
+t: 298	 action: [-0.009 -0.025 -0.13   0.019  0.078  0.008  1.133]
+t: 299	 action: [ 0.066 -0.111 -0.096  0.02   0.082 -0.003  0.92 ]
+t: 300	 action: [ 0.074 -0.031  0.045  0.024  0.088  0.007 -0.974]
+t: 301	 action: [ 0.141 -0.115  0.057  0.021  0.084 -0.006 -1.042]
+t: 302	 action: [ 0.148 -0.007  0.106  0.023  0.079  0.01  -1.12 ]
+t: 303	 action: [ 0.133 -0.008  0.104  0.026  0.074  0.017 -0.977]
+t: 304	 action: [ 0.178 -0.006  0.161  0.018  0.085  0.004 -1.041]
+t: 305	 action: [ 2.472e-01 -2.308e-04  1.793e-01  2.607e-02  7.473e-02 -3.480e-04 -1.047e+00]
+t: 306	 action: [ 0.073 -0.046  0.031  0.026  0.055  0.005  1.132]
+t: 307	 action: [ 0.086 -0.126  0.038  0.019  0.069 -0.004  0.868]
+t: 308	 action: [ 0.111 -0.065  0.114  0.022  0.061  0.002 -1.049]
+t: 309	 action: [ 0.155 -0.111  0.131  0.018  0.067 -0.008 -1.045]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=84--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=84--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 84
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 35...
+[07-31 01:55:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3752
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3752
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3752
+t=10: Selected seed 195 with value = 0.3752
+t: 10	 action: [ 0.483 -0.076  0.076 -0.017  0.01   0.013 -1.023]
+t: 11	 action: [ 0.625 -0.076  0.12  -0.009  0.013  0.009 -1.015]
+t: 12	 action: [ 0.755 -0.172  0.131 -0.009  0.005  0.02  -1.02 ]
+t: 13	 action: [ 0.854 -0.167  0.174 -0.005  0.007  0.012 -1.021]
+t: 14	 action: [ 0.944 -0.162  0.225  0.002  0.006  0.017 -1.023]
+t: 15	 action: [ 9.173e-01 -1.923e-01  2.120e-01 -1.659e-03 -9.433e-04  1.302e-02 -1.041e+00]
+t: 16	 action: [ 0.959 -0.207  0.229  0.003 -0.002  0.02  -1.02 ]
+t: 17	 action: [ 0.94  -0.232  0.202  0.006 -0.003  0.015 -1.047]
+t: 18	 action: [ 0.915 -0.263  0.21   0.002 -0.02   0.025 -1.032]
+t: 19	 action: [ 0.913 -0.266  0.226  0.008 -0.001  0.018 -1.022]
+t: 20	 action: [ 0.931 -0.3    0.159  0.004 -0.022  0.022 -1.024]
+t: 21	 action: [ 0.925 -0.301  0.168  0.011  0.003  0.019 -1.016]
+t: 22	 action: [ 0.922 -0.308  0.129  0.012 -0.02   0.027 -1.019]
+t: 23	 action: [ 0.93  -0.418  0.079  0.018 -0.002  0.021 -1.041]
+t: 24	 action: [ 0.922 -0.277  0.047  0.015 -0.017  0.022 -1.013]
+t: 25	 action: [ 0.929 -0.387 -0.002  0.02   0.001  0.022 -1.04 ]
+[07-31 01:55:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4650
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=26: Selected seed 195 with value = 0.4650
+t: 26	 action: [ 0.835 -0.345  0.075  0.01  -0.045  0.008 -1.034]
+t: 27	 action: [ 0.857 -0.309  0.051  0.016 -0.047  0.007 -1.025]
+t: 28	 action: [ 0.816 -0.359 -0.025  0.018 -0.054  0.014 -1.031]
+t: 29	 action: [ 0.827 -0.317 -0.025  0.024 -0.051  0.012 -1.026]
+t: 30	 action: [ 0.813 -0.268 -0.14   0.013 -0.057  0.018 -1.013]
+t: 31	 action: [ 0.81  -0.227 -0.179  0.021 -0.064  0.015 -1.038]
+t: 32	 action: [ 0.697 -0.14  -0.355  0.004 -0.066  0.028 -1.015]
+t: 33	 action: [ 0.6   -0.116 -0.426  0.02  -0.061  0.02  -1.037]
+t: 34	 action: [ 0.393 -0.095 -0.472  0.015 -0.074  0.028 -1.033]
+t: 35	 action: [ 0.322 -0.072 -0.565  0.021 -0.069  0.027 -1.02 ]
+t: 36	 action: [ 0.213 -0.021 -0.662  0.012 -0.083  0.04  -1.019]
+t: 37	 action: [ 0.106  0.019 -0.758  0.022 -0.067  0.033 -1.013]
+t: 38	 action: [ 0.067  0.099 -0.827 -0.002 -0.084  0.044 -1.033]
+t: 39	 action: [-0.007  0.105 -0.821  0.017 -0.064  0.035 -1.023]
+t: 40	 action: [-0.068  0.198 -0.843 -0.004 -0.066  0.052 -1.018]
+t: 41	 action: [-0.04   0.226 -0.856  0.016 -0.045  0.042 -1.03 ]
+[07-31 01:55:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5233
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5233
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5233
+t=42: Selected seed 195 with value = 0.5233
+t: 42	 action: [-0.132  0.791 -0.626  0.003 -0.022  0.03  -1.017]
+t: 43	 action: [-0.101  0.802 -0.601  0.009 -0.028  0.026 -1.015]
+t: 44	 action: [-0.138  0.863 -0.591  0.004 -0.02   0.035 -0.999]
+t: 45	 action: [-0.103  0.831 -0.563  0.01  -0.022  0.028 -1.016]
+t: 46	 action: [-0.132  0.849 -0.533  0.001 -0.014  0.035 -1.001]
+t: 47	 action: [-0.101  0.848 -0.528  0.011 -0.022  0.029 -1.026]
+t: 48	 action: [-0.13   0.873 -0.522  0.001 -0.009  0.043 -0.985]
+t: 49	 action: [-0.085  0.864 -0.509  0.013 -0.01   0.03  -1.032]
+t: 50	 action: [-0.055  0.867 -0.552  0.007 -0.01   0.024 -1.023]
+t: 51	 action: [-0.024  0.822 -0.584  0.01  -0.011  0.021 -1.022]
+t: 52	 action: [-5.435e-02  8.505e-01 -5.492e-01  6.630e-03 -6.871e-05  2.687e-02 -1.010e+00]
+t: 53	 action: [-0.016  0.784 -0.57   0.009  0.004  0.022 -1.024]
+t: 54	 action: [-1.058e-01  8.004e-01 -5.282e-01  4.409e-03 -9.264e-04  2.722e-02 -1.011e+00]
+t: 55	 action: [-0.069  0.759 -0.511  0.011 -0.004  0.024 -1.03 ]
+t: 56	 action: [-0.088  0.615 -0.495  0.004  0.013  0.025 -0.995]
+t: 57	 action: [-0.025  0.554 -0.405  0.01   0.001  0.023 -1.039]
+[07-31 01:55:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6102
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6102
+Query 1/1: Action query time = 1.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6102
+t=58: Selected seed 195 with value = 0.6102
+t: 58	 action: [ 0.111  0.372 -0.461 -0.001  0.001  0.036 -1.01 ]
+t: 59	 action: [ 0.142  0.372 -0.285 -0.003  0.009  0.028 -1.021]
+t: 60	 action: [ 0.121  0.215 -0.331 -0.004  0.011  0.029 -1.001]
+t: 61	 action: [ 0.13   0.167 -0.1   -0.006  0.012  0.022 -1.018]
+t: 62	 action: [ 0.017  0.132 -0.221 -0.002  0.018  0.027 -0.995]
+t: 63	 action: [ 0.032  0.157 -0.016 -0.003  0.012  0.028 -1.023]
+t: 64	 action: [-0.033 -0.009  0.14  -0.009  0.022  0.014 -0.994]
+t: 65	 action: [ 0.024 -0.015  0.295 -0.006  0.012  0.02  -1.026]
+t: 66	 action: [ 7.221e-02 -1.512e-01  5.378e-01  1.035e-02  1.977e-04  1.455e-02 -1.015e+00]
+t: 67	 action: [-0.016 -0.2    0.537  0.019 -0.002  0.016 -1.037]
+t: 68	 action: [-5.089e-03 -1.773e-01  4.917e-01  1.579e-02 -8.959e-05  1.870e-02 -1.019e+00]
+t: 69	 action: [-0.114 -0.263  0.402  0.022  0.003  0.02  -1.024]
+t: 70	 action: [-0.267 -0.113  0.291  0.027 -0.003  0.033 -1.014]
+t: 71	 action: [-0.383 -0.123  0.178  0.02  -0.016  0.034 -1.03 ]
+t: 72	 action: [-0.549 -0.115  0.091  0.014 -0.003  0.041 -1.008]
+t: 73	 action: [-0.506 -0.113  0.018  0.017 -0.006  0.038 -1.023]
+[07-31 01:55:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5984
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5984
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5984
+t=74: Selected seed 195 with value = 0.5984
+t: 74	 action: [ 0.099  0.445 -0.359 -0.002  0.006  0.034 -1.006]
+t: 75	 action: [ 0.17   0.363 -0.124 -0.007  0.015  0.023 -1.021]
+t: 76	 action: [ 0.124  0.16  -0.085 -0.005  0.018  0.025 -1.   ]
+t: 77	 action: [ 0.158  0.06   0.1   -0.007  0.022  0.016 -1.018]
+t: 78	 action: [ 0.06   0.094  0.061 -0.007  0.027  0.015 -0.992]
+t: 79	 action: [ 0.068  0.101  0.262 -0.006  0.02   0.017 -1.03 ]
+t: 80	 action: [-0.021 -0.036  0.449  0.001  0.036  0.005 -0.997]
+t: 81	 action: [ 1.855e-02 -3.531e-02  5.861e-01 -1.200e-04  3.011e-02  1.144e-02 -1.031e+00]
+t: 82	 action: [ 0.032 -0.12   0.625  0.01   0.001  0.011 -1.011]
+t: 83	 action: [-0.128 -0.178  0.583  0.022 -0.004  0.006 -1.036]
+t: 84	 action: [-1.103e-01 -1.029e-01  4.825e-01  1.342e-02  5.979e-04  1.272e-02 -1.017e+00]
+t: 85	 action: [-0.27  -0.22   0.4    0.027  0.003  0.009 -1.018]
+t: 86	 action: [-0.508 -0.114  0.267  0.044 -0.003  0.011 -1.002]
+t: 87	 action: [-0.618 -0.12   0.171  0.033 -0.018  0.017 -1.031]
+t: 88	 action: [-0.771 -0.1    0.099  0.038 -0.004  0.02  -0.986]
+t: 89	 action: [-0.755 -0.097  0.03   0.034 -0.007  0.023 -1.018]
+[07-31 01:55:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6288
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6288
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6288
+t=90: Selected seed 195 with value = 0.6288
+t: 90	 action: [ 0.098  0.151 -0.198  0.001  0.01   0.008 -1.024]
+t: 91	 action: [ 1.348e-01  9.408e-02 -4.109e-02 -7.809e-04  1.528e-02  5.442e-03 -1.019e+00]
+t: 92	 action: [ 0.105  0.022 -0.007 -0.002  0.019  0.006 -1.024]
+t: 93	 action: [ 1.022e-01 -2.991e-02  1.585e-01 -2.541e-03  2.443e-02 -2.359e-04 -1.011e+00]
+t: 94	 action: [ 5.971e-02 -3.654e-03  2.085e-01  2.697e-03  3.049e-02 -9.564e-04 -1.014e+00]
+t: 95	 action: [ 2.877e-02  1.393e-02  3.386e-01  1.059e-03  2.267e-02  3.893e-04 -1.036e+00]
+t: 96	 action: [-0.027 -0.027  0.479  0.002  0.03  -0.004 -1.022]
+t: 97	 action: [-0.012 -0.04   0.551  0.003  0.03  -0.005 -1.034]
+t: 98	 action: [-0.05  -0.066  0.477  0.022  0.008  0.004 -1.033]
+t: 99	 action: [-0.265 -0.15   0.449  0.025  0.004 -0.002 -1.034]
+t: 100	 action: [-0.238 -0.016  0.3    0.014  0.003  0.008 -1.048]
+t: 101	 action: [-4.138e-01 -1.540e-01  2.269e-01  2.201e-02  5.908e-03 -4.356e-04 -1.026e+00]
+t: 102	 action: [-0.717 -0.023  0.122  0.033 -0.01   0.009 -1.01 ]
+t: 103	 action: [-0.756 -0.071  0.039  0.022 -0.02   0.007 -1.04 ]
+t: 104	 action: [-0.868 -0.028  0.022  0.019 -0.011  0.019 -1.004]
+t: 105	 action: [-0.853 -0.094 -0.021  0.018 -0.012  0.011 -1.039]
+[07-31 01:55:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4825
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4825
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4825
+t=106: Selected seed 195 with value = 0.4825
+t: 106	 action: [ 0.108  0.042  0.028 -0.006  0.015  0.004 -1.012]
+t: 107	 action: [ 0.091  0.047  0.046 -0.013  0.018 -0.001 -1.037]
+t: 108	 action: [ 0.024 -0.01   0.023 -0.005  0.014  0.001 -1.022]
+t: 109	 action: [-0.032 -0.046  0.037 -0.014  0.022 -0.01  -1.044]
+t: 110	 action: [-1.309e-01 -3.609e-02 -2.269e-02 -4.665e-04  2.556e-02  1.326e-04 -1.012e+00]
+t: 111	 action: [-0.143 -0.043 -0.038 -0.01   0.015 -0.008 -1.063]
+t: 112	 action: [-0.332 -0.07  -0.124 -0.006  0.021 -0.004 -1.029]
+t: 113	 action: [-0.269 -0.052 -0.144 -0.014  0.013 -0.017 -1.074]
+t: 114	 action: [-0.46  -0.079 -0.212 -0.001  0.002  0.006 -1.026]
+t: 115	 action: [-0.579 -0.105 -0.288 -0.015  0.01  -0.002 -1.051]
+t: 116	 action: [-5.445e-01 -6.847e-02 -3.478e-01 -1.112e-02 -1.413e-04  4.996e-03 -1.036e+00]
+t: 117	 action: [-0.55  -0.089 -0.436 -0.017  0.014 -0.003 -1.044]
+t: 118	 action: [-0.705 -0.011 -0.488 -0.009 -0.006  0.004 -1.012]
+t: 119	 action: [-5.931e-01 -2.191e-03 -4.584e-01 -1.574e-02 -6.006e-04 -5.996e-03 -1.064e+00]
+t: 120	 action: [-0.545  0.009 -0.569 -0.013 -0.003  0.001 -1.023]
+t: 121	 action: [-0.44   0.015 -0.502 -0.015  0.003 -0.009 -1.043]
+[07-31 01:55:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.026 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6066
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.6066
+Query 1/1: Action query time = 1.026 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6066
+t=122: Selected seed 195 with value = 0.6066
+t: 122	 action: [ 2.987e-01  2.866e-01 -4.862e-01 -2.658e-03  6.398e-03 -3.175e-04 -1.038e+00]
+t: 123	 action: [ 0.322  0.297 -0.355 -0.002  0.01  -0.012 -1.029]
+t: 124	 action: [ 0.248  0.084 -0.475 -0.003  0.012 -0.003 -1.043]
+t: 125	 action: [ 2.432e-01  5.927e-02 -3.247e-01  2.391e-04  1.796e-02 -1.453e-02 -1.029e+00]
+t: 126	 action: [ 0.181  0.071 -0.301  0.003  0.022 -0.005 -1.039]
+t: 127	 action: [ 0.158 -0.007 -0.197  0.006  0.011 -0.016 -1.057]
+t: 128	 action: [ 0.091  0.016 -0.188 -0.004  0.024 -0.013 -1.04 ]
+t: 129	 action: [ 0.106 -0.029 -0.122  0.006  0.013 -0.02  -1.057]
+t: 130	 action: [ 0.023 -0.239 -0.191  0.016  0.006 -0.006 -1.049]
+t: 131	 action: [-0.013 -0.189 -0.305  0.008  0.009 -0.013 -1.043]
+t: 132	 action: [ 1.144e-05 -1.772e-01 -2.532e-01  2.864e-03 -3.822e-03 -6.839e-03 -1.057e+00]
+t: 133	 action: [-0.031 -0.143 -0.377  0.001  0.003 -0.013 -1.038]
+t: 134	 action: [-1.385e-01 -1.358e-02 -2.926e-01 -7.410e-04 -7.293e-03 -9.376e-03 -1.041e+00]
+t: 135	 action: [-0.111  0.026 -0.323  0.004 -0.005 -0.019 -1.05 ]
+t: 136	 action: [-0.073  0.038 -0.334 -0.008 -0.012 -0.015 -1.044]
+t: 137	 action: [-0.044  0.045 -0.314 -0.003 -0.01  -0.018 -1.049]
+[07-31 01:55:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.053 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6489
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.6489
+Query 1/1: Action query time = 1.053 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6489
+t=138: Selected seed 195 with value = 0.6489
+t: 138	 action: [ 1.863e-01  5.489e-02 -4.676e-01 -4.255e-03  2.166e-02 -2.148e-04 -1.043e+00]
+t: 139	 action: [ 2.209e-01  7.893e-02 -3.917e-01  8.413e-04  2.152e-02 -1.376e-02 -1.035e+00]
+t: 140	 action: [ 1.917e-01  2.605e-02 -3.528e-01 -3.719e-03  1.425e-02 -7.496e-04 -1.056e+00]
+t: 141	 action: [ 2.210e-01  1.020e-02 -2.833e-01  8.012e-05  1.098e-02 -1.617e-02 -1.026e+00]
+t: 142	 action: [ 1.573e-01  5.755e-02 -2.554e-01 -3.266e-04  1.955e-02 -3.451e-04 -1.041e+00]
+t: 143	 action: [ 0.147  0.08  -0.111  0.01   0.008 -0.014 -1.06 ]
+t: 144	 action: [ 0.2    0.041 -0.105 -0.007  0.008 -0.005 -1.053]
+t: 145	 action: [ 2.016e-01  3.900e-02 -2.656e-02  5.400e-03 -1.546e-04 -1.892e-02 -1.051e+00]
+t: 146	 action: [ 0.405 -0.029  0.007  0.021  0.002 -0.007 -1.08 ]
+t: 147	 action: [ 0.415 -0.049 -0.071  0.012  0.006 -0.016 -1.049]
+t: 148	 action: [ 3.448e-01 -3.901e-02 -1.450e-01  1.582e-02 -8.064e-03 -5.209e-04 -1.100e+00]
+t: 149	 action: [ 3.171e-01 -6.582e-02 -2.240e-01  7.586e-03  5.642e-04 -1.431e-02 -1.039e+00]
+t: 150	 action: [ 0.214  0.009 -0.281  0.002 -0.015 -0.011 -1.072]
+t: 151	 action: [ 0.084 -0.027 -0.269  0.009 -0.015 -0.02  -1.055]
+t: 152	 action: [ 0.081  0.014 -0.441 -0.007 -0.021 -0.01  -1.085]
+t: 153	 action: [-0.005 -0.02  -0.352  0.001 -0.02  -0.016 -1.044]
+[07-31 01:55:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.097 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7400
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7400
+Query 1/1: Action query time = 1.097 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7400
+t=154: Selected seed 195 with value = 0.7400
+t: 154	 action: [ 0.116  0.002 -0.429 -0.02   0.032  0.006 -1.197]
+t: 155	 action: [ 0.075  0.035 -0.272 -0.029  0.02   0.012 -1.058]
+t: 156	 action: [ 0.049  0.012 -0.29  -0.013  0.027  0.009 -1.2  ]
+t: 157	 action: [ 0.029  0.017 -0.136 -0.021  0.01   0.014 -1.121]
+t: 158	 action: [ 4.816e-03  9.863e-02 -1.941e-01 -2.897e-02  2.493e-02  1.054e-03  1.067e+00]
+t: 159	 action: [ 4.315e-02  6.591e-02 -6.020e-02 -2.672e-02  9.063e-04  5.883e-03  1.076e+00]
+t: 160	 action: [ 1.301e-02  6.669e-02 -3.392e-02 -1.322e-02  1.349e-02  9.634e-04  1.044e+00]
+t: 161	 action: [ 5.333e-02  2.157e-02  1.013e-02 -2.389e-02 -4.534e-04  4.201e-04  1.124e+00]
+t: 162	 action: [ 0.168  0.079 -0.131 -0.006  0.035  0.006 -1.198]
+t: 163	 action: [ 0.118  0.045 -0.083 -0.023  0.014  0.014 -1.077]
+t: 164	 action: [ 0.088  0.021 -0.198 -0.008  0.021  0.012  0.977]
+t: 165	 action: [ 0.065  0.004 -0.128 -0.019  0.008  0.012  1.039]
+t: 166	 action: [ 6.458e-02  2.734e-02 -2.401e-01 -1.361e-02  2.236e-02 -1.475e-04  1.074e+00]
+t: 167	 action: [ 5.953e-02 -3.575e-02 -1.274e-01 -2.083e-02  1.923e-04  7.823e-03  1.160e+00]
+t: 168	 action: [ 2.088e-02  2.353e-03 -1.892e-01 -1.184e-02  7.456e-03  4.805e-04  9.982e-01]
+t: 169	 action: [ 0.037 -0.052 -0.12  -0.023 -0.002  0.005  1.063]
+[07-31 01:55:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.094 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7605
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7605
+Query 1/1: Action query time = 1.094 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7605
+t=170: Selected seed 195 with value = 0.7605
+t: 170	 action: [-0.061 -0.013 -0.234 -0.015  0.008  0.013  1.122]
+t: 171	 action: [-0.056 -0.04  -0.084 -0.017  0.022  0.009  1.003]
+t: 172	 action: [-0.036  0.024  0.015 -0.012  0.016  0.008  0.074]
+t: 173	 action: [ 0.052 -0.002  0.189 -0.014  0.032  0.003 -0.982]
+t: 174	 action: [ 0.025  0.062  0.29  -0.034  0.031  0.008 -1.07 ]
+t: 175	 action: [ 0.057  0.058  0.498 -0.025  0.029  0.01  -1.059]
+t: 176	 action: [ 0.163  0.072  0.487 -0.021  0.04   0.006 -1.067]
+t: 177	 action: [ 0.278  0.047  0.61  -0.016  0.048  0.003 -1.054]
+t: 178	 action: [0.12  0.004 0.191 0.008 0.053 0.014 1.085]
+t: 179	 action: [ 0.076 -0.049  0.114  0.015  0.068  0.009 -0.373]
+t: 180	 action: [ 0.127 -0.011  0.033  0.004  0.055  0.011 -1.019]
+t: 181	 action: [ 0.037 -0.05   0.016  0.012  0.067  0.004 -1.067]
+t: 182	 action: [ 4.379e-02 -1.264e-02  1.161e-04  6.216e-03  4.185e-02  1.204e-02 -1.120e+00]
+t: 183	 action: [-0.082 -0.041 -0.002  0.019  0.033  0.004 -1.109]
+t: 184	 action: [-0.006 -0.012 -0.032 -0.004  0.049  0.007 -1.068]
+t: 185	 action: [-0.112 -0.034 -0.027  0.015  0.036  0.004 -1.025]
+[07-31 01:55:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.083 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7543
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7543
+Query 1/1: Action query time = 1.083 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7543
+t=186: Selected seed 195 with value = 0.7543
+t: 186	 action: [ 0.055 -0.003 -0.394 -0.02  -0.016  0.02  -1.098]
+t: 187	 action: [ 0.056  0.049 -0.192 -0.03  -0.029  0.018  1.042]
+t: 188	 action: [ 1.689e-02 -5.812e-04 -1.665e-01 -1.397e-02 -1.868e-02  1.822e-02  9.990e-01]
+t: 189	 action: [ 0.027  0.016  0.047 -0.018 -0.032  0.029  1.055]
+t: 190	 action: [ 0.074  0.103 -0.077 -0.035 -0.009  0.02   1.039]
+t: 191	 action: [ 0.096  0.157  0.078 -0.027 -0.033  0.022  1.053]
+t: 192	 action: [ 0.118  0.088  0.203 -0.007 -0.01   0.009  1.01 ]
+t: 193	 action: [ 0.115  0.057  0.325 -0.009 -0.027  0.015  1.006]
+t: 194	 action: [ 0.163 -0.004  0.182 -0.007 -0.013  0.019  1.   ]
+t: 195	 action: [ 0.159  0.008  0.235 -0.027 -0.011  0.014  1.032]
+t: 196	 action: [ 0.153 -0.05   0.162 -0.004 -0.023  0.02   0.988]
+t: 197	 action: [ 0.15  -0.07   0.24  -0.012 -0.027  0.016  1.042]
+t: 198	 action: [ 0.163 -0.004  0.142 -0.003 -0.016  0.011  1.027]
+t: 199	 action: [ 0.114 -0.138  0.085 -0.025 -0.043  0.02   1.046]
+t: 200	 action: [ 0.141 -0.091  0.124  0.001 -0.029  0.004  1.004]
+t: 201	 action: [ 0.115 -0.303  0.07  -0.009 -0.051  0.016  1.047]
+[07-31 01:55:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7859
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7859
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7859
+t=202: Selected seed 195 with value = 0.7859
+t: 202	 action: [-0.029 -0.079 -0.557  0.001  0.019  0.03   1.117]
+t: 203	 action: [-0.059 -0.095 -0.429  0.005  0.022  0.032  0.968]
+t: 204	 action: [ 0.017 -0.012 -0.478 -0.001  0.022  0.024 -1.019]
+t: 205	 action: [ 0.029 -0.022 -0.213  0.007  0.023  0.019 -1.02 ]
+t: 206	 action: [-0.01   0.067 -0.302  0.002  0.011  0.024 -1.075]
+t: 207	 action: [-5.328e-02  8.904e-02 -1.330e-01  3.768e-05  8.620e-03  2.448e-02 -1.071e+00]
+t: 208	 action: [ 0.081  0.148 -0.075 -0.003  0.011  0.013 -1.018]
+t: 209	 action: [ 0.078  0.124 -0.007 -0.001  0.011  0.013 -1.058]
+t: 210	 action: [ 0.165  0.02  -0.114  0.004  0.025  0.021 -1.076]
+t: 211	 action: [ 0.084  0.001 -0.1    0.018  0.015  0.019 -1.054]
+t: 212	 action: [ 0.128 -0.008 -0.075  0.015  0.014  0.016 -1.078]
+t: 213	 action: [ 0.061 -0.035 -0.122  0.022  0.011  0.014 -1.041]
+t: 214	 action: [ 0.011 -0.027 -0.238  0.007  0.008  0.028 -1.084]
+t: 215	 action: [-0.031 -0.046 -0.174  0.018  0.002  0.02  -1.066]
+t: 216	 action: [-0.044 -0.039 -0.189  0.01   0.002  0.016 -1.072]
+t: 217	 action: [-0.031 -0.042 -0.18   0.021  0.002  0.015 -1.06 ]
+[07-31 01:55:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6614
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 1.006 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=218: Selected seed 195 with value = 0.6614
+t: 218	 action: [-0.315  0.021 -0.434 -0.003 -0.012  0.029  0.987]
+t: 219	 action: [-0.23   0.019 -0.299 -0.009 -0.004  0.024  1.048]
+t: 220	 action: [-0.205  0.014 -0.167 -0.009 -0.006  0.025  0.989]
+t: 221	 action: [-0.1    0.016 -0.026 -0.011 -0.003  0.027  1.043]
+t: 222	 action: [-0.037  0.035 -0.033 -0.031 -0.002  0.019  1.016]
+t: 223	 action: [ 0.07   0.065  0.171 -0.028 -0.006  0.019  1.042]
+t: 224	 action: [ 0.165  0.046  0.282 -0.013  0.003  0.006  1.008]
+t: 225	 action: [ 0.203  0.032  0.505 -0.012 -0.007  0.01   1.036]
+t: 226	 action: [ 0.167  0.008  0.555 -0.014 -0.007  0.004  0.992]
+t: 227	 action: [ 0.214  0.05   0.758 -0.011 -0.008  0.007  1.048]
+t: 228	 action: [ 0.223  0.001  0.798 -0.015 -0.007  0.006  0.982]
+t: 229	 action: [ 0.244  0.048  0.9   -0.005 -0.011  0.01   1.053]
+t: 230	 action: [2.181e-01 7.595e-03 8.986e-01 1.957e-02 1.157e-03 3.576e-04 1.004e+00]
+t: 231	 action: [ 0.183 -0.061  0.954  0.018 -0.004  0.01   1.043]
+t: 232	 action: [ 1.704e-01 -1.676e-01  7.419e-01  6.067e-02  7.908e-03 -8.416e-06  9.985e-01]
+t: 233	 action: [ 0.143 -0.371  0.705  0.042  0.003  0.011  1.042]
+[07-31 01:56:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7680
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=234: Selected seed 195 with value = 0.7680
+t: 234	 action: [-9.092e-02 -1.166e-01 -5.593e-01 -1.491e-04  9.461e-03  6.537e-02  1.040e+00]
+t: 235	 action: [-0.143 -0.086 -0.591  0.003  0.012  0.045  0.784]
+t: 236	 action: [-0.06  -0.049 -0.583  0.002  0.016  0.058 -1.018]
+t: 237	 action: [-0.051 -0.023 -0.478  0.007  0.016  0.035 -1.024]
+t: 238	 action: [-1.064e-01  7.255e-02 -4.810e-01  4.288e-03  4.886e-04  6.197e-02 -1.025e+00]
+t: 239	 action: [-0.135  0.118 -0.388  0.009  0.005  0.038 -1.081]
+t: 240	 action: [-0.036  0.18  -0.331 -0.003  0.005  0.044 -1.022]
+t: 241	 action: [-0.012  0.192 -0.214  0.008  0.009  0.027 -1.064]
+t: 242	 action: [ 0.09  -0.007 -0.341  0.004  0.018  0.038 -1.08 ]
+t: 243	 action: [ 0.059 -0.046 -0.394  0.017  0.013  0.028 -1.056]
+t: 244	 action: [ 0.113 -0.07  -0.215  0.018  0.013  0.028 -1.084]
+t: 245	 action: [ 0.082 -0.096 -0.296  0.021  0.009  0.019 -1.039]
+t: 246	 action: [ 8.905e-04 -9.151e-02 -3.656e-01  1.428e-02  7.655e-03  4.512e-02 -1.086e+00]
+t: 247	 action: [-0.007 -0.091 -0.318  0.02   0.003  0.026 -1.062]
+t: 248	 action: [-0.019 -0.122 -0.271  0.018  0.003  0.027 -1.072]
+t: 249	 action: [ 0.018 -0.102 -0.241  0.021  0.001  0.018 -1.055]
+[07-31 01:56:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6687
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.6687
+Query 1/1: Action query time = 1.003 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6687
+t=250: Selected seed 195 with value = 0.6687
+t: 250	 action: [-2.212e-01 -6.017e-02 -2.949e-01 -8.878e-03  7.868e-04  6.975e-03  9.966e-01]
+t: 251	 action: [-0.151 -0.016 -0.117 -0.003  0.01   0.009  1.066]
+t: 252	 action: [-0.189 -0.027  0.044 -0.008  0.004  0.003  0.992]
+t: 253	 action: [-9.553e-02  7.355e-03  2.120e-01 -4.878e-04  1.088e-02  1.328e-02  1.013e+00]
+t: 254	 action: [-0.094  0.009  0.216 -0.012  0.011  0.002  1.022]
+t: 255	 action: [ 0.04   0.003  0.453 -0.005  0.004  0.004  1.04 ]
+t: 256	 action: [ 0.06   0.025  0.628  0.003  0.016 -0.002  1.005]
+t: 257	 action: [ 0.126 -0.016  0.829  0.018  0.012 -0.004  1.004]
+t: 258	 action: [ 0.095 -0.066  0.713 -0.004 -0.009  0.005  0.993]
+t: 259	 action: [ 0.124 -0.028  0.814  0.013 -0.004  0.002  1.051]
+t: 260	 action: [ 0.107 -0.2    0.765  0.018 -0.011  0.005  0.981]
+t: 261	 action: [ 0.138 -0.245  0.788  0.026 -0.011  0.007  1.052]
+t: 262	 action: [ 8.907e-02 -3.097e-01  6.905e-01  5.144e-02 -2.712e-03  6.630e-04  1.003e+00]
+t: 263	 action: [ 0.083 -0.459  0.739  0.034 -0.013  0.005  1.035]
+t: 264	 action: [ 8.175e-02 -5.310e-01  4.499e-01  7.761e-02 -2.136e-03 -9.240e-04  9.941e-01]
+t: 265	 action: [ 0.087 -0.72   0.409  0.048 -0.012  0.008  1.039]
+[07-31 01:56:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8456
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=266: Selected seed 195 with value = 0.8456
+t: 266	 action: [-0.155 -0.186 -0.571 -0.002 -0.026  0.066  1.145]
+t: 267	 action: [-0.184 -0.152 -0.581 -0.003 -0.027  0.052  0.97 ]
+t: 268	 action: [-0.088 -0.076 -0.581 -0.003 -0.019  0.058 -1.026]
+t: 269	 action: [ 0.02  -0.081 -0.362  0.002 -0.01   0.037 -1.013]
+t: 270	 action: [-0.092  0.05  -0.398  0.001 -0.028  0.059 -1.102]
+t: 271	 action: [-2.786e-02  1.201e-01 -1.988e-01 -9.056e-04 -9.378e-03  4.248e-02 -1.094e+00]
+t: 272	 action: [ 0.141  0.148 -0.068 -0.006 -0.009  0.04  -1.042]
+t: 273	 action: [ 0.348  0.162  0.022 -0.003  0.006  0.029 -1.057]
+t: 274	 action: [ 0.221 -0.002  0.008 -0.004  0.006  0.043 -1.071]
+t: 275	 action: [ 0.248 -0.069  0.033  0.013  0.011  0.034 -1.046]
+t: 276	 action: [ 0.252 -0.061  0.112  0.02   0.005  0.038 -1.077]
+t: 277	 action: [ 0.251 -0.106  0.06   0.025  0.01   0.027 -1.027]
+t: 278	 action: [ 0.11  -0.102 -0.029  0.033  0.01   0.054 -1.078]
+t: 279	 action: [ 0.07  -0.116  0.008  0.026  0.008  0.036 -1.07 ]
+t: 280	 action: [ 0.058 -0.1   -0.004  0.045  0.007  0.043 -1.078]
+t: 281	 action: [ 0.094 -0.097  0.008  0.03   0.006  0.029 -1.056]
+[07-31 01:56:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7689
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=282: Selected seed 195 with value = 0.7689
+t: 282	 action: [ 1.069e-01  1.891e-01 -3.696e-01 -4.761e-04 -1.536e-04  1.775e-02 -1.003e+00]
+t: 283	 action: [ 0.113  0.209 -0.247 -0.005  0.009  0.023 -1.005]
+t: 284	 action: [ 0.099  0.167 -0.258 -0.004  0.007  0.016 -1.017]
+t: 285	 action: [ 0.105  0.13  -0.148 -0.007  0.013  0.021 -1.004]
+t: 286	 action: [ 0.015  0.192 -0.301  0.002  0.005  0.015 -1.027]
+t: 287	 action: [-0.002  0.126 -0.042  0.001  0.002  0.023 -1.044]
+t: 288	 action: [-3.116e-04  9.104e-02  1.576e-01 -4.416e-03  8.561e-03  4.052e-03 -1.027e+00]
+t: 289	 action: [ 2.351e-03  1.803e-02  2.591e-01 -3.383e-04  4.437e-03  1.490e-02 -1.056e+00]
+t: 290	 action: [ 1.055e-01  2.095e-02  4.740e-01  5.939e-04 -1.285e-02  9.514e-03 -1.037e+00]
+t: 291	 action: [ 8.264e-02 -1.822e-02  5.651e-01  1.010e-02 -3.918e-04  7.588e-03 -1.032e+00]
+t: 292	 action: [ 8.999e-02 -3.936e-04  6.419e-01  1.131e-02 -1.399e-02  8.075e-03 -1.031e+00]
+t: 293	 action: [ 0.063 -0.055  0.549  0.015  0.002  0.004 -1.023]
+t: 294	 action: [-2.840e-02  2.512e-03  5.624e-01  1.476e-02 -1.254e-02  5.984e-04 -1.051e+00]
+t: 295	 action: [-0.036  0.005  0.425  0.016 -0.012  0.003 -1.041]
+t: 296	 action: [-0.122 -0.024  0.361  0.015 -0.008 -0.004 -0.996]
+t: 297	 action: [-0.064 -0.032  0.227  0.017 -0.007  0.004 -0.302]
+[07-31 01:56:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7011
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7011
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 85
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 70%|███████   | 35/50 [18:46<07:51, 31.46s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 36...
+Query 1/1: Action query time = 0.993 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7011
+t=298: Selected seed 195 with value = 0.7011
+t: 298	 action: [ 0.091  0.429 -0.338 -0.004  0.003  0.049 -1.008]
+t: 299	 action: [ 0.109  0.452 -0.238 -0.006  0.013  0.049 -0.987]
+t: 300	 action: [ 0.108  0.316 -0.172 -0.004  0.017  0.053 -1.016]
+t: 301	 action: [ 0.135  0.267 -0.137 -0.006  0.02   0.047 -0.997]
+t: 302	 action: [ 0.045  0.255 -0.146  0.002  0.017  0.039 -1.03 ]
+t: 303	 action: [ 0.023  0.162 -0.014 -0.002  0.011  0.044 -1.016]
+t: 304	 action: [ 0.018  0.092  0.26  -0.003  0.026  0.03  -1.03 ]
+t: 305	 action: [ 0.031  0.018  0.325 -0.001  0.023  0.035 -1.031]
+t: 306	 action: [ 0.054 -0.002  0.524 -0.004  0.001  0.021 -1.04 ]
+t: 307	 action: [ 0.027 -0.06   0.638  0.004  0.014  0.021 -1.032]
+t: 308	 action: [ 0.013 -0.045  0.724  0.008  0.001  0.014 -1.035]
+t: 309	 action: [ 0.008 -0.094  0.652  0.014  0.014  0.015 -1.014]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=85--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=85--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 85
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 36...
+[07-31 01:56:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3998
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3998
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3998
+t=10: Selected seed 195 with value = 0.3998
+t: 10	 action: [ 0.449 -0.042  0.193 -0.012  0.041  0.004 -1.024]
+t: 11	 action: [ 0.544 -0.044  0.251 -0.005  0.051 -0.002 -1.018]
+t: 12	 action: [ 0.7   -0.133  0.258 -0.004  0.036  0.006 -1.019]
+t: 13	 action: [ 8.027e-01 -1.569e-01  3.176e-01  1.097e-03  4.605e-02  4.767e-04 -1.022e+00]
+t: 14	 action: [ 0.867 -0.21   0.286  0.004  0.037  0.005 -1.031]
+t: 15	 action: [ 0.869 -0.235  0.27   0.003  0.038  0.005 -1.039]
+t: 16	 action: [ 0.893 -0.27   0.252  0.005  0.024  0.004 -1.031]
+t: 17	 action: [ 0.91  -0.289  0.24   0.012  0.033  0.005 -1.046]
+t: 18	 action: [ 0.861 -0.416  0.225  0.007  0.013  0.009 -1.021]
+t: 19	 action: [ 8.876e-01 -4.093e-01  2.203e-01  1.467e-02  2.184e-02  7.752e-04 -1.019e+00]
+t: 20	 action: [ 0.897 -0.382  0.108  0.008  0.012  0.008 -1.016]
+t: 21	 action: [ 9.098e-01 -3.772e-01  7.152e-02  1.450e-02  2.409e-02 -9.265e-04 -1.010e+00]
+t: 22	 action: [ 0.882 -0.337  0.063  0.009  0.017  0.006 -1.013]
+t: 23	 action: [ 0.903 -0.358  0.008  0.019  0.025  0.003 -1.039]
+t: 24	 action: [ 0.887 -0.144 -0.046  0.003  0.021  0.002 -1.012]
+t: 25	 action: [ 0.887 -0.165 -0.066  0.017  0.028  0.001 -1.039]
+[07-31 01:56:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4422
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4422
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4422
+t=26: Selected seed 195 with value = 0.4422
+t: 26	 action: [ 0.841 -0.296 -0.045  0.007  0.009  0.007 -1.034]
+t: 27	 action: [ 0.847 -0.265 -0.043  0.006  0.007  0.004 -1.023]
+t: 28	 action: [ 0.754 -0.154 -0.198  0.007  0.007  0.012 -1.04 ]
+t: 29	 action: [ 0.717 -0.1   -0.247  0.008  0.004  0.006 -1.023]
+t: 30	 action: [ 0.635 -0.028 -0.327  0.003 -0.004  0.017 -1.033]
+t: 31	 action: [ 0.501  0.007 -0.417  0.012  0.001  0.01  -1.05 ]
+t: 32	 action: [ 4.068e-01  5.756e-02 -5.233e-01  3.980e-04 -1.137e-02  1.737e-02 -1.035e+00]
+t: 33	 action: [ 3.002e-01  5.553e-02 -5.713e-01  1.117e-02  2.584e-04  9.826e-03 -1.044e+00]
+t: 34	 action: [ 0.166  0.006 -0.606  0.009 -0.039  0.017 -1.042]
+t: 35	 action: [ 0.112 -0.013 -0.613  0.018 -0.024  0.011 -1.032]
+t: 36	 action: [ 0.089  0.013 -0.701  0.013 -0.04   0.017 -1.037]
+t: 37	 action: [ 0.033 -0.023 -0.647  0.02  -0.019  0.011 -1.024]
+t: 38	 action: [ 0.029  0.017 -0.732  0.01  -0.03   0.024 -1.037]
+t: 39	 action: [ 0.012  0.005 -0.625  0.024 -0.008  0.017 -1.042]
+t: 40	 action: [-0.059  0.023 -0.711  0.011 -0.018  0.023 -1.032]
+t: 41	 action: [-0.024  0.039 -0.591  0.023 -0.003  0.018 -1.045]
+[07-31 01:56:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5780
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=42: Selected seed 195 with value = 0.5780
+t: 42	 action: [-0.097  0.728 -0.519  0.007 -0.012  0.026 -1.006]
+t: 43	 action: [-0.11   0.785 -0.482  0.005 -0.009  0.032 -1.019]
+t: 44	 action: [-0.104  0.799 -0.476  0.006 -0.009  0.033 -1.   ]
+t: 45	 action: [-0.118  0.815 -0.415  0.004 -0.007  0.031 -1.026]
+t: 46	 action: [-0.159  0.832 -0.494  0.005 -0.013  0.038 -1.001]
+t: 47	 action: [-0.135  0.824 -0.425  0.01  -0.006  0.035 -1.039]
+t: 48	 action: [-0.14   0.86  -0.463  0.005 -0.012  0.045 -0.998]
+t: 49	 action: [-0.101  0.842 -0.375  0.009 -0.004  0.033 -1.046]
+t: 50	 action: [-0.117  0.85  -0.459  0.005 -0.009  0.03  -1.008]
+t: 51	 action: [-0.088  0.825 -0.405  0.003 -0.007  0.031 -1.021]
+t: 52	 action: [-0.117  0.86  -0.431  0.005 -0.009  0.034 -1.005]
+t: 53	 action: [-0.088  0.804 -0.36   0.003 -0.005  0.031 -1.026]
+t: 54	 action: [-0.176  0.866 -0.434  0.004 -0.011  0.039 -1.006]
+t: 55	 action: [-0.135  0.824 -0.363  0.007 -0.01   0.033 -1.04 ]
+t: 56	 action: [-0.149  0.864 -0.423  0.002 -0.011  0.042 -1.003]
+t: 57	 action: [-0.104  0.786 -0.344  0.005 -0.008  0.033 -1.05 ]
+[07-31 01:56:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6733
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6733
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6733
+t=58: Selected seed 195 with value = 0.6733
+t: 58	 action: [ 0.076  0.255 -0.228 -0.001 -0.002  0.049  0.75 ]
+t: 59	 action: [ 0.073  0.269 -0.102 -0.012  0.013  0.042  0.924]
+t: 60	 action: [ 0.093  0.239  0.042 -0.011  0.013  0.043 -1.015]
+t: 61	 action: [ 0.069  0.182  0.215 -0.018  0.019  0.025 -1.009]
+t: 62	 action: [ 0.013  0.251  0.212 -0.021  0.011  0.034 -1.011]
+t: 63	 action: [-0.035  0.237  0.369 -0.027  0.005  0.029 -1.029]
+t: 64	 action: [-0.063  0.155  0.47  -0.008  0.018  0.02  -1.017]
+t: 65	 action: [-0.051  0.111  0.551 -0.01   0.009  0.015 -1.027]
+t: 66	 action: [-0.22  -0.013  0.468  0.02  -0.009  0.008 -1.046]
+t: 67	 action: [-0.285 -0.098  0.404  0.028 -0.006  0.009 -1.036]
+t: 68	 action: [-0.364 -0.089  0.299  0.029 -0.02   0.008 -1.052]
+t: 69	 action: [-0.326 -0.169  0.183  0.034 -0.014  0.008 -1.026]
+t: 70	 action: [-0.552 -0.191  0.198  0.053 -0.014  0.003 -1.033]
+t: 71	 action: [-0.55  -0.159  0.099  0.035 -0.025  0.004 -1.049]
+t: 72	 action: [-0.607 -0.256  0.11   0.046 -0.021  0.003 -1.035]
+t: 73	 action: [-0.617 -0.193 -0.006  0.03  -0.026  0.003 -1.04 ]
+[07-31 01:56:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=74: Selected seed 195 with value = 0.6997
+t: 74	 action: [ 0.07   0.466 -0.103 -0.025  0.021  0.018 -0.989]
+t: 75	 action: [ 0.11   0.394 -0.018 -0.024  0.022  0.018 -0.988]
+t: 76	 action: [ 0.092  0.176  0.197 -0.041  0.026  0.025 -1.009]
+t: 77	 action: [ 0.082  0.089  0.372 -0.027  0.026  0.017 -1.021]
+t: 78	 action: [ 0.055  0.074  0.391 -0.022  0.025  0.006 -1.008]
+t: 79	 action: [ 0.007  0.02   0.482 -0.021  0.013  0.007 -1.04 ]
+t: 80	 action: [-0.088 -0.064  0.54  -0.001  0.025  0.01  -1.02 ]
+t: 81	 action: [-0.117 -0.092  0.548 -0.002  0.013  0.006 -1.049]
+t: 82	 action: [-0.316 -0.14   0.461  0.007 -0.012  0.013 -1.045]
+t: 83	 action: [-0.441 -0.215  0.352  0.015 -0.004  0.01  -1.04 ]
+t: 84	 action: [-0.573 -0.151  0.226  0.005 -0.022  0.013 -1.057]
+t: 85	 action: [-0.533 -0.217  0.112  0.011 -0.008  0.009 -1.037]
+t: 86	 action: [-0.813 -0.233  0.08   0.027 -0.018  0.007 -1.024]
+t: 87	 action: [-7.253e-01 -2.269e-01  3.285e-03  1.352e-02 -2.508e-02  7.610e-04 -1.053e+00]
+t: 88	 action: [-0.799 -0.229 -0.008  0.014 -0.027  0.006 -1.027]
+t: 89	 action: [-0.77  -0.203 -0.093  0.007 -0.025  0.001 -1.055]
+[07-31 01:56:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4495
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4495
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4495
+t=90: Selected seed 195 with value = 0.4495
+t: 90	 action: [-0.306  0.001  0.072 -0.004 -0.012  0.002 -1.026]
+t: 91	 action: [-3.258e-01  1.710e-02 -2.209e-04  5.099e-03 -2.363e-02 -9.876e-03 -1.038e+00]
+t: 92	 action: [-0.453 -0.007 -0.098  0.001 -0.024 -0.002 -1.032]
+t: 93	 action: [-0.417 -0.031 -0.229  0.007 -0.038 -0.021 -1.053]
+t: 94	 action: [-0.516 -0.039 -0.306  0.003 -0.027 -0.007 -1.027]
+t: 95	 action: [-0.408 -0.043 -0.33   0.013 -0.032 -0.021 -1.055]
+t: 96	 action: [-3.470e-01 -7.410e-02 -6.088e-01  6.322e-05 -3.718e-02 -1.161e-02 -1.031e+00]
+t: 97	 action: [-0.285 -0.052 -0.632  0.009 -0.039 -0.033 -1.063]
+t: 98	 action: [-0.211  0.014 -0.739  0.002 -0.044 -0.006 -1.022]
+t: 99	 action: [-5.565e-02  3.230e-02 -7.361e-01  7.351e-04 -4.971e-02 -2.871e-02 -1.041e+00]
+t: 100	 action: [ 0.034  0.003 -0.691 -0.002 -0.054 -0.02  -1.02 ]
+t: 101	 action: [ 1.264e-01  1.545e-02 -6.741e-01 -6.926e-04 -5.695e-02 -2.101e-02 -1.027e+00]
+t: 102	 action: [ 0.08   0.016 -0.494  0.004 -0.064 -0.028 -1.027]
+t: 103	 action: [ 0.101  0.059 -0.494  0.006 -0.07  -0.046 -1.063]
+t: 104	 action: [ 0.182  0.012 -0.289 -0.002 -0.067 -0.044 -1.024]
+t: 105	 action: [ 0.228  0.045 -0.276  0.003 -0.066 -0.035 -1.053]
+[07-31 01:56:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4935
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4935
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4935
+t=106: Selected seed 195 with value = 0.4935
+t: 106	 action: [ 2.261e-01  1.134e-01 -4.320e-01 -7.113e-04 -1.698e-02 -2.034e-03 -1.061e+00]
+t: 107	 action: [ 0.242  0.132 -0.411  0.009 -0.018 -0.016 -1.037]
+t: 108	 action: [ 0.252  0.069 -0.414  0.009 -0.02  -0.006 -1.075]
+t: 109	 action: [ 0.331  0.077 -0.358  0.013 -0.022 -0.026 -1.037]
+t: 110	 action: [ 0.357  0.133 -0.303  0.003 -0.015 -0.009 -1.047]
+t: 111	 action: [ 0.404  0.146 -0.195  0.015 -0.029 -0.023 -1.059]
+t: 112	 action: [ 0.482  0.123 -0.246  0.002 -0.024 -0.019 -1.065]
+t: 113	 action: [ 0.511  0.114 -0.161  0.012 -0.034 -0.035 -1.056]
+t: 114	 action: [ 0.541  0.043 -0.11  -0.001 -0.027 -0.024 -1.092]
+t: 115	 action: [ 0.516  0.044 -0.135  0.006 -0.015 -0.034 -1.045]
+t: 116	 action: [ 5.132e-01  2.987e-02 -2.032e-01  2.832e-04 -3.183e-02 -1.990e-02 -1.116e+00]
+t: 117	 action: [ 0.447  0.027 -0.249  0.004 -0.019 -0.028 -1.041]
+t: 118	 action: [ 0.338  0.016 -0.318 -0.001 -0.039 -0.027 -1.079]
+t: 119	 action: [ 0.192  0.011 -0.321  0.007 -0.037 -0.038 -1.054]
+t: 120	 action: [ 0.188  0.015 -0.478 -0.005 -0.039 -0.024 -1.097]
+t: 121	 action: [ 0.092  0.001 -0.454  0.003 -0.035 -0.03  -1.056]
+[07-31 01:56:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5397
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5397
+Query 1/1: Action query time = 0.996 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5397
+t=122: Selected seed 195 with value = 0.5397
+t: 122	 action: [ 8.325e-02  9.732e-02 -4.939e-01 -1.550e-04  2.479e-03 -2.768e-03 -1.093e+00]
+t: 123	 action: [ 0.16   0.118 -0.478 -0.003  0.004 -0.016 -1.037]
+t: 124	 action: [ 0.167  0.171 -0.52  -0.002  0.006  0.005 -1.094]
+t: 125	 action: [ 0.229  0.155 -0.502 -0.005  0.007 -0.012 -1.032]
+t: 126	 action: [ 0.111  0.219 -0.421 -0.007  0.003 -0.009 -1.076]
+t: 127	 action: [ 0.157  0.162 -0.465 -0.002  0.001 -0.019 -1.042]
+t: 128	 action: [ 0.125  0.155 -0.454 -0.009  0.003 -0.004 -1.082]
+t: 129	 action: [ 0.089  0.112 -0.493 -0.003  0.003 -0.02  -1.026]
+t: 130	 action: [ 0.04   0.114 -0.542 -0.013  0.017  0.003  0.996]
+t: 131	 action: [ 0.037  0.099 -0.441 -0.017  0.018 -0.01   1.053]
+t: 132	 action: [-0.027  0.065 -0.442 -0.011  0.019  0.007  0.987]
+t: 133	 action: [-0.026  0.045 -0.331 -0.016  0.018 -0.01   1.037]
+t: 134	 action: [-0.019  0.042 -0.237 -0.017  0.018 -0.003  1.036]
+t: 135	 action: [-0.002  0.063 -0.141 -0.018  0.013 -0.009  1.051]
+t: 136	 action: [-0.047  0.053  0.01  -0.022  0.017 -0.005  1.03 ]
+t: 137	 action: [-0.009  0.06   0.081 -0.025  0.016 -0.01   1.043]
+[07-31 01:56:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6103
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.6103
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6103
+t=138: Selected seed 195 with value = 0.6103
+t: 138	 action: [-0.03   0.036 -0.029 -0.009 -0.017 -0.016  0.978]
+t: 139	 action: [-0.002  0.023  0.074 -0.013 -0.002 -0.028  1.026]
+t: 140	 action: [-0.011  0.062  0.198 -0.013 -0.014 -0.025  0.977]
+t: 141	 action: [ 0.005  0.05   0.342 -0.014  0.001 -0.032  1.028]
+t: 142	 action: [ 0.063  0.049  0.568 -0.013 -0.005 -0.027  0.988]
+t: 143	 action: [ 0.072  0.061  0.707 -0.013 -0.002 -0.041  1.023]
+t: 144	 action: [ 0.081  0.036  0.829 -0.002  0.005 -0.036  0.986]
+t: 145	 action: [ 8.738e-02  1.527e-02  8.704e-01 -7.614e-04  1.022e-02 -4.489e-02  1.026e+00]
+t: 146	 action: [ 5.599e-02 -5.712e-02  7.803e-01 -8.831e-05  3.132e-02 -3.129e-02  9.734e-01]
+t: 147	 action: [ 0.025 -0.091  0.85   0.018  0.038 -0.033  1.024]
+t: 148	 action: [ 0.058 -0.174  0.787  0.013  0.032 -0.026  0.974]
+t: 149	 action: [ 0.031 -0.307  0.77   0.034  0.036 -0.027  1.019]
+t: 150	 action: [ 0.026 -0.287  0.576  0.032  0.031 -0.029  0.986]
+t: 151	 action: [-0.019 -0.362  0.479  0.03   0.013 -0.034  1.033]
+t: 152	 action: [-0.004 -0.431  0.232  0.05   0.021 -0.026  0.996]
+t: 153	 action: [-0.043 -0.528  0.117  0.036  0.004 -0.027  1.034]
+[07-31 01:56:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6232
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.6232
+Query 1/1: Action query time = 1.002 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6232
+t=154: Selected seed 195 with value = 0.6232
+t: 154	 action: [-0.17  -0.13  -0.672  0.035  0.038  0.014  1.118]
+t: 155	 action: [-0.232 -0.12  -0.787  0.022  0.018  0.015  1.02 ]
+t: 156	 action: [-0.123 -0.071 -0.755  0.032  0.03   0.014 -0.996]
+t: 157	 action: [-0.119 -0.065 -0.806  0.023  0.015  0.01  -1.038]
+t: 158	 action: [-0.082 -0.118 -0.714  0.015  0.016  0.02  -1.084]
+t: 159	 action: [-0.08  -0.07  -0.724  0.011  0.007  0.025 -1.094]
+t: 160	 action: [-4.323e-02  7.506e-04 -7.215e-01  5.712e-03  7.675e-03  1.745e-02 -1.017e+00]
+t: 161	 action: [-0.102 -0.015 -0.745  0.01   0.007  0.003 -1.069]
+t: 162	 action: [ 0.056 -0.099 -0.709  0.02   0.002  0.027 -0.964]
+t: 163	 action: [-0.175 -0.121 -0.751  0.008 -0.002  0.025 -1.142]
+t: 164	 action: [-0.224 -0.07  -0.812  0.004 -0.013  0.032 -1.103]
+t: 165	 action: [-0.381 -0.113 -0.804  0.002 -0.007  0.031 -1.153]
+t: 166	 action: [-0.547 -0.09  -0.766  0.009 -0.029  0.034 -0.936]
+t: 167	 action: [-0.52  -0.103 -0.752 -0.006 -0.026  0.03   1.229]
+t: 168	 action: [-6.008e-01 -9.360e-02 -6.764e-01 -5.601e-04 -4.842e-02  3.043e-02  1.031e+00]
+t: 169	 action: [-0.441 -0.089 -0.666 -0.02  -0.024  0.03   1.238]
+[07-31 01:56:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6257
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.6257
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6257
+t=170: Selected seed 195 with value = 0.6257
+t: 170	 action: [-0.102  0.096 -0.482 -0.015  0.002  0.048  0.961]
+t: 171	 action: [-0.092  0.08  -0.284 -0.02   0.001  0.039  1.02 ]
+t: 172	 action: [-0.048  0.053 -0.168 -0.023  0.001  0.018  0.968]
+t: 173	 action: [-2.618e-02  6.041e-02 -2.677e-02 -2.169e-02 -5.772e-04  2.387e-02  1.028e+00]
+t: 174	 action: [-0.011  0.102  0.048 -0.029  0.007  0.01   0.987]
+t: 175	 action: [-4.632e-04  9.762e-02  1.534e-01 -2.353e-02 -4.859e-03  1.241e-02  1.031e+00]
+t: 176	 action: [ 0.027  0.095  0.32  -0.027 -0.008 -0.004  0.989]
+t: 177	 action: [ 0.014  0.094  0.514 -0.019 -0.012 -0.009  1.036]
+t: 178	 action: [ 0.035  0.033  0.519 -0.02  -0.001 -0.02   0.975]
+t: 179	 action: [ 0.058  0.066  0.727 -0.013 -0.01  -0.023  1.018]
+t: 180	 action: [ 0.034  0.031  0.802 -0.017 -0.008 -0.025  0.965]
+t: 181	 action: [ 0.062  0.075  0.926 -0.006 -0.016 -0.021  1.022]
+t: 182	 action: [-0.02   0.03   0.965  0.014 -0.006 -0.024  0.988]
+t: 183	 action: [-0.033 -0.045  0.99   0.028 -0.019 -0.026  1.026]
+t: 184	 action: [-0.102 -0.074  0.954  0.036 -0.006 -0.018  0.988]
+t: 185	 action: [-0.126 -0.254  0.951  0.049 -0.021 -0.015  1.028]
+[07-31 01:56:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6295
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.6295
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6295
+t=186: Selected seed 195 with value = 0.6295
+t: 186	 action: [-0.155 -0.105 -0.694  0.031  0.036  0.015  1.133]
+t: 187	 action: [-0.213 -0.089 -0.756  0.019  0.018  0.015  1.039]
+t: 188	 action: [-0.11  -0.024 -0.771  0.03   0.029  0.016  0.954]
+t: 189	 action: [-0.152 -0.05  -0.769  0.022  0.018  0.008 -1.031]
+t: 190	 action: [-0.09  -0.078 -0.708  0.01   0.02   0.02  -1.086]
+t: 191	 action: [-0.081 -0.043 -0.728  0.008  0.013  0.026 -1.099]
+t: 192	 action: [-0.01  -0.007 -0.689  0.003  0.017  0.018 -0.988]
+t: 193	 action: [-0.042 -0.012 -0.726  0.006  0.019  0.002 -1.058]
+t: 194	 action: [ 0.098 -0.065 -0.689  0.018  0.015  0.029 -0.963]
+t: 195	 action: [-0.113 -0.12  -0.726  0.004  0.007  0.027 -1.137]
+t: 196	 action: [-1.699e-01 -5.664e-02 -8.042e-01  4.987e-03  2.044e-04  3.484e-02 -1.099e+00]
+t: 197	 action: [-3.726e-01 -1.322e-01 -8.051e-01  1.083e-04  2.703e-03  3.304e-02 -1.147e+00]
+t: 198	 action: [-0.527 -0.08  -0.772  0.008 -0.014  0.039 -0.955]
+t: 199	 action: [-0.489 -0.109 -0.75  -0.003 -0.011  0.033  1.222]
+t: 200	 action: [-5.838e-01 -1.049e-01 -6.915e-01  1.584e-04 -3.032e-02  3.476e-02  1.030e+00]
+t: 201	 action: [-0.465 -0.116 -0.686 -0.014 -0.013  0.031  1.231]
+[07-31 01:56:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6593
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.6593
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6593
+t=202: Selected seed 195 with value = 0.6593
+t: 202	 action: [-0.07   0.105 -0.418 -0.026  0.013  0.049  0.968]
+t: 203	 action: [-0.015  0.096 -0.247 -0.022  0.015  0.036  1.017]
+t: 204	 action: [-0.007  0.064 -0.085 -0.034  0.017  0.022  0.969]
+t: 205	 action: [ 0.029  0.078  0.045 -0.027  0.009  0.025  1.021]
+t: 206	 action: [ 0.074  0.079  0.142 -0.044  0.023  0.024  0.989]
+t: 207	 action: [ 0.055  0.069  0.345 -0.03   0.012  0.02   1.02 ]
+t: 208	 action: [ 0.122  0.061  0.571 -0.021  0.009  0.001  0.987]
+t: 209	 action: [ 1.052e-01  4.547e-02  7.652e-01 -1.351e-02 -5.232e-03  2.528e-04  1.018e+00]
+t: 210	 action: [ 0.071 -0.028  0.755 -0.022  0.011  0.008  0.975]
+t: 211	 action: [ 0.106 -0.006  0.917 -0.028 -0.005  0.006  1.019]
+t: 212	 action: [ 0.111 -0.084  0.899 -0.015 -0.002  0.002  0.965]
+t: 213	 action: [ 0.121 -0.13   0.97  -0.01  -0.016  0.001  1.019]
+t: 214	 action: [ 4.090e-02 -1.600e-01  9.416e-01  1.407e-02  7.285e-04  4.068e-03  9.879e-01]
+t: 215	 action: [ 0.003 -0.332  0.933  0.024 -0.011  0.004  1.025]
+t: 216	 action: [-2.673e-02 -4.620e-01  8.545e-01  3.671e-02 -1.182e-02 -7.119e-04  9.862e-01]
+t: 217	 action: [-4.122e-02 -6.732e-01  7.227e-01  4.565e-02 -1.780e-02  1.315e-04  1.019e+00]
+[07-31 01:56:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6730
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6730
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6730
+t=218: Selected seed 195 with value = 0.6730
+t: 218	 action: [-0.139 -0.134 -0.615  0.033  0.02   0.042  1.15 ]
+t: 219	 action: [-0.208 -0.108 -0.73   0.022  0.003  0.034  1.034]
+t: 220	 action: [-0.082 -0.046 -0.694  0.045  0.009  0.041  0.906]
+t: 221	 action: [-0.158 -0.066 -0.735  0.03   0.006  0.017 -1.027]
+t: 222	 action: [-0.095 -0.06  -0.632  0.019 -0.005  0.043 -1.068]
+t: 223	 action: [-1.091e-01 -3.216e-02 -6.672e-01  1.714e-02  5.275e-04  3.623e-02 -1.092e+00]
+t: 224	 action: [-0.042  0.012 -0.604  0.015 -0.011  0.036 -0.983]
+t: 225	 action: [-0.093  0.002 -0.665  0.018  0.002  0.008 -1.061]
+t: 226	 action: [ 0.071 -0.098 -0.593  0.033  0.005  0.042 -0.983]
+t: 227	 action: [-0.19  -0.136 -0.706  0.02  -0.003  0.036 -1.125]
+t: 228	 action: [-0.248 -0.072 -0.776  0.015 -0.006  0.048 -1.089]
+t: 229	 action: [-0.37  -0.137 -0.769  0.013 -0.008  0.04  -1.131]
+t: 230	 action: [-0.563 -0.098 -0.72   0.017 -0.024  0.056 -0.91 ]
+t: 231	 action: [-0.464 -0.113 -0.725  0.002 -0.024  0.042  1.233]
+t: 232	 action: [-5.550e-01 -9.896e-02 -5.707e-01 -3.043e-04 -3.774e-02  4.983e-02  1.033e+00]
+t: 233	 action: [-0.396 -0.095 -0.588 -0.017 -0.02   0.039  1.245]
+[07-31 01:56:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6835
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.6835
+Query 1/1: Action query time = 0.988 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6835
+t=234: Selected seed 195 with value = 0.6835
+t: 234	 action: [-0.035  0.107 -0.458 -0.022  0.01   0.046  0.978]
+t: 235	 action: [-0.035  0.12  -0.258 -0.024  0.009  0.034  1.021]
+t: 236	 action: [-0.008  0.075 -0.097 -0.03   0.012  0.013  0.98 ]
+t: 237	 action: [-0.007  0.102  0.053 -0.025  0.008  0.02   1.028]
+t: 238	 action: [ 0.043  0.074  0.035 -0.032  0.021  0.016  1.002]
+t: 239	 action: [ 3.596e-02  8.885e-02  2.443e-01 -1.647e-02  7.284e-04  1.688e-02  1.030e+00]
+t: 240	 action: [ 0.093  0.062  0.401 -0.015  0.016 -0.002  1.002]
+t: 241	 action: [ 9.911e-02  6.852e-02  6.411e-01  2.549e-03 -5.094e-03 -8.079e-04  1.029e+00]
+t: 242	 action: [ 0.108 -0.014  0.562 -0.022  0.026 -0.003  0.987]
+t: 243	 action: [ 1.266e-01  4.705e-02  7.724e-01 -2.693e-02  7.888e-04 -6.074e-03  1.025e+00]
+t: 244	 action: [ 1.810e-01  3.800e-02  8.299e-01 -2.202e-02  6.672e-04 -1.408e-02  9.800e-01]
+t: 245	 action: [ 0.195  0.049  0.933 -0.018 -0.012 -0.011  1.03 ]
+t: 246	 action: [ 0.146  0.002  0.924  0.015  0.008 -0.009  0.999]
+t: 247	 action: [ 0.072 -0.159  0.958  0.024 -0.003 -0.006  1.033]
+t: 248	 action: [ 0.066 -0.303  0.912  0.064 -0.004 -0.012  0.998]
+t: 249	 action: [ 0.041 -0.53   0.86   0.056 -0.006 -0.005  1.029]
+[07-31 01:56:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7166
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7166
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7166
+t=250: Selected seed 195 with value = 0.7166
+t: 250	 action: [-0.089 -0.093 -0.537  0.022  0.013  0.043  1.159]
+t: 251	 action: [-0.115 -0.062 -0.626  0.016  0.005  0.037  1.04 ]
+t: 252	 action: [-0.021 -0.007 -0.591  0.038  0.01   0.042  1.113]
+t: 253	 action: [-0.07  -0.027 -0.633  0.025  0.009  0.02  -1.019]
+t: 254	 action: [-0.033 -0.006 -0.532  0.018  0.004  0.045 -1.079]
+t: 255	 action: [-0.057  0.01  -0.568  0.016  0.002  0.039 -1.079]
+t: 256	 action: [ 0.007  0.028 -0.485  0.013  0.009  0.038 -1.047]
+t: 257	 action: [-0.049  0.035 -0.567  0.017  0.005  0.01  -1.061]
+t: 258	 action: [ 0.081 -0.065 -0.595  0.03   0.016  0.051 -0.977]
+t: 259	 action: [-0.142 -0.105 -0.731  0.016  0.006  0.046 -1.111]
+t: 260	 action: [-0.209 -0.069 -0.734  0.018  0.01   0.057 -1.107]
+t: 261	 action: [-0.327 -0.123 -0.787  0.009  0.003  0.047 -1.12 ]
+t: 262	 action: [-0.459 -0.067 -0.733  0.012 -0.003  0.069 -0.95 ]
+t: 263	 action: [-0.41  -0.084 -0.753  0.005 -0.009  0.051  1.195]
+t: 264	 action: [-0.418 -0.076 -0.586 -0.002 -0.01   0.062  1.039]
+t: 265	 action: [-0.324 -0.079 -0.636 -0.008 -0.008  0.045  1.229]
+[07-31 01:56:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6882
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.6882
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6882
+t=266: Selected seed 195 with value = 0.6882
+t: 266	 action: [-0.06   0.065 -0.399 -0.014  0.026  0.021  0.992]
+t: 267	 action: [-0.015  0.081 -0.201 -0.009  0.022  0.011  1.03 ]
+t: 268	 action: [-0.015  0.043 -0.01  -0.011  0.022  0.004  0.993]
+t: 269	 action: [ 0.043  0.061  0.14  -0.008  0.012  0.003  1.039]
+t: 270	 action: [ 0.137  0.085  0.114 -0.019  0.029  0.004  1.014]
+t: 271	 action: [ 0.148  0.096  0.422 -0.011  0.016  0.002  1.037]
+t: 272	 action: [ 0.254  0.074  0.605 -0.002  0.021 -0.011  1.013]
+t: 273	 action: [ 0.283  0.058  0.78   0.009  0.007 -0.01   1.03 ]
+t: 274	 action: [ 0.18   0.012  0.75  -0.018  0.027 -0.002  0.99 ]
+t: 275	 action: [ 0.259  0.055  0.901 -0.012  0.003 -0.012  1.033]
+t: 276	 action: [ 0.305 -0.021  0.863 -0.014  0.003 -0.014  0.982]
+t: 277	 action: [ 0.36  -0.14   0.931  0.004 -0.009 -0.018  1.038]
+t: 278	 action: [ 0.215 -0.19   0.877  0.039  0.01  -0.003  1.003]
+t: 279	 action: [ 0.145 -0.411  0.873  0.039 -0.006 -0.004  1.043]
+t: 280	 action: [ 0.113 -0.535  0.766  0.098 -0.008 -0.01   0.999]
+t: 281	 action: [ 0.089 -0.706  0.577  0.073 -0.01  -0.006  1.03 ]
+[07-31 01:56:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7603
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7603
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7603
+t=282: Selected seed 195 with value = 0.7603
+t: 282	 action: [-0.058 -0.093 -0.507  0.009  0.002  0.055  1.158]
+t: 283	 action: [-0.065 -0.049 -0.563  0.007  0.001  0.044  1.035]
+t: 284	 action: [ 0.013 -0.015 -0.553  0.028  0.004  0.047  1.122]
+t: 285	 action: [-0.037 -0.023 -0.554  0.02   0.008  0.025 -1.019]
+t: 286	 action: [-0.037  0.015 -0.47   0.012 -0.004  0.05  -1.078]
+t: 287	 action: [-5.598e-02  4.072e-02 -4.828e-01  1.110e-02 -2.834e-04  4.077e-02 -1.078e+00]
+t: 288	 action: [ 0.012  0.05  -0.389  0.01   0.004  0.037 -1.05 ]
+t: 289	 action: [-0.018  0.054 -0.443  0.015  0.003  0.014 -1.064]
+t: 290	 action: [ 0.083 -0.036 -0.468  0.036  0.012  0.06  -1.051]
+t: 291	 action: [-0.068 -0.055 -0.657  0.02   0.005  0.052 -1.058]
+t: 292	 action: [-0.082 -0.038 -0.616  0.028  0.013  0.061 -1.224]
+t: 293	 action: [-0.258 -0.061 -0.668  0.014  0.001  0.048 -1.086]
+t: 294	 action: [-3.479e-01 -1.413e-02 -6.329e-01  1.638e-02 -4.024e-04  7.927e-02 -1.080e+00]
+t: 295	 action: [-0.329 -0.018 -0.644  0.012 -0.005  0.052 -1.053]
+t: 296	 action: [-0.312 -0.027 -0.457  0.001 -0.002  0.073  0.175]
+t: 297	 action: [-0.277 -0.03  -0.512  0.005 -0.005  0.051  1.2  ]
+[07-31 01:56:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6837
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.6837
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 86
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 72%|███████▏  | 36/50 [19:18<07:21, 31.51s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 37...
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6837
+t=298: Selected seed 195 with value = 0.6837
+t: 298	 action: [-0.078 -0.021 -0.382 -0.002  0.026  0.016  1.   ]
+t: 299	 action: [-0.017 -0.023 -0.206 -0.002  0.022  0.01   1.042]
+t: 300	 action: [-0.042  0.011  0.012 -0.005  0.014  0.001  1.   ]
+t: 301	 action: [0.026 0.021 0.153 0.005 0.009 0.008 1.039]
+t: 302	 action: [ 0.061  0.058  0.066 -0.008  0.017  0.004  1.022]
+t: 303	 action: [ 1.235e-01  9.092e-02  3.270e-01 -2.766e-03 -4.659e-05  1.653e-03  1.045e+00]
+t: 304	 action: [ 0.206  0.042  0.588  0.016  0.011 -0.007  1.013]
+t: 305	 action: [ 0.288  0.013  0.765  0.031 -0.003 -0.007  1.027]
+t: 306	 action: [ 0.11  -0.009  0.633 -0.008  0.028  0.002  0.99 ]
+t: 307	 action: [ 0.182  0.01   0.812  0.008  0.009 -0.003  1.042]
+t: 308	 action: [ 0.203 -0.066  0.774  0.01   0.009 -0.005  0.983]
+t: 309	 action: [ 2.657e-01 -1.891e-01  8.150e-01  2.575e-02 -5.475e-04 -8.623e-03  1.048e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=86--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=86--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 86
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 37...
+[07-31 01:56:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3548
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3548
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3548
+t=10: Selected seed 195 with value = 0.3548
+t: 10	 action: [ 0.186 -0.053  0.045  0.003  0.018  0.01  -1.013]
+t: 11	 action: [ 0.256 -0.029  0.087 -0.003  0.032  0.011 -1.011]
+t: 12	 action: [ 0.484 -0.08   0.134  0.001  0.023  0.013 -1.025]
+t: 13	 action: [ 0.632 -0.087  0.202 -0.004  0.037  0.012 -1.023]
+t: 14	 action: [ 0.731 -0.063  0.256  0.002  0.029  0.013 -1.031]
+t: 15	 action: [ 0.79  -0.109  0.242 -0.002  0.03   0.013 -1.04 ]
+t: 16	 action: [ 0.868 -0.101  0.299  0.002  0.03   0.012 -1.025]
+t: 17	 action: [ 0.862 -0.16   0.273  0.001  0.036  0.013 -1.047]
+t: 18	 action: [ 0.832 -0.245  0.306  0.007  0.017  0.02  -1.033]
+t: 19	 action: [ 0.854 -0.243  0.301  0.013  0.026  0.016 -1.024]
+t: 20	 action: [ 0.864 -0.291  0.253  0.009  0.012  0.017 -1.026]
+t: 21	 action: [ 0.867 -0.313  0.267  0.018  0.024  0.016 -1.017]
+t: 22	 action: [ 0.858 -0.35   0.236  0.018  0.016  0.019 -1.021]
+t: 23	 action: [ 0.879 -0.487  0.176  0.022  0.02   0.018 -1.04 ]
+t: 24	 action: [ 0.872 -0.385  0.159  0.025  0.015  0.014 -1.014]
+t: 25	 action: [ 0.897 -0.513  0.107  0.025  0.021  0.018 -1.041]
+[07-31 01:56:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4279
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4279
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4279
+t=26: Selected seed 195 with value = 0.4279
+t: 26	 action: [ 0.938 -0.265  0.141  0.003  0.01   0.003 -1.015]
+t: 27	 action: [ 9.433e-01 -2.850e-01  1.455e-01  2.459e-05  4.473e-03 -9.672e-03 -1.014e+00]
+t: 28	 action: [ 0.932 -0.32   0.081  0.007  0.008  0.005 -1.024]
+t: 29	 action: [ 0.944 -0.333  0.08   0.008  0.005 -0.006 -1.02 ]
+t: 30	 action: [ 0.962 -0.306 -0.005  0.01   0.008  0.004 -1.005]
+t: 31	 action: [ 0.933 -0.335 -0.058  0.013  0.001 -0.005 -1.036]
+t: 32	 action: [ 9.254e-01 -2.641e-01 -2.013e-01  8.373e-03  3.892e-04  3.299e-03 -1.017e+00]
+t: 33	 action: [ 0.894 -0.274 -0.252  0.014 -0.003 -0.003 -1.036]
+t: 34	 action: [ 0.664 -0.238 -0.404  0.015 -0.043  0.008 -1.034]
+t: 35	 action: [ 0.556 -0.158 -0.542  0.015 -0.049  0.003 -1.019]
+t: 36	 action: [ 0.451 -0.115 -0.651  0.016 -0.068  0.008 -1.027]
+t: 37	 action: [ 0.287 -0.07  -0.797  0.014 -0.067  0.003 -1.011]
+t: 38	 action: [ 0.151  0.031 -0.782  0.013 -0.072  0.007 -1.024]
+t: 39	 action: [ 0.055  0.008 -0.815  0.018 -0.061  0.008 -1.031]
+t: 40	 action: [-0.025  0.054 -0.859  0.009 -0.067  0.006 -1.022]
+t: 41	 action: [-0.034  0.056 -0.87   0.018 -0.047  0.01  -1.034]
+[07-31 01:56:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5033
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5033
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5033
+t=42: Selected seed 195 with value = 0.5033
+t: 42	 action: [-0.08   0.062 -0.838  0.012 -0.031  0.032 -0.99 ]
+t: 43	 action: [-0.061  0.086 -0.872  0.007 -0.029  0.035 -1.012]
+t: 44	 action: [-0.072  0.158 -0.834  0.008 -0.017  0.038 -0.992]
+t: 45	 action: [-0.053  0.192 -0.841  0.006 -0.012  0.034 -1.013]
+t: 46	 action: [-0.107  0.285 -0.696  0.006 -0.016  0.048 -0.992]
+t: 47	 action: [-0.073  0.296 -0.7    0.002 -0.011  0.039 -1.026]
+t: 48	 action: [-0.11   0.388 -0.575  0.004 -0.003  0.046 -0.992]
+t: 49	 action: [-0.068  0.501 -0.568  0.004 -0.002  0.035 -1.027]
+t: 50	 action: [-0.139  0.725 -0.518  0.006 -0.007  0.048 -0.993]
+t: 51	 action: [-0.143  0.757 -0.521  0.001 -0.004  0.039 -1.007]
+t: 52	 action: [-0.163  0.798 -0.5    0.005 -0.002  0.054 -0.995]
+t: 53	 action: [-1.605e-01  7.746e-01 -5.139e-01  1.435e-03 -5.907e-05  3.960e-02 -1.007e+00]
+t: 54	 action: [-0.247  0.818 -0.478  0.004 -0.007  0.059 -0.997]
+t: 55	 action: [-2.260e-01  8.246e-01 -4.733e-01  8.986e-04 -2.715e-03  3.997e-02 -1.017e+00]
+t: 56	 action: [-0.258  0.841 -0.48   0.003 -0.002  0.065 -0.992]
+t: 57	 action: [-2.229e-01  8.193e-01 -4.695e-01  1.905e-04  6.135e-04  4.095e-02 -1.025e+00]
+[07-31 01:56:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5269
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5269
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5269
+t=58: Selected seed 195 with value = 0.5269
+t: 58	 action: [-0.134  0.796 -0.458  0.004 -0.006  0.039 -1.005]
+t: 59	 action: [-0.132  0.777 -0.403  0.014 -0.005  0.039 -0.992]
+t: 60	 action: [-0.155  0.83  -0.47   0.004 -0.006  0.048 -1.002]
+t: 61	 action: [-0.153  0.783 -0.411  0.016 -0.005  0.043 -0.997]
+t: 62	 action: [-0.143  0.815 -0.442  0.007 -0.004  0.052 -0.996]
+t: 63	 action: [-0.162  0.796 -0.433  0.016 -0.005  0.047 -1.009]
+t: 64	 action: [-0.173  0.838 -0.462  0.007 -0.004  0.064 -0.993]
+t: 65	 action: [-1.466e-01  7.980e-01 -4.528e-01  1.659e-02 -2.509e-04  4.921e-02 -1.021e+00]
+t: 66	 action: [-0.044  0.771 -0.475  0.007 -0.011  0.07  -1.016]
+t: 67	 action: [-0.052  0.672 -0.47   0.014 -0.009  0.049 -1.022]
+t: 68	 action: [-0.034  0.65  -0.348  0.004 -0.013  0.049 -1.02 ]
+t: 69	 action: [-0.008  0.43  -0.276  0.014  0.006  0.026 -1.014]
+t: 70	 action: [ 0.01   0.203 -0.087  0.017  0.011  0.05  -1.01 ]
+t: 71	 action: [ 0.028 -0.017  0.16   0.016  0.011  0.034 -1.041]
+t: 72	 action: [ 0.057 -0.096  0.385  0.034  0.057  0.014 -1.009]
+t: 73	 action: [ 0.052 -0.117  0.588  0.027  0.047  0.006 -1.042]
+[07-31 01:56:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6828
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6828
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6828
+t=74: Selected seed 195 with value = 0.6828
+t: 74	 action: [-0.013 -0.12   0.75  -0.013  0.039 -0.028 -0.994]
+t: 75	 action: [-0.142 -0.158  0.719 -0.006  0.023 -0.036 -1.018]
+t: 76	 action: [-0.267 -0.098  0.595 -0.003  0.01  -0.027 -0.999]
+t: 77	 action: [-0.43  -0.138  0.517 -0.002  0.01  -0.037 -1.024]
+t: 78	 action: [-0.681 -0.144  0.369  0.005  0.003 -0.022 -0.987]
+t: 79	 action: [-0.762 -0.14   0.282  0.005 -0.008 -0.034 -1.043]
+t: 80	 action: [-0.862 -0.14   0.228  0.003 -0.015 -0.02  -0.989]
+t: 81	 action: [-8.472e-01 -1.236e-01  1.052e-01  8.673e-04 -2.551e-02 -3.836e-02 -1.042e+00]
+t: 82	 action: [-0.831 -0.069  0.031  0.005 -0.053 -0.009 -1.009]
+t: 83	 action: [-0.844 -0.131  0.024 -0.006 -0.046 -0.021 -1.03 ]
+t: 84	 action: [-8.566e-01 -7.926e-02 -6.561e-02  4.637e-04 -6.277e-02 -3.702e-03 -1.012e+00]
+t: 85	 action: [-0.867 -0.139 -0.103 -0.008 -0.052 -0.015 -1.019]
+t: 86	 action: [-8.942e-01 -1.318e-01 -1.918e-01 -3.131e-04 -6.417e-02 -3.299e-03 -9.834e-01]
+t: 87	 action: [-0.854 -0.131 -0.228  0.004 -0.071 -0.019 -1.032]
+t: 88	 action: [-8.601e-01 -1.176e-01 -3.541e-01  5.374e-04 -6.880e-02 -2.313e-03 -9.835e-01]
+t: 89	 action: [-0.816 -0.119 -0.354  0.006 -0.071 -0.015 -1.032]
+[07-31 01:56:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4829
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=90: Selected seed 195 with value = 0.4829
+t: 90	 action: [-0.726  0.025 -0.184 -0.017 -0.026 -0.021 -1.026]
+t: 91	 action: [-0.641  0.04  -0.217 -0.012 -0.021 -0.043 -1.037]
+t: 92	 action: [-0.595  0.048 -0.402 -0.021 -0.035 -0.021 -1.026]
+t: 93	 action: [-0.547  0.072 -0.386 -0.006 -0.038 -0.059 -1.048]
+t: 94	 action: [-0.399  0.03  -0.559 -0.003 -0.045 -0.029 -1.02 ]
+t: 95	 action: [-3.670e-01  7.298e-02 -5.584e-01 -8.961e-04 -3.432e-02 -5.524e-02 -1.059e+00]
+t: 96	 action: [-2.251e-01  1.047e-02 -6.484e-01 -1.959e-05 -5.519e-02 -3.624e-02 -1.020e+00]
+t: 97	 action: [-0.208  0.038 -0.64   0.008 -0.049 -0.074 -1.064]
+t: 98	 action: [-0.256  0.012 -0.727 -0.008 -0.074 -0.059 -1.03 ]
+t: 99	 action: [-0.214 -0.016 -0.695  0.004 -0.069 -0.08  -1.025]
+t: 100	 action: [-1.496e-01 -2.192e-02 -7.378e-01 -4.919e-04 -7.708e-02 -6.372e-02 -1.039e+00]
+t: 101	 action: [-0.093 -0.045 -0.667  0.006 -0.071 -0.084 -1.018]
+t: 102	 action: [-0.049 -0.043 -0.629  0.004 -0.065 -0.07  -1.028]
+t: 103	 action: [ 0.017 -0.043 -0.547  0.011 -0.056 -0.094 -1.056]
+t: 104	 action: [ 0.071 -0.035 -0.492  0.002 -0.053 -0.075 -1.032]
+t: 105	 action: [ 0.149 -0.033 -0.427  0.012 -0.047 -0.095 -1.064]
+[07-31 01:56:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9332
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9332
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9332
+t=106: Selected seed 195 with value = 0.9332
+t: 106	 action: [ 0.445  0.277 -0.338  0.003  0.004 -0.019 -1.043]
+t: 107	 action: [ 5.060e-01  2.683e-01 -3.562e-01  9.735e-03  6.035e-04 -4.194e-02 -1.035e+00]
+t: 108	 action: [ 0.545  0.329 -0.31   0.003  0.01  -0.014 -1.04 ]
+t: 109	 action: [ 0.584  0.261 -0.32   0.005  0.003 -0.048 -1.036]
+t: 110	 action: [ 0.537  0.31  -0.274  0.001  0.011 -0.031 -1.04 ]
+t: 111	 action: [ 0.509  0.261 -0.308  0.009  0.004 -0.05  -1.056]
+t: 112	 action: [ 5.375e-01  2.933e-01 -2.723e-01  5.934e-04  1.414e-02 -2.661e-02 -1.039e+00]
+t: 113	 action: [ 0.495  0.238 -0.316  0.009  0.001 -0.057 -1.057]
+t: 114	 action: [ 0.509  0.203 -0.223  0.002  0.025 -0.043 -1.047]
+t: 115	 action: [ 0.479  0.158 -0.25   0.01   0.015 -0.063 -1.035]
+t: 116	 action: [ 0.398  0.145 -0.256  0.003  0.029 -0.035 -1.046]
+t: 117	 action: [ 0.314  0.13  -0.288  0.01   0.021 -0.054 -1.035]
+t: 118	 action: [ 0.233  0.096 -0.348  0.004  0.015 -0.037 -1.046]
+t: 119	 action: [ 0.118  0.118 -0.371  0.015  0.004 -0.063 -1.051]
+t: 120	 action: [ 0.033  0.054 -0.44   0.001  0.015 -0.028 -1.044]
+t: 121	 action: [ 0.016  0.094 -0.426  0.015  0.004 -0.053 -1.054]
+[07-31 01:56:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8979
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8979
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8979
+t=122: Selected seed 195 with value = 0.8979
+t: 122	 action: [ 0.162  0.02  -0.374 -0.009  0.005 -0.047 -1.057]
+t: 123	 action: [ 0.148  0.067 -0.423 -0.015  0.008 -0.046 -1.046]
+t: 124	 action: [ 0.146  0.069 -0.383 -0.013  0.006 -0.045 -1.054]
+t: 125	 action: [ 0.14   0.095 -0.415 -0.015  0.006 -0.046 -1.042]
+t: 126	 action: [ 0.078  0.092 -0.322 -0.019  0.008 -0.046 -1.048]
+t: 127	 action: [ 0.057  0.156 -0.312 -0.007  0.002 -0.045 -1.055]
+t: 128	 action: [ 0.07   0.128 -0.361 -0.026  0.009 -0.039 -1.053]
+t: 129	 action: [ 2.290e-02  1.333e-01 -3.607e-01 -9.242e-03 -1.164e-04 -4.685e-02 -1.054e+00]
+t: 130	 action: [ 0.085  0.063 -0.409 -0.018  0.013 -0.031 -1.176]
+t: 131	 action: [ 0.032  0.044 -0.407 -0.023  0.006 -0.028 -1.158]
+t: 132	 action: [ 0.056  0.039 -0.358 -0.02   0.013 -0.021  0.98 ]
+t: 133	 action: [ 0.046  0.015 -0.333 -0.022  0.008 -0.02   1.045]
+t: 134	 action: [-0.013  0.024 -0.251 -0.026  0.016 -0.03   1.096]
+t: 135	 action: [-0.035  0.017 -0.19  -0.017 -0.004 -0.023  1.151]
+t: 136	 action: [-0.035  0.015 -0.066 -0.033  0.017 -0.024  0.986]
+t: 137	 action: [ 0.006 -0.01  -0.028 -0.02  -0.004 -0.016  1.054]
+[07-31 01:56:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6276
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=138: Selected seed 195 with value = 0.6276
+t: 138	 action: [ 0.065  0.04  -0.125  0.007  0.004 -0.039  0.976]
+t: 139	 action: [ 5.884e-02  2.291e-02 -8.721e-02  2.436e-04 -1.001e-03 -4.775e-02  1.034e+00]
+t: 140	 action: [ 0.044  0.039 -0.09   0.001  0.002 -0.038  0.976]
+t: 141	 action: [ 3.075e-02  1.498e-02 -3.664e-02 -2.009e-04  1.988e-03 -3.978e-02  1.039e+00]
+t: 142	 action: [-0.013  0.026  0.031  0.003  0.007 -0.044  0.991]
+t: 143	 action: [ 0.03   0.062  0.014  0.004 -0.005 -0.039  1.016]
+t: 144	 action: [-0.024  0.049  0.164 -0.002  0.007 -0.045  0.994]
+t: 145	 action: [ 0.009  0.07   0.219  0.003 -0.003 -0.039  1.021]
+t: 146	 action: [ 0.015  0.054  0.293 -0.003  0.01  -0.051  0.959]
+t: 147	 action: [ 5.230e-02  4.467e-02  4.610e-01 -7.754e-04  4.833e-03 -4.364e-02  1.021e+00]
+t: 148	 action: [ 0.035  0.036  0.573  0.002  0.006 -0.05   0.956]
+t: 149	 action: [ 0.062  0.071  0.706  0.013  0.003 -0.042  1.02 ]
+t: 150	 action: [-7.852e-04  3.019e-02  7.701e-01  2.414e-02  2.765e-02 -6.370e-02  9.719e-01]
+t: 151	 action: [ 0.029  0.008  0.859  0.027  0.006 -0.04   1.021]
+t: 152	 action: [ 0.006  0.008  0.825  0.05   0.026 -0.062  0.982]
+t: 153	 action: [ 0.025 -0.139  0.829  0.042  0.007 -0.038  1.028]
+[07-31 01:56:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6654
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.6654
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6654
+t=154: Selected seed 195 with value = 0.6654
+t: 154	 action: [-0.136  0.061 -0.295  0.024  0.007 -0.002  1.107]
+t: 155	 action: [-0.082  0.026 -0.516  0.045 -0.008 -0.018  1.049]
+t: 156	 action: [-1.278e-01  6.644e-02 -6.173e-01  5.453e-02  3.091e-03 -9.674e-04  1.080e+00]
+t: 157	 action: [-0.098  0.027 -0.665  0.053  0.005 -0.017 -1.019]
+t: 158	 action: [-0.197  0.05  -0.713  0.047  0.014  0.006 -1.066]
+t: 159	 action: [-1.312e-01  6.215e-02 -7.916e-01  4.766e-02  1.283e-02  3.497e-04 -1.076e+00]
+t: 160	 action: [-0.105  0.059 -0.736  0.036  0.019  0.005 -1.034]
+t: 161	 action: [-0.075  0.069 -0.794  0.041  0.028 -0.013 -1.044]
+t: 162	 action: [ 0.004 -0.068 -0.774  0.041  0.032  0.012 -1.219]
+t: 163	 action: [-0.036 -0.105 -0.771  0.023  0.042  0.009 -1.128]
+t: 164	 action: [ 0.04  -0.014 -0.759  0.016  0.026  0.014  0.957]
+t: 165	 action: [ 0.015 -0.055 -0.698  0.01   0.034  0.028  1.08 ]
+t: 166	 action: [ 0.042 -0.013 -0.514  0.003  0.026  0.014  1.004]
+t: 167	 action: [ 0.042 -0.015 -0.547 -0.002  0.019  0.012  1.194]
+t: 168	 action: [ 0.037  0.014 -0.236 -0.004  0.014  0.009  0.967]
+t: 169	 action: [-4.308e-04  3.512e-03 -2.823e-01 -1.102e-02  1.299e-02  2.050e-02  1.078e+00]
+[07-31 01:56:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6869
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.6869
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6869
+t=170: Selected seed 195 with value = 0.6869
+t: 170	 action: [-0.053  0.005 -0.018 -0.007  0.016 -0.005  0.99 ]
+t: 171	 action: [-0.01   0.017  0.11  -0.016  0.009 -0.02   1.021]
+t: 172	 action: [-0.053  0.022  0.34  -0.008  0.002 -0.017  0.987]
+t: 173	 action: [-0.005  0.027  0.512 -0.017  0.003 -0.024  1.019]
+t: 174	 action: [-0.036  0.036  0.613 -0.009  0.01  -0.013  1.003]
+t: 175	 action: [ 0.061  0.013  0.789 -0.028  0.01  -0.023  1.018]
+t: 176	 action: [ 0.015  0.023  0.849 -0.004  0.015 -0.023  0.996]
+t: 177	 action: [ 0.082 -0.046  0.874 -0.013  0.033 -0.027  1.006]
+t: 178	 action: [ 0.022 -0.071  0.822  0.004  0.03  -0.005  0.986]
+t: 179	 action: [ 0.054 -0.13   0.859  0.023  0.036 -0.015  1.012]
+t: 180	 action: [ 0.043 -0.262  0.744  0.023  0.037  0.002  0.981]
+t: 181	 action: [ 0.102 -0.443  0.686  0.037  0.041 -0.008  1.012]
+t: 182	 action: [ 0.011 -0.437  0.602  0.049  0.043  0.002  0.996]
+t: 183	 action: [ 4.571e-02 -5.315e-01  5.347e-01  3.813e-02  2.367e-02  1.980e-04  1.021e+00]
+t: 184	 action: [ 0.041 -0.58   0.289  0.05   0.053  0.003  0.999]
+t: 185	 action: [ 0.064 -0.68   0.132  0.037  0.038  0.006  1.011]
+[07-31 01:56:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8357
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8357
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8357
+t=186: Selected seed 195 with value = 0.8357
+t: 186	 action: [-2.912e-01  1.403e-02  7.771e-01  5.406e-04  3.033e-02 -4.269e-02  9.703e-01]
+t: 187	 action: [-0.239  0.026  0.836  0.001  0.032 -0.04   1.043]
+t: 188	 action: [-0.261 -0.08   0.87   0.005  0.045 -0.036  0.977]
+t: 189	 action: [-0.197 -0.158  0.913  0.013  0.053 -0.03   1.046]
+t: 190	 action: [-0.132 -0.362  0.846  0.012  0.061 -0.022  0.992]
+t: 191	 action: [-0.025 -0.426  0.862  0.028  0.074 -0.019  1.034]
+t: 192	 action: [ 0.003 -0.56   0.813  0.023  0.076 -0.015  0.996]
+t: 193	 action: [ 0.084 -0.631  0.719  0.038  0.089 -0.013  1.033]
+t: 194	 action: [ 0.128 -0.541  0.706  0.053  0.078  0.003  0.984]
+t: 195	 action: [ 0.165 -0.671  0.639  0.04   0.083 -0.002  1.023]
+t: 196	 action: [ 0.204 -0.576  0.486  0.054  0.069  0.005  0.976]
+t: 197	 action: [ 0.275 -0.698  0.411  0.035  0.076  0.001  1.021]
+t: 198	 action: [ 0.231 -0.627  0.323  0.036  0.075  0.002  1.005]
+t: 199	 action: [ 0.266 -0.694  0.175  0.012  0.067  0.007  1.026]
+t: 200	 action: [ 2.668e-01 -5.169e-01  1.156e-01  1.501e-02  6.642e-02 -6.025e-04  9.987e-01]
+t: 201	 action: [ 0.237 -0.616  0.038 -0.005  0.07   0.008  1.015]
+[07-31 01:57:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9287
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9287
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9287
+t=202: Selected seed 195 with value = 0.9287
+t: 202	 action: [ 0.273 -0.529  0.768  0.031  0.085  0.013  0.962]
+t: 203	 action: [ 0.238 -0.593  0.716  0.037  0.076  0.007  1.022]
+t: 204	 action: [ 0.268 -0.59   0.637  0.043  0.057  0.013  0.972]
+t: 205	 action: [ 0.256 -0.619  0.54   0.038  0.058  0.012  1.021]
+t: 206	 action: [ 0.367 -0.563  0.348  0.028  0.049  0.014  0.992]
+t: 207	 action: [ 0.35  -0.596  0.252  0.033  0.029  0.02   1.009]
+t: 208	 action: [ 0.389 -0.475  0.07   0.014  0.039  0.019  1.002]
+t: 209	 action: [ 0.338 -0.511 -0.049  0.019  0.023  0.02   1.022]
+t: 210	 action: [ 0.296 -0.428 -0.322  0.011  0.002  0.024  0.966]
+t: 211	 action: [ 0.266 -0.368 -0.446  0.004 -0.018  0.031  1.021]
+t: 212	 action: [ 3.388e-01 -2.824e-01 -5.344e-01  3.743e-04 -1.057e-02  4.041e-02  9.687e-01]
+t: 213	 action: [ 0.284 -0.231 -0.597 -0.015 -0.011  0.043  1.025]
+t: 214	 action: [ 0.215 -0.132 -0.622 -0.014  0.005  0.047  0.993]
+t: 215	 action: [ 0.175 -0.135 -0.699 -0.039 -0.004  0.054  1.013]
+t: 216	 action: [ 0.152 -0.031 -0.587 -0.042  0.002  0.068  0.999]
+t: 217	 action: [ 0.185 -0.064 -0.596 -0.05   0.011  0.062  1.021]
+[07-31 01:57:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9609
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=218: Selected seed 195 with value = 0.9609
+t: 218	 action: [ 0.073  0.005 -0.649  0.013 -0.002  0.058  1.103]
+t: 219	 action: [ 1.462e-02 -5.764e-02 -5.300e-01  4.175e-03  3.288e-04  3.878e-02  1.037e+00]
+t: 220	 action: [ 0.046  0.043 -0.372  0.006  0.013  0.046  1.096]
+t: 221	 action: [-0.004 -0.05  -0.225  0.001  0.014  0.02  -1.031]
+t: 222	 action: [ 0.02   0.074 -0.194 -0.003  0.009  0.03  -1.143]
+t: 223	 action: [ 0.045  0.057  0.044 -0.013  0.026  0.026 -1.099]
+t: 224	 action: [ 0.122  0.127  0.212 -0.002  0.027  0.015 -1.117]
+t: 225	 action: [ 0.174  0.042  0.409 -0.003  0.056  0.012 -1.053]
+t: 226	 action: [ 0.245  0.079  0.586  0.005  0.025  0.013 -1.049]
+t: 227	 action: [ 0.309  0.028  0.638  0.007  0.031  0.012 -1.04 ]
+t: 228	 action: [ 0.247  0.07   0.584  0.009  0.019  0.016 -1.056]
+t: 229	 action: [ 0.348  0.027  0.56   0.01   0.03   0.011 -1.035]
+t: 230	 action: [ 0.226  0.065  0.522  0.029  0.025  0.01  -1.058]
+t: 231	 action: [ 0.207  0.026  0.472  0.022  0.037  0.019 -1.049]
+t: 232	 action: [ 0.204  0.048  0.369  0.025  0.015  0.014 -1.057]
+t: 233	 action: [ 0.199  0.021  0.307  0.022  0.031  0.019 -1.054]
+[07-31 01:57:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9680
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 0.991 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=234: Selected seed 195 with value = 0.9680
+t: 234	 action: [ 0.024  0.026  0.002  0.003  0.044  0.004 -1.006]
+t: 235	 action: [ 3.588e-02 -5.805e-02  5.715e-02  1.021e-02  5.313e-02 -6.076e-04 -1.016e+00]
+t: 236	 action: [ 0.041  0.011  0.016  0.006  0.047  0.005 -1.031]
+t: 237	 action: [ 2.208e-02 -8.036e-02  6.711e-02  1.147e-02  5.298e-02  7.578e-04 -1.032e+00]
+t: 238	 action: [ 0.05   0.011  0.109  0.003  0.046  0.008 -1.036]
+t: 239	 action: [-0.009 -0.014  0.104  0.017  0.048  0.01  -1.069]
+t: 240	 action: [ 0.058 -0.007  0.078  0.003  0.043  0.008 -1.033]
+t: 241	 action: [ 0.016 -0.04   0.073  0.016  0.041  0.006 -1.051]
+t: 242	 action: [ 0.061  0.008  0.118  0.013  0.031  0.009 -1.039]
+t: 243	 action: [ 3.985e-02 -7.304e-02  1.164e-01  1.203e-02  3.396e-02 -1.880e-04 -1.049e+00]
+t: 244	 action: [ 0.046 -0.01   0.094  0.011  0.027  0.008 -1.032]
+t: 245	 action: [ 0.046 -0.089  0.089  0.011  0.031  0.001 -1.041]
+t: 246	 action: [ 0.055 -0.008  0.096  0.004  0.025  0.004 -1.055]
+t: 247	 action: [-0.021 -0.047  0.046  0.014  0.013  0.005 -1.069]
+t: 248	 action: [ 0.04  -0.019  0.078  0.003  0.022  0.003 -1.034]
+t: 249	 action: [-0.006 -0.064  0.036  0.013  0.013  0.005 -1.06 ]
+[07-31 01:57:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9835
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.993 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=250: Selected seed 195 with value = 0.9835
+t: 250	 action: [ 0.015  0.026  0.089  0.011  0.039  0.005 -1.022]
+t: 251	 action: [ 2.586e-02 -4.631e-02  8.051e-02  1.708e-02  3.926e-02  9.900e-04 -1.037e+00]
+t: 252	 action: [ 0.027  0.011  0.095  0.011  0.038  0.005 -1.021]
+t: 253	 action: [ 0.035 -0.057  0.102  0.014  0.039 -0.002 -1.037]
+t: 254	 action: [ 0.025  0.011  0.1    0.007  0.033  0.009 -1.027]
+t: 255	 action: [-0.017  0.017  0.096  0.022  0.025  0.009 -1.07 ]
+t: 256	 action: [ 0.034 -0.008  0.114  0.005  0.031  0.006 -1.021]
+t: 257	 action: [ 0.018  0.001  0.113  0.018  0.023  0.002 -1.059]
+t: 258	 action: [ 0.022  0.009  0.085  0.012  0.017  0.008 -1.026]
+t: 259	 action: [ 2.365e-02 -5.362e-02  7.075e-02  1.263e-02  1.757e-02 -1.050e-03 -1.051e+00]
+t: 260	 action: [ 0.02   0.003  0.098  0.011  0.018  0.008 -1.02 ]
+t: 261	 action: [ 0.037 -0.062  0.085  0.011  0.02  -0.002 -1.04 ]
+t: 262	 action: [ 0.018 -0.012  0.076  0.006  0.015  0.003 -1.034]
+t: 263	 action: [-0.031 -0.015  0.051  0.015  0.003  0.003 -1.076]
+t: 264	 action: [ 0.02  -0.01   0.101  0.004  0.015  0.002 -1.021]
+t: 265	 action: [-0.004 -0.02   0.083  0.013  0.004  0.002 -1.065]
+[07-31 01:57:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9875
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 0.993 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=266: Selected seed 195 with value = 0.9875
+t: 266	 action: [ 0.041  0.041  0.087  0.016  0.035  0.005 -1.031]
+t: 267	 action: [ 0.063 -0.016  0.06   0.019  0.033  0.002 -1.041]
+t: 268	 action: [ 0.058  0.02   0.067  0.015  0.037  0.005 -1.028]
+t: 269	 action: [ 0.084 -0.026  0.069  0.017  0.037 -0.004 -1.04 ]
+t: 270	 action: [ 0.054  0.035  0.077  0.014  0.032  0.006 -1.033]
+t: 271	 action: [ 0.016  0.038  0.062  0.026  0.021  0.009 -1.074]
+t: 272	 action: [ 0.069  0.001  0.077  0.011  0.032  0.004 -1.025]
+t: 273	 action: [ 8.013e-02  2.529e-02  6.612e-02  2.123e-02  2.197e-02  7.312e-04 -1.062e+00]
+t: 274	 action: [ 0.053  0.022  0.055  0.013  0.016  0.008 -1.032]
+t: 275	 action: [ 0.061 -0.029  0.044  0.015  0.017 -0.002 -1.053]
+t: 276	 action: [ 0.055  0.012  0.06   0.013  0.02   0.006 -1.028]
+t: 277	 action: [ 0.085 -0.036  0.045  0.013  0.022 -0.003 -1.042]
+t: 278	 action: [ 0.049 -0.003  0.045  0.01   0.015  0.002 -1.036]
+t: 279	 action: [ 0.001  0.007  0.019  0.019  0.003  0.002 -1.078]
+t: 280	 action: [ 5.781e-02 -4.880e-03  6.107e-02  8.005e-03  1.732e-02 -4.761e-05 -1.025e+00]
+t: 281	 action: [ 5.347e-02  5.481e-03  3.330e-02  1.667e-02  6.320e-03  6.724e-04 -1.069e+00]
+[07-31 01:57:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9889
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=282: Selected seed 195 with value = 0.9889
+t: 282	 action: [ 0.069  0.053  0.083  0.015  0.033  0.004 -1.042]
+t: 283	 action: [ 1.138e-01  1.222e-03  5.954e-02  1.802e-02  3.012e-02 -5.192e-04 -1.046e+00]
+t: 284	 action: [ 0.088  0.031  0.077  0.014  0.034  0.004 -1.035]
+t: 285	 action: [ 0.131 -0.01   0.08   0.016  0.034 -0.006 -1.04 ]
+t: 286	 action: [ 0.079  0.05   0.08   0.014  0.03   0.002 -1.043]
+t: 287	 action: [ 0.048  0.051  0.074  0.027  0.021  0.007 -1.076]
+t: 288	 action: [ 9.599e-02  9.204e-03  9.113e-02  1.128e-02  2.957e-02  7.663e-04 -1.033e+00]
+t: 289	 action: [ 0.119  0.036  0.089  0.022  0.02  -0.001 -1.062]
+t: 290	 action: [ 0.081  0.035  0.061  0.012  0.014  0.007 -1.041]
+t: 291	 action: [ 0.107 -0.017  0.055  0.013  0.016 -0.004 -1.057]
+t: 292	 action: [ 0.084  0.018  0.077  0.011  0.018  0.004 -1.037]
+t: 293	 action: [ 0.13  -0.025  0.063  0.012  0.02  -0.006 -1.044]
+t: 294	 action: [ 7.288e-02  4.067e-03  5.588e-02  9.995e-03  1.420e-02  1.001e-04 -1.045e+00]
+t: 295	 action: [ 2.635e-02  1.645e-02  3.630e-02  1.987e-02  3.240e-03  4.543e-04 -1.080e+00]
+t: 296	 action: [ 0.084 -0.004  0.082  0.008  0.016 -0.002 -1.034]
+t: 297	 action: [ 0.088  0.013  0.06   0.017  0.005 -0.002 -1.068]
+[07-31 01:57:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9834
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9834
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 87
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 74%|███████▍  | 37/50 [19:49<06:48, 31.44s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 38...
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=298: Selected seed 195 with value = 0.9834
+t: 298	 action: [-0.101 -0.025 -0.156  0.012  0.041  0.004  0.988]
+t: 299	 action: [-0.032 -0.08  -0.219  0.014  0.046 -0.013  0.74 ]
+t: 300	 action: [-0.004 -0.012 -0.066  0.02   0.044  0.002 -1.043]
+t: 301	 action: [ 0.061 -0.046 -0.076  0.018  0.048 -0.012 -1.042]
+t: 302	 action: [ 9.226e-04  8.099e-03 -1.893e-02  1.659e-02  4.453e-02 -1.750e-03 -1.068e+00]
+t: 303	 action: [-0.041  0.058 -0.028  0.025  0.042  0.009 -1.116]
+t: 304	 action: [ 0.044 -0.015  0.012  0.021  0.044 -0.002 -1.039]
+t: 305	 action: [ 0.099  0.032 -0.01   0.027  0.039 -0.007 -1.062]
+t: 306	 action: [-0.042 -0.02  -0.122  0.014  0.022  0.004  0.212]
+t: 307	 action: [-0.004 -0.071 -0.094  0.013  0.035 -0.01  -0.97 ]
+t: 308	 action: [ 0.009 -0.025 -0.024  0.017  0.027 -0.001 -1.039]
+t: 309	 action: [ 0.083 -0.067 -0.013  0.015  0.038 -0.01  -1.046]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=87--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=87--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 87
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 38...
+[07-31 01:57:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.017 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3003
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3003
+Query 1/1: Action query time = 1.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3003
+t=10: Selected seed 195 with value = 0.3003
+t: 10	 action: [ 0.169  0.024  0.008  0.002  0.029  0.006 -0.998]
+t: 11	 action: [ 0.26   0.059  0.046  0.005  0.048  0.005 -1.013]
+t: 12	 action: [ 4.372e-01 -1.315e-02  1.174e-01 -7.284e-04  3.141e-02  9.900e-03 -1.018e+00]
+t: 13	 action: [ 0.602 -0.025  0.196  0.003  0.05   0.007 -1.025]
+t: 14	 action: [ 0.719 -0.093  0.309  0.005  0.038  0.011 -1.024]
+t: 15	 action: [ 0.784 -0.152  0.287  0.011  0.044  0.01  -1.039]
+t: 16	 action: [ 0.862 -0.191  0.369  0.005  0.031  0.011 -1.026]
+t: 17	 action: [ 0.877 -0.219  0.348  0.015  0.04   0.009 -1.048]
+t: 18	 action: [ 0.851 -0.293  0.308  0.01   0.01   0.015 -1.024]
+t: 19	 action: [ 0.876 -0.268  0.318  0.019  0.02   0.008 -1.025]
+t: 20	 action: [ 0.903 -0.286  0.224  0.013  0.005  0.01  -1.018]
+t: 21	 action: [ 0.914 -0.292  0.243  0.02   0.017  0.007 -1.016]
+t: 22	 action: [ 0.91  -0.261  0.177  0.013  0.005  0.01  -1.016]
+t: 23	 action: [ 0.934 -0.33   0.133  0.02   0.014  0.007 -1.04 ]
+t: 24	 action: [ 0.936 -0.184  0.083  0.008  0.004  0.004 -1.01 ]
+t: 25	 action: [ 0.954 -0.263  0.043  0.018  0.013  0.006 -1.041]
+[07-31 01:57:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4073
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4073
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4073
+t=26: Selected seed 195 with value = 0.4073
+t: 26	 action: [ 9.514e-01 -1.608e-01  8.181e-02  8.376e-04  6.881e-03 -2.208e-03 -1.025e+00]
+t: 27	 action: [ 0.958 -0.128  0.061 -0.001  0.003 -0.013 -1.017]
+t: 28	 action: [ 0.931 -0.223  0.022  0.004  0.004  0.002 -1.032]
+t: 29	 action: [ 0.952 -0.212  0.025  0.009  0.004 -0.009 -1.019]
+t: 30	 action: [ 9.675e-01 -2.120e-01 -8.843e-02  9.538e-03  4.609e-03  5.456e-06 -1.018e+00]
+t: 31	 action: [ 0.918 -0.23  -0.119  0.015  0.005 -0.009 -1.031]
+t: 32	 action: [ 8.481e-01 -1.927e-01 -3.102e-01  8.470e-03 -2.603e-03  5.575e-04 -1.031e+00]
+t: 33	 action: [ 7.855e-01 -2.170e-01 -4.031e-01  1.835e-02  7.877e-04 -8.086e-03 -1.032e+00]
+t: 34	 action: [ 0.526 -0.194 -0.526  0.012 -0.028  0.007 -1.035]
+t: 35	 action: [ 0.355 -0.148 -0.661  0.015 -0.033  0.001 -1.03 ]
+t: 36	 action: [ 0.241 -0.108 -0.745  0.013 -0.051  0.009 -1.02 ]
+t: 37	 action: [ 0.096 -0.1   -0.829  0.015 -0.051  0.004 -1.018]
+t: 38	 action: [-0.039 -0.046 -0.856  0.008 -0.082  0.005 -1.032]
+t: 39	 action: [-0.06  -0.076 -0.84   0.018 -0.068  0.006 -1.035]
+t: 40	 action: [-0.177 -0.034 -0.886  0.005 -0.096  0.005 -1.024]
+t: 41	 action: [-0.144 -0.072 -0.877  0.017 -0.061  0.01  -1.038]
+[07-31 01:57:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4951
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4951
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4951
+t=42: Selected seed 195 with value = 0.4951
+t: 42	 action: [-0.153  0.097 -0.86   0.017 -0.03   0.042 -0.997]
+t: 43	 action: [-0.111  0.146 -0.84   0.014 -0.028  0.042 -1.017]
+t: 44	 action: [-0.069  0.223 -0.808  0.01  -0.021  0.046 -0.999]
+t: 45	 action: [-0.04   0.272 -0.736  0.011 -0.015  0.041 -1.02 ]
+t: 46	 action: [-0.05   0.372 -0.661  0.006 -0.017  0.054 -0.999]
+t: 47	 action: [ 0.017  0.397 -0.645  0.014 -0.009  0.045 -1.034]
+t: 48	 action: [-0.021  0.516 -0.538  0.006 -0.012  0.051 -0.998]
+t: 49	 action: [ 0.029  0.585 -0.491  0.014 -0.003  0.041 -1.038]
+t: 50	 action: [-0.006  0.827 -0.518  0.005 -0.004  0.052 -1.008]
+t: 51	 action: [-7.434e-03  8.096e-01 -4.774e-01  5.427e-03 -7.182e-04  4.370e-02 -1.020e+00]
+t: 52	 action: [-0.028  0.868 -0.488  0.006  0.003  0.054 -1.006]
+t: 53	 action: [-0.006  0.814 -0.433  0.003  0.002  0.041 -1.022]
+t: 54	 action: [-8.893e-02  8.706e-01 -4.758e-01  3.327e-03 -8.326e-04  5.835e-02 -1.008e+00]
+t: 55	 action: [-4.199e-02  8.445e-01 -4.342e-01  5.184e-03 -9.505e-04  4.296e-02 -1.035e+00]
+t: 56	 action: [-0.1    0.884 -0.477  0.003  0.005  0.058 -1.005]
+t: 57	 action: [-0.044  0.835 -0.416  0.002  0.001  0.04  -1.042]
+[07-31 01:57:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5651
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5651
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5651
+t=58: Selected seed 195 with value = 0.5651
+t: 58	 action: [-0.15   0.83  -0.485  0.008 -0.005  0.021 -1.007]
+t: 59	 action: [-0.136  0.809 -0.459  0.013 -0.006  0.027 -0.993]
+t: 60	 action: [-0.166  0.851 -0.483  0.009 -0.005  0.029 -1.003]
+t: 61	 action: [-0.158  0.821 -0.458  0.018 -0.007  0.029 -0.997]
+t: 62	 action: [-0.171  0.856 -0.458  0.012 -0.003  0.032 -0.992]
+t: 63	 action: [-0.175  0.839 -0.463  0.018 -0.007  0.034 -1.013]
+t: 64	 action: [-0.189  0.868 -0.461  0.013 -0.001  0.043 -0.99 ]
+t: 65	 action: [-0.168  0.846 -0.466  0.021 -0.004  0.034 -1.023]
+t: 66	 action: [-0.053  0.824 -0.394  0.018 -0.016  0.037 -1.007]
+t: 67	 action: [-0.037  0.758 -0.439  0.023 -0.008  0.025 -1.014]
+t: 68	 action: [-0.042  0.732 -0.357  0.016 -0.02   0.026 -1.011]
+t: 69	 action: [-0.005  0.603 -0.32   0.023  0.001  0.014 -1.011]
+t: 70	 action: [ 0.015  0.31  -0.161  0.017  0.016  0.027 -0.997]
+t: 71	 action: [ 0.032  0.077 -0.03   0.024  0.017  0.019 -1.037]
+t: 72	 action: [ 0.047 -0.011  0.211  0.03   0.058  0.008 -0.998]
+t: 73	 action: [ 0.043 -0.093  0.407  0.027  0.061  0.001 -1.041]
+[07-31 01:57:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6486
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6486
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6486
+t=74: Selected seed 195 with value = 0.6486
+t: 74	 action: [ 7.508e-02  1.626e-01 -1.987e-01  9.364e-04 -1.523e-03  3.619e-02 -1.015e+00]
+t: 75	 action: [ 0.088  0.114 -0.065 -0.002  0.001  0.031 -1.003]
+t: 76	 action: [ 0.075  0.107 -0.034 -0.003  0.007  0.022 -1.035]
+t: 77	 action: [ 0.064  0.036  0.06  -0.003  0.011  0.022 -1.034]
+t: 78	 action: [-0.009  0.071 -0.025  0.003  0.015  0.031 -1.021]
+t: 79	 action: [-2.981e-02  1.164e-01  1.068e-01  5.970e-04  3.876e-04  2.766e-02 -1.051e+00]
+t: 80	 action: [-0.054  0.005  0.286  0.004  0.018  0.012 -1.039]
+t: 81	 action: [-0.024  0.027  0.364  0.006  0.001  0.015 -1.051]
+t: 82	 action: [-0.017 -0.085  0.426  0.034 -0.012  0.007 -1.057]
+t: 83	 action: [-0.065 -0.132  0.34   0.031 -0.024  0.01  -1.06 ]
+t: 84	 action: [-0.079 -0.102  0.259  0.041 -0.027  0.009 -1.067]
+t: 85	 action: [-0.093 -0.181  0.104  0.034 -0.036  0.011 -1.043]
+t: 86	 action: [-0.229 -0.119  0.081  0.059 -0.022  0.007 -1.052]
+t: 87	 action: [-0.308 -0.123  0.009  0.034 -0.035  0.014 -1.055]
+t: 88	 action: [-0.435 -0.131 -0.031  0.047 -0.032  0.007 -1.057]
+t: 89	 action: [-0.347 -0.131 -0.067  0.029 -0.032  0.015 -1.032]
+[07-31 01:57:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6504
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6504
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6504
+t=90: Selected seed 195 with value = 0.6504
+t: 90	 action: [ 0.065  0.16  -0.084  0.002  0.014  0.036 -0.976]
+t: 91	 action: [ 1.148e-01  1.128e-01  5.235e-03 -3.077e-04  2.145e-02  3.119e-02 -9.287e-01]
+t: 92	 action: [ 0.077  0.064  0.092 -0.003  0.029  0.028 -1.015]
+t: 93	 action: [ 8.201e-02  2.351e-03  2.606e-01 -8.598e-04  3.692e-02  2.019e-02 -1.017e+00]
+t: 94	 action: [ 0.049  0.005  0.283  0.006  0.036  0.02  -1.011]
+t: 95	 action: [ 0.009 -0.002  0.4    0.003  0.025  0.022 -1.039]
+t: 96	 action: [-0.001 -0.044  0.514  0.009  0.044  0.01  -1.024]
+t: 97	 action: [-0.045 -0.076  0.588  0.011  0.037  0.011 -1.044]
+t: 98	 action: [-0.048 -0.159  0.565  0.024  0.007  0.015 -1.038]
+t: 99	 action: [-0.169 -0.212  0.499  0.03   0.003  0.016 -1.046]
+t: 100	 action: [-0.205 -0.112  0.355  0.022 -0.003  0.021 -1.047]
+t: 101	 action: [-0.249 -0.243  0.231  0.027 -0.005  0.019 -1.033]
+t: 102	 action: [-0.429 -0.16   0.176  0.042 -0.003  0.023 -1.031]
+t: 103	 action: [-0.511 -0.193  0.054  0.015 -0.021  0.018 -1.051]
+t: 104	 action: [-0.665 -0.162  0.049  0.026 -0.013  0.032 -1.032]
+t: 105	 action: [-0.634 -0.213 -0.04   0.006 -0.024  0.023 -1.042]
+[07-31 01:57:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4906
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=106: Selected seed 195 with value = 0.4906
+t: 106	 action: [ 0.069  0.486 -0.236 -0.002  0.024  0.011 -1.006]
+t: 107	 action: [ 0.115  0.411 -0.144 -0.01   0.036  0.01  -1.022]
+t: 108	 action: [ 0.105  0.214 -0.064 -0.008  0.039  0.01  -1.019]
+t: 109	 action: [ 0.11   0.125  0.11  -0.011  0.046  0.003 -1.023]
+t: 110	 action: [ 8.902e-02  1.223e-01  1.441e-01 -2.289e-03  3.396e-02  5.128e-04 -1.001e+00]
+t: 111	 action: [ 3.756e-02  7.655e-02  2.829e-01 -9.442e-03  3.131e-02 -9.570e-04 -1.047e+00]
+t: 112	 action: [ 3.140e-02 -5.871e-03  4.409e-01  9.050e-04  4.303e-02 -1.141e-03 -1.018e+00]
+t: 113	 action: [ 0.007 -0.031  0.557 -0.009  0.033 -0.009 -1.051]
+t: 114	 action: [ 0.028 -0.115  0.487  0.015  0.009  0.005 -1.031]
+t: 115	 action: [-1.443e-01 -2.134e-01  4.519e-01  1.005e-02  1.375e-02  1.703e-04 -1.042e+00]
+t: 116	 action: [-1.985e-01 -6.731e-02  3.137e-01  9.283e-03 -3.329e-04  4.653e-03 -1.050e+00]
+t: 117	 action: [-3.395e-01 -2.469e-01  2.042e-01  5.016e-03  1.077e-02 -1.758e-04 -1.028e+00]
+t: 118	 action: [-0.586 -0.152  0.113  0.015 -0.005  0.006 -1.023]
+t: 119	 action: [-0.646 -0.239  0.026 -0.012 -0.018 -0.001 -1.053]
+t: 120	 action: [-0.799 -0.149 -0.023  0.006 -0.014  0.005 -1.023]
+t: 121	 action: [-7.818e-01 -2.718e-01 -5.619e-02 -1.966e-02 -1.917e-02  2.063e-04 -1.045e+00]
+[07-31 01:57:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3806
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.3806
+Query 1/1: Action query time = 0.998 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3806
+t=122: Selected seed 195 with value = 0.3806
+t: 122	 action: [ 0.064  0.042  0.154 -0.006  0.026 -0.001 -1.007]
+t: 123	 action: [ 0.049  0.063  0.135 -0.009  0.011 -0.01  -1.037]
+t: 124	 action: [-0.037  0.01   0.159 -0.006  0.02  -0.003 -1.014]
+t: 125	 action: [-0.077  0.009  0.091 -0.013  0.009 -0.016 -1.049]
+t: 126	 action: [-2.639e-01  4.933e-02  2.574e-02 -3.764e-03  1.384e-02 -8.894e-04 -1.007e+00]
+t: 127	 action: [-2.467e-01  9.333e-02 -5.696e-04 -7.885e-03  6.975e-03 -1.682e-02 -1.055e+00]
+t: 128	 action: [-0.337  0.03  -0.135 -0.01   0.004 -0.002 -1.019]
+t: 129	 action: [-0.248  0.051 -0.11  -0.015  0.001 -0.023 -1.066]
+t: 130	 action: [-0.326 -0.056 -0.402  0.002 -0.021  0.007 -1.026]
+t: 131	 action: [-0.288 -0.056 -0.542 -0.01  -0.021 -0.005 -1.048]
+t: 132	 action: [-2.798e-01 -6.440e-02 -5.576e-01  3.328e-04 -2.929e-02  6.011e-03 -1.033e+00]
+t: 133	 action: [-0.211 -0.068 -0.643 -0.013 -0.033 -0.008 -1.046]
+t: 134	 action: [-0.374  0.005 -0.649 -0.002 -0.043  0.002 -1.022]
+t: 135	 action: [-0.253  0.006 -0.645 -0.01  -0.053 -0.016 -1.062]
+t: 136	 action: [-0.225  0.002 -0.656 -0.003 -0.051 -0.002 -1.028]
+t: 137	 action: [-0.134 -0.015 -0.647 -0.012 -0.058 -0.02  -1.064]
+[07-31 01:57:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4991
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4991
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4991
+t=138: Selected seed 195 with value = 0.4991
+t: 138	 action: [ 0.195  0.4   -0.421 -0.005 -0.008  0.007 -1.055]
+t: 139	 action: [ 1.851e-01  4.258e-01 -3.385e-01 -6.856e-03  2.730e-04  7.567e-04 -1.037e+00]
+t: 140	 action: [ 0.176  0.225 -0.382 -0.006 -0.006  0.005 -1.057]
+t: 141	 action: [ 0.145  0.216 -0.287 -0.004  0.002 -0.001 -1.035]
+t: 142	 action: [ 0.135  0.215 -0.264  0.002  0.002  0.004 -1.045]
+t: 143	 action: [ 1.064e-01  1.393e-01 -1.737e-01 -6.850e-04  2.442e-04 -1.937e-03 -1.058e+00]
+t: 144	 action: [ 1.018e-01  8.349e-02 -1.808e-01 -5.477e-03  1.637e-03 -7.034e-04 -1.050e+00]
+t: 145	 action: [ 9.335e-02  4.392e-02 -1.299e-01  2.366e-03 -2.315e-04 -7.182e-03 -1.059e+00]
+t: 146	 action: [ 0.085 -0.15  -0.128  0.014 -0.013  0.007 -1.065]
+t: 147	 action: [ 3.774e-02 -1.498e-01 -2.335e-01  1.315e-02 -1.025e-02  4.921e-04 -1.045e+00]
+t: 148	 action: [ 0.04  -0.138 -0.212  0.011 -0.022  0.006 -1.07 ]
+t: 149	 action: [-2.259e-02 -1.298e-01 -3.484e-01  7.781e-03 -1.987e-02 -7.249e-04 -1.044e+00]
+t: 150	 action: [-0.11  -0.1   -0.313  0.011 -0.028  0.005 -1.057]
+t: 151	 action: [-0.175 -0.082 -0.384  0.011 -0.035 -0.003 -1.055]
+t: 152	 action: [-0.145 -0.076 -0.425 -0.003 -0.032  0.002 -1.058]
+t: 153	 action: [-0.196 -0.059 -0.459  0.004 -0.036 -0.004 -1.058]
+[07-31 01:57:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5049
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.5049
+Query 1/1: Action query time = 0.997 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5049
+t=154: Selected seed 195 with value = 0.5049
+t: 154	 action: [ 0.102  0.123 -0.632 -0.004 -0.006  0.01  -1.06 ]
+t: 155	 action: [ 5.900e-02  1.853e-01 -5.178e-01  1.018e-03 -7.216e-03  3.674e-03 -1.044e+00]
+t: 156	 action: [ 0.131  0.154 -0.535 -0.005 -0.008  0.002 -1.068]
+t: 157	 action: [ 0.105  0.169 -0.414 -0.001 -0.002 -0.004 -1.042]
+t: 158	 action: [ 0.053  0.239 -0.416 -0.006 -0.002  0.009 -1.045]
+t: 159	 action: [ 0.026  0.239 -0.307  0.004 -0.005  0.003 -1.051]
+t: 160	 action: [ 0.082  0.158 -0.282 -0.008 -0.004 -0.001 -1.053]
+t: 161	 action: [ 6.214e-02  1.649e-01 -2.045e-01  5.677e-04 -3.263e-03 -8.898e-03 -1.051e+00]
+t: 162	 action: [ 0.274  0.011 -0.126  0.005 -0.001  0.005 -1.086]
+t: 163	 action: [ 2.508e-01  2.938e-02 -1.777e-01  2.719e-03  2.705e-03 -3.734e-04 -1.054e+00]
+t: 164	 action: [ 3.126e-01 -5.860e-04 -2.420e-01  2.260e-03 -4.941e-03  4.844e-03 -1.098e+00]
+t: 165	 action: [ 0.272 -0.006 -0.299 -0.001  0.002  0.002 -1.071]
+t: 166	 action: [ 0.106 -0.024 -0.363 -0.005 -0.016  0.002 -1.073]
+t: 167	 action: [ 6.089e-03  6.990e-03 -3.576e-01  2.753e-04 -1.996e-02 -8.193e-04 -1.055e+00]
+t: 168	 action: [ 2.884e-02 -8.806e-02 -4.855e-01 -6.927e-03 -1.776e-02  3.290e-04 -1.041e+00]
+t: 169	 action: [-0.012 -0.032 -0.439 -0.007 -0.021  0.01   0.967]
+[07-31 01:57:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6775
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.6775
+Query 1/1: Action query time = 0.994 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6775
+t=170: Selected seed 195 with value = 0.6775
+t: 170	 action: [-0.229  0.006 -0.547  0.005  0.01   0.041 -1.195]
+t: 171	 action: [-0.2   -0.072 -0.653  0.001 -0.002  0.049  0.619]
+t: 172	 action: [-0.133 -0.013 -0.624  0.002  0.023  0.042  0.976]
+t: 173	 action: [-0.071 -0.08  -0.57   0.008  0.009  0.04   1.074]
+t: 174	 action: [-0.004 -0.045 -0.43  -0.004  0.039  0.043  1.069]
+t: 175	 action: [ 0.059 -0.056 -0.275 -0.011  0.039  0.039  1.053]
+t: 176	 action: [ 0.071 -0.077 -0.125 -0.01   0.053  0.036  0.997]
+t: 177	 action: [ 0.097 -0.062 -0.017 -0.027  0.055  0.025  1.047]
+t: 178	 action: [ 0.032 -0.087  0.132 -0.013  0.037  0.007  0.975]
+t: 179	 action: [ 8.775e-02 -8.906e-02  4.762e-01 -1.890e-02  3.762e-02  8.989e-04  1.050e+00]
+t: 180	 action: [ 0.141 -0.019  0.454 -0.022  0.042  0.005  0.961]
+t: 181	 action: [ 0.176 -0.061  0.72  -0.021  0.043 -0.003  1.035]
+t: 182	 action: [ 1.446e-01  1.755e-02  7.441e-01 -8.400e-03  4.686e-02  3.401e-05  9.979e-01]
+t: 183	 action: [ 0.161 -0.026  0.903 -0.018  0.018  0.003  1.036]
+t: 184	 action: [ 0.128 -0.101  0.814 -0.003  0.05  -0.001  0.987]
+t: 185	 action: [ 0.107 -0.208  0.892 -0.009  0.021  0.005  1.024]
+[07-31 01:57:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7932
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 0.996 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=186: Selected seed 195 with value = 0.7932
+t: 186	 action: [-7.923e-02 -3.292e-01  6.532e-01  2.116e-02 -2.281e-02 -9.274e-04  9.830e-01]
+t: 187	 action: [-3.708e-02 -4.617e-01  5.816e-01  2.993e-02 -1.187e-02  1.283e-04  1.038e+00]
+t: 188	 action: [-0.136 -0.4    0.452  0.029 -0.016 -0.001  0.978]
+t: 189	 action: [-0.096 -0.549  0.296  0.032 -0.009  0.003  1.029]
+t: 190	 action: [-1.020e-01 -5.765e-01  1.503e-01  5.487e-02  1.764e-02 -4.607e-04  9.937e-01]
+t: 191	 action: [-0.072 -0.656  0.04   0.043  0.02   0.013  1.033]
+t: 192	 action: [-0.195 -0.554 -0.132  0.041  0.027 -0.002  0.994]
+t: 193	 action: [-0.103 -0.585 -0.235  0.032  0.037  0.013  1.025]
+t: 194	 action: [-0.187 -0.587 -0.245  0.048  0.012  0.014  0.993]
+t: 195	 action: [-0.2   -0.545 -0.375  0.04   0.024  0.022  1.016]
+t: 196	 action: [-0.186 -0.503 -0.404  0.032  0.014  0.011  0.998]
+t: 197	 action: [-0.196 -0.412 -0.52   0.025  0.023  0.018  1.05 ]
+t: 198	 action: [-0.245 -0.35  -0.616  0.008  0.019  0.019  1.006]
+t: 199	 action: [-0.234 -0.302 -0.655  0.017  0.022  0.023  1.035]
+t: 200	 action: [-0.195 -0.256 -0.597 -0.002  0.024  0.011  1.008]
+t: 201	 action: [-0.149 -0.24  -0.61   0.01   0.02   0.018  1.04 ]
+[07-31 01:57:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8989
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8989
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8989
+t=202: Selected seed 195 with value = 0.8989
+t: 202	 action: [-0.144 -0.134 -0.6   -0.002  0.005 -0.004  1.013]
+t: 203	 action: [-1.698e-01 -1.632e-01 -4.536e-01 -1.031e-02  9.901e-03  2.306e-04  1.095e+00]
+t: 204	 action: [-0.122 -0.073 -0.425 -0.005  0.014 -0.007  1.011]
+t: 205	 action: [-0.122 -0.145 -0.236 -0.012  0.02  -0.027  0.968]
+t: 206	 action: [-0.158  0.009 -0.14  -0.016  0.033 -0.004  1.026]
+t: 207	 action: [-6.234e-02  5.112e-04  2.111e-02 -1.948e-02  3.938e-02  1.701e-03  1.079e+00]
+t: 208	 action: [ 0.008  0.015  0.128 -0.016  0.047 -0.009  0.141]
+t: 209	 action: [ 0.042  0.023  0.223 -0.013  0.065 -0.025 -1.069]
+t: 210	 action: [ 0.018 -0.049  0.148  0.011  0.053  0.006  1.154]
+t: 211	 action: [ 0.02  -0.115  0.222  0.017  0.079 -0.01  -1.013]
+t: 212	 action: [ 0.092 -0.009  0.249  0.014  0.057  0.005 -1.04 ]
+t: 213	 action: [ 0.086 -0.043  0.293  0.017  0.082 -0.013 -1.051]
+t: 214	 action: [ 4.060e-02  1.506e-02  3.288e-01  1.830e-02  7.692e-02 -3.554e-04 -1.131e+00]
+t: 215	 action: [-0.016  0.038  0.319  0.02   0.074 -0.013 -1.053]
+t: 216	 action: [ 0.037  0.03   0.346  0.014  0.077 -0.002 -1.027]
+t: 217	 action: [ 0.024  0.054  0.312  0.021  0.074 -0.01  -1.036]
+[07-31 01:57:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8687
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8687
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8687
+t=218: Selected seed 195 with value = 0.8687
+t: 218	 action: [-6.232e-02 -1.593e-01 -6.535e-01 -2.210e-04  1.016e-02  1.973e-03  9.862e-01]
+t: 219	 action: [-9.002e-02 -2.012e-01 -4.965e-01 -1.173e-02  5.883e-04  1.125e-02  1.070e+00]
+t: 220	 action: [-6.002e-02 -9.251e-02 -4.642e-01 -1.136e-02  7.495e-03 -3.227e-04  1.002e+00]
+t: 221	 action: [-0.062 -0.176 -0.282 -0.02  -0.003  0.007  1.06 ]
+t: 222	 action: [-0.144 -0.026 -0.203 -0.041  0.021 -0.002  1.   ]
+t: 223	 action: [-0.088 -0.053 -0.02  -0.035  0.021  0.01   1.064]
+t: 224	 action: [-0.04  -0.014  0.092 -0.041  0.032 -0.007  1.005]
+t: 225	 action: [ 0.023 -0.05   0.195 -0.022  0.041 -0.002  0.983]
+t: 226	 action: [ 0.004 -0.125  0.073  0.003  0.041  0.006  1.165]
+t: 227	 action: [ 0.027 -0.172  0.101  0.011  0.06  -0.003 -0.709]
+t: 228	 action: [ 0.093 -0.045  0.178  0.009  0.038  0.005 -0.996]
+t: 229	 action: [ 0.113 -0.072  0.184  0.016  0.055 -0.011 -1.055]
+t: 230	 action: [ 7.010e-02  4.185e-02  2.309e-01  3.191e-03  5.278e-02 -1.387e-04 -1.138e+00]
+t: 231	 action: [ 0.02   0.046  0.227  0.012  0.055 -0.012 -1.115]
+t: 232	 action: [ 0.056  0.051  0.284  0.011  0.053 -0.004 -1.046]
+t: 233	 action: [-0.001  0.072  0.239  0.019  0.054 -0.011 -1.052]
+[07-31 01:57:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9120
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 0.988 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=234: Selected seed 195 with value = 0.9120
+t: 234	 action: [-0.127 -0.153 -0.559 -0.002  0.015  0.001  1.007]
+t: 235	 action: [-0.146 -0.135 -0.516 -0.014  0.01   0.019  1.069]
+t: 236	 action: [-0.121 -0.038 -0.322 -0.014  0.025  0.004  1.09 ]
+t: 237	 action: [-0.088 -0.067 -0.274 -0.02   0.018 -0.003  0.944]
+t: 238	 action: [-0.131  0.046 -0.114 -0.035  0.032 -0.001  1.035]
+t: 239	 action: [ 0.001  0.053  0.056 -0.038  0.039  0.02   1.063]
+t: 240	 action: [ 0.099  0.073  0.195 -0.043  0.044 -0.002 -1.104]
+t: 241	 action: [ 0.162  0.091  0.319 -0.027  0.056 -0.007 -1.146]
+t: 242	 action: [ 0.299  0.019  0.294 -0.005  0.042  0.003 -0.392]
+t: 243	 action: [ 3.453e-01  3.489e-02  3.472e-01 -2.640e-05  5.876e-02 -7.998e-03 -1.041e+00]
+t: 244	 action: [ 3.534e-01  3.871e-02  3.509e-01 -2.176e-04  4.190e-02  3.194e-03 -1.040e+00]
+t: 245	 action: [ 0.35   0.045  0.353  0.011  0.064 -0.011 -1.058]
+t: 246	 action: [ 0.282  0.033  0.406  0.011  0.054 -0.002 -1.127]
+t: 247	 action: [ 0.2    0.047  0.339  0.022  0.059 -0.009 -1.072]
+t: 248	 action: [ 0.226  0.035  0.349  0.016  0.054 -0.003 -1.028]
+t: 249	 action: [ 0.106  0.049  0.267  0.026  0.059 -0.006 -1.041]
+[07-31 01:57:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9155
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9155
+Query 1/1: Action query time = 0.998 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9155
+t=250: Selected seed 195 with value = 0.9155
+t: 250	 action: [-0.037  0.003 -0.178 -0.014 -0.004  0.013  1.086]
+t: 251	 action: [ 0.023 -0.003 -0.081 -0.023  0.005 -0.003  0.945]
+t: 252	 action: [ 0.07   0.11   0.116 -0.02  -0.007  0.005 -0.968]
+t: 253	 action: [ 0.204  0.085  0.207 -0.02   0.005 -0.013 -1.01 ]
+t: 254	 action: [ 0.098  0.198  0.166 -0.035 -0.004  0.005 -1.056]
+t: 255	 action: [ 1.336e-01  1.668e-01  3.390e-01 -2.938e-02 -5.510e-03  3.982e-04 -1.038e+00]
+t: 256	 action: [ 2.049e-01  1.384e-01  3.788e-01 -1.560e-02 -2.484e-04  2.838e-04 -1.060e+00]
+t: 257	 action: [ 2.318e-01  9.909e-02  4.452e-01 -9.657e-03 -8.377e-04 -1.699e-02 -1.025e+00]
+t: 258	 action: [ 0.24   0.024  0.325 -0.002 -0.013 -0.003 -1.034]
+t: 259	 action: [ 0.263 -0.002  0.253  0.006 -0.003 -0.022 -1.052]
+t: 260	 action: [ 0.201 -0.018  0.153  0.011 -0.014 -0.003 -1.063]
+t: 261	 action: [ 0.188 -0.042  0.069  0.018  0.002 -0.018 -1.052]
+t: 262	 action: [ 0.136 -0.03   0.131  0.022 -0.011 -0.004 -1.058]
+t: 263	 action: [ 0.051 -0.019  0.067  0.023 -0.01  -0.021 -1.063]
+t: 264	 action: [ 0.05  -0.038  0.013  0.024 -0.007 -0.007 -1.055]
+t: 265	 action: [ 0.002 -0.031 -0.002  0.027 -0.004 -0.014 -1.033]
+[07-31 01:57:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7573
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7573
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7573
+t=266: Selected seed 195 with value = 0.7573
+t: 266	 action: [ 0.195  0.178 -0.23  -0.004  0.005  0.044  0.644]
+t: 267	 action: [ 0.198  0.239 -0.19  -0.011  0.006  0.028  0.244]
+t: 268	 action: [ 0.242  0.253 -0.11  -0.014  0.004  0.036 -1.015]
+t: 269	 action: [ 0.303  0.25  -0.047 -0.015  0.005  0.018 -1.009]
+t: 270	 action: [ 0.178  0.391 -0.013 -0.028  0.002  0.029 -1.095]
+t: 271	 action: [ 0.163  0.405  0.093 -0.019 -0.012  0.012 -1.003]
+t: 272	 action: [ 0.177  0.311  0.19  -0.045 -0.003  0.013 -1.036]
+t: 273	 action: [ 0.152  0.269  0.356 -0.023 -0.017  0.005 -1.03 ]
+t: 274	 action: [ 0.227  0.054  0.469 -0.007 -0.017  0.007 -1.031]
+t: 275	 action: [ 0.255  0.011  0.464  0.004 -0.008 -0.007 -1.042]
+t: 276	 action: [ 1.924e-01 -2.829e-02  4.570e-01  6.115e-04 -2.633e-02  6.063e-03 -1.049e+00]
+t: 277	 action: [ 0.205 -0.095  0.363  0.012 -0.014 -0.006 -1.027]
+t: 278	 action: [ 1.001e-01 -7.995e-02  4.170e-01  3.243e-02 -1.805e-02  7.604e-04 -1.053e+00]
+t: 279	 action: [ 0.029 -0.088  0.299  0.026 -0.026 -0.013 -1.049]
+t: 280	 action: [-0.011 -0.161  0.253  0.032 -0.023 -0.002 -1.054]
+t: 281	 action: [-0.021 -0.139  0.147  0.025 -0.023 -0.011 -1.026]
+[07-31 01:57:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6984
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.6984
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6984
+t=282: Selected seed 195 with value = 0.6984
+t: 282	 action: [ 0.208  0.583 -0.212 -0.003  0.005  0.051 -0.938]
+t: 283	 action: [ 0.273  0.607 -0.231 -0.007  0.012  0.044 -0.908]
+t: 284	 action: [ 0.243  0.505 -0.088 -0.009  0.019  0.065 -0.995]
+t: 285	 action: [ 0.311  0.461 -0.055 -0.013  0.017  0.042 -0.987]
+t: 286	 action: [ 0.215  0.524  0.025 -0.019  0.021  0.045 -1.   ]
+t: 287	 action: [ 0.171  0.496  0.108 -0.018  0.012  0.037 -0.996]
+t: 288	 action: [ 0.18   0.326  0.266 -0.045  0.033  0.045 -1.007]
+t: 289	 action: [ 0.143  0.271  0.455 -0.025  0.018  0.028 -1.022]
+t: 290	 action: [ 0.097  0.017  0.586 -0.015  0.015  0.016 -1.018]
+t: 291	 action: [ 0.022 -0.026  0.591 -0.002  0.014  0.012 -1.023]
+t: 292	 action: [-0.002 -0.031  0.564 -0.008  0.001  0.013 -1.024]
+t: 293	 action: [-0.079 -0.114  0.471  0.007  0.005  0.01  -1.016]
+t: 294	 action: [-0.203 -0.096  0.438  0.012  0.006  0.007 -1.044]
+t: 295	 action: [-0.32  -0.118  0.318  0.022 -0.005  0.004 -1.042]
+t: 296	 action: [-0.489 -0.179  0.262  0.018 -0.007  0.004 -1.047]
+t: 297	 action: [-0.464 -0.19   0.166  0.019 -0.015  0.003 -1.036]
+[07-31 01:57:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6141
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.6141
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 88
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 76%|███████▌  | 38/50 [20:21<06:17, 31.48s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 39...
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6141
+t=298: Selected seed 195 with value = 0.6141
+t: 298	 action: [ 6.636e-02  1.297e-01  4.007e-01 -3.230e-02  2.169e-02 -7.540e-04 -9.524e-01]
+t: 299	 action: [ 0.074  0.084  0.476 -0.027  0.015 -0.007 -0.975]
+t: 300	 action: [ 0.063  0.057  0.494 -0.023  0.018  0.005 -1.006]
+t: 301	 action: [-0.011  0.018  0.46  -0.022  0.009 -0.005 -1.037]
+t: 302	 action: [-0.09   0.062  0.411 -0.009  0.024 -0.002 -1.021]
+t: 303	 action: [-0.121  0.057  0.353 -0.019  0.005 -0.012 -1.064]
+t: 304	 action: [-0.385 -0.045  0.28  -0.004  0.005  0.003 -1.036]
+t: 305	 action: [-3.080e-01 -3.803e-02  2.421e-01 -7.023e-03 -1.062e-03 -1.497e-02 -1.064e+00]
+t: 306	 action: [-0.621 -0.027  0.113  0.002 -0.041  0.007 -1.021]
+t: 307	 action: [-6.724e-01 -1.034e-01  4.572e-03 -1.163e-02 -4.440e-02  2.809e-04 -1.037e+00]
+t: 308	 action: [-0.67  -0.054 -0.02  -0.005 -0.054  0.012 -1.042]
+t: 309	 action: [-0.588 -0.112 -0.213 -0.013 -0.054  0.005 -1.033]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=88--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=88--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 88
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 39...
+[07-31 01:57:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3376
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3376
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3376
+t=10: Selected seed 195 with value = 0.3376
+t: 10	 action: [ 0.094 -0.095  0.021  0.003  0.019  0.001 -0.989]
+t: 11	 action: [ 1.938e-01 -2.739e-02  1.466e-02 -5.058e-03  2.158e-02 -9.004e-04 -1.004e+00]
+t: 12	 action: [ 0.47  -0.064  0.061 -0.005  0.018  0.008 -1.014]
+t: 13	 action: [ 0.645 -0.015  0.073 -0.009  0.021  0.005 -1.022]
+t: 14	 action: [ 0.763 -0.012  0.119 -0.003  0.016  0.009 -1.013]
+t: 15	 action: [ 0.838 -0.016  0.092 -0.005  0.013  0.004 -1.038]
+t: 16	 action: [ 0.914 -0.025  0.122 -0.005  0.011  0.014 -1.015]
+t: 17	 action: [ 0.923 -0.008  0.102 -0.006  0.008  0.007 -1.046]
+t: 18	 action: [ 0.896 -0.137  0.196  0.003  0.003  0.017 -1.026]
+t: 19	 action: [ 0.905 -0.086  0.2    0.005  0.007  0.012 -1.027]
+t: 20	 action: [ 0.925 -0.182  0.161  0.007 -0.008  0.015 -1.022]
+t: 21	 action: [ 0.923 -0.147  0.176  0.012  0.006  0.012 -1.021]
+t: 22	 action: [ 0.933 -0.216  0.144  0.007 -0.008  0.018 -1.018]
+t: 23	 action: [ 9.339e-01 -3.135e-01  1.037e-01  1.164e-02  8.606e-04  1.342e-02 -1.041e+00]
+t: 24	 action: [ 0.942 -0.27   0.084  0.012 -0.018  0.014 -1.013]
+t: 25	 action: [ 0.946 -0.379  0.047  0.017 -0.003  0.014 -1.044]
+[07-31 01:57:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4174
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4174
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4174
+t=26: Selected seed 195 with value = 0.4174
+t: 26	 action: [ 0.906 -0.221  0.08   0.002 -0.03   0.005 -1.03 ]
+t: 27	 action: [ 0.889 -0.181  0.06   0.009 -0.034 -0.009 -1.027]
+t: 28	 action: [ 0.875 -0.328  0.029  0.005 -0.034  0.006 -1.035]
+t: 29	 action: [ 0.873 -0.308  0.026  0.019 -0.031 -0.006 -1.028]
+t: 30	 action: [ 0.892 -0.386 -0.056  0.015 -0.028  0.004 -1.023]
+t: 31	 action: [ 0.87  -0.418 -0.087  0.021 -0.04  -0.006 -1.049]
+t: 32	 action: [ 0.826 -0.415 -0.216  0.019 -0.04   0.003 -1.03 ]
+t: 33	 action: [ 0.806 -0.426 -0.304  0.024 -0.051 -0.005 -1.049]
+t: 34	 action: [ 0.555 -0.35  -0.429  0.014 -0.08   0.013 -1.042]
+t: 35	 action: [ 0.465 -0.306 -0.583  0.015 -0.082  0.002 -1.034]
+t: 36	 action: [ 0.369 -0.29  -0.656  0.011 -0.118  0.013 -1.033]
+t: 37	 action: [ 0.213 -0.23  -0.748  0.013 -0.097  0.007 -1.016]
+t: 38	 action: [ 0.147 -0.194 -0.81   0.003 -0.138  0.006 -1.04 ]
+t: 39	 action: [ 0.074 -0.168 -0.824  0.016 -0.104  0.005 -1.046]
+t: 40	 action: [-0.02  -0.133 -0.875 -0.001 -0.127  0.007 -1.034]
+t: 41	 action: [-0.013 -0.106 -0.881  0.016 -0.091  0.012 -1.039]
+[07-31 01:57:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5208
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5208
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5208
+t=42: Selected seed 195 with value = 0.5208
+t: 42	 action: [-0.03   0.718 -0.61   0.006 -0.031  0.02  -1.014]
+t: 43	 action: [-1.841e-04  7.684e-01 -6.100e-01  1.284e-02 -4.004e-02  1.896e-02 -1.017e+00]
+t: 44	 action: [-0.028  0.827 -0.566  0.005 -0.024  0.025 -1.002]
+t: 45	 action: [-0.005  0.811 -0.558  0.012 -0.032  0.022 -1.019]
+t: 46	 action: [-3.901e-02  8.277e-01 -5.169e-01  4.223e-04 -2.238e-02  1.966e-02 -1.001e+00]
+t: 47	 action: [-0.005  0.825 -0.518  0.014 -0.028  0.021 -1.029]
+t: 48	 action: [-2.840e-02  8.495e-01 -4.907e-01 -4.361e-05 -1.395e-02  2.937e-02 -9.880e-01]
+t: 49	 action: [ 0.002  0.844 -0.493  0.014 -0.014  0.025 -1.035]
+t: 50	 action: [ 0.02   0.858 -0.506  0.007 -0.03   0.016 -1.02 ]
+t: 51	 action: [ 0.032  0.827 -0.556  0.011 -0.041  0.016 -1.023]
+t: 52	 action: [ 0.017  0.864 -0.504  0.007 -0.021  0.021 -1.011]
+t: 53	 action: [ 0.038  0.812 -0.539  0.01  -0.024  0.019 -1.024]
+t: 54	 action: [-0.031  0.829 -0.485  0.002 -0.019  0.017 -1.007]
+t: 55	 action: [ 0.001  0.796 -0.49   0.01  -0.022  0.018 -1.032]
+t: 56	 action: [-0.038  0.751 -0.484  0.001 -0.005  0.019 -0.996]
+t: 57	 action: [ 0.006  0.697 -0.448  0.009 -0.004  0.022 -1.039]
+[07-31 01:57:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6047
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6047
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6047
+t=58: Selected seed 195 with value = 0.6047
+t: 58	 action: [ 1.009e-01  1.006e-01 -3.850e-01  9.076e-04  1.877e-03  1.186e-02 -1.019e+00]
+t: 59	 action: [ 0.152  0.046 -0.177  0.005  0.008  0.01  -1.019]
+t: 60	 action: [ 0.092  0.053 -0.185 -0.002  0.012  0.007 -1.008]
+t: 61	 action: [ 1.202e-01 -2.912e-02 -2.197e-02  8.286e-04  1.133e-02  5.727e-03 -1.019e+00]
+t: 62	 action: [ 5.595e-03  1.239e-03 -6.316e-02  7.028e-04  2.634e-02  6.760e-03 -1.004e+00]
+t: 63	 action: [ 0.007  0.044  0.089  0.006  0.016  0.011 -1.028]
+t: 64	 action: [-3.841e-02 -1.507e-02  2.223e-01 -5.394e-03  2.950e-02 -3.371e-04 -1.003e+00]
+t: 65	 action: [-0.014 -0.028  0.339  0.003  0.015  0.005 -1.031]
+t: 66	 action: [ 0.055 -0.122  0.406  0.031  0.021  0.01  -1.029]
+t: 67	 action: [-0.021 -0.226  0.348  0.027  0.012  0.009 -1.036]
+t: 68	 action: [-0.023 -0.086  0.229  0.021  0.015  0.012 -1.032]
+t: 69	 action: [-0.102 -0.225  0.14   0.02   0.012  0.013 -1.028]
+t: 70	 action: [-0.246 -0.068  0.105  0.027  0.007  0.014 -1.026]
+t: 71	 action: [-0.367 -0.143  0.005  0.023 -0.005  0.022 -1.036]
+t: 72	 action: [-0.486 -0.075 -0.05   0.005  0.008  0.019 -1.025]
+t: 73	 action: [-4.544e-01 -1.191e-01 -5.226e-02  1.458e-02  3.935e-04  2.319e-02 -1.036e+00]
+[07-31 01:57:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5918
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=74: Selected seed 195 with value = 0.5918
+t: 74	 action: [ 0.079  0.199 -0.278  0.005  0.002  0.013 -1.011]
+t: 75	 action: [ 0.138  0.124 -0.109  0.005  0.01   0.009 -1.018]
+t: 76	 action: [ 0.082  0.08  -0.065 -0.004  0.011  0.009 -1.004]
+t: 77	 action: [ 0.119 -0.007  0.098 -0.002  0.013  0.003 -1.023]
+t: 78	 action: [ 0.01   0.027  0.072 -0.001  0.023  0.003 -0.997]
+t: 79	 action: [ 1.954e-02  9.467e-02  2.821e-01 -4.851e-04  1.579e-02  5.947e-03 -1.029e+00]
+t: 80	 action: [-0.023 -0.011  0.473 -0.002  0.025 -0.002 -0.999]
+t: 81	 action: [ 1.842e-03 -8.813e-03  6.235e-01 -6.551e-04  1.704e-02  1.151e-03 -1.033e+00]
+t: 82	 action: [ 0.065 -0.098  0.622  0.018 -0.002  0.002 -1.018]
+t: 83	 action: [-0.04  -0.201  0.588  0.026  0.002 -0.003 -1.036]
+t: 84	 action: [-0.02  -0.097  0.438  0.025 -0.004  0.007 -1.029]
+t: 85	 action: [-0.144 -0.243  0.368  0.032  0.005 -0.002 -1.025]
+t: 86	 action: [-0.357 -0.14   0.222  0.044 -0.009  0.004 -1.013]
+t: 87	 action: [-0.508 -0.168  0.123  0.036 -0.02   0.008 -1.039]
+t: 88	 action: [-0.635 -0.153  0.059  0.039 -0.009  0.004 -1.009]
+t: 89	 action: [-6.293e-01 -1.677e-01 -4.470e-04  3.526e-02 -9.373e-03  1.139e-02 -1.034e+00]
+[07-31 01:57:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6100
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6100
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6100
+t=90: Selected seed 195 with value = 0.6100
+t: 90	 action: [ 0.074  0.28  -0.22   0.003  0.01   0.007 -1.021]
+t: 91	 action: [ 1.470e-01  1.899e-01 -1.003e-01  7.500e-03  1.080e-02 -8.148e-04 -1.009e+00]
+t: 92	 action: [ 0.074  0.068 -0.013 -0.004  0.023  0.006 -1.015]
+t: 93	 action: [ 0.108 -0.015  0.164  0.003  0.026 -0.008 -1.011]
+t: 94	 action: [ 0.07   0.014  0.235  0.002  0.037 -0.002 -1.009]
+t: 95	 action: [ 0.045  0.028  0.435  0.01   0.033 -0.007 -1.028]
+t: 96	 action: [-0.003 -0.02   0.551  0.005  0.041 -0.006 -1.009]
+t: 97	 action: [-0.011 -0.038  0.625  0.014  0.037 -0.013 -1.025]
+t: 98	 action: [-0.022 -0.03   0.559  0.025  0.008 -0.015 -1.024]
+t: 99	 action: [-0.244 -0.089  0.53   0.031  0.005 -0.016 -1.034]
+t: 100	 action: [-2.675e-01 -2.069e-03  3.895e-01  2.571e-02 -6.698e-03 -9.599e-04 -1.031e+00]
+t: 101	 action: [-0.443 -0.082  0.315  0.031 -0.003 -0.013 -1.025]
+t: 102	 action: [-0.738 -0.059  0.221  0.056 -0.016 -0.007 -0.996]
+t: 103	 action: [-0.804 -0.068  0.12   0.038 -0.027 -0.011 -1.037]
+t: 104	 action: [-0.899 -0.049  0.084  0.043 -0.024 -0.002 -0.979]
+t: 105	 action: [-0.897 -0.062 -0.009  0.03  -0.026 -0.003 -1.033]
+[07-31 01:57:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4309
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4309
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4309
+t=106: Selected seed 195 with value = 0.4309
+t: 106	 action: [ 0.177  0.027  0.013  0.002  0.006 -0.002 -1.011]
+t: 107	 action: [ 0.137 -0.008  0.003  0.002  0.013 -0.011 -1.03 ]
+t: 108	 action: [ 0.061 -0.032  0.03  -0.001  0.007 -0.006 -1.019]
+t: 109	 action: [ 0.034 -0.086 -0.009 -0.003  0.014 -0.02  -1.037]
+t: 110	 action: [-0.065 -0.043  0.014  0.001  0.016 -0.01  -1.004]
+t: 111	 action: [-0.079 -0.017 -0.021  0.004  0.01  -0.016 -1.053]
+t: 112	 action: [-0.217 -0.03  -0.015 -0.005  0.011 -0.016 -1.02 ]
+t: 113	 action: [-0.206  0.018 -0.057 -0.004  0.008 -0.026 -1.059]
+t: 114	 action: [-3.269e-01  2.390e-02 -7.432e-02  6.243e-04 -6.789e-03  7.063e-04 -1.022e+00]
+t: 115	 action: [-0.488 -0.029 -0.14  -0.007 -0.004 -0.009 -1.042]
+t: 116	 action: [-5.015e-01  2.395e-02 -1.440e-01 -9.480e-04 -1.253e-02  7.274e-04 -1.034e+00]
+t: 117	 action: [-0.571 -0.024 -0.257 -0.011 -0.003 -0.012 -1.041]
+t: 118	 action: [-7.448e-01  9.892e-03 -2.973e-01 -5.629e-03 -1.521e-02  9.684e-04 -1.004e+00]
+t: 119	 action: [-6.921e-01  2.004e-04 -2.956e-01 -1.311e-02 -2.293e-02 -9.983e-03 -1.055e+00]
+t: 120	 action: [-7.096e-01  7.933e-05 -3.927e-01 -6.693e-03 -1.593e-02 -2.665e-03 -1.018e+00]
+t: 121	 action: [-0.618 -0.002 -0.371 -0.014 -0.019 -0.013 -1.053]
+[07-31 01:57:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4660
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4660
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4660
+t=122: Selected seed 195 with value = 0.4660
+t: 122	 action: [ 0.305  0.322 -0.338  0.014 -0.007 -0.001 -1.031]
+t: 123	 action: [ 0.366  0.364 -0.324  0.02  -0.005 -0.004 -1.031]
+t: 124	 action: [ 2.980e-01  1.415e-01 -3.382e-01  2.316e-02  6.880e-04 -3.330e-04 -1.038e+00]
+t: 125	 action: [ 0.319  0.139 -0.307  0.018  0.005 -0.009 -1.035]
+t: 126	 action: [ 0.266  0.118 -0.283  0.016  0.016 -0.003 -1.024]
+t: 127	 action: [ 0.226  0.053 -0.256  0.023  0.018 -0.005 -1.049]
+t: 128	 action: [ 0.229  0.065 -0.3    0.01   0.018 -0.004 -1.032]
+t: 129	 action: [ 0.207  0.04  -0.243  0.016  0.017 -0.011 -1.055]
+t: 130	 action: [ 0.148 -0.024 -0.238  0.043  0.009 -0.014 -1.06 ]
+t: 131	 action: [ 0.077 -0.058 -0.307  0.021  0.011 -0.017 -1.036]
+t: 132	 action: [ 9.545e-02  5.983e-03 -2.674e-01  1.987e-02 -9.178e-04 -1.368e-02 -1.065e+00]
+t: 133	 action: [ 0.046 -0.019 -0.329  0.01   0.005 -0.021 -1.04 ]
+t: 134	 action: [-0.055  0.1   -0.352  0.002 -0.008 -0.011 -1.049]
+t: 135	 action: [-0.021  0.125 -0.352  0.005 -0.008 -0.018 -1.041]
+t: 136	 action: [-0.067  0.092 -0.378 -0.009 -0.012 -0.015 -1.055]
+t: 137	 action: [-0.032  0.11  -0.326 -0.005 -0.014 -0.021 -1.044]
+[07-31 01:57:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4819
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4819
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4819
+t=138: Selected seed 195 with value = 0.4819
+t: 138	 action: [ 1.528e-01  3.768e-02 -3.373e-01  1.408e-02 -5.993e-04 -1.631e-03 -1.048e+00]
+t: 139	 action: [ 0.176  0.034 -0.315  0.016  0.003 -0.012 -1.032]
+t: 140	 action: [ 0.115  0.021 -0.296  0.01   0.001 -0.002 -1.052]
+t: 141	 action: [ 0.124  0.004 -0.199  0.01   0.003 -0.017 -1.028]
+t: 142	 action: [ 0.071  0.051 -0.153  0.006  0.01  -0.005 -1.043]
+t: 143	 action: [ 5.132e-02  9.249e-02  1.931e-03  1.783e-02 -2.855e-04 -1.168e-02 -1.050e+00]
+t: 144	 action: [ 0.077  0.051  0.062 -0.005  0.005 -0.008 -1.05 ]
+t: 145	 action: [ 0.082  0.068  0.173  0.003 -0.005 -0.02  -1.044]
+t: 146	 action: [ 0.243  0.016  0.221  0.018 -0.008 -0.033 -1.077]
+t: 147	 action: [ 0.257 -0.001  0.135  0.012 -0.005 -0.027 -1.044]
+t: 148	 action: [ 0.203  0.022  0.028  0.009 -0.022 -0.016 -1.089]
+t: 149	 action: [ 0.164  0.003 -0.033  0.006 -0.018 -0.021 -1.041]
+t: 150	 action: [ 8.795e-02  4.342e-02 -4.456e-02  5.283e-04 -2.295e-02 -1.927e-02 -1.073e+00]
+t: 151	 action: [-0.008  0.01  -0.139  0.006 -0.033 -0.021 -1.046]
+t: 152	 action: [-0.023  0.032 -0.372 -0.008 -0.031 -0.01  -1.08 ]
+t: 153	 action: [-0.079 -0.002 -0.391 -0.001 -0.038 -0.013 -1.05 ]
+[07-31 01:57:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5280
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.5280
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5280
+t=154: Selected seed 195 with value = 0.5280
+t: 154	 action: [ 0.077  0.045 -0.288  0.008 -0.005 -0.008 -1.047]
+t: 155	 action: [ 0.109  0.044 -0.259  0.006  0.004 -0.017 -1.028]
+t: 156	 action: [ 5.231e-02  7.320e-02 -2.167e-01  3.599e-04 -4.064e-03 -7.888e-03 -1.049e+00]
+t: 157	 action: [ 0.068  0.066 -0.116 -0.002  0.003 -0.017 -1.022]
+t: 158	 action: [ 1.776e-02  1.014e-01 -8.195e-02  6.255e-04  6.741e-03 -8.791e-03 -1.040e+00]
+t: 159	 action: [ 7.923e-03  1.573e-01  1.123e-02  7.832e-03  6.192e-04 -1.316e-02 -1.050e+00]
+t: 160	 action: [-0.002  0.116  0.064 -0.007  0.004 -0.011 -1.046]
+t: 161	 action: [ 0.008  0.129  0.149 -0.002 -0.005 -0.017 -1.045]
+t: 162	 action: [ 0.127  0.07   0.089  0.006 -0.016 -0.023 -1.079]
+t: 163	 action: [ 0.113  0.061  0.054  0.005 -0.015 -0.022 -1.04 ]
+t: 164	 action: [ 0.114  0.062 -0.098  0.002 -0.028 -0.007 -1.092]
+t: 165	 action: [ 0.096  0.043 -0.111  0.002 -0.024 -0.016 -1.046]
+t: 166	 action: [ 0.051  0.065 -0.153 -0.004 -0.025 -0.014 -1.075]
+t: 167	 action: [-0.007  0.028 -0.159  0.002 -0.033 -0.015 -1.045]
+t: 168	 action: [-0.013  0.024 -0.413 -0.007 -0.031 -0.007 -1.077]
+t: 169	 action: [-0.065 -0.006 -0.334 -0.001 -0.035 -0.009 -0.982]
+[07-31 01:58:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5427
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5427
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5427
+t=170: Selected seed 195 with value = 0.5427
+t: 170	 action: [-0.014  0.041 -0.538  0.002 -0.006 -0.019 -1.06 ]
+t: 171	 action: [ 3.821e-02  9.026e-02 -4.840e-01  1.822e-04 -1.129e-03 -2.401e-02 -1.041e+00]
+t: 172	 action: [-0.027  0.076 -0.52   0.004 -0.003 -0.011 -1.055]
+t: 173	 action: [ 2.584e-02  1.074e-01 -4.439e-01  9.656e-04  5.708e-03 -1.839e-02 -1.033e+00]
+t: 174	 action: [-0.06   0.157 -0.397  0.002  0.009 -0.012 -1.039]
+t: 175	 action: [-0.014  0.171 -0.339  0.008  0.005 -0.019 -1.047]
+t: 176	 action: [-7.853e-02  1.534e-01 -3.058e-01  9.656e-04  8.120e-03 -8.109e-03 -1.049e+00]
+t: 177	 action: [-0.04   0.139 -0.279  0.007  0.004 -0.019 -1.042]
+t: 178	 action: [ 0.006  0.14  -0.27  -0.003  0.005 -0.002 -1.195]
+t: 179	 action: [-0.023  0.086 -0.238 -0.01   0.006 -0.01  -1.129]
+t: 180	 action: [-0.051  0.099 -0.398 -0.006 -0.002  0.004 -1.143]
+t: 181	 action: [-0.075  0.06  -0.314 -0.013  0.005 -0.01  -1.015]
+t: 182	 action: [-0.051  0.038 -0.336 -0.007  0.002 -0.004  1.064]
+t: 183	 action: [-0.029  0.007 -0.285 -0.007 -0.002 -0.008  1.206]
+t: 184	 action: [-6.149e-02  1.010e-02 -2.745e-01 -1.250e-02  3.612e-04 -5.235e-03  1.104e+00]
+t: 185	 action: [-0.04  -0.018 -0.217 -0.011 -0.003 -0.004  1.141]
+[07-31 01:58:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6729
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 1.001 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=186: Selected seed 195 with value = 0.6729
+t: 186	 action: [-0.087  0.006 -0.204 -0.016  0.01   0.007  0.99 ]
+t: 187	 action: [-0.083  0.009 -0.101 -0.025  0.009  0.005  1.025]
+t: 188	 action: [-0.071  0.03   0.04  -0.025  0.002  0.002  0.985]
+t: 189	 action: [-3.158e-02  4.450e-02  1.218e-01 -2.763e-02  5.540e-03 -6.821e-04  1.027e+00]
+t: 190	 action: [-0.061  0.07   0.208 -0.04   0.012 -0.005  1.001]
+t: 191	 action: [ 0.041  0.1    0.442 -0.034  0.001 -0.001  1.028]
+t: 192	 action: [-0.012  0.06   0.647 -0.029  0.007 -0.009  0.997]
+t: 193	 action: [ 0.045  0.058  0.841 -0.023  0.006 -0.009  1.029]
+t: 194	 action: [ 0.028 -0.006  0.629 -0.012  0.021  0.004  0.98 ]
+t: 195	 action: [ 0.043  0.006  0.776 -0.004  0.014 -0.003  1.019]
+t: 196	 action: [ 3.192e-02 -1.198e-01  7.359e-01 -8.990e-03  1.667e-02 -1.238e-04  9.664e-01]
+t: 197	 action: [ 0.054 -0.137  0.848  0.011  0.014 -0.005  1.017]
+t: 198	 action: [ 0.006 -0.265  0.784  0.019  0.03  -0.003  0.985]
+t: 199	 action: [-0.002 -0.347  0.796  0.032  0.009 -0.002  1.026]
+t: 200	 action: [-0.031 -0.495  0.626  0.042  0.02  -0.004  0.983]
+t: 201	 action: [-0.023 -0.595  0.579  0.04   0.008 -0.002  1.023]
+[07-31 01:58:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6048
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=202: Selected seed 195 with value = 0.6048
+t: 202	 action: [-0.127 -0.156 -0.426  0.035  0.027  0.008  1.127]
+t: 203	 action: [-0.149 -0.123 -0.633  0.023  0.014  0.006  1.048]
+t: 204	 action: [-0.11  -0.004 -0.643  0.036  0.023  0.007  1.101]
+t: 205	 action: [-0.135 -0.032 -0.726  0.026  0.014  0.005 -1.029]
+t: 206	 action: [-0.114 -0.007 -0.724  0.014  0.019  0.013 -1.113]
+t: 207	 action: [-0.107 -0.009 -0.727  0.009  0.009  0.022 -1.104]
+t: 208	 action: [-0.064  0.038 -0.72   0.004  0.022  0.012 -1.071]
+t: 209	 action: [-0.08   0.046 -0.766  0.004  0.013  0.002 -1.052]
+t: 210	 action: [ 0.041 -0.012 -0.791  0.026  0.026  0.022 -1.04 ]
+t: 211	 action: [-0.059 -0.068 -0.795  0.003  0.019  0.027 -1.06 ]
+t: 212	 action: [-0.17  -0.025 -0.825  0.011  0.021  0.029 -1.199]
+t: 213	 action: [-3.243e-01 -1.013e-01 -8.412e-01 -9.245e-04  1.577e-02  3.427e-02 -1.135e+00]
+t: 214	 action: [-0.324 -0.038 -0.786  0.005  0.016  0.029 -1.073]
+t: 215	 action: [-0.353 -0.068 -0.786 -0.004  0.004  0.028 -1.041]
+t: 216	 action: [-0.402 -0.074 -0.711 -0.001  0.01   0.031  0.943]
+t: 217	 action: [-0.329 -0.096 -0.749 -0.01   0.005  0.037  1.211]
+[07-31 01:58:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6061
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6061
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6061
+t=218: Selected seed 195 with value = 0.6061
+t: 218	 action: [-0.06   0.106 -0.558 -0.03   0.021  0.032  0.983]
+t: 219	 action: [-0.058  0.059 -0.349 -0.028  0.027  0.026  1.018]
+t: 220	 action: [-0.026  0.08  -0.177 -0.04   0.02   0.014  0.977]
+t: 221	 action: [-0.022  0.051 -0.057 -0.031  0.027  0.017  1.027]
+t: 222	 action: [-0.028  0.06  -0.135 -0.033  0.03   0.011  1.003]
+t: 223	 action: [-0.02   0.062  0.001 -0.019  0.025  0.013  1.035]
+t: 224	 action: [ 0.006  0.06   0.187 -0.025  0.019 -0.001  1.002]
+t: 225	 action: [-2.444e-03  5.745e-02  2.750e-01 -1.337e-02  2.180e-02 -1.823e-04  1.042e+00]
+t: 226	 action: [ 0.023  0.039  0.082 -0.04   0.045  0.012  0.976]
+t: 227	 action: [ 0.057  0.079  0.207 -0.039  0.044  0.013  1.016]
+t: 228	 action: [ 0.06   0.074  0.275 -0.039  0.027  0.007  0.969]
+t: 229	 action: [ 0.073  0.088  0.371 -0.038  0.024  0.003  1.018]
+t: 230	 action: [ 0.026  0.081  0.576 -0.009  0.033  0.001  0.997]
+t: 231	 action: [ 0.022  0.087  0.755 -0.022  0.015  0.003  1.028]
+t: 232	 action: [ 0.031  0.039  0.782  0.003  0.013 -0.005  0.999]
+t: 233	 action: [ 0.02   0.027  0.832 -0.009  0.009 -0.009  1.034]
+[07-31 01:58:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7171
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=234: Selected seed 195 with value = 0.7171
+t: 234	 action: [-0.063 -0.078 -0.701  0.015  0.061  0.008  1.147]
+t: 235	 action: [-0.081 -0.065 -0.549  0.019  0.058  0.002  1.043]
+t: 236	 action: [-0.08  -0.007 -0.66   0.018  0.064  0.007  1.13 ]
+t: 237	 action: [-0.109 -0.033 -0.436  0.021  0.068 -0.003 -1.012]
+t: 238	 action: [-0.076  0.015 -0.447  0.002  0.056  0.007 -1.1  ]
+t: 239	 action: [-0.097  0.004 -0.361  0.003  0.056  0.008 -1.099]
+t: 240	 action: [-2.985e-02  1.825e-02 -3.325e-01 -2.940e-04  6.177e-02  5.679e-03 -1.061e+00]
+t: 241	 action: [-0.088  0.019 -0.294  0.002  0.064 -0.011 -1.042]
+t: 242	 action: [ 0.033 -0.017 -0.532  0.003  0.061  0.011 -0.935]
+t: 243	 action: [-0.064 -0.057 -0.57   0.002  0.048  0.018 -1.116]
+t: 244	 action: [-0.157 -0.03  -0.68   0.003  0.04   0.013 -1.12 ]
+t: 245	 action: [-0.277 -0.087 -0.691  0.003  0.025  0.02  -1.11 ]
+t: 246	 action: [-2.383e-01 -5.441e-02 -7.077e-01  7.349e-04  2.640e-02  1.636e-02 -9.405e-01]
+t: 247	 action: [-0.322 -0.069 -0.697  0.003  0.007  0.021  1.192]
+t: 248	 action: [-0.286 -0.08  -0.636 -0.003  0.008  0.014  1.043]
+t: 249	 action: [-0.301 -0.094 -0.681 -0.003 -0.002  0.016  1.183]
+[07-31 01:58:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6625
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.6625
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6625
+t=250: Selected seed 195 with value = 0.6625
+t: 250	 action: [-0.184 -0.008 -0.401 -0.002  0.015  0.005  0.973]
+t: 251	 action: [-0.182 -0.055 -0.25  -0.005  0.013  0.004  1.024]
+t: 252	 action: [-0.124 -0.011 -0.067 -0.011  0.011  0.002  0.975]
+t: 253	 action: [-0.098 -0.021 -0.004 -0.012  0.012  0.002  1.03 ]
+t: 254	 action: [-0.118 -0.031  0.038 -0.015  0.015 -0.001  0.992]
+t: 255	 action: [-4.913e-02 -1.328e-02  1.761e-01 -7.414e-03 -4.272e-04 -8.333e-04  1.029e+00]
+t: 256	 action: [-0.06  -0.014  0.509 -0.007  0.01  -0.007  0.995]
+t: 257	 action: [-7.254e-03 -1.571e-02  6.967e-01  2.037e-04 -2.430e-03 -7.853e-03  1.036e+00]
+t: 258	 action: [-0.078 -0.11   0.508 -0.003  0.008  0.006  0.969]
+t: 259	 action: [-1.583e-02 -9.858e-02  5.943e-01  2.554e-03  1.131e-03 -1.308e-04  1.021e+00]
+t: 260	 action: [-0.057 -0.166  0.643  0.001 -0.003  0.006  0.965]
+t: 261	 action: [ 2.702e-02 -1.076e-01  7.130e-01  1.386e-02 -2.537e-03  7.924e-04  1.020e+00]
+t: 262	 action: [-9.111e-02 -1.920e-01  7.725e-01  9.949e-03  3.126e-03  8.680e-05  9.775e-01]
+t: 263	 action: [-0.075 -0.186  0.847  0.018 -0.014 -0.001  1.031]
+t: 264	 action: [-0.108 -0.323  0.706  0.024 -0.008 -0.001  0.985]
+t: 265	 action: [-0.068 -0.393  0.802  0.028 -0.022 -0.002  1.035]
+[07-31 01:58:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8427
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8427
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8427
+t=266: Selected seed 195 with value = 0.8427
+t: 266	 action: [-0.205 -0.491  0.155  0.019  0.025  0.001  0.984]
+t: 267	 action: [-0.16  -0.565  0.072  0.019  0.018 -0.005  1.062]
+t: 268	 action: [-0.212 -0.402  0.036  0.016  0.005  0.002  0.973]
+t: 269	 action: [-0.239 -0.574 -0.056  0.017  0.005 -0.005  0.995]
+t: 270	 action: [-0.256 -0.544 -0.147  0.021  0.021  0.004  1.002]
+t: 271	 action: [-0.238 -0.612 -0.186  0.016  0.007  0.004  1.051]
+t: 272	 action: [-0.322 -0.442 -0.281  0.018  0.019  0.007  0.92 ]
+t: 273	 action: [-0.297 -0.448 -0.406  0.015  0.009  0.004 -1.062]
+t: 274	 action: [-0.188 -0.467 -0.36   0.018  0.016  0.016  0.982]
+t: 275	 action: [-0.265 -0.447 -0.552  0.01   0.022  0.028  1.05 ]
+t: 276	 action: [-0.298 -0.366 -0.621  0.008  0.014  0.023  0.964]
+t: 277	 action: [-0.307 -0.335 -0.68   0.003  0.024  0.03   1.073]
+t: 278	 action: [-0.24  -0.239 -0.582 -0.005  0.014  0.021  1.015]
+t: 279	 action: [-2.950e-01 -1.967e-01 -6.162e-01  4.650e-05  1.543e-02  2.920e-02  1.051e+00]
+t: 280	 action: [-0.243 -0.202 -0.439 -0.005  0.02   0.018  1.   ]
+t: 281	 action: [-0.223 -0.166 -0.452 -0.004  0.024  0.028  1.057]
+[07-31 01:58:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8934
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 0.987 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=282: Selected seed 195 with value = 0.8934
+t: 282	 action: [-0.088 -0.071 -0.326 -0.025 -0.016  0.004  0.913]
+t: 283	 action: [-3.044e-02 -1.554e-01 -1.735e-01 -3.293e-02  6.233e-04 -1.075e-02  1.019e+00]
+t: 284	 action: [-1.209e-01 -7.411e-03 -8.444e-02 -1.500e-02 -5.509e-03  2.335e-04  1.078e+00]
+t: 285	 action: [-0.05  -0.086  0.039 -0.024  0.003 -0.026  0.898]
+t: 286	 action: [-0.029  0.071  0.096 -0.03   0.016 -0.001  0.869]
+t: 287	 action: [ 0.102  0.083  0.331 -0.025  0.008 -0.006 -0.846]
+t: 288	 action: [ 0.094  0.112  0.408 -0.015  0.031 -0.01  -1.117]
+t: 289	 action: [ 0.187  0.083  0.533 -0.012  0.035 -0.031 -1.128]
+t: 290	 action: [ 0.274  0.048  0.498 -0.002  0.038 -0.008 -1.056]
+t: 291	 action: [ 0.312  0.006  0.516  0.014  0.049 -0.019 -1.048]
+t: 292	 action: [ 0.342  0.043  0.487  0.002  0.034 -0.007 -1.048]
+t: 293	 action: [ 0.37   0.012  0.463  0.017  0.051 -0.022 -1.042]
+t: 294	 action: [ 0.232  0.016  0.461  0.023  0.036 -0.012 -1.067]
+t: 295	 action: [ 0.164  0.026  0.411  0.029  0.034 -0.021 -1.058]
+t: 296	 action: [ 0.231  0.015  0.384  0.023  0.026 -0.018 -1.052]
+t: 297	 action: [ 0.173  0.023  0.305  0.029  0.029 -0.022 -1.049]
+[07-31 01:58:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9348
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9348
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 89
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 78%|███████▊  | 39/50 [20:52<05:45, 31.42s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 40...
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9348
+t=298: Selected seed 195 with value = 0.9348
+t: 298	 action: [-0.045 -0.007 -0.366 -0.002 -0.007  0.009  0.919]
+t: 299	 action: [-0.066 -0.046 -0.389 -0.006 -0.008 -0.005  0.768]
+t: 300	 action: [-0.062  0.021 -0.225 -0.003 -0.014  0.003 -1.03 ]
+t: 301	 action: [-0.016  0.007 -0.153 -0.007 -0.015 -0.014 -1.03 ]
+t: 302	 action: [-0.127  0.138 -0.096 -0.007 -0.022  0.001 -1.084]
+t: 303	 action: [-0.081  0.157  0.034 -0.012 -0.021 -0.003 -1.157]
+t: 304	 action: [-0.064  0.174  0.083 -0.011 -0.021 -0.004 -1.04 ]
+t: 305	 action: [-0.013  0.153  0.184 -0.008 -0.016 -0.022 -1.046]
+t: 306	 action: [ 0.041  0.02   0.202  0.005 -0.013 -0.015 -1.053]
+t: 307	 action: [ 0.04  -0.015  0.188  0.008 -0.006 -0.028 -1.054]
+t: 308	 action: [ 0.071  0.004  0.154  0.009 -0.015 -0.017 -1.053]
+t: 309	 action: [ 6.417e-02 -3.139e-02  1.213e-01  9.846e-03  6.857e-04 -2.593e-02 -1.036e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=89--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=89--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 89
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 40...
+[07-31 01:58:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.012 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3827
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3827
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3827
+t=10: Selected seed 195 with value = 0.3827
+t: 10	 action: [ 0.653 -0.05   0.139 -0.015  0.026  0.002 -1.02 ]
+t: 11	 action: [ 0.703 -0.052  0.182 -0.009  0.038 -0.008 -1.015]
+t: 12	 action: [ 0.854 -0.107  0.175 -0.008  0.018  0.005 -1.013]
+t: 13	 action: [ 0.894 -0.118  0.209 -0.004  0.025 -0.005 -1.019]
+t: 14	 action: [ 9.428e-01 -1.183e-01  2.051e-01 -7.662e-05  1.575e-02  3.603e-03 -1.026e+00]
+t: 15	 action: [ 0.926 -0.14   0.176 -0.002  0.013 -0.003 -1.031]
+t: 16	 action: [ 0.957 -0.142  0.181  0.003  0.001  0.004 -1.023]
+t: 17	 action: [ 0.969 -0.165  0.133  0.007  0.006 -0.002 -1.037]
+t: 18	 action: [ 0.93  -0.249  0.15   0.007 -0.014  0.007 -1.016]
+t: 19	 action: [ 0.936 -0.242  0.137  0.014 -0.001 -0.003 -1.015]
+t: 20	 action: [ 0.933 -0.223  0.084  0.007 -0.017  0.005 -1.012]
+t: 21	 action: [ 0.952 -0.246  0.054  0.015 -0.008 -0.003 -1.004]
+t: 22	 action: [ 0.951 -0.211  0.07   0.006 -0.023  0.004 -1.009]
+t: 23	 action: [ 9.649e-01 -2.652e-01  8.455e-03  1.929e-02 -9.906e-03 -6.227e-04 -1.031e+00]
+t: 24	 action: [ 9.266e-01 -1.090e-01 -1.187e-02  2.923e-03 -2.262e-02  5.802e-04 -1.010e+00]
+t: 25	 action: [ 9.562e-01 -1.991e-01 -2.510e-02  1.894e-02 -1.613e-02 -2.112e-04 -1.029e+00]
+[07-31 01:58:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4658
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4658
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4658
+t=26: Selected seed 195 with value = 0.4658
+t: 26	 action: [ 0.884 -0.244  0.02   0.003 -0.028 -0.002 -1.024]
+t: 27	 action: [ 0.943 -0.207  0.022  0.003 -0.026 -0.012 -1.018]
+t: 28	 action: [ 9.114e-01 -2.179e-01 -9.797e-02  3.390e-03 -3.050e-02  5.520e-05 -1.019e+00]
+t: 29	 action: [ 0.921 -0.18  -0.104  0.007 -0.022 -0.01  -1.024]
+t: 30	 action: [ 0.889 -0.157 -0.203  0.004 -0.034  0.002 -1.013]
+t: 31	 action: [ 0.833 -0.139 -0.264  0.012 -0.032 -0.007 -1.043]
+t: 32	 action: [ 0.619 -0.052 -0.403  0.002 -0.048  0.004 -1.012]
+t: 33	 action: [ 0.452 -0.062 -0.473  0.014 -0.035 -0.005 -1.041]
+t: 34	 action: [ 0.18  -0.126 -0.504  0.021 -0.073  0.011 -1.018]
+t: 35	 action: [ 0.099 -0.111 -0.564  0.027 -0.066  0.012 -1.02 ]
+t: 36	 action: [ 0.061 -0.094 -0.653  0.024 -0.078  0.02  -1.018]
+t: 37	 action: [ 0.033 -0.078 -0.677  0.03  -0.06   0.019 -1.014]
+t: 38	 action: [-0.005 -0.005 -0.778  0.014 -0.075  0.02  -1.02 ]
+t: 39	 action: [ 8.071e-04 -9.237e-03 -7.445e-01  3.220e-02 -4.482e-02  2.155e-02 -1.026e+00]
+t: 40	 action: [-0.037  0.029 -0.806  0.008 -0.056  0.031 -1.017]
+t: 41	 action: [-0.007  0.054 -0.77   0.03  -0.026  0.029 -1.035]
+[07-31 01:58:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5257
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5257
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5257
+t=42: Selected seed 195 with value = 0.5257
+t: 42	 action: [-0.054  0.607 -0.662  0.017 -0.022  0.011 -0.999]
+t: 43	 action: [-0.035  0.675 -0.688  0.016 -0.021  0.011 -1.014]
+t: 44	 action: [-0.059  0.779 -0.588  0.011 -0.013  0.014 -0.989]
+t: 45	 action: [-0.024  0.785 -0.589  0.014 -0.01   0.011 -1.018]
+t: 46	 action: [-0.11   0.78  -0.581  0.008 -0.018  0.011 -0.988]
+t: 47	 action: [-0.071  0.772 -0.587  0.017 -0.012  0.011 -1.028]
+t: 48	 action: [-0.106  0.819 -0.534  0.004 -0.008  0.016 -0.977]
+t: 49	 action: [-0.044  0.816 -0.543  0.016 -0.004  0.012 -1.034]
+t: 50	 action: [-0.072  0.87  -0.495  0.011 -0.013  0.012 -0.997]
+t: 51	 action: [-0.028  0.826 -0.538  0.016 -0.018  0.009 -1.016]
+t: 52	 action: [-0.072  0.863 -0.494  0.008 -0.008  0.016 -0.992]
+t: 53	 action: [-0.014  0.811 -0.53   0.014 -0.007  0.011 -1.018]
+t: 54	 action: [-0.129  0.832 -0.474  0.003 -0.01   0.014 -0.991]
+t: 55	 action: [-0.074  0.82  -0.512  0.016 -0.012  0.01  -1.028]
+t: 56	 action: [-0.127  0.814 -0.486  0.004 -0.003  0.021 -0.984]
+t: 57	 action: [-0.045  0.796 -0.504  0.012 -0.003  0.014 -1.036]
+[07-31 01:58:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6038
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6038
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6038
+t=58: Selected seed 195 with value = 0.6038
+t: 58	 action: [ 0.074  0.782 -0.45   0.018 -0.004  0.047 -0.993]
+t: 59	 action: [ 0.146  0.732 -0.487  0.02   0.005  0.029 -1.01 ]
+t: 60	 action: [ 0.058  0.724 -0.409  0.015  0.01   0.036 -1.002]
+t: 61	 action: [ 0.091  0.597 -0.369  0.019  0.007  0.02  -1.006]
+t: 62	 action: [ 0.069  0.594 -0.269  0.011  0.019  0.028 -0.995]
+t: 63	 action: [ 0.065  0.463 -0.134  0.023  0.015  0.024 -1.034]
+t: 64	 action: [ 0.073  0.201  0.136  0.009  0.035  0.011 -1.   ]
+t: 65	 action: [ 0.066  0.051  0.397  0.02   0.033  0.008 -1.039]
+t: 66	 action: [ 0.072 -0.193  0.569  0.014  0.038 -0.008 -1.028]
+t: 67	 action: [-0.019 -0.273  0.642  0.015  0.036 -0.016 -1.029]
+t: 68	 action: [-0.043 -0.143  0.632  0.008  0.025 -0.007 -1.031]
+t: 69	 action: [-0.21  -0.226  0.615  0.013  0.027 -0.016 -1.013]
+t: 70	 action: [-0.517 -0.144  0.521  0.018  0.032 -0.01  -1.014]
+t: 71	 action: [-0.646 -0.058  0.443  0.014  0.017 -0.015 -1.041]
+t: 72	 action: [-0.788 -0.086  0.404  0.012  0.009 -0.005 -0.99 ]
+t: 73	 action: [-0.784 -0.022  0.289  0.014  0.004 -0.01  -1.04 ]
+[07-31 01:58:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6926
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6926
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6926
+t=74: Selected seed 195 with value = 0.6926
+t: 74	 action: [-0.545 -0.063  0.259  0.004  0.027 -0.049 -1.007]
+t: 75	 action: [-0.675 -0.134  0.25  -0.001  0.01  -0.044 -1.028]
+t: 76	 action: [-0.732 -0.066  0.159  0.006  0.012 -0.043 -1.003]
+t: 77	 action: [-7.790e-01 -1.217e-01  1.271e-01  4.864e-04  2.218e-03 -4.169e-02 -1.030e+00]
+t: 78	 action: [-0.865 -0.068  0.036  0.01   0.006 -0.03  -0.991]
+t: 79	 action: [-0.845 -0.118 -0.02   0.001 -0.005 -0.044 -1.04 ]
+t: 80	 action: [-0.851 -0.092 -0.119  0.007 -0.014 -0.026 -0.991]
+t: 81	 action: [-0.851 -0.103 -0.142 -0.001 -0.025 -0.044 -1.04 ]
+t: 82	 action: [-0.806 -0.062 -0.306  0.007 -0.044 -0.007 -1.007]
+t: 83	 action: [-0.837 -0.108 -0.385 -0.004 -0.057 -0.022 -1.025]
+t: 84	 action: [-0.776 -0.087 -0.468  0.005 -0.07  -0.011 -1.009]
+t: 85	 action: [-0.76  -0.105 -0.518 -0.003 -0.078 -0.02  -1.02 ]
+t: 86	 action: [-0.748 -0.102 -0.598 -0.005 -0.107 -0.011 -0.992]
+t: 87	 action: [-0.658 -0.097 -0.559 -0.001 -0.093 -0.026 -1.039]
+t: 88	 action: [-0.619 -0.1   -0.681 -0.008 -0.139 -0.02  -0.997]
+t: 89	 action: [-5.383e-01 -7.850e-02 -6.451e-01  7.973e-04 -1.006e-01 -2.569e-02 -1.045e+00]
+[07-31 01:58:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5164
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.5164
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5164
+t=90: Selected seed 195 with value = 0.5164
+t: 90	 action: [-7.864e-01  1.716e-01 -4.536e-01  1.006e-03 -6.128e-02 -9.563e-03 -1.036e+00]
+t: 91	 action: [-0.624  0.185 -0.555  0.017 -0.058 -0.04  -1.039]
+t: 92	 action: [-4.879e-01  2.354e-01 -4.994e-01  5.115e-04 -4.911e-02 -2.079e-02 -1.032e+00]
+t: 93	 action: [-0.357  0.219 -0.574  0.017 -0.043 -0.059 -1.043]
+t: 94	 action: [-0.179  0.252 -0.499  0.002 -0.04  -0.031 -1.021]
+t: 95	 action: [-0.079  0.275 -0.476  0.022 -0.025 -0.056 -1.052]
+t: 96	 action: [ 3.729e-02  2.206e-01 -4.840e-01 -3.738e-04 -2.254e-02 -5.418e-02 -1.017e+00]
+t: 97	 action: [ 0.156  0.222 -0.413  0.02  -0.011 -0.076 -1.056]
+t: 98	 action: [ 0.138  0.247 -0.49   0.002 -0.032 -0.068 -1.04 ]
+t: 99	 action: [ 0.195  0.173 -0.553  0.009 -0.02  -0.091 -1.032]
+t: 100	 action: [ 0.276  0.235 -0.496  0.002 -0.02  -0.079 -1.036]
+t: 101	 action: [ 0.326  0.177 -0.53   0.011 -0.007 -0.091 -1.029]
+t: 102	 action: [ 0.27   0.145 -0.484  0.002 -0.015 -0.086 -1.032]
+t: 103	 action: [ 0.305  0.12  -0.482  0.015 -0.006 -0.101 -1.056]
+t: 104	 action: [ 3.990e-01  1.303e-01 -4.502e-01 -2.767e-04 -5.618e-03 -9.577e-02 -1.025e+00]
+t: 105	 action: [ 4.267e-01  1.066e-01 -4.619e-01  1.708e-02  5.698e-04 -1.015e-01 -1.061e+00]
+[07-31 01:58:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5303
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.5303
+Query 1/1: Action query time = 0.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5303
+t=106: Selected seed 195 with value = 0.5303
+t: 106	 action: [ 2.755e-01  5.132e-02 -3.158e-01  6.124e-04  2.078e-02 -8.513e-02 -1.037e+00]
+t: 107	 action: [ 2.718e-01  9.326e-02 -3.536e-01  5.547e-04  2.545e-02 -9.248e-02 -1.037e+00]
+t: 108	 action: [ 0.312  0.03  -0.31   0.002  0.027 -0.09  -1.04 ]
+t: 109	 action: [ 0.347  0.066 -0.34   0.002  0.032 -0.103 -1.035]
+t: 110	 action: [ 0.306  0.045 -0.267 -0.001  0.02  -0.087 -1.029]
+t: 111	 action: [ 0.356  0.096 -0.318  0.011  0.022 -0.095 -1.059]
+t: 112	 action: [ 0.288  0.021 -0.324 -0.003  0.023 -0.083 -1.038]
+t: 113	 action: [ 0.306  0.071 -0.37   0.011  0.019 -0.103 -1.049]
+t: 114	 action: [ 0.231 -0.028 -0.338  0.005  0.016 -0.06  -1.043]
+t: 115	 action: [ 0.138 -0.053 -0.48   0.006  0.008 -0.05  -1.05 ]
+t: 116	 action: [ 0.103 -0.069 -0.477  0.006  0.006 -0.036 -1.05 ]
+t: 117	 action: [ 0.049 -0.079 -0.574  0.003  0.007 -0.033 -1.053]
+t: 118	 action: [ 6.622e-03 -4.079e-02 -5.050e-01  4.814e-04 -7.454e-03 -2.414e-02 -1.050e+00]
+t: 119	 action: [-0.049 -0.017 -0.587  0.011 -0.001 -0.033 -1.048]
+t: 120	 action: [-0.104 -0.041 -0.621 -0.003 -0.016 -0.008 -1.055]
+t: 121	 action: [-0.157 -0.025 -0.621  0.005 -0.007 -0.015 -1.051]
+[07-31 01:58:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6096
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.6096
+Query 1/1: Action query time = 0.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6096
+t=122: Selected seed 195 with value = 0.6096
+t: 122	 action: [ 0.059  0.057 -0.519 -0.033 -0.004 -0.012 -1.178]
+t: 123	 action: [ 0.028  0.05  -0.492 -0.028 -0.005 -0.009  1.033]
+t: 124	 action: [ 0.061  0.061 -0.476 -0.032  0.007 -0.004  0.985]
+t: 125	 action: [ 0.033  0.042 -0.402 -0.028  0.003 -0.004  1.064]
+t: 126	 action: [ 0.043  0.067 -0.343 -0.033  0.006 -0.014  1.087]
+t: 127	 action: [ 0.062  0.079 -0.271 -0.017 -0.009 -0.002  1.032]
+t: 128	 action: [ 0.049  0.064 -0.217 -0.034  0.015 -0.011  0.994]
+t: 129	 action: [ 0.039  0.056 -0.169 -0.016 -0.008 -0.005  1.042]
+t: 130	 action: [ 0.077  0.03  -0.069 -0.028  0.011 -0.002  0.983]
+t: 131	 action: [ 0.076  0.027  0.003 -0.034  0.008 -0.016  1.028]
+t: 132	 action: [ 8.046e-02  4.760e-02  3.103e-02 -3.041e-02  1.366e-02 -9.711e-04  9.778e-01]
+t: 133	 action: [ 0.058  0.055  0.116 -0.035  0.019 -0.014  1.031]
+t: 134	 action: [ 0.016  0.046  0.162 -0.028  0.017 -0.017  1.005]
+t: 135	 action: [ 0.044  0.076  0.312 -0.028 -0.001 -0.012  1.013]
+t: 136	 action: [ 0.033  0.086  0.432 -0.025  0.018 -0.021  1.003]
+t: 137	 action: [ 0.051  0.085  0.646 -0.031  0.01  -0.016  1.029]
+[07-31 01:58:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7441
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7441
+Query 1/1: Action query time = 0.997 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7441
+t=138: Selected seed 195 with value = 0.7441
+t: 138	 action: [-0.265  0.052  0.603 -0.005  0.005 -0.058  0.986]
+t: 139	 action: [-0.253  0.065  0.647  0.018  0.014 -0.053  1.04 ]
+t: 140	 action: [-0.301  0.036  0.766  0.009  0.029 -0.042  0.983]
+t: 141	 action: [-0.257  0.047  0.815  0.025  0.049 -0.041  1.038]
+t: 142	 action: [-0.279 -0.003  0.845  0.021  0.057 -0.041  1.003]
+t: 143	 action: [-0.157 -0.035  0.893  0.035  0.093 -0.043  1.026]
+t: 144	 action: [-0.17  -0.032  0.901  0.038  0.095 -0.029  0.998]
+t: 145	 action: [-0.05  -0.079  0.924  0.041  0.131 -0.036  1.018]
+t: 146	 action: [ 0.049 -0.076  0.837  0.022  0.122 -0.007  0.994]
+t: 147	 action: [ 0.094 -0.062  0.889  0.034  0.138 -0.011  1.03 ]
+t: 148	 action: [ 0.152 -0.151  0.808  0.025  0.126 -0.001  0.981]
+t: 149	 action: [ 0.213 -0.127  0.83   0.029  0.134 -0.002  1.019]
+t: 150	 action: [ 0.22  -0.272  0.787  0.039  0.133  0.003  1.015]
+t: 151	 action: [ 0.313 -0.345  0.755  0.041  0.129  0.012  1.035]
+t: 152	 action: [ 0.286 -0.34   0.657  0.045  0.133  0.007  1.007]
+t: 153	 action: [ 0.323 -0.422  0.624  0.036  0.123  0.016  1.023]
+[07-31 01:58:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8851
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8851
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8851
+t=154: Selected seed 195 with value = 0.8851
+t: 154	 action: [ 0.193 -0.207  0.901  0.006  0.112  0.005  0.964]
+t: 155	 action: [ 0.207 -0.211  0.93   0.015  0.121 -0.005  1.009]
+t: 156	 action: [ 0.288 -0.376  0.87   0.018  0.105  0.009  0.973]
+t: 157	 action: [ 0.3   -0.456  0.888  0.021  0.104  0.007  1.01 ]
+t: 158	 action: [ 0.326 -0.595  0.802  0.006  0.105  0.011  0.993]
+t: 159	 action: [ 0.358 -0.606  0.769  0.017  0.087  0.019  1.01 ]
+t: 160	 action: [ 0.355 -0.686  0.579  0.017  0.086  0.015  1.001]
+t: 161	 action: [ 0.387 -0.699  0.489  0.021  0.058  0.023  1.016]
+t: 162	 action: [ 0.391 -0.755  0.318  0.03   0.043  0.013  0.962]
+t: 163	 action: [ 0.387 -0.808  0.226  0.023  0.019  0.015  0.998]
+t: 164	 action: [ 0.412 -0.745  0.093  0.017  0.017  0.013  0.96 ]
+t: 165	 action: [ 0.398 -0.775  0.052  0.012  0.007  0.021  1.006]
+t: 166	 action: [ 0.414 -0.639  0.019  0.005  0.003  0.01   0.989]
+t: 167	 action: [ 0.408 -0.682 -0.04  -0.005 -0.009  0.027  1.009]
+t: 168	 action: [ 0.434 -0.496 -0.128 -0.006 -0.017  0.014  0.992]
+t: 169	 action: [ 0.428 -0.521 -0.152 -0.022 -0.023  0.03   1.015]
+[07-31 01:58:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9643
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=170: Selected seed 195 with value = 0.9643
+t: 170	 action: [ 0.428 -0.546 -0.026  0.037  0.022  0.028  0.959]
+t: 171	 action: [ 0.413 -0.546 -0.11   0.031  0.03   0.027  1.017]
+t: 172	 action: [ 0.396 -0.436 -0.276  0.034  0.018  0.043  0.96 ]
+t: 173	 action: [ 0.366 -0.351 -0.43   0.024  0.027  0.035  1.005]
+t: 174	 action: [ 0.398 -0.282 -0.434  0.012  0.036  0.039  0.985]
+t: 175	 action: [ 0.348 -0.202 -0.644  0.025  0.047  0.04   1.004]
+t: 176	 action: [ 2.969e-01 -1.490e-01 -6.110e-01 -2.619e-04  4.214e-02  6.398e-02  9.840e-01]
+t: 177	 action: [ 0.232 -0.114 -0.763  0.013  0.069  0.047  1.001]
+t: 178	 action: [ 0.234 -0.129 -0.585  0.002  0.021  0.064  1.11 ]
+t: 179	 action: [ 1.067e-01 -7.949e-02 -6.580e-01 -6.691e-04  2.687e-02  5.700e-02  9.756e-01]
+t: 180	 action: [ 0.16  -0.053 -0.419 -0.009  0.042  0.088  1.122]
+t: 181	 action: [ 0.047 -0.08  -0.419 -0.007  0.054  0.063  1.011]
+t: 182	 action: [ 3.394e-03 -7.968e-04 -1.870e-01 -2.114e-02  4.456e-02  7.150e-02 -1.099e+00]
+t: 183	 action: [-0.02   0.008 -0.123 -0.004  0.042  0.066 -1.036]
+t: 184	 action: [-0.008  0.025 -0.01  -0.026  0.045  0.066 -1.119]
+t: 185	 action: [-0.012  0.021  0.048 -0.006  0.044  0.063 -1.08 ]
+[07-31 01:58:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9350
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9350
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9350
+t=186: Selected seed 195 with value = 0.9350
+t: 186	 action: [-0.01   0.014 -0.427  0.004 -0.03   0.022  1.055]
+t: 187	 action: [ 0.042 -0.097 -0.107 -0.018  0.011  0.014  0.947]
+t: 188	 action: [ 0.051  0.029 -0.051  0.005 -0.01   0.011 -1.006]
+t: 189	 action: [ 0.135 -0.038  0.274 -0.009  0.03   0.012 -1.002]
+t: 190	 action: [ 0.027  0.041  0.301  0.003  0.02   0.008 -1.116]
+t: 191	 action: [ 0.075 -0.003  0.431 -0.009  0.03   0.018 -1.079]
+t: 192	 action: [ 0.082  0.084  0.526  0.004  0.021  0.004 -1.005]
+t: 193	 action: [ 1.424e-01  3.335e-02  5.047e-01  3.260e-04  3.985e-02  1.097e-02 -1.016e+00]
+t: 194	 action: [ 0.174  0.071  0.467  0.019  0.01   0.024 -0.987]
+t: 195	 action: [ 0.188  0.032  0.502  0.008  0.02   0.019 -0.989]
+t: 196	 action: [ 1.392e-01  8.246e-02  4.240e-01  8.745e-03 -1.236e-04  3.198e-02 -1.014e+00]
+t: 197	 action: [ 0.131  0.041  0.43   0.006  0.013  0.024 -1.011]
+t: 198	 action: [ 0.066  0.064  0.394  0.017  0.011  0.032 -1.014]
+t: 199	 action: [ 0.024  0.065  0.34   0.012  0.004  0.028 -1.024]
+t: 200	 action: [ 0.043  0.079  0.297  0.003  0.004  0.036 -1.014]
+t: 201	 action: [ 2.121e-02  6.797e-02  2.644e-01  9.868e-03  1.949e-04  2.938e-02 -1.037e+00]
+[07-31 01:58:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9940
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=202: Selected seed 195 with value = 0.9940
+t: 202	 action: [-0.043  0.063  0.227  0.002  0.016  0.014 -1.006]
+t: 203	 action: [-0.022  0.007  0.214  0.004  0.01   0.015 -1.026]
+t: 204	 action: [-0.057  0.037  0.212  0.002  0.015  0.014 -1.003]
+t: 205	 action: [-0.021  0.006  0.209  0.002  0.012  0.014 -1.028]
+t: 206	 action: [-0.047  0.037  0.199 -0.003  0.016  0.013 -1.009]
+t: 207	 action: [-5.970e-02  4.609e-02  1.826e-01  5.831e-03 -8.533e-04  1.681e-02 -1.055e+00]
+t: 208	 action: [-0.056  0.018  0.2   -0.003  0.014  0.012 -1.003]
+t: 209	 action: [-3.810e-02  4.140e-02  1.992e-01  2.947e-03  6.401e-04  1.355e-02 -1.052e+00]
+t: 210	 action: [-0.06   0.035  0.202  0.003  0.007  0.011 -1.005]
+t: 211	 action: [-0.027  0.006  0.199  0.003  0.007  0.013 -1.037]
+t: 212	 action: [-0.064  0.027  0.205  0.001  0.007  0.012 -1.002]
+t: 213	 action: [-0.023  0.005  0.199  0.001  0.008  0.013 -1.032]
+t: 214	 action: [-0.063  0.012  0.177 -0.003  0.008  0.008 -1.009]
+t: 215	 action: [-0.063  0.041  0.167  0.004 -0.004  0.013 -1.067]
+t: 216	 action: [-0.062  0.014  0.19  -0.005  0.007  0.008 -1.002]
+t: 217	 action: [-4.272e-02  3.954e-02  1.889e-01  9.937e-04 -2.501e-03  1.324e-02 -1.061e+00]
+[07-31 01:58:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+t: 218	 action: [ 0.069  0.034  0.087  0.005  0.022  0.007 -1.03 ]
+t: 219	 action: [ 9.489e-02  3.797e-03  9.941e-02  9.875e-04  1.333e-02  4.041e-03 -1.031e+00]
+t: 220	 action: [ 0.059  0.023  0.075  0.004  0.016  0.007 -1.028]
+t: 221	 action: [ 9.723e-02  5.374e-03  9.638e-02  3.649e-04  1.131e-02  2.296e-04 -1.028e+00]
+t: 222	 action: [ 6.650e-02  1.320e-02  9.083e-02 -2.001e-04  2.136e-02  7.520e-04 -1.028e+00]
+t: 223	 action: [ 0.067  0.044  0.077  0.007  0.002  0.005 -1.05 ]
+t: 224	 action: [ 0.07   0.008  0.087 -0.001  0.016  0.001 -1.025]
+t: 225	 action: [ 9.438e-02  4.347e-02  7.988e-02  5.075e-03  1.291e-03  9.644e-04 -1.049e+00]
+t: 226	 action: [ 0.051  0.023  0.072  0.006  0.013  0.009 -1.028]
+t: 227	 action: [ 0.088  0.003  0.087  0.001  0.011  0.001 -1.035]
+t: 228	 action: [ 0.051  0.02   0.072  0.004  0.01   0.008 -1.029]
+t: 229	 action: [ 9.430e-02  6.687e-03  8.455e-02 -6.085e-05  8.635e-03  2.815e-05 -1.027e+00]
+t: 230	 action: [ 5.481e-02  2.775e-03  7.294e-02  1.202e-04  1.404e-02  2.752e-03 -1.027e+00]
+t: 231	 action: [ 6.049e-02  3.777e-02  6.441e-02  6.113e-03  2.558e-04  1.250e-03 -1.056e+00]
+t: 232	 action: [ 0.064  0.008  0.078 -0.001  0.011  0.002 -1.025]
+t: 233	 action: [ 8.688e-02  4.231e-02  6.981e-02  3.753e-03 -5.310e-04  1.373e-03 -1.053e+00]
+[07-31 01:58:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.999 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+t: 234	 action: [ 0.11   0.029  0.071  0.003  0.023 -0.005 -1.03 ]
+t: 235	 action: [ 0.147  0.004  0.089 -0.005  0.017 -0.01  -1.033]
+t: 236	 action: [ 0.105  0.026  0.055  0.003  0.017 -0.005 -1.029]
+t: 237	 action: [ 0.154  0.009  0.085 -0.004  0.012 -0.012 -1.027]
+t: 238	 action: [ 0.106  0.012  0.079 -0.001  0.021 -0.01  -1.028]
+t: 239	 action: [ 0.124  0.046  0.077  0.003  0.004 -0.009 -1.05 ]
+t: 240	 action: [ 0.12   0.013  0.071 -0.002  0.015 -0.008 -1.024]
+t: 241	 action: [ 0.158  0.048  0.074  0.003  0.001 -0.011 -1.048]
+t: 242	 action: [ 9.252e-02  2.463e-02  5.758e-02  4.985e-03  1.415e-02  7.506e-04 -1.029e+00]
+t: 243	 action: [ 0.14   0.003  0.082 -0.005  0.014 -0.013 -1.034]
+t: 244	 action: [ 0.097  0.023  0.054  0.003  0.01  -0.003 -1.029]
+t: 245	 action: [ 0.153  0.009  0.076 -0.004  0.009 -0.013 -1.027]
+t: 246	 action: [ 9.495e-02  4.600e-03  6.415e-02 -5.705e-04  1.446e-02 -5.093e-03 -1.028e+00]
+t: 247	 action: [ 0.116  0.04   0.066  0.002  0.002 -0.012 -1.053]
+t: 248	 action: [ 0.113  0.011  0.064 -0.002  0.01  -0.007 -1.024]
+t: 249	 action: [ 1.499e-01  4.646e-02  6.473e-02  1.347e-03 -4.746e-04 -1.123e-02 -1.052e+00]
+[07-31 01:58:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+t: 250	 action: [ 0.127  0.026  0.048  0.004  0.016 -0.013 -1.03 ]
+t: 251	 action: [ 0.173 -0.004  0.064 -0.009  0.013 -0.016 -1.032]
+t: 252	 action: [ 0.122  0.024  0.033  0.004  0.011 -0.013 -1.027]
+t: 253	 action: [ 0.182  0.002  0.062 -0.006  0.009 -0.018 -1.025]
+t: 254	 action: [ 1.215e-01  1.258e-02  6.123e-02 -8.399e-04  1.438e-02 -1.749e-02 -1.027e+00]
+t: 255	 action: [ 0.145  0.044  0.056  0.002  0.003 -0.016 -1.047]
+t: 256	 action: [ 0.134  0.011  0.051 -0.001  0.01  -0.016 -1.024]
+t: 257	 action: [ 1.764e-01  4.400e-02  5.069e-02  2.773e-03 -1.218e-06 -1.715e-02 -1.046e+00]
+t: 258	 action: [ 0.109  0.022  0.035  0.005  0.008 -0.006 -1.028]
+t: 259	 action: [ 0.166 -0.005  0.06  -0.009  0.012 -0.019 -1.032]
+t: 260	 action: [ 0.113  0.023  0.033  0.004  0.004 -0.009 -1.028]
+t: 261	 action: [ 0.181  0.003  0.055 -0.007  0.007 -0.018 -1.025]
+t: 262	 action: [ 1.082e-01  5.081e-03  4.627e-02 -7.620e-05  8.229e-03 -1.158e-02 -1.027e+00]
+t: 263	 action: [ 1.369e-01  3.554e-02  4.802e-02  8.708e-04  9.521e-04 -1.882e-02 -1.051e+00]
+t: 264	 action: [ 1.257e-01  1.089e-02  4.506e-02 -7.968e-04  4.966e-03 -1.345e-02 -1.024e+00]
+t: 265	 action: [ 0.169  0.041  0.044  0.001 -0.002 -0.017 -1.05 ]
+[07-31 01:58:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+t: 266	 action: [ 0.143  0.052  0.051  0.004  0.014 -0.015 -1.029]
+t: 267	 action: [ 0.202  0.017  0.06  -0.01   0.012 -0.016 -1.03 ]
+t: 268	 action: [ 0.136  0.043  0.033  0.004  0.011 -0.014 -1.025]
+t: 269	 action: [ 0.209  0.02   0.055 -0.005  0.009 -0.018 -1.021]
+t: 270	 action: [ 1.373e-01  3.289e-02  6.038e-02 -4.875e-04  1.329e-02 -1.884e-02 -1.026e+00]
+t: 271	 action: [ 0.174  0.063  0.05   0.003  0.004 -0.015 -1.044]
+t: 272	 action: [ 1.473e-01  2.344e-02  4.408e-02 -6.640e-04  1.058e-02 -1.685e-02 -1.021e+00]
+t: 273	 action: [ 0.202  0.058  0.039  0.005  0.001 -0.017 -1.04 ]
+t: 274	 action: [ 0.125  0.045  0.038  0.006  0.005 -0.007 -1.029]
+t: 275	 action: [ 0.196  0.014  0.059 -0.009  0.012 -0.018 -1.03 ]
+t: 276	 action: [ 0.127  0.039  0.032  0.005  0.004 -0.009 -1.025]
+t: 277	 action: [ 0.207  0.02   0.05  -0.005  0.007 -0.017 -1.022]
+t: 278	 action: [ 1.224e-01  2.138e-02  4.543e-02  2.466e-04  6.933e-03 -1.226e-02 -1.028e+00]
+t: 279	 action: [ 0.164  0.052  0.043  0.002  0.002 -0.018 -1.047]
+t: 280	 action: [ 1.385e-01  2.069e-02  3.749e-02 -5.716e-04  5.295e-03 -1.413e-02 -1.021e+00]
+t: 281	 action: [ 0.192  0.054  0.033  0.004 -0.001 -0.017 -1.045]
+[07-31 01:58:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+t: 282	 action: [ 0.117  0.049  0.053  0.007  0.012 -0.022 -1.027]
+t: 283	 action: [ 0.209  0.018  0.051 -0.007  0.01  -0.018 -1.032]
+t: 284	 action: [ 0.126  0.055  0.019  0.007  0.013 -0.021 -1.021]
+t: 285	 action: [ 2.192e-01  2.689e-02  3.018e-02  1.944e-04  9.193e-03 -2.140e-02 -1.021e+00]
+t: 286	 action: [ 0.124  0.049  0.052  0.002  0.012 -0.023 -1.025]
+t: 287	 action: [ 0.152  0.077  0.031  0.01   0.004 -0.017 -1.044]
+t: 288	 action: [ 0.135  0.041  0.016  0.003  0.011 -0.022 -1.018]
+t: 289	 action: [ 0.183  0.069  0.009  0.013  0.003 -0.021 -1.036]
+t: 290	 action: [ 1.169e-01  5.950e-02  3.191e-02  9.684e-03  8.931e-04 -9.093e-03 -1.026e+00]
+t: 291	 action: [ 0.204  0.019  0.051 -0.006  0.01  -0.02  -1.032]
+t: 292	 action: [ 0.121  0.061  0.015  0.009  0.003 -0.011 -1.021]
+t: 293	 action: [ 2.173e-01  2.715e-02  2.896e-02 -4.113e-04  6.752e-03 -2.091e-02 -1.024e+00]
+t: 294	 action: [ 0.114  0.037  0.03   0.003  0.002 -0.014 -1.027]
+t: 295	 action: [ 1.415e-01  6.231e-02  2.645e-02  8.399e-03  1.188e-04 -2.029e-02 -1.046e+00]
+t: 296	 action: [ 0.127  0.041  0.007  0.003  0.003 -0.017 -1.016]
+t: 297	 action: [ 0.172  0.063  0.007  0.011 -0.002 -0.021 -1.041]
+[07-31 01:58:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9892
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9892
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 90
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 80%|████████  | 40/50 [21:23<05:14, 31.42s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 41...
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=298: Selected seed 195 with value = 0.9892
+t: 298	 action: [-0.03   0.002  0.078  0.009  0.019 -0.03  -1.003]
+t: 299	 action: [ 0.058 -0.063  0.076 -0.001  0.016 -0.017 -1.019]
+t: 300	 action: [-0.006  0.016  0.003  0.014  0.02  -0.026 -1.007]
+t: 301	 action: [ 0.062 -0.033  0.005  0.009  0.018 -0.023 -1.022]
+t: 302	 action: [-0.023  0.006  0.045  0.006  0.019 -0.021 -1.018]
+t: 303	 action: [-0.016  0.053  0.018  0.016  0.011 -0.013 -1.047]
+t: 304	 action: [-0.006  0.003 -0.037  0.014  0.016 -0.019 -1.01 ]
+t: 305	 action: [-0.006  0.04  -0.031  0.023  0.012 -0.022 -1.036]
+t: 306	 action: [-0.019  0.018 -0.006  0.019 -0.003 -0.004 -1.004]
+t: 307	 action: [ 0.058 -0.044  0.02   0.005  0.008 -0.016 -1.029]
+t: 308	 action: [-0.005  0.038 -0.022  0.023  0.002 -0.006 -1.005]
+t: 309	 action: [ 0.069 -0.022 -0.012  0.01   0.009 -0.02  -1.023]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=90--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=90--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 90
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 41...
+[07-31 01:58:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3714
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3714
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3714
+t=10: Selected seed 195 with value = 0.3714
+t: 10	 action: [ 0.126 -0.118  0.042  0.006  0.018  0.006 -0.989]
+t: 11	 action: [ 0.228 -0.055  0.079  0.008  0.025  0.009 -0.992]
+t: 12	 action: [ 0.357 -0.154  0.114  0.004  0.019  0.012 -1.015]
+t: 13	 action: [ 0.529 -0.083  0.168  0.005  0.027  0.013 -1.01 ]
+t: 14	 action: [ 0.645 -0.068  0.256  0.004  0.021  0.013 -1.014]
+t: 15	 action: [ 0.729 -0.067  0.2    0.009  0.016  0.014 -1.034]
+t: 16	 action: [ 8.230e-01 -5.974e-02  2.782e-01  7.610e-04  1.830e-02  1.761e-02 -1.017e+00]
+t: 17	 action: [ 0.835 -0.072  0.235  0.008  0.018  0.016 -1.042]
+t: 18	 action: [ 0.821 -0.089  0.225  0.007  0.01   0.019 -1.022]
+t: 19	 action: [ 0.853 -0.082  0.25   0.006  0.018  0.014 -1.013]
+t: 20	 action: [ 0.887 -0.134  0.203  0.007  0.005  0.017 -1.021]
+t: 21	 action: [ 0.89  -0.134  0.241  0.011  0.017  0.015 -1.009]
+t: 22	 action: [ 0.905 -0.116  0.213  0.006  0.004  0.02  -1.011]
+t: 23	 action: [ 0.899 -0.253  0.171  0.01   0.009  0.016 -1.04 ]
+t: 24	 action: [ 0.939 -0.164  0.162  0.006  0.003  0.016 -1.011]
+t: 25	 action: [ 0.929 -0.298  0.127  0.015  0.008  0.017 -1.043]
+[07-31 01:58:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4095
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4095
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4095
+t=26: Selected seed 195 with value = 0.4095
+t: 26	 action: [ 0.94  -0.152  0.132  0.001 -0.007  0.002 -1.013]
+t: 27	 action: [ 0.932 -0.138  0.141  0.005 -0.004 -0.012 -1.018]
+t: 28	 action: [ 0.931 -0.233  0.097  0.004 -0.009  0.005 -1.025]
+t: 29	 action: [ 0.926 -0.233  0.084  0.014 -0.001 -0.008 -1.024]
+t: 30	 action: [ 0.979 -0.259  0.038  0.007 -0.006  0.004 -1.007]
+t: 31	 action: [ 0.945 -0.307  0.006  0.017 -0.004 -0.007 -1.041]
+t: 32	 action: [ 0.958 -0.298 -0.096  0.011 -0.012  0.003 -1.022]
+t: 33	 action: [ 0.932 -0.353 -0.138  0.023 -0.008 -0.005 -1.045]
+t: 34	 action: [ 0.722 -0.409 -0.276  0.021 -0.028  0.01  -1.031]
+t: 35	 action: [ 0.623 -0.324 -0.41   0.022 -0.034 -0.003 -1.029]
+t: 36	 action: [ 0.488 -0.262 -0.526  0.015 -0.058  0.011 -1.02 ]
+t: 37	 action: [ 0.33  -0.197 -0.639  0.017 -0.056  0.001 -1.016]
+t: 38	 action: [ 0.219 -0.121 -0.706  0.011 -0.086  0.005 -1.026]
+t: 39	 action: [ 9.863e-02 -1.250e-01 -7.508e-01  2.043e-02 -7.276e-02  5.866e-04 -1.037e+00]
+t: 40	 action: [ 0.004 -0.066 -0.824  0.002 -0.103  0.005 -1.021]
+t: 41	 action: [-0.025 -0.074 -0.809  0.016 -0.072  0.008 -1.037]
+[07-31 01:58:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4625
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4625
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4625
+t=42: Selected seed 195 with value = 0.4625
+t: 42	 action: [-0.067  0.038 -0.806  0.02  -0.053  0.021 -1.009]
+t: 43	 action: [-0.031  0.041 -0.887  0.01  -0.067  0.022 -1.021]
+t: 44	 action: [-0.035  0.116 -0.846  0.017 -0.048  0.024 -1.013]
+t: 45	 action: [ 0.005  0.156 -0.87   0.012 -0.059  0.023 -1.02 ]
+t: 46	 action: [-0.044  0.288 -0.823  0.005 -0.057  0.027 -1.007]
+t: 47	 action: [ 7.222e-04  3.221e-01 -7.741e-01  5.132e-03 -6.009e-02  2.540e-02 -1.032e+00]
+t: 48	 action: [-0.036  0.421 -0.739  0.004 -0.048  0.027 -1.008]
+t: 49	 action: [ 0.011  0.505 -0.657  0.003 -0.046  0.025 -1.033]
+t: 50	 action: [-8.605e-04  7.181e-01 -5.621e-01  5.396e-03 -2.511e-02  3.487e-02 -1.014e+00]
+t: 51	 action: [-0.003  0.744 -0.578 -0.004 -0.031  0.024 -1.019]
+t: 52	 action: [-0.013  0.811 -0.531  0.004 -0.019  0.036 -1.021]
+t: 53	 action: [-4.890e-04  7.831e-01 -5.068e-01 -5.159e-03 -2.288e-02  2.255e-02 -1.020e+00]
+t: 54	 action: [-0.112  0.838 -0.557 -0.001 -0.028  0.037 -1.011]
+t: 55	 action: [-0.099  0.83  -0.501 -0.007 -0.028  0.023 -1.03 ]
+t: 56	 action: [-0.125  0.873 -0.56  -0.004 -0.019  0.036 -1.016]
+t: 57	 action: [-0.095  0.826 -0.469 -0.009 -0.019  0.023 -1.037]
+[07-31 01:58:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5087
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5087
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5087
+t=58: Selected seed 195 with value = 0.5087
+t: 58	 action: [-0.051  0.846 -0.532  0.012 -0.02   0.013 -1.01 ]
+t: 59	 action: [-2.507e-04  8.329e-01 -5.268e-01  1.420e-02 -2.064e-02  1.222e-02 -1.005e+00]
+t: 60	 action: [-0.068  0.891 -0.526  0.013 -0.023  0.015 -1.001]
+t: 61	 action: [-0.009  0.853 -0.517  0.018 -0.021  0.015 -1.007]
+t: 62	 action: [-0.062  0.852 -0.504  0.012 -0.015  0.009 -0.998]
+t: 63	 action: [-0.018  0.86  -0.495  0.019 -0.016  0.015 -1.028]
+t: 64	 action: [-0.077  0.881 -0.517  0.011 -0.017  0.02  -0.992]
+t: 65	 action: [-0.013  0.875 -0.502  0.022 -0.012  0.019 -1.036]
+t: 66	 action: [ 0.019  0.893 -0.494  0.015 -0.025  0.011 -1.02 ]
+t: 67	 action: [ 0.038  0.84  -0.51   0.017 -0.026  0.012 -1.015]
+t: 68	 action: [ 0.027  0.886 -0.505  0.015 -0.021  0.014 -1.019]
+t: 69	 action: [ 0.044  0.812 -0.53   0.016 -0.011  0.015 -1.018]
+t: 70	 action: [-9.308e-04  8.288e-01 -5.016e-01  1.348e-02 -1.387e-02  1.089e-02 -1.012e+00]
+t: 71	 action: [ 0.019  0.804 -0.468  0.022 -0.008  0.016 -1.033]
+t: 72	 action: [ 2.441e-02  6.680e-01 -4.746e-01  1.331e-02 -8.154e-04  1.232e-02 -1.007e+00]
+t: 73	 action: [ 0.036  0.568 -0.347  0.022  0.002  0.017 -1.043]
+[07-31 01:58:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6104
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=74: Selected seed 195 with value = 0.6104
+t: 74	 action: [-0.011  0.04  -0.201  0.02  -0.011  0.003 -1.042]
+t: 75	 action: [ 7.244e-03 -6.665e-03 -1.147e-01  2.476e-02 -3.677e-03 -2.524e-04 -1.030e+00]
+t: 76	 action: [-4.230e-02 -8.526e-03 -1.122e-02  2.540e-02  3.181e-04  1.447e-03 -1.034e+00]
+t: 77	 action: [ 0.002 -0.09   0.026  0.025  0.007 -0.004 -1.03 ]
+t: 78	 action: [-0.096 -0.075  0.016  0.028  0.015  0.002 -1.035]
+t: 79	 action: [-0.122 -0.06   0.062  0.028  0.012  0.002 -1.049]
+t: 80	 action: [-1.478e-01 -9.599e-02  2.487e-01  4.065e-02  2.325e-02  3.750e-04 -1.033e+00]
+t: 81	 action: [-0.166 -0.138  0.268  0.034  0.015 -0.005 -1.049]
+t: 82	 action: [-0.004 -0.282  0.219  0.052  0.056  0.009 -1.045]
+t: 83	 action: [-0.018 -0.28   0.137  0.034  0.042  0.014 -1.068]
+t: 84	 action: [-0.058 -0.249  0.064  0.038  0.045  0.011 -1.188]
+t: 85	 action: [-0.109 -0.319 -0.051  0.025  0.031  0.013 -1.116]
+t: 86	 action: [-0.172 -0.076 -0.064  0.009  0.033  0.013 -1.041]
+t: 87	 action: [-0.215 -0.193 -0.088  0.017  0.014  0.021 -0.891]
+t: 88	 action: [-0.206 -0.104 -0.22  -0.004  0.031  0.015  1.03 ]
+t: 89	 action: [-0.13  -0.136 -0.245  0.004  0.017  0.023  1.157]
+[07-31 01:58:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6331
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6331
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6331
+t=90: Selected seed 195 with value = 0.6331
+t: 90	 action: [ 0.044  0.064 -0.231  0.011 -0.003  0.009 -1.014]
+t: 91	 action: [ 3.989e-02  1.163e-03 -6.696e-02  1.357e-02 -4.203e-04  5.468e-03 -1.017e+00]
+t: 92	 action: [-0.001  0.033 -0.044  0.006  0.005  0.006 -1.017]
+t: 93	 action: [ 0.013 -0.037  0.085  0.008  0.007 -0.001 -1.03 ]
+t: 94	 action: [-0.083 -0.003 -0.014  0.004  0.016  0.004 -1.017]
+t: 95	 action: [-0.1    0.035  0.165  0.007  0.006  0.006 -1.05 ]
+t: 96	 action: [-0.174  0.005  0.349  0.001  0.018 -0.002 -1.023]
+t: 97	 action: [-0.154 -0.017  0.544  0.004  0.003 -0.003 -1.045]
+t: 98	 action: [-5.263e-02 -1.561e-01  3.654e-01  4.109e-02  1.629e-02 -6.886e-04 -1.033e+00]
+t: 99	 action: [-0.087 -0.196  0.351  0.033  0.009 -0.005 -1.063]
+t: 100	 action: [-0.133 -0.144  0.264  0.038  0.012  0.006 -1.058]
+t: 101	 action: [-0.087 -0.242  0.153  0.031  0.01   0.002 -1.092]
+t: 102	 action: [-2.856e-01 -1.359e-01  6.262e-02  1.755e-02  1.193e-02  5.308e-04 -1.035e+00]
+t: 103	 action: [-3.688e-01 -2.124e-01 -3.839e-03  2.141e-02 -1.852e-04  3.372e-03 -1.039e+00]
+t: 104	 action: [-0.459 -0.173 -0.106  0.004  0.012  0.002 -0.517]
+t: 105	 action: [-4.025e-01 -2.601e-01 -8.848e-02  1.628e-02  1.694e-04  1.504e-02  1.123e+00]
+[07-31 01:58:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6458
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.6458
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6458
+t=106: Selected seed 195 with value = 0.6458
+t: 106	 action: [-0.006  0.193 -0.291  0.004  0.003  0.02  -1.005]
+t: 107	 action: [ 0.02   0.135 -0.181  0.008  0.007  0.014 -0.975]
+t: 108	 action: [-2.245e-02  1.311e-01 -1.326e-01  7.437e-04  1.349e-02  1.327e-02 -1.017e+00]
+t: 109	 action: [ 0.013  0.051 -0.011  0.004  0.015  0.003 -1.019]
+t: 110	 action: [-0.054  0.12   0.019  0.002  0.021  0.011 -1.019]
+t: 111	 action: [-5.968e-02  1.587e-01  1.651e-01  8.999e-04  1.388e-02  1.028e-02 -1.046e+00]
+t: 112	 action: [-9.432e-02  6.018e-02  3.079e-01 -2.053e-04  2.651e-02  1.731e-04 -1.022e+00]
+t: 113	 action: [-0.08   0.069  0.451 -0.003  0.02  -0.002 -1.047]
+t: 114	 action: [-0.057  0.012  0.509  0.027 -0.001 -0.008 -1.039]
+t: 115	 action: [-0.149 -0.054  0.508  0.04  -0.002 -0.011 -1.049]
+t: 116	 action: [-1.470e-01 -1.392e-02  3.865e-01  3.241e-02 -7.094e-03  3.308e-04 -1.050e+00]
+t: 117	 action: [-0.212 -0.102  0.322  0.041 -0.005 -0.01  -1.037]
+t: 118	 action: [-0.439 -0.098  0.233  0.052 -0.011 -0.009 -1.033]
+t: 119	 action: [-0.573 -0.118  0.147  0.035 -0.024 -0.011 -1.055]
+t: 120	 action: [-0.668 -0.124  0.092  0.045 -0.018 -0.005 -1.026]
+t: 121	 action: [-0.669 -0.142  0.005  0.028 -0.027 -0.006 -1.045]
+[07-31 01:58:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5970
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=122: Selected seed 195 with value = 0.5970
+t: 122	 action: [ 1.018e-01  3.516e-01 -2.648e-01  2.769e-03  8.359e-04  1.355e-02 -1.023e+00]
+t: 123	 action: [ 0.179  0.332 -0.183  0.005  0.009  0.009 -1.019]
+t: 124	 action: [ 1.065e-01  1.610e-01 -1.653e-01  9.762e-06  1.250e-02  1.131e-02 -1.026e+00]
+t: 125	 action: [ 1.578e-01  9.083e-02 -3.139e-02  3.902e-03  1.805e-02  9.361e-04 -1.025e+00]
+t: 126	 action: [ 0.053  0.124  0.008  0.004  0.014  0.004 -1.014]
+t: 127	 action: [ 0.018  0.14   0.154  0.005  0.012  0.005 -1.049]
+t: 128	 action: [-0.002  0.012  0.283  0.002  0.021 -0.002 -1.023]
+t: 129	 action: [ 0.002  0.013  0.481  0.005  0.02  -0.006 -1.05 ]
+t: 130	 action: [ 0.053 -0.062  0.545  0.022 -0.005 -0.005 -1.033]
+t: 131	 action: [ 0.008 -0.106  0.582  0.034 -0.002 -0.008 -1.046]
+t: 132	 action: [-0.046 -0.053  0.483  0.025 -0.011  0.002 -1.041]
+t: 133	 action: [-0.099 -0.174  0.444  0.034 -0.01  -0.009 -1.038]
+t: 134	 action: [-0.277 -0.118  0.344  0.044 -0.02  -0.004 -1.031]
+t: 135	 action: [-0.461 -0.176  0.24   0.024 -0.037 -0.008 -1.051]
+t: 136	 action: [-0.577 -0.162  0.19   0.037 -0.027 -0.004 -1.032]
+t: 137	 action: [-0.593 -0.248  0.075  0.017 -0.037 -0.006 -1.041]
+[07-31 01:59:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4882
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4882
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4882
+t=138: Selected seed 195 with value = 0.4882
+t: 138	 action: [ 0.137  0.4   -0.291  0.006  0.008  0.005 -1.026]
+t: 139	 action: [ 2.109e-01  3.718e-01 -2.460e-01  7.390e-03  1.870e-02  6.844e-04 -1.029e+00]
+t: 140	 action: [ 0.146  0.14  -0.157  0.002  0.02   0.004 -1.033]
+t: 141	 action: [ 0.202  0.088 -0.047  0.004  0.031 -0.007 -1.031]
+t: 142	 action: [ 0.101  0.076  0.071  0.007  0.02  -0.003 -1.015]
+t: 143	 action: [ 0.077  0.06   0.196  0.007  0.027 -0.006 -1.056]
+t: 144	 action: [ 0.053 -0.011  0.327  0.005  0.028 -0.008 -1.025]
+t: 145	 action: [ 0.061 -0.049  0.474  0.004  0.032 -0.016 -1.061]
+t: 146	 action: [ 0.054 -0.196  0.427  0.042  0.002 -0.006 -1.023]
+t: 147	 action: [-5.123e-02 -2.263e-01  4.052e-01  3.374e-02  2.646e-04 -6.598e-03 -1.040e+00]
+t: 148	 action: [-1.192e-01 -9.748e-02  2.936e-01  3.184e-02 -5.135e-03 -1.668e-04 -1.038e+00]
+t: 149	 action: [-0.224 -0.205  0.139  0.025 -0.003 -0.01  -1.04 ]
+t: 150	 action: [-3.593e-01 -1.411e-01  1.119e-01  2.912e-02 -1.202e-02 -8.823e-04 -1.021e+00]
+t: 151	 action: [-0.486 -0.164  0.009  0.003 -0.022 -0.005 -1.054]
+t: 152	 action: [-0.591 -0.144 -0.04   0.018 -0.016 -0.002 -1.029]
+t: 153	 action: [-0.554 -0.174 -0.133 -0.008 -0.02  -0.006 -1.027]
+[07-31 01:59:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4320
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.4320
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4320
+t=154: Selected seed 195 with value = 0.4320
+t: 154	 action: [ 1.906e-01  2.723e-01 -2.169e-01  6.264e-03  3.128e-03 -1.414e-05 -1.036e+00]
+t: 155	 action: [ 0.22   0.321 -0.223  0.009  0.008 -0.01  -1.039]
+t: 156	 action: [ 0.172  0.115 -0.151  0.007  0.011 -0.001 -1.04 ]
+t: 157	 action: [ 0.175  0.128 -0.141  0.005  0.013 -0.017 -1.05 ]
+t: 158	 action: [ 0.096  0.085 -0.122  0.005  0.011 -0.006 -1.025]
+t: 159	 action: [ 0.073  0.056 -0.084  0.01   0.013 -0.014 -1.057]
+t: 160	 action: [ 5.321e-02  1.313e-02 -8.265e-02 -1.339e-04  1.625e-02 -7.230e-03 -1.031e+00]
+t: 161	 action: [ 0.055 -0.005 -0.041  0.002  0.01  -0.021 -1.066]
+t: 162	 action: [ 0.048 -0.176 -0.089  0.033  0.01  -0.002 -1.027]
+t: 163	 action: [-0.018 -0.167 -0.169  0.015  0.009 -0.006 -1.044]
+t: 164	 action: [-0.071 -0.123 -0.195  0.009  0.005  0.004 -1.015]
+t: 165	 action: [-0.124 -0.142 -0.336  0.003  0.004 -0.005 -0.999]
+t: 166	 action: [-2.698e-01 -3.676e-02 -3.254e-01 -1.299e-04 -6.512e-03 -1.285e-03 -1.022e+00]
+t: 167	 action: [-0.298 -0.011 -0.329 -0.024 -0.014 -0.01  -1.049]
+t: 168	 action: [-3.172e-01 -2.999e-02 -4.547e-01 -6.735e-03 -1.125e-02 -7.228e-04 -9.619e-01]
+t: 169	 action: [-0.243  0.004 -0.401 -0.041 -0.024  0.01   0.635]
+[07-31 01:59:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5331
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5331
+Query 1/1: Action query time = 0.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5331
+t=170: Selected seed 195 with value = 0.5331
+t: 170	 action: [ 1.739e-01  3.303e-01 -3.617e-01  1.246e-02 -8.507e-04  4.095e-03 -1.043e+00]
+t: 171	 action: [ 0.209  0.338 -0.302  0.012  0.009 -0.001 -1.034]
+t: 172	 action: [ 0.132  0.156 -0.274  0.013  0.006  0.004 -1.046]
+t: 173	 action: [ 0.15   0.129 -0.17   0.009  0.015 -0.008 -1.035]
+t: 174	 action: [ 0.077  0.13  -0.105  0.012  0.011 -0.002 -1.032]
+t: 175	 action: [ 0.04   0.121  0.058  0.014  0.013 -0.005 -1.059]
+t: 176	 action: [ 0.018  0.011  0.129  0.008  0.013 -0.005 -1.039]
+t: 177	 action: [ 0.027  0.007  0.243  0.01   0.011 -0.014 -1.06 ]
+t: 178	 action: [ 0.08  -0.254  0.381  0.049 -0.001 -0.013 -1.052]
+t: 179	 action: [ 0.05  -0.232  0.326  0.038 -0.006 -0.013 -1.04 ]
+t: 180	 action: [ 0.027 -0.222  0.268  0.041 -0.014 -0.005 -1.061]
+t: 181	 action: [ 0.015 -0.239  0.08   0.027 -0.017 -0.014 -1.046]
+t: 182	 action: [-0.097 -0.138  0.153  0.036 -0.016 -0.004 -1.048]
+t: 183	 action: [-0.149 -0.119  0.01   0.004 -0.03  -0.01  -1.05 ]
+t: 184	 action: [-0.173 -0.078 -0.055  0.008 -0.025 -0.004 -1.053]
+t: 185	 action: [-0.173 -0.069 -0.21  -0.016 -0.033 -0.01  -1.048]
+[07-31 01:59:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5370
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.5370
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5370
+t=186: Selected seed 195 with value = 0.5370
+t: 186	 action: [ 0.148  0.263 -0.307  0.017 -0.002  0.004 -1.043]
+t: 187	 action: [ 1.597e-01  2.722e-01 -2.803e-01  1.516e-02  7.912e-03 -9.112e-04 -1.034e+00]
+t: 188	 action: [ 0.104  0.113 -0.252  0.018  0.005  0.003 -1.047]
+t: 189	 action: [ 0.107  0.1   -0.17   0.013  0.013 -0.008 -1.034]
+t: 190	 action: [ 0.052  0.109 -0.116  0.015  0.01  -0.001 -1.034]
+t: 191	 action: [ 0.019  0.112  0.04   0.016  0.013 -0.003 -1.06 ]
+t: 192	 action: [-0.007  0.012  0.091  0.01   0.013 -0.004 -1.041]
+t: 193	 action: [ 0.01   0.015  0.194  0.011  0.013 -0.012 -1.06 ]
+t: 194	 action: [ 0.06  -0.265  0.351  0.048  0.004 -0.013 -1.05 ]
+t: 195	 action: [ 0.033 -0.242  0.305  0.036  0.002 -0.012 -1.04 ]
+t: 196	 action: [ 0.013 -0.224  0.272  0.039 -0.01  -0.005 -1.061]
+t: 197	 action: [ 0.004 -0.249  0.088  0.026 -0.008 -0.013 -1.047]
+t: 198	 action: [-0.111 -0.13   0.146  0.032 -0.013 -0.004 -1.047]
+t: 199	 action: [-0.162 -0.128  0.011 -0.002 -0.026 -0.008 -1.052]
+t: 200	 action: [-0.181 -0.072 -0.051  0.004 -0.023 -0.003 -1.051]
+t: 201	 action: [-0.175 -0.082 -0.197 -0.024 -0.03  -0.008 -1.033]
+[07-31 01:59:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5490
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.5490
+Query 1/1: Action query time = 0.991 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5490
+t=202: Selected seed 195 with value = 0.5490
+t: 202	 action: [ 0.137  0.24  -0.294  0.017 -0.004  0.004 -1.039]
+t: 203	 action: [ 1.411e-01  2.544e-01 -2.771e-01  1.514e-02  6.712e-03  3.816e-04 -1.033e+00]
+t: 204	 action: [ 0.092  0.111 -0.261  0.017  0.003  0.003 -1.043]
+t: 205	 action: [ 0.091  0.103 -0.185  0.011  0.01  -0.006 -1.034]
+t: 206	 action: [ 4.756e-02  1.131e-01 -1.502e-01  1.397e-02  7.832e-03  1.399e-04 -1.033e+00]
+t: 207	 action: [ 0.015  0.125  0.013  0.015  0.012 -0.001 -1.06 ]
+t: 208	 action: [-0.014  0.022  0.06   0.007  0.01  -0.003 -1.041]
+t: 209	 action: [ 0.006  0.037  0.173  0.008  0.009 -0.01  -1.059]
+t: 210	 action: [ 0.043 -0.224  0.349  0.041  0.005 -0.015 -1.049]
+t: 211	 action: [ 0.025 -0.196  0.346  0.031  0.004 -0.014 -1.041]
+t: 212	 action: [ 0.007 -0.188  0.313  0.032 -0.008 -0.007 -1.06 ]
+t: 213	 action: [ 0.003 -0.214  0.148  0.022 -0.004 -0.015 -1.047]
+t: 214	 action: [-0.109 -0.097  0.214  0.026 -0.011 -0.005 -1.048]
+t: 215	 action: [-0.145 -0.113  0.079 -0.007 -0.023 -0.011 -1.051]
+t: 216	 action: [-1.651e-01 -5.297e-02  1.378e-02  7.949e-04 -2.200e-02 -4.563e-03 -1.052e+00]
+t: 217	 action: [-0.147 -0.088 -0.112 -0.027 -0.027 -0.009 -1.03 ]
+[07-31 01:59:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5471
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.5471
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5471
+t=218: Selected seed 195 with value = 0.5471
+t: 218	 action: [ 0.135  0.202 -0.256  0.019 -0.007  0.003 -1.039]
+t: 219	 action: [ 0.137  0.219 -0.25   0.015  0.005 -0.002 -1.032]
+t: 220	 action: [ 9.004e-02  8.699e-02 -2.383e-01  2.135e-02 -7.372e-04  2.274e-03 -1.043e+00]
+t: 221	 action: [ 0.088  0.085 -0.182  0.012  0.008 -0.009 -1.033]
+t: 222	 action: [ 5.119e-02  8.964e-02 -1.538e-01  1.595e-02  4.533e-03 -4.119e-04 -1.035e+00]
+t: 223	 action: [ 0.016  0.105 -0.001  0.016  0.011 -0.002 -1.06 ]
+t: 224	 action: [-0.007  0.021  0.04   0.011  0.008 -0.003 -1.041]
+t: 225	 action: [ 0.008  0.038  0.139  0.01   0.007 -0.012 -1.059]
+t: 226	 action: [ 0.037 -0.218  0.326  0.042  0.006 -0.015 -1.05 ]
+t: 227	 action: [ 0.021 -0.191  0.319  0.03   0.006 -0.014 -1.042]
+t: 228	 action: [ 0.013 -0.19   0.28   0.034 -0.007 -0.004 -1.059]
+t: 229	 action: [ 0.007 -0.211  0.127  0.023 -0.001 -0.014 -1.047]
+t: 230	 action: [-0.109 -0.089  0.175  0.025 -0.01  -0.003 -1.05 ]
+t: 231	 action: [-0.127 -0.106  0.044 -0.011 -0.02  -0.009 -1.05 ]
+t: 232	 action: [-0.153 -0.051 -0.032 -0.002 -0.02  -0.003 -1.048]
+t: 233	 action: [-0.125 -0.086 -0.141 -0.032 -0.024 -0.006 -1.003]
+[07-31 01:59:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5494
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 0.997 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=234: Selected seed 195 with value = 0.5494
+t: 234	 action: [ 0.136  0.18  -0.24   0.02  -0.009  0.001 -1.038]
+t: 235	 action: [ 0.133  0.197 -0.229  0.015  0.002 -0.005 -1.029]
+t: 236	 action: [ 0.09   0.079 -0.239  0.024 -0.005  0.002 -1.042]
+t: 237	 action: [ 0.082  0.081 -0.182  0.012  0.007 -0.011 -1.032]
+t: 238	 action: [ 4.539e-02  8.329e-02 -1.707e-01  1.758e-02  6.303e-04 -4.870e-04 -1.036e+00]
+t: 239	 action: [ 0.012  0.112 -0.022  0.016  0.009 -0.004 -1.061]
+t: 240	 action: [-0.013  0.031  0.003  0.012  0.003 -0.003 -1.041]
+t: 241	 action: [ 0.006  0.056  0.101  0.01   0.005 -0.013 -1.06 ]
+t: 242	 action: [ 0.027 -0.202  0.284  0.041  0.005 -0.013 -1.049]
+t: 243	 action: [ 0.015 -0.172  0.287  0.028  0.006 -0.014 -1.042]
+t: 244	 action: [ 0.01  -0.174  0.256  0.033 -0.006 -0.002 -1.059]
+t: 245	 action: [ 7.733e-03 -1.896e-01  1.114e-01  2.123e-02  1.032e-03 -1.279e-02 -1.048e+00]
+t: 246	 action: [-0.111 -0.073  0.155  0.02  -0.01  -0.001 -1.052]
+t: 247	 action: [-0.123 -0.095  0.029 -0.016 -0.018 -0.007 -1.052]
+t: 248	 action: [-0.15  -0.045 -0.052 -0.005 -0.019 -0.002 -1.044]
+t: 249	 action: [-0.114 -0.079 -0.158 -0.037 -0.022 -0.001 -0.938]
+[07-31 01:59:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5595
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.5595
+Query 1/1: Action query time = 0.991 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5595
+t=250: Selected seed 195 with value = 0.5595
+t: 250	 action: [ 0.141  0.177 -0.24   0.015 -0.012  0.001 -1.036]
+t: 251	 action: [ 0.144  0.192 -0.216  0.011 -0.002 -0.007 -1.028]
+t: 252	 action: [ 9.401e-02  8.839e-02 -2.393e-01  1.834e-02 -7.662e-03  6.580e-04 -1.043e+00]
+t: 253	 action: [ 0.086  0.084 -0.166  0.008  0.005 -0.013 -1.04 ]
+t: 254	 action: [ 5.647e-02  7.697e-02 -1.724e-01  1.280e-02 -1.996e-03 -3.032e-04 -1.037e+00]
+t: 255	 action: [ 0.013  0.112 -0.023  0.012  0.007 -0.005 -1.063]
+t: 256	 action: [-0.007  0.026  0.01   0.009  0.002 -0.003 -1.042]
+t: 257	 action: [ 0.004  0.05   0.1    0.006  0.005 -0.013 -1.062]
+t: 258	 action: [ 0.019 -0.193  0.278  0.04   0.004 -0.014 -1.048]
+t: 259	 action: [ 0.011 -0.175  0.271  0.026  0.005 -0.015 -1.05 ]
+t: 260	 action: [ 4.843e-03 -1.771e-01  2.304e-01  2.864e-02 -4.962e-03 -1.286e-04 -1.040e+00]
+t: 261	 action: [ 7.515e-03 -2.011e-01  8.801e-02  2.062e-02  9.552e-04 -1.129e-02 -9.976e-01]
+t: 262	 action: [-0.107 -0.072  0.131  0.016 -0.01  -0.002 -1.052]
+t: 263	 action: [-0.124 -0.103  0.002 -0.02  -0.017 -0.007 -1.054]
+t: 264	 action: [-1.430e-01 -5.755e-02 -8.983e-02 -9.053e-03 -1.732e-02 -4.966e-04 -9.834e-01]
+t: 265	 action: [-0.113 -0.087 -0.204 -0.044 -0.021  0.012  0.653]
+[07-31 01:59:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5821
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.5821
+Query 1/1: Action query time = 0.997 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5821
+t=266: Selected seed 195 with value = 0.5821
+t: 266	 action: [ 1.316e-01  1.676e-01 -2.559e-01  1.224e-02 -1.408e-02  5.255e-04 -1.029e+00]
+t: 267	 action: [ 0.125  0.179 -0.228  0.008 -0.005 -0.009 -1.023]
+t: 268	 action: [ 7.340e-02  9.406e-02 -2.686e-01  1.498e-02 -1.031e-02 -9.928e-04 -1.040e+00]
+t: 269	 action: [ 0.059  0.086 -0.184  0.004  0.003 -0.015 -1.04 ]
+t: 270	 action: [ 4.115e-02  8.565e-02 -2.077e-01  1.005e-02 -4.237e-03  5.474e-04 -1.037e+00]
+t: 271	 action: [ 7.385e-04  1.225e-01 -4.675e-02  8.813e-03  4.894e-03 -4.731e-03 -1.065e+00]
+t: 272	 action: [-2.786e-02  3.200e-02 -1.355e-02  6.832e-03  1.662e-04 -2.441e-03 -1.042e+00]
+t: 273	 action: [-0.009  0.055  0.084  0.002  0.004 -0.013 -1.059]
+t: 274	 action: [ 7.486e-04 -1.962e-01  2.730e-01  3.986e-02  2.890e-03 -1.423e-02 -1.047e+00]
+t: 275	 action: [ 0.003 -0.18   0.256  0.025  0.004 -0.014 -1.055]
+t: 276	 action: [ 7.851e-03 -1.870e-01  2.069e-01  2.674e-02 -5.667e-03  9.611e-04 -1.033e+00]
+t: 277	 action: [ 1.268e-02 -2.002e-01  7.097e-02  2.024e-02  1.467e-04 -6.889e-03 -1.046e+00]
+t: 278	 action: [-1.073e-01 -7.074e-02  1.008e-01  1.460e-02 -1.123e-02 -1.038e-03 -1.055e+00]
+t: 279	 action: [-0.109 -0.104 -0.026 -0.021 -0.018 -0.004 -1.051]
+t: 280	 action: [-1.210e-01 -4.801e-02 -1.363e-01 -1.007e-02 -1.830e-02  6.353e-04 -9.595e-01]
+t: 281	 action: [-0.086 -0.077 -0.243 -0.047 -0.022  0.014  0.936]
+[07-31 01:59:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6026
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.6026
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6026
+t=282: Selected seed 195 with value = 0.6026
+t: 282	 action: [ 1.124e-01  1.041e-01 -2.895e-01  1.479e-02 -1.162e-02 -7.700e-04 -1.015e+00]
+t: 283	 action: [ 0.092  0.116 -0.261  0.009 -0.005 -0.01  -1.012]
+t: 284	 action: [ 0.048  0.062 -0.331  0.015 -0.009 -0.003 -1.033]
+t: 285	 action: [ 0.029  0.059 -0.239  0.004  0.003 -0.016 -1.043]
+t: 286	 action: [ 0.021  0.068 -0.26   0.01  -0.002  0.001 -1.034]
+t: 287	 action: [-0.016  0.113 -0.095  0.007  0.005 -0.004 -1.07 ]
+t: 288	 action: [-0.058  0.031 -0.06   0.004  0.002 -0.002 -1.04 ]
+t: 289	 action: [-0.046  0.058  0.045 -0.001  0.003 -0.012 -1.06 ]
+t: 290	 action: [-0.023 -0.179  0.22   0.035  0.003 -0.011 -1.046]
+t: 291	 action: [-0.012 -0.172  0.197  0.021  0.002 -0.013 -1.062]
+t: 292	 action: [-0.003 -0.169  0.159  0.019 -0.007  0.002 -1.028]
+t: 293	 action: [ 0.006 -0.176  0.041  0.015 -0.003 -0.003 -1.067]
+t: 294	 action: [-1.220e-01 -5.029e-02  5.019e-02  8.831e-03 -1.202e-02 -4.141e-04 -1.060e+00]
+t: 295	 action: [-0.118 -0.091 -0.053 -0.021 -0.021 -0.002 -1.046]
+t: 296	 action: [-1.153e-01 -2.476e-02 -1.726e-01 -1.054e-02 -2.009e-02  8.396e-04 -9.362e-01]
+t: 297	 action: [-0.087 -0.058 -0.246 -0.045 -0.026  0.015  1.021]
+[07-31 01:59:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6663
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.6663
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 91
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 82%|████████▏ | 41/50 [21:54<04:41, 31.29s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 42...
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=298: Selected seed 195 with value = 0.6663
+t: 298	 action: [ 0.061  0.02  -0.394  0.019 -0.005 -0.006 -0.966]
+t: 299	 action: [ 0.037  0.01  -0.428  0.011  0.002 -0.017 -0.958]
+t: 300	 action: [ 0.005  0.024 -0.473  0.013 -0.004 -0.01  -1.015]
+t: 301	 action: [-0.007  0.012 -0.432  0.004  0.006 -0.022 -1.041]
+t: 302	 action: [-3.653e-02  3.928e-02 -3.615e-01  8.545e-03  4.030e-03  5.607e-04 -1.029e+00]
+t: 303	 action: [-0.07   0.067 -0.298  0.006  0.005 -0.011 -1.077]
+t: 304	 action: [-1.006e-01  2.104e-02 -1.625e-01  9.584e-05  7.490e-03 -2.455e-03 -1.032e+00]
+t: 305	 action: [-0.121  0.039 -0.103 -0.005  0.002 -0.019 -1.059]
+t: 306	 action: [-6.215e-02 -1.161e-01  9.416e-02  1.795e-02 -4.415e-04 -6.871e-03 -1.033e+00]
+t: 307	 action: [-5.304e-02 -1.414e-01  9.176e-02  7.330e-03 -9.983e-04 -1.621e-02 -1.060e+00]
+t: 308	 action: [-0.051 -0.122  0.062  0.004 -0.011  0.001 -1.029]
+t: 309	 action: [-3.537e-02 -1.398e-01 -8.041e-05 -1.097e-03 -7.510e-03 -2.305e-03 -1.068e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=91--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=91--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 91
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 42...
+[07-31 01:59:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3699
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3699
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3699
+t=10: Selected seed 195 with value = 0.3699
+t: 10	 action: [ 0.406 -0.023  0.105  0.003  0.012  0.011 -1.028]
+t: 11	 action: [ 5.448e-01 -4.877e-02  1.519e-01 -8.507e-04  2.202e-02  8.925e-03 -1.021e+00]
+t: 12	 action: [ 0.707 -0.107  0.188  0.004  0.014  0.017 -1.023]
+t: 13	 action: [ 0.83  -0.132  0.231  0.003  0.026  0.012 -1.023]
+t: 14	 action: [ 0.882 -0.124  0.264  0.007  0.022  0.014 -1.03 ]
+t: 15	 action: [ 0.896 -0.182  0.254  0.007  0.021  0.014 -1.046]
+t: 16	 action: [ 0.93  -0.17   0.273  0.004  0.02   0.016 -1.024]
+t: 17	 action: [ 0.926 -0.21   0.241  0.014  0.024  0.015 -1.05 ]
+t: 18	 action: [ 0.901 -0.227  0.239  0.009  0.002  0.019 -1.032]
+t: 19	 action: [ 0.92  -0.234  0.255  0.01   0.013  0.013 -1.021]
+t: 20	 action: [ 9.226e-01 -2.300e-01  1.843e-01  8.921e-03  9.777e-04  1.617e-02 -1.020e+00]
+t: 21	 action: [ 0.934 -0.248  0.212  0.011  0.015  0.013 -1.013]
+t: 22	 action: [ 0.924 -0.244  0.176  0.008  0.006  0.015 -1.019]
+t: 23	 action: [ 0.941 -0.333  0.13   0.016  0.01   0.015 -1.041]
+t: 24	 action: [ 0.932 -0.216  0.105  0.006  0.007  0.009 -1.011]
+t: 25	 action: [ 0.941 -0.3    0.051  0.016  0.012  0.015 -1.042]
+[07-31 01:59:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4293
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4293
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4293
+t=26: Selected seed 195 with value = 0.4293
+t: 26	 action: [ 0.902 -0.305  0.105  0.006 -0.01   0.006 -1.027]
+t: 27	 action: [ 0.942 -0.258  0.093  0.011 -0.003 -0.005 -1.02 ]
+t: 28	 action: [ 0.909 -0.338  0.029  0.011 -0.01   0.007 -1.032]
+t: 29	 action: [ 0.944 -0.311  0.051  0.02  -0.002 -0.003 -1.024]
+t: 30	 action: [ 0.931 -0.286 -0.074  0.01  -0.011  0.004 -1.012]
+t: 31	 action: [ 9.061e-01 -2.482e-01 -1.063e-01  1.639e-02 -1.238e-02 -6.634e-04 -1.039e+00]
+t: 32	 action: [ 0.81  -0.186 -0.305  0.005 -0.019  0.004 -1.023]
+t: 33	 action: [ 7.469e-01 -1.615e-01 -3.692e-01  1.519e-02 -1.913e-02 -4.496e-04 -1.040e+00]
+t: 34	 action: [ 0.409 -0.123 -0.501  0.011 -0.054  0.008 -1.029]
+t: 35	 action: [ 2.519e-01 -9.541e-02 -5.810e-01  1.469e-02 -5.590e-02 -7.573e-04 -1.023e+00]
+t: 36	 action: [ 0.173 -0.073 -0.714  0.012 -0.085  0.009 -1.022]
+t: 37	 action: [ 0.042 -0.05  -0.759  0.017 -0.071  0.003 -1.016]
+t: 38	 action: [-0.005  0.018 -0.844  0.006 -0.09   0.005 -1.026]
+t: 39	 action: [-0.026 -0.019 -0.803  0.022 -0.067  0.007 -1.03 ]
+t: 40	 action: [-0.091  0.028 -0.872  0.004 -0.085  0.007 -1.02 ]
+t: 41	 action: [-0.048  0.017 -0.833  0.023 -0.053  0.013 -1.036]
+[07-31 01:59:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5286
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5286
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5286
+t=42: Selected seed 195 with value = 0.5286
+t: 42	 action: [-0.038  0.379 -0.782  0.008 -0.018  0.027 -1.003]
+t: 43	 action: [-0.047  0.5   -0.798  0.006 -0.021  0.027 -1.016]
+t: 44	 action: [-0.056  0.653 -0.648  0.007 -0.011  0.033 -1.001]
+t: 45	 action: [-0.061  0.71  -0.658  0.005 -0.011  0.027 -1.021]
+t: 46	 action: [-0.107  0.662 -0.648  0.004 -0.018  0.035 -0.994]
+t: 47	 action: [-0.11   0.686 -0.611  0.007 -0.014  0.029 -1.029]
+t: 48	 action: [-0.127  0.749 -0.585  0.004 -0.012  0.039 -0.991]
+t: 49	 action: [-0.122  0.775 -0.542  0.006 -0.005  0.027 -1.034]
+t: 50	 action: [-0.099  0.824 -0.544  0.005 -0.01   0.03  -1.003]
+t: 51	 action: [-0.081  0.804 -0.584  0.005 -0.014  0.025 -1.017]
+t: 52	 action: [-0.116  0.831 -0.52   0.006 -0.006  0.034 -1.006]
+t: 53	 action: [-0.083  0.786 -0.572  0.005 -0.008  0.024 -1.021]
+t: 54	 action: [-0.177  0.819 -0.525  0.002 -0.013  0.038 -0.998]
+t: 55	 action: [-0.171  0.821 -0.528  0.004 -0.017  0.025 -1.03 ]
+t: 56	 action: [-0.186  0.814 -0.518  0.003 -0.009  0.039 -1.   ]
+t: 57	 action: [-0.159  0.79  -0.521  0.003 -0.008  0.027 -1.037]
+[07-31 01:59:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5132
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5132
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5132
+t=58: Selected seed 195 with value = 0.5132
+t: 58	 action: [-0.138  0.826 -0.479  0.007 -0.008  0.024 -0.997]
+t: 59	 action: [-0.106  0.811 -0.48   0.012 -0.009  0.028 -0.995]
+t: 60	 action: [-0.173  0.859 -0.491  0.008 -0.008  0.031 -0.986]
+t: 61	 action: [-0.133  0.818 -0.488  0.016 -0.013  0.031 -0.997]
+t: 62	 action: [-0.156  0.832 -0.456  0.013 -0.008  0.035 -0.983]
+t: 63	 action: [-0.148  0.838 -0.477  0.018 -0.015  0.036 -1.012]
+t: 64	 action: [-0.193  0.847 -0.473  0.015 -0.008  0.047 -0.978]
+t: 65	 action: [-0.155  0.843 -0.489  0.021 -0.01   0.038 -1.022]
+t: 66	 action: [-0.021  0.858 -0.391  0.02  -0.014  0.048 -1.009]
+t: 67	 action: [ 0.008  0.787 -0.47   0.024 -0.007  0.039 -1.016]
+t: 68	 action: [-0.008  0.812 -0.359  0.014 -0.012  0.048 -1.011]
+t: 69	 action: [ 0.017  0.73  -0.424  0.02   0.002  0.028 -1.016]
+t: 70	 action: [ 3.569e-04  5.593e-01 -2.946e-01  1.199e-02  5.226e-03  4.831e-02 -9.971e-01]
+t: 71	 action: [ 0.029  0.307 -0.233  0.025  0.005  0.037 -1.03 ]
+t: 72	 action: [ 0.077  0.136 -0.032  0.01   0.047  0.027 -0.994]
+t: 73	 action: [ 0.082 -0.021  0.13   0.022  0.048  0.018 -1.036]
+[07-31 01:59:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6074
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6074
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6074
+t=74: Selected seed 195 with value = 0.6074
+t: 74	 action: [ 0.057  0.072 -0.197  0.003  0.004  0.031 -1.024]
+t: 75	 action: [ 0.051  0.025 -0.05   0.004  0.011  0.021 -1.02 ]
+t: 76	 action: [ 0.047  0.041  0.009  0.002  0.012  0.015 -1.025]
+t: 77	 action: [ 0.045 -0.042  0.104  0.002  0.015  0.012 -1.028]
+t: 78	 action: [-0.031  0.006  0.016  0.004  0.021  0.025 -1.017]
+t: 79	 action: [-0.043  0.037  0.19   0.004  0.013  0.02  -1.044]
+t: 80	 action: [-0.062 -0.042  0.392  0.006  0.028  0.006 -1.024]
+t: 81	 action: [-0.036 -0.053  0.538  0.006  0.019  0.008 -1.05 ]
+t: 82	 action: [ 0.048 -0.226  0.521  0.038  0.014  0.008 -1.046]
+t: 83	 action: [ 0.005 -0.231  0.473  0.034  0.005  0.003 -1.062]
+t: 84	 action: [ 0.012 -0.248  0.372  0.039  0.004  0.009 -1.05 ]
+t: 85	 action: [ 8.073e-04 -3.143e-01  2.568e-01  3.317e-02  1.638e-03  5.860e-03 -1.042e+00]
+t: 86	 action: [-0.144 -0.152  0.173  0.044  0.004  0.007 -1.041]
+t: 87	 action: [-0.236 -0.173  0.095  0.027 -0.014  0.012 -1.059]
+t: 88	 action: [-0.292 -0.131  0.029  0.027 -0.002  0.007 -1.022]
+t: 89	 action: [-0.29  -0.162 -0.01   0.019 -0.012  0.016 -0.925]
+[07-31 01:59:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6108
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6108
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6108
+t=90: Selected seed 195 with value = 0.6108
+t: 90	 action: [ 0.076  0.347 -0.178  0.004  0.013  0.043 -1.008]
+t: 91	 action: [ 1.225e-01  2.938e-01 -6.138e-02  8.521e-05  1.940e-02  3.141e-02 -9.904e-01]
+t: 92	 action: [ 0.084  0.165 -0.015 -0.001  0.029  0.035 -1.009]
+t: 93	 action: [ 0.103  0.065  0.145 -0.001  0.034  0.019 -1.011]
+t: 94	 action: [ 0.04   0.102  0.127  0.004  0.031  0.025 -1.001]
+t: 95	 action: [ 0.008  0.088  0.269  0.003  0.028  0.024 -1.032]
+t: 96	 action: [ 0.001  0.004  0.416  0.004  0.044  0.013 -1.011]
+t: 97	 action: [-0.011 -0.019  0.557  0.006  0.042  0.012 -1.04 ]
+t: 98	 action: [-0.048 -0.064  0.539  0.019  0.01   0.011 -1.023]
+t: 99	 action: [-0.144 -0.16   0.531  0.023  0.002  0.011 -1.04 ]
+t: 100	 action: [-1.552e-01 -7.900e-02  3.928e-01  2.105e-02  8.892e-04  1.206e-02 -1.031e+00]
+t: 101	 action: [-0.215 -0.249  0.361  0.025 -0.002  0.011 -1.024]
+t: 102	 action: [-0.409 -0.147  0.248  0.044 -0.001  0.007 -1.018]
+t: 103	 action: [-0.519 -0.209  0.142  0.02  -0.014  0.013 -1.045]
+t: 104	 action: [-0.672 -0.191  0.091  0.038 -0.01   0.013 -1.014]
+t: 105	 action: [-0.666 -0.257  0.014  0.016 -0.012  0.016 -1.022]
+[07-31 01:59:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5793
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.5793
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5793
+t=106: Selected seed 195 with value = 0.5793
+t: 106	 action: [ 7.005e-02  3.500e-01 -1.577e-01  1.495e-06  2.450e-02  1.109e-02 -1.015e+00]
+t: 107	 action: [ 0.103  0.279 -0.052 -0.003  0.032  0.008 -1.012]
+t: 108	 action: [ 0.087  0.098  0.035 -0.004  0.038  0.008 -1.021]
+t: 109	 action: [ 7.271e-02  4.017e-02  1.988e-01 -2.472e-03  4.277e-02 -3.812e-04 -1.014e+00]
+t: 110	 action: [ 0.06   0.046  0.245  0.003  0.034 -0.001 -1.013]
+t: 111	 action: [ 0.003  0.008  0.385 -0.002  0.027 -0.002 -1.043]
+t: 112	 action: [-0.017 -0.026  0.493  0.004  0.04  -0.004 -1.023]
+t: 113	 action: [-0.072 -0.072  0.594  0.002  0.033 -0.01  -1.045]
+t: 114	 action: [-0.058 -0.157  0.443  0.023  0.018  0.002 -1.034]
+t: 115	 action: [-0.237 -0.233  0.42   0.016  0.019 -0.006 -1.043]
+t: 116	 action: [-0.264 -0.082  0.293  0.011  0.012  0.003 -1.053]
+t: 117	 action: [-0.386 -0.23   0.188  0.009  0.02  -0.007 -1.028]
+t: 118	 action: [-0.602 -0.149  0.124  0.014  0.003  0.004 -1.018]
+t: 119	 action: [-0.637 -0.204  0.031 -0.018 -0.007 -0.005 -1.048]
+t: 120	 action: [-7.632e-01 -1.398e-01 -4.278e-03  1.724e-03 -4.421e-04  3.215e-03 -1.019e+00]
+t: 121	 action: [-0.758 -0.214 -0.049 -0.029 -0.004 -0.002 -1.036]
+[07-31 01:59:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3798
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.3798
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3798
+t=122: Selected seed 195 with value = 0.3798
+t: 122	 action: [ 0.116  0.02   0.264 -0.004  0.021 -0.003 -1.004]
+t: 123	 action: [ 0.094  0.033  0.226 -0.008  0.011 -0.014 -1.036]
+t: 124	 action: [ 0.027 -0.028  0.207 -0.003  0.016 -0.009 -1.015]
+t: 125	 action: [-0.036 -0.039  0.13  -0.01   0.009 -0.022 -1.046]
+t: 126	 action: [-1.922e-01  3.609e-03  5.583e-02 -1.967e-04  1.313e-02 -7.138e-03 -1.004e+00]
+t: 127	 action: [-0.202  0.027  0.022 -0.006  0.005 -0.021 -1.057]
+t: 128	 action: [-0.327 -0.023 -0.09  -0.006  0.005 -0.011 -1.02 ]
+t: 129	 action: [-0.273 -0.006 -0.058 -0.012  0.003 -0.028 -1.065]
+t: 130	 action: [-0.39  -0.076 -0.351  0.002 -0.022  0.002 -1.022]
+t: 131	 action: [-0.45  -0.08  -0.497 -0.014 -0.023 -0.008 -1.051]
+t: 132	 action: [-4.408e-01 -9.290e-02 -5.099e-01 -5.432e-04 -3.085e-02  9.528e-04 -1.026e+00]
+t: 133	 action: [-0.417 -0.092 -0.612 -0.018 -0.03  -0.011 -1.032]
+t: 134	 action: [-5.664e-01 -3.923e-02 -6.694e-01 -3.397e-03 -3.863e-02 -1.147e-04 -1.012e+00]
+t: 135	 action: [-0.457 -0.029 -0.665 -0.018 -0.051 -0.016 -1.064]
+t: 136	 action: [-0.452 -0.065 -0.698 -0.005 -0.043 -0.004 -1.018]
+t: 137	 action: [-0.362 -0.05  -0.679 -0.019 -0.05  -0.019 -1.029]
+[07-31 01:59:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4829
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=138: Selected seed 195 with value = 0.4829
+t: 138	 action: [ 0.284  0.426 -0.346 -0.001 -0.002  0.006 -1.04 ]
+t: 139	 action: [ 0.307  0.455 -0.279 -0.002  0.002  0.002 -1.033]
+t: 140	 action: [ 2.574e-01  2.183e-01 -3.057e-01 -3.143e-03  6.394e-04  7.264e-03 -1.044e+00]
+t: 141	 action: [ 2.541e-01  1.789e-01 -1.931e-01 -1.001e-03  2.500e-03 -9.426e-05 -1.033e+00]
+t: 142	 action: [ 0.21   0.188 -0.153  0.003  0.004  0.002 -1.035]
+t: 143	 action: [ 0.147  0.125 -0.06   0.003 -0.002 -0.001 -1.055]
+t: 144	 action: [ 1.589e-01  3.913e-02 -2.470e-02 -4.799e-03  4.469e-03 -8.294e-04 -1.042e+00]
+t: 145	 action: [ 0.127  0.002  0.036  0.003 -0.006 -0.005 -1.059]
+t: 146	 action: [ 0.1   -0.141  0.047  0.016 -0.01   0.006 -1.058]
+t: 147	 action: [ 0.058 -0.181 -0.037  0.014 -0.017 -0.002 -1.048]
+t: 148	 action: [ 0.059 -0.159 -0.035  0.014 -0.021  0.004 -1.063]
+t: 149	 action: [ 0.006 -0.163 -0.213  0.008 -0.031 -0.004 -1.048]
+t: 150	 action: [-8.268e-02 -1.097e-01 -1.470e-01  1.498e-02 -2.837e-02  7.761e-04 -1.050e+00]
+t: 151	 action: [-0.16  -0.1   -0.23   0.01  -0.046 -0.005 -1.056]
+t: 152	 action: [-0.124 -0.048 -0.304 -0.003 -0.034 -0.003 -1.056]
+t: 153	 action: [-1.777e-01 -4.402e-02 -3.899e-01 -4.701e-04 -4.782e-02 -6.493e-03 -1.058e+00]
+[07-31 01:59:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4794
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 0.993 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=154: Selected seed 195 with value = 0.4794
+t: 154	 action: [ 0.225  0.245 -0.426 -0.003 -0.003  0.01  -1.054]
+t: 155	 action: [ 0.254  0.289 -0.319 -0.004 -0.009  0.008 -1.037]
+t: 156	 action: [ 0.204  0.109 -0.362 -0.003 -0.002  0.007 -1.056]
+t: 157	 action: [ 0.21   0.118 -0.226 -0.001 -0.01   0.004 -1.03 ]
+t: 158	 action: [ 0.161  0.148 -0.217  0.002  0.004  0.008 -1.043]
+t: 159	 action: [ 0.116  0.162 -0.067  0.003 -0.013  0.007 -1.056]
+t: 160	 action: [ 1.516e-01  4.079e-02 -3.153e-02 -5.338e-03  5.098e-04 -7.346e-05 -1.049e+00]
+t: 161	 action: [ 1.266e-01  6.222e-02  5.620e-02  1.165e-03 -1.604e-02 -4.487e-04 -1.052e+00]
+t: 162	 action: [ 0.26  -0.113  0.155  0.031 -0.003 -0.004 -1.077]
+t: 163	 action: [ 2.206e-01 -1.158e-01  6.868e-02  1.949e-02 -7.938e-04 -5.954e-03 -1.050e+00]
+t: 164	 action: [ 0.226 -0.114  0.015  0.022 -0.016  0.002 -1.091]
+t: 165	 action: [ 0.152 -0.122 -0.125  0.012 -0.013 -0.005 -1.046]
+t: 166	 action: [ 0.084 -0.056 -0.107  0.017 -0.019 -0.004 -1.061]
+t: 167	 action: [-0.03  -0.077 -0.201  0.013 -0.03  -0.004 -1.05 ]
+t: 168	 action: [-0.043 -0.02  -0.341 -0.004 -0.027 -0.003 -1.072]
+t: 169	 action: [-0.091 -0.05  -0.429  0.002 -0.037 -0.001 -1.046]
+[07-31 01:59:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5080
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5080
+Query 1/1: Action query time = 1.002 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5080
+t=170: Selected seed 195 with value = 0.5080
+t: 170	 action: [ 0.045  0.147 -0.595  0.004  0.011  0.005 -1.05 ]
+t: 171	 action: [ 0.043  0.194 -0.43   0.009  0.011  0.006 -1.035]
+t: 172	 action: [ 0.025  0.144 -0.486  0.008  0.011  0.003 -1.056]
+t: 173	 action: [ 0.029  0.163 -0.305  0.008  0.01   0.004 -1.019]
+t: 174	 action: [-0.02   0.19  -0.361  0.001  0.017  0.006 -1.044]
+t: 175	 action: [-0.008  0.223 -0.176  0.013  0.006  0.01  -1.049]
+t: 176	 action: [-0.017  0.147 -0.128 -0.004  0.011 -0.002 -1.052]
+t: 177	 action: [ 3.667e-03  1.557e-01 -1.229e-02  7.306e-03  5.472e-04  2.094e-03 -1.042e+00]
+t: 178	 action: [ 1.713e-01  4.592e-02  1.093e-01  1.591e-02 -7.932e-04 -6.823e-04 -1.080e+00]
+t: 179	 action: [ 0.185  0.031  0.078  0.009 -0.002 -0.003 -1.046]
+t: 180	 action: [ 0.163  0.029 -0.034  0.012 -0.012  0.004 -1.103]
+t: 181	 action: [ 0.147  0.003 -0.081  0.005 -0.008 -0.001 -1.043]
+t: 182	 action: [ 0.081  0.031 -0.145  0.001 -0.014 -0.003 -1.074]
+t: 183	 action: [-0.008  0.009 -0.131  0.003 -0.023  0.002 -1.045]
+t: 184	 action: [-0.015  0.016 -0.368 -0.007 -0.021 -0.002 -1.083]
+t: 185	 action: [-0.066 -0.012 -0.299 -0.005 -0.025  0.005 -0.992]
+[07-31 01:59:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.008 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6177
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.6177
+Query 1/1: Action query time = 1.008 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6177
+t=186: Selected seed 195 with value = 0.6177
+t: 186	 action: [-0.01   0.006 -0.637 -0.005  0.013  0.014 -1.202]
+t: 187	 action: [-0.01  -0.022 -0.53  -0.008  0.011  0.014 -1.109]
+t: 188	 action: [-0.023  0.011 -0.603 -0.006  0.02   0.014 -1.199]
+t: 189	 action: [-0.041 -0.025 -0.481 -0.004  0.017  0.016 -1.138]
+t: 190	 action: [-0.004  0.033 -0.445 -0.007  0.026  0.012  1.05 ]
+t: 191	 action: [ 0.043  0.027 -0.322 -0.012  0.013  0.012  1.163]
+t: 192	 action: [ 0.018  0.02  -0.175 -0.005  0.03   0.007  1.056]
+t: 193	 action: [ 0.042  0.005 -0.135 -0.01   0.022 -0.003  1.16 ]
+t: 194	 action: [ 0.027 -0.007 -0.329 -0.003  0.029  0.009  1.004]
+t: 195	 action: [ 0.033 -0.045 -0.195 -0.014  0.018  0.005  1.05 ]
+t: 196	 action: [ 0.04  -0.018 -0.378 -0.006  0.032  0.01   0.989]
+t: 197	 action: [ 0.035 -0.045 -0.271 -0.009  0.017  0.003  1.045]
+t: 198	 action: [ 0.05   0.002 -0.167 -0.006  0.032  0.005  1.033]
+t: 199	 action: [ 5.519e-02 -2.967e-02 -1.088e-01 -1.525e-02  6.747e-03 -3.045e-04  1.049e+00]
+t: 200	 action: [ 5.419e-02 -3.110e-02 -8.565e-02 -8.554e-03  3.442e-02  8.376e-04  1.022e+00]
+t: 201	 action: [ 0.073 -0.04  -0.08  -0.015  0.01  -0.005  1.043]
+[07-31 01:59:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6624
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.6624
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6624
+t=202: Selected seed 195 with value = 0.6624
+t: 202	 action: [-0.054  0.059 -0.028 -0.02  -0.033 -0.007  0.993]
+t: 203	 action: [-0.038  0.056  0.062 -0.02  -0.004 -0.012  1.042]
+t: 204	 action: [-0.036  0.078  0.223 -0.018 -0.033 -0.02   0.998]
+t: 205	 action: [-0.025  0.064  0.421 -0.015 -0.003 -0.021  1.047]
+t: 206	 action: [ 0.067  0.033  0.568 -0.007  0.005 -0.015  1.009]
+t: 207	 action: [ 0.081  0.039  0.714 -0.006  0.006 -0.028  1.049]
+t: 208	 action: [ 0.124  0.012  0.814  0.004  0.029 -0.032  0.993]
+t: 209	 action: [ 0.164 -0.046  0.854  0.013  0.045 -0.038  1.034]
+t: 210	 action: [ 0.125  0.034  0.699  0.002  0.051 -0.026  1.004]
+t: 211	 action: [ 0.085 -0.03   0.652  0.019  0.058 -0.026  1.042]
+t: 212	 action: [ 0.122 -0.069  0.526  0.018  0.048 -0.036  1.064]
+t: 213	 action: [ 0.076 -0.145  0.346  0.033  0.058 -0.056  1.032]
+t: 214	 action: [ 0.065 -0.239  0.261  0.044  0.046 -0.018  1.031]
+t: 215	 action: [ 0.011 -0.302  0.184  0.051  0.029 -0.019  1.047]
+t: 216	 action: [ 0.037 -0.332  0.133  0.049  0.035 -0.029 -1.106]
+t: 217	 action: [-0.021 -0.27  -0.035  0.045  0.021 -0.047 -1.098]
+[07-31 01:59:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7942
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7942
+Query 1/1: Action query time = 0.997 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7942
+t=218: Selected seed 195 with value = 0.7942
+t: 218	 action: [-0.071 -0.148 -0.769  0.022  0.047  0.009  1.158]
+t: 219	 action: [-0.104 -0.122 -0.619  0.017  0.041  0.009  1.051]
+t: 220	 action: [-0.049 -0.038 -0.695  0.026  0.047  0.006  1.133]
+t: 221	 action: [-0.098 -0.098 -0.47   0.02   0.045 -0.003 -1.017]
+t: 222	 action: [-0.092 -0.04  -0.371  0.007  0.035  0.009 -1.082]
+t: 223	 action: [-0.107 -0.03  -0.337  0.009  0.029  0.011 -1.077]
+t: 224	 action: [-0.05   0.008 -0.205  0.008  0.038  0.004 -1.059]
+t: 225	 action: [-0.096 -0.012 -0.244  0.012  0.036 -0.014 -1.048]
+t: 226	 action: [-0.035 -0.06  -0.479  0.015  0.035  0.028 -1.093]
+t: 227	 action: [-0.261 -0.122 -0.62   0.007  0.015  0.027 -1.105]
+t: 228	 action: [-0.274 -0.051 -0.677  0.016  0.022  0.033 -1.02 ]
+t: 229	 action: [-0.367 -0.107 -0.732  0.007  0.008  0.027 -1.031]
+t: 230	 action: [-0.4   -0.085 -0.679  0.008  0.01   0.05   0.952]
+t: 231	 action: [-0.449 -0.112 -0.703  0.005 -0.003  0.034  1.215]
+t: 232	 action: [-4.004e-01 -1.134e-01 -5.780e-01  3.214e-04  1.372e-05  4.416e-02  1.005e+00]
+t: 233	 action: [-0.36  -0.114 -0.651  0.001 -0.002  0.03   1.185]
+[07-31 01:59:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6815
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.6815
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6815
+t=234: Selected seed 195 with value = 0.6815
+t: 234	 action: [-0.106  0.012 -0.098 -0.019  0.002  0.009  0.985]
+t: 235	 action: [-0.097  0.007 -0.013 -0.021 -0.003  0.006  1.027]
+t: 236	 action: [-8.067e-02  4.225e-02  2.061e-01 -1.469e-02  1.592e-04 -1.316e-03  9.866e-01]
+t: 237	 action: [-0.044  0.045  0.339 -0.016 -0.001 -0.002  1.036]
+t: 238	 action: [-1.908e-02  6.897e-02  4.918e-01 -2.396e-02  5.250e-03 -7.368e-04  9.979e-01]
+t: 239	 action: [ 0.047  0.135  0.712 -0.012 -0.007 -0.004  1.025]
+t: 240	 action: [ 0.079  0.09   0.864 -0.001  0.008 -0.014  0.993]
+t: 241	 action: [ 0.132  0.087  0.927  0.012 -0.002 -0.013  1.024]
+t: 242	 action: [ 0.084  0.02   0.735 -0.017 -0.01   0.006  0.986]
+t: 243	 action: [ 1.083e-01  7.165e-02  8.600e-01 -1.523e-02 -1.473e-02 -1.969e-04  1.025e+00]
+t: 244	 action: [ 0.155  0.016  0.82  -0.019 -0.016  0.004  0.975]
+t: 245	 action: [ 0.177 -0.008  0.895  0.004 -0.02  -0.002  1.022]
+t: 246	 action: [ 8.023e-02 -1.153e-01  7.978e-01  3.854e-02 -1.455e-02  3.854e-04  9.859e-01]
+t: 247	 action: [ 2.593e-02 -2.433e-01  8.057e-01  5.159e-02 -3.818e-02 -2.027e-04  1.022e+00]
+t: 248	 action: [-0.016 -0.416  0.568  0.079 -0.022 -0.002  0.984]
+t: 249	 action: [-0.013 -0.609  0.397  0.077 -0.042  0.003  1.017]
+[07-31 01:59:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8339
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8339
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8339
+t=250: Selected seed 195 with value = 0.8339
+t: 250	 action: [-0.087 -0.213 -0.535  0.011 -0.011  0.037  1.162]
+t: 251	 action: [-1.384e-01 -1.505e-01 -5.809e-01  3.074e-04 -1.866e-02  2.910e-02  1.043e+00]
+t: 252	 action: [ 0.027 -0.106 -0.572  0.022 -0.029  0.025  1.126]
+t: 253	 action: [-0.032 -0.122 -0.454  0.015 -0.022  0.012 -0.992]
+t: 254	 action: [-0.067 -0.024 -0.393  0.006 -0.048  0.022 -1.077]
+t: 255	 action: [-5.578e-02  3.250e-02 -2.967e-01  5.043e-04 -3.441e-02  2.256e-02 -1.072e+00]
+t: 256	 action: [ 0.024  0.07  -0.187  0.007 -0.043  0.012 -1.062]
+t: 257	 action: [ 5.297e-02  6.132e-02 -1.477e-01  5.965e-03 -1.754e-02 -4.629e-04 -1.055e+00]
+t: 258	 action: [ 0.155 -0.045 -0.343  0.015 -0.004  0.034 -1.034]
+t: 259	 action: [ 0.017 -0.089 -0.505  0.016 -0.022  0.031 -1.099]
+t: 260	 action: [ 0.033 -0.071 -0.485  0.026 -0.012  0.039 -1.128]
+t: 261	 action: [-0.12  -0.125 -0.501  0.019 -0.017  0.028 -1.082]
+t: 262	 action: [-0.145 -0.096 -0.494  0.009 -0.023  0.059 -0.323]
+t: 263	 action: [-0.187 -0.103 -0.49   0.004 -0.011  0.038  1.228]
+t: 264	 action: [-0.164 -0.084 -0.343  0.009 -0.022  0.055  1.05 ]
+t: 265	 action: [-0.138 -0.098 -0.332  0.002 -0.004  0.032  1.227]
+[07-31 01:59:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6775
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.6775
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6775
+t=266: Selected seed 195 with value = 0.6775
+t: 266	 action: [-6.964e-02 -3.597e-03 -6.566e-02 -3.211e-02  1.522e-02  4.075e-04  9.938e-01]
+t: 267	 action: [ 0.006  0.049  0.163 -0.032  0.012 -0.007  1.05 ]
+t: 268	 action: [-0.027  0.014  0.365 -0.014  0.012 -0.005  0.99 ]
+t: 269	 action: [ 0.024  0.06   0.647 -0.02   0.003 -0.007  1.039]
+t: 270	 action: [ 0.074 -0.007  0.669  0.003  0.014 -0.008  1.002]
+t: 271	 action: [ 0.094 -0.036  0.81   0.004  0.004 -0.013  1.03 ]
+t: 272	 action: [ 0.092 -0.092  0.842  0.032  0.014 -0.011  0.994]
+t: 273	 action: [ 0.129 -0.292  0.83   0.041  0.014 -0.009  1.009]
+t: 274	 action: [ 0.063 -0.322  0.512  0.037  0.01   0.006  1.002]
+t: 275	 action: [ 0.08  -0.382  0.387  0.032 -0.002  0.008  1.052]
+t: 276	 action: [ 0.076 -0.309  0.107  0.029  0.002  0.014  0.991]
+t: 277	 action: [ 0.097 -0.395  0.013  0.029 -0.003  0.016  1.04 ]
+t: 278	 action: [ 0.044 -0.251 -0.065  0.034  0.005  0.005  1.011]
+t: 279	 action: [ 0.011 -0.461 -0.216  0.035 -0.008  0.012  1.035]
+t: 280	 action: [ 0.018 -0.209 -0.249  0.013  0.003  0.014  1.008]
+t: 281	 action: [ 0.02  -0.304 -0.372  0.017 -0.012  0.02   1.023]
+[07-31 01:59:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8898
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=282: Selected seed 195 with value = 0.8898
+t: 282	 action: [-1.398e-01 -1.184e-01 -5.833e-01 -5.637e-04 -2.916e-02  2.504e-02  1.149e+00]
+t: 283	 action: [-0.181 -0.088 -0.547 -0.001 -0.031  0.024  1.056]
+t: 284	 action: [-0.091 -0.009 -0.417 -0.003 -0.019  0.011  1.127]
+t: 285	 action: [-0.085 -0.057 -0.268  0.004  0.001  0.004 -1.007]
+t: 286	 action: [-0.126  0.078 -0.192 -0.008 -0.012  0.007 -1.111]
+t: 287	 action: [-0.045  0.097 -0.017 -0.014  0.001  0.014 -1.101]
+t: 288	 action: [ 6.765e-02  1.157e-01  1.478e-01 -9.754e-03  1.303e-02  8.264e-04 -1.117e+00]
+t: 289	 action: [ 0.125  0.106  0.216 -0.015  0.018 -0.007 -1.054]
+t: 290	 action: [ 0.203  0.003  0.38   0.014  0.058  0.013 -1.079]
+t: 291	 action: [ 0.235 -0.035  0.34   0.019  0.062  0.014 -1.05 ]
+t: 292	 action: [ 0.249 -0.009  0.29   0.024  0.059  0.014 -1.098]
+t: 293	 action: [ 0.227 -0.067  0.229  0.025  0.063  0.01  -1.042]
+t: 294	 action: [ 0.102 -0.039  0.202  0.033  0.067  0.022 -1.092]
+t: 295	 action: [ 0.061 -0.07   0.166  0.029  0.061  0.019 -1.065]
+t: 296	 action: [ 0.075 -0.037  0.126  0.038  0.067  0.017 -1.094]
+t: 297	 action: [ 0.077 -0.076  0.116  0.031  0.063  0.014 -1.049]
+[07-31 01:59:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7929
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7929
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 92
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 84%|████████▍ | 42/50 [22:26<04:10, 31.28s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 43...
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=298: Selected seed 195 with value = 0.7929
+t: 298	 action: [ 1.026e-01  9.813e-02 -5.068e-01 -6.442e-04  2.472e-02  1.473e-02 -8.571e-01]
+t: 299	 action: [ 0.09   0.147 -0.334 -0.002  0.023  0.009 -0.957]
+t: 300	 action: [ 0.049  0.15  -0.294 -0.003  0.027  0.012 -1.029]
+t: 301	 action: [ 0.027  0.147 -0.138 -0.004  0.02   0.002 -1.036]
+t: 302	 action: [-0.06   0.224 -0.162 -0.004  0.024  0.015 -1.086]
+t: 303	 action: [-0.045  0.216  0.032 -0.01   0.01   0.009 -1.081]
+t: 304	 action: [-0.082  0.152  0.197 -0.007  0.023  0.004 -1.048]
+t: 305	 action: [-4.322e-02  8.418e-02  3.446e-01 -1.336e-02  1.136e-02 -8.821e-04 -1.060e+00]
+t: 306	 action: [ 0.123 -0.036  0.52   0.011  0.015 -0.004 -1.049]
+t: 307	 action: [ 0.174 -0.07   0.481  0.016  0.008 -0.012 -1.063]
+t: 308	 action: [ 0.123 -0.109  0.398  0.021  0.01   0.002 -1.046]
+t: 309	 action: [ 0.137 -0.152  0.273  0.016  0.007 -0.004 -1.012]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=92--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=92--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 92
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 43...
+[07-31 01:59:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3505
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3505
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3505
+t=10: Selected seed 195 with value = 0.3505
+t: 10	 action: [ 1.979e-01 -1.273e-01  6.181e-03  5.188e-04  2.304e-02  8.416e-04 -9.877e-01]
+t: 11	 action: [ 0.27  -0.077 -0.012 -0.006  0.032 -0.004 -1.003]
+t: 12	 action: [ 0.537 -0.149  0.04  -0.005  0.022  0.005 -1.011]
+t: 13	 action: [ 6.799e-01 -1.004e-01  3.905e-02 -6.321e-03  2.911e-02  2.242e-04 -1.024e+00]
+t: 14	 action: [ 0.823 -0.117  0.099 -0.001  0.02   0.004 -1.015]
+t: 15	 action: [ 0.864 -0.093  0.068 -0.003  0.022 -0.001 -1.038]
+t: 16	 action: [ 0.951 -0.127  0.11  -0.002  0.016  0.006 -1.018]
+t: 17	 action: [ 9.323e-01 -9.435e-02  7.310e-02 -7.011e-04  1.676e-02  1.193e-04 -1.047e+00]
+t: 18	 action: [ 9.444e-01 -1.662e-01  1.281e-01  9.905e-04  6.350e-03  9.929e-03 -1.024e+00]
+t: 19	 action: [ 0.948 -0.125  0.143  0.003  0.012  0.004 -1.03 ]
+t: 20	 action: [ 0.97  -0.151  0.098  0.006 -0.002  0.009 -1.017]
+t: 21	 action: [ 0.967 -0.136  0.117  0.008  0.008  0.004 -1.021]
+t: 22	 action: [ 9.783e-01 -1.834e-01  6.469e-02  5.428e-03 -5.142e-04  7.077e-03 -1.022e+00]
+t: 23	 action: [ 0.973 -0.286  0.026  0.011  0.003  0.004 -1.044]
+t: 24	 action: [ 0.989 -0.17   0.013  0.004 -0.009  0.003 -1.014]
+t: 25	 action: [ 0.973 -0.304 -0.008  0.015  0.001  0.004 -1.046]
+[07-31 01:59:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3953
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3953
+Query 1/1: Action query time = 0.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3953
+t=26: Selected seed 195 with value = 0.3953
+t: 26	 action: [ 8.966e-01 -3.181e-01  3.165e-02  6.565e-03 -2.048e-02  6.421e-04 -1.020e+00]
+t: 27	 action: [ 0.898 -0.354  0.03   0.012 -0.018 -0.016 -1.014]
+t: 28	 action: [ 0.857 -0.413 -0.025  0.016 -0.022  0.001 -1.024]
+t: 29	 action: [ 0.844 -0.44  -0.02   0.023 -0.016 -0.015 -1.017]
+t: 30	 action: [ 8.155e-01 -4.063e-01 -1.090e-01  2.454e-02 -2.560e-02 -2.924e-04 -1.020e+00]
+t: 31	 action: [ 0.727 -0.418 -0.156  0.023 -0.028 -0.012 -1.047]
+t: 32	 action: [ 6.325e-01 -3.151e-01 -2.677e-01  2.357e-02 -3.810e-02  9.768e-04 -1.025e+00]
+t: 33	 action: [ 0.448 -0.304 -0.348  0.022 -0.045 -0.011 -1.041]
+t: 34	 action: [ 0.288 -0.189 -0.488  0.014 -0.087  0.013 -1.032]
+t: 35	 action: [ 0.132 -0.161 -0.539  0.013 -0.091  0.009 -1.026]
+t: 36	 action: [ 0.076 -0.101 -0.672  0.011 -0.137  0.018 -1.024]
+t: 37	 action: [ 0.016 -0.06  -0.682  0.013 -0.106  0.018 -1.01 ]
+t: 38	 action: [-0.06  -0.004 -0.815  0.005 -0.167  0.015 -1.03 ]
+t: 39	 action: [-0.049 -0.005 -0.76   0.019 -0.11   0.022 -1.036]
+t: 40	 action: [-0.106  0.032 -0.833  0.002 -0.153  0.03  -1.026]
+t: 41	 action: [-0.084  0.055 -0.78   0.02  -0.085  0.033 -1.031]
+[07-31 01:59:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5512
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5512
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5512
+t=42: Selected seed 195 with value = 0.5512
+t: 42	 action: [-0.104  0.809 -0.579  0.008 -0.007  0.017 -1.001]
+t: 43	 action: [-0.074  0.807 -0.537  0.016 -0.007  0.015 -1.011]
+t: 44	 action: [-0.092  0.846 -0.539  0.006 -0.002  0.022 -0.992]
+t: 45	 action: [-7.268e-02  8.320e-01 -4.973e-01  1.487e-02 -9.368e-04  1.739e-02 -1.012e+00]
+t: 46	 action: [-1.084e-01  8.477e-01 -4.774e-01  4.686e-03  2.434e-04  1.641e-02 -9.812e-01]
+t: 47	 action: [-0.05   0.836 -0.477  0.016 -0.004  0.018 -1.03 ]
+t: 48	 action: [-0.094  0.859 -0.456  0.003  0.007  0.027 -0.974]
+t: 49	 action: [-0.025  0.852 -0.456  0.015 -0.001  0.021 -1.037]
+t: 50	 action: [-0.022  0.856 -0.492  0.013 -0.011  0.014 -1.01 ]
+t: 51	 action: [ 0.019  0.811 -0.502  0.015 -0.003  0.012 -1.017]
+t: 52	 action: [ 0.005  0.827 -0.461  0.01  -0.004  0.017 -1.009]
+t: 53	 action: [ 0.021  0.77  -0.484  0.012  0.005  0.012 -1.019]
+t: 54	 action: [-0.055  0.772 -0.45   0.006 -0.006  0.012 -0.992]
+t: 55	 action: [ 0.005  0.727 -0.443  0.012 -0.003  0.013 -1.03 ]
+t: 56	 action: [-0.017  0.553 -0.387  0.005  0.007  0.012 -0.987]
+t: 57	 action: [ 0.021  0.48  -0.31   0.009  0.002  0.014 -1.04 ]
+[07-31 01:59:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6478
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6478
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6478
+t=58: Selected seed 195 with value = 0.6478
+t: 58	 action: [ 0.022  0.123 -0.436  0.016 -0.001  0.008 -1.006]
+t: 59	 action: [ 3.206e-02  4.436e-02 -2.707e-01  1.470e-02  5.687e-03 -2.684e-04 -1.005e+00]
+t: 60	 action: [ 6.704e-04  8.646e-02 -1.770e-01  8.199e-03  5.930e-03  4.704e-03 -1.007e+00]
+t: 61	 action: [ 0.022  0.007 -0.027  0.007  0.008 -0.01  -1.016]
+t: 62	 action: [-4.923e-02  9.115e-02 -7.612e-02  3.642e-03  1.549e-02 -7.800e-04 -1.001e+00]
+t: 63	 action: [-0.039  0.148  0.144  0.004  0.011 -0.005 -1.037]
+t: 64	 action: [-0.076  0.078  0.344 -0.002  0.017 -0.007 -1.006]
+t: 65	 action: [-0.039  0.078  0.537 -0.001  0.008 -0.015 -1.035]
+t: 66	 action: [-2.818e-03 -6.446e-02  5.899e-01  3.540e-02  5.534e-04 -1.776e-02 -1.027e+00]
+t: 67	 action: [-0.067 -0.147  0.588  0.043  0.001 -0.016 -1.04 ]
+t: 68	 action: [-0.067 -0.112  0.423  0.044 -0.004 -0.007 -1.039]
+t: 69	 action: [-0.118 -0.229  0.368  0.046  0.002 -0.014 -1.026]
+t: 70	 action: [-0.281 -0.174  0.255  0.056 -0.008 -0.011 -1.024]
+t: 71	 action: [-0.406 -0.184  0.15   0.042 -0.017 -0.011 -1.049]
+t: 72	 action: [-0.506 -0.196  0.074  0.048 -0.012 -0.006 -1.027]
+t: 73	 action: [-0.491 -0.201 -0.001  0.038 -0.014 -0.006 -1.039]
+[07-31 01:59:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6098
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6098
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6098
+t=74: Selected seed 195 with value = 0.6098
+t: 74	 action: [ 1.049e-03  2.994e-01 -2.593e-01  8.598e-04  1.011e-02  1.922e-02 -1.009e+00]
+t: 75	 action: [ 4.791e-02  2.463e-01 -1.338e-01  8.881e-04  1.144e-02  1.018e-02 -9.782e-01]
+t: 76	 action: [ 0.014  0.099 -0.036 -0.003  0.024  0.012 -1.016]
+t: 77	 action: [ 0.05   0.015  0.132  0.003  0.022 -0.001 -1.014]
+t: 78	 action: [ 0.021  0.041  0.151  0.002  0.026  0.004 -1.014]
+t: 79	 action: [ 1.727e-04  5.011e-02  3.340e-01  4.378e-03  1.948e-02  3.523e-03 -1.036e+00]
+t: 80	 action: [-0.018  0.002  0.446  0.004  0.037 -0.003 -1.014]
+t: 81	 action: [-0.019 -0.023  0.566  0.013  0.029 -0.008 -1.035]
+t: 82	 action: [-0.034 -0.055  0.483  0.036  0.008 -0.011 -1.033]
+t: 83	 action: [-0.211 -0.117  0.461  0.045  0.006 -0.014 -1.046]
+t: 84	 action: [-2.620e-01 -4.587e-02  3.195e-01  3.783e-02  1.252e-03 -9.019e-04 -1.046e+00]
+t: 85	 action: [-0.369 -0.15   0.243  0.045  0.002 -0.011 -1.032]
+t: 86	 action: [-0.662 -0.126  0.203  0.06  -0.007 -0.008 -1.015]
+t: 87	 action: [-0.72  -0.13   0.126  0.04  -0.016 -0.01  -1.046]
+t: 88	 action: [-0.854 -0.15   0.098  0.053 -0.015 -0.004 -1.004]
+t: 89	 action: [-0.83  -0.126  0.005  0.032 -0.02  -0.005 -1.037]
+[07-31 01:59:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=90: Selected seed 195 with value = 0.4977
+t: 90	 action: [ 0.121  0.462 -0.227  0.007  0.001  0.003 -1.027]
+t: 91	 action: [ 0.186  0.415 -0.176  0.01   0.012 -0.003 -1.035]
+t: 92	 action: [ 0.146  0.234 -0.172  0.003  0.014  0.003 -1.031]
+t: 93	 action: [ 0.209  0.155 -0.05   0.007  0.023 -0.01  -1.032]
+t: 94	 action: [ 0.112  0.126  0.006  0.005  0.013 -0.003 -1.012]
+t: 95	 action: [ 0.081  0.13   0.151  0.01   0.014 -0.007 -1.054]
+t: 96	 action: [ 9.952e-02  2.087e-02  2.369e-01  5.341e-04  2.093e-02 -6.803e-03 -1.023e+00]
+t: 97	 action: [ 0.098  0.012  0.437  0.005  0.02  -0.019 -1.053]
+t: 98	 action: [ 0.107 -0.113  0.454  0.036 -0.004 -0.012 -1.03 ]
+t: 99	 action: [ 0.035 -0.138  0.468  0.037 -0.001 -0.015 -1.048]
+t: 100	 action: [-0.013 -0.053  0.356  0.033 -0.01  -0.005 -1.036]
+t: 101	 action: [-0.116 -0.167  0.262  0.034 -0.008 -0.016 -1.037]
+t: 102	 action: [-0.267 -0.126  0.194  0.044 -0.024 -0.004 -1.028]
+t: 103	 action: [-0.458 -0.204  0.102  0.015 -0.038 -0.012 -1.049]
+t: 104	 action: [-0.559 -0.181  0.058  0.043 -0.03  -0.004 -1.029]
+t: 105	 action: [-0.608 -0.275 -0.016  0.01  -0.037 -0.01  -1.04 ]
+[07-31 02:00:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4028
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4028
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4028
+t=106: Selected seed 195 with value = 0.4028
+t: 106	 action: [ 1.413e-01  2.180e-01 -2.096e-01  7.206e-03 -4.805e-05  1.240e-03 -1.033e+00]
+t: 107	 action: [ 0.139  0.267 -0.226  0.011  0.005 -0.006 -1.044]
+t: 108	 action: [ 1.266e-01  9.111e-02 -1.335e-01  1.167e-02  6.721e-03  8.917e-05 -1.036e+00]
+t: 109	 action: [ 0.106  0.128 -0.151  0.009  0.01  -0.013 -1.048]
+t: 110	 action: [ 0.06   0.093 -0.122  0.006  0.009 -0.003 -1.016]
+t: 111	 action: [ 0.039  0.12  -0.1    0.012  0.012 -0.011 -1.056]
+t: 112	 action: [ 0.017  0.055 -0.101  0.003  0.01  -0.006 -1.026]
+t: 113	 action: [ 0.025  0.091 -0.079  0.007  0.007 -0.019 -1.061]
+t: 114	 action: [-0.013 -0.021 -0.14   0.014 -0.003  0.004 -1.022]
+t: 115	 action: [-1.144e-01 -6.068e-02 -2.597e-01  2.586e-03  5.144e-04 -1.879e-03 -1.045e+00]
+t: 116	 action: [-1.912e-01  7.534e-03 -2.510e-01 -2.216e-04 -6.819e-03  4.352e-03 -1.031e+00]
+t: 117	 action: [-0.289 -0.047 -0.382 -0.008 -0.001 -0.01  -1.046]
+t: 118	 action: [-0.427  0.005 -0.4   -0.005 -0.018  0.002 -1.016]
+t: 119	 action: [-0.484 -0.002 -0.383 -0.021 -0.026 -0.005 -1.052]
+t: 120	 action: [-5.755e-01 -1.199e-02 -5.079e-01 -6.342e-03 -2.176e-02 -1.855e-04 -1.024e+00]
+t: 121	 action: [-0.505 -0.006 -0.431 -0.029 -0.028 -0.011 -1.045]
+[07-31 02:00:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4646
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4646
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4646
+t=122: Selected seed 195 with value = 0.4646
+t: 122	 action: [ 0.173  0.274 -0.372  0.011 -0.005  0.011 -1.049]
+t: 123	 action: [ 0.218  0.282 -0.309  0.012  0.002  0.003 -1.038]
+t: 124	 action: [ 1.673e-01  1.844e-01 -3.099e-01  1.512e-02 -1.012e-03  5.571e-03 -1.046e+00]
+t: 125	 action: [ 0.199  0.165 -0.213  0.011  0.004 -0.004 -1.035]
+t: 126	 action: [ 0.111  0.18  -0.142  0.01   0.005  0.004 -1.029]
+t: 127	 action: [ 9.036e-02  1.914e-01 -8.085e-03  1.381e-02  7.389e-03 -8.452e-04 -1.050e+00]
+t: 128	 action: [ 0.091  0.103  0.019  0.009  0.003 -0.004 -1.032]
+t: 129	 action: [ 0.106  0.108  0.105  0.012  0.002 -0.011 -1.048]
+t: 130	 action: [ 0.137 -0.135  0.337  0.05  -0.013 -0.01  -1.06 ]
+t: 131	 action: [ 0.087 -0.125  0.215  0.037 -0.017 -0.012 -1.043]
+t: 132	 action: [ 0.074 -0.084  0.18   0.039 -0.025 -0.004 -1.062]
+t: 133	 action: [ 0.041 -0.121  0.009  0.026 -0.029 -0.013 -1.042]
+t: 134	 action: [-0.091 -0.043  0.049  0.036 -0.034 -0.003 -1.05 ]
+t: 135	 action: [-0.178 -0.111 -0.103  0.013 -0.053 -0.01  -1.045]
+t: 136	 action: [-0.237 -0.056 -0.2    0.011 -0.044 -0.003 -1.052]
+t: 137	 action: [-0.256 -0.097 -0.351 -0.004 -0.057 -0.009 -1.047]
+[07-31 02:00:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4728
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.4728
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4728
+t=138: Selected seed 195 with value = 0.4728
+t: 138	 action: [ 0.084  0.037 -0.34   0.022 -0.009  0.003 -1.049]
+t: 139	 action: [ 0.077  0.04  -0.302  0.017  0.002 -0.004 -1.044]
+t: 140	 action: [ 0.034  0.006 -0.253  0.025 -0.004 -0.001 -1.043]
+t: 141	 action: [ 0.048 -0.008 -0.193  0.014  0.005 -0.013 -1.039]
+t: 142	 action: [-0.015  0.03  -0.094  0.016  0.009 -0.003 -1.032]
+t: 143	 action: [ 0.015  0.082  0.028  0.018  0.007 -0.006 -1.059]
+t: 144	 action: [-0.031  0.049  0.103  0.011  0.006 -0.013 -1.032]
+t: 145	 action: [ 1.814e-02  6.405e-02  1.574e-01  1.050e-02  9.646e-04 -1.925e-02 -1.053e+00]
+t: 146	 action: [ 0.067 -0.158  0.287  0.042 -0.009 -0.02  -1.063]
+t: 147	 action: [ 0.053 -0.117  0.181  0.026 -0.008 -0.02  -1.053]
+t: 148	 action: [ 0.063 -0.055  0.114  0.024 -0.023 -0.014 -1.063]
+t: 149	 action: [ 0.054 -0.077 -0.034  0.012 -0.019 -0.018 -1.045]
+t: 150	 action: [-0.066 -0.017 -0.047  0.017 -0.03  -0.007 -1.054]
+t: 151	 action: [-0.122 -0.067 -0.161  0.003 -0.048 -0.014 -1.051]
+t: 152	 action: [-1.102e-01 -1.418e-02 -3.183e-01  6.589e-05 -3.690e-02 -5.240e-03 -1.051e+00]
+t: 153	 action: [-0.165 -0.062 -0.401 -0.01  -0.048 -0.011 -1.055]
+[07-31 02:00:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4816
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.4816
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4816
+t=154: Selected seed 195 with value = 0.4816
+t: 154	 action: [ 0.042 -0.026 -0.378  0.028 -0.005 -0.006 -1.038]
+t: 155	 action: [ 0.03  -0.034 -0.405  0.022  0.006 -0.015 -1.038]
+t: 156	 action: [-0.013 -0.029 -0.371  0.028 -0.001 -0.017 -1.034]
+t: 157	 action: [ 0.001 -0.045 -0.338  0.017  0.006 -0.023 -1.032]
+t: 158	 action: [-0.058  0.036 -0.209  0.021  0.007 -0.01  -1.028]
+t: 159	 action: [-0.032  0.062 -0.114  0.021  0.004 -0.016 -1.055]
+t: 160	 action: [-0.069  0.069 -0.015  0.005  0.003 -0.024 -1.027]
+t: 161	 action: [-0.021  0.074  0.03   0.007 -0.001 -0.027 -1.047]
+t: 162	 action: [ 0.081 -0.043  0.169  0.017 -0.01  -0.024 -1.067]
+t: 163	 action: [ 0.065 -0.039  0.116  0.007 -0.007 -0.026 -1.054]
+t: 164	 action: [ 0.109  0.005  0.021  0.004 -0.022 -0.018 -1.07 ]
+t: 165	 action: [ 0.083 -0.011 -0.045 -0.001 -0.015 -0.021 -1.044]
+t: 166	 action: [-0.009  0.018 -0.1   -0.003 -0.025 -0.011 -1.063]
+t: 167	 action: [-0.036 -0.047 -0.173 -0.003 -0.036 -0.02  -1.054]
+t: 168	 action: [-0.044 -0.005 -0.377 -0.009 -0.03  -0.008 -1.06 ]
+t: 169	 action: [-0.079 -0.055 -0.407 -0.01  -0.035 -0.013 -1.057]
+[07-31 02:00:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5023
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.5023
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5023
+t=170: Selected seed 195 with value = 0.5023
+t: 170	 action: [ 0.009 -0.049 -0.545  0.018 -0.012 -0.013 -1.042]
+t: 171	 action: [ 0.021  0.003 -0.528  0.012 -0.002 -0.016 -1.037]
+t: 172	 action: [-0.007  0.009 -0.552  0.006 -0.008 -0.016 -1.038]
+t: 173	 action: [ 1.527e-02  6.482e-02 -4.845e-01  3.864e-03  8.790e-04 -2.061e-02 -1.034e+00]
+t: 174	 action: [-0.039  0.121 -0.417  0.006 -0.002 -0.014 -1.032]
+t: 175	 action: [-1.185e-02  1.561e-01 -3.974e-01  9.918e-03 -9.204e-04 -1.713e-02 -1.050e+00]
+t: 176	 action: [-5.763e-02  1.241e-01 -2.815e-01 -3.105e-03 -4.378e-04 -1.790e-02 -1.029e+00]
+t: 177	 action: [-0.02   0.137 -0.273  0.003 -0.002 -0.024 -1.046]
+t: 178	 action: [ 0.139  0.123 -0.207 -0.002 -0.007 -0.009 -1.071]
+t: 179	 action: [ 0.104  0.081 -0.152 -0.002 -0.001 -0.022 -1.058]
+t: 180	 action: [ 0.14   0.071 -0.276 -0.002 -0.012 -0.008 -1.061]
+t: 181	 action: [ 0.104  0.054 -0.252 -0.003 -0.003 -0.011 -1.136]
+t: 182	 action: [ 0.014  0.018 -0.332 -0.006 -0.014 -0.011 -1.068]
+t: 183	 action: [-0.008 -0.024 -0.314  0.001 -0.011 -0.02  -1.054]
+t: 184	 action: [-0.023 -0.016 -0.433 -0.01  -0.015 -0.012 -1.026]
+t: 185	 action: [-1.268e-02 -5.392e-02 -3.991e-01 -6.718e-04 -1.093e-02 -1.771e-03  1.214e+00]
+[07-31 02:00:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5995
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.5995
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5995
+t=186: Selected seed 195 with value = 0.5995
+t: 186	 action: [ 0.056  0.095 -0.574 -0.005  0.039  0.015 -1.197]
+t: 187	 action: [ 0.008  0.022 -0.574 -0.011  0.038  0.024 -1.125]
+t: 188	 action: [-0.019  0.032 -0.542 -0.005  0.051  0.016 -1.064]
+t: 189	 action: [-0.052 -0.011 -0.522 -0.005  0.044  0.022 -1.133]
+t: 190	 action: [-0.012  0.003 -0.368 -0.005  0.059  0.019  1.091]
+t: 191	 action: [-0.002  0.007 -0.335 -0.002  0.04   0.028  1.202]
+t: 192	 action: [-0.036  0.018 -0.139 -0.007  0.054  0.012  1.002]
+t: 193	 action: [-0.025 -0.006 -0.118 -0.009  0.033  0.012  1.178]
+t: 194	 action: [ 0.005  0.018 -0.417 -0.004  0.058  0.009  0.974]
+t: 195	 action: [ 0.035 -0.008 -0.399 -0.015  0.049  0.01   1.032]
+t: 196	 action: [-0.006  0.011 -0.348 -0.009  0.059  0.014  0.967]
+t: 197	 action: [-4.398e-04 -2.216e-02 -3.048e-01 -5.901e-03  5.027e-02  1.433e-02  1.036e+00]
+t: 198	 action: [-0.035  0.014 -0.146 -0.007  0.069  0.01   1.003]
+t: 199	 action: [-0.008 -0.012 -0.095 -0.009  0.032  0.011  1.043]
+t: 200	 action: [-0.036  0.003  0.064 -0.011  0.055  0.007  0.999]
+t: 201	 action: [-0.017 -0.007  0.053 -0.021  0.026  0.011  1.055]
+[07-31 02:00:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7286
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7286
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7286
+t=202: Selected seed 195 with value = 0.7286
+t: 202	 action: [-1.170e-01  2.112e-02 -7.072e-02 -3.510e-02  1.100e-02 -2.569e-04  9.872e-01]
+t: 203	 action: [-0.04   0.035  0.082 -0.033  0.03  -0.008  1.039]
+t: 204	 action: [-0.089  0.039  0.314 -0.022  0.007 -0.02   0.998]
+t: 205	 action: [-0.013  0.02   0.576 -0.026  0.029 -0.019  1.037]
+t: 206	 action: [-0.03  -0.062  0.604 -0.004  0.035 -0.007  1.005]
+t: 207	 action: [-0.001 -0.139  0.785  0.012  0.047 -0.011  1.047]
+t: 208	 action: [-0.058 -0.211  0.87   0.026  0.045 -0.022  1.003]
+t: 209	 action: [-0.001 -0.411  0.884  0.039  0.062 -0.021  1.035]
+t: 210	 action: [-0.068 -0.306  0.71   0.016  0.08  -0.003  0.987]
+t: 211	 action: [-0.036 -0.515  0.65   0.033  0.082 -0.003  1.034]
+t: 212	 action: [-0.086 -0.446  0.517  0.034  0.065 -0.008  0.982]
+t: 213	 action: [-0.033 -0.63   0.41   0.043  0.054 -0.005  1.032]
+t: 214	 action: [-0.102 -0.578  0.199  0.043  0.062 -0.002  1.002]
+t: 215	 action: [-0.169 -0.708  0.089  0.036  0.019  0.004  1.041]
+t: 216	 action: [-0.12  -0.617  0.018  0.037  0.038 -0.006  1.002]
+t: 217	 action: [-0.133 -0.702 -0.077  0.025 -0.002  0.001  1.041]
+[07-31 02:00:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8330
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8330
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8330
+t=218: Selected seed 195 with value = 0.8330
+t: 218	 action: [-9.318e-02 -9.117e-02 -4.094e-01 -5.226e-03  5.628e-03  5.819e-04  1.001e+00]
+t: 219	 action: [-0.086 -0.096 -0.226 -0.007  0.01   0.002  1.063]
+t: 220	 action: [-1.192e-01 -3.704e-02 -1.672e-01 -9.712e-03  7.233e-04 -3.734e-03  1.124e+00]
+t: 221	 action: [-0.149 -0.057 -0.027 -0.008  0.007 -0.023  1.023]
+t: 222	 action: [-2.008e-01 -4.711e-02  3.285e-03 -3.629e-03  2.110e-02 -1.950e-04  1.022e+00]
+t: 223	 action: [-0.163 -0.017  0.05  -0.004  0.013 -0.003  1.069]
+t: 224	 action: [-1.701e-01 -3.090e-02  2.724e-01 -5.134e-05  4.094e-02 -1.720e-03 -1.109e+00]
+t: 225	 action: [-0.108 -0.012  0.27   0.004  0.039 -0.018 -1.104]
+t: 226	 action: [-0.059 -0.264  0.103  0.011  0.09   0.006  1.027]
+t: 227	 action: [-0.055 -0.348  0.04   0.022  0.073  0.025  1.052]
+t: 228	 action: [-0.027 -0.259 -0.094  0.006  0.078  0.007  1.009]
+t: 229	 action: [-0.022 -0.31  -0.138  0.013  0.053  0.023  0.969]
+t: 230	 action: [-0.054 -0.369 -0.154 -0.006  0.069  0.01   1.068]
+t: 231	 action: [-0.04  -0.405 -0.099 -0.007  0.035  0.028  1.079]
+t: 232	 action: [-0.026 -0.27  -0.211 -0.008  0.041  0.003  1.022]
+t: 233	 action: [-0.001 -0.266 -0.177 -0.014  0.018  0.03  -0.554]
+[07-31 02:00:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9076
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9076
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=234: Selected seed 195 with value = 0.9076
+t: 234	 action: [-0.143 -0.035 -0.439 -0.023 -0.037  0.004  0.893]
+t: 235	 action: [-0.104 -0.055 -0.291 -0.025 -0.021 -0.009  1.041]
+t: 236	 action: [-0.16  -0.004 -0.175 -0.019 -0.036  0.001  1.129]
+t: 237	 action: [-0.079 -0.014 -0.04  -0.023 -0.006 -0.027  0.615]
+t: 238	 action: [-1.426e-01  1.017e-02  7.484e-02 -1.962e-02 -3.635e-04 -1.113e-03  8.197e-01]
+t: 239	 action: [-2.978e-02  2.656e-02  1.951e-01 -1.468e-02  1.059e-03 -9.107e-03 -1.081e+00]
+t: 240	 action: [ 0.016  0.012  0.408 -0.006  0.023 -0.006 -1.127]
+t: 241	 action: [ 0.108  0.029  0.485 -0.002  0.02  -0.037 -1.094]
+t: 242	 action: [ 0.18   0.005  0.425  0.006  0.066 -0.003 -1.059]
+t: 243	 action: [ 0.2   -0.045  0.415  0.017  0.088 -0.013 -1.054]
+t: 244	 action: [ 2.037e-01  1.567e-04  3.386e-01  1.131e-02  5.893e-02 -4.978e-04 -1.062e+00]
+t: 245	 action: [ 0.211 -0.041  0.29   0.017  0.077 -0.016 -1.045]
+t: 246	 action: [ 0.07  -0.015  0.287  0.027  0.052 -0.003 -1.076]
+t: 247	 action: [ 0.056 -0.041  0.255  0.027  0.057 -0.013 -1.056]
+t: 248	 action: [ 0.062 -0.008  0.22   0.025  0.042 -0.006 -1.057]
+t: 249	 action: [ 0.065 -0.039  0.193  0.025  0.048 -0.013 -1.04 ]
+[07-31 02:00:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9645
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9645
+Query 1/1: Action query time = 0.962 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=250: Selected seed 195 with value = 0.9645
+t: 250	 action: [-9.360e-02 -9.485e-04 -5.131e-01 -1.823e-03  2.612e-02  2.683e-02  1.112e+00]
+t: 251	 action: [-0.089 -0.028 -0.422 -0.006  0.013  0.013  0.979]
+t: 252	 action: [-0.107  0.035 -0.17  -0.012  0.008  0.012 -1.054]
+t: 253	 action: [-3.159e-02  3.465e-02 -1.538e-01 -1.905e-02 -3.626e-04  9.318e-04 -1.038e+00]
+t: 254	 action: [-0.149  0.141  0.002 -0.031 -0.012  0.011 -1.12 ]
+t: 255	 action: [-0.054  0.148  0.234 -0.035 -0.015  0.004 -1.099]
+t: 256	 action: [-0.049  0.188  0.373 -0.021 -0.024  0.001 -1.062]
+t: 257	 action: [-0.003  0.146  0.518 -0.022 -0.019 -0.007 -1.053]
+t: 258	 action: [ 0.167  0.036  0.477 -0.005 -0.044  0.006 -1.073]
+t: 259	 action: [ 0.217  0.013  0.446 -0.003 -0.04  -0.006 -1.05 ]
+t: 260	 action: [ 0.219  0.027  0.386 -0.002 -0.05   0.004 -1.076]
+t: 261	 action: [ 0.271 -0.002  0.323  0.003 -0.036 -0.007 -1.036]
+t: 262	 action: [ 0.1    0.028  0.281  0.001 -0.049  0.001 -1.083]
+t: 263	 action: [ 0.019  0.028  0.225  0.009 -0.048 -0.003 -1.065]
+t: 264	 action: [ 0.086  0.021  0.164 -0.002 -0.047 -0.002 -1.075]
+t: 265	 action: [ 0.011  0.017  0.117  0.012 -0.035 -0.004 -1.052]
+[07-31 02:00:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8677
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8677
+Query 1/1: Action query time = 0.988 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8677
+t=266: Selected seed 195 with value = 0.8677
+t: 266	 action: [-0.022  0.111 -0.402  0.01  -0.011  0.009 -1.022]
+t: 267	 action: [-4.239e-02  1.522e-01 -3.106e-01  1.471e-02 -7.370e-03 -9.265e-04 -9.920e-01]
+t: 268	 action: [-7.455e-02  1.675e-01 -2.479e-01  6.084e-04 -1.162e-02  7.176e-03 -1.031e+00]
+t: 269	 action: [-0.039  0.135 -0.181  0.005 -0.01  -0.009 -1.023]
+t: 270	 action: [-1.949e-01  2.591e-01 -5.556e-02  5.632e-04 -2.112e-02  3.639e-03 -1.049e+00]
+t: 271	 action: [-0.115  0.235  0.105  0.003 -0.012 -0.007 -1.049]
+t: 272	 action: [-0.089  0.224  0.238 -0.007 -0.027 -0.002 -1.044]
+t: 273	 action: [-0.011  0.153  0.421 -0.01  -0.015 -0.019 -1.044]
+t: 274	 action: [ 0.169 -0.002  0.395 -0.001 -0.039 -0.008 -1.064]
+t: 275	 action: [ 1.943e-01 -4.093e-02  4.173e-01  2.729e-04 -3.103e-02 -2.413e-02 -1.044e+00]
+t: 276	 action: [ 2.136e-01 -3.699e-02  3.921e-01 -7.406e-04 -4.731e-02 -1.151e-02 -1.057e+00]
+t: 277	 action: [ 0.219 -0.078  0.303  0.003 -0.037 -0.024 -1.03 ]
+t: 278	 action: [ 0.106 -0.002  0.263  0.006 -0.055 -0.005 -1.066]
+t: 279	 action: [ 0.016 -0.036  0.15   0.011 -0.046 -0.024 -1.046]
+t: 280	 action: [ 0.038 -0.004  0.091  0.003 -0.055 -0.008 -1.056]
+t: 281	 action: [-0.014 -0.07  -0.002  0.013 -0.044 -0.023 -1.043]
+[07-31 02:00:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6787
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.6787
+Query 1/1: Action query time = 0.994 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6787
+t=282: Selected seed 195 with value = 0.6787
+t: 282	 action: [ 0.054  0.329 -0.42   0.007 -0.03   0.002 -1.02 ]
+t: 283	 action: [ 0.002  0.371 -0.358  0.017 -0.023 -0.009 -1.012]
+t: 284	 action: [ 0.003  0.28  -0.311  0.002 -0.026  0.003 -1.021]
+t: 285	 action: [-7.857e-04  2.299e-01 -2.374e-01  7.665e-03 -1.653e-02 -1.809e-02 -1.021e+00]
+t: 286	 action: [-1.201e-01  3.195e-01 -1.096e-01  1.719e-03 -2.430e-02 -6.124e-04 -1.035e+00]
+t: 287	 action: [-0.108  0.326  0.047  0.009 -0.004 -0.012 -1.043]
+t: 288	 action: [-0.107  0.225  0.167 -0.009 -0.025 -0.003 -1.034]
+t: 289	 action: [-0.032  0.174  0.366 -0.005 -0.005 -0.024 -1.042]
+t: 290	 action: [ 0.121 -0.011  0.385 -0.001 -0.034 -0.014 -1.041]
+t: 291	 action: [ 0.111 -0.051  0.406  0.003 -0.022 -0.028 -1.031]
+t: 292	 action: [ 1.517e-01 -5.814e-02  3.748e-01 -3.046e-04 -4.414e-02 -1.682e-02 -1.039e+00]
+t: 293	 action: [ 0.132 -0.116  0.279  0.003 -0.028 -0.028 -1.027]
+t: 294	 action: [ 0.034 -0.05   0.251  0.009 -0.055 -0.006 -1.052]
+t: 295	 action: [-0.006 -0.116  0.124  0.007 -0.034 -0.029 -1.037]
+t: 296	 action: [-0.041 -0.051  0.05   0.004 -0.054 -0.012 -1.049]
+t: 297	 action: [-0.035 -0.144 -0.034  0.006 -0.033 -0.027 -1.038]
+[07-31 02:00:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5321
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.5321
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 93
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 86%|████████▌ | 43/50 [22:57<03:39, 31.29s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 44...
+Query 1/1: Action query time = 0.999 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5321
+t=298: Selected seed 195 with value = 0.5321
+t: 298	 action: [ 0.129  0.357 -0.334  0.009 -0.024 -0.008 -1.025]
+t: 299	 action: [ 0.072  0.369 -0.325  0.016 -0.013 -0.024 -1.027]
+t: 300	 action: [ 0.068  0.24  -0.198  0.004 -0.023 -0.01  -1.029]
+t: 301	 action: [ 0.051  0.213 -0.167  0.011 -0.005 -0.033 -1.031]
+t: 302	 action: [-0.037  0.232  0.059  0.006 -0.02  -0.01  -1.03 ]
+t: 303	 action: [-0.013  0.238  0.111  0.01  -0.002 -0.028 -1.049]
+t: 304	 action: [-6.348e-02  1.691e-01  2.371e-01 -8.341e-04 -1.895e-02 -1.313e-02 -1.036e+00]
+t: 305	 action: [ 1.298e-02  1.421e-01  3.672e-01  2.297e-03 -8.496e-04 -3.721e-02 -1.048e+00]
+t: 306	 action: [ 0.093 -0.085  0.34   0.028 -0.022 -0.027 -1.045]
+t: 307	 action: [ 0.074 -0.084  0.256  0.018 -0.016 -0.037 -1.034]
+t: 308	 action: [ 0.111 -0.062  0.204  0.014 -0.03  -0.025 -1.05 ]
+t: 309	 action: [ 0.109 -0.104  0.085  0.008 -0.019 -0.035 -1.037]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=93--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=93--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 93
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 44...
+[07-31 02:00:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.034 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3709
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3709
+Query 1/1: Action query time = 1.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3709
+t=10: Selected seed 195 with value = 0.3709
+t: 10	 action: [ 0.365 -0.003  0.04   0.001  0.022  0.006 -1.023]
+t: 11	 action: [ 5.219e-01 -3.294e-02  9.108e-02  4.906e-05  3.126e-02  5.747e-03 -1.017e+00]
+t: 12	 action: [ 0.687 -0.117  0.144  0.002  0.022  0.009 -1.023]
+t: 13	 action: [ 0.813 -0.139  0.214  0.002  0.032  0.008 -1.025]
+t: 14	 action: [ 0.864 -0.165  0.302  0.008  0.029  0.009 -1.034]
+t: 15	 action: [ 0.87  -0.212  0.28   0.008  0.031  0.011 -1.043]
+t: 16	 action: [ 0.906 -0.211  0.309  0.006  0.023  0.01  -1.029]
+t: 17	 action: [ 0.909 -0.24   0.277  0.013  0.028  0.011 -1.049]
+t: 18	 action: [ 0.894 -0.251  0.219  0.008  0.01   0.013 -1.028]
+t: 19	 action: [ 0.918 -0.246  0.257  0.013  0.02   0.009 -1.024]
+t: 20	 action: [ 0.928 -0.23   0.158  0.009  0.01   0.011 -1.019]
+t: 21	 action: [ 0.947 -0.245  0.191  0.015  0.025  0.007 -1.016]
+t: 22	 action: [ 0.934 -0.196  0.126  0.009  0.013  0.008 -1.019]
+t: 23	 action: [ 0.953 -0.295  0.082  0.018  0.021  0.008 -1.04 ]
+t: 24	 action: [ 0.95  -0.136  0.043  0.005  0.016  0.004 -1.012]
+t: 25	 action: [ 0.955 -0.239 -0.009  0.017  0.025  0.007 -1.042]
+[07-31 02:00:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.009 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4039
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4039
+Query 1/1: Action query time = 1.009 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4039
+t=26: Selected seed 195 with value = 0.4039
+t: 26	 action: [ 0.92  -0.234  0.103  0.004 -0.003  0.005 -1.024]
+t: 27	 action: [ 0.945 -0.226  0.087  0.002 -0.002 -0.006 -1.016]
+t: 28	 action: [ 0.923 -0.267  0.039  0.006 -0.003  0.006 -1.026]
+t: 29	 action: [ 9.458e-01 -2.827e-01  5.461e-02  7.593e-03  1.271e-04 -3.430e-03 -1.019e+00]
+t: 30	 action: [ 0.935 -0.236 -0.069  0.009 -0.003  0.003 -1.009]
+t: 31	 action: [ 8.966e-01 -2.266e-01 -1.122e-01  1.395e-02  6.273e-04 -2.360e-03 -1.034e+00]
+t: 32	 action: [ 0.765 -0.166 -0.313  0.005 -0.011  0.004 -1.02 ]
+t: 33	 action: [ 0.645 -0.164 -0.4    0.014 -0.006 -0.002 -1.035]
+t: 34	 action: [ 0.423 -0.163 -0.525  0.01  -0.045  0.009 -1.024]
+t: 35	 action: [ 0.207 -0.131 -0.637  0.011 -0.057  0.007 -1.019]
+t: 36	 action: [ 0.132 -0.115 -0.735  0.01  -0.083  0.01  -1.018]
+t: 37	 action: [ 0.015 -0.081 -0.797  0.011 -0.076  0.009 -1.013]
+t: 38	 action: [-0.131 -0.04  -0.847  0.005 -0.102  0.008 -1.024]
+t: 39	 action: [-0.105 -0.041 -0.83   0.018 -0.083  0.013 -1.029]
+t: 40	 action: [-2.008e-01 -2.218e-02 -8.659e-01  2.864e-04 -1.041e-01  9.473e-03 -1.019e+00]
+t: 41	 action: [-0.171 -0.009 -0.827  0.016 -0.068  0.017 -1.034]
+[07-31 02:00:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5268
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5268
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5268
+t=42: Selected seed 195 with value = 0.5268
+t: 42	 action: [-0.059  0.576 -0.685  0.006 -0.017  0.035 -1.001]
+t: 43	 action: [-0.063  0.685 -0.676  0.006 -0.019  0.036 -1.017]
+t: 44	 action: [-0.05   0.744 -0.589  0.006 -0.013  0.04  -0.999]
+t: 45	 action: [-0.057  0.778 -0.563  0.006 -0.011  0.034 -1.021]
+t: 46	 action: [-0.095  0.738 -0.586  0.005 -0.016  0.046 -0.996]
+t: 47	 action: [-0.076  0.749 -0.544  0.01  -0.01   0.039 -1.03 ]
+t: 48	 action: [-0.099  0.784 -0.539  0.004 -0.013  0.05  -0.995]
+t: 49	 action: [-0.083  0.805 -0.497  0.01  -0.004  0.036 -1.036]
+t: 50	 action: [-0.07   0.834 -0.549  0.006 -0.011  0.039 -1.003]
+t: 51	 action: [-0.042  0.816 -0.557  0.005 -0.012  0.034 -1.019]
+t: 52	 action: [-0.083  0.835 -0.515  0.006 -0.01   0.043 -1.004]
+t: 53	 action: [-0.047  0.786 -0.527  0.005 -0.007  0.032 -1.021]
+t: 54	 action: [-0.127  0.824 -0.506  0.004 -0.011  0.048 -1.002]
+t: 55	 action: [-0.098  0.823 -0.495  0.008 -0.011  0.036 -1.032]
+t: 56	 action: [-0.139  0.816 -0.496  0.004 -0.01   0.049 -1.002]
+t: 57	 action: [-0.099  0.765 -0.489  0.007 -0.005  0.035 -1.04 ]
+[07-31 02:00:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6502
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6502
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6502
+t=58: Selected seed 195 with value = 0.6502
+t: 58	 action: [ 3.291e-02  2.242e-01 -3.276e-01  8.755e-04  2.659e-03  2.759e-02 -9.933e-01]
+t: 59	 action: [ 0.034  0.184 -0.187 -0.002  0.006  0.024 -0.975]
+t: 60	 action: [ 1.388e-02  1.803e-01 -9.405e-02 -6.594e-04  1.117e-02  2.300e-02 -1.006e+00]
+t: 61	 action: [ 0.02   0.109  0.014 -0.008  0.013  0.014 -1.014]
+t: 62	 action: [-0.051  0.236 -0.012 -0.006  0.015  0.018 -1.001]
+t: 63	 action: [-0.055  0.285  0.122 -0.008  0.007  0.017 -1.026]
+t: 64	 action: [-0.115  0.181  0.332 -0.008  0.016  0.006 -1.014]
+t: 65	 action: [-0.077  0.161  0.49  -0.013  0.006  0.004 -1.036]
+t: 66	 action: [-0.094  0.035  0.538  0.016 -0.004  0.007 -1.034]
+t: 67	 action: [-0.146 -0.049  0.513  0.027 -0.012  0.001 -1.039]
+t: 68	 action: [-0.173 -0.029  0.458  0.032 -0.01   0.008 -1.037]
+t: 69	 action: [-0.169 -0.129  0.397  0.035 -0.014  0.002 -1.023]
+t: 70	 action: [-3.508e-01 -8.489e-02  3.158e-01  5.796e-02 -5.048e-03  8.128e-04 -1.029e+00]
+t: 71	 action: [-3.789e-01 -9.338e-02  2.293e-01  4.934e-02 -1.444e-02  9.097e-04 -1.043e+00]
+t: 72	 action: [-4.750e-01 -1.944e-01  1.725e-01  5.657e-02 -9.715e-03  1.720e-04 -1.032e+00]
+t: 73	 action: [-0.421 -0.195  0.081  0.049 -0.008  0.003 -1.033]
+[07-31 02:00:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6518
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6518
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6518
+t=74: Selected seed 195 with value = 0.6518
+t: 74	 action: [ 1.616e-02  2.476e-01 -1.335e-01 -1.795e-04  1.825e-02  3.067e-02 -9.653e-01]
+t: 75	 action: [ 0.044  0.225 -0.02  -0.005  0.024  0.023 -0.929]
+t: 76	 action: [ 0.018  0.069  0.055 -0.004  0.032  0.024 -1.008]
+t: 77	 action: [ 0.032  0.017  0.235 -0.004  0.037  0.012 -1.006]
+t: 78	 action: [-1.005e-03  2.415e-02  2.526e-01  5.137e-03  3.335e-02  1.207e-02 -1.005e+00]
+t: 79	 action: [-2.244e-02  9.421e-03  3.614e-01  7.201e-04  2.117e-02  1.192e-02 -1.023e+00]
+t: 80	 action: [-0.055 -0.03   0.48   0.009  0.044  0.005 -1.018]
+t: 81	 action: [-0.095 -0.066  0.54   0.012  0.033  0.002 -1.035]
+t: 82	 action: [-0.116 -0.136  0.464  0.029  0.022  0.007 -1.036]
+t: 83	 action: [-0.25  -0.188  0.403  0.036  0.012  0.003 -1.046]
+t: 84	 action: [-0.299 -0.11   0.312  0.026  0.012  0.008 -1.046]
+t: 85	 action: [-0.342 -0.221  0.196  0.032  0.009  0.005 -1.03 ]
+t: 86	 action: [-0.576 -0.149  0.181  0.038  0.012  0.007 -1.025]
+t: 87	 action: [-0.57  -0.172  0.079  0.019 -0.006  0.003 -1.044]
+t: 88	 action: [-0.72  -0.171  0.086  0.026  0.003  0.012 -1.024]
+t: 89	 action: [-0.688 -0.185 -0.011  0.011 -0.009  0.007 -1.036]
+[07-31 02:00:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4037
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4037
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4037
+t=90: Selected seed 195 with value = 0.4037
+t: 90	 action: [ 6.759e-02  6.025e-01 -2.590e-01 -3.490e-04  1.788e-02  8.837e-03 -1.006e+00]
+t: 91	 action: [ 0.085  0.537 -0.229 -0.004  0.026  0.006 -1.031]
+t: 92	 action: [ 0.096  0.324 -0.118 -0.007  0.033  0.009 -1.017]
+t: 93	 action: [ 0.089  0.227  0.028 -0.009  0.038  0.002 -1.034]
+t: 94	 action: [ 0.075  0.179  0.074 -0.005  0.028 -0.002 -0.999]
+t: 95	 action: [ 0.025  0.13   0.19  -0.006  0.026 -0.005 -1.053]
+t: 96	 action: [ 0.024 -0.012  0.383 -0.002  0.039 -0.003 -1.015]
+t: 97	 action: [ 0.012 -0.021  0.493 -0.008  0.027 -0.012 -1.057]
+t: 98	 action: [ 0.041 -0.104  0.489  0.012  0.008  0.002 -1.028]
+t: 99	 action: [-0.121 -0.179  0.432  0.012  0.01  -0.007 -1.047]
+t: 100	 action: [-0.202 -0.101  0.294  0.01   0.001  0.002 -1.047]
+t: 101	 action: [-0.327 -0.248  0.164  0.007  0.007 -0.008 -1.038]
+t: 102	 action: [-6.149e-01 -2.141e-01  9.619e-02  2.232e-02 -9.917e-03  6.035e-05 -1.023e+00]
+t: 103	 action: [-6.385e-01 -2.777e-01  3.039e-03 -7.185e-04 -2.024e-02 -1.243e-02 -1.057e+00]
+t: 104	 action: [-0.815 -0.217 -0.07   0.012 -0.018 -0.001 -1.023]
+t: 105	 action: [-0.79  -0.297 -0.1   -0.01  -0.02  -0.012 -1.051]
+[07-31 02:00:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4143
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4143
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4143
+t=106: Selected seed 195 with value = 0.4143
+t: 106	 action: [-0.022 -0.051  0.154 -0.005  0.015 -0.008 -1.014]
+t: 107	 action: [-0.119 -0.037  0.1   -0.006  0.005 -0.011 -1.041]
+t: 108	 action: [-0.217 -0.066  0.085 -0.004  0.002 -0.007 -1.023]
+t: 109	 action: [-0.301 -0.082  0.033 -0.009 -0.005 -0.014 -1.05 ]
+t: 110	 action: [-0.535 -0.016 -0.11  -0.002  0.003 -0.006 -1.016]
+t: 111	 action: [-0.48  -0.021 -0.092 -0.006 -0.002 -0.018 -1.057]
+t: 112	 action: [-0.533 -0.046 -0.353 -0.009 -0.004 -0.005 -1.023]
+t: 113	 action: [-0.436 -0.059 -0.35  -0.013 -0.005 -0.023 -1.065]
+t: 114	 action: [-0.441 -0.001 -0.54  -0.004 -0.032  0.009 -1.023]
+t: 115	 action: [-0.317 -0.021 -0.636 -0.012 -0.037 -0.004 -1.048]
+t: 116	 action: [-0.252 -0.031 -0.624 -0.007 -0.038  0.006 -1.025]
+t: 117	 action: [-0.131 -0.036 -0.666 -0.011 -0.044 -0.005 -1.038]
+t: 118	 action: [-2.054e-01  1.696e-02 -5.883e-01 -1.242e-03 -4.605e-02 -5.641e-04 -1.019e+00]
+t: 119	 action: [-0.12   0.017 -0.617 -0.008 -0.057 -0.02  -1.067]
+t: 120	 action: [-0.051  0.003 -0.535 -0.005 -0.05  -0.007 -1.017]
+t: 121	 action: [ 0.012 -0.005 -0.561 -0.006 -0.056 -0.019 -1.047]
+[07-31 02:00:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4901
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4901
+Query 1/1: Action query time = 0.998 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4901
+t=122: Selected seed 195 with value = 0.4901
+t: 122	 action: [ 0.26   0.449 -0.369 -0.003 -0.009  0.006 -1.06 ]
+t: 123	 action: [ 3.105e-01  4.689e-01 -3.068e-01 -4.917e-04 -8.737e-03 -2.219e-03 -1.036e+00]
+t: 124	 action: [ 3.428e-01  3.406e-01 -3.460e-01 -9.423e-04 -1.153e-02  1.647e-03 -1.068e+00]
+t: 125	 action: [ 0.381  0.3   -0.265  0.006 -0.015 -0.011 -1.036]
+t: 126	 action: [ 0.418  0.287 -0.233  0.005 -0.004 -0.002 -1.046]
+t: 127	 action: [ 0.375  0.203 -0.15   0.01  -0.013 -0.008 -1.052]
+t: 128	 action: [ 0.464  0.189 -0.198  0.003 -0.013 -0.007 -1.058]
+t: 129	 action: [ 0.431  0.129 -0.146  0.015 -0.023 -0.019 -1.053]
+t: 130	 action: [ 0.307 -0.011 -0.1    0.017 -0.025 -0.006 -1.088]
+t: 131	 action: [ 0.278 -0.013 -0.175  0.021 -0.026 -0.022 -1.048]
+t: 132	 action: [ 0.292 -0.004 -0.183  0.01  -0.034 -0.009 -1.099]
+t: 133	 action: [ 0.18  -0.014 -0.282  0.015 -0.035 -0.017 -1.044]
+t: 134	 action: [ 0.116  0.005 -0.299  0.015 -0.041 -0.01  -1.072]
+t: 135	 action: [ 0.031 -0.002 -0.338  0.019 -0.05  -0.027 -1.05 ]
+t: 136	 action: [ 4.491e-02  1.258e-02 -4.268e-01  4.306e-04 -4.423e-02 -1.594e-02 -1.081e+00]
+t: 137	 action: [ 0.018  0.002 -0.425  0.012 -0.05  -0.021 -1.054]
+[07-31 02:00:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.008 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5033
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.5033
+Query 1/1: Action query time = 1.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5033
+t=138: Selected seed 195 with value = 0.5033
+t: 138	 action: [ 0.018 -0.006 -0.614  0.021 -0.014  0.002 -1.056]
+t: 139	 action: [-0.011  0.049 -0.543  0.015 -0.011 -0.005 -1.048]
+t: 140	 action: [ 4.450e-03  1.628e-02 -5.894e-01  1.267e-02 -1.279e-02 -8.733e-04 -1.062e+00]
+t: 141	 action: [-0.007  0.072 -0.493  0.009 -0.004 -0.011 -1.042]
+t: 142	 action: [-3.963e-02  9.788e-02 -4.958e-01  6.093e-03 -8.008e-03  1.349e-04 -1.041e+00]
+t: 143	 action: [-0.018  0.133 -0.398  0.012 -0.009 -0.006 -1.056]
+t: 144	 action: [-0.008  0.088 -0.367 -0.004 -0.01  -0.005 -1.047]
+t: 145	 action: [ 1.895e-02  1.201e-01 -2.687e-01  4.603e-04 -5.595e-03 -1.706e-02 -1.049e+00]
+t: 146	 action: [ 0.258  0.048 -0.327 -0.002 -0.013  0.005 -1.087]
+t: 147	 action: [ 0.25   0.057 -0.251 -0.006 -0.006 -0.004 -1.055]
+t: 148	 action: [ 0.297  0.023 -0.363 -0.003 -0.015  0.004 -1.089]
+t: 149	 action: [ 0.29   0.026 -0.321 -0.009 -0.007  0.003 -1.123]
+t: 150	 action: [ 1.351e-01  1.272e-02 -4.592e-01 -7.005e-03 -2.133e-02  8.398e-04 -1.076e+00]
+t: 151	 action: [ 0.054  0.014 -0.385 -0.008 -0.018 -0.006 -1.051]
+t: 152	 action: [ 0.05  -0.049 -0.512 -0.01  -0.019 -0.003 -1.014]
+t: 153	 action: [ 0.01  -0.023 -0.434 -0.014 -0.017  0.006  1.188]
+[07-31 02:00:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6322
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.6322
+Query 1/1: Action query time = 1.003 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6322
+t=154: Selected seed 195 with value = 0.6322
+t: 154	 action: [-0.23   0.031 -0.748 -0.001  0.01   0.045 -1.145]
+t: 155	 action: [-2.357e-01 -2.964e-02 -7.089e-01 -4.700e-04  2.450e-03  4.815e-02  1.034e+00]
+t: 156	 action: [-0.16   0.031 -0.672 -0.005  0.021  0.043  0.99 ]
+t: 157	 action: [-0.132 -0.004 -0.522  0.004  0.016  0.045  1.054]
+t: 158	 action: [-0.042  0.032 -0.423 -0.027  0.041  0.042  1.063]
+t: 159	 action: [ 0.016  0.032 -0.198 -0.047  0.048  0.041  1.049]
+t: 160	 action: [ 0.057  0.059 -0.08  -0.044  0.049  0.026  1.008]
+t: 161	 action: [ 0.082  0.058  0.077 -0.066  0.053  0.019  1.035]
+t: 162	 action: [ 0.052 -0.035  0.201 -0.027  0.036  0.004  0.985]
+t: 163	 action: [ 1.073e-01 -1.162e-04  4.524e-01 -3.404e-02  2.925e-02 -3.205e-03  1.033e+00]
+t: 164	 action: [ 0.133  0.022  0.554 -0.042  0.03   0.002  0.969]
+t: 165	 action: [ 0.204  0.026  0.809 -0.038  0.021 -0.01   1.026]
+t: 166	 action: [ 0.135  0.095  0.882 -0.024  0.013 -0.006  1.005]
+t: 167	 action: [ 0.155  0.079  0.982 -0.037 -0.002 -0.007  1.03 ]
+t: 168	 action: [ 0.133  0.026  0.956 -0.009  0.005 -0.008  0.992]
+t: 169	 action: [ 8.084e-02 -5.879e-02  9.762e-01 -1.692e-02  9.489e-04 -7.488e-03  1.023e+00]
+[07-31 02:00:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7649
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7649
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7649
+t=170: Selected seed 195 with value = 0.7649
+t: 170	 action: [-3.178e-02 -3.782e-01  8.136e-01  2.301e-02  1.222e-02  1.795e-04  9.900e-01]
+t: 171	 action: [-0.023 -0.499  0.78   0.033  0.01   0.002  1.029]
+t: 172	 action: [-0.066 -0.483  0.695  0.037  0.002 -0.002  0.983]
+t: 173	 action: [-0.061 -0.63   0.573  0.042  0.009  0.006  1.016]
+t: 174	 action: [-0.076 -0.624  0.369  0.054  0.016 -0.003  1.003]
+t: 175	 action: [-0.066 -0.723  0.229  0.049  0.015  0.013  1.031]
+t: 176	 action: [-0.145 -0.665  0.105  0.049  0.006 -0.003  1.   ]
+t: 177	 action: [-0.093 -0.722 -0.064  0.041  0.005  0.013  1.028]
+t: 178	 action: [-0.14  -0.756 -0.027  0.055  0.012  0.009  0.99 ]
+t: 179	 action: [-0.149 -0.79  -0.13   0.051  0.006  0.016  1.024]
+t: 180	 action: [-0.197 -0.721 -0.25   0.038  0.003  0.009  0.978]
+t: 181	 action: [-2.096e-01 -6.648e-01 -4.009e-01  3.438e-02 -9.595e-04  1.678e-02  1.022e+00]
+t: 182	 action: [-0.264 -0.537 -0.506  0.008 -0.008  0.012  1.004]
+t: 183	 action: [-0.286 -0.436 -0.657  0.018 -0.008  0.021  1.037]
+t: 184	 action: [-0.283 -0.384 -0.687 -0.005 -0.019  0.008  0.998]
+t: 185	 action: [-0.253 -0.293 -0.757  0.009 -0.023  0.019  1.035]
+[07-31 02:00:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9265
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9265
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9265
+t=186: Selected seed 195 with value = 0.9265
+t: 186	 action: [-0.133 -0.06  -0.729 -0.002  0.003  0.014  0.992]
+t: 187	 action: [-1.154e-01 -5.932e-02 -6.559e-01 -2.493e-02  9.831e-04  2.077e-02  1.062e+00]
+t: 188	 action: [-0.139 -0.004 -0.581 -0.016  0.013  0.013  1.004]
+t: 189	 action: [-0.077 -0.025 -0.448 -0.03   0.025  0.009  1.006]
+t: 190	 action: [-0.094  0.055 -0.297 -0.05   0.045  0.01   1.014]
+t: 191	 action: [-0.004  0.059 -0.092 -0.026  0.048  0.014  1.058]
+t: 192	 action: [-0.006  0.041  0.003 -0.045  0.059  0.005  0.976]
+t: 193	 action: [ 5.002e-02  5.574e-02  1.221e-01 -2.614e-02  5.991e-02  8.533e-04 -1.121e+00]
+t: 194	 action: [ 0.071 -0.007  0.22  -0.002  0.075  0.007 -1.049]
+t: 195	 action: [ 7.049e-02 -5.265e-02  2.471e-01 -1.116e-04  6.694e-02  1.052e-04 -1.033e+00]
+t: 196	 action: [ 1.055e-01  3.567e-04  2.834e-01  9.229e-04  5.869e-02  6.522e-03 -1.047e+00]
+t: 197	 action: [ 0.13  -0.039  0.299  0.005  0.065 -0.003 -1.022]
+t: 198	 action: [ 0.032  0.017  0.301  0.007  0.057 -0.002 -1.055]
+t: 199	 action: [ 0.015  0.033  0.335  0.013  0.055 -0.01  -1.047]
+t: 200	 action: [ 7.259e-02  2.023e-02  2.994e-01  2.236e-04  4.184e-02 -2.980e-03 -1.040e+00]
+t: 201	 action: [ 0.052  0.041  0.307  0.011  0.048 -0.008 -1.049]
+[07-31 02:00:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9555
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9555
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=202: Selected seed 195 with value = 0.9555
+t: 202	 action: [-5.791e-02 -5.575e-02 -2.921e-01 -5.791e-04  3.746e-02  1.737e-03  1.133e+00]
+t: 203	 action: [-0.011 -0.12  -0.247 -0.002  0.017 -0.016  1.03 ]
+t: 204	 action: [-0.016 -0.024 -0.08  -0.003  0.04  -0.01   0.766]
+t: 205	 action: [ 4.840e-02 -9.921e-02 -3.007e-02 -9.338e-05  2.114e-02 -2.386e-02 -1.026e+00]
+t: 206	 action: [ 0.017  0.039  0.06  -0.008  0.039 -0.006 -1.135]
+t: 207	 action: [ 0.062  0.061  0.141 -0.005  0.03  -0.008 -1.131]
+t: 208	 action: [ 0.121  0.028  0.147 -0.008  0.039 -0.015 -1.075]
+t: 209	 action: [ 0.126  0.075  0.217  0.002  0.035 -0.028 -1.055]
+t: 210	 action: [ 0.24   0.016  0.246  0.003  0.037 -0.003 -1.051]
+t: 211	 action: [ 0.232 -0.01   0.247  0.005  0.039 -0.021 -1.051]
+t: 212	 action: [ 0.248  0.024  0.22   0.002  0.035 -0.001 -1.045]
+t: 213	 action: [ 2.646e-01  7.678e-04  2.250e-01  5.545e-03  4.187e-02 -1.859e-02 -1.037e+00]
+t: 214	 action: [ 0.189  0.021  0.233  0.009  0.04  -0.008 -1.054]
+t: 215	 action: [ 0.134  0.033  0.244  0.012  0.045 -0.022 -1.056]
+t: 216	 action: [ 0.189  0.041  0.221  0.002  0.041 -0.009 -1.045]
+t: 217	 action: [ 0.128  0.042  0.222  0.012  0.045 -0.018 -1.05 ]
+[07-31 02:00:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.034 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8027
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 1.034 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=218: Selected seed 195 with value = 0.8027
+t: 218	 action: [ 0.011 -0.014 -0.329  0.004 -0.006  0.008  0.919]
+t: 219	 action: [ 0.009 -0.045 -0.401  0.003 -0.005 -0.007  0.631]
+t: 220	 action: [ 0.043  0.012 -0.309 -0.002 -0.007  0.005 -1.005]
+t: 221	 action: [ 0.058 -0.003 -0.332  0.002 -0.004 -0.006 -1.021]
+t: 222	 action: [ 8.882e-04  1.279e-01 -2.478e-01 -4.378e-03 -1.375e-02  4.783e-03 -1.089e+00]
+t: 223	 action: [-2.216e-04  1.267e-01 -1.407e-01  1.781e-03 -1.199e-02  4.624e-03 -1.132e+00]
+t: 224	 action: [ 0.039  0.165 -0.077 -0.009 -0.011 -0.001 -1.029]
+t: 225	 action: [ 0.08   0.124  0.027 -0.001 -0.007 -0.012 -1.039]
+t: 226	 action: [ 9.543e-02  1.317e-02 -6.599e-04 -2.284e-04 -7.428e-03 -6.316e-03 -1.038e+00]
+t: 227	 action: [ 0.084 -0.031  0.035  0.002  0.006 -0.024 -1.049]
+t: 228	 action: [ 9.489e-02  7.017e-04  8.737e-02  6.407e-04 -8.200e-03 -1.165e-02 -1.045e+00]
+t: 229	 action: [ 0.078 -0.04   0.104  0.002  0.009 -0.023 -1.039]
+t: 230	 action: [ 0.069 -0.011  0.113 -0.002  0.003 -0.015 -1.044]
+t: 231	 action: [ 8.568e-03  2.002e-02  1.609e-01  6.740e-03 -4.605e-04 -2.867e-02 -1.054e+00]
+t: 232	 action: [ 3.668e-02 -6.656e-04  1.116e-01 -4.567e-03  6.706e-03 -1.894e-02 -1.044e+00]
+t: 233	 action: [-0.001  0.011  0.137  0.006  0.002 -0.026 -1.049]
+[07-31 02:00:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8516
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 0.994 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=234: Selected seed 195 with value = 0.8516
+t: 234	 action: [-0.018 -0.036 -0.308 -0.002 -0.003  0.008  1.069]
+t: 235	 action: [-0.011 -0.099 -0.393 -0.003 -0.002 -0.004  0.955]
+t: 236	 action: [ 0.021 -0.015 -0.168 -0.003 -0.006  0.003 -1.029]
+t: 237	 action: [ 0.048 -0.047 -0.201 -0.002 -0.002 -0.013 -1.034]
+t: 238	 action: [-0.02   0.081 -0.131 -0.005 -0.007  0.001 -1.115]
+t: 239	 action: [ 2.322e-03  1.038e-01 -3.065e-02 -7.637e-03 -9.343e-03  1.006e-03 -1.079e+00]
+t: 240	 action: [ 0.018  0.114  0.024 -0.011 -0.007 -0.004 -1.049]
+t: 241	 action: [ 0.072  0.125  0.107 -0.006 -0.005 -0.021 -1.041]
+t: 242	 action: [ 0.07   0.003  0.106  0.002 -0.014 -0.013 -1.047]
+t: 243	 action: [ 0.063 -0.045  0.106  0.003 -0.003 -0.028 -1.058]
+t: 244	 action: [ 0.059 -0.033  0.113  0.006 -0.014 -0.017 -1.06 ]
+t: 245	 action: [ 0.055 -0.061  0.103  0.005  0.004 -0.025 -1.044]
+t: 246	 action: [ 0.039 -0.034  0.125  0.007 -0.007 -0.02  -1.053]
+t: 247	 action: [-0.004  0.001  0.128  0.009 -0.005 -0.034 -1.06 ]
+t: 248	 action: [-0.005 -0.026  0.082  0.004 -0.003 -0.024 -1.057]
+t: 249	 action: [-0.019 -0.008  0.082  0.01  -0.003 -0.028 -1.051]
+[07-31 02:00:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8670
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8670
+Query 1/1: Action query time = 0.991 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8670
+t=250: Selected seed 195 with value = 0.8670
+t: 250	 action: [-0.012 -0.05  -0.262 -0.002 -0.002  0.007  0.973]
+t: 251	 action: [-0.018 -0.11  -0.341 -0.003 -0.003 -0.007  0.913]
+t: 252	 action: [ 1.187e-02 -2.397e-02 -1.034e-01 -8.702e-04 -6.249e-03  1.414e-03 -1.050e+00]
+t: 253	 action: [ 3.181e-02 -6.343e-02 -1.350e-01 -4.797e-04 -3.702e-03 -1.545e-02 -1.035e+00]
+t: 254	 action: [-3.431e-02  6.072e-02 -8.274e-02 -4.888e-03 -4.302e-03 -2.347e-04 -1.091e+00]
+t: 255	 action: [-0.022  0.091 -0.009 -0.005 -0.009 -0.002 -1.103]
+t: 256	 action: [-0.008  0.075  0.052 -0.011 -0.005 -0.007 -1.054]
+t: 257	 action: [ 0.038  0.115  0.108 -0.002 -0.004 -0.023 -1.044]
+t: 258	 action: [ 4.737e-02 -7.786e-04  1.175e-01  3.499e-03 -1.130e-02 -1.558e-02 -1.050e+00]
+t: 259	 action: [ 0.048 -0.043  0.105  0.004 -0.002 -0.029 -1.058]
+t: 260	 action: [ 0.045 -0.036  0.107  0.007 -0.012 -0.018 -1.062]
+t: 261	 action: [ 0.052 -0.058  0.086  0.005  0.005 -0.026 -1.044]
+t: 262	 action: [ 0.031 -0.036  0.12   0.008 -0.005 -0.021 -1.056]
+t: 263	 action: [-0.003  0.007  0.113  0.009 -0.004 -0.034 -1.063]
+t: 264	 action: [-1.669e-03 -1.708e-02  7.558e-02  1.962e-03 -9.077e-04 -2.470e-02 -1.059e+00]
+t: 265	 action: [-0.017  0.003  0.073  0.009 -0.003 -0.029 -1.053]
+[07-31 02:00:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8767
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=266: Selected seed 195 with value = 0.8767
+t: 266	 action: [ 5.874e-03 -5.313e-02 -1.180e-01  8.375e-04  3.222e-04  4.884e-03 -5.951e-01]
+t: 267	 action: [ 2.008e-02 -9.780e-02 -1.860e-01 -9.713e-05 -6.828e-03 -1.169e-02 -6.102e-02]
+t: 268	 action: [ 7.820e-03 -1.647e-02  4.876e-03  1.035e-03 -6.269e-03  8.563e-05 -1.023e+00]
+t: 269	 action: [ 3.402e-02 -4.583e-02 -2.550e-02  3.783e-04 -8.641e-03 -1.757e-02 -1.031e+00]
+t: 270	 action: [-0.048  0.069  0.031 -0.006 -0.003 -0.002 -1.091]
+t: 271	 action: [-0.018  0.123  0.051  0.002 -0.009 -0.015 -1.091]
+t: 272	 action: [-0.02   0.08   0.103 -0.008 -0.006 -0.008 -1.043]
+t: 273	 action: [ 0.025  0.122  0.126  0.001 -0.005 -0.025 -1.048]
+t: 274	 action: [ 0.046  0.009  0.127  0.007 -0.012 -0.018 -1.046]
+t: 275	 action: [ 0.045 -0.031  0.093  0.007 -0.006 -0.03  -1.064]
+t: 276	 action: [ 0.042 -0.006  0.088  0.01  -0.014 -0.02  -1.053]
+t: 277	 action: [ 5.248e-02 -4.488e-02  6.161e-02  7.563e-03  4.399e-04 -2.747e-02 -1.047e+00]
+t: 278	 action: [ 0.023 -0.015  0.092  0.011 -0.008 -0.021 -1.053]
+t: 279	 action: [-0.004  0.014  0.073  0.011 -0.005 -0.034 -1.06 ]
+t: 280	 action: [-0.003 -0.002  0.046  0.005 -0.005 -0.026 -1.055]
+t: 281	 action: [-0.014  0.007  0.043  0.011 -0.004 -0.03  -1.056]
+[07-31 02:00:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8281
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8281
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=282: Selected seed 195 with value = 0.8281
+t: 282	 action: [ 0.02  -0.019 -0.178  0.004 -0.006  0.005 -0.988]
+t: 283	 action: [ 0.02  -0.068 -0.225  0.004 -0.004 -0.007 -0.963]
+t: 284	 action: [ 1.517e-03 -2.812e-03 -2.605e-02  4.901e-04 -1.019e-02  1.818e-03 -1.017e+00]
+t: 285	 action: [ 2.189e-02 -2.874e-02 -3.778e-02  1.719e-04 -1.107e-02 -1.390e-02 -1.024e+00]
+t: 286	 action: [-5.813e-02  7.900e-02  2.353e-03 -3.895e-03 -3.452e-03 -1.027e-03 -1.037e+00]
+t: 287	 action: [-0.022  0.133  0.067  0.004 -0.007 -0.014 -1.065]
+t: 288	 action: [-0.032  0.1    0.123 -0.007 -0.01  -0.006 -1.036]
+t: 289	 action: [ 0.01   0.124  0.169  0.001 -0.008 -0.022 -1.048]
+t: 290	 action: [ 0.05   0.022  0.163  0.006 -0.019 -0.018 -1.041]
+t: 291	 action: [ 0.053 -0.023  0.14   0.007 -0.013 -0.03  -1.053]
+t: 292	 action: [ 0.063  0.01   0.109  0.009 -0.021 -0.021 -1.043]
+t: 293	 action: [ 0.07  -0.04   0.079  0.009 -0.008 -0.029 -1.038]
+t: 294	 action: [ 0.027 -0.01   0.101  0.012 -0.016 -0.023 -1.05 ]
+t: 295	 action: [-0.004  0.011  0.071  0.013 -0.009 -0.035 -1.06 ]
+t: 296	 action: [ 0.002 -0.004  0.026  0.007 -0.014 -0.027 -1.049]
+t: 297	 action: [-0.014 -0.004  0.023  0.012 -0.006 -0.031 -1.057]
+[07-31 02:00:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7568
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7568
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 94
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 88%|████████▊ | 44/50 [23:28<03:08, 31.34s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 45...
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7568
+t=298: Selected seed 195 with value = 0.7568
+t: 298	 action: [ 0.074  0.014 -0.236  0.008 -0.004  0.007 -1.003]
+t: 299	 action: [ 3.658e-02  3.660e-03 -2.395e-01  8.008e-03 -1.834e-04  5.068e-04 -9.867e-01]
+t: 300	 action: [ 3.612e-02  4.273e-02 -1.194e-01 -9.328e-04 -8.539e-03  4.030e-03 -1.015e+00]
+t: 301	 action: [ 0.029  0.037 -0.074  0.001 -0.01  -0.007 -1.02 ]
+t: 302	 action: [-0.065  0.169 -0.071 -0.002 -0.003  0.003 -1.031]
+t: 303	 action: [-0.029  0.213  0.076  0.005 -0.009 -0.007 -1.056]
+t: 304	 action: [-0.057  0.197  0.125 -0.007 -0.014 -0.004 -1.031]
+t: 305	 action: [-7.534e-03  1.786e-01  2.350e-01 -7.119e-04 -1.560e-02 -1.681e-02 -1.047e+00]
+t: 306	 action: [ 0.069  0.06   0.232  0.003 -0.027 -0.016 -1.041]
+t: 307	 action: [ 0.077 -0.008  0.225  0.01  -0.02  -0.027 -1.043]
+t: 308	 action: [ 0.081  0.025  0.199  0.008 -0.033 -0.019 -1.042]
+t: 309	 action: [ 0.088 -0.044  0.161  0.012 -0.022 -0.028 -1.032]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=94--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=94--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 94
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 45...
+[07-31 02:00:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.106 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3584
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3584
+Query 1/1: Action query time = 1.106 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3584
+t=10: Selected seed 195 with value = 0.3584
+t: 10	 action: [-0.013 -0.148  0.007  0.006  0.003  0.006 -0.976]
+t: 11	 action: [ 0.083 -0.087  0.021  0.007  0.005  0.01  -0.992]
+t: 12	 action: [ 0.228 -0.119  0.056  0.004  0.002  0.016 -1.016]
+t: 13	 action: [ 4.270e-01 -7.169e-02  8.839e-02  1.951e-04  5.916e-03  1.421e-02 -1.014e+00]
+t: 14	 action: [ 5.761e-01  3.856e-02  1.279e-01 -3.106e-04 -1.772e-03  1.858e-02 -9.999e-01]
+t: 15	 action: [ 0.69   0.049  0.101  0.005 -0.002  0.014 -1.032]
+t: 16	 action: [ 0.819  0.06   0.147 -0.002 -0.006  0.026 -1.009]
+t: 17	 action: [ 8.449e-01  7.925e-02  1.367e-01 -5.177e-05 -2.772e-03  1.673e-02 -1.044e+00]
+t: 18	 action: [ 0.816  0.009  0.151  0.002 -0.009  0.021 -1.025]
+t: 19	 action: [ 0.841  0.035  0.15   0.004  0.001  0.015 -1.02 ]
+t: 20	 action: [ 0.868 -0.046  0.123  0.005 -0.015  0.022 -1.027]
+t: 21	 action: [ 0.872 -0.036  0.151  0.009 -0.001  0.017 -1.015]
+t: 22	 action: [ 0.888 -0.042  0.109  0.004 -0.018  0.024 -1.014]
+t: 23	 action: [ 0.897 -0.143  0.088  0.008 -0.007  0.017 -1.04 ]
+t: 24	 action: [ 0.912 -0.077  0.059  0.004 -0.022  0.023 -1.015]
+t: 25	 action: [ 0.915 -0.209  0.061  0.013 -0.008  0.019 -1.045]
+[07-31 02:00:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.049 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4199
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4199
+Query 1/1: Action query time = 1.049 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4199
+t=26: Selected seed 195 with value = 0.4199
+t: 26	 action: [ 9.130e-01 -1.827e-01  9.564e-02 -9.889e-04 -4.395e-02  2.684e-02 -1.038e+00]
+t: 27	 action: [ 0.867 -0.143  0.091  0.007 -0.045  0.017 -1.035]
+t: 28	 action: [ 0.898 -0.263  0.064  0.003 -0.055  0.03  -1.036]
+t: 29	 action: [ 0.868 -0.249  0.053  0.016 -0.049  0.018 -1.037]
+t: 30	 action: [ 0.914 -0.32   0.023  0.013 -0.054  0.032 -1.036]
+t: 31	 action: [ 0.852 -0.412  0.026  0.024 -0.053  0.02  -1.052]
+t: 32	 action: [ 0.862 -0.411 -0.054  0.026 -0.06   0.031 -1.03 ]
+t: 33	 action: [ 0.817 -0.498 -0.053  0.034 -0.049  0.02  -1.053]
+t: 34	 action: [ 0.729 -0.481 -0.147  0.027 -0.054  0.025 -1.041]
+t: 35	 action: [ 0.686 -0.462 -0.219  0.033 -0.045  0.018 -1.042]
+t: 36	 action: [ 0.56  -0.433 -0.357  0.029 -0.067  0.027 -1.041]
+t: 37	 action: [ 0.472 -0.359 -0.484  0.031 -0.052  0.023 -1.021]
+t: 38	 action: [ 0.409 -0.245 -0.532  0.021 -0.074  0.026 -1.042]
+t: 39	 action: [ 0.26  -0.215 -0.657  0.025 -0.063  0.019 -1.057]
+t: 40	 action: [ 0.174 -0.065 -0.718  0.005 -0.075  0.028 -1.043]
+t: 41	 action: [ 0.079 -0.09  -0.764  0.02  -0.062  0.027 -1.047]
+[07-31 02:00:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.089 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5111
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5111
+Query 1/1: Action query time = 1.089 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5111
+t=42: Selected seed 195 with value = 0.5111
+t: 42	 action: [-0.074  0.66  -0.621  0.003 -0.041  0.038 -1.008]
+t: 43	 action: [-0.033  0.68  -0.548  0.003 -0.041  0.028 -1.016]
+t: 44	 action: [-9.677e-02  7.923e-01 -5.972e-01  7.451e-04 -3.592e-02  3.756e-02 -1.002e+00]
+t: 45	 action: [-0.08   0.723 -0.51   0.002 -0.026  0.028 -1.015]
+t: 46	 action: [-0.102  0.8   -0.601 -0.001 -0.023  0.039 -1.009]
+t: 47	 action: [-0.104  0.793 -0.511  0.005 -0.018  0.032 -1.024]
+t: 48	 action: [-0.099  0.84  -0.593 -0.003 -0.017  0.042 -1.004]
+t: 49	 action: [-0.101  0.795 -0.49   0.004 -0.005  0.032 -1.028]
+t: 50	 action: [ 7.299e-04  6.574e-01 -6.576e-01 -4.300e-03 -2.282e-02  3.006e-02 -1.020e+00]
+t: 51	 action: [ 0.017  0.689 -0.638 -0.003 -0.02   0.023 -1.018]
+t: 52	 action: [-0.01   0.705 -0.621 -0.01  -0.015  0.034 -1.015]
+t: 53	 action: [-0.001  0.714 -0.561 -0.002 -0.006  0.024 -1.015]
+t: 54	 action: [-0.092  0.672 -0.606 -0.009 -0.014  0.033 -1.021]
+t: 55	 action: [-0.098  0.687 -0.486 -0.002 -0.009  0.026 -1.033]
+t: 56	 action: [-0.07   0.509 -0.502 -0.014  0.001  0.032 -1.015]
+t: 57	 action: [-0.07   0.539 -0.335 -0.004  0.005  0.027 -1.04 ]
+[07-31 02:00:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.190 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6094
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6094
+Query 1/1: Action query time = 1.190 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=58: Selected seed 195 with value = 0.6094
+t: 58	 action: [ 7.363e-02  3.110e-01 -3.436e-01 -2.887e-03 -5.873e-04  1.402e-02 -1.004e+00]
+t: 59	 action: [ 0.117  0.251 -0.167 -0.003  0.008  0.008 -1.013]
+t: 60	 action: [ 0.085  0.1   -0.135 -0.004  0.015  0.012 -0.998]
+t: 61	 action: [ 0.106  0.025  0.021 -0.008  0.018  0.004 -1.012]
+t: 62	 action: [ 0.029  0.039  0.018 -0.006  0.033  0.003 -0.993]
+t: 63	 action: [ 0.036  0.083  0.194 -0.004  0.026  0.005 -1.027]
+t: 64	 action: [-2.184e-02 -3.552e-02  3.815e-01 -4.988e-03  4.310e-02 -3.265e-04 -9.941e-01]
+t: 65	 action: [ 2.873e-03 -1.538e-02  5.095e-01 -4.643e-03  3.577e-02  2.697e-04 -1.030e+00]
+t: 66	 action: [ 6.394e-02 -8.997e-02  6.204e-01 -7.540e-04  1.205e-02  5.991e-03 -1.014e+00]
+t: 67	 action: [-0.096 -0.127  0.612  0.014  0.008 -0.003 -1.03 ]
+t: 68	 action: [-0.06  -0.065  0.536  0.004  0.005  0.008 -1.028]
+t: 69	 action: [-2.410e-01 -1.379e-01  4.517e-01  1.999e-02  6.931e-03  5.832e-04 -1.018e+00]
+t: 70	 action: [-0.537 -0.084  0.299  0.032  0.001  0.007 -1.004]
+t: 71	 action: [-0.611 -0.058  0.197  0.03  -0.016  0.008 -1.032]
+t: 72	 action: [-0.788 -0.054  0.122  0.038 -0.003  0.009 -0.99 ]
+t: 73	 action: [-0.764 -0.056  0.044  0.034 -0.009  0.014 -1.028]
+[07-31 02:01:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.201 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6197
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 1.201 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=74: Selected seed 195 with value = 0.6197
+t: 74	 action: [ 0.103  0.066 -0.144  0.001  0.011  0.005 -1.016]
+t: 75	 action: [ 1.524e-01  8.586e-03 -6.349e-03 -3.914e-04  1.729e-02 -8.381e-03 -1.013e+00]
+t: 76	 action: [ 0.085 -0.014  0.036 -0.003  0.018  0.002 -1.01 ]
+t: 77	 action: [ 0.097 -0.072  0.204 -0.002  0.029 -0.014 -1.008]
+t: 78	 action: [ 0.051 -0.027  0.272  0.002  0.036 -0.004 -1.006]
+t: 79	 action: [ 0.024 -0.007  0.397  0.005  0.031 -0.012 -1.032]
+t: 80	 action: [-0.038 -0.047  0.54   0.004  0.034 -0.01  -1.01 ]
+t: 81	 action: [-0.05  -0.043  0.582  0.011  0.035 -0.018 -1.029]
+t: 82	 action: [-0.087 -0.024  0.5    0.026  0.008 -0.012 -1.027]
+t: 83	 action: [-0.313 -0.087  0.457  0.033  0.005 -0.016 -1.035]
+t: 84	 action: [-3.283e-01 -2.803e-03  3.279e-01  2.496e-02 -2.334e-03  1.023e-03 -1.032e+00]
+t: 85	 action: [-0.493 -0.092  0.265  0.035  0.003 -0.013 -1.026]
+t: 86	 action: [-0.783 -0.018  0.164  0.049 -0.011 -0.003 -0.995]
+t: 87	 action: [-0.823 -0.04   0.088  0.037 -0.028 -0.01  -1.037]
+t: 88	 action: [-8.857e-01 -3.051e-02  9.038e-02  3.712e-02 -1.592e-02 -2.641e-05 -9.814e-01]
+t: 89	 action: [-0.904 -0.055  0.01   0.033 -0.024 -0.003 -1.035]
+[07-31 02:01:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.188 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4608
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 1.188 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=90: Selected seed 195 with value = 0.4608
+t: 90	 action: [ 0.1    0.011  0.09  -0.004  0.014 -0.002 -1.007]
+t: 91	 action: [ 0.079 -0.031  0.064 -0.009  0.014 -0.011 -1.033]
+t: 92	 action: [-0.017 -0.05   0.053 -0.002  0.011 -0.007 -1.022]
+t: 93	 action: [-0.082 -0.105  0.011 -0.011  0.014 -0.02  -1.045]
+t: 94	 action: [-1.959e-01 -8.048e-02 -4.731e-02  1.980e-04  2.126e-02 -7.434e-03 -1.008e+00]
+t: 95	 action: [-0.218 -0.088 -0.099 -0.005  0.011 -0.016 -1.058]
+t: 96	 action: [-0.39  -0.093 -0.162 -0.004  0.016 -0.012 -1.025]
+t: 97	 action: [-0.326 -0.058 -0.259 -0.009  0.01  -0.027 -1.074]
+t: 98	 action: [-4.363e-01 -5.949e-02 -2.660e-01 -8.619e-04 -7.097e-03 -2.263e-04 -1.024e+00]
+t: 99	 action: [-5.400e-01 -7.833e-02 -3.613e-01 -1.118e-02 -3.874e-04 -6.193e-03 -1.046e+00]
+t: 100	 action: [-5.119e-01 -6.133e-02 -4.278e-01 -6.971e-03 -4.275e-03 -5.773e-04 -1.026e+00]
+t: 101	 action: [-0.498 -0.066 -0.505 -0.011  0.008 -0.006 -1.035]
+t: 102	 action: [-0.66  -0.003 -0.53  -0.007 -0.008 -0.001 -1.01 ]
+t: 103	 action: [-0.554  0.012 -0.51  -0.01  -0.004 -0.01  -1.062]
+t: 104	 action: [-0.493  0.017 -0.606 -0.008 -0.002 -0.005 -1.014]
+t: 105	 action: [-0.392  0.03  -0.529 -0.008  0.002 -0.011 -0.977]
+[07-31 02:01:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.131 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5309
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.5309
+Query 1/1: Action query time = 1.131 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5309
+t=106: Selected seed 195 with value = 0.5309
+t: 106	 action: [ 0.326  0.231 -0.496 -0.003  0.004 -0.009 -1.027]
+t: 107	 action: [ 0.394  0.243 -0.432  0.003  0.01  -0.029 -1.029]
+t: 108	 action: [ 0.343  0.105 -0.464 -0.004  0.012 -0.02  -1.035]
+t: 109	 action: [ 0.384  0.084 -0.386  0.003  0.018 -0.043 -1.037]
+t: 110	 action: [ 3.582e-01  9.282e-02 -2.508e-01 -1.224e-04  2.696e-02 -2.380e-02 -1.031e+00]
+t: 111	 action: [ 0.32   0.064 -0.142  0.007  0.021 -0.035 -1.057]
+t: 112	 action: [ 0.297  0.038 -0.153 -0.004  0.027 -0.041 -1.034]
+t: 113	 action: [ 0.29   0.046 -0.069  0.005  0.023 -0.054 -1.061]
+t: 114	 action: [ 0.189 -0.113 -0.138  0.011  0.011 -0.033 -1.062]
+t: 115	 action: [ 0.114 -0.116 -0.21   0.007  0.01  -0.039 -1.042]
+t: 116	 action: [ 1.311e-01 -7.352e-02 -1.871e-01  4.548e-03 -7.706e-05 -3.186e-02 -1.062e+00]
+t: 117	 action: [ 0.065 -0.095 -0.283  0.003  0.006 -0.04  -1.042]
+t: 118	 action: [ 0.018  0.043 -0.322 -0.002 -0.004 -0.03  -1.052]
+t: 119	 action: [-0.003  0.063 -0.302  0.003 -0.002 -0.042 -1.048]
+t: 120	 action: [ 0.013  0.054 -0.401 -0.009 -0.008 -0.031 -1.051]
+t: 121	 action: [ 0.015  0.072 -0.348 -0.002 -0.005 -0.042 -1.054]
+[07-31 02:01:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.105 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5608
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 1.105 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=122: Selected seed 195 with value = 0.5608
+t: 122	 action: [ 0.057 -0.011 -0.39   0.014 -0.002 -0.039 -1.043]
+t: 123	 action: [ 0.043 -0.032 -0.402  0.016  0.005 -0.046 -1.037]
+t: 124	 action: [ 0.033 -0.004 -0.388  0.02  -0.006 -0.053 -1.043]
+t: 125	 action: [ 0.026 -0.024 -0.374  0.015  0.002 -0.057 -1.029]
+t: 126	 action: [-0.015  0.064 -0.364  0.019  0.002 -0.046 -1.035]
+t: 127	 action: [ 0.011  0.065 -0.248  0.023  0.001 -0.048 -1.058]
+t: 128	 action: [ 0.022  0.047 -0.322  0.01  -0.003 -0.056 -1.036]
+t: 129	 action: [ 0.037  0.056 -0.216  0.017 -0.004 -0.061 -1.046]
+t: 130	 action: [ 0.209  0.019 -0.135  0.004 -0.012 -0.047 -1.066]
+t: 131	 action: [ 0.195 -0.016 -0.148  0.003 -0.007 -0.053 -1.044]
+t: 132	 action: [ 0.165 -0.007 -0.21   0.003 -0.018 -0.042 -1.075]
+t: 133	 action: [ 1.195e-01 -3.457e-02 -2.341e-01  9.433e-04 -1.039e-02 -4.670e-02 -1.042e+00]
+t: 134	 action: [ 0.096  0.016 -0.325 -0.004 -0.016 -0.045 -1.062]
+t: 135	 action: [ 0.046  0.011 -0.252  0.004 -0.019 -0.054 -1.05 ]
+t: 136	 action: [ 0.037  0.037 -0.39  -0.007 -0.017 -0.041 -1.066]
+t: 137	 action: [ 4.684e-03  4.020e-02 -3.086e-01 -2.445e-04 -1.767e-02 -4.608e-02 -1.049e+00]
+[07-31 02:01:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.034 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7173
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 1.034 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=138: Selected seed 195 with value = 0.7173
+t: 138	 action: [ 0.082  0.206 -0.469 -0.007 -0.003 -0.005 -1.082]
+t: 139	 action: [ 0.015  0.157 -0.586 -0.009  0.002 -0.022 -1.042]
+t: 140	 action: [-8.294e-02  1.363e-01 -5.310e-01 -8.309e-03 -2.675e-04  7.397e-03 -1.218e+00]
+t: 141	 action: [-0.125  0.099 -0.62  -0.005  0.003  0.011 -1.161]
+t: 142	 action: [-0.12   0.087 -0.578 -0.018  0.008 -0.007 -1.09 ]
+t: 143	 action: [-0.142  0.121 -0.585 -0.001  0.007 -0.018 -1.048]
+t: 144	 action: [-1.135e-01  5.548e-02 -5.386e-01 -1.896e-02  1.262e-02  3.102e-04  1.074e+00]
+t: 145	 action: [-0.053  0.093 -0.519  0.003  0.015  0.002  1.163]
+t: 146	 action: [-0.096  0.016 -0.614 -0.019  0.016 -0.003  0.986]
+t: 147	 action: [-0.089  0.001 -0.421 -0.023  0.027 -0.006  1.036]
+t: 148	 action: [-0.03   0.037 -0.419 -0.027  0.027  0.002  0.978]
+t: 149	 action: [ 6.138e-03  2.408e-02 -1.828e-01 -2.676e-02  3.331e-02  2.781e-04  1.022e+00]
+t: 150	 action: [-0.028  0.092 -0.118 -0.048  0.04  -0.007  1.009]
+t: 151	 action: [ 0.013  0.101  0.025 -0.023  0.03  -0.003  1.03 ]
+t: 152	 action: [ 0.019  0.092  0.086 -0.057  0.032 -0.009  1.011]
+t: 153	 action: [ 4.927e-02  1.132e-01  2.375e-01 -5.654e-02  8.287e-03  5.378e-05  1.030e+00]
+[07-31 02:01:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7714
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7714
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7714
+t=154: Selected seed 195 with value = 0.7714
+t: 154	 action: [ 0.013  0.01  -0.226 -0.013  0.02   0.01   0.986]
+t: 155	 action: [ 2.237e-02  2.342e-02 -1.750e-01 -2.108e-02  9.633e-04  3.086e-03  1.031e+00]
+t: 156	 action: [ 0.02   0.077  0.107 -0.019  0.003  0.002  0.987]
+t: 157	 action: [ 0.03   0.072  0.222 -0.024 -0.003 -0.002  1.03 ]
+t: 158	 action: [ 0.088  0.064  0.421 -0.02   0.003  0.003  1.001]
+t: 159	 action: [ 0.071  0.042  0.696 -0.015 -0.006 -0.004  1.017]
+t: 160	 action: [ 1.372e-01  7.004e-02  8.520e-01 -3.491e-03  2.209e-04 -5.135e-03  9.939e-01]
+t: 161	 action: [ 0.144 -0.012  0.898  0.003 -0.001 -0.014  1.004]
+t: 162	 action: [ 0.099  0.019  0.879 -0.034  0.015  0.008  0.992]
+t: 163	 action: [ 0.086 -0.082  0.894 -0.035 -0.004  0.007  1.021]
+t: 164	 action: [ 0.036 -0.188  0.866 -0.007  0.01   0.008  0.982]
+t: 165	 action: [ 0.066 -0.415  0.758 -0.005 -0.011  0.012  1.018]
+t: 166	 action: [-0.012 -0.388  0.665  0.051  0.005  0.004  1.   ]
+t: 167	 action: [-0.028 -0.645  0.529  0.067 -0.01   0.016  1.016]
+t: 168	 action: [-1.156e-01 -5.726e-01  2.095e-01  8.126e-02 -7.124e-04  5.399e-03  9.970e-01]
+t: 169	 action: [-0.104 -0.766  0.07   0.082 -0.015  0.02   1.01 ]
+[07-31 02:01:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8161
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8161
+Query 1/1: Action query time = 0.991 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=170: Selected seed 195 with value = 0.8161
+t: 170	 action: [-0.156 -0.342  0.087  0.016 -0.013  0.014  1.001]
+t: 171	 action: [-0.139 -0.521  0.041  0.021 -0.023  0.031  0.912]
+t: 172	 action: [-0.216 -0.341 -0.067  0.028 -0.015  0.015  1.041]
+t: 173	 action: [-0.274 -0.442 -0.119  0.028 -0.018  0.015  0.899]
+t: 174	 action: [-0.25  -0.254 -0.221  0.036 -0.012  0.021  0.996]
+t: 175	 action: [-0.163 -0.268 -0.223  0.03  -0.018  0.038  0.486]
+t: 176	 action: [-0.281 -0.129 -0.332  0.013 -0.003  0.025 -1.027]
+t: 177	 action: [-2.279e-01 -6.788e-02 -3.401e-01  2.290e-02  2.203e-05  2.299e-02 -1.077e+00]
+t: 178	 action: [-0.141 -0.288 -0.322  0.04   0.008  0.045  0.972]
+t: 179	 action: [-0.103 -0.398 -0.348  0.03  -0.008  0.057  0.933]
+t: 180	 action: [-0.091 -0.184 -0.438  0.008  0.015  0.057  0.884]
+t: 181	 action: [-0.084 -0.16  -0.325  0.014  0.021  0.047  0.952]
+t: 182	 action: [-2.044e-01 -6.066e-02 -4.365e-01 -1.611e-04  7.709e-02  6.282e-02  1.041e+00]
+t: 183	 action: [-0.057 -0.099 -0.276  0.011  0.075  0.05   0.958]
+t: 184	 action: [-0.122  0.028 -0.103 -0.009  0.092  0.065 -0.406]
+t: 185	 action: [-0.023  0.046  0.033 -0.005  0.069  0.046 -1.063]
+[07-31 02:01:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9418
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9418
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9418
+t=186: Selected seed 195 with value = 0.9418
+t: 186	 action: [-2.567e-01 -1.211e-01 -1.769e-01 -4.041e-03  9.906e-04  4.467e-02  1.005e+00]
+t: 187	 action: [-0.252 -0.181 -0.204 -0.008  0.013  0.054  1.041]
+t: 188	 action: [-0.15  -0.064 -0.089  0.002  0.023  0.049  1.078]
+t: 189	 action: [-0.135 -0.093 -0.076  0.002  0.042  0.031  0.926]
+t: 190	 action: [-0.09  -0.028 -0.013 -0.004  0.045  0.053  1.027]
+t: 191	 action: [ 0.029 -0.004  0.01   0.003  0.047  0.051  0.972]
+t: 192	 action: [ 0.022 -0.01   0.138 -0.006  0.076  0.048 -1.097]
+t: 193	 action: [ 0.066  0.03   0.184  0.009  0.076  0.028 -1.135]
+t: 194	 action: [ 0.036 -0.024  0.178  0.031  0.074  0.048  0.53 ]
+t: 195	 action: [-0.005 -0.079  0.248  0.028  0.088  0.028 -1.024]
+t: 196	 action: [ 0.047 -0.013  0.287  0.033  0.069  0.04  -1.094]
+t: 197	 action: [ 0.008 -0.043  0.313  0.027  0.081  0.026 -1.044]
+t: 198	 action: [ 0.016 -0.016  0.344  0.027  0.101  0.043 -1.091]
+t: 199	 action: [-0.033  0.029  0.279  0.029  0.087  0.02  -1.072]
+t: 200	 action: [ 0.012 -0.009  0.318  0.021  0.075  0.035 -1.07 ]
+t: 201	 action: [-0.001  0.039  0.258  0.027  0.062  0.025 -1.043]
+[07-31 02:01:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9353
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9353
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9353
+t=202: Selected seed 195 with value = 0.9353
+t: 202	 action: [-0.061 -0.453 -0.081  0.004  0.027  0.002  0.996]
+t: 203	 action: [-0.042 -0.458 -0.034  0.002  0.009  0.002  1.08 ]
+t: 204	 action: [ 2.459e-02 -3.719e-01 -2.612e-02  9.581e-04  2.123e-02  1.764e-03  1.009e+00]
+t: 205	 action: [ 0.025 -0.378 -0.022 -0.003  0.002 -0.01   0.911]
+t: 206	 action: [ 0.005 -0.086 -0.005 -0.02   0.026 -0.001  1.012]
+t: 207	 action: [ 0.024 -0.149 -0.021 -0.015  0.006  0.003  1.076]
+t: 208	 action: [ 0.122  0.011  0.016 -0.02   0.021 -0.003  0.98 ]
+t: 209	 action: [ 0.156 -0.061 -0.017 -0.016  0.01  -0.007  0.242]
+t: 210	 action: [ 0.205  0.045 -0.158 -0.007  0.009  0.008  1.118]
+t: 211	 action: [ 0.152  0.032 -0.075 -0.01   0.011 -0.011 -1.035]
+t: 212	 action: [ 0.29   0.068 -0.128 -0.006  0.011  0.007 -1.045]
+t: 213	 action: [ 0.333  0.043 -0.065 -0.008  0.014 -0.002 -1.044]
+t: 214	 action: [ 2.228e-01  8.052e-02 -2.969e-02 -1.157e-02  1.553e-02  4.620e-04 -1.101e+00]
+t: 215	 action: [ 0.137 -0.019 -0.017 -0.004  0.012 -0.01  -1.076]
+t: 216	 action: [ 0.214  0.023  0.035 -0.009  0.019 -0.003 -0.973]
+t: 217	 action: [ 0.141 -0.019  0.047  0.003  0.017  0.011  0.808]
+[07-31 02:01:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9495
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 0.984 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=218: Selected seed 195 with value = 0.9495
+t: 218	 action: [-0.062 -0.214 -0.587 -0.009  0.015  0.012  1.001]
+t: 219	 action: [-0.057 -0.133 -0.474 -0.026  0.008  0.023  1.059]
+t: 220	 action: [-0.031 -0.051 -0.388 -0.023  0.025  0.011  1.091]
+t: 221	 action: [ 0.001 -0.052 -0.284 -0.034  0.02   0.008  0.999]
+t: 222	 action: [ 0.044  0.078 -0.131 -0.069  0.042  0.005  1.012]
+t: 223	 action: [ 0.044  0.088 -0.021 -0.042  0.032  0.016  1.042]
+t: 224	 action: [ 0.063  0.064  0.083 -0.066  0.052  0.002 -1.029]
+t: 225	 action: [ 0.078  0.085  0.178 -0.036  0.04   0.005 -1.129]
+t: 226	 action: [ 0.108  0.023  0.282 -0.028  0.024  0.007 -1.051]
+t: 227	 action: [ 0.074  0.023  0.295 -0.017  0.021 -0.001 -1.038]
+t: 228	 action: [ 0.073  0.013  0.3   -0.013  0.012  0.007 -1.048]
+t: 229	 action: [ 0.075  0.01   0.291 -0.004  0.013 -0.003 -1.033]
+t: 230	 action: [ 4.872e-02  1.605e-02  3.094e-01  4.201e-04  1.256e-02 -2.863e-03 -1.055e+00]
+t: 231	 action: [ 0.014  0.048  0.307  0.009  0.006 -0.005 -1.05 ]
+t: 232	 action: [ 0.074  0.004  0.291 -0.002  0.006 -0.005 -1.051]
+t: 233	 action: [ 4.601e-02  3.703e-02  2.816e-01  1.121e-02 -1.319e-04 -3.456e-03 -1.052e+00]
+[07-31 02:01:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9365
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 0.995 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=234: Selected seed 195 with value = 0.9365
+t: 234	 action: [ 0.15  -0.151 -0.385  0.009 -0.015  0.016  0.824]
+t: 235	 action: [ 0.159 -0.082 -0.356  0.005 -0.01   0.006  0.426]
+t: 236	 action: [ 0.27   0.03  -0.322 -0.002 -0.005  0.01  -1.023]
+t: 237	 action: [ 3.544e-01  7.138e-02 -2.489e-01 -4.007e-04 -4.817e-03  5.677e-03 -1.021e+00]
+t: 238	 action: [ 0.268  0.21  -0.233 -0.008 -0.019  0.006 -1.111]
+t: 239	 action: [ 0.198  0.251 -0.09  -0.01  -0.01   0.006 -1.093]
+t: 240	 action: [ 0.304  0.3   -0.073 -0.019 -0.002  0.003 -1.041]
+t: 241	 action: [ 2.953e-01  2.539e-01  1.863e-02 -1.427e-02 -5.868e-03 -1.719e-04 -1.052e+00]
+t: 242	 action: [ 2.583e-01  1.180e-01  7.579e-04 -4.636e-03 -3.038e-04  9.003e-03 -1.050e+00]
+t: 243	 action: [ 0.243  0.089  0.033 -0.006  0.004 -0.004 -1.056]
+t: 244	 action: [ 0.219  0.065  0.113 -0.005 -0.004  0.008 -1.055]
+t: 245	 action: [ 0.233  0.046  0.123 -0.004  0.007 -0.002 -1.039]
+t: 246	 action: [ 0.175  0.042  0.129 -0.004  0.002  0.003 -1.052]
+t: 247	 action: [ 7.413e-02  7.665e-02  1.873e-01  3.162e-03 -4.223e-03 -4.799e-04 -1.069e+00]
+t: 248	 action: [ 1.752e-01  1.078e-02  1.927e-01 -4.251e-03  1.002e-02  3.554e-04 -1.054e+00]
+t: 249	 action: [ 1.421e-01  4.570e-02  2.103e-01  7.667e-03 -8.325e-04  6.543e-04 -1.056e+00]
+[07-31 02:01:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8740
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=250: Selected seed 195 with value = 0.8740
+t: 250	 action: [ 0.006 -0.021 -0.308  0.008 -0.002  0.023 -0.618]
+t: 251	 action: [-0.001 -0.046 -0.29   0.008  0.002  0.007 -0.728]
+t: 252	 action: [-0.013  0.021 -0.229  0.004 -0.003  0.011 -1.021]
+t: 253	 action: [-4.029e-03  3.628e-03 -1.950e-01  6.800e-03 -6.022e-04  2.703e-03 -1.012e+00]
+t: 254	 action: [-0.042  0.164 -0.168 -0.003 -0.005  0.013 -1.1  ]
+t: 255	 action: [-0.025  0.2   -0.073  0.007 -0.008  0.003 -1.095]
+t: 256	 action: [ 0.022  0.212 -0.02  -0.011 -0.005  0.003 -1.05 ]
+t: 257	 action: [ 0.057  0.193  0.055 -0.002 -0.008 -0.004 -1.044]
+t: 258	 action: [ 9.523e-02  1.499e-02  1.104e-01  7.999e-04 -1.496e-02  6.789e-03 -1.039e+00]
+t: 259	 action: [ 0.116 -0.018  0.121  0.001 -0.007 -0.012 -1.051]
+t: 260	 action: [ 1.499e-01 -7.361e-03  1.066e-01 -1.450e-04 -2.348e-02  4.472e-03 -1.054e+00]
+t: 261	 action: [ 0.192 -0.055  0.104  0.003 -0.011 -0.008 -1.04 ]
+t: 262	 action: [ 0.091 -0.025  0.126  0.005 -0.014  0.002 -1.052]
+t: 263	 action: [ 0.046 -0.012  0.113  0.013 -0.012 -0.012 -1.062]
+t: 264	 action: [ 0.094 -0.058  0.089  0.004 -0.014 -0.002 -1.057]
+t: 265	 action: [ 0.083 -0.033  0.079  0.013 -0.012 -0.007 -1.05 ]
+[07-31 02:01:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7932
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 1.001 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=266: Selected seed 195 with value = 0.7932
+t: 266	 action: [ 0.006 -0.032 -0.329  0.002 -0.001  0.025  1.097]
+t: 267	 action: [ 1.711e-02 -8.402e-02 -2.857e-01  7.751e-04  4.869e-03  1.077e-02  9.707e-01]
+t: 268	 action: [ 1.392e-02  3.365e-04 -1.650e-01  1.418e-03 -3.212e-03  6.515e-03 -1.065e+00]
+t: 269	 action: [ 3.169e-02 -3.332e-02 -7.695e-02  3.319e-03 -6.020e-04 -1.843e-03 -1.027e+00]
+t: 270	 action: [-0.027  0.091 -0.074 -0.003 -0.002  0.008 -1.113]
+t: 271	 action: [ 0.013  0.132  0.038 -0.003 -0.015  0.006 -1.086]
+t: 272	 action: [ 5.184e-02  1.290e-01  1.434e-01 -9.090e-03 -7.128e-03 -5.979e-04 -1.070e+00]
+t: 273	 action: [ 0.061  0.13   0.204 -0.003 -0.015 -0.011 -1.041]
+t: 274	 action: [ 1.284e-01  6.137e-03  2.557e-01  7.874e-04 -2.555e-02  3.102e-03 -1.051e+00]
+t: 275	 action: [ 0.122 -0.054  0.25   0.007 -0.018 -0.012 -1.055]
+t: 276	 action: [ 0.125 -0.064  0.163  0.005 -0.037  0.002 -1.077]
+t: 277	 action: [ 0.124 -0.1    0.13   0.011 -0.028 -0.008 -1.044]
+t: 278	 action: [ 5.332e-02 -6.617e-02  1.432e-01  1.877e-02 -3.530e-02 -6.146e-05 -1.057e+00]
+t: 279	 action: [-0.009 -0.061  0.11   0.018 -0.032 -0.015 -1.069]
+t: 280	 action: [ 0.003 -0.099  0.044  0.015 -0.039 -0.004 -1.071]
+t: 281	 action: [-0.015 -0.08   0.034  0.018 -0.03  -0.009 -1.038]
+[07-31 02:01:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7728
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7728
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7728
+t=282: Selected seed 195 with value = 0.7728
+t: 282	 action: [-0.007  0.229 -0.383  0.008  0.004  0.028 -1.019]
+t: 283	 action: [-0.019  0.28  -0.328  0.009  0.005  0.017 -1.018]
+t: 284	 action: [-0.03   0.275 -0.281  0.003  0.004  0.022 -1.029]
+t: 285	 action: [-0.036  0.25  -0.209  0.005  0.002  0.014 -1.008]
+t: 286	 action: [-0.098  0.383 -0.253  0.001  0.005  0.029 -1.032]
+t: 287	 action: [-0.094  0.449 -0.097  0.013 -0.008  0.018 -1.051]
+t: 288	 action: [-0.069  0.377 -0.044 -0.009 -0.003  0.015 -1.038]
+t: 289	 action: [-0.045  0.334  0.075  0.005 -0.011  0.01  -1.041]
+t: 290	 action: [ 0.11   0.164  0.205 -0.005 -0.016  0.009 -1.038]
+t: 291	 action: [ 0.171  0.103  0.28   0.004 -0.009 -0.002 -1.034]
+t: 292	 action: [ 0.128  0.048  0.335  0.005 -0.03   0.006 -1.049]
+t: 293	 action: [ 0.207 -0.003  0.329  0.013 -0.02  -0.004 -1.024]
+t: 294	 action: [ 0.092  0.023  0.357  0.017 -0.022  0.002 -1.041]
+t: 295	 action: [ 0.036  0.018  0.287  0.02  -0.023 -0.008 -1.047]
+t: 296	 action: [ 0.061 -0.041  0.263  0.029 -0.033 -0.002 -1.049]
+t: 297	 action: [ 0.027 -0.057  0.177  0.027 -0.027 -0.007 -1.044]
+[07-31 02:01:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6908
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.6908
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 95
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 90%|█████████ | 45/50 [24:01<02:38, 31.78s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 46...
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6908
+t=298: Selected seed 195 with value = 0.6908
+t: 298	 action: [ 0.044  0.106 -0.173  0.002  0.01   0.023 -1.002]
+t: 299	 action: [ 3.513e-02  1.369e-01 -1.439e-01  8.926e-04  1.077e-02  1.621e-02 -9.738e-01]
+t: 300	 action: [ 0.013  0.166 -0.041 -0.003  0.009  0.016 -1.021]
+t: 301	 action: [ 0.028  0.155  0.014 -0.004  0.009  0.008 -1.017]
+t: 302	 action: [-0.074  0.328  0.048 -0.008  0.013  0.012 -1.036]
+t: 303	 action: [-4.690e-02  3.736e-01  1.523e-01 -4.078e-03  2.219e-04  9.150e-03 -1.051e+00]
+t: 304	 action: [-0.071  0.3    0.31  -0.009  0.008  0.002 -1.032]
+t: 305	 action: [-4.255e-02  2.712e-01  4.331e-01 -8.471e-03 -1.519e-04 -2.338e-03 -1.038e+00]
+t: 306	 action: [ 0.056  0.088  0.446  0.002 -0.011 -0.009 -1.042]
+t: 307	 action: [ 0.049  0.019  0.43   0.013 -0.007 -0.018 -1.04 ]
+t: 308	 action: [-0.012  0.013  0.386  0.015 -0.02  -0.007 -1.047]
+t: 309	 action: [ 0.002 -0.072  0.319  0.022 -0.011 -0.018 -1.032]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=95--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=95--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 95
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 46...
+[07-31 02:01:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3537
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3537
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3537
+t=10: Selected seed 195 with value = 0.3537
+t: 10	 action: [ 0.135  0.005  0.06   0.005  0.012  0.006 -1.004]
+t: 11	 action: [ 0.214  0.082  0.051  0.006  0.015  0.007 -1.014]
+t: 12	 action: [ 0.347  0.076  0.102  0.002  0.014  0.009 -1.014]
+t: 13	 action: [ 0.551  0.116  0.102  0.001  0.018  0.008 -1.018]
+t: 14	 action: [ 0.66   0.065  0.153 -0.003  0.019  0.014 -1.005]
+t: 15	 action: [ 0.771  0.097  0.145  0.003  0.018  0.011 -1.034]
+t: 16	 action: [ 0.805  0.095  0.189 -0.003  0.018  0.012 -1.006]
+t: 17	 action: [ 0.869  0.104  0.168  0.002  0.019  0.01  -1.042]
+t: 18	 action: [ 0.799  0.007  0.273  0.008  0.019  0.013 -1.022]
+t: 19	 action: [ 0.845 -0.025  0.267  0.014  0.022  0.007 -1.02 ]
+t: 20	 action: [ 0.841 -0.013  0.215  0.007  0.012  0.01  -1.021]
+t: 21	 action: [ 0.869 -0.07   0.248  0.013  0.021  0.006 -1.009]
+t: 22	 action: [ 0.849 -0.008  0.189  0.004  0.018  0.01  -1.013]
+t: 23	 action: [ 0.884 -0.135  0.141  0.014  0.02   0.005 -1.036]
+t: 24	 action: [ 0.877 -0.01   0.108  0.001  0.012  0.004 -1.012]
+t: 25	 action: [ 0.907 -0.149  0.09   0.013  0.016  0.004 -1.038]
+[07-31 02:01:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3466
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3466
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3466
+t=26: Selected seed 195 with value = 0.3466
+t: 26	 action: [ 0.95  -0.02   0.024 -0.001 -0.016  0.004 -1.018]
+t: 27	 action: [ 9.463e-01 -3.504e-02  2.967e-02  1.002e-03 -1.516e-02 -1.291e-02 -1.028e+00]
+t: 28	 action: [ 0.944 -0.08  -0.01   0.004 -0.025  0.005 -1.021]
+t: 29	 action: [ 0.942 -0.1    0.008  0.006 -0.024 -0.01  -1.026]
+t: 30	 action: [ 9.488e-01 -1.404e-01 -7.332e-02  8.345e-03 -3.171e-02  2.491e-04 -1.004e+00]
+t: 31	 action: [ 0.929 -0.198 -0.075  0.012 -0.041 -0.014 -1.039]
+t: 32	 action: [ 9.086e-01 -2.475e-01 -1.973e-01  1.020e-02 -4.717e-02 -2.377e-04 -1.013e+00]
+t: 33	 action: [ 0.88  -0.306 -0.223  0.019 -0.054 -0.012 -1.041]
+t: 34	 action: [ 0.703 -0.279 -0.357  0.015 -0.057  0.011 -1.036]
+t: 35	 action: [ 0.595 -0.269 -0.508  0.016 -0.072 -0.005 -1.036]
+t: 36	 action: [ 0.433 -0.288 -0.601  0.018 -0.094  0.012 -1.034]
+t: 37	 action: [ 0.234 -0.231 -0.716  0.017 -0.087  0.003 -1.02 ]
+t: 38	 action: [ 0.153 -0.158 -0.748  0.008 -0.116  0.005 -1.03 ]
+t: 39	 action: [ 0.056 -0.154 -0.792  0.017 -0.096 -0.003 -1.045]
+t: 40	 action: [-0.07  -0.046 -0.823  0.003 -0.121  0.006 -1.035]
+t: 41	 action: [-0.037 -0.068 -0.859  0.015 -0.086  0.007 -1.044]
+[07-31 02:01:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4724
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4724
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4724
+t=42: Selected seed 195 with value = 0.4724
+t: 42	 action: [-0.042  0.828 -0.541  0.005 -0.027  0.045 -1.014]
+t: 43	 action: [-0.005  0.783 -0.496  0.008 -0.031  0.033 -1.018]
+t: 44	 action: [-0.064  0.846 -0.568  0.005 -0.022  0.042 -1.007]
+t: 45	 action: [-0.035  0.781 -0.496  0.011 -0.024  0.031 -1.018]
+t: 46	 action: [-0.068  0.853 -0.542  0.003 -0.017  0.044 -1.008]
+t: 47	 action: [-0.061  0.816 -0.539  0.01  -0.021  0.035 -1.029]
+t: 48	 action: [-0.101  0.851 -0.576  0.003 -0.011  0.046 -1.003]
+t: 49	 action: [-0.066  0.801 -0.549  0.013 -0.009  0.033 -1.035]
+t: 50	 action: [-0.015  0.599 -0.73   0.004 -0.024  0.041 -1.021]
+t: 51	 action: [ 0.011  0.559 -0.729  0.005 -0.04   0.029 -1.024]
+t: 52	 action: [ 0.01   0.43  -0.601 -0.002 -0.019  0.033 -1.019]
+t: 53	 action: [ 3.891e-02  3.375e-01 -5.162e-01 -3.975e-05 -2.264e-02  2.048e-02 -1.017e+00]
+t: 54	 action: [ 0.02   0.171 -0.273  0.007 -0.009  0.032 -1.018]
+t: 55	 action: [ 3.674e-02  7.106e-02 -5.585e-02  6.854e-03 -9.488e-05  2.405e-02 -1.044e+00]
+t: 56	 action: [ 0.008  0.019  0.165 -0.005  0.011  0.019 -1.009]
+t: 57	 action: [ 0.021 -0.031  0.468 -0.002  0.013  0.015 -1.05 ]
+[07-31 02:01:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5809
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=58: Selected seed 195 with value = 0.5809
+t: 58	 action: [ 0.055  0.506 -0.327 -0.004 -0.002  0.011 -1.01 ]
+t: 59	 action: [ 0.111  0.432 -0.162 -0.007  0.01   0.007 -1.01 ]
+t: 60	 action: [ 0.079  0.265 -0.12  -0.009  0.011  0.009 -1.006]
+t: 61	 action: [ 0.094  0.151  0.032 -0.011  0.018  0.002 -1.016]
+t: 62	 action: [ 4.600e-02  7.650e-02  2.295e-02 -4.264e-04  3.200e-02  6.050e-04 -9.955e-01]
+t: 63	 action: [ 0.03   0.066  0.214  0.001  0.033  0.002 -1.025]
+t: 64	 action: [-0.009 -0.04   0.411  0.005  0.051 -0.002 -1.   ]
+t: 65	 action: [-0.005 -0.035  0.564  0.011  0.043 -0.005 -1.033]
+t: 66	 action: [ 0.032 -0.085  0.589  0.027  0.034  0.004 -1.021]
+t: 67	 action: [-0.115 -0.148  0.567  0.034  0.021 -0.002 -1.033]
+t: 68	 action: [-0.097 -0.088  0.469  0.034  0.023  0.005 -1.033]
+t: 69	 action: [-2.612e-01 -1.911e-01  4.118e-01  4.123e-02  1.624e-02  6.265e-04 -1.022e+00]
+t: 70	 action: [-4.778e-01 -1.380e-01  2.734e-01  5.931e-02  9.509e-03  7.589e-04 -1.009e+00]
+t: 71	 action: [-5.804e-01 -1.134e-01  1.747e-01  5.141e-02  8.559e-04  5.679e-03 -1.037e+00]
+t: 72	 action: [-7.298e-01 -1.368e-01  1.546e-01  5.757e-02  4.470e-04  1.722e-03 -9.985e-01]
+t: 73	 action: [-7.181e-01 -1.028e-01  4.312e-02  4.980e-02  6.872e-04  1.071e-02 -1.033e+00]
+[07-31 02:01:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5031
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5031
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5031
+t=74: Selected seed 195 with value = 0.5031
+t: 74	 action: [ 0.029  0.228 -0.212  0.002  0.019  0.007 -1.005]
+t: 75	 action: [ 6.537e-02  1.609e-01 -1.075e-01  3.546e-03  2.333e-02 -8.436e-04 -1.004e+00]
+t: 76	 action: [ 1.460e-02  3.822e-02  2.927e-02 -6.915e-04  2.219e-02  4.578e-03 -1.005e+00]
+t: 77	 action: [ 0.041 -0.043  0.178  0.004  0.027 -0.011 -1.01 ]
+t: 78	 action: [ 0.016 -0.019  0.27   0.008  0.028 -0.003 -0.997]
+t: 79	 action: [-1.697e-04 -1.659e-02  4.123e-01  6.667e-03  1.924e-02 -1.097e-02 -1.029e+00]
+t: 80	 action: [-0.067 -0.052  0.511  0.008  0.024 -0.007 -1.003]
+t: 81	 action: [-0.078 -0.058  0.585  0.013  0.014 -0.019 -1.029]
+t: 82	 action: [-1.406e-01 -3.562e-02  4.807e-01  2.356e-02  5.927e-04  1.863e-03 -1.023e+00]
+t: 83	 action: [-0.329 -0.109  0.443  0.015  0.005 -0.006 -1.037]
+t: 84	 action: [-0.424 -0.01   0.295  0.013 -0.006  0.005 -1.021]
+t: 85	 action: [-0.542 -0.115  0.241  0.006  0.009 -0.002 -1.021]
+t: 86	 action: [-8.365e-01 -5.145e-02  1.699e-01  2.609e-02 -9.522e-03  1.296e-04 -9.925e-01]
+t: 87	 action: [-0.81  -0.101  0.088 -0.004 -0.007 -0.001 -1.034]
+t: 88	 action: [-0.913 -0.078  0.062  0.014 -0.014  0.006 -0.972]
+t: 89	 action: [-0.893 -0.123  0.005 -0.011 -0.004  0.006 -1.025]
+[07-31 02:01:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4078
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4078
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4078
+t=90: Selected seed 195 with value = 0.4078
+t: 90	 action: [ 0.014 -0.02   0.338 -0.005  0.014 -0.024 -0.997]
+t: 91	 action: [-0.152 -0.086  0.251 -0.013  0.009 -0.023 -1.036]
+t: 92	 action: [-2.897e-01 -3.987e-02  1.831e-01 -3.392e-04  4.771e-03 -2.314e-02 -1.013e+00]
+t: 93	 action: [-0.432 -0.073  0.094 -0.013  0.007 -0.027 -1.047]
+t: 94	 action: [-6.871e-01 -2.477e-02 -1.522e-02 -4.458e-04  5.764e-03 -2.509e-02 -9.944e-01]
+t: 95	 action: [-0.641 -0.045 -0.051 -0.01   0.003 -0.03  -1.051]
+t: 96	 action: [-0.777 -0.03  -0.211 -0.008 -0.003 -0.023 -1.01 ]
+t: 97	 action: [-0.656  0.01  -0.246 -0.02  -0.007 -0.036 -1.06 ]
+t: 98	 action: [-0.615  0.008 -0.441 -0.017 -0.03  -0.01  -1.014]
+t: 99	 action: [-0.51  -0.023 -0.596 -0.014 -0.028 -0.022 -1.047]
+t: 100	 action: [-0.442 -0.043 -0.629 -0.014 -0.038 -0.012 -1.008]
+t: 101	 action: [-0.296 -0.054 -0.695 -0.01  -0.036 -0.017 -1.015]
+t: 102	 action: [-0.392 -0.009 -0.718 -0.002 -0.04  -0.019 -1.009]
+t: 103	 action: [-0.276  0.007 -0.657 -0.006 -0.052 -0.036 -1.059]
+t: 104	 action: [-1.862e-01 -4.211e-02 -7.658e-01 -4.152e-04 -4.189e-02 -2.289e-02 -1.002e+00]
+t: 105	 action: [-0.105 -0.019 -0.662 -0.001 -0.053 -0.029 -0.89 ]
+[07-31 02:01:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4715
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4715
+Query 1/1: Action query time = 0.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4715
+t=106: Selected seed 195 with value = 0.4715
+t: 106	 action: [ 1.601e-01  2.475e-01 -4.734e-01  2.570e-03 -2.220e-02 -7.176e-04 -1.032e+00]
+t: 107	 action: [ 0.256  0.253 -0.433  0.014 -0.006 -0.012 -1.035]
+t: 108	 action: [ 0.252  0.193 -0.463  0.007 -0.013 -0.001 -1.04 ]
+t: 109	 action: [ 3.628e-01  1.323e-01 -3.898e-01  1.218e-02  5.490e-04 -2.003e-02 -1.044e+00]
+t: 110	 action: [ 3.662e-01  1.613e-01 -2.955e-01  6.221e-04  5.600e-03 -4.852e-03 -1.029e+00]
+t: 111	 action: [ 0.373  0.121 -0.237  0.015  0.007 -0.016 -1.052]
+t: 112	 action: [ 0.47   0.105 -0.202 -0.001  0.006 -0.009 -1.039]
+t: 113	 action: [ 0.456  0.086 -0.123  0.009  0.005 -0.027 -1.058]
+t: 114	 action: [ 3.337e-01  1.623e-02 -1.063e-01  9.572e-04 -1.097e-02 -2.060e-02 -1.074e+00]
+t: 115	 action: [ 0.339 -0.014 -0.109  0.009 -0.006 -0.037 -1.046]
+t: 116	 action: [ 0.3   -0.008 -0.14   0.002 -0.015 -0.027 -1.077]
+t: 117	 action: [ 0.229 -0.03  -0.19   0.009 -0.011 -0.038 -1.048]
+t: 118	 action: [ 0.162  0.015 -0.281  0.002 -0.019 -0.023 -1.061]
+t: 119	 action: [ 0.053  0.018 -0.275  0.01  -0.016 -0.043 -1.054]
+t: 120	 action: [ 0.049  0.026 -0.452 -0.003 -0.018 -0.031 -1.065]
+t: 121	 action: [ 0.016  0.016 -0.416  0.009 -0.015 -0.042 -1.063]
+[07-31 02:01:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4837
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4837
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4837
+t=122: Selected seed 195 with value = 0.4837
+t: 122	 action: [ 0.082  0.095 -0.526  0.044 -0.011 -0.009 -1.062]
+t: 123	 action: [ 0.075  0.161 -0.493  0.027 -0.009 -0.024 -1.032]
+t: 124	 action: [ 0.071  0.132 -0.492  0.039 -0.008 -0.006 -1.062]
+t: 125	 action: [ 0.069  0.185 -0.453  0.018 -0.005 -0.026 -1.023]
+t: 126	 action: [ 0.066  0.257 -0.467  0.025 -0.006 -0.007 -1.045]
+t: 127	 action: [ 0.051  0.249 -0.367  0.024 -0.007 -0.025 -1.046]
+t: 128	 action: [ 0.066  0.272 -0.383  0.009 -0.007 -0.008 -1.049]
+t: 129	 action: [ 0.071  0.237 -0.313  0.013 -0.005 -0.03  -1.036]
+t: 130	 action: [ 0.31   0.225 -0.161  0.006 -0.002 -0.022 -1.087]
+t: 131	 action: [ 3.373e-01  1.625e-01 -1.360e-01 -5.020e-04  2.248e-03 -3.084e-02 -1.037e+00]
+t: 132	 action: [ 0.297  0.144 -0.251  0.006 -0.007 -0.009 -1.101]
+t: 133	 action: [ 3.015e-01  9.936e-02 -2.313e-01 -7.927e-04 -9.509e-04 -2.363e-02 -1.038e+00]
+t: 134	 action: [ 0.178  0.1   -0.347 -0.003 -0.015 -0.02  -1.078]
+t: 135	 action: [ 7.715e-02  5.000e-02 -3.046e-01  5.533e-04 -1.094e-02 -3.080e-02 -1.041e+00]
+t: 136	 action: [ 0.034  0.022 -0.498 -0.005 -0.018 -0.013 -1.087]
+t: 137	 action: [-0.005 -0.004 -0.415 -0.001 -0.017 -0.024 -1.044]
+[07-31 02:01:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5752
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.5752
+Query 1/1: Action query time = 1.003 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5752
+t=138: Selected seed 195 with value = 0.5752
+t: 138	 action: [-2.212e-02  1.015e-01 -5.497e-01 -1.182e-03  2.436e-03  4.527e-03 -1.207e+00]
+t: 139	 action: [-0.049  0.066 -0.602 -0.005  0.002  0.008 -1.136]
+t: 140	 action: [-1.015e-01  5.385e-02 -6.178e-01 -5.655e-04  9.974e-03  7.119e-03 -1.205e+00]
+t: 141	 action: [-0.119  0.038 -0.632 -0.004  0.01   0.011 -1.157]
+t: 142	 action: [-0.06   0.006 -0.586 -0.005  0.016  0.002  1.091]
+t: 143	 action: [-0.034  0.027 -0.569  0.007  0.008  0.009  1.179]
+t: 144	 action: [-0.053  0.03  -0.492 -0.007  0.02   0.002  1.077]
+t: 145	 action: [-0.024  0.042 -0.436  0.005  0.013  0.001  1.161]
+t: 146	 action: [-0.062  0.027 -0.412 -0.008  0.02   0.003  0.979]
+t: 147	 action: [-0.021  0.023 -0.247  0.001  0.022 -0.005  1.026]
+t: 148	 action: [-0.011  0.049 -0.216 -0.031  0.024  0.004  0.978]
+t: 149	 action: [ 0.025  0.064 -0.105 -0.016  0.017 -0.015  1.028]
+t: 150	 action: [-0.008  0.113  0.041 -0.029  0.023 -0.013  1.008]
+t: 151	 action: [ 0.034  0.129  0.219 -0.067 -0.001 -0.023  1.032]
+t: 152	 action: [ 0.045  0.149  0.286 -0.037  0.003 -0.024  1.009]
+t: 153	 action: [ 6.963e-02  1.439e-01  6.158e-01 -7.360e-02 -5.529e-04 -3.521e-02  1.040e+00]
+[07-31 02:01:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7462
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7462
+Query 1/1: Action query time = 0.992 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7462
+t=154: Selected seed 195 with value = 0.7462
+t: 154	 action: [-0.017 -0.013 -0.048 -0.009  0.037  0.001  0.985]
+t: 155	 action: [ 0.007 -0.017  0.157 -0.012  0.028 -0.014  1.03 ]
+t: 156	 action: [-0.017 -0.023  0.468 -0.001  0.02  -0.005  0.979]
+t: 157	 action: [-0.002 -0.057  0.744 -0.004  0.023 -0.009  1.025]
+t: 158	 action: [-0.01  -0.129  0.81   0.006  0.033 -0.003  0.999]
+t: 159	 action: [-0.006 -0.203  0.896  0.021  0.04  -0.007  1.011]
+t: 160	 action: [-0.046 -0.299  0.957  0.022  0.035 -0.005  0.983]
+t: 161	 action: [-0.029 -0.408  0.925  0.041  0.045 -0.002  1.01 ]
+t: 162	 action: [-0.126 -0.504  0.835  0.025  0.036  0.007  0.97 ]
+t: 163	 action: [-0.092 -0.656  0.796  0.033  0.036  0.01   1.024]
+t: 164	 action: [-0.183 -0.669  0.691  0.03   0.022  0.012  0.953]
+t: 165	 action: [-0.158 -0.788  0.473  0.04   0.017  0.017  1.019]
+t: 166	 action: [-0.267 -0.733  0.274  0.037  0.021  0.01   0.984]
+t: 167	 action: [-3.646e-01 -7.708e-01  6.547e-02  3.418e-02  8.933e-04  1.735e-02  1.006e+00]
+t: 168	 action: [-0.306 -0.747 -0.03   0.029  0.006  0.013  0.969]
+t: 169	 action: [-0.36  -0.737 -0.177  0.027 -0.006  0.02   1.001]
+[07-31 02:01:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8977
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8977
+t=170: Selected seed 195 with value = 0.8977
+t: 170	 action: [-0.396 -0.698 -0.223  0.023  0.01   0.015  0.965]
+t: 171	 action: [-0.384 -0.626 -0.365  0.004 -0.021  0.025  1.037]
+t: 172	 action: [-0.381 -0.511 -0.481  0.013 -0.023  0.021  0.98 ]
+t: 173	 action: [-0.369 -0.408 -0.603 -0.01  -0.05   0.031  1.034]
+t: 174	 action: [-0.384 -0.248 -0.709 -0.012 -0.048  0.036  0.977]
+t: 175	 action: [-0.358 -0.202 -0.783 -0.016 -0.038  0.045  1.042]
+t: 176	 action: [-0.33  -0.128 -0.774 -0.038 -0.046  0.05   0.997]
+t: 177	 action: [-0.267 -0.127 -0.773 -0.028 -0.031  0.046  1.031]
+t: 178	 action: [-0.128 -0.111 -0.644 -0.035 -0.022  0.021  1.131]
+t: 179	 action: [-0.199 -0.105 -0.565 -0.043 -0.009  0.027  1.04 ]
+t: 180	 action: [-0.063 -0.077 -0.321 -0.051  0.002  0.021  1.13 ]
+t: 181	 action: [-0.095 -0.08  -0.208 -0.044  0.007  0.022  1.059]
+t: 182	 action: [-0.109  0.017 -0.046 -0.042  0.026  0.011 -1.156]
+t: 183	 action: [-0.059  0.023  0.095 -0.014  0.024  0.018 -1.102]
+t: 184	 action: [ 0.023  0.021  0.146 -0.035  0.031  0.007 -1.129]
+t: 185	 action: [ 0.042  0.044  0.251 -0.011  0.035  0.013 -1.111]
+[07-31 02:01:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+t: 186	 action: [ 0.292  0.012  0.301  0.001  0.117 -0.031 -1.04 ]
+t: 187	 action: [ 0.337 -0.045  0.325 -0.007  0.112 -0.045 -1.043]
+t: 188	 action: [ 3.080e-01  5.428e-02  3.895e-01 -3.009e-04  1.076e-01 -3.068e-02 -1.027e+00]
+t: 189	 action: [ 0.345  0.037  0.396 -0.009  0.11  -0.044 -1.036]
+t: 190	 action: [ 0.252  0.125  0.403 -0.003  0.094 -0.033 -1.024]
+t: 191	 action: [ 0.217  0.122  0.416 -0.006  0.093 -0.04  -1.051]
+t: 192	 action: [ 0.248  0.167  0.406 -0.005  0.082 -0.029 -1.025]
+t: 193	 action: [ 0.209  0.124  0.366 -0.005  0.076 -0.04  -1.052]
+t: 194	 action: [ 3.418e-01  1.884e-01  3.225e-01  2.327e-04  4.137e-02 -3.169e-02 -1.036e+00]
+t: 195	 action: [ 0.318  0.088  0.284 -0.008  0.04  -0.042 -1.043]
+t: 196	 action: [ 2.466e-01  1.560e-01  2.346e-01 -6.680e-04  2.539e-02 -1.844e-02 -1.029e+00]
+t: 197	 action: [ 0.23   0.076  0.213 -0.009  0.022 -0.036 -1.043]
+t: 198	 action: [ 1.655e-01  1.049e-01  2.215e-01  7.979e-06  2.292e-02 -2.088e-02 -1.035e+00]
+t: 199	 action: [ 0.084  0.087  0.166 -0.003  0.008 -0.034 -1.054]
+t: 200	 action: [ 0.118  0.089  0.186 -0.004  0.014 -0.014 -1.037]
+t: 201	 action: [ 0.07   0.072  0.163 -0.003  0.002 -0.028 -1.06 ]
+[07-31 02:01:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9460
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=202: Selected seed 195 with value = 0.9460
+t: 202	 action: [ 1.046e-01 -8.479e-03 -1.773e-01  8.329e-04 -3.944e-03 -5.062e-03 -1.042e+00]
+t: 203	 action: [ 0.111 -0.01  -0.176  0.007 -0.008 -0.026 -1.032]
+t: 204	 action: [ 0.096  0.019 -0.042 -0.003 -0.012 -0.015 -1.041]
+t: 205	 action: [ 1.139e-01  4.607e-02 -2.614e-02  8.528e-04 -1.707e-02 -3.320e-02 -1.028e+00]
+t: 206	 action: [ 0.04   0.11  -0.003 -0.004 -0.015 -0.015 -1.041]
+t: 207	 action: [ 0.029  0.154  0.08   0.004 -0.019 -0.035 -1.062]
+t: 208	 action: [ 0.061  0.212  0.064 -0.007 -0.022 -0.028 -1.042]
+t: 209	 action: [ 0.052  0.184  0.122 -0.002 -0.017 -0.043 -1.049]
+t: 210	 action: [ 0.112  0.083  0.05   0.005 -0.018 -0.029 -1.061]
+t: 211	 action: [ 0.084  0.061  0.053  0.009 -0.016 -0.043 -1.049]
+t: 212	 action: [ 1.391e-01  1.023e-01  4.445e-03  9.483e-04 -2.290e-02 -3.427e-02 -1.060e+00]
+t: 213	 action: [ 0.133  0.077  0.024  0.005 -0.017 -0.041 -1.036]
+t: 214	 action: [ 7.560e-02  5.920e-02 -1.534e-02  3.471e-04 -2.140e-02 -3.106e-02 -1.057e+00]
+t: 215	 action: [ 0.026  0.081  0.005  0.011 -0.014 -0.046 -1.054]
+t: 216	 action: [ 0.094  0.081 -0.048 -0.005 -0.023 -0.038 -1.054]
+t: 217	 action: [ 0.044  0.087 -0.008  0.006 -0.014 -0.045 -1.057]
+[07-31 02:01:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9376
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=218: Selected seed 195 with value = 0.9376
+t: 218	 action: [ 0.05  -0.004 -0.203  0.001 -0.008 -0.022 -1.028]
+t: 219	 action: [ 0.029 -0.013 -0.215  0.002 -0.009 -0.046 -1.008]
+t: 220	 action: [-5.119e-03  1.737e-02 -1.716e-02 -1.861e-04 -1.718e-02 -4.326e-02 -1.027e+00]
+t: 221	 action: [ 4.668e-03  1.865e-02 -4.159e-02 -2.202e-04 -1.984e-02 -6.176e-02 -1.021e+00]
+t: 222	 action: [-0.081  0.069  0.061 -0.002 -0.018 -0.035 -1.032]
+t: 223	 action: [-4.582e-02  1.143e-01  9.515e-02 -6.430e-04 -2.475e-02 -5.458e-02 -1.045e+00]
+t: 224	 action: [-0.075  0.108  0.154 -0.003 -0.024 -0.051 -1.03 ]
+t: 225	 action: [-3.396e-02  1.315e-01  1.167e-01 -6.713e-04 -1.715e-02 -6.901e-02 -1.036e+00]
+t: 226	 action: [ 0.019  0.051  0.127  0.005 -0.022 -0.032 -1.042]
+t: 227	 action: [ 0.014  0.017  0.093  0.009 -0.017 -0.048 -1.037]
+t: 228	 action: [ 0.028  0.06   0.093  0.004 -0.027 -0.035 -1.041]
+t: 229	 action: [ 0.029  0.015  0.05   0.008 -0.016 -0.044 -1.031]
+t: 230	 action: [-0.029  0.026  0.071  0.006 -0.026 -0.031 -1.043]
+t: 231	 action: [-0.047  0.045  0.028  0.012 -0.017 -0.051 -1.043]
+t: 232	 action: [-0.009  0.025  0.034  0.001 -0.026 -0.036 -1.039]
+t: 233	 action: [-2.316e-02  3.243e-02  9.960e-04  1.112e-02 -1.523e-02 -4.515e-02 -1.047e+00]
+[07-31 02:01:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9510
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9510
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9510
+t=234: Selected seed 195 with value = 0.9510
+t: 234	 action: [ 5.080e-02 -6.338e-03 -9.129e-02 -1.017e-03 -1.085e-02 -2.742e-02 -1.032e+00]
+t: 235	 action: [ 0.028 -0.026 -0.114 -0.005 -0.009 -0.044 -1.016]
+t: 236	 action: [-5.649e-03  1.843e-03  8.718e-02 -6.600e-05 -2.297e-02 -4.519e-02 -1.031e+00]
+t: 237	 action: [-9.514e-04 -7.416e-04  4.316e-02 -2.136e-03 -1.940e-02 -5.533e-02 -1.032e+00]
+t: 238	 action: [-0.063  0.041  0.091 -0.003 -0.025 -0.032 -1.036]
+t: 239	 action: [-0.031  0.084  0.083 -0.005 -0.02  -0.049 -1.056]
+t: 240	 action: [-0.039  0.051  0.131 -0.003 -0.032 -0.043 -1.034]
+t: 241	 action: [ 7.005e-03  9.236e-02  3.437e-02  5.285e-04 -1.600e-02 -5.835e-02 -1.045e+00]
+t: 242	 action: [ 0.097  0.034  0.118  0.007 -0.041 -0.016 -1.053]
+t: 243	 action: [ 0.066  0.022  0.085  0.008 -0.03  -0.031 -1.045]
+t: 244	 action: [ 0.098  0.038  0.073  0.005 -0.044 -0.018 -1.052]
+t: 245	 action: [ 0.078  0.01   0.032  0.007 -0.033 -0.029 -1.037]
+t: 246	 action: [ 0.014  0.014  0.045  0.008 -0.046 -0.013 -1.053]
+t: 247	 action: [-0.005  0.036 -0.004  0.012 -0.032 -0.032 -1.055]
+t: 248	 action: [ 0.016  0.003  0.012  0.005 -0.045 -0.016 -1.05 ]
+t: 249	 action: [ 0.009  0.014 -0.032  0.01  -0.032 -0.029 -1.055]
+[07-31 02:01:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9641
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=250: Selected seed 195 with value = 0.9641
+t: 250	 action: [ 7.925e-02  1.166e-02 -6.196e-02 -2.682e-03  4.396e-04 -2.915e-02 -1.030e+00]
+t: 251	 action: [ 0.051  0.018 -0.052 -0.008 -0.002 -0.035 -1.013]
+t: 252	 action: [ 0.032  0.013  0.153 -0.003 -0.01  -0.036 -1.031]
+t: 253	 action: [ 0.027  0.02   0.114 -0.005 -0.009 -0.038 -1.034]
+t: 254	 action: [-0.019  0.02   0.14  -0.007 -0.011 -0.021 -1.04 ]
+t: 255	 action: [-0.019  0.063  0.137 -0.005 -0.009 -0.035 -1.06 ]
+t: 256	 action: [-0.026  0.011  0.159 -0.005 -0.016 -0.024 -1.038]
+t: 257	 action: [ 0.007  0.034  0.081  0.002 -0.009 -0.037 -1.049]
+t: 258	 action: [ 0.143 -0.008  0.113  0.005 -0.029 -0.007 -1.051]
+t: 259	 action: [ 0.092 -0.021  0.047  0.009 -0.018 -0.021 -1.044]
+t: 260	 action: [ 0.103 -0.017  0.055  0.006 -0.034 -0.007 -1.049]
+t: 261	 action: [ 6.540e-02 -3.750e-02  2.214e-04  9.979e-03 -2.184e-02 -1.920e-02 -1.037e+00]
+t: 262	 action: [ 0.017 -0.033  0.006  0.01  -0.036 -0.006 -1.056]
+t: 263	 action: [-5.639e-04 -1.873e-02 -6.403e-02  1.246e-02 -2.226e-02 -1.889e-02 -1.061e+00]
+t: 264	 action: [-0.014 -0.026 -0.046  0.008 -0.038 -0.008 -1.051]
+t: 265	 action: [-0.003 -0.034 -0.117  0.011 -0.025 -0.017 -1.056]
+[07-31 02:01:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9661
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9661
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=266: Selected seed 195 with value = 0.9661
+t: 266	 action: [ 0.07   0.067 -0.107 -0.003  0.002 -0.027 -1.019]
+t: 267	 action: [ 0.043  0.084 -0.035 -0.006  0.002 -0.029 -0.992]
+t: 268	 action: [ 0.034  0.042  0.131 -0.003 -0.004 -0.03  -1.028]
+t: 269	 action: [ 0.032  0.052  0.138 -0.005 -0.005 -0.03  -1.029]
+t: 270	 action: [-0.002  0.032  0.168 -0.008 -0.005 -0.018 -1.038]
+t: 271	 action: [-0.012  0.064  0.18  -0.008 -0.007 -0.028 -1.057]
+t: 272	 action: [-0.01   0.001  0.194 -0.004 -0.009 -0.018 -1.035]
+t: 273	 action: [ 0.016  0.013  0.128  0.002 -0.007 -0.028 -1.048]
+t: 274	 action: [ 0.133 -0.041  0.118  0.005 -0.015 -0.007 -1.05 ]
+t: 275	 action: [ 0.078 -0.039  0.04   0.013 -0.006 -0.016 -1.041]
+t: 276	 action: [ 0.088 -0.047  0.057  0.009 -0.021 -0.005 -1.047]
+t: 277	 action: [ 0.056 -0.05  -0.002  0.015 -0.01  -0.014 -1.034]
+t: 278	 action: [ 0.011 -0.059 -0.023  0.009 -0.024 -0.005 -1.054]
+t: 279	 action: [ 0.005 -0.038 -0.086  0.014 -0.015 -0.014 -1.06 ]
+t: 280	 action: [-0.027 -0.044 -0.087  0.009 -0.029 -0.006 -1.05 ]
+t: 281	 action: [-0.014 -0.05  -0.16   0.013 -0.02  -0.011 -1.053]
+[07-31 02:01:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9625
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9625
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=282: Selected seed 195 with value = 0.9625
+t: 282	 action: [ 2.802e-02  5.365e-02 -6.873e-02 -3.595e-03  9.793e-04 -1.475e-02 -9.941e-01]
+t: 283	 action: [ 0.018  0.07   0.014 -0.005  0.006 -0.019 -0.958]
+t: 284	 action: [ 0.007  0.02   0.146 -0.003 -0.001 -0.018 -1.02 ]
+t: 285	 action: [ 0.015  0.033  0.188 -0.004  0.004 -0.019 -1.025]
+t: 286	 action: [-1.143e-02  7.993e-03  2.283e-01 -9.769e-04 -1.803e-03 -1.048e-02 -1.035e+00]
+t: 287	 action: [-0.024  0.022  0.243 -0.009 -0.004 -0.017 -1.052]
+t: 288	 action: [-1.255e-02 -2.477e-02  2.295e-01 -7.555e-04 -4.718e-03 -1.031e-02 -1.033e+00]
+t: 289	 action: [ 0.006 -0.029  0.182  0.002 -0.004 -0.017 -1.048]
+t: 290	 action: [ 0.089 -0.085  0.111  0.005 -0.004 -0.002 -1.049]
+t: 291	 action: [ 0.051 -0.068  0.035  0.01   0.004 -0.009 -1.04 ]
+t: 292	 action: [ 6.619e-02 -7.259e-02  4.801e-02  8.015e-03 -1.195e-02  3.235e-04 -1.047e+00]
+t: 293	 action: [ 0.046 -0.076 -0.006  0.012  0.001 -0.006 -1.031]
+t: 294	 action: [ 0.004 -0.075 -0.03   0.004 -0.015 -0.002 -1.054]
+t: 295	 action: [ 5.547e-04 -6.160e-02 -7.650e-02  1.065e-02 -8.543e-03 -5.897e-03 -1.059e+00]
+t: 296	 action: [-0.02  -0.049 -0.086  0.004 -0.021 -0.003 -1.049]
+t: 297	 action: [-0.019 -0.072 -0.153  0.01  -0.014 -0.003 -1.052]
+[07-31 02:01:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9550
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9550
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 96
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 92%|█████████▏| 46/50 [24:33<02:06, 31.72s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 47...
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=298: Selected seed 195 with value = 0.9550
+t: 298	 action: [ 0.056  0.057 -0.097 -0.003 -0.004 -0.005 -1.005]
+t: 299	 action: [ 4.905e-02  6.349e-02 -1.468e-02 -9.144e-04  5.908e-03 -1.297e-02 -9.778e-01]
+t: 300	 action: [ 0.043  0.02   0.146 -0.003 -0.004 -0.011 -1.018]
+t: 301	 action: [ 5.080e-02  2.571e-02  2.101e-01  6.901e-05  4.892e-03 -1.555e-02 -1.027e+00]
+t: 302	 action: [ 0.018 -0.003  0.282  0.003 -0.002 -0.007 -1.036]
+t: 303	 action: [-0.002  0.005  0.308 -0.01  -0.002 -0.011 -1.058]
+t: 304	 action: [ 0.011 -0.044  0.308  0.004 -0.003 -0.008 -1.03 ]
+t: 305	 action: [ 2.358e-02 -5.364e-02  2.654e-01  3.889e-03 -8.511e-04 -1.393e-02 -1.051e+00]
+t: 306	 action: [ 1.070e-01 -1.120e-01  2.006e-01  1.021e-02 -1.196e-03  9.364e-05 -1.049e+00]
+t: 307	 action: [ 0.072 -0.082  0.1    0.013  0.005 -0.007 -1.039]
+t: 308	 action: [ 0.099 -0.096  0.116  0.013 -0.01   0.003 -1.044]
+t: 309	 action: [ 0.073 -0.086  0.031  0.014  0.002 -0.004 -1.031]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=96--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=96--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 96
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 47...
+[07-31 02:02:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.042 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3522
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3522
+Query 1/1: Action query time = 1.042 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3522
+t=10: Selected seed 195 with value = 0.3522
+t: 10	 action: [ 0.343 -0.118  0.088  0.004  0.029  0.003 -1.015]
+t: 11	 action: [ 4.255e-01 -8.407e-02  1.351e-01 -5.023e-05  4.124e-02 -2.187e-05 -1.015e+00]
+t: 12	 action: [ 0.646 -0.113  0.142  0.002  0.028  0.006 -1.019]
+t: 13	 action: [ 7.620e-01 -9.266e-02  1.854e-01 -6.711e-04  4.166e-02  2.463e-03 -1.021e+00]
+t: 14	 action: [ 0.856 -0.07   0.198  0.002  0.027  0.007 -1.021]
+t: 15	 action: [ 0.89  -0.101  0.202  0.002  0.028  0.005 -1.038]
+t: 16	 action: [ 9.296e-01 -5.549e-02  1.954e-01  9.897e-04  2.193e-02  8.010e-03 -1.023e+00]
+t: 17	 action: [ 0.936 -0.08   0.178  0.004  0.024  0.005 -1.044]
+t: 18	 action: [ 0.905 -0.106  0.214  0.003  0.002  0.011 -1.028]
+t: 19	 action: [ 0.921 -0.127  0.228  0.005  0.011  0.007 -1.022]
+t: 20	 action: [ 9.193e-01 -1.250e-01  1.671e-01  4.898e-03 -5.744e-04  9.181e-03 -1.024e+00]
+t: 21	 action: [ 0.929 -0.155  0.185  0.007  0.011  0.007 -1.013]
+t: 22	 action: [ 0.938 -0.134  0.152  0.004 -0.001  0.01  -1.018]
+t: 23	 action: [ 0.945 -0.234  0.116  0.01   0.004  0.008 -1.036]
+t: 24	 action: [ 9.334e-01 -1.218e-01  9.354e-02  1.007e-03 -1.461e-03  5.238e-03 -1.016e+00]
+t: 25	 action: [ 0.945 -0.229  0.054  0.011  0.003  0.008 -1.039]
+[07-31 02:02:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.020 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4258
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4258
+Query 1/1: Action query time = 1.020 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4258
+t=26: Selected seed 195 with value = 0.4258
+t: 26	 action: [ 0.929 -0.283  0.091  0.005 -0.01   0.003 -1.022]
+t: 27	 action: [ 0.946 -0.277  0.078  0.004 -0.006 -0.008 -1.018]
+t: 28	 action: [ 0.934 -0.322  0.025  0.007 -0.013  0.005 -1.031]
+t: 29	 action: [ 0.966 -0.314  0.041  0.012 -0.005 -0.005 -1.025]
+t: 30	 action: [ 0.989 -0.279 -0.042  0.007 -0.015  0.002 -1.003]
+t: 31	 action: [ 0.951 -0.275 -0.062  0.012 -0.009 -0.004 -1.039]
+t: 32	 action: [ 0.945 -0.217 -0.204  0.004 -0.025  0.003 -1.018]
+t: 33	 action: [ 0.899 -0.2   -0.285  0.014 -0.019 -0.004 -1.04 ]
+t: 34	 action: [ 0.592 -0.192 -0.39   0.011 -0.061  0.009 -1.025]
+t: 35	 action: [ 0.435 -0.116 -0.498  0.017 -0.068  0.005 -1.018]
+t: 36	 action: [ 0.301 -0.124 -0.617  0.011 -0.097  0.011 -1.017]
+t: 37	 action: [ 0.125 -0.043 -0.706  0.015 -0.086  0.008 -1.011]
+t: 38	 action: [ 0.062 -0.014 -0.765  0.005 -0.105  0.008 -1.016]
+t: 39	 action: [-0.03  -0.019 -0.781  0.022 -0.078  0.011 -1.026]
+t: 40	 action: [-8.479e-02  1.579e-02 -8.335e-01 -8.483e-04 -1.000e-01  1.102e-02 -1.014e+00]
+t: 41	 action: [-0.069  0.036 -0.846  0.021 -0.061  0.017 -1.032]
+[07-31 02:02:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4968
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4968
+Query 1/1: Action query time = 0.997 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4968
+t=42: Selected seed 195 with value = 0.4968
+t: 42	 action: [-0.016  0.148 -0.851  0.022 -0.029  0.016 -1.001]
+t: 43	 action: [-0.026  0.187 -0.901  0.014 -0.033  0.018 -1.019]
+t: 44	 action: [-0.044  0.37  -0.759  0.013 -0.022  0.02  -0.998]
+t: 45	 action: [-0.043  0.448 -0.791  0.011 -0.02   0.02  -1.023]
+t: 46	 action: [-0.103  0.486 -0.69   0.007 -0.027  0.021 -0.995]
+t: 47	 action: [-0.09   0.536 -0.662  0.013 -0.022  0.022 -1.034]
+t: 48	 action: [-0.12   0.633 -0.614  0.005 -0.018  0.026 -0.992]
+t: 49	 action: [-0.111  0.683 -0.567  0.011 -0.008  0.022 -1.037]
+t: 50	 action: [-0.109  0.774 -0.534  0.007 -0.017  0.022 -1.002]
+t: 51	 action: [-0.086  0.76  -0.602  0.007 -0.018  0.017 -1.021]
+t: 52	 action: [-0.125  0.808 -0.515  0.007 -0.013  0.025 -1.002]
+t: 53	 action: [-0.083  0.762 -0.575  0.006 -0.008  0.018 -1.022]
+t: 54	 action: [-0.194  0.797 -0.516  0.002 -0.019  0.028 -0.997]
+t: 55	 action: [-0.185  0.796 -0.544  0.006 -0.017  0.018 -1.035]
+t: 56	 action: [-0.199  0.81  -0.523  0.002 -0.013  0.03  -0.997]
+t: 57	 action: [-0.178  0.788 -0.538  0.005 -0.007  0.02  -1.041]
+[07-31 02:02:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5143
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5143
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5143
+t=58: Selected seed 195 with value = 0.5143
+t: 58	 action: [-0.153  0.814 -0.54   0.007 -0.011  0.018 -1.005]
+t: 59	 action: [-0.115  0.8   -0.533  0.012 -0.012  0.016 -1.005]
+t: 60	 action: [-0.174  0.846 -0.538  0.007 -0.011  0.023 -0.999]
+t: 61	 action: [-0.129  0.812 -0.52   0.015 -0.01   0.019 -1.008]
+t: 62	 action: [-0.185  0.814 -0.516  0.007 -0.008  0.016 -0.994]
+t: 63	 action: [-0.162  0.819 -0.521  0.018 -0.012  0.019 -1.024]
+t: 64	 action: [-0.197  0.833 -0.528  0.007 -0.007  0.026 -0.991]
+t: 65	 action: [-0.148  0.832 -0.522  0.02  -0.007  0.022 -1.034]
+t: 66	 action: [-0.156  0.85  -0.514  0.009 -0.021  0.014 -1.009]
+t: 67	 action: [-0.094  0.791 -0.55   0.013 -0.023  0.014 -1.014]
+t: 68	 action: [-0.12   0.826 -0.515  0.008 -0.02   0.018 -1.01 ]
+t: 69	 action: [-0.076  0.747 -0.565  0.013 -0.011  0.016 -1.017]
+t: 70	 action: [-0.164  0.746 -0.518  0.01  -0.013  0.02  -1.007]
+t: 71	 action: [-0.095  0.734 -0.514  0.02  -0.011  0.019 -1.031]
+t: 72	 action: [-0.095  0.546 -0.475  0.01  -0.003  0.019 -1.002]
+t: 73	 action: [-0.013  0.489 -0.361  0.021 -0.002  0.02  -1.042]
+[07-31 02:02:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6154
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6154
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6154
+t=74: Selected seed 195 with value = 0.6154
+t: 74	 action: [ 0.013  0.127 -0.415  0.012 -0.008  0.005 -1.024]
+t: 75	 action: [ 1.490e-02  9.431e-02 -2.499e-01  1.258e-02 -4.766e-03 -1.641e-04 -1.017e+00]
+t: 76	 action: [-0.026  0.094 -0.153  0.015 -0.002  0.003 -1.024]
+t: 77	 action: [-0.003  0.043 -0.042  0.01   0.002 -0.007 -1.016]
+t: 78	 action: [-0.106  0.093 -0.136  0.003  0.006  0.002 -1.017]
+t: 79	 action: [-1.218e-01  1.502e-01  6.080e-02  4.926e-03  3.372e-03  7.204e-04 -1.041e+00]
+t: 80	 action: [-1.490e-01  6.562e-02  2.536e-01  5.246e-04  1.114e-02 -2.298e-03 -1.028e+00]
+t: 81	 action: [-0.136  0.075  0.391  0.005  0.002 -0.01  -1.04 ]
+t: 82	 action: [-0.018 -0.115  0.487  0.05   0.017  0.005 -1.042]
+t: 83	 action: [-0.018 -0.162  0.449  0.045  0.006 -0.001 -1.055]
+t: 84	 action: [-0.048 -0.172  0.357  0.054  0.011  0.007 -1.051]
+t: 85	 action: [-0.011 -0.234  0.262  0.045  0.004  0.003 -1.037]
+t: 86	 action: [-0.206 -0.165  0.2    0.049  0.009  0.004 -1.045]
+t: 87	 action: [-0.291 -0.195  0.097  0.036 -0.005  0.007 -1.057]
+t: 88	 action: [-0.309 -0.194  0.048  0.033  0.005  0.006 -1.048]
+t: 89	 action: [-0.333 -0.229 -0.013  0.03  -0.006  0.013 -1.   ]
+[07-31 02:02:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6497
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6497
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6497
+t=90: Selected seed 195 with value = 0.6497
+t: 90	 action: [ 0.005  0.062 -0.19   0.004  0.008  0.011 -1.02 ]
+t: 91	 action: [ 0.038  0.02  -0.027  0.009  0.012  0.003 -0.987]
+t: 92	 action: [-0.005  0.039  0.064  0.006  0.016  0.005 -1.025]
+t: 93	 action: [ 0.03  -0.026  0.205  0.01   0.018 -0.006 -1.021]
+t: 94	 action: [-0.038  0.005  0.224  0.006  0.028  0.001 -1.024]
+t: 95	 action: [-0.038  0.026  0.358  0.01   0.018 -0.003 -1.045]
+t: 96	 action: [-0.079 -0.013  0.482  0.012  0.03  -0.004 -1.026]
+t: 97	 action: [-0.096 -0.029  0.588  0.018  0.022 -0.013 -1.046]
+t: 98	 action: [-0.063 -0.075  0.465  0.048  0.015 -0.002 -1.044]
+t: 99	 action: [-0.112 -0.124  0.402  0.047  0.011 -0.009 -1.061]
+t: 100	 action: [-0.153 -0.065  0.262  0.046  0.004  0.004 -1.053]
+t: 101	 action: [-0.173 -0.161  0.132  0.044  0.008 -0.006 -1.041]
+t: 102	 action: [-0.341 -0.121  0.131  0.048  0.004 -0.004 -1.036]
+t: 103	 action: [-0.489 -0.114  0.051  0.038 -0.004 -0.007 -1.057]
+t: 104	 action: [-0.582 -0.131  0.017  0.037 -0.006 -0.002 -1.033]
+t: 105	 action: [-0.61  -0.123 -0.044  0.031 -0.008 -0.003 -1.04 ]
+[07-31 02:02:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.198 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6010
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.6010
+Query 1/1: Action query time = 1.198 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6010
+t=106: Selected seed 195 with value = 0.6010
+t: 106	 action: [ 0.083  0.252 -0.215  0.004  0.005  0.011 -1.03 ]
+t: 107	 action: [ 0.151  0.215 -0.117  0.006  0.012  0.003 -1.02 ]
+t: 108	 action: [ 0.103  0.104 -0.082 -0.002  0.017  0.008 -1.033]
+t: 109	 action: [ 0.149  0.038  0.063  0.003  0.022 -0.005 -1.027]
+t: 110	 action: [ 5.540e-02  4.028e-02  1.122e-01  3.878e-03  1.979e-02 -4.103e-04 -1.021e+00]
+t: 111	 action: [ 0.02   0.071  0.262  0.007  0.013 -0.002 -1.049]
+t: 112	 action: [ 0.035  0.004  0.393  0.003  0.028 -0.004 -1.028]
+t: 113	 action: [ 0.004 -0.014  0.563  0.007  0.021 -0.013 -1.049]
+t: 114	 action: [ 0.06  -0.126  0.515  0.034  0.008 -0.008 -1.036]
+t: 115	 action: [-0.003 -0.149  0.526  0.042  0.005 -0.013 -1.052]
+t: 116	 action: [-4.379e-02 -1.106e-01  3.842e-01  3.679e-02  3.626e-03 -8.618e-04 -1.042e+00]
+t: 117	 action: [-1.117e-01 -2.134e-01  3.210e-01  4.170e-02 -7.771e-04 -1.281e-02 -1.041e+00]
+t: 118	 action: [-0.237 -0.148  0.22   0.046 -0.009 -0.002 -1.03 ]
+t: 119	 action: [-0.448 -0.197  0.11   0.023 -0.027 -0.008 -1.051]
+t: 120	 action: [-0.518 -0.198  0.085  0.039 -0.014 -0.001 -1.031]
+t: 121	 action: [-0.584 -0.239 -0.006  0.014 -0.028 -0.005 -1.045]
+[07-31 02:02:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.220 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4678
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.4678
+Query 1/1: Action query time = 1.220 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4678
+t=122: Selected seed 195 with value = 0.4678
+t: 122	 action: [ 0.081  0.472 -0.217  0.004  0.006  0.006 -1.021]
+t: 123	 action: [ 0.122  0.425 -0.196  0.006  0.021  0.002 -1.029]
+t: 124	 action: [ 9.160e-02  2.433e-01 -1.557e-01 -6.415e-04  1.995e-02  5.397e-03 -1.027e+00]
+t: 125	 action: [ 0.136  0.165 -0.035  0.002  0.033 -0.006 -1.029]
+t: 126	 action: [ 0.065  0.148  0.031  0.003  0.018 -0.002 -1.01 ]
+t: 127	 action: [ 0.034  0.128  0.169  0.005  0.023 -0.004 -1.052]
+t: 128	 action: [ 4.220e-02  3.419e-02  2.971e-01  4.210e-04  2.752e-02 -5.112e-03 -1.022e+00]
+t: 129	 action: [ 3.962e-02  1.235e-02  4.948e-01 -5.878e-04  2.872e-02 -1.502e-02 -1.054e+00]
+t: 130	 action: [ 0.078 -0.095  0.481  0.026  0.002 -0.008 -1.021]
+t: 131	 action: [-0.022 -0.131  0.506  0.028  0.004 -0.013 -1.047]
+t: 132	 action: [-0.07  -0.037  0.396  0.018 -0.006 -0.002 -1.034]
+t: 133	 action: [-1.969e-01 -1.606e-01  3.260e-01  2.311e-02  2.412e-04 -1.441e-02 -1.035e+00]
+t: 134	 action: [-0.369 -0.14   0.221  0.027 -0.015 -0.001 -1.021]
+t: 135	 action: [-0.541 -0.215  0.132  0.002 -0.029 -0.011 -1.052]
+t: 136	 action: [-0.67  -0.174  0.087  0.024 -0.024 -0.003 -1.023]
+t: 137	 action: [-0.68  -0.29   0.009 -0.003 -0.03  -0.009 -1.044]
+[07-31 02:02:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.189 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3717
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.3717
+Query 1/1: Action query time = 1.189 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3717
+t=138: Selected seed 195 with value = 0.3717
+t: 138	 action: [ 1.364e-01  1.445e-01 -7.365e-02  1.021e-03  5.330e-03 -2.692e-03 -1.023e+00]
+t: 139	 action: [ 0.091  0.201 -0.094  0.001  0.007 -0.014 -1.05 ]
+t: 140	 action: [ 1.041e-01  8.658e-02 -3.704e-02  3.728e-04  6.944e-03 -8.875e-03 -1.027e+00]
+t: 141	 action: [ 0.058  0.125 -0.07  -0.003  0.01  -0.023 -1.061]
+t: 142	 action: [-0.031  0.112 -0.159 -0.002  0.008 -0.005 -1.011]
+t: 143	 action: [-0.004  0.129 -0.132 -0.002  0.01  -0.02  -1.061]
+t: 144	 action: [-0.081  0.09  -0.233 -0.006  0.007 -0.008 -1.026]
+t: 145	 action: [-0.019  0.108 -0.2   -0.011  0.01  -0.028 -1.071]
+t: 146	 action: [-1.148e-01  5.147e-03 -4.108e-01  3.106e-03 -3.098e-03 -3.264e-04 -1.025e+00]
+t: 147	 action: [-0.16  -0.032 -0.562 -0.008  0.004 -0.006 -1.056]
+t: 148	 action: [-0.213  0.006 -0.595 -0.001 -0.008  0.004 -1.028]
+t: 149	 action: [-0.215 -0.043 -0.657 -0.016 -0.002 -0.009 -1.029]
+t: 150	 action: [-0.372  0.012 -0.643 -0.003 -0.019 -0.003 -1.023]
+t: 151	 action: [-0.305  0.035 -0.6   -0.023 -0.03  -0.014 -1.062]
+t: 152	 action: [-0.346  0.009 -0.689 -0.009 -0.028 -0.002 -1.023]
+t: 153	 action: [-0.226  0.019 -0.6   -0.031 -0.038 -0.014 -0.931]
+[07-31 02:02:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.184 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4663
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.4663
+Query 1/1: Action query time = 1.184 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4663
+t=154: Selected seed 195 with value = 0.4663
+t: 154	 action: [ 0.192  0.38  -0.399  0.003 -0.004  0.007 -1.052]
+t: 155	 action: [ 2.064e-01  3.806e-01 -3.281e-01  7.897e-03  3.609e-03 -8.044e-05 -1.042e+00]
+t: 156	 action: [ 0.171  0.284 -0.307  0.007 -0.003  0.002 -1.048]
+t: 157	 action: [ 0.172  0.249 -0.21   0.008  0.003 -0.007 -1.039]
+t: 158	 action: [ 1.013e-01  2.346e-01 -1.240e-01  5.705e-03  6.629e-04 -1.482e-03 -1.033e+00]
+t: 159	 action: [ 0.065  0.202 -0.015  0.011  0.004 -0.006 -1.05 ]
+t: 160	 action: [ 0.067  0.099  0.032  0.007 -0.003 -0.006 -1.035]
+t: 161	 action: [ 0.075  0.087  0.087  0.011  0.001 -0.016 -1.049]
+t: 162	 action: [ 0.131 -0.175  0.278  0.051 -0.016 -0.021 -1.064]
+t: 163	 action: [ 0.083 -0.144  0.119  0.036 -0.016 -0.019 -1.048]
+t: 164	 action: [ 0.076 -0.123  0.068  0.04  -0.027 -0.01  -1.067]
+t: 165	 action: [ 0.045 -0.132 -0.119  0.024 -0.03  -0.016 -1.045]
+t: 166	 action: [-0.076 -0.066 -0.057  0.029 -0.037 -0.008 -1.055]
+t: 167	 action: [-0.18  -0.098 -0.232  0.011 -0.051 -0.016 -1.046]
+t: 168	 action: [-0.209 -0.062 -0.338  0.003 -0.048 -0.004 -1.055]
+t: 169	 action: [-0.236 -0.073 -0.448 -0.005 -0.056 -0.012 -1.048]
+[07-31 02:02:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.164 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4795
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.4795
+Query 1/1: Action query time = 1.164 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4795
+t=170: Selected seed 195 with value = 0.4795
+t: 170	 action: [ 1.276e-01  9.257e-02 -4.382e-01  2.195e-02 -7.303e-03  9.541e-04 -1.048e+00]
+t: 171	 action: [ 0.092  0.108 -0.406  0.014  0.001 -0.005 -1.043]
+t: 172	 action: [ 0.066  0.099 -0.388  0.02  -0.007 -0.002 -1.04 ]
+t: 173	 action: [ 4.645e-02  1.021e-01 -3.169e-01  9.963e-03 -1.359e-04 -1.265e-02 -1.036e+00]
+t: 174	 action: [ 3.665e-03  1.422e-01 -2.588e-01  1.250e-02  9.443e-04 -3.143e-03 -1.032e+00]
+t: 175	 action: [ 0.011  0.186 -0.133  0.014 -0.004 -0.007 -1.048]
+t: 176	 action: [-0.024  0.109 -0.071  0.002 -0.007 -0.011 -1.03 ]
+t: 177	 action: [ 0.013  0.129 -0.009  0.005 -0.008 -0.019 -1.045]
+t: 178	 action: [ 0.094 -0.049  0.133  0.033 -0.024 -0.022 -1.072]
+t: 179	 action: [ 0.073 -0.037  0.048  0.02  -0.024 -0.022 -1.054]
+t: 180	 action: [ 0.123 -0.015 -0.021  0.014 -0.035 -0.016 -1.072]
+t: 181	 action: [ 0.089 -0.025 -0.137  0.008 -0.029 -0.02  -1.045]
+t: 182	 action: [-0.017  0.006 -0.177  0.005 -0.041 -0.01  -1.061]
+t: 183	 action: [-0.024 -0.029 -0.234  0.004 -0.052 -0.019 -1.051]
+t: 184	 action: [-0.06  -0.017 -0.421 -0.006 -0.047 -0.008 -1.057]
+t: 185	 action: [-0.045 -0.04  -0.41  -0.007 -0.05  -0.016 -1.054]
+[07-31 02:02:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.127 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5403
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.5403
+Query 1/1: Action query time = 1.127 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5403
+t=186: Selected seed 195 with value = 0.5403
+t: 186	 action: [-0.014 -0.099 -0.589  0.008 -0.012 -0.012 -1.044]
+t: 187	 action: [ 0.012 -0.046 -0.58   0.004 -0.006 -0.012 -1.056]
+t: 188	 action: [-0.016  0.002 -0.598 -0.002 -0.008 -0.006 -1.042]
+t: 189	 action: [ 1.721e-02  1.812e-04 -5.541e-01 -3.351e-03  1.796e-03 -1.147e-02 -1.049e+00]
+t: 190	 action: [-6.467e-02  9.800e-02 -5.398e-01 -6.793e-03  5.342e-04 -1.373e-02 -1.032e+00]
+t: 191	 action: [-2.459e-02  9.640e-02 -4.844e-01  2.947e-04  1.413e-04 -1.056e-02 -1.063e+00]
+t: 192	 action: [-0.058  0.079 -0.466 -0.01   0.004 -0.011 -1.03 ]
+t: 193	 action: [-1.205e-02  7.937e-02 -3.792e-01 -5.582e-03  1.726e-04 -1.414e-02 -1.060e+00]
+t: 194	 action: [ 7.243e-02  3.482e-02 -3.898e-01 -5.314e-03 -1.145e-02  8.990e-05 -1.042e+00]
+t: 195	 action: [ 0.047  0.025 -0.344 -0.013 -0.004 -0.005 -1.133]
+t: 196	 action: [ 0.033  0.025 -0.411 -0.012 -0.013 -0.001 -1.174]
+t: 197	 action: [-0.025 -0.007 -0.373 -0.016 -0.003 -0.003 -1.151]
+t: 198	 action: [-0.06   0.003 -0.406 -0.017 -0.014 -0.006 -1.031]
+t: 199	 action: [-0.043 -0.023 -0.333 -0.014 -0.012 -0.004  1.215]
+t: 200	 action: [-0.057 -0.032 -0.361 -0.026 -0.01  -0.009  1.115]
+t: 201	 action: [-2.733e-02 -5.314e-02 -3.003e-01 -1.646e-02 -8.836e-03 -3.183e-04  1.186e+00]
+[07-31 02:02:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6151
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.6151
+Query 1/1: Action query time = 0.986 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6151
+t=202: Selected seed 195 with value = 0.6151
+t: 202	 action: [-0.065  0.04  -0.541 -0.017  0.036  0.004  0.982]
+t: 203	 action: [-0.039  0.022 -0.401 -0.013  0.037 -0.002  1.037]
+t: 204	 action: [-0.044  0.042 -0.256 -0.023  0.033  0.003  0.985]
+t: 205	 action: [-0.01   0.033 -0.125 -0.017  0.028 -0.003  1.042]
+t: 206	 action: [-4.805e-02  5.532e-02 -1.235e-01 -4.883e-02  2.988e-02  7.819e-04  1.027e+00]
+t: 207	 action: [ 0.006  0.069 -0.009 -0.042  0.013  0.003  1.04 ]
+t: 208	 action: [-0.006  0.079  0.162 -0.034  0.021 -0.006  1.008]
+t: 209	 action: [ 0.022  0.089  0.217 -0.039  0.01  -0.003  1.049]
+t: 210	 action: [ 0.011 -0.002  0.042 -0.014  0.043 -0.003  0.995]
+t: 211	 action: [ 0.041 -0.015  0.105 -0.021  0.024 -0.012  1.03 ]
+t: 212	 action: [ 0.021 -0.018  0.115 -0.018  0.032 -0.004  0.977]
+t: 213	 action: [ 0.047 -0.031  0.16  -0.016  0.011 -0.013  1.03 ]
+t: 214	 action: [-0.01   0.002  0.404 -0.02   0.03  -0.008  1.011]
+t: 215	 action: [-0.004  0.023  0.402 -0.018  0.005 -0.005  1.04 ]
+t: 216	 action: [-0.018 -0.094  0.474 -0.016  0.015 -0.012  1.   ]
+t: 217	 action: [-5.577e-04 -3.227e-02  5.182e-01 -1.449e-02  2.856e-03 -8.901e-03  1.050e+00]
+[07-31 02:02:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7317
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 1.006 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=218: Selected seed 195 with value = 0.7317
+t: 218	 action: [-0.124 -0.009 -0.024 -0.014  0.012 -0.028  1.004]
+t: 219	 action: [-0.097 -0.025  0.092 -0.005  0.03  -0.026  1.043]
+t: 220	 action: [-0.159 -0.007  0.196 -0.009  0.032 -0.029  1.129]
+t: 221	 action: [-0.147 -0.025  0.315  0.004  0.055 -0.047  0.985]
+t: 222	 action: [-0.092 -0.058  0.418  0.011  0.034 -0.025  1.028]
+t: 223	 action: [-0.056 -0.035  0.515  0.019  0.044 -0.029  1.067]
+t: 224	 action: [-0.109 -0.07   0.512  0.025  0.068 -0.024 -1.087]
+t: 225	 action: [-0.102 -0.095  0.505  0.027  0.087 -0.032 -1.062]
+t: 226	 action: [ 0.03  -0.213 -0.043  0.008  0.104  0.004  1.015]
+t: 227	 action: [ 0.017 -0.316 -0.086  0.014  0.094  0.005  1.04 ]
+t: 228	 action: [ 0.048 -0.152 -0.361  0.004  0.094  0.003  1.096]
+t: 229	 action: [ 0.007 -0.183 -0.334  0.008  0.085 -0.008  1.016]
+t: 230	 action: [ 5.161e-05 -2.027e-01 -3.765e-01 -3.421e-03  7.770e-02  5.113e-03  1.055e+00]
+t: 231	 action: [-0.088 -0.269 -0.34  -0.014  0.03   0.009  1.072]
+t: 232	 action: [-1.359e-02 -1.053e-01 -3.352e-01 -7.006e-03  6.830e-02 -5.246e-04 -1.125e+00]
+t: 233	 action: [-0.074 -0.149 -0.402 -0.025  0.024  0.005 -1.115]
+[07-31 02:02:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8005
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.8005
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8005
+t=234: Selected seed 195 with value = 0.8005
+t: 234	 action: [-0.099 -0.018  0.033 -0.01  -0.01  -0.007  1.016]
+t: 235	 action: [-0.058 -0.012  0.179 -0.01   0.012 -0.008  1.054]
+t: 236	 action: [-8.968e-02  3.883e-04  3.814e-01 -7.731e-03  7.122e-03 -1.819e-02  1.097e+00]
+t: 237	 action: [-0.048  0.041  0.58  -0.004  0.043 -0.036  0.992]
+t: 238	 action: [-0.058 -0.007  0.639  0.004  0.037 -0.011  1.041]
+t: 239	 action: [ 0.004 -0.029  0.768  0.009  0.061 -0.021  1.063]
+t: 240	 action: [ 0.009 -0.027  0.848  0.02   0.059 -0.016 -1.042]
+t: 241	 action: [ 0.032 -0.115  0.809  0.024  0.091 -0.026 -1.039]
+t: 242	 action: [ 1.092e-01 -2.548e-01  6.121e-01  1.468e-02  7.871e-02 -4.330e-05  1.025e+00]
+t: 243	 action: [ 0.08  -0.387  0.459  0.022  0.049  0.003  1.058]
+t: 244	 action: [ 1.536e-01 -2.938e-01  2.704e-01  1.619e-02  5.188e-02  8.267e-05  1.008e+00]
+t: 245	 action: [ 0.076 -0.446  0.091  0.021  0.023  0.004  1.076]
+t: 246	 action: [ 0.067 -0.403  0.059  0.011  0.036 -0.001  1.056]
+t: 247	 action: [ 5.212e-03 -5.314e-01 -6.835e-03  6.391e-04 -5.326e-03  1.659e-03  1.061e+00]
+t: 248	 action: [ 0.051 -0.323 -0.121 -0.002  0.012 -0.006  1.034]
+t: 249	 action: [-0.017 -0.466 -0.126 -0.013 -0.013  0.004  1.061]
+[07-31 02:02:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8875
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8875
+Query 1/1: Action query time = 0.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8875
+t=250: Selected seed 195 with value = 0.8875
+t: 250	 action: [-0.102 -0.192 -0.035 -0.002 -0.009 -0.001  0.987]
+t: 251	 action: [-1.035e-01 -1.919e-01 -6.738e-02 -2.363e-05 -1.489e-02  4.918e-03  1.059e+00]
+t: 252	 action: [-1.323e-01 -1.325e-01 -1.730e-01  4.329e-04 -2.280e-02 -2.657e-03  1.117e+00]
+t: 253	 action: [-0.17  -0.115 -0.176  0.003 -0.006 -0.012  1.012]
+t: 254	 action: [-2.026e-01 -1.121e-01 -2.584e-01 -3.227e-03 -1.017e-02  4.755e-04  1.004e+00]
+t: 255	 action: [-0.198 -0.029 -0.239 -0.006 -0.009  0.007  1.07 ]
+t: 256	 action: [-0.179 -0.042 -0.179 -0.006  0.025  0.004 -1.085]
+t: 257	 action: [-1.255e-01 -9.275e-03 -1.801e-01 -4.720e-03  4.193e-03 -8.416e-04 -1.079e+00]
+t: 258	 action: [-0.082 -0.219 -0.204 -0.003  0.055  0.002  1.015]
+t: 259	 action: [-0.075 -0.21  -0.167  0.012  0.032  0.018  1.049]
+t: 260	 action: [-0.05  -0.175 -0.296 -0.009  0.042  0.004  0.993]
+t: 261	 action: [-0.05  -0.172 -0.205 -0.003  0.02   0.008  1.041]
+t: 262	 action: [-0.062 -0.29  -0.145 -0.008  0.039  0.017  1.054]
+t: 263	 action: [-0.041 -0.232 -0.154 -0.023  0.003  0.029  1.069]
+t: 264	 action: [-0.036 -0.211  0.025 -0.006  0.024  0.006  0.992]
+t: 265	 action: [-1.090e-03 -1.747e-01 -9.191e-03 -1.995e-02 -2.482e-03  1.721e-02 -1.103e+00]
+[07-31 02:02:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9101
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9101
+Query 1/1: Action query time = 0.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9101
+t=266: Selected seed 195 with value = 0.9101
+t: 266	 action: [-0.149 -0.141 -0.45  -0.031 -0.031  0.002  1.009]
+t: 267	 action: [-0.145 -0.121 -0.285 -0.035 -0.035 -0.001  1.071]
+t: 268	 action: [-1.623e-01 -3.779e-02 -1.940e-01 -3.434e-02 -4.270e-02 -7.796e-04  1.111e+00]
+t: 269	 action: [-0.129 -0.063 -0.059 -0.039 -0.024 -0.036  0.983]
+t: 270	 action: [-0.133 -0.028  0.096 -0.014 -0.016 -0.006  1.021]
+t: 271	 action: [-0.013  0.019  0.275 -0.027 -0.004 -0.003  1.073]
+t: 272	 action: [-0.01   0.012  0.43  -0.004  0.017 -0.008 -1.118]
+t: 273	 action: [ 0.088  0.032  0.548 -0.007  0.018 -0.03  -1.131]
+t: 274	 action: [ 0.213  0.006  0.526 -0.003  0.065 -0.032 -1.053]
+t: 275	 action: [ 0.195 -0.026  0.562  0.006  0.073 -0.04  -1.052]
+t: 276	 action: [ 0.221  0.008  0.489  0.011  0.072 -0.032 -1.071]
+t: 277	 action: [ 0.195 -0.027  0.448  0.018  0.085 -0.043 -1.052]
+t: 278	 action: [ 0.097 -0.027  0.443  0.031  0.069 -0.02  -1.074]
+t: 279	 action: [ 0.061 -0.025  0.39   0.029  0.074 -0.036 -1.074]
+t: 280	 action: [ 0.075 -0.02   0.341  0.044  0.072 -0.024 -1.066]
+t: 281	 action: [ 0.075 -0.034  0.267  0.035  0.077 -0.036 -1.049]
+[07-31 02:02:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9630
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=282: Selected seed 195 with value = 0.9630
+t: 282	 action: [ 0.047 -0.016 -0.363 -0.005  0.017  0.008  1.04 ]
+t: 283	 action: [ 0.046 -0.034 -0.241 -0.014 -0.005 -0.006  0.896]
+t: 284	 action: [ 0.104  0.024 -0.035 -0.013  0.004  0.004 -1.032]
+t: 285	 action: [ 0.182  0.045  0.046 -0.018 -0.01  -0.011 -1.043]
+t: 286	 action: [ 3.250e-02  1.334e-01  1.188e-01 -4.634e-02 -1.435e-02  4.240e-04 -1.093e+00]
+t: 287	 action: [ 0.047  0.119  0.364 -0.037 -0.02  -0.009 -1.115]
+t: 288	 action: [ 0.075  0.171  0.305 -0.028 -0.022 -0.003 -1.037]
+t: 289	 action: [ 0.07   0.109  0.425 -0.018 -0.022 -0.019 -1.06 ]
+t: 290	 action: [ 1.832e-01  2.717e-02  3.352e-01 -5.752e-03 -3.512e-02 -2.487e-04 -1.069e+00]
+t: 291	 action: [ 0.176  0.022  0.266 -0.007 -0.043 -0.014 -1.051]
+t: 292	 action: [ 0.201  0.025  0.208 -0.006 -0.044 -0.006 -1.06 ]
+t: 293	 action: [ 0.235  0.022  0.156 -0.003 -0.038 -0.016 -1.034]
+t: 294	 action: [ 0.07   0.022  0.144 -0.007 -0.038 -0.003 -1.072]
+t: 295	 action: [ 1.892e-02  3.050e-02  1.405e-01 -8.173e-04 -4.166e-02 -1.668e-02 -1.069e+00]
+t: 296	 action: [ 0.102  0.034  0.082 -0.009 -0.037 -0.009 -1.057]
+t: 297	 action: [ 0.088  0.037  0.112  0.001 -0.029 -0.019 -1.059]
+[07-31 02:02:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9361
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9361
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 97
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 94%|█████████▍| 47/50 [25:05<01:36, 32.01s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 48...
+Query 1/1: Action query time = 0.992 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=298: Selected seed 195 with value = 0.9361
+t: 298	 action: [ 0.027  0.045 -0.291  0.005 -0.006  0.003 -1.023]
+t: 299	 action: [ 0.017  0.067 -0.171  0.007  0.001 -0.014 -1.014]
+t: 300	 action: [ 1.673e-02  1.025e-01 -1.112e-01  3.935e-04 -1.460e-02  2.088e-03 -1.017e+00]
+t: 301	 action: [ 0.032  0.098 -0.049  0.002 -0.016 -0.021 -1.029]
+t: 302	 action: [-0.053  0.185  0.047  0.001 -0.012 -0.001 -1.031]
+t: 303	 action: [-0.025  0.145  0.147  0.004 -0.019 -0.021 -1.048]
+t: 304	 action: [-0.001  0.203  0.202 -0.001 -0.03  -0.007 -1.024]
+t: 305	 action: [ 0.032  0.129  0.279 -0.005 -0.033 -0.03  -1.045]
+t: 306	 action: [ 0.071  0.023  0.189  0.003 -0.048 -0.015 -1.053]
+t: 307	 action: [ 0.04  -0.027  0.146  0.008 -0.047 -0.03  -1.034]
+t: 308	 action: [ 1.048e-01  9.186e-04  8.055e-02  1.961e-03 -5.950e-02 -1.970e-02 -1.037e+00]
+t: 309	 action: [ 0.062 -0.043  0.027  0.007 -0.055 -0.031 -1.032]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=97--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=97--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 97
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 48...
+[07-31 02:02:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.015 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3313
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3313
+Query 1/1: Action query time = 1.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3313
+t=10: Selected seed 195 with value = 0.3313
+t: 10	 action: [ 6.912e-02 -1.232e-01  1.582e-02  6.137e-03  1.756e-02  6.956e-04 -9.745e-01]
+t: 11	 action: [ 1.391e-01 -5.785e-02  1.567e-02 -1.737e-04  1.923e-02 -3.766e-03 -1.002e+00]
+t: 12	 action: [ 3.587e-01 -1.233e-01  5.522e-02 -1.938e-04  1.551e-02  4.509e-03 -1.005e+00]
+t: 13	 action: [ 5.135e-01 -7.339e-02  7.965e-02 -3.685e-03  1.764e-02  6.697e-04 -1.023e+00]
+t: 14	 action: [ 0.662 -0.075  0.112  0.002  0.011  0.005 -1.01 ]
+t: 15	 action: [ 7.549e-01 -7.899e-02  1.017e-01  2.594e-03  6.572e-03  4.013e-04 -1.033e+00]
+t: 16	 action: [ 8.738e-01 -7.465e-02  1.220e-01  9.071e-05  5.315e-03  7.399e-03 -1.008e+00]
+t: 17	 action: [ 8.894e-01 -7.659e-02  1.241e-01  9.227e-04  3.668e-03  2.513e-03 -1.044e+00]
+t: 18	 action: [ 0.893 -0.143  0.186  0.009 -0.001  0.012 -1.017]
+t: 19	 action: [ 0.907 -0.089  0.19   0.01   0.003  0.008 -1.028]
+t: 20	 action: [ 0.93  -0.146  0.151  0.009 -0.012  0.011 -1.012]
+t: 21	 action: [ 9.318e-01 -1.254e-01  1.757e-01  1.467e-02  6.440e-04  7.531e-03 -1.021e+00]
+t: 22	 action: [ 0.939 -0.162  0.138  0.008 -0.016  0.012 -1.011]
+t: 23	 action: [ 0.945 -0.256  0.095  0.016 -0.004  0.008 -1.038]
+t: 24	 action: [ 0.96  -0.166  0.082  0.01  -0.026  0.007 -1.004]
+t: 25	 action: [ 0.962 -0.297  0.057  0.018 -0.013  0.008 -1.04 ]
+[07-31 02:02:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.018 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3925
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3925
+Query 1/1: Action query time = 1.018 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3925
+t=26: Selected seed 195 with value = 0.3925
+t: 26	 action: [ 9.217e-01 -9.174e-02  5.485e-02 -1.456e-04 -4.042e-02  5.351e-03 -1.018e+00]
+t: 27	 action: [ 0.902 -0.06   0.055  0.005 -0.042 -0.002 -1.028]
+t: 28	 action: [ 0.924 -0.164  0.014  0.002 -0.045  0.009 -1.025]
+t: 29	 action: [ 0.912 -0.158  0.031  0.013 -0.038  0.003 -1.029]
+t: 30	 action: [ 0.96  -0.218 -0.04   0.005 -0.039  0.008 -1.01 ]
+t: 31	 action: [ 0.932 -0.258 -0.031  0.014 -0.047  0.002 -1.044]
+t: 32	 action: [ 0.934 -0.284 -0.157  0.006 -0.044  0.008 -1.021]
+t: 33	 action: [ 0.907 -0.349 -0.201  0.02  -0.046  0.006 -1.046]
+t: 34	 action: [ 0.745 -0.326 -0.314  0.014 -0.055  0.015 -1.036]
+t: 35	 action: [ 0.643 -0.302 -0.445  0.017 -0.055  0.009 -1.036]
+t: 36	 action: [ 0.499 -0.275 -0.544  0.012 -0.083  0.022 -1.03 ]
+t: 37	 action: [ 0.313 -0.224 -0.672  0.016 -0.068  0.019 -1.019]
+t: 38	 action: [ 0.216 -0.205 -0.718  0.009 -0.102  0.017 -1.035]
+t: 39	 action: [ 0.077 -0.183 -0.787  0.022 -0.082  0.016 -1.043]
+t: 40	 action: [-2.274e-02 -1.157e-01 -8.197e-01 -7.722e-05 -1.091e-01  2.720e-02 -1.033e+00]
+t: 41	 action: [-0.042 -0.106 -0.848  0.02  -0.081  0.028 -1.041]
+[07-31 02:02:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.022 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5220
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5220
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5220
+t=42: Selected seed 195 with value = 0.5220
+t: 42	 action: [-0.057  0.821 -0.605  0.003 -0.034  0.04  -1.012]
+t: 43	 action: [-0.026  0.797 -0.547  0.003 -0.04   0.031 -1.013]
+t: 44	 action: [-0.079  0.865 -0.6    0.003 -0.03   0.039 -1.002]
+t: 45	 action: [-0.065  0.805 -0.523  0.005 -0.031  0.031 -1.014]
+t: 46	 action: [-8.598e-02  8.835e-01 -5.744e-01 -4.790e-04 -2.284e-02  4.084e-02 -1.003e+00]
+t: 47	 action: [-0.072  0.842 -0.539  0.004 -0.027  0.034 -1.025]
+t: 48	 action: [-1.017e-01  8.893e-01 -5.841e-01  5.900e-05 -1.698e-02  4.583e-02 -9.952e-01]
+t: 49	 action: [-0.075  0.841 -0.543  0.006 -0.014  0.035 -1.031]
+t: 50	 action: [-0.004  0.738 -0.712  0.005 -0.03   0.037 -1.026]
+t: 51	 action: [ 0.015  0.722 -0.699  0.002 -0.036  0.031 -1.021]
+t: 52	 action: [ 1.263e-03  6.767e-01 -7.057e-01  1.694e-04 -1.829e-02  3.893e-02 -1.021e+00]
+t: 53	 action: [ 2.123e-02  6.314e-01 -6.015e-01  1.904e-04 -1.955e-02  2.683e-02 -1.018e+00]
+t: 54	 action: [-4.324e-02  5.546e-01 -5.494e-01 -2.631e-04 -2.022e-02  3.811e-02 -1.016e+00]
+t: 55	 action: [ 0.007  0.451 -0.384  0.001 -0.019  0.032 -1.034]
+t: 56	 action: [-7.036e-03  2.184e-01 -2.094e-01 -6.110e-03  7.492e-04  3.217e-02 -1.006e+00]
+t: 57	 action: [ 0.023  0.143  0.058 -0.006  0.003  0.026 -1.044]
+[07-31 02:02:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5741
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=58: Selected seed 195 with value = 0.5741
+t: 58	 action: [ 0.062  0.366 -0.45  -0.003 -0.001  0.031 -1.01 ]
+t: 59	 action: [ 0.105  0.282 -0.23  -0.003  0.008  0.023 -1.019]
+t: 60	 action: [ 0.065  0.206 -0.271 -0.004  0.009  0.023 -1.002]
+t: 61	 action: [ 0.094  0.101 -0.064 -0.005  0.012  0.016 -1.021]
+t: 62	 action: [ 2.547e-02  1.022e-01 -1.300e-01 -3.336e-04  2.082e-02  2.129e-02 -9.945e-01]
+t: 63	 action: [ 1.989e-02  1.340e-01  7.214e-02 -3.217e-04  1.585e-02  2.174e-02 -1.030e+00]
+t: 64	 action: [-0.007  0.01   0.216 -0.006  0.027  0.008 -0.994]
+t: 65	 action: [ 6.549e-03  2.893e-02  3.650e-01  1.824e-04  1.893e-02  1.281e-02 -1.034e+00]
+t: 66	 action: [ 0.063 -0.076  0.548  0.019  0.013  0.011 -1.017]
+t: 67	 action: [-0.038 -0.19   0.548  0.025  0.011  0.013 -1.034]
+t: 68	 action: [-0.015 -0.081  0.438  0.021  0.011  0.014 -1.025]
+t: 69	 action: [-0.16  -0.232  0.384  0.026  0.011  0.015 -1.024]
+t: 70	 action: [-3.448e-01 -1.145e-01  2.529e-01  3.878e-02  1.990e-04  1.860e-02 -1.013e+00]
+t: 71	 action: [-0.49  -0.151  0.161  0.031 -0.013  0.026 -1.036]
+t: 72	 action: [-0.649 -0.107  0.117  0.031  0.001  0.025 -1.008]
+t: 73	 action: [-0.63  -0.134  0.042  0.029 -0.003  0.029 -1.034]
+[07-31 02:02:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5922
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5922
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5922
+t=74: Selected seed 195 with value = 0.5922
+t: 74	 action: [ 0.07   0.364 -0.213 -0.007  0.019  0.014 -1.011]
+t: 75	 action: [ 0.139  0.246 -0.027 -0.009  0.025  0.004 -1.009]
+t: 76	 action: [ 0.083  0.098  0.079 -0.008  0.03   0.01  -1.004]
+t: 77	 action: [ 0.1   -0.002  0.3   -0.007  0.036 -0.004 -1.008]
+t: 78	 action: [ 0.072  0.018  0.32  -0.003  0.046  0.002 -0.998]
+t: 79	 action: [ 0.047  0.011  0.506 -0.004  0.04  -0.002 -1.027]
+t: 80	 action: [-6.674e-03 -4.283e-02  5.999e-01  7.591e-03  5.071e-02 -8.934e-04 -1.004e+00]
+t: 81	 action: [-0.036 -0.071  0.652  0.01   0.043 -0.008 -1.026]
+t: 82	 action: [-0.062 -0.079  0.527  0.018  0.017  0.003 -1.024]
+t: 83	 action: [-0.3   -0.137  0.45   0.026  0.011 -0.004 -1.035]
+t: 84	 action: [-0.339 -0.052  0.302  0.015  0.011  0.008 -1.031]
+t: 85	 action: [-0.5   -0.149  0.214  0.026  0.013 -0.002 -1.024]
+t: 86	 action: [-0.762 -0.103  0.146  0.041  0.006  0.003 -0.995]
+t: 87	 action: [-0.807 -0.113  0.056  0.032 -0.008  0.003 -1.036]
+t: 88	 action: [-0.882 -0.091  0.029  0.03   0.003  0.007 -0.981]
+t: 89	 action: [-0.89  -0.103 -0.033  0.029 -0.004  0.01  -1.031]
+[07-31 02:02:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4741
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4741
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4741
+t=90: Selected seed 195 with value = 0.4741
+t: 90	 action: [ 0.085  0.282 -0.151 -0.002  0.016  0.002 -1.014]
+t: 91	 action: [ 0.123  0.231 -0.074 -0.004  0.023 -0.008 -1.024]
+t: 92	 action: [ 0.068  0.043  0.033 -0.005  0.022 -0.001 -1.021]
+t: 93	 action: [ 0.073 -0.015  0.153 -0.007  0.031 -0.017 -1.022]
+t: 94	 action: [ 0.045 -0.035  0.233  0.002  0.031 -0.009 -1.006]
+t: 95	 action: [ 1.761e-02 -5.499e-02  2.987e-01 -2.236e-04  2.871e-02 -1.683e-02 -1.051e+00]
+t: 96	 action: [-0.059 -0.079  0.408  0.002  0.031 -0.018 -1.019]
+t: 97	 action: [-4.139e-02 -9.019e-02  4.682e-01 -4.006e-04  2.774e-02 -2.626e-02 -1.051e+00]
+t: 98	 action: [-0.132 -0.059  0.295  0.019  0.008 -0.008 -1.033]
+t: 99	 action: [-0.323 -0.136  0.23   0.011  0.009 -0.014 -1.041]
+t: 100	 action: [-0.341 -0.009  0.153  0.012 -0.002 -0.003 -1.045]
+t: 101	 action: [-0.49  -0.117  0.069  0.007  0.007 -0.014 -1.032]
+t: 102	 action: [-0.809 -0.031 -0.01   0.011 -0.006 -0.004 -1.008]
+t: 103	 action: [-0.821 -0.083 -0.039  0.003 -0.014 -0.016 -1.051]
+t: 104	 action: [-0.893 -0.027 -0.123  0.007 -0.013 -0.004 -1.01 ]
+t: 105	 action: [-8.853e-01 -9.175e-02 -1.677e-01  6.892e-04 -1.377e-02 -1.344e-02 -1.046e+00]
+[07-31 02:02:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4105
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.4105
+Query 1/1: Action query time = 1.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4105
+t=106: Selected seed 195 with value = 0.4105
+t: 106	 action: [ 2.789e-02  1.833e-02 -5.716e-02  1.706e-04  7.600e-03 -5.373e-03 -1.007e+00]
+t: 107	 action: [ 0.031  0.048 -0.052  0.004  0.007 -0.01  -1.036]
+t: 108	 action: [-6.455e-02 -3.267e-02 -1.101e-01  5.187e-04  8.669e-03 -6.684e-03 -1.011e+00]
+t: 109	 action: [-0.089 -0.067 -0.155  0.001  0.011 -0.018 -1.049]
+t: 110	 action: [-2.085e-01 -1.639e-02 -3.016e-01 -5.904e-04  9.716e-03 -5.514e-03 -1.005e+00]
+t: 111	 action: [-0.188 -0.063 -0.344  0.001  0.013 -0.014 -1.055]
+t: 112	 action: [-0.243 -0.037 -0.465 -0.006  0.008 -0.005 -1.012]
+t: 113	 action: [-0.173 -0.042 -0.526 -0.009  0.013 -0.024 -1.076]
+t: 114	 action: [-0.221 -0.12  -0.595  0.003  0.002  0.003 -1.018]
+t: 115	 action: [-0.169 -0.085 -0.686 -0.007  0.007 -0.008 -1.046]
+t: 116	 action: [-9.582e-02 -8.261e-02 -6.733e-01 -4.645e-03  4.247e-03  7.519e-05 -1.011e+00]
+t: 117	 action: [-0.046 -0.066 -0.692 -0.01   0.007 -0.001 -0.915]
+t: 118	 action: [-0.227  0.035 -0.64  -0.004 -0.005 -0.006 -1.012]
+t: 119	 action: [-0.134  0.071 -0.627 -0.007 -0.004 -0.02  -1.062]
+t: 120	 action: [-0.087  0.052 -0.584 -0.013 -0.004 -0.013 -0.987]
+t: 121	 action: [-0.002  0.084 -0.542 -0.009 -0.007  0.001  0.129]
+[07-31 02:02:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5030
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.5030
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5030
+t=122: Selected seed 195 with value = 0.5030
+t: 122	 action: [ 0.244  0.115 -0.466 -0.005  0.009 -0.005 -1.052]
+t: 123	 action: [ 0.262  0.114 -0.385  0.003  0.013 -0.025 -1.034]
+t: 124	 action: [ 0.231  0.052 -0.4   -0.006  0.008 -0.01  -1.064]
+t: 125	 action: [ 0.247  0.029 -0.277  0.001  0.01  -0.031 -1.032]
+t: 126	 action: [ 1.936e-01  8.697e-02 -2.094e-01  4.661e-04  1.640e-02 -9.013e-03 -1.048e+00]
+t: 127	 action: [ 0.18   0.069 -0.035  0.01   0.012 -0.029 -1.062]
+t: 128	 action: [ 0.181  0.047 -0.023 -0.005  0.008 -0.019 -1.059]
+t: 129	 action: [ 0.184  0.031  0.093  0.004  0.003 -0.038 -1.054]
+t: 130	 action: [ 2.904e-01 -8.257e-02  7.821e-02  1.104e-02  1.575e-04 -2.232e-02 -1.085e+00]
+t: 131	 action: [ 0.258 -0.079  0.035  0.008  0.005 -0.031 -1.047]
+t: 132	 action: [ 0.234 -0.076 -0.043  0.003 -0.011 -0.018 -1.097]
+t: 133	 action: [ 0.157 -0.083 -0.117  0.002 -0.003 -0.027 -1.039]
+t: 134	 action: [ 0.111  0.01  -0.173 -0.004 -0.018 -0.019 -1.072]
+t: 135	 action: [ 2.388e-02 -1.195e-02 -1.948e-01  3.293e-04 -1.778e-02 -3.331e-02 -1.051e+00]
+t: 136	 action: [ 0.018  0.034 -0.376 -0.009 -0.025 -0.018 -1.08 ]
+t: 137	 action: [-3.374e-03 -1.048e-03 -3.568e-01 -6.497e-03 -2.415e-02 -2.825e-02 -1.051e+00]
+[07-31 02:02:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5130
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.5130
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5130
+t=138: Selected seed 195 with value = 0.5130
+t: 138	 action: [ 0.159 -0.011 -0.37   0.015 -0.006 -0.009 -1.067]
+t: 139	 action: [ 1.481e-01  2.263e-04 -3.116e-01  4.808e-03 -7.630e-03 -2.244e-02 -1.043e+00]
+t: 140	 action: [ 0.139  0.046 -0.289  0.001 -0.012 -0.009 -1.073]
+t: 141	 action: [ 0.153  0.074 -0.183 -0.005 -0.02  -0.025 -1.039]
+t: 142	 action: [ 0.095  0.186 -0.203 -0.002 -0.01  -0.011 -1.049]
+t: 143	 action: [ 0.081  0.235 -0.024  0.001 -0.03  -0.024 -1.051]
+t: 144	 action: [ 0.099  0.199 -0.104 -0.008 -0.02  -0.013 -1.058]
+t: 145	 action: [ 0.087  0.185  0.042 -0.011 -0.04  -0.03  -1.044]
+t: 146	 action: [ 0.318  0.146 -0.076  0.002 -0.019 -0.013 -1.098]
+t: 147	 action: [ 3.032e-01  9.237e-02 -9.966e-02 -4.456e-04 -1.778e-02 -2.632e-02 -1.056e+00]
+t: 148	 action: [ 0.261  0.053 -0.214  0.002 -0.026 -0.008 -1.066]
+t: 149	 action: [ 2.738e-01  2.571e-02 -2.535e-01 -9.675e-04 -2.688e-02 -1.349e-02 -1.128e+00]
+t: 150	 action: [ 0.123  0.031 -0.327 -0.004 -0.028 -0.018 -1.086]
+t: 151	 action: [ 0.026  0.002 -0.296  0.002 -0.034 -0.03  -1.043]
+t: 152	 action: [ 0.017  0.008 -0.45  -0.007 -0.031 -0.017 -0.883]
+t: 153	 action: [-0.027 -0.016 -0.381 -0.002 -0.036 -0.014  1.167]
+[07-31 02:02:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.012 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6082
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.6082
+Query 1/1: Action query time = 1.012 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6082
+t=154: Selected seed 195 with value = 0.6082
+t: 154	 action: [ 7.202e-02  2.183e-01 -3.738e-01  3.321e-04 -2.541e-03  8.743e-03 -1.088e+00]
+t: 155	 action: [ 0.09   0.162 -0.465 -0.005  0.003 -0.007 -1.042]
+t: 156	 action: [ 0.063  0.135 -0.457 -0.004  0.002  0.012 -1.228]
+t: 157	 action: [ 0.028  0.098 -0.502 -0.008  0.007  0.019 -1.154]
+t: 158	 action: [ 3.195e-02  8.040e-02 -4.643e-01 -5.534e-03  1.012e-02  7.293e-04 -1.108e+00]
+t: 159	 action: [ 0.014  0.077 -0.492  0.005  0.005 -0.009 -0.984]
+t: 160	 action: [ 0.038 -0.006 -0.417 -0.007  0.014  0.002  1.064]
+t: 161	 action: [ 4.931e-02  1.802e-02 -4.100e-01  4.425e-03  1.197e-02 -6.402e-04  1.172e+00]
+t: 162	 action: [-0.067  0.059 -0.33  -0.021  0.028  0.005  0.983]
+t: 163	 action: [-0.035  0.102 -0.123 -0.024  0.031 -0.003  1.032]
+t: 164	 action: [-0.056  0.067 -0.113 -0.042  0.03   0.009  0.975]
+t: 165	 action: [-0.017  0.109  0.039 -0.035  0.03  -0.003  1.019]
+t: 166	 action: [-0.043  0.151  0.059 -0.033  0.035 -0.004  1.009]
+t: 167	 action: [ 0.01   0.159  0.204 -0.029  0.034 -0.012  1.04 ]
+t: 168	 action: [-0.005  0.201  0.3   -0.04   0.019 -0.007  1.011]
+t: 169	 action: [ 0.043  0.172  0.546 -0.042  0.024 -0.015  1.033]
+[07-31 02:02:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7022
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7022
+Query 1/1: Action query time = 1.003 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7022
+t=170: Selected seed 195 with value = 0.7022
+t: 170	 action: [-2.456e-02  7.172e-03  1.638e-01 -8.043e-03  7.611e-03 -9.190e-04  9.754e-01]
+t: 171	 action: [-0.003  0.032  0.397 -0.012  0.02  -0.005  1.027]
+t: 172	 action: [-2.225e-02  1.158e-02  5.922e-01 -8.379e-03  5.482e-03 -1.198e-04  9.786e-01]
+t: 173	 action: [-1.226e-02 -4.653e-03  8.078e-01 -9.823e-03  1.783e-02 -5.147e-04  1.017e+00]
+t: 174	 action: [ 0.025 -0.113  0.861  0.004  0.017 -0.005  0.984]
+t: 175	 action: [ 1.218e-03 -1.897e-01  8.865e-01  7.854e-03  2.737e-02 -3.682e-04  1.023e+00]
+t: 176	 action: [-0.034 -0.287  0.896  0.014  0.025 -0.004  0.985]
+t: 177	 action: [-0.026 -0.385  0.881  0.022  0.037  0.003  1.019]
+t: 178	 action: [-0.106 -0.466  0.756  0.031  0.039  0.004  0.962]
+t: 179	 action: [-0.078 -0.59   0.687  0.045  0.041 -0.001  1.026]
+t: 180	 action: [-0.169 -0.597  0.46   0.046  0.03   0.004  0.96 ]
+t: 181	 action: [-0.155 -0.707  0.325  0.059  0.031  0.003  1.018]
+t: 182	 action: [-0.195 -0.686  0.161  0.059  0.034  0.001  0.981]
+t: 183	 action: [-0.269 -0.721  0.041  0.05   0.01   0.006  1.024]
+t: 184	 action: [-2.542e-01 -6.819e-01 -9.956e-03  4.876e-02  2.380e-02 -6.381e-04  9.864e-01]
+t: 185	 action: [-2.740e-01 -6.838e-01 -1.254e-01  3.560e-02 -7.537e-04  7.724e-03  1.022e+00]
+[07-31 02:02:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8884
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8884
+Query 1/1: Action query time = 0.992 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=186: Selected seed 195 with value = 0.8884
+t: 186	 action: [-0.311 -0.731 -0.254  0.025  0.009  0.009  0.965]
+t: 187	 action: [-0.324 -0.696 -0.366  0.007  0.003  0.014  1.033]
+t: 188	 action: [-0.32  -0.54  -0.529  0.013 -0.007  0.017  0.973]
+t: 189	 action: [-0.356 -0.453 -0.646 -0.009 -0.006  0.024  1.03 ]
+t: 190	 action: [-0.319 -0.25  -0.753 -0.008 -0.003  0.029  0.973]
+t: 191	 action: [-0.391 -0.179 -0.775 -0.008 -0.007  0.034  1.031]
+t: 192	 action: [-3.196e-01 -1.047e-01 -7.816e-01 -3.142e-02  3.628e-04  4.533e-02  9.853e-01]
+t: 193	 action: [-0.36  -0.054 -0.802 -0.015 -0.004  0.038  1.025]
+t: 194	 action: [-0.229 -0.062 -0.696 -0.028  0.004  0.037  1.142]
+t: 195	 action: [-0.279 -0.082 -0.594 -0.029  0.004  0.033  1.053]
+t: 196	 action: [-0.157 -0.049 -0.352 -0.036  0.027  0.033  1.134]
+t: 197	 action: [-0.195 -0.069 -0.249 -0.03   0.021  0.026  1.073]
+t: 198	 action: [-0.172  0.014 -0.08  -0.034  0.033  0.012 -1.159]
+t: 199	 action: [-0.102  0.032  0.053 -0.008  0.034  0.013 -1.102]
+t: 200	 action: [-0.047  0.015  0.139 -0.028  0.032  0.003 -1.126]
+t: 201	 action: [-0.011  0.042  0.234 -0.007  0.039  0.006 -1.106]
+[07-31 02:02:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9881
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=202: Selected seed 195 with value = 0.9881
+t: 202	 action: [ 0.122  0.004  0.198 -0.004  0.089  0.007 -1.023]
+t: 203	 action: [ 0.196 -0.024  0.283 -0.011  0.083 -0.002 -1.054]
+t: 204	 action: [ 0.164  0.026  0.364 -0.002  0.086  0.006 -1.014]
+t: 205	 action: [ 0.243  0.017  0.427 -0.007  0.089 -0.003 -1.036]
+t: 206	 action: [ 0.14   0.117  0.433 -0.005  0.081 -0.002 -1.027]
+t: 207	 action: [ 0.144  0.097  0.454 -0.008  0.073 -0.007 -1.054]
+t: 208	 action: [ 0.146  0.118  0.43  -0.004  0.074 -0.002 -1.023]
+t: 209	 action: [ 0.153  0.09   0.408 -0.002  0.063 -0.01  -1.048]
+t: 210	 action: [ 0.194  0.098  0.341 -0.005  0.04   0.008 -1.036]
+t: 211	 action: [ 0.18   0.067  0.264 -0.005  0.039  0.006 -1.043]
+t: 212	 action: [ 1.710e-01  7.723e-02  2.119e-01  4.380e-04  2.505e-02  1.030e-02 -1.023e+00]
+t: 213	 action: [ 1.789e-01  5.798e-02  1.568e-01  4.083e-04  2.495e-02  7.082e-03 -1.032e+00]
+t: 214	 action: [ 1.214e-01  8.261e-02  1.996e-01  3.276e-04  2.516e-02  3.711e-03 -1.042e+00]
+t: 215	 action: [ 0.065  0.086  0.143  0.002  0.015  0.006 -1.057]
+t: 216	 action: [ 0.12   0.073  0.152 -0.004  0.02   0.003 -1.03 ]
+t: 217	 action: [ 0.081  0.075  0.112  0.003  0.011  0.007 -1.061]
+[07-31 02:02:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7440
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7440
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7440
+t=218: Selected seed 195 with value = 0.7440
+t: 218	 action: [ 0.026  0.117 -0.307  0.007 -0.016  0.006 -0.972]
+t: 219	 action: [ 0.025  0.172 -0.314  0.009 -0.01   0.003 -0.97 ]
+t: 220	 action: [ 0.027  0.181 -0.314 -0.001 -0.015  0.005 -1.007]
+t: 221	 action: [ 2.744e-02  1.890e-01 -2.805e-01  4.704e-03 -1.150e-02 -1.532e-04 -1.008e+00]
+t: 222	 action: [-0.035  0.355 -0.262 -0.002 -0.019  0.005 -1.019]
+t: 223	 action: [-0.024  0.383 -0.138  0.01  -0.017  0.002 -1.037]
+t: 224	 action: [-1.658e-02  3.697e-01 -1.304e-01 -6.268e-03 -2.241e-02 -3.986e-04 -1.017e+00]
+t: 225	 action: [ 0.018  0.28   0.002  0.002 -0.017 -0.005 -1.036]
+t: 226	 action: [ 0.066  0.112 -0.055 -0.002 -0.019  0.005 -1.029]
+t: 227	 action: [ 0.068  0.034  0.012  0.001 -0.008 -0.014 -1.037]
+t: 228	 action: [ 9.548e-02  4.098e-02  1.181e-01 -2.629e-03 -2.313e-02 -6.383e-04 -1.029e+00]
+t: 229	 action: [ 0.096 -0.002  0.157  0.002 -0.005 -0.015 -1.03 ]
+t: 230	 action: [ 0.044 -0.001  0.159 -0.003 -0.012 -0.005 -1.032]
+t: 231	 action: [-0.004  0.029  0.237  0.008 -0.009 -0.018 -1.053]
+t: 232	 action: [ 0.021 -0.006  0.196 -0.002 -0.013 -0.01  -1.027]
+t: 233	 action: [-0.007  0.006  0.212  0.01  -0.009 -0.018 -1.05 ]
+[07-31 02:02:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7228
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7228
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7228
+t=234: Selected seed 195 with value = 0.7228
+t: 234	 action: [ 9.637e-02  1.158e-01 -3.103e-01  4.032e-04 -4.522e-03  6.551e-03 -9.953e-01]
+t: 235	 action: [ 6.782e-02  1.413e-01 -3.062e-01  7.230e-03  1.813e-03  9.652e-04 -9.940e-01]
+t: 236	 action: [ 0.049  0.149 -0.212 -0.004 -0.012  0.004 -1.016]
+t: 237	 action: [ 0.028  0.157 -0.137  0.001 -0.01  -0.007 -1.018]
+t: 238	 action: [-0.047  0.356 -0.136 -0.002 -0.012  0.004 -1.021]
+t: 239	 action: [-0.047  0.411 -0.005  0.005 -0.021 -0.004 -1.05 ]
+t: 240	 action: [-0.088  0.338  0.086 -0.011 -0.026 -0.003 -1.024]
+t: 241	 action: [-0.059  0.29   0.199 -0.002 -0.03  -0.015 -1.038]
+t: 242	 action: [-0.008  0.089  0.205 -0.002 -0.034 -0.01  -1.027]
+t: 243	 action: [ 0.019  0.018  0.222  0.006 -0.027 -0.024 -1.035]
+t: 244	 action: [-2.450e-02  1.991e-02  2.052e-01  8.857e-04 -3.588e-02 -1.440e-02 -1.030e+00]
+t: 245	 action: [ 0.016 -0.061  0.178  0.008 -0.022 -0.026 -1.029]
+t: 246	 action: [-0.099 -0.033  0.175  0.007 -0.034 -0.018 -1.033]
+t: 247	 action: [-0.149 -0.018  0.152  0.012 -0.029 -0.032 -1.039]
+t: 248	 action: [-0.189 -0.124  0.077  0.004 -0.033 -0.021 -1.031]
+t: 249	 action: [-0.189 -0.088  0.059  0.011 -0.024 -0.03  -1.04 ]
+[07-31 02:02:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6853
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.6853
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6853
+t=250: Selected seed 195 with value = 0.6853
+t: 250	 action: [ 0.213  0.241 -0.304 -0.001 -0.008  0.006 -1.021]
+t: 251	 action: [ 0.198  0.252 -0.269  0.004 -0.001  0.003 -1.027]
+t: 252	 action: [ 0.149  0.206 -0.238 -0.004 -0.014  0.004 -1.019]
+t: 253	 action: [ 0.1    0.193 -0.152  0.002 -0.009 -0.003 -1.024]
+t: 254	 action: [ 0.027  0.358 -0.171 -0.002 -0.011  0.01  -1.015]
+t: 255	 action: [-0.03   0.398 -0.038  0.004 -0.017  0.003 -1.047]
+t: 256	 action: [-7.900e-02  2.800e-01  2.868e-02 -8.839e-03 -2.304e-02  1.669e-04 -1.017e+00]
+t: 257	 action: [-0.067  0.263  0.13   0.001 -0.026 -0.008 -1.039]
+t: 258	 action: [-0.013  0.064  0.211  0.011 -0.027 -0.011 -1.036]
+t: 259	 action: [-1.588e-02 -1.267e-04  2.082e-01  1.665e-02 -2.195e-02 -2.073e-02 -1.032e+00]
+t: 260	 action: [-0.083  0.02   0.194  0.012 -0.038 -0.009 -1.036]
+t: 261	 action: [-0.052 -0.069  0.13   0.016 -0.031 -0.023 -1.032]
+t: 262	 action: [-0.196 -0.044  0.131  0.019 -0.042 -0.012 -1.033]
+t: 263	 action: [-0.286 -0.071  0.087  0.017 -0.043 -0.025 -1.038]
+t: 264	 action: [-0.368 -0.137  0.035  0.01  -0.049 -0.012 -1.033]
+t: 265	 action: [-0.358 -0.138  0.01   0.013 -0.043 -0.024 -1.042]
+[07-31 02:02:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4944
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.4944
+Query 1/1: Action query time = 0.998 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4944
+t=266: Selected seed 195 with value = 0.4944
+t: 266	 action: [ 1.659e-01  2.239e-01 -3.015e-01 -4.442e-04 -7.583e-03  1.190e-02 -1.042e+00]
+t: 267	 action: [ 0.138  0.225 -0.263  0.007 -0.003  0.008 -1.041]
+t: 268	 action: [ 0.123  0.175 -0.273  0.001 -0.009  0.011 -1.038]
+t: 269	 action: [ 0.074  0.156 -0.21   0.005 -0.002  0.003 -1.034]
+t: 270	 action: [ 5.886e-03  2.254e-01 -2.238e-01  4.126e-04 -1.998e-03  2.203e-02 -1.024e+00]
+t: 271	 action: [-0.025  0.225 -0.132  0.011 -0.005  0.01  -1.049]
+t: 272	 action: [-0.074  0.12  -0.089 -0.002 -0.009  0.011 -1.026]
+t: 273	 action: [-0.05   0.129 -0.016  0.008 -0.009  0.001 -1.045]
+t: 274	 action: [ 0.015  0.006  0.063  0.019 -0.022  0.003 -1.055]
+t: 275	 action: [-0.002 -0.028  0.03   0.016 -0.025 -0.007 -1.045]
+t: 276	 action: [-0.055 -0.011  0.007  0.011 -0.034  0.004 -1.058]
+t: 277	 action: [-0.051 -0.067 -0.061  0.01  -0.037 -0.008 -1.044]
+t: 278	 action: [-0.15  -0.042 -0.064  0.008 -0.038  0.002 -1.046]
+t: 279	 action: [-0.282 -0.074 -0.096  0.008 -0.05  -0.005 -1.045]
+t: 280	 action: [-3.179e-01 -9.928e-02 -1.913e-01 -3.272e-03 -4.739e-02  8.871e-04 -1.048e+00]
+t: 281	 action: [-3.428e-01 -9.958e-02 -2.137e-01  7.668e-04 -5.322e-02 -4.508e-03 -1.049e+00]
+[07-31 02:02:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4858
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=282: Selected seed 195 with value = 0.4858
+t: 282	 action: [ 7.072e-02  1.180e-01 -4.917e-01  8.004e-03 -7.691e-03  2.692e-04 -1.053e+00]
+t: 283	 action: [ 5.057e-02  1.397e-01 -4.514e-01  1.364e-02 -9.306e-04 -3.668e-03 -1.041e+00]
+t: 284	 action: [ 1.213e-02  6.546e-02 -4.732e-01  1.167e-02 -7.111e-03  3.469e-04 -1.050e+00]
+t: 285	 action: [ 2.188e-02  8.662e-02 -4.180e-01  1.250e-02  6.451e-04 -3.935e-03 -1.030e+00]
+t: 286	 action: [-4.450e-02  8.406e-02 -3.558e-01  8.178e-03  1.562e-03  8.983e-04 -1.036e+00]
+t: 287	 action: [-3.918e-02  8.582e-02 -3.581e-01  1.644e-02 -7.703e-04 -3.808e-04 -1.050e+00]
+t: 288	 action: [-0.106  0.028 -0.301  0.002 -0.004 -0.001 -1.037]
+t: 289	 action: [-0.07   0.042 -0.309  0.012 -0.003 -0.006 -1.045]
+t: 290	 action: [ 0.005 -0.018 -0.187  0.003 -0.021  0.004 -1.07 ]
+t: 291	 action: [ 0.017 -0.014 -0.211  0.002 -0.022 -0.004 -1.049]
+t: 292	 action: [-0.011 -0.001 -0.271 -0.001 -0.03   0.004 -1.085]
+t: 293	 action: [ 1.600e-02 -1.994e-02 -3.082e-01 -2.446e-03 -2.749e-02 -7.018e-05 -1.062e+00]
+t: 294	 action: [-9.500e-02  3.051e-03 -3.617e-01 -5.613e-03 -3.307e-02  7.361e-04 -1.061e+00]
+t: 295	 action: [-0.14  -0.022 -0.372 -0.004 -0.043 -0.005 -1.049]
+t: 296	 action: [-1.696e-01 -2.048e-02 -4.664e-01 -8.391e-03 -3.842e-02 -7.356e-04 -1.059e+00]
+t: 297	 action: [-0.183 -0.036 -0.436 -0.008 -0.043 -0.001 -0.819]
+[07-31 02:02:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5879
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.5879
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 98
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 96%|█████████▌| 48/50 [25:37<01:03, 31.99s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 49...
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5879
+t=298: Selected seed 195 with value = 0.5879
+t: 298	 action: [-2.136e-01 -4.947e-02 -5.624e-01  1.069e-02 -1.654e-04  2.587e-02 -1.191e+00]
+t: 299	 action: [-0.256 -0.069 -0.608  0.008  0.003  0.044 -1.128]
+t: 300	 action: [-0.29  -0.006 -0.688  0.002  0.008  0.034 -1.191]
+t: 301	 action: [-2.949e-01 -4.546e-02 -6.485e-01  4.026e-04  6.600e-03  4.469e-02 -1.146e+00]
+t: 302	 action: [-2.691e-01  1.479e-04 -5.388e-01 -2.461e-03  2.193e-02  1.953e-02  1.077e+00]
+t: 303	 action: [-0.189  0.004 -0.558  0.01   0.01   0.04   1.199]
+t: 304	 action: [-0.165  0.033 -0.414 -0.007  0.032  0.02   1.064]
+t: 305	 action: [-1.082e-01  4.605e-02 -4.209e-01 -6.675e-04  2.151e-02  2.752e-02  1.167e+00]
+t: 306	 action: [-0.122  0.007 -0.459 -0.008  0.049  0.011  0.966]
+t: 307	 action: [-0.071 -0.031 -0.305 -0.01   0.046  0.013  1.01 ]
+t: 308	 action: [-0.008  0.044 -0.234 -0.025  0.053  0.013  0.968]
+t: 309	 action: [ 0.021  0.022 -0.126 -0.014  0.045  0.007  1.011]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=98--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=98--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 98
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 49...
+[07-31 02:03:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3806
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3806
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3806
+t=10: Selected seed 195 with value = 0.3806
+t: 10	 action: [ 0.27  -0.04   0.048 -0.002  0.021  0.009 -1.015]
+t: 11	 action: [ 0.349  0.044  0.083 -0.007  0.026  0.009 -1.016]
+t: 12	 action: [ 0.529 -0.011  0.108 -0.007  0.019  0.013 -1.019]
+t: 13	 action: [ 0.681  0.037  0.154 -0.01   0.025  0.01  -1.02 ]
+t: 14	 action: [ 0.803 -0.007  0.225 -0.003  0.022  0.017 -1.023]
+t: 15	 action: [ 0.852 -0.009  0.192 -0.008  0.017  0.012 -1.038]
+t: 16	 action: [ 0.911 -0.027  0.24  -0.003  0.016  0.017 -1.025]
+t: 17	 action: [ 0.908 -0.027  0.207 -0.009  0.019  0.011 -1.047]
+t: 18	 action: [ 8.787e-01 -1.827e-01  2.599e-01  2.664e-04  6.736e-03  1.505e-02 -1.027e+00]
+t: 19	 action: [ 0.884 -0.158  0.272  0.007  0.014  0.01  -1.025]
+t: 20	 action: [ 0.9   -0.244  0.207  0.003  0.002  0.01  -1.028]
+t: 21	 action: [ 0.894 -0.227  0.213  0.015  0.015  0.009 -1.018]
+t: 22	 action: [ 0.903 -0.285  0.175  0.005  0.003  0.014 -1.022]
+t: 23	 action: [ 0.901 -0.395  0.096  0.015  0.007  0.01  -1.046]
+t: 24	 action: [ 8.912e-01 -3.160e-01  8.998e-02  8.681e-03  6.573e-04  6.840e-03 -1.024e+00]
+t: 25	 action: [ 0.899 -0.401  0.018  0.021  0.007  0.01  -1.049]
+[07-31 02:03:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4311
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4311
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4311
+t=26: Selected seed 195 with value = 0.4311
+t: 26	 action: [ 0.934 -0.29   0.111  0.006 -0.008  0.004 -1.027]
+t: 27	 action: [ 0.941 -0.299  0.109  0.012 -0.006 -0.007 -1.015]
+t: 28	 action: [ 0.918 -0.373  0.044  0.016 -0.01   0.006 -1.035]
+t: 29	 action: [ 0.94  -0.39   0.064  0.024 -0.005 -0.004 -1.023]
+t: 30	 action: [ 0.958 -0.37  -0.065  0.018 -0.011  0.003 -1.015]
+t: 31	 action: [ 0.915 -0.373 -0.112  0.025 -0.014 -0.003 -1.037]
+t: 32	 action: [ 0.886 -0.315 -0.283  0.017 -0.021  0.002 -1.027]
+t: 33	 action: [ 0.835 -0.282 -0.363  0.025 -0.026 -0.001 -1.039]
+t: 34	 action: [ 0.493 -0.224 -0.504  0.013 -0.059  0.007 -1.03 ]
+t: 35	 action: [ 0.391 -0.155 -0.603  0.02  -0.063 -0.002 -1.019]
+t: 36	 action: [ 0.269 -0.13  -0.726  0.013 -0.09   0.008 -1.026]
+t: 37	 action: [ 1.275e-01 -8.102e-02 -8.058e-01  1.617e-02 -7.976e-02 -8.436e-04 -1.015e+00]
+t: 38	 action: [ 0.07  -0.001 -0.858  0.006 -0.099  0.003 -1.026]
+t: 39	 action: [-0.001 -0.042 -0.837  0.021 -0.074  0.004 -1.027]
+t: 40	 action: [-0.09   0.022 -0.893  0.001 -0.091  0.003 -1.025]
+t: 41	 action: [-0.055  0.005 -0.88   0.019 -0.058  0.009 -1.034]
+[07-31 02:03:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5170
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5170
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5170
+t=42: Selected seed 195 with value = 0.5170
+t: 42	 action: [-0.003  0.26  -0.83   0.021 -0.025  0.015 -0.997]
+t: 43	 action: [-0.006  0.353 -0.859  0.013 -0.025  0.016 -1.015]
+t: 44	 action: [-0.033  0.509 -0.727  0.013 -0.014  0.02  -0.993]
+t: 45	 action: [-0.025  0.563 -0.73   0.011 -0.01   0.016 -1.02 ]
+t: 46	 action: [-0.08   0.598 -0.66   0.006 -0.018  0.02  -0.989]
+t: 47	 action: [-0.073  0.63  -0.665  0.012 -0.013  0.018 -1.027]
+t: 48	 action: [-0.11   0.707 -0.569  0.005 -0.006  0.023 -0.984]
+t: 49	 action: [-0.087  0.722 -0.562  0.011 -0.002  0.017 -1.033]
+t: 50	 action: [-0.148  0.824 -0.481  0.006 -0.015  0.02  -0.993]
+t: 51	 action: [-0.134  0.809 -0.548  0.006 -0.017  0.015 -1.013]
+t: 52	 action: [-0.169  0.836 -0.477  0.007 -0.009  0.025 -0.995]
+t: 53	 action: [-0.128  0.802 -0.53   0.006 -0.008  0.016 -1.016]
+t: 54	 action: [-0.228  0.825 -0.48   0.001 -0.016  0.027 -0.991]
+t: 55	 action: [-0.216  0.817 -0.53   0.005 -0.014  0.017 -1.025]
+t: 56	 action: [-0.236  0.824 -0.494  0.002 -0.01   0.031 -0.989]
+t: 57	 action: [-0.194  0.808 -0.532  0.004 -0.006  0.019 -1.032]
+[07-31 02:03:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5544
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5544
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5544
+t=58: Selected seed 195 with value = 0.5544
+t: 58	 action: [ 4.088e-03  7.684e-01 -4.245e-01  1.913e-02 -1.835e-05  4.089e-02 -9.951e-01]
+t: 59	 action: [ 0.029  0.744 -0.391  0.021  0.003  0.034 -1.004]
+t: 60	 action: [-0.018  0.782 -0.429  0.023  0.009  0.045 -0.993]
+t: 61	 action: [ 0.02   0.721 -0.386  0.021  0.007  0.038 -1.008]
+t: 62	 action: [-0.002  0.757 -0.419  0.02   0.01   0.051 -0.989]
+t: 63	 action: [ 0.012  0.739 -0.417  0.025  0.004  0.041 -1.016]
+t: 64	 action: [-0.032  0.741 -0.41   0.019  0.017  0.056 -0.987]
+t: 65	 action: [ 0.009  0.676 -0.362  0.025  0.008  0.043 -1.027]
+t: 66	 action: [ 0.134  0.235 -0.134  0.006  0.004  0.04  -1.016]
+t: 67	 action: [ 0.123  0.069  0.033  0.016  0.012  0.022 -1.028]
+t: 68	 action: [ 0.145 -0.084  0.325  0.011  0.036  0.015 -1.013]
+t: 69	 action: [ 0.162 -0.137  0.546  0.017  0.047  0.009 -1.019]
+t: 70	 action: [ 0.043 -0.135  0.597  0.032  0.077  0.013 -1.009]
+t: 71	 action: [-0.066 -0.159  0.701  0.028  0.069  0.01  -1.041]
+t: 72	 action: [-0.214 -0.258  0.654  0.051  0.071  0.005 -1.004]
+t: 73	 action: [-0.381 -0.166  0.641  0.049  0.06   0.006 -1.04 ]
+[07-31 02:03:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6477
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6477
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6477
+t=74: Selected seed 195 with value = 0.6477
+t: 74	 action: [-0.281 -0.113  0.537 -0.006  0.039 -0.043 -0.991]
+t: 75	 action: [-0.46  -0.164  0.475 -0.009  0.023 -0.042 -1.026]
+t: 76	 action: [-0.581 -0.095  0.35  -0.004  0.014 -0.035 -0.989]
+t: 77	 action: [-0.695 -0.141  0.307 -0.01   0.008 -0.038 -1.031]
+t: 78	 action: [-0.87  -0.09   0.193  0.002  0.013 -0.027 -0.987]
+t: 79	 action: [-0.844 -0.13   0.136 -0.01  -0.001 -0.041 -1.042]
+t: 80	 action: [-8.869e-01 -9.097e-02  8.585e-02 -1.683e-04  3.782e-04 -2.104e-02 -9.806e-01]
+t: 81	 action: [-0.879 -0.11   0.015 -0.014 -0.007 -0.04  -1.042]
+t: 82	 action: [-0.82  -0.079 -0.056  0.004 -0.031 -0.005 -0.991]
+t: 83	 action: [-0.867 -0.13  -0.106 -0.003 -0.032 -0.015 -1.03 ]
+t: 84	 action: [-8.400e-01 -9.035e-02 -1.761e-01  2.250e-03 -4.246e-02 -7.673e-04 -9.932e-01]
+t: 85	 action: [-0.866 -0.137 -0.244 -0.004 -0.04  -0.008 -1.022]
+t: 86	 action: [-0.864 -0.139 -0.362  0.002 -0.059 -0.003 -0.976]
+t: 87	 action: [-0.835 -0.119 -0.356  0.003 -0.064 -0.015 -1.035]
+t: 88	 action: [-0.813 -0.126 -0.513  0.001 -0.072 -0.002 -0.977]
+t: 89	 action: [-0.746 -0.087 -0.497  0.004 -0.067 -0.01  -1.038]
+[07-31 02:03:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4635
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4635
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4635
+t=90: Selected seed 195 with value = 0.4635
+t: 90	 action: [-0.693  0.04  -0.275 -0.022 -0.028 -0.018 -1.025]
+t: 91	 action: [-0.643  0.066 -0.348 -0.008 -0.022 -0.043 -1.039]
+t: 92	 action: [-0.595  0.036 -0.479 -0.015 -0.033 -0.019 -1.023]
+t: 93	 action: [-5.501e-01  5.422e-02 -4.949e-01  1.416e-04 -3.801e-02 -6.061e-02 -1.049e+00]
+t: 94	 action: [-3.960e-01  2.104e-02 -5.698e-01  8.076e-04 -4.420e-02 -2.682e-02 -1.020e+00]
+t: 95	 action: [-0.329  0.058 -0.577  0.005 -0.037 -0.054 -1.06 ]
+t: 96	 action: [-1.881e-01  1.490e-02 -6.371e-01  8.647e-04 -5.163e-02 -3.114e-02 -1.016e+00]
+t: 97	 action: [-0.117  0.031 -0.621  0.012 -0.049 -0.073 -1.065]
+t: 98	 action: [-0.184  0.017 -0.71  -0.011 -0.068 -0.047 -1.037]
+t: 99	 action: [-0.129 -0.011 -0.696  0.002 -0.063 -0.075 -1.03 ]
+t: 100	 action: [-0.053 -0.002 -0.69  -0.004 -0.07  -0.049 -1.042]
+t: 101	 action: [-0.009 -0.031 -0.638  0.003 -0.062 -0.075 -1.022]
+t: 102	 action: [ 0.023 -0.031 -0.571  0.005 -0.056 -0.059 -1.038]
+t: 103	 action: [ 0.089 -0.04  -0.453  0.009 -0.047 -0.09  -1.051]
+t: 104	 action: [ 0.157 -0.029 -0.42   0.003 -0.044 -0.062 -1.036]
+t: 105	 action: [ 0.254 -0.033 -0.328  0.008 -0.034 -0.086 -1.063]
+[07-31 02:03:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9292
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9292
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9292
+t=106: Selected seed 195 with value = 0.9292
+t: 106	 action: [ 0.497  0.294 -0.321  0.002  0.007 -0.012 -1.044]
+t: 107	 action: [ 0.564  0.311 -0.335  0.002 -0.001 -0.032 -1.039]
+t: 108	 action: [ 6.001e-01  3.669e-01 -2.730e-01  1.716e-04  1.018e-02 -5.847e-03 -1.042e+00]
+t: 109	 action: [ 6.338e-01  3.217e-01 -2.704e-01 -3.151e-03 -5.812e-04 -3.553e-02 -1.039e+00]
+t: 110	 action: [ 5.905e-01  3.509e-01 -2.253e-01  9.831e-04  9.529e-03 -1.876e-02 -1.043e+00]
+t: 111	 action: [ 0.57   0.3   -0.235  0.001 -0.004 -0.037 -1.061]
+t: 112	 action: [ 5.698e-01  3.415e-01 -2.036e-01  7.795e-04  1.143e-02 -1.400e-02 -1.042e+00]
+t: 113	 action: [ 5.274e-01  2.750e-01 -2.297e-01 -6.833e-04 -4.338e-03 -4.311e-02 -1.060e+00]
+t: 114	 action: [ 0.512  0.216 -0.183 -0.009  0.023 -0.028 -1.055]
+t: 115	 action: [ 0.492  0.175 -0.186  0.007  0.019 -0.055 -1.043]
+t: 116	 action: [ 0.411  0.148 -0.219 -0.013  0.027 -0.023 -1.055]
+t: 117	 action: [ 0.306  0.142 -0.219  0.006  0.024 -0.048 -1.037]
+t: 118	 action: [ 0.171  0.052 -0.343  0.007  0.007 -0.026 -1.053]
+t: 119	 action: [ 0.043  0.081 -0.322  0.017  0.005 -0.057 -1.057]
+t: 120	 action: [ 0.016  0.016 -0.437  0.005  0.006 -0.022 -1.053]
+t: 121	 action: [-0.006  0.057 -0.363  0.016  0.003 -0.05  -1.059]
+[07-31 02:03:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9188
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9188
+Query 1/1: Action query time = 0.994 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9188
+t=122: Selected seed 195 with value = 0.9188
+t: 122	 action: [ 0.176  0.024 -0.245 -0.002  0.002 -0.052 -1.057]
+t: 123	 action: [ 0.169  0.058 -0.374 -0.006  0.008 -0.054 -1.047]
+t: 124	 action: [ 1.113e-01  3.525e-02 -2.899e-01 -3.759e-05  5.540e-06 -5.177e-02 -1.056e+00]
+t: 125	 action: [ 0.099  0.068 -0.396 -0.002  0.005 -0.054 -1.039]
+t: 126	 action: [ 0.042  0.039 -0.274 -0.006  0.004 -0.059 -1.045]
+t: 127	 action: [ 0.051  0.116 -0.286  0.003  0.001 -0.059 -1.053]
+t: 128	 action: [ 0.028  0.049 -0.337 -0.007  0.003 -0.053 -1.051]
+t: 129	 action: [ 0.013  0.101 -0.35   0.004 -0.001 -0.061 -1.051]
+t: 130	 action: [ 0.068  0.024 -0.314 -0.01   0.002 -0.043 -1.16 ]
+t: 131	 action: [ 0.024  0.026 -0.376 -0.012  0.005 -0.038 -1.152]
+t: 132	 action: [ 3.621e-02  2.445e-02 -2.897e-01 -1.107e-02  8.396e-04 -3.813e-02  9.813e-01]
+t: 133	 action: [ 0.028  0.009 -0.346 -0.011  0.005 -0.036  1.038]
+t: 134	 action: [-0.017  0.014 -0.297 -0.007  0.003 -0.048  1.106]
+t: 135	 action: [-0.015  0.036 -0.284 -0.005 -0.004 -0.039  1.163]
+t: 136	 action: [-0.036  0.012 -0.108 -0.014  0.004 -0.045  0.988]
+t: 137	 action: [ 0.002  0.014 -0.08  -0.006 -0.006 -0.035  1.043]
+[07-31 02:03:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8292
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.8292
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8292
+t=138: Selected seed 195 with value = 0.8292
+t: 138	 action: [-0.064 -0.074  0.288  0.037 -0.011 -0.099  0.976]
+t: 139	 action: [-0.041 -0.068  0.428  0.052 -0.001 -0.092  1.032]
+t: 140	 action: [-0.125 -0.135  0.46   0.06  -0.006 -0.086  0.98 ]
+t: 141	 action: [-9.247e-02 -1.423e-01  5.112e-01  6.112e-02  4.395e-04 -6.952e-02  1.042e+00]
+t: 142	 action: [-0.17  -0.128  0.458  0.054  0.013 -0.078  0.993]
+t: 143	 action: [-0.081 -0.14   0.433  0.054  0.003 -0.067  1.015]
+t: 144	 action: [-0.15  -0.142  0.436  0.045  0.018 -0.066  0.998]
+t: 145	 action: [-0.066 -0.188  0.401  0.048  0.017 -0.052  1.027]
+t: 146	 action: [-0.032 -0.247  0.167  0.043  0.027 -0.055  0.997]
+t: 147	 action: [ 0.038 -0.224  0.116  0.037  0.023 -0.042  1.025]
+t: 148	 action: [ 0.025 -0.226 -0.06   0.021  0.03  -0.042  0.989]
+t: 149	 action: [ 0.087 -0.162 -0.075  0.024  0.023 -0.036  1.024]
+t: 150	 action: [ 0.05  -0.201  0.002  0.019  0.027 -0.05   1.01 ]
+t: 151	 action: [ 0.081 -0.275 -0.031  0.025  0.004 -0.028  1.024]
+t: 152	 action: [ 0.054 -0.127 -0.032  0.002  0.026 -0.041  1.01 ]
+t: 153	 action: [ 6.978e-02 -1.118e-01 -3.726e-02  1.184e-02  9.315e-04 -2.571e-02  1.030e+00]
+[07-31 02:03:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7819
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7819
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7819
+t=154: Selected seed 195 with value = 0.7819
+t: 154	 action: [-0.304 -0.115  0.766  0.02   0.018 -0.093  0.988]
+t: 155	 action: [-0.261 -0.057  0.821  0.037  0.005 -0.068  1.044]
+t: 156	 action: [-0.282 -0.146  0.755  0.032  0.035 -0.071  1.001]
+t: 157	 action: [-0.239 -0.065  0.79   0.039  0.027 -0.059  1.046]
+t: 158	 action: [-0.24  -0.193  0.692  0.033  0.058 -0.057  1.012]
+t: 159	 action: [-0.107 -0.145  0.636  0.046  0.076 -0.043  1.035]
+t: 160	 action: [-0.094 -0.168  0.604  0.025  0.079 -0.041  1.026]
+t: 161	 action: [ 0.043 -0.128  0.497  0.038  0.112 -0.037  1.04 ]
+t: 162	 action: [ 0.165 -0.263  0.549  0.04   0.088 -0.024  1.013]
+t: 163	 action: [ 0.243 -0.216  0.633  0.026  0.102 -0.018  1.045]
+t: 164	 action: [ 0.265 -0.231  0.518  0.017  0.098 -0.013  1.003]
+t: 165	 action: [ 0.339 -0.21   0.591  0.01   0.118 -0.02   1.045]
+t: 166	 action: [ 0.257 -0.226  0.502  0.019  0.121 -0.005  1.041]
+t: 167	 action: [ 2.989e-01 -2.560e-01  4.972e-01  6.581e-04  1.166e-01 -6.220e-03  1.047e+00]
+t: 168	 action: [ 0.27  -0.158  0.494  0.005  0.122 -0.003  1.034]
+t: 169	 action: [ 0.26  -0.225  0.529 -0.011  0.105 -0.007  1.048]
+[07-31 02:03:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9004
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9004
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9004
+t=170: Selected seed 195 with value = 0.9004
+t: 170	 action: [-0.045 -0.273  0.485  0.013  0.074  0.005  0.963]
+t: 171	 action: [-0.046 -0.432  0.371  0.01   0.079 -0.006  1.036]
+t: 172	 action: [-0.03  -0.3    0.23   0.02   0.071  0.007  0.979]
+t: 173	 action: [-0.028 -0.413  0.11   0.018  0.076  0.002  1.042]
+t: 174	 action: [ 0.022 -0.221  0.181  0.003  0.067  0.006  0.995]
+t: 175	 action: [ 0.018 -0.248  0.057  0.018  0.057  0.002  1.04 ]
+t: 176	 action: [ 0.077 -0.114 -0.087 -0.005  0.063  0.005  1.008]
+t: 177	 action: [ 0.067 -0.117 -0.081  0.009  0.06   0.006  1.045]
+t: 178	 action: [ 0.14  -0.287 -0.268  0.014  0.045  0.014  0.99 ]
+t: 179	 action: [ 0.164 -0.331 -0.281  0.018  0.028  0.02   1.039]
+t: 180	 action: [ 0.34  -0.199 -0.393 -0.003  0.027  0.02   0.923]
+t: 181	 action: [ 0.388 -0.25  -0.265 -0.005  0.018  0.018  1.026]
+t: 182	 action: [ 0.273 -0.18  -0.309 -0.017  0.025  0.024  1.023]
+t: 183	 action: [ 0.301 -0.212 -0.327 -0.051 -0.009  0.034  1.048]
+t: 184	 action: [ 0.304 -0.029 -0.167 -0.049  0.014  0.031  0.426]
+t: 185	 action: [ 0.375 -0.106 -0.182 -0.067 -0.008  0.033 -1.128]
+[07-31 02:03:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.119 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9483
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 1.119 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=186: Selected seed 195 with value = 0.9483
+t: 186	 action: [-0.098 -0.212 -0.601  0.005  0.029  0.014  0.962]
+t: 187	 action: [-0.201 -0.229 -0.535 -0.011  0.023  0.02   1.07 ]
+t: 188	 action: [-0.097 -0.086 -0.588 -0.004  0.03   0.012  1.091]
+t: 189	 action: [-1.136e-01 -1.166e-01 -4.744e-01 -1.320e-02  2.088e-02 -5.179e-04  1.008e+00]
+t: 190	 action: [-0.189  0.042 -0.386 -0.029  0.023  0.015  1.   ]
+t: 191	 action: [-0.116  0.027 -0.318 -0.03   0.015  0.017  1.087]
+t: 192	 action: [-0.041  0.145 -0.084 -0.02   0.031  0.007 -1.13 ]
+t: 193	 action: [ 0.081  0.086 -0.057 -0.027  0.029 -0.01  -1.132]
+t: 194	 action: [ 0.386  0.062  0.11  -0.026  0.027  0.009 -1.064]
+t: 195	 action: [ 0.414  0.037  0.136 -0.021  0.02  -0.007 -1.049]
+t: 196	 action: [ 0.406  0.072  0.225 -0.018  0.011  0.008 -1.071]
+t: 197	 action: [ 0.396  0.049  0.186 -0.017  0.017 -0.012 -1.037]
+t: 198	 action: [ 2.873e-01  4.906e-02  2.151e-01 -8.098e-03  7.617e-03  9.950e-04 -1.078e+00]
+t: 199	 action: [ 2.484e-01  2.596e-02  1.571e-01 -1.114e-02 -5.546e-04 -6.179e-03 -1.063e+00]
+t: 200	 action: [ 1.907e-01  3.908e-02  1.440e-01 -1.034e-02 -2.249e-03 -4.881e-04 -1.081e+00]
+t: 201	 action: [ 0.146  0.009  0.062 -0.007 -0.003 -0.005 -1.055]
+[07-31 02:03:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.037 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9907
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 1.037 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=202: Selected seed 195 with value = 0.9907
+t: 202	 action: [0.062 0.013 0.023 0.002 0.046 0.005 0.973]
+t: 203	 action: [ 0.07  -0.052  0.055  0.003  0.037 -0.006 -0.176]
+t: 204	 action: [ 0.073  0.01   0.121  0.006  0.042  0.001 -1.037]
+t: 205	 action: [ 0.062 -0.034  0.143  0.005  0.029 -0.007 -1.044]
+t: 206	 action: [ 6.162e-02  1.409e-03  1.389e-01 -1.407e-03  3.922e-02  5.422e-05 -1.062e+00]
+t: 207	 action: [ 3.966e-03  9.911e-03  1.653e-01  8.822e-03  2.091e-02 -1.724e-04 -1.103e+00]
+t: 208	 action: [ 6.829e-02  4.881e-03  1.621e-01  5.540e-04  3.825e-02 -8.547e-04 -1.035e+00]
+t: 209	 action: [ 0.023  0.021  0.168  0.011  0.018 -0.002 -1.058]
+t: 210	 action: [ 0.063 -0.006  0.129  0.008  0.042  0.007 -0.942]
+t: 211	 action: [ 0.063 -0.057  0.145  0.004  0.043 -0.002 -1.01 ]
+t: 212	 action: [ 0.065  0.001  0.122  0.012  0.031  0.005 -1.04 ]
+t: 213	 action: [ 0.059 -0.04   0.148  0.005  0.028 -0.003 -1.045]
+t: 214	 action: [ 5.135e-02 -8.176e-03  1.183e-01  1.842e-03  3.505e-02  9.907e-05 -1.030e+00]
+t: 215	 action: [-0.003 -0.013  0.094  0.01   0.009  0.002 -1.066]
+t: 216	 action: [ 0.052  0.003  0.118  0.005  0.028 -0.002 -1.039]
+t: 217	 action: [ 9.670e-03  2.912e-03  1.035e-01  1.025e-02  6.867e-03  9.623e-04 -1.061e+00]
+[07-31 02:03:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.112 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9891
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 1.112 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=218: Selected seed 195 with value = 0.9891
+t: 218	 action: [ 0.029  0.006  0.071 -0.001  0.045  0.009 -0.982]
+t: 219	 action: [ 0.036 -0.074  0.048 -0.002  0.038  0.004 -0.983]
+t: 220	 action: [ 0.007 -0.005  0.078  0.004  0.039  0.007 -1.006]
+t: 221	 action: [ 0.022 -0.068  0.069  0.004  0.034  0.006 -1.03 ]
+t: 222	 action: [-0.025 -0.021  0.039 -0.003  0.038  0.015 -1.028]
+t: 223	 action: [-0.036 -0.028  0.037  0.006  0.022  0.011 -1.069]
+t: 224	 action: [-0.023 -0.024  0.074  0.001  0.036  0.006 -1.02 ]
+t: 225	 action: [-0.018 -0.025  0.057  0.01   0.022  0.009 -1.063]
+t: 226	 action: [ 2.576e-02 -9.289e-03  7.298e-02 -4.755e-04  3.168e-02  9.765e-03 -9.900e-01]
+t: 227	 action: [ 0.026 -0.065  0.045 -0.002  0.033  0.006 -1.019]
+t: 228	 action: [ 0.006 -0.025  0.077  0.006  0.026  0.008 -1.004]
+t: 229	 action: [ 0.019 -0.066  0.066  0.003  0.029  0.006 -1.029]
+t: 230	 action: [-0.027 -0.037  0.039 -0.006  0.028  0.009 -1.031]
+t: 231	 action: [-0.045 -0.047  0.003  0.004  0.011  0.01  -1.076]
+t: 232	 action: [-0.026 -0.037  0.067  0.003  0.023  0.004 -1.019]
+t: 233	 action: [-0.03  -0.043  0.032  0.009  0.011  0.009 -1.067]
+[07-31 02:03:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.129 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9901
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 1.129 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=234: Selected seed 195 with value = 0.9901
+t: 234	 action: [ 1.986e-02  1.148e-02  1.087e-01 -4.282e-04  4.522e-02  1.238e-02 -1.007e+00]
+t: 235	 action: [ 3.628e-02 -5.468e-02  6.961e-02  1.758e-04  3.324e-02  7.163e-03 -1.017e+00]
+t: 236	 action: [ 0.001  0.005  0.112  0.004  0.037  0.009 -1.009]
+t: 237	 action: [ 0.025 -0.045  0.099  0.005  0.03   0.008 -1.033]
+t: 238	 action: [-0.024 -0.013  0.087 -0.003  0.038  0.018 -1.032]
+t: 239	 action: [-0.024 -0.016  0.068  0.007  0.017  0.012 -1.074]
+t: 240	 action: [-0.019 -0.013  0.109  0.002  0.034  0.008 -1.023]
+t: 241	 action: [-0.01  -0.013  0.092  0.01   0.018  0.009 -1.064]
+t: 242	 action: [ 1.924e-02  2.872e-03  9.854e-02  3.828e-04  3.111e-02  1.015e-02 -1.005e+00]
+t: 243	 action: [ 2.955e-02 -4.530e-02  6.902e-02  9.058e-04  2.718e-02  8.587e-03 -1.034e+00]
+t: 244	 action: [ 5.382e-04 -2.583e-03  1.020e-01  4.505e-03  2.552e-02  8.744e-03 -1.009e+00]
+t: 245	 action: [ 0.024 -0.043  0.088  0.004  0.023  0.007 -1.033]
+t: 246	 action: [-0.025 -0.017  0.074 -0.004  0.029  0.009 -1.033]
+t: 247	 action: [-0.029 -0.027  0.033  0.007  0.008  0.011 -1.079]
+t: 248	 action: [-0.021 -0.018  0.096  0.002  0.024  0.004 -1.02 ]
+t: 249	 action: [-0.017 -0.022  0.065  0.009  0.008  0.009 -1.07 ]
+[07-31 02:03:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.061 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9892
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 1.061 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=250: Selected seed 195 with value = 0.9892
+t: 250	 action: [-0.003  0.017  0.105  0.001  0.033  0.015 -0.999]
+t: 251	 action: [ 0.027 -0.057  0.048  0.002  0.014  0.012 -1.023]
+t: 252	 action: [-0.026  0.008  0.101  0.004  0.023  0.011 -0.999]
+t: 253	 action: [ 0.015 -0.047  0.081  0.005  0.012  0.014 -1.033]
+t: 254	 action: [-0.039 -0.013  0.082 -0.003  0.026  0.02  -1.024]
+t: 255	 action: [-3.653e-02 -2.407e-02  5.225e-02  8.199e-03  8.188e-04  1.749e-02 -1.075e+00]
+t: 256	 action: [-0.041 -0.011  0.098  0.001  0.021  0.012 -1.015]
+t: 257	 action: [-0.025 -0.014  0.077  0.01   0.002  0.015 -1.063]
+t: 258	 action: [-0.003  0.006  0.084  0.001  0.017  0.011 -0.998]
+t: 259	 action: [ 0.021 -0.045  0.056  0.003  0.01   0.013 -1.036]
+t: 260	 action: [-0.027  0.004  0.093  0.004  0.013  0.01  -1.001]
+t: 261	 action: [ 0.014 -0.04   0.075  0.005  0.009  0.012 -1.03 ]
+t: 262	 action: [-0.046 -0.013  0.067 -0.003  0.016  0.011 -1.028]
+t: 263	 action: [-0.042 -0.026  0.031  0.008 -0.004  0.017 -1.076]
+t: 264	 action: [-4.285e-02 -1.241e-02  8.817e-02  6.894e-04  1.250e-02  6.137e-03 -1.015e+00]
+t: 265	 action: [-0.033 -0.017  0.056  0.009 -0.003  0.015 -1.066]
+[07-31 02:03:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.024 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9908
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 1.024 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=266: Selected seed 195 with value = 0.9908
+t: 266	 action: [-0.005  0.048  0.085  0.001  0.018  0.012 -0.99 ]
+t: 267	 action: [ 3.164e-02 -3.913e-02  1.647e-02  8.366e-04  3.471e-03  1.317e-02 -1.018e+00]
+t: 268	 action: [-0.03   0.02   0.083  0.003  0.009  0.01  -0.996]
+t: 269	 action: [ 0.016 -0.032  0.051  0.004  0.005  0.015 -1.031]
+t: 270	 action: [-0.031 -0.001  0.077 -0.003  0.011  0.015 -1.02 ]
+t: 271	 action: [-0.031 -0.006  0.04   0.007 -0.006  0.02  -1.071]
+t: 272	 action: [-3.703e-02 -1.307e-03  8.835e-02 -9.035e-04  6.640e-03  1.049e-02 -1.012e+00]
+t: 273	 action: [-0.026  0.006  0.061  0.008 -0.003  0.018 -1.062]
+t: 274	 action: [-7.226e-03  2.382e-02  7.078e-02  9.367e-04  2.632e-03  1.143e-02 -9.896e-01]
+t: 275	 action: [ 0.027 -0.025  0.04   0.001  0.004  0.014 -1.029]
+t: 276	 action: [-3.065e-02  1.388e-02  8.175e-02  2.589e-03  5.828e-04  1.014e-02 -9.984e-01]
+t: 277	 action: [ 0.015 -0.022  0.056  0.004  0.003  0.014 -1.024]
+t: 278	 action: [-0.04  -0.006  0.063 -0.004  0.002  0.01  -1.024]
+t: 279	 action: [-0.035 -0.003  0.033  0.007 -0.009  0.019 -1.07 ]
+t: 280	 action: [-3.786e-02 -4.327e-03  8.167e-02 -2.008e-03  1.492e-04  6.300e-03 -1.013e+00]
+t: 281	 action: [-0.032  0.005  0.05   0.008 -0.008  0.018 -1.06 ]
+[07-31 02:03:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.011 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9914
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 1.011 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=282: Selected seed 195 with value = 0.9914
+t: 282	 action: [-2.724e-02  7.895e-02  4.978e-02  9.752e-05  7.038e-03  9.130e-03 -9.840e-01]
+t: 283	 action: [ 0.024 -0.018 -0.017 -0.003 -0.003  0.011 -1.012]
+t: 284	 action: [-5.270e-02  4.779e-02  5.428e-02  9.196e-04 -5.586e-04  8.248e-03 -9.898e-01]
+t: 285	 action: [ 8.417e-03 -1.284e-02  1.682e-02 -2.464e-04 -1.939e-03  1.278e-02 -1.029e+00]
+t: 286	 action: [-0.05   0.029  0.053 -0.004 -0.002  0.009 -1.02 ]
+t: 287	 action: [-0.04   0.02   0.011  0.003 -0.015  0.019 -1.07 ]
+t: 288	 action: [-0.056  0.019  0.065 -0.003 -0.006  0.008 -1.007]
+t: 289	 action: [-0.034  0.029  0.029  0.004 -0.01   0.018 -1.061]
+t: 290	 action: [-0.03   0.047  0.032 -0.002 -0.011  0.011 -0.983]
+t: 291	 action: [ 0.02  -0.004  0.01  -0.003 -0.004  0.013 -1.023]
+t: 292	 action: [-5.241e-02  3.437e-02  5.500e-02  1.375e-04 -1.100e-02  9.956e-03 -9.947e-01]
+t: 293	 action: [ 0.008 -0.003  0.026 -0.001 -0.006  0.012 -1.022]
+t: 294	 action: [-0.061  0.017  0.035 -0.004 -0.014  0.009 -1.024]
+t: 295	 action: [-0.043  0.023  0.014  0.002 -0.02   0.018 -1.069]
+t: 296	 action: [-0.055  0.013  0.059 -0.004 -0.013  0.006 -1.011]
+t: 297	 action: [-0.038  0.03   0.026  0.003 -0.018  0.017 -1.06 ]
+[07-31 02:03:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9915
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9915
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 99
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
 98%|█████████▊| 49/50 [26:09<00:32, 32.02s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the top drawer and put the bowl inside
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 50...
+Query 1/1: Action query time = 1.001 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=298: Selected seed 195 with value = 0.9915
+t: 298	 action: [-4.323e-02  8.228e-02 -1.858e-02 -6.034e-04  1.442e-03  7.144e-03 -9.767e-01]
+t: 299	 action: [ 0.011 -0.01  -0.079 -0.005 -0.007  0.006 -1.008]
+t: 300	 action: [-7.699e-02  5.501e-02  5.584e-03 -4.666e-04 -8.283e-03  6.723e-03 -9.871e-01]
+t: 301	 action: [-0.005 -0.007 -0.023 -0.003 -0.01   0.008 -1.029]
+t: 302	 action: [-0.077  0.044  0.014 -0.004 -0.011  0.003 -1.018]
+t: 303	 action: [-0.061  0.038 -0.021  0.002 -0.022  0.015 -1.069]
+t: 304	 action: [-0.09   0.03   0.034 -0.004 -0.017  0.005 -1.004]
+t: 305	 action: [-5.209e-02  4.038e-02 -9.565e-04  1.221e-03 -1.962e-02  1.475e-02 -1.061e+00]
+t: 306	 action: [-0.048  0.054 -0.041 -0.002 -0.02   0.01  -0.977]
+t: 307	 action: [ 0.006  0.001 -0.044 -0.006 -0.011  0.007 -1.019]
+t: 308	 action: [-0.08   0.041  0.011 -0.002 -0.021  0.009 -0.995]
+t: 309	 action: [-0.006  0.003 -0.008 -0.005 -0.014  0.008 -1.022]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=99--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=99--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 99
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 50...
+[07-31 02:03:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.172 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3918
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3918
+Query 1/1: Action query time = 1.172 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3918
+t=10: Selected seed 195 with value = 0.3918
+t: 10	 action: [ 0.146 -0.083  0.015  0.005  0.017  0.006 -1.   ]
+t: 11	 action: [ 0.239 -0.053  0.066  0.002  0.028  0.008 -1.001]
+t: 12	 action: [ 0.416 -0.2    0.119  0.004  0.019  0.012 -1.023]
+t: 13	 action: [ 0.57  -0.154  0.197  0.002  0.033  0.011 -1.019]
+t: 14	 action: [ 0.657 -0.188  0.271  0.006  0.021  0.009 -1.028]
+t: 15	 action: [ 0.716 -0.182  0.244  0.007  0.02   0.012 -1.038]
+t: 16	 action: [ 0.818 -0.239  0.312  0.004  0.02   0.013 -1.026]
+t: 17	 action: [ 0.813 -0.239  0.278  0.009  0.027  0.014 -1.047]
+t: 18	 action: [ 7.831e-01 -3.045e-01  3.035e-01  9.283e-03  9.353e-04  1.771e-02 -1.032e+00]
+t: 19	 action: [ 0.816 -0.315  0.311  0.013  0.013  0.014 -1.021]
+t: 20	 action: [ 0.847 -0.342  0.249  0.012 -0.003  0.016 -1.027]
+t: 21	 action: [ 0.85  -0.352  0.274  0.017  0.015  0.015 -1.018]
+t: 22	 action: [ 8.632e-01 -3.464e-01  2.374e-01  1.948e-02  7.198e-04  1.774e-02 -1.018e+00]
+t: 23	 action: [ 0.872 -0.483  0.161  0.02   0.011  0.017 -1.043]
+t: 24	 action: [ 0.903 -0.332  0.159  0.023  0.004  0.015 -1.012]
+t: 25	 action: [ 0.899 -0.451  0.096  0.022  0.016  0.018 -1.045]
+[07-31 02:03:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4388
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4388
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4388
+t=26: Selected seed 195 with value = 0.4388
+t: 26	 action: [ 0.87  -0.328  0.133  0.005 -0.001  0.002 -1.006]
+t: 27	 action: [ 0.897 -0.281  0.136  0.005 -0.001 -0.009 -1.008]
+t: 28	 action: [ 0.881 -0.324  0.058  0.007 -0.003  0.004 -1.018]
+t: 29	 action: [ 9.026e-01 -2.894e-01  7.300e-02  1.080e-02 -9.263e-04 -5.785e-03 -1.018e+00]
+t: 30	 action: [ 0.937 -0.242 -0.02   0.006 -0.004  0.003 -1.001]
+t: 31	 action: [ 0.922 -0.236 -0.054  0.014 -0.002 -0.002 -1.032]
+t: 32	 action: [ 0.904 -0.151 -0.22   0.003 -0.009  0.003 -1.013]
+t: 33	 action: [ 0.888 -0.133 -0.261  0.016 -0.006 -0.002 -1.034]
+t: 34	 action: [ 0.585 -0.05  -0.37   0.017 -0.032  0.007 -1.037]
+t: 35	 action: [ 0.52  -0.039 -0.444  0.018 -0.036  0.003 -1.026]
+t: 36	 action: [ 0.4    0.017 -0.59   0.017 -0.044  0.009 -1.027]
+t: 37	 action: [ 0.314  0.029 -0.638  0.016 -0.039  0.003 -1.017]
+t: 38	 action: [ 0.19   0.093 -0.706  0.009 -0.045  0.007 -1.025]
+t: 39	 action: [ 0.113  0.064 -0.651  0.021 -0.033  0.007 -1.03 ]
+t: 40	 action: [ 0.043  0.085 -0.781  0.003 -0.039  0.008 -1.019]
+t: 41	 action: [ 0.011  0.071 -0.715  0.02  -0.023  0.009 -1.035]
+[07-31 02:03:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4741
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4741
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4741
+t=42: Selected seed 195 with value = 0.4741
+t: 42	 action: [-0.058  0.058 -0.802  0.02  -0.04   0.03  -1.001]
+t: 43	 action: [-0.028  0.075 -0.86   0.013 -0.045  0.03  -1.018]
+t: 44	 action: [-0.039  0.171 -0.847  0.015 -0.033  0.034 -1.003]
+t: 45	 action: [-0.016  0.201 -0.832  0.013 -0.035  0.03  -1.018]
+t: 46	 action: [-0.063  0.315 -0.786  0.006 -0.038  0.043 -1.002]
+t: 47	 action: [-0.025  0.321 -0.749  0.005 -0.033  0.035 -1.031]
+t: 48	 action: [-0.068  0.435 -0.694  0.005 -0.031  0.039 -1.002]
+t: 49	 action: [-0.023  0.52  -0.636  0.006 -0.021  0.033 -1.032]
+t: 50	 action: [-0.085  0.754 -0.536  0.004 -0.017  0.041 -1.009]
+t: 51	 action: [-0.094  0.775 -0.527 -0.006 -0.016  0.03  -1.016]
+t: 52	 action: [-0.116  0.828 -0.511  0.004 -0.015  0.046 -1.011]
+t: 53	 action: [-0.111  0.795 -0.49  -0.005 -0.012  0.031 -1.017]
+t: 54	 action: [-2.123e-01  8.567e-01 -5.341e-01  4.735e-04 -2.270e-02  4.922e-02 -1.008e+00]
+t: 55	 action: [-0.2    0.839 -0.481 -0.007 -0.012  0.031 -1.024]
+t: 56	 action: [-2.240e-01  8.793e-01 -5.337e-01 -2.216e-04 -1.828e-02  5.446e-02 -1.008e+00]
+t: 57	 action: [-0.198  0.833 -0.453 -0.006 -0.008  0.033 -1.031]
+[07-31 02:03:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.191 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5185
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5185
+Query 1/1: Action query time = 1.191 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5185
+t=58: Selected seed 195 with value = 0.5185
+t: 58	 action: [-0.019  0.718 -0.394  0.023 -0.002  0.024 -1.011]
+t: 59	 action: [ 5.766e-03  7.334e-01 -3.571e-01  3.084e-02 -6.104e-04  2.104e-02 -9.800e-01]
+t: 60	 action: [-0.031  0.763 -0.406  0.029  0.002  0.032 -1.005]
+t: 61	 action: [-9.094e-03  7.489e-01 -3.634e-01  3.616e-02  5.963e-04  2.704e-02 -9.811e-01]
+t: 62	 action: [-0.018  0.761 -0.37   0.041  0.002  0.036 -1.001]
+t: 63	 action: [-0.009  0.763 -0.395  0.035 -0.002  0.029 -1.   ]
+t: 64	 action: [-0.044  0.787 -0.389  0.045  0.005  0.045 -0.992]
+t: 65	 action: [-1.023e-02  7.680e-01 -4.139e-01  3.833e-02  5.552e-04  3.206e-02 -1.010e+00]
+t: 66	 action: [ 1.036e-01  7.024e-01 -3.771e-01  3.725e-02 -7.521e-04  4.054e-02 -1.026e+00]
+t: 67	 action: [ 8.769e-02  6.380e-01 -3.710e-01  3.414e-02  6.632e-04  2.586e-02 -1.020e+00]
+t: 68	 action: [ 0.113  0.571 -0.268  0.032  0.004  0.021 -1.025]
+t: 69	 action: [ 0.11   0.383 -0.186  0.031  0.018  0.007 -1.015]
+t: 70	 action: [ 0.11   0.157 -0.041  0.039  0.036  0.023 -1.019]
+t: 71	 action: [ 0.095 -0.078  0.159  0.028  0.039  0.014 -1.039]
+t: 72	 action: [ 0.091 -0.14   0.335  0.045  0.101  0.004 -1.014]
+t: 73	 action: [ 0.085 -0.188  0.555  0.03   0.096 -0.008 -1.039]
+[07-31 02:03:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6311
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6311
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6311
+t=74: Selected seed 195 with value = 0.6311
+t: 74	 action: [ 0.031 -0.154  0.747 -0.022  0.049 -0.039 -0.982]
+t: 75	 action: [-0.047 -0.169  0.7   -0.019  0.044 -0.048 -1.009]
+t: 76	 action: [-0.134 -0.105  0.582 -0.018  0.023 -0.037 -0.999]
+t: 77	 action: [-0.269 -0.133  0.517 -0.02   0.021 -0.051 -1.021]
+t: 78	 action: [-0.568 -0.151  0.362 -0.007  0.022 -0.03  -0.996]
+t: 79	 action: [-0.671 -0.124  0.291 -0.014  0.005 -0.048 -1.037]
+t: 80	 action: [-0.795 -0.137  0.231 -0.008  0.007 -0.028 -0.997]
+t: 81	 action: [-0.799 -0.11   0.124 -0.017  0.005 -0.052 -1.039]
+t: 82	 action: [-0.816 -0.026  0.045 -0.006 -0.029 -0.009 -1.008]
+t: 83	 action: [-0.839 -0.098  0.019 -0.023 -0.02  -0.021 -1.028]
+t: 84	 action: [-8.538e-01 -4.139e-02 -6.253e-02 -9.475e-03 -3.737e-02  1.876e-05 -1.009e+00]
+t: 85	 action: [-0.864 -0.109 -0.114 -0.022 -0.026 -0.012 -1.018]
+t: 86	 action: [-0.879 -0.065 -0.186 -0.005 -0.043 -0.001 -0.984]
+t: 87	 action: [-0.848 -0.086 -0.213 -0.014 -0.053 -0.016 -1.029]
+t: 88	 action: [-0.841 -0.07  -0.38  -0.001 -0.049  0.001 -0.983]
+t: 89	 action: [-0.774 -0.08  -0.346 -0.009 -0.056 -0.009 -1.03 ]
+[07-31 02:03:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4522
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.4522
+Query 1/1: Action query time = 0.998 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4522
+t=90: Selected seed 195 with value = 0.4522
+t: 90	 action: [-0.776  0.015 -0.169 -0.005 -0.015 -0.037 -1.023]
+t: 91	 action: [-7.373e-01  3.053e-02 -2.271e-01 -9.694e-04 -1.184e-02 -4.830e-02 -1.033e+00]
+t: 92	 action: [-0.722  0.014 -0.347 -0.006 -0.023 -0.032 -1.023]
+t: 93	 action: [-0.645  0.04  -0.363  0.002 -0.032 -0.059 -1.045]
+t: 94	 action: [-0.55   0.003 -0.481  0.002 -0.033 -0.041 -1.016]
+t: 95	 action: [-0.429  0.044 -0.49   0.006 -0.031 -0.061 -1.051]
+t: 96	 action: [-0.321 -0.025 -0.572  0.003 -0.042 -0.041 -1.018]
+t: 97	 action: [-0.239  0.02  -0.554  0.01  -0.049 -0.073 -1.056]
+t: 98	 action: [-0.337  0.014 -0.66  -0.011 -0.057 -0.053 -1.025]
+t: 99	 action: [-0.3    0.006 -0.66   0.002 -0.059 -0.073 -1.02 ]
+t: 100	 action: [-2.549e-01  1.092e-04 -6.974e-01 -6.228e-03 -6.652e-02 -5.429e-02 -1.020e+00]
+t: 101	 action: [-0.19  -0.02  -0.657  0.005 -0.065 -0.069 -1.011]
+t: 102	 action: [-1.660e-01  9.581e-04 -5.939e-01  3.439e-03 -6.256e-02 -6.588e-02 -1.028e+00]
+t: 103	 action: [-0.079  0.004 -0.508  0.006 -0.055 -0.09  -1.045]
+t: 104	 action: [-0.002  0.016 -0.493  0.003 -0.056 -0.068 -1.019]
+t: 105	 action: [ 0.084  0.009 -0.395  0.008 -0.048 -0.082 -1.058]
+[07-31 02:03:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.290 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7529
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7529
+Query 1/1: Action query time = 1.290 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7529
+t=106: Selected seed 195 with value = 0.7529
+t: 106	 action: [ 0.213  0.164 -0.417  0.001 -0.012 -0.033 -1.047]
+t: 107	 action: [ 0.306  0.199 -0.373  0.007 -0.003 -0.062 -1.045]
+t: 108	 action: [ 4.359e-01  2.680e-01 -3.568e-01  2.833e-04 -8.544e-03 -3.067e-02 -1.038e+00]
+t: 109	 action: [ 5.213e-01  2.390e-01 -3.037e-01 -3.076e-04 -2.534e-04 -7.460e-02 -1.048e+00]
+t: 110	 action: [ 5.177e-01  2.548e-01 -2.469e-01 -3.867e-03 -9.667e-04 -4.007e-02 -1.044e+00]
+t: 111	 action: [ 5.527e-01  2.330e-01 -2.684e-01  2.521e-03 -7.990e-04 -7.055e-02 -1.065e+00]
+t: 112	 action: [ 5.839e-01  2.550e-01 -2.034e-01 -1.050e-02  6.772e-04 -3.968e-02 -1.042e+00]
+t: 113	 action: [ 5.836e-01  2.107e-01 -2.626e-01 -8.519e-04 -3.922e-03 -8.449e-02 -1.066e+00]
+t: 114	 action: [ 5.683e-01  1.901e-01 -1.883e-01  3.223e-04  8.106e-03 -5.548e-02 -1.052e+00]
+t: 115	 action: [ 0.516  0.146 -0.257  0.003  0.01  -0.083 -1.046]
+t: 116	 action: [ 0.451  0.127 -0.248 -0.002  0.003 -0.052 -1.051]
+t: 117	 action: [ 0.324  0.112 -0.325  0.002  0.009 -0.072 -1.044]
+t: 118	 action: [ 0.201  0.03  -0.404 -0.002 -0.01  -0.042 -1.054]
+t: 119	 action: [ 0.036  0.062 -0.469  0.009 -0.002 -0.082 -1.065]
+t: 120	 action: [ 0.028  0.016 -0.516 -0.007 -0.014 -0.036 -1.056]
+t: 121	 action: [-0.036  0.043 -0.519  0.007 -0.005 -0.069 -1.069]
+[07-31 02:03:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9078
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9078
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9078
+t=122: Selected seed 195 with value = 0.9078
+t: 122	 action: [ 1.695e-01  1.448e-02 -1.507e-01 -2.986e-04  1.375e-03 -4.819e-02 -1.061e+00]
+t: 123	 action: [ 0.134  0.029 -0.351 -0.011  0.006 -0.044 -1.046]
+t: 124	 action: [ 0.097  0.027 -0.242  0.002 -0.002 -0.047 -1.061]
+t: 125	 action: [ 0.059  0.05  -0.406 -0.006  0.003 -0.044 -1.039]
+t: 126	 action: [ 0.022  0.025 -0.228 -0.005  0.001 -0.048 -1.049]
+t: 127	 action: [ 1.324e-02  8.364e-02 -3.296e-01 -1.012e-03  8.971e-04 -4.630e-02 -1.049e+00]
+t: 128	 action: [ 0.011  0.027 -0.364 -0.006 -0.002 -0.042 -1.055]
+t: 129	 action: [-5.452e-03  8.172e-02 -3.881e-01 -1.939e-04 -1.922e-03 -4.813e-02 -1.050e+00]
+t: 130	 action: [ 0.08   0.036 -0.297 -0.017  0.005 -0.04  -1.155]
+t: 131	 action: [ 0.015  0.032 -0.349 -0.019  0.007 -0.036 -1.152]
+t: 132	 action: [ 0.037  0.046 -0.221 -0.016  0.002 -0.038  0.979]
+t: 133	 action: [ 0.025  0.04  -0.196 -0.019  0.005 -0.035  1.043]
+t: 134	 action: [-0.019  0.055 -0.202 -0.018  0.005 -0.038  1.101]
+t: 135	 action: [-0.031  0.06  -0.165 -0.014 -0.004 -0.034  1.159]
+t: 136	 action: [-0.036  0.04  -0.02  -0.029  0.003 -0.038  0.986]
+t: 137	 action: [ 0.009  0.054  0.011 -0.02  -0.006 -0.032  1.045]
+[07-31 02:03:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8158
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.8158
+Query 1/1: Action query time = 0.998 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8158
+t=138: Selected seed 195 with value = 0.8158
+t: 138	 action: [-0.035 -0.082  0.255  0.028  0.012 -0.089  0.976]
+t: 139	 action: [ 0.001 -0.088  0.404  0.036  0.008 -0.075  1.04 ]
+t: 140	 action: [-0.064 -0.11   0.389  0.036  0.015 -0.076  0.984]
+t: 141	 action: [-0.017 -0.127  0.429  0.039  0.008 -0.06   1.041]
+t: 142	 action: [-0.107 -0.133  0.423  0.042  0.027 -0.055  0.999]
+t: 143	 action: [-0.038 -0.203  0.334  0.04   0.016 -0.043  1.024]
+t: 144	 action: [-0.087 -0.127  0.389  0.033  0.032 -0.041  1.007]
+t: 145	 action: [ 0.002 -0.177  0.247  0.034  0.032 -0.033  1.031]
+t: 146	 action: [ 0.005 -0.169 -0.114  0.028  0.026 -0.019  1.002]
+t: 147	 action: [ 0.034 -0.151 -0.148  0.019  0.029 -0.012  1.038]
+t: 148	 action: [ 0.053 -0.132 -0.3    0.001  0.025 -0.001  0.991]
+t: 149	 action: [ 0.078 -0.129 -0.23   0.006  0.023 -0.008  1.031]
+t: 150	 action: [ 0.057 -0.142 -0.135 -0.003  0.019 -0.01   1.017]
+t: 151	 action: [ 6.763e-02 -1.054e-01 -1.126e-01  2.328e-03  3.176e-03  1.901e-04  1.035e+00]
+t: 152	 action: [ 0.059 -0.131 -0.079 -0.008  0.02  -0.005  1.013]
+t: 153	 action: [ 0.063 -0.097 -0.024 -0.006  0.001  0.002  1.038]
+[07-31 02:03:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.179 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7807
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7807
+Query 1/1: Action query time = 1.179 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7807
+t=154: Selected seed 195 with value = 0.7807
+t: 154	 action: [-2.082e-01  2.154e-02  6.621e-01  7.393e-04  4.587e-03 -7.029e-02  9.827e-01]
+t: 155	 action: [-0.177  0.011  0.724  0.02   0.008 -0.072  1.05 ]
+t: 156	 action: [-0.258 -0.006  0.821  0.017  0.02  -0.055  0.985]
+t: 157	 action: [-0.218 -0.011  0.868  0.032  0.031 -0.057  1.049]
+t: 158	 action: [-0.249 -0.056  0.858  0.033  0.053 -0.053  1.002]
+t: 159	 action: [-0.19  -0.075  0.861  0.046  0.079 -0.052  1.034]
+t: 160	 action: [-0.206 -0.146  0.903  0.05   0.079 -0.043  0.999]
+t: 161	 action: [-0.101 -0.112  0.864  0.053  0.111 -0.043  1.029]
+t: 162	 action: [ 0.038 -0.151  0.808  0.033  0.104 -0.028  1.007]
+t: 163	 action: [ 0.06  -0.129  0.878  0.033  0.114 -0.026  1.04 ]
+t: 164	 action: [ 0.125 -0.216  0.778  0.034  0.103 -0.011  0.996]
+t: 165	 action: [ 0.176 -0.224  0.805  0.026  0.11  -0.018  1.037]
+t: 166	 action: [ 0.191 -0.36   0.7    0.038  0.105 -0.01   1.032]
+t: 167	 action: [ 0.26  -0.363  0.638  0.028  0.09  -0.005  1.044]
+t: 168	 action: [ 0.238 -0.382  0.538  0.038  0.096 -0.006  1.023]
+t: 169	 action: [ 0.25  -0.421  0.467  0.018  0.08  -0.002  1.035]
+[07-31 02:03:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.040 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8974
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 1.040 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=170: Selected seed 195 with value = 0.8974
+t: 170	 action: [ 0.083 -0.173  0.872  0.003  0.101 -0.012  0.963]
+t: 171	 action: [ 0.084 -0.205  0.892  0.012  0.105 -0.022  1.01 ]
+t: 172	 action: [ 1.523e-01 -3.162e-01  8.269e-01  8.646e-03  1.016e-01  9.288e-04  9.701e-01]
+t: 173	 action: [ 0.169 -0.373  0.863  0.012  0.105 -0.011  1.01 ]
+t: 174	 action: [ 2.217e-01 -4.316e-01  7.961e-01  7.178e-04  1.007e-01  6.343e-03  9.937e-01]
+t: 175	 action: [ 0.261 -0.438  0.773  0.006  0.086  0.004  1.007]
+t: 176	 action: [ 0.289 -0.474  0.563 -0.003  0.093  0.006  1.   ]
+t: 177	 action: [ 0.327 -0.497  0.477  0.003  0.078  0.005  1.016]
+t: 178	 action: [ 0.419 -0.595  0.262  0.019  0.053  0.015  0.966]
+t: 179	 action: [ 0.405 -0.699  0.164  0.011  0.024  0.013  1.002]
+t: 180	 action: [ 0.438 -0.589 -0.021  0.007  0.027  0.014  0.967]
+t: 181	 action: [ 0.404 -0.671  0.001 -0.002  0.012  0.02   1.007]
+t: 182	 action: [ 0.383 -0.565 -0.109 -0.006  0.024  0.016  0.993]
+t: 183	 action: [ 0.343 -0.651 -0.136 -0.022 -0.003  0.036  1.01 ]
+t: 184	 action: [ 0.389 -0.461 -0.303 -0.014  0.004  0.026  0.997]
+t: 185	 action: [ 0.364 -0.489 -0.319 -0.037 -0.011  0.04   1.018]
+[07-31 02:03:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9647
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=186: Selected seed 195 with value = 0.9647
+t: 186	 action: [ 0.351 -0.407 -0.26   0.019  0.048  0.014  0.954]
+t: 187	 action: [ 0.318 -0.37  -0.401  0.018  0.048  0.016  1.03 ]
+t: 188	 action: [ 0.28  -0.295 -0.583  0.028  0.045  0.023  0.964]
+t: 189	 action: [ 0.212 -0.23  -0.667  0.019  0.04   0.023  1.023]
+t: 190	 action: [ 0.276 -0.16  -0.608  0.009  0.065  0.022  0.982]
+t: 191	 action: [ 0.22  -0.096 -0.685  0.019  0.067  0.024  1.022]
+t: 192	 action: [ 0.229 -0.035 -0.532  0.008  0.07   0.026  0.994]
+t: 193	 action: [ 0.199 -0.048 -0.542  0.015  0.082  0.022  1.026]
+t: 194	 action: [ 0.316 -0.037 -0.262  0.005  0.037  0.031  1.13 ]
+t: 195	 action: [ 0.248 -0.08  -0.228 -0.003  0.037  0.025  0.975]
+t: 196	 action: [ 0.293  0.006  0.039  0.001  0.028  0.029 -1.093]
+t: 197	 action: [ 0.258 -0.044  0.078 -0.007  0.03   0.021 -1.039]
+t: 198	 action: [ 0.188  0.024  0.127 -0.008  0.032  0.022 -1.152]
+t: 199	 action: [ 0.141  0.013  0.118 -0.008  0.019  0.025 -1.08 ]
+t: 200	 action: [ 0.167  0.032  0.2   -0.01   0.012  0.018 -1.086]
+t: 201	 action: [ 0.086  0.049  0.214 -0.006  0.009  0.021 -1.064]
+[07-31 02:03:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.215 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9254
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9254
+Query 1/1: Action query time = 1.215 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9254
+t=202: Selected seed 195 with value = 0.9254
+t: 202	 action: [-0.049  0.028 -0.49   0.008 -0.046  0.031  0.913]
+t: 203	 action: [ 0.021 -0.047 -0.262 -0.007 -0.005  0.035  0.93 ]
+t: 204	 action: [ 0.02   0.084 -0.202  0.007 -0.034  0.025 -1.002]
+t: 205	 action: [ 0.112  0.003  0.01  -0.001  0.007  0.019 -1.017]
+t: 206	 action: [ 0.063  0.138  0.024 -0.001 -0.019  0.019  0.331]
+t: 207	 action: [ 0.139  0.08   0.078 -0.011  0.005  0.037 -0.941]
+t: 208	 action: [ 0.103  0.147  0.192  0.001 -0.004  0.014 -1.019]
+t: 209	 action: [ 0.106  0.066  0.273  0.001  0.015  0.016 -1.047]
+t: 210	 action: [0.151 0.13  0.176 0.017 0.009 0.017 1.046]
+t: 211	 action: [ 0.146  0.05   0.268  0.007  0.022  0.015 -1.023]
+t: 212	 action: [ 0.155  0.116  0.254  0.012 -0.005  0.015 -1.047]
+t: 213	 action: [ 0.229  0.059  0.298  0.007  0.009  0.012 -1.024]
+t: 214	 action: [ 0.135  0.092  0.235  0.011  0.005  0.01  -1.13 ]
+t: 215	 action: [ 0.09   0.056  0.224  0.013  0.004  0.013 -1.058]
+t: 216	 action: [ 0.095  0.123  0.204  0.003 -0.01   0.006 -1.051]
+t: 217	 action: [ 0.052  0.076  0.188  0.013 -0.003  0.011 -1.045]
+[07-31 02:03:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9854
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.990 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=218: Selected seed 195 with value = 0.9854
+t: 218	 action: [ 0.025  0.026  0.157  0.007  0.033  0.004 -1.016]
+t: 219	 action: [ 0.027 -0.032  0.2    0.014  0.035 -0.005 -1.032]
+t: 220	 action: [ 0.019  0.012  0.183  0.009  0.031  0.004 -1.011]
+t: 221	 action: [ 0.026 -0.041  0.226  0.012  0.034 -0.007 -1.037]
+t: 222	 action: [ 0.01   0.009  0.192  0.003  0.027  0.002 -1.027]
+t: 223	 action: [-2.392e-02  1.902e-02  2.100e-01  1.714e-02  1.837e-02 -5.076e-04 -1.068e+00]
+t: 224	 action: [ 0.016 -0.003  0.206  0.003  0.025  0.001 -1.017]
+t: 225	 action: [-0.004  0.003  0.227  0.014  0.019 -0.006 -1.059]
+t: 226	 action: [ 0.012  0.007  0.169  0.01   0.018  0.002 -1.018]
+t: 227	 action: [ 0.016 -0.046  0.197  0.012  0.02  -0.008 -1.048]
+t: 228	 action: [ 9.876e-03 -2.985e-03  1.828e-01  7.983e-03  1.632e-02  5.230e-04 -1.009e+00]
+t: 229	 action: [ 0.025 -0.049  0.209  0.009  0.02  -0.008 -1.039]
+t: 230	 action: [ 0.002 -0.007  0.162  0.004  0.014 -0.001 -1.031]
+t: 231	 action: [-0.033 -0.008  0.174  0.013  0.004 -0.005 -1.075]
+t: 232	 action: [ 0.004 -0.011  0.187  0.003  0.013 -0.002 -1.016]
+t: 233	 action: [-0.009 -0.013  0.203  0.01   0.005 -0.007 -1.066]
+[07-31 02:03:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9926
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.997 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=234: Selected seed 195 with value = 0.9926
+t: 234	 action: [ 0.032  0.015  0.111  0.015  0.025  0.008 -1.002]
+t: 235	 action: [ 0.063 -0.05   0.102  0.015  0.017  0.007 -1.021]
+t: 236	 action: [ 0.029  0.009  0.12   0.013  0.024  0.008 -1.002]
+t: 237	 action: [ 0.07  -0.047  0.121  0.012  0.017  0.004 -1.036]
+t: 238	 action: [ 0.018 -0.008  0.112  0.011  0.02   0.008 -1.017]
+t: 239	 action: [-0.007  0.018  0.106  0.021  0.004  0.013 -1.062]
+t: 240	 action: [ 0.026 -0.006  0.132  0.006  0.019  0.006 -1.007]
+t: 241	 action: [ 0.031  0.018  0.131  0.015  0.004  0.006 -1.058]
+t: 242	 action: [ 0.032  0.004  0.093  0.011  0.011  0.009 -1.   ]
+t: 243	 action: [ 0.054 -0.052  0.091  0.013  0.009  0.005 -1.04 ]
+t: 244	 action: [ 0.027  0.004  0.113  0.01   0.012  0.009 -1.   ]
+t: 245	 action: [ 0.063 -0.049  0.107  0.01   0.009  0.004 -1.038]
+t: 246	 action: [ 0.014 -0.019  0.091  0.007  0.009  0.004 -1.018]
+t: 247	 action: [-0.013  0.002  0.079  0.017 -0.002  0.008 -1.066]
+t: 248	 action: [ 0.02  -0.006  0.12   0.004  0.01   0.003 -1.005]
+t: 249	 action: [ 0.017  0.006  0.112  0.012 -0.002  0.005 -1.063]
+[07-31 02:03:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.167 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9948
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 1.167 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=250: Selected seed 195 with value = 0.9948
+t: 250	 action: [ 0.016  0.018  0.086  0.014  0.026  0.006 -1.009]
+t: 251	 action: [ 0.071 -0.031  0.067  0.013  0.018  0.004 -1.02 ]
+t: 252	 action: [ 0.03   0.015  0.08   0.013  0.023  0.006 -1.013]
+t: 253	 action: [ 8.685e-02 -2.714e-02  7.787e-02  1.181e-02  1.560e-02 -1.867e-04 -1.039e+00]
+t: 254	 action: [ 0.019  0.016  0.084  0.012  0.021  0.004 -1.029]
+t: 255	 action: [ 0.007  0.039  0.07   0.022  0.004  0.01  -1.068]
+t: 256	 action: [ 0.036  0.002  0.092  0.009  0.018  0.002 -1.017]
+t: 257	 action: [ 0.063  0.036  0.075  0.017  0.004  0.002 -1.061]
+t: 258	 action: [ 0.026  0.009  0.064  0.01   0.011  0.008 -1.007]
+t: 259	 action: [ 6.439e-02 -3.727e-02  6.283e-02  1.131e-02  1.079e-02  1.041e-03 -1.041e+00]
+t: 260	 action: [ 0.03   0.01   0.074  0.01   0.011  0.006 -1.014]
+t: 261	 action: [ 8.570e-02 -3.402e-02  6.204e-02  9.794e-03  9.358e-03 -2.636e-04 -1.042e+00]
+t: 262	 action: [ 0.018 -0.013  0.062  0.008  0.009  0.003 -1.03 ]
+t: 263	 action: [-1.312e-03  1.459e-02  4.114e-02  1.847e-02 -7.893e-04  5.335e-03 -1.071e+00]
+t: 264	 action: [ 3.120e-02 -4.874e-04  7.936e-02  5.346e-03  8.212e-03  5.575e-04 -1.018e+00]
+t: 265	 action: [ 4.732e-02  2.027e-02  5.081e-02  1.397e-02 -6.383e-04  1.879e-03 -1.068e+00]
+[07-31 02:03:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.019 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9929
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 1.019 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=266: Selected seed 195 with value = 0.9929
+t: 266	 action: [-0.036 -0.004  0.04   0.015  0.035  0.004 -0.978]
+t: 267	 action: [ 0.045 -0.043 -0.008  0.014  0.031 -0.004 -0.978]
+t: 268	 action: [ 7.592e-03  7.364e-04  3.389e-02  1.836e-02  3.144e-02  1.173e-03 -1.016e+00]
+t: 269	 action: [ 0.082 -0.039  0.018  0.015  0.027 -0.009 -1.038]
+t: 270	 action: [-0.006  0.01   0.046  0.017  0.031 -0.001 -1.026]
+t: 271	 action: [-0.002  0.04   0.015  0.026  0.017  0.004 -1.063]
+t: 272	 action: [ 0.028 -0.004  0.052  0.018  0.026 -0.002 -1.024]
+t: 273	 action: [ 0.078  0.027  0.022  0.024  0.014 -0.005 -1.061]
+t: 274	 action: [-0.014 -0.005  0.009  0.013  0.017  0.005 -0.982]
+t: 275	 action: [ 0.042 -0.054  0.009  0.012  0.021 -0.006 -1.021]
+t: 276	 action: [ 1.350e-02 -5.714e-03  2.841e-02  1.500e-02  1.754e-02  2.280e-04 -1.017e+00]
+t: 277	 action: [ 0.087 -0.051  0.015  0.013  0.019 -0.008 -1.04 ]
+t: 278	 action: [-3.916e-03 -2.810e-02  1.676e-02  1.218e-02  1.475e-02 -3.690e-04 -1.030e+00]
+t: 279	 action: [-0.009  0.005 -0.003  0.022  0.005 -0.001 -1.064]
+t: 280	 action: [ 0.024 -0.013  0.039  0.013  0.014 -0.003 -1.023]
+t: 281	 action: [ 0.062  0.005 -0.002  0.02   0.005 -0.004 -1.066]
+[07-31 02:04:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9875
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 1.003 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=282: Selected seed 195 with value = 0.9875
+t: 282	 action: [-0.106 -0.026 -0.124  0.015  0.042  0.001  0.861]
+t: 283	 action: [-0.018 -0.084 -0.216  0.015  0.044 -0.016  0.617]
+t: 284	 action: [-1.104e-02 -2.506e-02 -4.940e-02  2.201e-02  4.188e-02 -9.878e-04 -1.031e+00]
+t: 285	 action: [ 0.07  -0.062 -0.071  0.019  0.043 -0.014 -1.043]
+t: 286	 action: [-0.01   0.005 -0.006  0.02   0.043 -0.002 -1.068]
+t: 287	 action: [-0.048  0.06  -0.04   0.026  0.033  0.006 -1.116]
+t: 288	 action: [ 0.039 -0.011  0.014  0.023  0.039 -0.003 -1.034]
+t: 289	 action: [ 0.109  0.029 -0.016  0.027  0.031 -0.009 -1.061]
+t: 290	 action: [-0.058 -0.025 -0.112  0.014  0.022  0.003  0.039]
+t: 291	 action: [ 0.004 -0.085 -0.104  0.014  0.032 -0.011 -0.944]
+t: 292	 action: [ 0.003 -0.038 -0.025  0.018  0.025 -0.003 -1.031]
+t: 293	 action: [ 0.089 -0.082 -0.024  0.015  0.033 -0.012 -1.045]
+t: 294	 action: [-0.008 -0.048 -0.028  0.014  0.022 -0.002 -1.043]
+t: 295	 action: [-3.615e-02  4.343e-04 -5.522e-02  2.215e-02  1.281e-02 -6.012e-03 -1.061e+00]
+t: 296	 action: [ 0.035 -0.032  0.012  0.016  0.023 -0.006 -1.031]
+t: 297	 action: [ 0.09  -0.013 -0.029  0.023  0.018 -0.009 -1.064]
+[07-31 02:04:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.247 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9853
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9853
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 100
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
100%|██████████| 50/50 [26:43<00:00, 32.37s/it]
100%|██████████| 50/50 [26:43<00:00, 32.06s/it]
+INFO:cosmos_policy.experiments.robot.robot_utils:Current task success rate: 0.0
+INFO:cosmos_policy.experiments.robot.robot_utils:Current total success rate: 0.0
+
 40%|████      | 4/10 [53:26<1:20:10, 801.67s/it]INFO:cosmos_policy.experiments.robot.robot_utils:Using default initial states
+Query 1/1: Action query time = 1.247 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=298: Selected seed 195 with value = 0.9853
+t: 298	 action: [ 0.061  0.047 -0.142  0.01   0.041  0.004  1.1  ]
+t: 299	 action: [ 0.135 -0.016 -0.058  0.013  0.043 -0.011  0.922]
+t: 300	 action: [ 0.131  0.077  0.008  0.011  0.046  0.003 -1.054]
+t: 301	 action: [ 0.229  0.031  0.066  0.011  0.044 -0.009 -1.038]
+t: 302	 action: [ 0.147  0.058  0.05   0.009  0.037 -0.002 -1.113]
+t: 303	 action: [ 0.141  0.036  0.064  0.02   0.038  0.01  -1.056]
+t: 304	 action: [ 0.193  0.068  0.103  0.006  0.04  -0.002 -1.044]
+t: 305	 action: [ 0.259  0.057  0.126  0.019  0.036 -0.003 -1.055]
+t: 306	 action: [0.108 0.037 0.029 0.014 0.017 0.003 1.049]
+t: 307	 action: [ 0.13  -0.018  0.072  0.011  0.029 -0.012 -1.014]
+t: 308	 action: [ 0.139  0.042  0.109  0.012  0.024 -0.002 -1.053]
+t: 309	 action: [ 0.237  0.001  0.131  0.009  0.029 -0.009 -1.045]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=100--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=100--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 100
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Using default initial states
+
+
  0%|          | 0/50 [00:00<?, ?it/s]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 1...
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+[07-31 02:04:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3298
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3298
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3298
+t=10: Selected seed 195 with value = 0.3298
+t: 10	 action: [ 1.933e-01  1.077e-01 -1.432e-02  3.171e-03 -8.938e-04  7.110e-03 -1.009e+00]
+t: 11	 action: [ 3.201e-01  1.584e-01 -1.331e-02 -7.970e-04  6.640e-03  5.057e-03 -1.010e+00]
+t: 12	 action: [ 4.441e-01  1.759e-01 -4.539e-02  9.236e-04 -1.416e-03  7.929e-03 -1.017e+00]
+t: 13	 action: [ 0.625  0.209 -0.023 -0.002  0.007  0.006 -1.012]
+t: 14	 action: [ 0.749  0.225 -0.052 -0.003 -0.002  0.002 -1.004]
+t: 15	 action: [ 0.843  0.23  -0.037 -0.004  0.002  0.004 -1.031]
+t: 16	 action: [ 9.220e-01  2.280e-01 -8.461e-02 -5.597e-03  4.595e-04  1.057e-03 -1.009e+00]
+t: 17	 action: [ 0.928  0.225 -0.089 -0.004  0.001  0.004 -1.036]
+t: 18	 action: [ 9.011e-01  1.954e-01 -8.759e-02  7.917e-04  4.976e-03  6.393e-03 -1.013e+00]
+t: 19	 action: [ 0.927  0.187 -0.081 -0.002  0.017 -0.001 -1.015]
+t: 20	 action: [ 0.933  0.181 -0.098  0.003  0.009  0.006 -1.015]
+t: 21	 action: [ 9.393e-01  1.777e-01 -6.968e-02 -6.033e-04  2.491e-02 -2.126e-03 -1.014e+00]
+t: 22	 action: [ 0.963  0.212 -0.086 -0.002  0.017  0.002 -0.985]
+t: 23	 action: [ 0.989  0.2   -0.09   0.002  0.019 -0.004 -1.033]
+t: 24	 action: [ 9.955e-01  2.139e-01 -9.214e-02 -1.645e-03  2.329e-02 -4.308e-04 -9.876e-01]
+t: 25	 action: [ 0.998  0.19  -0.095  0.003  0.03  -0.003 -1.037]
+[07-31 02:04:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3923
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3923
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3923
+t=26: Selected seed 195 with value = 0.3923
+t: 26	 action: [ 0.933  0.233 -0.165  0.002  0.015  0.007 -1.033]
+t: 27	 action: [ 0.927  0.148 -0.203  0.002  0.022 -0.003 -1.011]
+t: 28	 action: [ 0.939  0.138 -0.225  0.005  0.016  0.007 -1.026]
+t: 29	 action: [ 0.932  0.056 -0.272  0.007  0.023 -0.006 -1.013]
+t: 30	 action: [ 9.660e-01  3.786e-02 -3.236e-01 -1.528e-03  1.614e-02 -9.182e-04 -1.013e+00]
+t: 31	 action: [ 0.906 -0.004 -0.379  0.014  0.02  -0.004 -1.032]
+t: 32	 action: [ 0.914 -0.02  -0.434  0.004  0.017 -0.002 -1.013]
+t: 33	 action: [ 0.84  -0.062 -0.472  0.02   0.014 -0.007 -1.035]
+t: 34	 action: [ 7.087e-01 -6.595e-02 -4.610e-01  1.416e-02  7.144e-03 -1.621e-04 -1.026e+00]
+t: 35	 action: [ 0.687 -0.09  -0.55   0.015  0.012 -0.006 -1.015]
+t: 36	 action: [ 5.345e-01 -7.021e-02 -5.576e-01  1.630e-02  1.003e-03 -3.896e-04 -1.019e+00]
+t: 37	 action: [ 0.463 -0.096 -0.619  0.013  0.008 -0.008 -1.011]
+t: 38	 action: [ 0.361 -0.045 -0.592  0.016 -0.004 -0.004 -1.024]
+t: 39	 action: [ 0.251 -0.067 -0.592  0.02  -0.004 -0.007 -1.037]
+t: 40	 action: [ 2.319e-01  9.687e-04 -6.425e-01  1.221e-02 -7.863e-03 -1.567e-03 -1.019e+00]
+t: 41	 action: [ 0.173 -0.036 -0.634  0.016 -0.011 -0.006 -1.037]
+[07-31 02:04:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4068
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4068
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4068
+t=42: Selected seed 195 with value = 0.4068
+t: 42	 action: [ 0.364 -0.188 -0.509  0.028 -0.003  0.006 -1.02 ]
+t: 43	 action: [ 0.241 -0.212 -0.617  0.021 -0.009  0.003 -1.029]
+t: 44	 action: [ 0.188 -0.211 -0.628  0.025 -0.025  0.009 -1.024]
+t: 45	 action: [ 0.057 -0.207 -0.723  0.017 -0.033  0.01  -1.029]
+t: 46	 action: [-0.029 -0.166 -0.687  0.006 -0.04   0.007 -1.016]
+t: 47	 action: [-0.079 -0.157 -0.829  0.013 -0.043  0.012 -1.052]
+t: 48	 action: [-0.176 -0.089 -0.731  0.002 -0.057  0.017 -1.018]
+t: 49	 action: [-0.221 -0.1   -0.832  0.008 -0.052  0.02  -1.053]
+t: 50	 action: [-0.325 -0.096 -0.731  0.007 -0.064  0.054 -1.016]
+t: 51	 action: [-0.405 -0.143 -0.778 -0.006 -0.062  0.055 -1.024]
+t: 52	 action: [-4.838e-01 -2.889e-02 -7.116e-01  5.391e-05 -5.887e-02  6.690e-02 -1.020e+00]
+t: 53	 action: [-0.499 -0.097 -0.745 -0.01  -0.047  0.061 -1.019]
+t: 54	 action: [-0.579 -0.014 -0.672 -0.023 -0.064  0.082 -1.009]
+t: 55	 action: [-0.538 -0.018 -0.726 -0.015 -0.051  0.065 -1.047]
+t: 56	 action: [-0.581  0.016 -0.643 -0.032 -0.049  0.083 -1.008]
+t: 57	 action: [-0.539  0.007 -0.679 -0.019 -0.032  0.069 -1.053]
+[07-31 02:04:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.112 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5260
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 1.112 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=58: Selected seed 195 with value = 0.5260
+t: 58	 action: [-0.351  0.013 -0.511  0.006 -0.032  0.033 -0.982]
+t: 59	 action: [-0.356 -0.128 -0.489 -0.012 -0.014  0.035 -1.006]
+t: 60	 action: [-0.378 -0.016 -0.571  0.003 -0.017  0.034 -0.98 ]
+t: 61	 action: [-0.31  -0.015 -0.565 -0.012  0.002  0.032 -1.004]
+t: 62	 action: [-3.909e-01  8.475e-02 -5.653e-01 -8.053e-04  1.777e-03  4.780e-02 -9.777e-01]
+t: 63	 action: [-2.651e-01  1.869e-01 -5.300e-01 -3.453e-03  3.335e-05  3.680e-02 -1.034e+00]
+t: 64	 action: [-0.201  0.315 -0.483 -0.003  0.01   0.04  -0.978]
+t: 65	 action: [-0.113  0.571 -0.425 -0.006  0.002  0.03  -1.032]
+t: 66	 action: [ 0.014  0.694 -0.24   0.004  0.039  0.011 -0.992]
+t: 67	 action: [ 0.029  0.757 -0.231  0.007  0.057  0.008 -0.998]
+t: 68	 action: [ 0.051  0.81  -0.175  0.003  0.036  0.014 -0.988]
+t: 69	 action: [ 0.059  0.819 -0.187  0.01   0.042  0.012 -1.   ]
+t: 70	 action: [-0.038  0.906 -0.193 -0.003  0.03   0.007 -1.   ]
+t: 71	 action: [-0.01   0.86  -0.211  0.016  0.036  0.004 -1.029]
+t: 72	 action: [-0.081  0.926 -0.187 -0.005  0.024  0.006 -0.998]
+t: 73	 action: [-0.027  0.875 -0.237  0.016  0.024  0.01  -1.038]
+[07-31 02:04:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5652
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5652
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5652
+t=74: Selected seed 195 with value = 0.5652
+t: 74	 action: [-0.115  0.348 -0.481 -0.002 -0.037  0.036 -1.005]
+t: 75	 action: [-0.102  0.45  -0.398 -0.009 -0.016  0.026 -1.006]
+t: 76	 action: [-7.826e-02  5.728e-01 -4.202e-01 -9.063e-04 -2.284e-02  3.438e-02 -1.001e+00]
+t: 77	 action: [-0.044  0.659 -0.305 -0.007  0.004  0.025 -1.012]
+t: 78	 action: [-0.097  0.573 -0.389 -0.004 -0.013  0.034 -1.007]
+t: 79	 action: [-0.077  0.741 -0.285 -0.003 -0.005  0.021 -1.039]
+t: 80	 action: [-8.339e-02  7.992e-01 -3.218e-01 -5.687e-03 -6.723e-04  2.754e-02 -1.003e+00]
+t: 81	 action: [-0.059  0.828 -0.242 -0.001 -0.001  0.019 -1.04 ]
+t: 82	 action: [-0.025  0.898 -0.219 -0.006 -0.004  0.012 -1.013]
+t: 83	 action: [-0.014  0.857 -0.131 -0.007  0.004  0.011 -1.011]
+t: 84	 action: [-0.046  0.895 -0.182 -0.003  0.002  0.016 -1.006]
+t: 85	 action: [-0.024  0.846 -0.117 -0.003  0.006  0.015 -1.017]
+t: 86	 action: [-0.075  0.941 -0.197 -0.008 -0.003  0.007 -1.021]
+t: 87	 action: [-0.091  0.88  -0.129 -0.002 -0.001  0.008 -1.036]
+t: 88	 action: [-0.125  0.935 -0.197 -0.009  0.006  0.01  -1.005]
+t: 89	 action: [-1.234e-01  8.729e-01 -1.427e-01  5.872e-04 -2.286e-04  1.291e-02 -1.044e+00]
+[07-31 02:04:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7694
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7694
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7694
+t=90: Selected seed 195 with value = 0.7694
+t: 90	 action: [-0.124  0.838 -0.285 -0.021  0.009  0.008 -1.001]
+t: 91	 action: [-0.109  0.835 -0.234 -0.014  0.019  0.005 -1.008]
+t: 92	 action: [-0.114  0.872 -0.26  -0.021  0.017  0.009 -0.991]
+t: 93	 action: [-0.072  0.863 -0.212 -0.009  0.022  0.009 -1.008]
+t: 94	 action: [-7.035e-02  8.908e-01 -2.311e-01 -1.952e-02  1.363e-02  8.760e-04 -9.987e-01]
+t: 95	 action: [-0.057  0.882 -0.186 -0.011  0.022  0.005 -1.036]
+t: 96	 action: [-0.083  0.923 -0.218 -0.019  0.02   0.001 -0.991]
+t: 97	 action: [-0.063  0.897 -0.187 -0.007  0.019  0.009 -1.037]
+t: 98	 action: [-0.15   0.944 -0.215 -0.012 -0.01   0.019 -0.997]
+t: 99	 action: [-1.853e-01  9.054e-01 -2.322e-01 -9.200e-03  2.015e-04  1.494e-02 -1.010e+00]
+t: 100	 action: [-2.107e-01  9.268e-01 -2.334e-01 -9.245e-04 -9.954e-03  2.179e-02 -9.948e-01]
+t: 101	 action: [-0.251  0.876 -0.258 -0.004 -0.002  0.019 -1.01 ]
+t: 102	 action: [-0.33   0.909 -0.265 -0.008 -0.008  0.023 -1.   ]
+t: 103	 action: [-3.589e-01  9.043e-01 -3.028e-01 -9.893e-04 -6.256e-03  1.756e-02 -1.039e+00]
+t: 104	 action: [-0.4    0.882 -0.265 -0.006 -0.003  0.023 -0.99 ]
+t: 105	 action: [-0.407  0.872 -0.297  0.005 -0.006  0.021 -1.043]
+[07-31 02:04:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.012 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9285
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9285
+Query 1/1: Action query time = 1.012 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9285
+t=106: Selected seed 195 with value = 0.9285
+t: 106	 action: [-0.587  0.706 -0.273  0.003  0.007  0.003 -0.996]
+t: 107	 action: [-5.743e-01  6.504e-01 -2.488e-01  8.879e-03  1.754e-02 -6.941e-04 -1.001e+00]
+t: 108	 action: [-0.648  0.602 -0.254  0.003  0.012  0.004 -0.979]
+t: 109	 action: [-0.634  0.559 -0.236  0.01   0.025 -0.002 -1.007]
+t: 110	 action: [-0.741  0.523 -0.231 -0.002  0.02  -0.002 -0.984]
+t: 111	 action: [-0.722  0.547 -0.248  0.014  0.031  0.003 -1.037]
+t: 112	 action: [-0.739  0.371 -0.248 -0.005  0.042 -0.002 -0.972]
+t: 113	 action: [-7.240e-01  3.559e-01 -2.957e-01  1.851e-02  5.097e-02  1.928e-04 -1.037e+00]
+t: 114	 action: [-0.684  0.123 -0.385  0.021  0.056 -0.002 -1.006]
+t: 115	 action: [-7.334e-01 -7.738e-05 -4.182e-01  2.184e-02  6.365e-02 -8.633e-03 -1.015e+00]
+t: 116	 action: [-0.797  0.008 -0.392  0.027  0.07  -0.004 -0.995]
+t: 117	 action: [-0.791 -0.117 -0.431  0.022  0.071 -0.011 -1.009]
+t: 118	 action: [-0.894 -0.105 -0.377  0.041  0.075 -0.005 -0.997]
+t: 119	 action: [-0.872 -0.169 -0.503  0.04   0.065 -0.005 -1.047]
+t: 120	 action: [-0.894 -0.175 -0.366  0.043  0.077 -0.013 -0.979]
+t: 121	 action: [-0.876 -0.169 -0.493  0.033  0.061 -0.009 -1.043]
+[07-31 02:04:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9907
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9907
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 101
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 1 (1.0%)
+
+
  2%|▏         | 1/50 [00:14<11:33, 14.16s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 2...
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=122: Selected seed 195 with value = 0.9907
+t: 122	 action: [-0.856 -0.053 -0.385  0.023  0.032 -0.008 -0.961]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=101--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+113 113 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=101--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 101
+# successes: 1 (1.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+[07-31 02:04:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3254
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3254
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3254
+t=10: Selected seed 195 with value = 0.3254
+t: 10	 action: [ 0.439  0.118 -0.001 -0.008  0.016  0.007 -1.017]
+t: 11	 action: [ 0.646  0.148 -0.023 -0.01   0.025  0.006 -1.018]
+t: 12	 action: [ 0.84   0.172 -0.04  -0.017  0.017  0.008 -1.011]
+t: 13	 action: [ 0.915  0.183 -0.038 -0.011  0.029  0.005 -1.018]
+t: 14	 action: [ 0.966  0.179 -0.045 -0.015  0.013  0.003 -1.01 ]
+t: 15	 action: [ 0.931  0.194 -0.046 -0.012  0.021  0.003 -1.036]
+t: 16	 action: [ 0.974  0.174 -0.091 -0.017  0.014  0.003 -1.005]
+t: 17	 action: [ 0.967  0.188 -0.109 -0.011  0.024  0.002 -1.039]
+t: 18	 action: [ 0.963  0.14  -0.084 -0.005  0.018  0.007 -1.019]
+t: 19	 action: [ 0.961  0.108 -0.087 -0.006  0.026  0.002 -1.021]
+t: 20	 action: [ 0.982  0.134 -0.128 -0.003  0.011  0.006 -1.012]
+t: 21	 action: [ 9.582e-01  1.054e-01 -1.060e-01 -4.183e-03  1.858e-02  2.455e-04 -1.020e+00]
+t: 22	 action: [ 0.997  0.082 -0.137 -0.004  0.009  0.003 -0.988]
+t: 23	 action: [ 9.916e-01  8.164e-02 -1.375e-01 -7.258e-04  1.621e-02 -8.110e-04 -1.035e+00]
+t: 24	 action: [ 1.015  0.077 -0.191 -0.004  0.002  0.001 -0.984]
+t: 25	 action: [ 9.971e-01  7.478e-02 -1.935e-01  1.480e-03  1.366e-02 -5.104e-04 -1.037e+00]
+[07-31 02:04:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3826
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3826
+Query 1/1: Action query time = 0.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3826
+t=26: Selected seed 195 with value = 0.3826
+t: 26	 action: [ 0.92   0.185 -0.197  0.005  0.021  0.007 -1.034]
+t: 27	 action: [ 0.941  0.119 -0.213  0.006  0.024 -0.002 -1.015]
+t: 28	 action: [ 0.886  0.074 -0.282  0.014  0.021  0.008 -1.023]
+t: 29	 action: [ 9.027e-01  4.669e-04 -3.354e-01  1.639e-02  1.807e-02 -3.741e-03 -1.015e+00]
+t: 30	 action: [ 0.864 -0.048 -0.448  0.021  0.015 -0.001 -1.017]
+t: 31	 action: [ 0.782 -0.081 -0.534  0.028  0.011 -0.005 -1.031]
+t: 32	 action: [ 0.622 -0.149 -0.605  0.037  0.012 -0.002 -1.013]
+t: 33	 action: [ 0.503 -0.141 -0.666  0.032  0.007 -0.006 -1.034]
+t: 34	 action: [ 4.277e-01 -1.252e-01 -6.591e-01  3.742e-02 -9.565e-04  7.197e-03 -1.023e+00]
+t: 35	 action: [ 3.352e-01 -1.221e-01 -7.289e-01  2.430e-02  2.092e-03 -2.340e-04 -1.021e+00]
+t: 36	 action: [ 0.242 -0.066 -0.73   0.031 -0.006  0.011 -1.018]
+t: 37	 action: [ 1.391e-01 -9.277e-02 -7.663e-01  1.806e-02 -1.471e-03 -9.003e-05 -1.018e+00]
+t: 38	 action: [ 0.139  0.015 -0.74   0.023 -0.009  0.005 -1.016]
+t: 39	 action: [ 6.417e-02 -3.250e-02 -7.425e-01  2.159e-02 -1.155e-02  1.998e-04 -1.038e+00]
+t: 40	 action: [ 0.047  0.056 -0.751  0.01  -0.008  0.005 -1.01 ]
+t: 41	 action: [ 0.019  0.008 -0.754  0.013 -0.01   0.001 -1.038]
+[07-31 02:04:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4221
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4221
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4221
+t=42: Selected seed 195 with value = 0.4221
+t: 42	 action: [ 0.2   -0.218 -0.451  0.016 -0.017  0.008 -1.008]
+t: 43	 action: [ 0.073 -0.241 -0.542  0.011 -0.022  0.015 -1.032]
+t: 44	 action: [ 0.046 -0.2   -0.564  0.024 -0.039  0.014 -1.006]
+t: 45	 action: [-0.086 -0.222 -0.664  0.014 -0.044  0.023 -1.026]
+t: 46	 action: [-0.167 -0.171 -0.615  0.006 -0.043  0.023 -0.998]
+t: 47	 action: [-0.234 -0.119 -0.745  0.009 -0.051  0.025 -1.051]
+t: 48	 action: [-0.336 -0.087 -0.675  0.005 -0.051  0.037 -0.998]
+t: 49	 action: [-0.4   -0.068 -0.767  0.007 -0.047  0.031 -1.048]
+t: 50	 action: [-4.677e-01 -6.920e-02 -6.965e-01 -7.054e-05 -6.377e-02  6.923e-02 -1.006e+00]
+t: 51	 action: [-0.5   -0.119 -0.774 -0.007 -0.057  0.061 -1.018]
+t: 52	 action: [-0.556 -0.021 -0.686 -0.007 -0.053  0.073 -1.009]
+t: 53	 action: [-0.558 -0.081 -0.736 -0.008 -0.035  0.059 -1.009]
+t: 54	 action: [-0.588 -0.036 -0.663 -0.023 -0.052  0.084 -0.999]
+t: 55	 action: [-0.538 -0.005 -0.702 -0.009 -0.036  0.061 -1.049]
+t: 56	 action: [-0.535  0.009 -0.62  -0.027 -0.031  0.074 -0.998]
+t: 57	 action: [-0.47   0.03  -0.633 -0.01  -0.014  0.057 -1.053]
+[07-31 02:04:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5246
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5246
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5246
+t=58: Selected seed 195 with value = 0.5246
+t: 58	 action: [-0.261  0.116 -0.629  0.004 -0.016  0.053 -0.986]
+t: 59	 action: [-0.186  0.13  -0.606 -0.007  0.003  0.041 -0.993]
+t: 60	 action: [-0.123  0.236 -0.57   0.002 -0.003  0.048 -0.991]
+t: 61	 action: [-0.012  0.357 -0.476 -0.004  0.008  0.033 -1.001]
+t: 62	 action: [-0.118  0.407 -0.398  0.002  0.004  0.052 -0.991]
+t: 63	 action: [-1.897e-02  6.017e-01 -3.080e-01  8.820e-04  8.306e-05  3.496e-02 -1.034e+00]
+t: 64	 action: [ 1.387e-02  6.300e-01 -2.801e-01 -3.774e-04  1.048e-02  3.742e-02 -9.974e-01]
+t: 65	 action: [ 0.056  0.741 -0.206  0.001  0.002  0.024 -1.034]
+t: 66	 action: [ 0.097  0.809 -0.151  0.004  0.025  0.021 -0.998]
+t: 67	 action: [ 0.058  0.794 -0.102  0.006  0.031  0.017 -1.007]
+t: 68	 action: [ 0.061  0.837 -0.139  0.005  0.023  0.024 -0.994]
+t: 69	 action: [ 0.041  0.803 -0.095  0.007  0.019  0.019 -1.005]
+t: 70	 action: [-0.021  0.898 -0.15  -0.003  0.017  0.013 -1.013]
+t: 71	 action: [-0.02   0.813 -0.124  0.01   0.017  0.012 -1.038]
+t: 72	 action: [-0.08   0.882 -0.188 -0.003  0.015  0.014 -1.008]
+t: 73	 action: [-0.057  0.82  -0.174  0.01   0.008  0.017 -1.042]
+[07-31 02:04:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6194
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6194
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6194
+t=74: Selected seed 195 with value = 0.6194
+t: 74	 action: [-0.092  0.523 -0.465 -0.002 -0.037  0.029 -1.007]
+t: 75	 action: [-0.104  0.604 -0.368 -0.008 -0.021  0.021 -1.01 ]
+t: 76	 action: [-0.078  0.72  -0.411 -0.001 -0.028  0.028 -1.003]
+t: 77	 action: [-0.069  0.743 -0.286 -0.006 -0.009  0.02  -1.013]
+t: 78	 action: [-0.081  0.727 -0.37  -0.004 -0.025  0.022 -1.007]
+t: 79	 action: [-0.094  0.8   -0.257 -0.005 -0.013  0.014 -1.038]
+t: 80	 action: [-0.096  0.887 -0.308 -0.005 -0.015  0.019 -1.005]
+t: 81	 action: [-0.11   0.848 -0.2   -0.002 -0.007  0.013 -1.04 ]
+t: 82	 action: [-0.065  0.918 -0.253 -0.006 -0.029  0.011 -1.012]
+t: 83	 action: [-0.049  0.862 -0.161 -0.007 -0.017  0.01  -1.013]
+t: 84	 action: [-0.093  0.908 -0.224 -0.002 -0.02   0.016 -1.005]
+t: 85	 action: [-0.073  0.848 -0.136 -0.004 -0.012  0.013 -1.016]
+t: 86	 action: [-0.117  0.941 -0.215 -0.007 -0.023  0.007 -1.017]
+t: 87	 action: [-0.148  0.875 -0.126 -0.003 -0.018  0.007 -1.039]
+t: 88	 action: [-0.184  0.932 -0.206 -0.007 -0.012  0.01  -1.   ]
+t: 89	 action: [-1.991e-01  8.622e-01 -1.159e-01 -9.432e-05 -9.992e-03  1.095e-02 -1.044e+00]
+[07-31 02:04:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8215
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8215
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8215
+t=90: Selected seed 195 with value = 0.8215
+t: 90	 action: [-0.149  0.83  -0.335 -0.008  0.01   0.008 -1.016]
+t: 91	 action: [-0.13   0.811 -0.256 -0.008  0.018  0.004 -1.011]
+t: 92	 action: [-0.128  0.858 -0.272 -0.008  0.018  0.009 -1.001]
+t: 93	 action: [-0.078  0.838 -0.199 -0.005  0.022  0.009 -1.009]
+t: 94	 action: [-0.081  0.869 -0.209 -0.008  0.016  0.002 -1.006]
+t: 95	 action: [-0.065  0.853 -0.154 -0.006  0.022  0.005 -1.037]
+t: 96	 action: [-0.102  0.907 -0.176 -0.009  0.022  0.002 -0.997]
+t: 97	 action: [-0.087  0.867 -0.133 -0.003  0.021  0.01  -1.037]
+t: 98	 action: [-0.207  0.941 -0.182 -0.003 -0.005  0.023 -0.998]
+t: 99	 action: [-0.258  0.89  -0.199 -0.008  0.001  0.018 -1.009]
+t: 100	 action: [-0.297  0.912 -0.205  0.004 -0.006  0.025 -1.   ]
+t: 101	 action: [-0.336  0.846 -0.234 -0.004  0.002  0.021 -1.008]
+t: 102	 action: [-0.439  0.871 -0.247 -0.005 -0.003  0.032 -0.997]
+t: 103	 action: [-0.456  0.862 -0.287 -0.002 -0.005  0.021 -1.038]
+t: 104	 action: [-0.497  0.823 -0.247 -0.005  0.002  0.027 -0.993]
+t: 105	 action: [-0.498  0.807 -0.27   0.002 -0.003  0.023 -1.042]
+[07-31 02:04:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.015 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9670
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9670
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 102
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 2 (2.0%)
+
+
  4%|▍         | 2/50 [00:27<10:48, 13.51s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 3...
+Query 1/1: Action query time = 1.015 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=106: Selected seed 195 with value = 0.9670
+t: 106	 action: [-0.758  0.221 -0.326  0.01   0.017  0.002 -0.985]
+t: 107	 action: [-0.759  0.168 -0.305  0.019  0.037 -0.008 -1.   ]
+t: 108	 action: [-0.805  0.075 -0.355  0.013  0.031 -0.001 -0.974]
+t: 109	 action: [-0.819  0.037 -0.343  0.021  0.049 -0.021 -1.   ]
+t: 110	 action: [-0.869  0.016 -0.323  0.018  0.047 -0.007 -0.976]
+t: 111	 action: [-0.826  0.009 -0.319  0.031  0.051 -0.014 -1.037]
+t: 112	 action: [-0.79  -0.029 -0.302  0.024  0.068 -0.023 -0.966]
+t: 113	 action: [-0.758  0.01  -0.325  0.033  0.063 -0.032 -1.035]
+t: 114	 action: [-0.771 -0.081 -0.324  0.043  0.074 -0.031 -1.011]
+t: 115	 action: [-0.783 -0.153 -0.305  0.038  0.072 -0.038 -1.018]
+t: 116	 action: [-0.833 -0.123 -0.314  0.047  0.082 -0.032 -1.005]
+t: 117	 action: [-0.786 -0.171 -0.307  0.037  0.077 -0.035 -1.013]
+t: 118	 action: [-0.846 -0.223 -0.307  0.059  0.078 -0.032 -1.002]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=102--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+109 109 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=102--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 102
+# successes: 2 (2.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+[07-31 02:04:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.065 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3521
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3521
+Query 1/1: Action query time = 1.065 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3521
+t=10: Selected seed 195 with value = 0.3521
+t: 10	 action: [ 0.262  0.081 -0.032  0.002  0.014  0.01  -1.022]
+t: 11	 action: [ 0.403  0.115 -0.02   0.003  0.026  0.005 -1.012]
+t: 12	 action: [ 0.56   0.214 -0.052  0.002  0.015  0.014 -1.02 ]
+t: 13	 action: [ 0.736  0.278 -0.03   0.002  0.019  0.006 -1.017]
+t: 14	 action: [ 0.833  0.333 -0.081 -0.003  0.01   0.012 -1.032]
+t: 15	 action: [ 0.879  0.349 -0.063  0.004  0.016  0.008 -1.035]
+t: 16	 action: [ 0.959  0.392 -0.091 -0.004  0.012  0.015 -1.025]
+t: 17	 action: [ 0.954  0.402 -0.108  0.002  0.009  0.008 -1.042]
+t: 18	 action: [ 0.913  0.4   -0.135  0.004  0.007  0.013 -1.027]
+t: 19	 action: [ 0.941  0.384 -0.139  0.003  0.009  0.006 -1.019]
+t: 20	 action: [ 0.94   0.409 -0.174  0.003 -0.004  0.011 -1.027]
+t: 21	 action: [ 9.445e-01  3.781e-01 -1.799e-01  3.666e-04  4.421e-03  5.318e-03 -1.019e+00]
+t: 22	 action: [ 0.995  0.368 -0.23  -0.001 -0.012  0.008 -1.006]
+t: 23	 action: [ 0.99   0.343 -0.28   0.007 -0.005  0.006 -1.035]
+t: 24	 action: [ 1.016  0.34  -0.331 -0.005 -0.024  0.004 -1.007]
+t: 25	 action: [ 0.998  0.281 -0.357  0.005 -0.014  0.006 -1.042]
+[07-31 02:04:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.029 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3881
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3881
+Query 1/1: Action query time = 1.029 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3881
+t=26: Selected seed 195 with value = 0.3881
+t: 26	 action: [ 0.89   0.213 -0.223  0.007  0.043  0.01  -1.028]
+t: 27	 action: [ 0.922  0.115 -0.269  0.005  0.042  0.005 -1.014]
+t: 28	 action: [ 0.85   0.081 -0.312  0.01   0.032  0.009 -1.018]
+t: 29	 action: [ 8.565e-01 -5.352e-03 -4.101e-01  1.237e-02  1.567e-02 -6.642e-04 -1.015e+00]
+t: 30	 action: [ 0.808 -0.003 -0.465  0.01   0.018  0.002 -1.021]
+t: 31	 action: [ 0.714 -0.024 -0.569  0.021  0.01  -0.003 -1.035]
+t: 32	 action: [ 0.63  -0.05  -0.622  0.021  0.003 -0.003 -1.015]
+t: 33	 action: [ 0.534 -0.079 -0.722  0.024  0.003 -0.008 -1.038]
+t: 34	 action: [ 0.393 -0.09  -0.757  0.038 -0.012  0.007 -1.04 ]
+t: 35	 action: [ 0.325 -0.121 -0.81   0.025 -0.013  0.002 -1.017]
+t: 36	 action: [ 0.235 -0.091 -0.794  0.034 -0.019  0.008 -1.036]
+t: 37	 action: [ 0.137 -0.121 -0.826  0.023 -0.021 -0.001 -1.015]
+t: 38	 action: [ 1.524e-01 -3.285e-02 -7.965e-01  2.223e-02 -2.915e-02  6.115e-04 -1.037e+00]
+t: 39	 action: [ 0.061 -0.082 -0.805  0.024 -0.037 -0.004 -1.037]
+t: 40	 action: [ 0.065 -0.017 -0.801  0.016 -0.028  0.001 -1.033]
+t: 41	 action: [ 0.006 -0.07  -0.8    0.02  -0.034 -0.006 -1.036]
+[07-31 02:04:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4692
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4692
+Query 1/1: Action query time = 1.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4692
+t=42: Selected seed 195 with value = 0.4692
+t: 42	 action: [ 0.269 -0.303 -0.433  0.026 -0.02   0.007 -1.011]
+t: 43	 action: [ 0.146 -0.293 -0.457  0.018 -0.02   0.012 -1.029]
+t: 44	 action: [ 0.132 -0.287 -0.544  0.027 -0.038  0.011 -1.013]
+t: 45	 action: [ 0.008 -0.25  -0.6    0.015 -0.041  0.017 -1.026]
+t: 46	 action: [-0.084 -0.229 -0.629  0.009 -0.039  0.012 -1.002]
+t: 47	 action: [-0.163 -0.141 -0.739  0.013 -0.049  0.02  -1.052]
+t: 48	 action: [-0.271 -0.112 -0.697  0.002 -0.048  0.024 -1.008]
+t: 49	 action: [-0.36  -0.056 -0.814  0.006 -0.047  0.023 -1.049]
+t: 50	 action: [-0.438 -0.031 -0.766  0.002 -0.066  0.056 -1.015]
+t: 51	 action: [-0.495 -0.087 -0.81  -0.011 -0.057  0.049 -1.015]
+t: 52	 action: [-0.566  0.008 -0.755 -0.006 -0.053  0.062 -1.022]
+t: 53	 action: [-0.564 -0.049 -0.793 -0.012 -0.036  0.05  -1.01 ]
+t: 54	 action: [-0.63   0.006 -0.687 -0.031 -0.056  0.071 -1.009]
+t: 55	 action: [-0.597  0.036 -0.752 -0.015 -0.038  0.05  -1.05 ]
+t: 56	 action: [-0.581  0.054 -0.634 -0.032 -0.031  0.066 -1.014]
+t: 57	 action: [-0.537  0.078 -0.683 -0.015 -0.012  0.049 -1.056]
+[07-31 02:04:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5506
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5506
+Query 1/1: Action query time = 0.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5506
+t=58: Selected seed 195 with value = 0.5506
+t: 58	 action: [-0.112  0.232 -0.582  0.004 -0.021  0.04  -1.001]
+t: 59	 action: [-0.08   0.402 -0.516 -0.005  0.002  0.028 -1.007]
+t: 60	 action: [-0.035  0.506 -0.515  0.003 -0.008  0.04  -1.   ]
+t: 61	 action: [-0.007  0.648 -0.392 -0.005  0.01   0.024 -1.012]
+t: 62	 action: [-0.058  0.552 -0.44   0.001 -0.003  0.038 -1.001]
+t: 63	 action: [-0.035  0.733 -0.341 -0.002 -0.001  0.021 -1.042]
+t: 64	 action: [-0.008  0.838 -0.325 -0.002  0.007  0.031 -1.   ]
+t: 65	 action: [-0.021  0.828 -0.255 -0.002  0.006  0.015 -1.041]
+t: 66	 action: [ 0.012  0.895 -0.253  0.003 -0.005  0.016 -1.007]
+t: 67	 action: [ 0.006  0.848 -0.149 -0.004  0.004  0.013 -1.014]
+t: 68	 action: [-0.013  0.896 -0.185  0.003  0.003  0.02  -1.005]
+t: 69	 action: [-7.061e-04  8.341e-01 -1.002e-01 -1.008e-03  7.123e-03  1.438e-02 -1.017e+00]
+t: 70	 action: [-0.042  0.94  -0.198 -0.002 -0.002  0.01  -1.011]
+t: 71	 action: [-5.473e-02  8.588e-01 -1.109e-01 -4.193e-04 -2.262e-03  7.464e-03 -1.041e+00]
+t: 72	 action: [-0.093  0.938 -0.195 -0.005  0.006  0.012 -1.002]
+t: 73	 action: [-1.056e-01  8.480e-01 -1.192e-01  3.455e-04 -1.833e-03  1.033e-02 -1.047e+00]
+[07-31 02:04:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7178
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7178
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7178
+t=74: Selected seed 195 with value = 0.7178
+t: 74	 action: [-0.172  0.64  -0.381  0.002 -0.014  0.02  -0.985]
+t: 75	 action: [-0.155  0.719 -0.346 -0.007 -0.002  0.017 -1.012]
+t: 76	 action: [-0.118  0.781 -0.344  0.002 -0.012  0.021 -0.983]
+t: 77	 action: [-0.056  0.83  -0.315 -0.007  0.002  0.018 -1.011]
+t: 78	 action: [-0.061  0.847 -0.284 -0.005 -0.008  0.015 -0.989]
+t: 79	 action: [-0.045  0.857 -0.275 -0.006 -0.009  0.012 -1.041]
+t: 80	 action: [-0.046  0.92  -0.249 -0.007 -0.004  0.017 -0.986]
+t: 81	 action: [-0.039  0.893 -0.233 -0.006 -0.007  0.013 -1.043]
+t: 82	 action: [-0.05   0.93  -0.287  0.007 -0.026  0.027 -1.004]
+t: 83	 action: [-4.861e-02  9.173e-01 -2.922e-01 -6.668e-04 -1.411e-02  2.013e-02 -1.014e+00]
+t: 84	 action: [-0.077  0.921 -0.31   0.007 -0.02   0.03  -0.999]
+t: 85	 action: [-0.101  0.899 -0.311  0.001 -0.006  0.023 -1.015]
+t: 86	 action: [-0.171  0.926 -0.316 -0.001 -0.017  0.028 -1.004]
+t: 87	 action: [-0.209  0.923 -0.322  0.001 -0.012  0.018 -1.043]
+t: 88	 action: [-0.237  0.92  -0.336 -0.004 -0.006  0.027 -0.993]
+t: 89	 action: [-0.271  0.905 -0.322  0.003 -0.005  0.021 -1.048]
+[07-31 02:04:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8417
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8417
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8417
+t=90: Selected seed 195 with value = 0.8417
+t: 90	 action: [-1.092e-01  8.732e-01 -2.723e-01  5.685e-03 -4.209e-04  4.715e-03 -1.028e+00]
+t: 91	 action: [-0.091  0.875 -0.252  0.004  0.01   0.003 -1.01 ]
+t: 92	 action: [-0.11   0.899 -0.241  0.006  0.007  0.006 -1.013]
+t: 93	 action: [-0.082  0.881 -0.231  0.007  0.015  0.008 -1.006]
+t: 94	 action: [-1.135e-01  8.998e-01 -2.158e-01  2.018e-03  8.858e-03  6.479e-04 -1.018e+00]
+t: 95	 action: [-0.12   0.913 -0.24   0.006  0.009  0.006 -1.034]
+t: 96	 action: [-1.630e-01  9.277e-01 -2.094e-01 -5.438e-04  1.505e-02  1.405e-03 -1.007e+00]
+t: 97	 action: [-0.161  0.913 -0.248  0.009  0.012  0.01  -1.033]
+t: 98	 action: [-3.121e-01  9.358e-01 -2.571e-01  9.918e-04 -1.276e-02  1.462e-02 -9.968e-01]
+t: 99	 action: [-3.679e-01  8.962e-01 -2.814e-01 -2.411e-03  3.461e-04  1.239e-02 -1.003e+00]
+t: 100	 action: [-0.368  0.926 -0.27   0.004 -0.011  0.015 -0.998]
+t: 101	 action: [-4.308e-01  8.344e-01 -3.104e-01 -9.659e-04  5.625e-03  1.428e-02 -9.999e-01]
+t: 102	 action: [-5.548e-01  8.487e-01 -3.149e-01 -3.086e-03 -8.329e-04  2.223e-02 -9.939e-01]
+t: 103	 action: [-5.411e-01  8.494e-01 -3.489e-01  3.896e-04 -2.344e-03  1.588e-02 -1.031e+00]
+t: 104	 action: [-0.58   0.787 -0.301 -0.005  0.011  0.015 -0.991]
+t: 105	 action: [-0.559  0.696 -0.336  0.003  0.001  0.016 -1.034]
+[07-31 02:04:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9855
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9855
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 103
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 3 (2.9%)
+
+
  6%|▌         | 3/50 [00:40<10:32, 13.46s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 4...
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=106: Selected seed 195 with value = 0.9855
+t: 106	 action: [-0.721  0.033 -0.326  0.015  0.037 -0.005 -0.977]
+t: 107	 action: [-0.737 -0.055 -0.264  0.019  0.066 -0.02  -0.993]
+t: 108	 action: [-0.84  -0.051 -0.347  0.026  0.055 -0.013 -0.983]
+t: 109	 action: [-0.818 -0.109 -0.269  0.026  0.074 -0.036 -0.992]
+t: 110	 action: [-0.886 -0.16  -0.301  0.04   0.084 -0.025 -0.972]
+t: 111	 action: [-0.845 -0.156 -0.267  0.034  0.082 -0.029 -1.034]
+t: 112	 action: [-0.866 -0.205 -0.305  0.05   0.091 -0.043 -0.97 ]
+t: 113	 action: [-0.788 -0.14  -0.276  0.038  0.083 -0.051 -1.029]
+t: 114	 action: [-0.864 -0.191 -0.325  0.055  0.073 -0.035 -0.994]
+t: 115	 action: [-0.82  -0.195 -0.251  0.051  0.078 -0.038 -1.016]
+t: 116	 action: [-0.854 -0.217 -0.298  0.063  0.08  -0.038 -0.998]
+t: 117	 action: [-0.78  -0.195 -0.23   0.055  0.086 -0.038 -1.008]
+t: 118	 action: [-0.831 -0.253 -0.277  0.064  0.088 -0.043 -0.985]
+t: 119	 action: [-0.722 -0.164 -0.24   0.059  0.095 -0.04  -1.031]
+t: 120	 action: [-0.798 -0.25  -0.237  0.066  0.091 -0.042 -0.977]
+t: 121	 action: [-0.682 -0.131 -0.202  0.058  0.097 -0.036 -1.028]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=103--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+112 112 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=103--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 103
+# successes: 3 (2.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+[07-31 02:04:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.142 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3347
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3347
+Query 1/1: Action query time = 1.142 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3347
+t=10: Selected seed 195 with value = 0.3347
+t: 10	 action: [ 2.260e-01  7.650e-02 -1.912e-02 -8.976e-04  3.224e-03  2.982e-04 -1.005e+00]
+t: 11	 action: [ 0.413  0.103 -0.012 -0.006  0.01  -0.007 -1.011]
+t: 12	 action: [ 5.088e-01  1.137e-01 -3.956e-02 -3.559e-03  1.815e-03 -7.005e-07 -1.008e+00]
+t: 13	 action: [ 0.703  0.147 -0.018 -0.008  0.011 -0.009 -1.015]
+t: 14	 action: [ 0.835  0.16  -0.043 -0.006  0.005 -0.005 -1.003]
+t: 15	 action: [ 0.877  0.158 -0.036 -0.006  0.004 -0.01  -1.03 ]
+t: 16	 action: [ 0.959  0.176 -0.067 -0.009  0.006 -0.008 -1.003]
+t: 17	 action: [ 0.946  0.175 -0.067 -0.007  0.003 -0.013 -1.036]
+t: 18	 action: [ 0.916  0.207 -0.059 -0.01   0.009 -0.013 -1.003]
+t: 19	 action: [ 0.939  0.187 -0.065 -0.006  0.014 -0.018 -1.016]
+t: 20	 action: [ 0.938  0.188 -0.086 -0.004  0.007 -0.021 -1.   ]
+t: 21	 action: [ 0.942  0.171 -0.092 -0.005  0.017 -0.02  -1.012]
+t: 22	 action: [ 0.98   0.163 -0.083 -0.005  0.011 -0.022 -0.981]
+t: 23	 action: [ 1.004e+00  1.622e-01 -1.120e-01 -6.534e-04  6.797e-03 -2.168e-02 -1.032e+00]
+t: 24	 action: [ 1.     0.166 -0.111 -0.003  0.011 -0.027 -0.981]
+t: 25	 action: [ 1.007  0.154 -0.142  0.001  0.008 -0.022 -1.034]
+[07-31 02:04:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3693
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3693
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3693
+t=26: Selected seed 195 with value = 0.3693
+t: 26	 action: [ 0.951  0.229 -0.241  0.004  0.007 -0.004 -1.034]
+t: 27	 action: [ 0.966  0.107 -0.269  0.006  0.011 -0.013 -1.014]
+t: 28	 action: [ 0.934  0.119 -0.301  0.013  0.007 -0.003 -1.031]
+t: 29	 action: [ 0.96   0.004 -0.341  0.016  0.011 -0.013 -1.014]
+t: 30	 action: [ 0.958 -0.025 -0.409  0.025  0.005 -0.012 -1.018]
+t: 31	 action: [ 0.909 -0.047 -0.458  0.03   0.008 -0.011 -1.037]
+t: 32	 action: [ 0.882 -0.097 -0.499  0.04   0.007 -0.01  -1.021]
+t: 33	 action: [ 0.834 -0.109 -0.532  0.037  0.007 -0.011 -1.039]
+t: 34	 action: [ 0.698 -0.16  -0.504  0.028 -0.01  -0.009 -1.021]
+t: 35	 action: [ 0.695 -0.146 -0.538  0.02  -0.004 -0.008 -1.017]
+t: 36	 action: [ 5.409e-01 -1.438e-01 -5.633e-01  2.451e-02 -1.377e-02 -8.489e-04 -1.018e+00]
+t: 37	 action: [ 0.491 -0.124 -0.581  0.016 -0.007 -0.006 -1.012]
+t: 38	 action: [ 3.715e-01 -5.568e-02 -5.891e-01  2.380e-02 -1.044e-02  1.874e-04 -1.027e+00]
+t: 39	 action: [ 2.901e-01 -5.529e-02 -6.265e-01  2.025e-02 -1.549e-02 -1.204e-04 -1.042e+00]
+t: 40	 action: [ 2.479e-01 -1.632e-04 -6.234e-01  1.494e-02 -1.169e-02  3.101e-03 -1.026e+00]
+t: 41	 action: [ 0.202 -0.025 -0.644  0.013 -0.019  0.003 -1.041]
+[07-31 02:04:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.007 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4661
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4661
+Query 1/1: Action query time = 1.007 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4661
+t=42: Selected seed 195 with value = 0.4661
+t: 42	 action: [ 0.269 -0.192 -0.466  0.029 -0.001  0.007 -1.009]
+t: 43	 action: [ 0.121 -0.191 -0.566  0.019 -0.005  0.011 -1.031]
+t: 44	 action: [ 0.095 -0.201 -0.555  0.026 -0.02   0.01  -1.007]
+t: 45	 action: [-0.039 -0.184 -0.656  0.015 -0.02   0.019 -1.027]
+t: 46	 action: [-0.143 -0.156 -0.62   0.01  -0.024  0.015 -1.002]
+t: 47	 action: [-0.19  -0.106 -0.771  0.012 -0.021  0.023 -1.05 ]
+t: 48	 action: [-0.287 -0.082 -0.669  0.005 -0.035  0.028 -0.998]
+t: 49	 action: [-0.349 -0.056 -0.781  0.004 -0.026  0.029 -1.046]
+t: 50	 action: [-0.482 -0.069 -0.635 -0.003 -0.039  0.051 -1.005]
+t: 51	 action: [-0.543 -0.11  -0.719 -0.021 -0.029  0.059 -1.021]
+t: 52	 action: [-0.589 -0.019 -0.628 -0.02  -0.036  0.061 -1.005]
+t: 53	 action: [-0.607 -0.067 -0.683 -0.027 -0.017  0.059 -1.013]
+t: 54	 action: [-0.658 -0.041 -0.642 -0.04  -0.046  0.083 -0.996]
+t: 55	 action: [-0.628 -0.017 -0.705 -0.028 -0.033  0.072 -1.048]
+t: 56	 action: [-0.631 -0.004 -0.622 -0.05  -0.036  0.078 -0.993]
+t: 57	 action: [-0.572  0.009 -0.651 -0.036 -0.017  0.068 -1.049]
+[07-31 02:04:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.171 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5252
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5252
+Query 1/1: Action query time = 1.171 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5252
+t=58: Selected seed 195 with value = 0.5252
+t: 58	 action: [-0.3    0.106 -0.65   0.006 -0.015  0.047 -0.987]
+t: 59	 action: [-0.216  0.181 -0.607 -0.001  0.002  0.041 -0.992]
+t: 60	 action: [-0.135  0.315 -0.562  0.004 -0.005  0.045 -0.987]
+t: 61	 action: [-1.887e-02  5.208e-01 -4.785e-01 -2.143e-04  9.837e-03  3.737e-02 -9.962e-01]
+t: 62	 action: [-0.085  0.521 -0.401  0.004  0.006  0.055 -0.994]
+t: 63	 action: [ 6.631e-03  7.017e-01 -3.585e-01  4.792e-03 -1.297e-05  4.006e-02 -1.029e+00]
+t: 64	 action: [ 0.064  0.771 -0.322  0.003  0.012  0.045 -1.002]
+t: 65	 action: [ 1.144e-01  8.628e-01 -2.989e-01  5.018e-03  6.745e-04  3.381e-02 -1.027e+00]
+t: 66	 action: [ 0.065  0.854 -0.227  0.013 -0.002  0.016 -0.998]
+t: 67	 action: [ 0.048  0.871 -0.242  0.016  0.003  0.014 -0.997]
+t: 68	 action: [ 0.044  0.872 -0.219  0.015 -0.005  0.019 -0.993]
+t: 69	 action: [ 0.045  0.886 -0.225  0.017  0.003  0.018 -0.996]
+t: 70	 action: [-0.017  0.928 -0.21   0.011 -0.006  0.019 -1.014]
+t: 71	 action: [-0.015  0.9   -0.259  0.018 -0.002  0.014 -1.019]
+t: 72	 action: [-0.079  0.927 -0.215  0.011 -0.008  0.019 -1.013]
+t: 73	 action: [-0.082  0.909 -0.273  0.016 -0.003  0.019 -1.023]
+[07-31 02:04:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5852
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5852
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5852
+t=74: Selected seed 195 with value = 0.5852
+t: 74	 action: [-0.075  0.573 -0.431  0.001 -0.019  0.023 -0.994]
+t: 75	 action: [-0.043  0.724 -0.39  -0.001  0.002  0.018 -0.999]
+t: 76	 action: [-0.06   0.796 -0.399  0.001 -0.01   0.025 -0.994]
+t: 77	 action: [-1.478e-02  8.525e-01 -3.559e-01  6.058e-04  7.651e-03  1.815e-02 -1.003e+00]
+t: 78	 action: [-0.024  0.827 -0.369 -0.001 -0.001  0.019 -1.008]
+t: 79	 action: [-0.045  0.891 -0.341  0.002 -0.002  0.014 -1.033]
+t: 80	 action: [-0.047  0.922 -0.352 -0.002  0.007  0.02  -1.007]
+t: 81	 action: [-0.049  0.929 -0.325  0.005  0.006  0.015 -1.038]
+t: 82	 action: [-0.035  0.929 -0.298  0.009 -0.018  0.014 -1.007]
+t: 83	 action: [ 0.008  0.921 -0.289  0.005 -0.002  0.012 -1.001]
+t: 84	 action: [-0.059  0.927 -0.266  0.009 -0.011  0.017 -1.001]
+t: 85	 action: [-0.026  0.918 -0.239  0.007  0.005  0.014 -1.001]
+t: 86	 action: [-0.118  0.945 -0.258  0.004 -0.008  0.011 -1.018]
+t: 87	 action: [-0.114  0.934 -0.242  0.011 -0.004  0.011 -1.033]
+t: 88	 action: [-0.174  0.941 -0.228  0.001  0.003  0.011 -1.007]
+t: 89	 action: [-0.183  0.925 -0.207  0.011 -0.003  0.015 -1.038]
+[07-31 02:04:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7865
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7865
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7865
+t=90: Selected seed 195 with value = 0.7865
+t: 90	 action: [-0.212  0.872 -0.219  0.002  0.002  0.009 -0.997]
+t: 91	 action: [-0.193  0.869 -0.266 -0.003  0.009  0.005 -1.007]
+t: 92	 action: [-0.224  0.888 -0.221  0.002  0.007  0.01  -0.993]
+t: 93	 action: [-0.189  0.89  -0.273  0.001  0.01   0.008 -1.007]
+t: 94	 action: [-0.205  0.873 -0.213 -0.001  0.004  0.004 -0.996]
+t: 95	 action: [-2.224e-01  9.082e-01 -2.916e-01 -1.856e-04  1.231e-03  5.846e-03 -1.031e+00]
+t: 96	 action: [-0.24   0.897 -0.226 -0.002  0.009  0.006 -0.995]
+t: 97	 action: [-0.239  0.916 -0.319  0.003  0.002  0.01  -1.034]
+t: 98	 action: [-0.308  0.938 -0.272  0.006 -0.019  0.02  -0.998]
+t: 99	 action: [-2.930e-01  8.932e-01 -2.836e-01  9.740e-04 -8.830e-03  1.201e-02 -9.982e-01]
+t: 100	 action: [-0.378  0.928 -0.279  0.006 -0.015  0.021 -0.997]
+t: 101	 action: [-3.497e-01  8.675e-01 -2.996e-01  3.288e-03  2.819e-04  1.485e-02 -1.000e+00]
+t: 102	 action: [-4.053e-01  8.997e-01 -2.742e-01  7.708e-04 -9.474e-03  2.198e-02 -9.942e-01]
+t: 103	 action: [-0.414  0.887 -0.319  0.005 -0.006  0.013 -1.028]
+t: 104	 action: [-4.785e-01  8.762e-01 -2.634e-01 -8.125e-04 -3.419e-04  2.314e-02 -9.867e-01]
+t: 105	 action: [-0.464  0.854 -0.311  0.007 -0.002  0.017 -1.034]
+[07-31 02:04:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9501
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9501
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9501
+t=106: Selected seed 195 with value = 0.9501
+t: 106	 action: [-0.771  0.384 -0.308  0.006  0.018  0.01  -0.965]
+t: 107	 action: [-0.785  0.416 -0.335  0.019  0.027  0.014 -0.992]
+t: 108	 action: [-0.843  0.297 -0.395  0.007  0.027  0.008 -0.964]
+t: 109	 action: [-0.867  0.317 -0.415  0.021  0.04   0.009 -0.995]
+t: 110	 action: [-0.902  0.22  -0.441  0.003  0.044  0.012 -0.956]
+t: 111	 action: [-0.945  0.204 -0.441  0.026  0.052  0.016 -1.032]
+t: 112	 action: [-0.891  0.168 -0.463  0.005  0.068  0.004 -0.951]
+t: 113	 action: [-0.933  0.175 -0.475  0.03   0.071  0.01  -1.036]
+t: 114	 action: [-0.885  0.083 -0.468  0.023  0.067  0.008 -0.997]
+t: 115	 action: [-0.887  0.012 -0.483  0.024  0.072  0.009 -1.005]
+t: 116	 action: [-0.909  0.047 -0.451  0.023  0.079  0.006 -0.997]
+t: 117	 action: [-0.89  -0.031 -0.452  0.02   0.086  0.007 -1.007]
+t: 118	 action: [-0.927 -0.045 -0.441  0.023  0.082  0.006 -0.982]
+t: 119	 action: [-0.914 -0.116 -0.449  0.03   0.068  0.008 -1.035]
+t: 120	 action: [-0.913 -0.094 -0.393  0.021  0.087  0.002 -0.974]
+t: 121	 action: [-0.909 -0.142 -0.393  0.022  0.073  0.008 -1.042]
+[07-31 02:05:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.209 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9901
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9901
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 104
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 4 (3.8%)
+
+
  8%|▊         | 4/50 [00:55<10:43, 13.98s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 5...
+Query 1/1: Action query time = 1.209 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=122: Selected seed 195 with value = 0.9901
+t: 122	 action: [-0.898 -0.08  -0.366  0.016  0.055  0.003 -0.965]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=104--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+113 113 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=104--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 104
+# successes: 4 (3.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+[07-31 02:05:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.029 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3346
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3346
+Query 1/1: Action query time = 1.029 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3346
+t=10: Selected seed 195 with value = 0.3346
+t: 10	 action: [ 3.589e-01  1.524e-01 -1.675e-02  8.447e-04  2.385e-03  1.435e-02 -1.010e+00]
+t: 11	 action: [ 5.277e-01  1.834e-01 -2.139e-02 -5.355e-04  9.307e-03  1.230e-02 -1.015e+00]
+t: 12	 action: [ 7.067e-01  2.239e-01 -5.161e-02 -9.095e-04  2.793e-03  1.484e-02 -1.015e+00]
+t: 13	 action: [ 0.819  0.234 -0.032 -0.004  0.011  0.012 -1.016]
+t: 14	 action: [ 8.976e-01  2.314e-01 -6.050e-02 -3.675e-03  3.140e-04  1.388e-02 -1.005e+00]
+t: 15	 action: [ 0.895  0.221 -0.058 -0.002  0.005  0.011 -1.03 ]
+t: 16	 action: [ 0.961  0.229 -0.1   -0.006  0.002  0.011 -1.007]
+t: 17	 action: [ 0.955  0.22  -0.114 -0.003  0.005  0.01  -1.036]
+t: 18	 action: [ 0.948  0.175 -0.095  0.002  0.009  0.011 -1.018]
+t: 19	 action: [ 9.506e-01  1.350e-01 -9.480e-02 -1.519e-04  1.700e-02  7.758e-03 -1.020e+00]
+t: 20	 action: [ 0.965  0.147 -0.125  0.004  0.005  0.009 -1.017]
+t: 21	 action: [ 0.956  0.113 -0.108  0.001  0.017  0.006 -1.02 ]
+t: 22	 action: [ 9.870e-01  1.231e-01 -1.327e-01  2.653e-04  5.374e-03  6.205e-03 -9.903e-01]
+t: 23	 action: [ 0.995  0.096 -0.149  0.005  0.012  0.005 -1.032]
+t: 24	 action: [ 1.004  0.106 -0.171 -0.003  0.001  0.003 -0.988]
+t: 25	 action: [ 1.006  0.078 -0.185  0.007  0.01   0.005 -1.037]
+[07-31 02:05:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3942
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3942
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3942
+t=26: Selected seed 195 with value = 0.3942
+t: 26	 action: [ 0.917  0.265 -0.204  0.005  0.014  0.014 -1.035]
+t: 27	 action: [ 0.931  0.16  -0.226  0.004  0.01   0.006 -1.014]
+t: 28	 action: [ 0.9    0.132 -0.274  0.008  0.011  0.013 -1.023]
+t: 29	 action: [ 0.915  0.033 -0.333  0.011  0.01   0.003 -1.013]
+t: 30	 action: [ 0.909  0.01  -0.438  0.015  0.004  0.004 -1.014]
+t: 31	 action: [ 0.826 -0.046 -0.533  0.024  0.005  0.002 -1.03 ]
+t: 32	 action: [ 7.582e-01 -5.915e-02 -5.687e-01  3.015e-02  2.848e-05  3.349e-03 -1.013e+00]
+t: 33	 action: [ 6.539e-01 -1.031e-01 -6.504e-01  2.799e-02  1.664e-05  8.037e-04 -1.032e+00]
+t: 34	 action: [ 0.529 -0.08  -0.631  0.027 -0.007  0.012 -1.03 ]
+t: 35	 action: [ 0.474 -0.095 -0.697  0.02  -0.003  0.004 -1.02 ]
+t: 36	 action: [ 0.375 -0.033 -0.7    0.022 -0.012  0.01  -1.021]
+t: 37	 action: [ 0.298 -0.08  -0.74   0.016 -0.01   0.001 -1.013]
+t: 38	 action: [ 0.273  0.015 -0.713  0.017 -0.02   0.005 -1.025]
+t: 39	 action: [ 1.835e-01 -1.802e-02 -7.452e-01  1.977e-02 -2.309e-02 -5.777e-04 -1.036e+00]
+t: 40	 action: [ 0.188  0.039 -0.735  0.009 -0.02   0.004 -1.016]
+t: 41	 action: [ 0.121  0.01  -0.766  0.014 -0.024 -0.002 -1.032]
+[07-31 02:05:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4088
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4088
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4088
+t=42: Selected seed 195 with value = 0.4088
+t: 42	 action: [ 0.405 -0.198 -0.386  0.03   0.008  0.005 -1.022]
+t: 43	 action: [ 0.24  -0.253 -0.459  0.025  0.004  0.007 -1.039]
+t: 44	 action: [ 0.215 -0.23  -0.501  0.039 -0.013  0.008 -1.02 ]
+t: 45	 action: [ 0.047 -0.248 -0.608  0.025 -0.02   0.015 -1.036]
+t: 46	 action: [-0.036 -0.205 -0.602  0.018 -0.021  0.011 -1.008]
+t: 47	 action: [-0.127 -0.186 -0.746  0.024 -0.022  0.017 -1.056]
+t: 48	 action: [-0.225 -0.107 -0.703  0.01  -0.04   0.025 -1.008]
+t: 49	 action: [-0.289 -0.105 -0.797  0.017 -0.039  0.025 -1.053]
+t: 50	 action: [-0.395 -0.083 -0.704  0.008 -0.05   0.06  -1.014]
+t: 51	 action: [-0.47  -0.115 -0.792 -0.004 -0.043  0.059 -1.033]
+t: 52	 action: [-5.566e-01 -2.401e-02 -7.022e-01  3.037e-05 -4.387e-02  6.908e-02 -1.015e+00]
+t: 53	 action: [-0.567 -0.068 -0.776 -0.01  -0.027  0.063 -1.023]
+t: 54	 action: [-0.66  -0.031 -0.672 -0.016 -0.05   0.089 -1.002]
+t: 55	 action: [-0.638  0.006 -0.756 -0.01  -0.035  0.069 -1.052]
+t: 56	 action: [-6.699e-01 -2.355e-05 -6.566e-01 -3.034e-02 -3.529e-02  8.516e-02 -9.999e-01]
+t: 57	 action: [-0.644  0.032 -0.713 -0.016 -0.016  0.072 -1.057]
+[07-31 02:05:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5296
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5296
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5296
+t=58: Selected seed 195 with value = 0.5296
+t: 58	 action: [-0.306  0.018 -0.469  0.008 -0.023  0.029 -0.996]
+t: 59	 action: [-0.268 -0.146 -0.405 -0.007 -0.001  0.027 -1.006]
+t: 60	 action: [-0.284  0.005 -0.557  0.004 -0.01   0.031 -0.995]
+t: 61	 action: [-0.19   0.145 -0.536 -0.008  0.007  0.024 -1.007]
+t: 62	 action: [-0.319  0.092 -0.564  0.001  0.005  0.036 -0.994]
+t: 63	 action: [-0.183  0.211 -0.463  0.003  0.001  0.027 -1.04 ]
+t: 64	 action: [-0.176  0.384 -0.457 -0.003  0.013  0.029 -0.995]
+t: 65	 action: [-0.073  0.672 -0.352 -0.002  0.006  0.019 -1.038]
+t: 66	 action: [-2.653e-02  7.933e-01 -2.642e-01 -1.446e-04  2.075e-02  1.153e-02 -1.001e+00]
+t: 67	 action: [-7.510e-03  8.131e-01 -2.517e-01 -9.777e-04  3.469e-02  1.073e-02 -1.011e+00]
+t: 68	 action: [-0.038  0.867 -0.198  0.001  0.023  0.013 -1.   ]
+t: 69	 action: [-0.005  0.835 -0.194  0.001  0.027  0.012 -1.011]
+t: 70	 action: [-0.092  0.933 -0.258 -0.005  0.018  0.009 -1.01 ]
+t: 71	 action: [-0.079  0.876 -0.217  0.008  0.022  0.007 -1.038]
+t: 72	 action: [-0.131  0.94  -0.254 -0.01   0.017  0.007 -1.004]
+t: 73	 action: [-0.104  0.887 -0.233  0.007  0.015  0.009 -1.045]
+[07-31 02:05:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5499
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5499
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5499
+t=74: Selected seed 195 with value = 0.5499
+t: 74	 action: [-0.198  0.064 -0.447  0.004 -0.026  0.019 -0.996]
+t: 75	 action: [-0.204  0.015 -0.399 -0.002 -0.008  0.015 -1.011]
+t: 76	 action: [-0.165  0.173 -0.45   0.004 -0.02   0.016 -1.002]
+t: 77	 action: [-1.028e-01  3.803e-01 -4.217e-01 -6.275e-04  4.650e-04  1.268e-02 -1.017e+00]
+t: 78	 action: [-0.128  0.256 -0.333 -0.001 -0.013  0.013 -1.004]
+t: 79	 action: [-0.089  0.47  -0.255  0.001 -0.006  0.008 -1.047]
+t: 80	 action: [-0.082  0.535 -0.244 -0.004 -0.005  0.008 -1.007]
+t: 81	 action: [-6.021e-02  7.116e-01 -2.366e-01  6.673e-04 -3.307e-03  5.070e-03 -1.049e+00]
+t: 82	 action: [-3.204e-02  8.120e-01 -2.697e-01 -4.415e-04 -1.978e-02  9.410e-03 -1.024e+00]
+t: 83	 action: [-0.05   0.818 -0.222 -0.005 -0.003  0.004 -1.013]
+t: 84	 action: [-0.057  0.854 -0.263  0.002 -0.013  0.011 -1.019]
+t: 85	 action: [-0.065  0.825 -0.207 -0.001  0.004  0.007 -1.021]
+t: 86	 action: [-0.124  0.919 -0.277 -0.006 -0.019  0.005 -1.032]
+t: 87	 action: [-1.502e-01  8.755e-01 -2.376e-01  6.616e-04 -1.207e-02 -1.427e-03 -1.044e+00]
+t: 88	 action: [-0.175  0.921 -0.272 -0.007 -0.007  0.005 -1.016]
+t: 89	 action: [-0.182  0.869 -0.219  0.003 -0.005  0.002 -1.05 ]
+[07-31 02:05:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7326
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=90: Selected seed 195 with value = 0.7326
+t: 90	 action: [-0.162  0.609 -0.319 -0.01   0.006  0.006 -1.007]
+t: 91	 action: [-0.143  0.654 -0.222 -0.01   0.014  0.004 -1.012]
+t: 92	 action: [-0.133  0.761 -0.257 -0.014  0.007  0.008 -0.992]
+t: 93	 action: [-0.078  0.783 -0.176 -0.009  0.009  0.008 -1.014]
+t: 94	 action: [-6.631e-02  8.063e-01 -1.664e-01 -1.994e-02  2.923e-03  6.515e-04 -1.009e+00]
+t: 95	 action: [-4.838e-02  8.253e-01 -1.198e-01 -6.696e-03  4.771e-03  7.090e-04 -1.040e+00]
+t: 96	 action: [-0.066  0.9   -0.176 -0.024  0.005  0.001 -0.994]
+t: 97	 action: [-0.054  0.873 -0.142 -0.007 -0.001  0.004 -1.04 ]
+t: 98	 action: [-0.085  0.944 -0.242 -0.021 -0.036  0.017 -1.01 ]
+t: 99	 action: [-0.103  0.921 -0.234 -0.014 -0.031  0.012 -1.021]
+t: 100	 action: [-0.102  0.926 -0.286 -0.011 -0.036  0.019 -0.999]
+t: 101	 action: [-0.15   0.891 -0.277 -0.009 -0.031  0.016 -1.021]
+t: 102	 action: [-0.231  0.918 -0.307 -0.015 -0.037  0.016 -1.015]
+t: 103	 action: [-0.258  0.928 -0.314 -0.007 -0.041  0.012 -1.045]
+t: 104	 action: [-0.304  0.89  -0.324 -0.012 -0.024  0.017 -0.996]
+t: 105	 action: [-0.328  0.895 -0.324 -0.001 -0.028  0.016 -1.047]
+[07-31 02:05:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8739
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=106: Selected seed 195 with value = 0.8739
+t: 106	 action: [-0.27   0.922 -0.295  0.002  0.003  0.002 -1.019]
+t: 107	 action: [-2.487e-01  8.889e-01 -2.544e-01  5.992e-03  1.235e-02 -1.166e-04 -1.011e+00]
+t: 108	 action: [-0.285  0.937 -0.266  0.002  0.009  0.004 -1.006]
+t: 109	 action: [-0.254  0.868 -0.227  0.005  0.021  0.004 -1.011]
+t: 110	 action: [-3.223e-01  9.278e-01 -2.418e-01 -1.654e-04  1.081e-02 -2.569e-03 -1.014e+00]
+t: 111	 action: [-0.321  0.906 -0.243  0.008  0.011  0.004 -1.037]
+t: 112	 action: [-3.590e-01  9.336e-01 -2.407e-01 -3.073e-03  1.738e-02 -5.107e-04 -1.003e+00]
+t: 113	 action: [-0.339  0.869 -0.26   0.007  0.018  0.006 -1.038]
+t: 114	 action: [-0.343  0.862 -0.255 -0.003 -0.008  0.008 -1.013]
+t: 115	 action: [-0.432  0.696 -0.28  -0.003  0.004  0.003 -1.017]
+t: 116	 action: [-0.516  0.638 -0.316  0.004 -0.003  0.007 -1.009]
+t: 117	 action: [-0.557  0.468 -0.345  0.003  0.011  0.004 -1.009]
+t: 118	 action: [-0.797  0.357 -0.482 -0.002  0.004  0.006 -1.005]
+t: 119	 action: [-0.816  0.118 -0.53   0.02   0.005  0.009 -1.043]
+t: 120	 action: [-8.353e-01  1.270e-01 -4.903e-01  5.222e-03  2.417e-02  8.226e-04 -9.976e-01]
+t: 121	 action: [-0.853 -0.026 -0.546  0.026  0.026  0.009 -1.044]
+[07-31 02:05:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9890
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9890
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 105
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 5 (4.8%)
+
+
 10%|█         | 5/50 [01:09<10:37, 14.18s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 6...
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=122: Selected seed 195 with value = 0.9890
+t: 122	 action: [-0.683 -0.068 -0.293  0.026  0.04  -0.015 -0.983]
+t: 123	 action: [-0.726 -0.151 -0.231  0.026  0.061 -0.021 -0.993]
+t: 124	 action: [-0.827 -0.116 -0.305  0.036  0.057 -0.023 -0.98 ]
+t: 125	 action: [-0.814 -0.16  -0.238  0.034  0.074 -0.034 -0.994]
+t: 126	 action: [-0.864 -0.195 -0.283  0.045  0.079 -0.022 -0.972]
+t: 127	 action: [-0.836 -0.176 -0.259  0.039  0.082 -0.024 -1.032]
+t: 128	 action: [-0.867 -0.182 -0.291  0.051  0.085 -0.032 -0.964]
+t: 129	 action: [-0.801 -0.144 -0.279  0.043  0.085 -0.039 -1.033]
+t: 130	 action: [-0.857 -0.115 -0.293  0.055  0.08  -0.027 -0.998]
+t: 131	 action: [-0.822 -0.167 -0.246  0.052  0.086 -0.027 -1.014]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=105--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+122 122 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=105--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 105
+# successes: 5 (4.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+[07-31 02:05:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3354
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3354
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3354
+t=10: Selected seed 195 with value = 0.3354
+t: 10	 action: [ 0.166  0.043 -0.001 -0.002  0.011  0.008 -1.013]
+t: 11	 action: [ 0.254  0.08  -0.003  0.001  0.028  0.006 -1.01 ]
+t: 12	 action: [ 0.455  0.16  -0.024 -0.002  0.016  0.012 -1.013]
+t: 13	 action: [ 6.305e-01  2.260e-01 -2.773e-03  6.762e-04  3.314e-02  7.100e-03 -1.014e+00]
+t: 14	 action: [ 0.768  0.319 -0.043 -0.007  0.022  0.01  -1.018]
+t: 15	 action: [ 8.566e-01  3.411e-01 -1.448e-02  3.943e-04  3.306e-02  9.123e-03 -1.038e+00]
+t: 16	 action: [ 0.961  0.354 -0.071 -0.007  0.027  0.011 -1.01 ]
+t: 17	 action: [ 0.953  0.35  -0.061  0.002  0.034  0.009 -1.045]
+t: 18	 action: [ 9.280e-01  3.672e-01 -8.679e-02 -3.913e-05  2.444e-02  1.137e-02 -1.017e+00]
+t: 19	 action: [ 0.936  0.333 -0.093 -0.002  0.025  0.004 -1.018]
+t: 20	 action: [ 0.961  0.35  -0.122  0.002  0.017  0.008 -1.019]
+t: 21	 action: [ 0.942  0.29  -0.135 -0.001  0.016  0.002 -1.018]
+t: 22	 action: [ 0.99   0.284 -0.16  -0.004  0.01   0.007 -0.996]
+t: 23	 action: [ 0.979  0.259 -0.234  0.006  0.01   0.004 -1.036]
+t: 24	 action: [ 1.015e+00  2.569e-01 -2.430e-01 -5.662e-03  2.344e-04  1.992e-03 -9.994e-01]
+t: 25	 action: [ 0.988  0.21  -0.309  0.006  0.007  0.003 -1.044]
+[07-31 02:05:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3795
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3795
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3795
+t=26: Selected seed 195 with value = 0.3795
+t: 26	 action: [ 0.867  0.275 -0.151  0.007  0.041  0.01  -1.029]
+t: 27	 action: [ 0.921  0.182 -0.18   0.009  0.043  0.004 -1.013]
+t: 28	 action: [ 0.848  0.138 -0.23   0.011  0.031  0.008 -1.014]
+t: 29	 action: [ 0.897  0.043 -0.302  0.016  0.024 -0.001 -1.014]
+t: 30	 action: [ 8.594e-01  2.035e-02 -3.544e-01  1.049e-02  2.214e-02  8.522e-04 -1.015e+00]
+t: 31	 action: [ 0.85  -0.02  -0.452  0.022  0.017 -0.005 -1.028]
+t: 32	 action: [ 0.731 -0.057 -0.527  0.028  0.007 -0.006 -1.008]
+t: 33	 action: [ 0.697 -0.091 -0.636  0.028  0.008 -0.009 -1.032]
+t: 34	 action: [ 5.074e-01 -1.482e-01 -6.777e-01  3.743e-02 -8.507e-05 -4.364e-03 -1.037e+00]
+t: 35	 action: [ 4.736e-01 -1.840e-01 -7.624e-01  2.475e-02 -5.330e-05 -4.369e-03 -1.014e+00]
+t: 36	 action: [ 0.332 -0.162 -0.749  0.035 -0.013 -0.004 -1.035]
+t: 37	 action: [ 0.252 -0.183 -0.805  0.019 -0.017 -0.009 -1.014]
+t: 38	 action: [ 0.213 -0.066 -0.79   0.022 -0.026 -0.007 -1.035]
+t: 39	 action: [ 0.102 -0.11  -0.803  0.022 -0.041 -0.01  -1.027]
+t: 40	 action: [ 0.089 -0.034 -0.8    0.016 -0.033 -0.005 -1.034]
+t: 41	 action: [ 0.003 -0.082 -0.803  0.016 -0.049 -0.011 -1.027]
+[07-31 02:05:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4986
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4986
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4986
+t=42: Selected seed 195 with value = 0.4986
+t: 42	 action: [ 0.226 -0.272 -0.542  0.022 -0.027  0.008 -1.013]
+t: 43	 action: [ 0.123 -0.233 -0.574  0.013 -0.034  0.009 -1.021]
+t: 44	 action: [ 0.069 -0.259 -0.661  0.024 -0.047  0.01  -1.018]
+t: 45	 action: [-0.025 -0.19  -0.721  0.012 -0.055  0.011 -1.02 ]
+t: 46	 action: [-0.083 -0.228 -0.711  0.006 -0.052  0.011 -1.007]
+t: 47	 action: [-0.152 -0.112 -0.823  0.009 -0.07   0.015 -1.048]
+t: 48	 action: [-0.237 -0.115 -0.741  0.001 -0.06   0.015 -1.014]
+t: 49	 action: [-0.341 -0.023 -0.864  0.005 -0.064  0.016 -1.048]
+t: 50	 action: [-3.798e-01 -4.827e-02 -8.194e-01  1.250e-04 -7.987e-02  3.842e-02 -1.024e+00]
+t: 51	 action: [-0.417 -0.097 -0.839 -0.011 -0.074  0.03  -1.011]
+t: 52	 action: [-0.496 -0.009 -0.796 -0.006 -0.065  0.043 -1.03 ]
+t: 53	 action: [-0.486 -0.065 -0.808 -0.013 -0.05   0.029 -1.01 ]
+t: 54	 action: [-0.537  0.002 -0.708 -0.03  -0.062  0.044 -1.02 ]
+t: 55	 action: [-0.51   0.049 -0.749 -0.014 -0.043  0.029 -1.05 ]
+t: 56	 action: [-0.491  0.043 -0.643 -0.028 -0.033  0.04  -1.025]
+t: 57	 action: [-0.439  0.075 -0.672 -0.013 -0.014  0.027 -1.058]
+[07-31 02:05:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5741
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=58: Selected seed 195 with value = 0.5741
+t: 58	 action: [-0.221  0.145 -0.636  0.007 -0.018  0.031 -0.99 ]
+t: 59	 action: [-1.996e-01  2.496e-01 -6.069e-01  7.751e-04  4.851e-03  2.023e-02 -9.955e-01]
+t: 60	 action: [-0.118  0.305 -0.581  0.005 -0.003  0.029 -0.987]
+t: 61	 action: [-0.042  0.514 -0.474  0.001  0.013  0.017 -0.998]
+t: 62	 action: [-0.151  0.365 -0.439  0.002  0.003  0.028 -0.99 ]
+t: 63	 action: [-0.057  0.613 -0.356  0.008  0.006  0.014 -1.036]
+t: 64	 action: [-0.027  0.727 -0.282 -0.002  0.013  0.019 -0.992]
+t: 65	 action: [-0.011  0.775 -0.243  0.008  0.022  0.009 -1.032]
+t: 66	 action: [-0.039  0.873 -0.257  0.006 -0.001  0.008 -1.001]
+t: 67	 action: [-0.015  0.839 -0.188  0.002  0.01   0.008 -1.006]
+t: 68	 action: [-0.058  0.877 -0.234  0.007  0.008  0.012 -0.994]
+t: 69	 action: [-0.023  0.827 -0.165  0.006  0.014  0.009 -1.009]
+t: 70	 action: [-0.082  0.922 -0.208 -0.002  0.005  0.004 -1.01 ]
+t: 71	 action: [-0.103  0.854 -0.199  0.01   0.008  0.004 -1.035]
+t: 72	 action: [-0.116  0.925 -0.206 -0.002  0.014  0.005 -0.995]
+t: 73	 action: [-0.117  0.847 -0.208  0.01   0.015  0.006 -1.037]
+[07-31 02:05:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7077
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7077
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7077
+t=74: Selected seed 195 with value = 0.7077
+t: 74	 action: [-0.135  0.7   -0.296 -0.002 -0.018  0.022 -0.997]
+t: 75	 action: [-0.157  0.749 -0.296 -0.007 -0.003  0.015 -1.014]
+t: 76	 action: [-1.202e-01  8.092e-01 -2.755e-01 -6.729e-04 -1.167e-02  1.989e-02 -9.853e-01]
+t: 77	 action: [-0.12   0.818 -0.276 -0.004  0.005  0.016 -1.008]
+t: 78	 action: [-0.098  0.84  -0.245 -0.009 -0.008  0.015 -0.998]
+t: 79	 action: [-0.118  0.829 -0.23  -0.006 -0.006  0.013 -1.04 ]
+t: 80	 action: [-9.696e-02  9.155e-01 -2.299e-01 -7.846e-03 -7.721e-04  1.423e-02 -9.895e-01]
+t: 81	 action: [-0.11   0.86  -0.196 -0.003 -0.001  0.013 -1.039]
+t: 82	 action: [-1.023e-01  8.992e-01 -2.869e-01  2.070e-04 -2.672e-02  1.596e-02 -1.003e+00]
+t: 83	 action: [-0.097  0.878 -0.299 -0.006 -0.016  0.012 -1.019]
+t: 84	 action: [-0.109  0.873 -0.296  0.005 -0.018  0.019 -0.991]
+t: 85	 action: [-0.134  0.85  -0.287 -0.005 -0.004  0.015 -1.018]
+t: 86	 action: [-0.173  0.914 -0.293 -0.004 -0.015  0.016 -1.004]
+t: 87	 action: [-0.228  0.886 -0.264 -0.003 -0.014  0.014 -1.041]
+t: 88	 action: [-0.203  0.907 -0.293 -0.005 -0.004  0.021 -0.989]
+t: 89	 action: [-0.263  0.863 -0.245 -0.001 -0.006  0.017 -1.041]
+[07-31 02:05:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6173
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6173
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6173
+t=90: Selected seed 195 with value = 0.6173
+t: 90	 action: [-0.165  0.751 -0.113  0.005  0.007  0.001 -1.007]
+t: 91	 action: [-0.133  0.724 -0.04   0.002  0.012 -0.002 -0.999]
+t: 92	 action: [-0.186  0.775 -0.086  0.01   0.013  0.003 -1.005]
+t: 93	 action: [-1.378e-01  7.512e-01 -8.210e-03  7.972e-03  1.640e-02  1.682e-04 -1.004e+00]
+t: 94	 action: [-0.17   0.759 -0.037  0.004  0.009 -0.004 -1.003]
+t: 95	 action: [-0.227  0.807 -0.023  0.008  0.011  0.001 -1.029]
+t: 96	 action: [-0.229  0.82  -0.036  0.001  0.015 -0.003 -1.006]
+t: 97	 action: [-0.232  0.84  -0.014  0.015  0.015  0.004 -1.036]
+t: 98	 action: [-2.660e-01  8.921e-01 -3.706e-02  8.814e-04  1.929e-03  1.251e-02 -9.963e-01]
+t: 99	 action: [-0.219  0.852  0.02  -0.001  0.008  0.006 -1.005]
+t: 100	 action: [-0.228  0.893 -0.05   0.002  0.006  0.009 -1.001]
+t: 101	 action: [-0.176  0.831  0.005 -0.001  0.016  0.005 -1.007]
+t: 102	 action: [-0.296  0.886 -0.081 -0.004  0.016  0.017 -1.002]
+t: 103	 action: [-2.436e-01  8.418e-01 -3.021e-02 -2.843e-04  2.531e-02  1.082e-02 -1.037e+00]
+t: 104	 action: [-0.241  0.772 -0.044 -0.006  0.029  0.002 -1.007]
+t: 105	 action: [-1.292e-01  7.326e-01  3.328e-03  2.348e-04  3.873e-02  5.378e-03 -1.043e+00]
+[07-31 02:05:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6442
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.6442
+Query 1/1: Action query time = 0.997 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6442
+t=106: Selected seed 195 with value = 0.6442
+t: 106	 action: [-0.01   0.202  0.61   0.007  0.043 -0.072 -1.014]
+t: 107	 action: [ 0.187  0.141  0.748  0.014  0.041 -0.082 -1.021]
+t: 108	 action: [ 0.417 -0.036  0.796  0.009  0.058 -0.097 -1.028]
+t: 109	 action: [ 0.519 -0.207  0.833  0.027  0.06  -0.099 -1.028]
+t: 110	 action: [ 0.529 -0.331  0.798  0.035  0.051 -0.113 -1.015]
+t: 111	 action: [ 0.509 -0.413  0.713  0.036  0.053 -0.094 -1.068]
+t: 112	 action: [ 0.465 -0.603  0.555  0.056  0.054 -0.11  -1.024]
+t: 113	 action: [ 0.484 -0.673  0.335  0.056  0.053 -0.104 -1.063]
+t: 114	 action: [ 0.407 -0.743  0.31   0.051  0.034 -0.065 -1.038]
+t: 115	 action: [ 0.313 -0.761  0.187  0.061  0.021 -0.048 -1.051]
+t: 116	 action: [ 0.191 -0.853  0.11   0.068  0.018 -0.03  -1.05 ]
+t: 117	 action: [ 0.103 -0.827  0.035  0.071  0.01  -0.037 -1.034]
+t: 118	 action: [ 0.073 -0.84  -0.002  0.084  0.006 -0.024 -1.022]
+t: 119	 action: [ 0.006 -0.818 -0.101  0.073  0.003 -0.029 -1.068]
+t: 120	 action: [-0.024 -0.746 -0.111  0.076 -0.004 -0.008 -1.041]
+t: 121	 action: [-0.029 -0.736 -0.22   0.069 -0.003 -0.014 -1.053]
+[07-31 02:05:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8612
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8612
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8612
+t=122: Selected seed 195 with value = 0.8612
+t: 122	 action: [ 0.123 -0.803 -0.017  0.05  -0.062 -0.026 -1.041]
+t: 123	 action: [ 0.192 -0.767 -0.022  0.047 -0.072 -0.038 -1.032]
+t: 124	 action: [ 0.049 -0.758 -0.104  0.05  -0.065 -0.025 -1.038]
+t: 125	 action: [ 0.103 -0.712 -0.115  0.042 -0.071 -0.039 -1.031]
+t: 126	 action: [ 0.007 -0.695 -0.141  0.049 -0.057 -0.02  -1.031]
+t: 127	 action: [ 0.003 -0.617 -0.23   0.05  -0.072 -0.033 -1.059]
+t: 128	 action: [-0.071 -0.468 -0.312  0.021 -0.053 -0.016 -1.033]
+t: 129	 action: [-0.065 -0.358 -0.418  0.034 -0.071 -0.035 -1.057]
+t: 130	 action: [-0.217 -0.365 -0.553  0.024 -0.061  0.009 -1.023]
+t: 131	 action: [-0.335 -0.315 -0.68   0.019 -0.053 -0.005 -1.018]
+t: 132	 action: [-0.491 -0.207 -0.699  0.01  -0.065  0.014 -1.025]
+t: 133	 action: [-0.511 -0.191 -0.752  0.011 -0.053  0.003 -1.   ]
+t: 134	 action: [-0.72  -0.059 -0.727  0.002 -0.059  0.003 -1.022]
+t: 135	 action: [-0.675  0.017 -0.705  0.016 -0.064 -0.003 -1.044]
+t: 136	 action: [-0.789 -0.005 -0.717 -0.008 -0.052  0.006 -1.019]
+t: 137	 action: [-0.737  0.1   -0.652  0.009 -0.054  0.003 -1.05 ]
+[07-31 02:05:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9359
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9359
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9359
+t=138: Selected seed 195 with value = 0.9359
+t: 138	 action: [-0.478 -0.063 -0.775 -0.008 -0.04   0.026 -0.981]
+t: 139	 action: [-0.543 -0.085 -0.734 -0.007 -0.043  0.032 -1.008]
+t: 140	 action: [-0.681 -0.011 -0.752 -0.004 -0.043  0.024 -0.99 ]
+t: 141	 action: [-0.683 -0.034 -0.74  -0.004 -0.051  0.029 -1.009]
+t: 142	 action: [-0.755 -0.019 -0.639 -0.015 -0.043  0.033 -0.977]
+t: 143	 action: [-0.762  0.12  -0.67   0.003 -0.059  0.042 -1.06 ]
+t: 144	 action: [-0.761  0.031 -0.54  -0.01  -0.043  0.027 -0.981]
+t: 145	 action: [-0.793  0.294 -0.547  0.003 -0.054  0.034 -1.06 ]
+t: 146	 action: [-0.768  0.257 -0.518 -0.014 -0.078  0.02  -0.998]
+t: 147	 action: [-0.734  0.181 -0.516 -0.009 -0.08   0.015 -0.996]
+t: 148	 action: [-0.767  0.302 -0.386 -0.015 -0.083  0.019 -1.015]
+t: 149	 action: [-0.714  0.232 -0.38  -0.006 -0.076  0.012 -1.012]
+t: 150	 action: [-0.788  0.267 -0.315 -0.017 -0.088  0.016 -0.997]
+t: 151	 action: [-7.434e-01  2.445e-01 -2.980e-01 -5.646e-04 -8.217e-02  1.971e-02 -1.040e+00]
+t: 152	 action: [-0.729  0.176 -0.223 -0.018 -0.071  0.011 -0.999]
+t: 153	 action: [-0.659  0.131 -0.224 -0.002 -0.053  0.016 -1.058]
+[07-31 02:05:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9513
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9513
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 106
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 6 (5.7%)
+
+
 12%|█▏        | 6/50 [01:27<11:12, 15.29s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 7...
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=154: Selected seed 195 with value = 0.9513
+t: 154	 action: [-0.823 -0.031 -0.648  0.008 -0.056  0.011 -0.799]
+t: 155	 action: [-0.836 -0.098 -0.565  0.014 -0.011  0.031 -0.863]
+t: 156	 action: [-0.858 -0.037 -0.63   0.009 -0.008  0.013 -0.896]
+t: 157	 action: [-0.865 -0.094 -0.499  0.009  0.024  0.023 -0.93 ]
+t: 158	 action: [-0.822 -0.109 -0.479  0.006  0.053  0.012 -0.707]
+t: 159	 action: [-0.856 -0.069 -0.343  0.018  0.087  0.032 -0.704]
+t: 160	 action: [-0.771 -0.083 -0.324  0.002  0.102  0.009 -0.858]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=106--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+151 151 10 10
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=106--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 106
+# successes: 6 (5.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+[07-31 02:05:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3378
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3378
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3378
+t=10: Selected seed 195 with value = 0.3378
+t: 10	 action: [ 0.121  0.096 -0.044 -0.002 -0.008 -0.005 -1.016]
+t: 11	 action: [ 2.334e-01  1.306e-01 -4.130e-02 -5.425e-03 -8.797e-04 -1.079e-02 -1.006e+00]
+t: 12	 action: [ 0.33   0.164 -0.062 -0.007 -0.006 -0.003 -1.024]
+t: 13	 action: [ 0.491  0.191 -0.058 -0.009  0.006 -0.01  -1.008]
+t: 14	 action: [ 0.637  0.197 -0.071 -0.01  -0.009 -0.009 -1.026]
+t: 15	 action: [ 7.355e-01  1.893e-01 -8.895e-02 -8.140e-03 -9.997e-04 -1.357e-02 -1.028e+00]
+t: 16	 action: [ 0.86   0.226 -0.088 -0.013 -0.003 -0.011 -1.024]
+t: 17	 action: [ 8.774e-01  2.129e-01 -1.211e-01 -1.009e-02  4.610e-04 -1.267e-02 -1.034e+00]
+t: 18	 action: [ 0.906  0.19  -0.085 -0.012  0.006 -0.016 -1.02 ]
+t: 19	 action: [ 0.9    0.176 -0.1   -0.007  0.016 -0.018 -1.01 ]
+t: 20	 action: [ 0.935  0.175 -0.109 -0.007  0.009 -0.015 -1.02 ]
+t: 21	 action: [ 0.908  0.174 -0.103 -0.006  0.021 -0.017 -1.007]
+t: 22	 action: [ 0.96   0.2   -0.101 -0.006  0.013 -0.014 -1.001]
+t: 23	 action: [ 0.958  0.188 -0.131 -0.002  0.012 -0.017 -1.027]
+t: 24	 action: [ 0.987  0.229 -0.129 -0.004  0.018 -0.012 -1.002]
+t: 25	 action: [ 9.762e-01  1.977e-01 -1.563e-01 -9.062e-05  1.792e-02 -1.260e-02 -1.027e+00]
+[07-31 02:05:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3780
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3780
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3780
+t=26: Selected seed 195 with value = 0.3780
+t: 26	 action: [ 0.915  0.251 -0.199  0.01   0.005 -0.008 -1.038]
+t: 27	 action: [ 0.913  0.161 -0.221  0.018  0.012 -0.015 -1.001]
+t: 28	 action: [ 0.883  0.169 -0.249  0.021  0.005 -0.006 -1.034]
+t: 29	 action: [ 0.886  0.087 -0.278  0.025  0.018 -0.018 -1.005]
+t: 30	 action: [ 0.891  0.098 -0.32   0.025  0.016 -0.016 -1.027]
+t: 31	 action: [ 0.853  0.063 -0.345  0.033  0.027 -0.014 -1.03 ]
+t: 32	 action: [ 0.774  0.035 -0.408  0.035  0.021 -0.015 -1.027]
+t: 33	 action: [ 0.713  0.015 -0.407  0.039  0.023 -0.017 -1.035]
+t: 34	 action: [ 0.577 -0.091 -0.448  0.039 -0.002 -0.017 -1.021]
+t: 35	 action: [ 0.59  -0.068 -0.517  0.03   0.007 -0.014 -1.007]
+t: 36	 action: [ 0.461 -0.122 -0.532  0.039 -0.005 -0.014 -1.02 ]
+t: 37	 action: [ 0.451 -0.088 -0.575  0.026  0.007 -0.013 -1.006]
+t: 38	 action: [ 0.364 -0.091 -0.557  0.028  0.001 -0.006 -1.023]
+t: 39	 action: [ 0.29  -0.065 -0.545  0.03   0.004 -0.007 -1.036]
+t: 40	 action: [ 0.293 -0.052 -0.611  0.02   0.002 -0.001 -1.022]
+t: 41	 action: [ 2.507e-01 -4.892e-02 -5.697e-01  2.170e-02 -1.341e-04 -2.884e-03 -1.036e+00]
+[07-31 02:05:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4924
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4924
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4924
+t=42: Selected seed 195 with value = 0.4924
+t: 42	 action: [ 0.282 -0.162 -0.68   0.033 -0.014  0.009 -1.011]
+t: 43	 action: [ 0.145 -0.138 -0.782  0.016 -0.017  0.011 -1.019]
+t: 44	 action: [ 0.101 -0.169 -0.715  0.022 -0.028  0.015 -1.007]
+t: 45	 action: [-0.004 -0.138 -0.786  0.011 -0.026  0.019 -1.016]
+t: 46	 action: [-0.136 -0.122 -0.706  0.002 -0.031  0.03  -1.012]
+t: 47	 action: [-0.144 -0.078 -0.833  0.003 -0.033  0.026 -1.043]
+t: 48	 action: [-0.25  -0.042 -0.721 -0.005 -0.035  0.044 -1.006]
+t: 49	 action: [-0.287 -0.036 -0.808 -0.006 -0.024  0.033 -1.039]
+t: 50	 action: [-3.877e-01 -3.335e-02 -6.962e-01 -5.330e-04 -3.539e-02  6.736e-02 -1.006e+00]
+t: 51	 action: [-0.413 -0.087 -0.755 -0.018 -0.024  0.065 -1.015]
+t: 52	 action: [-0.444  0.017 -0.664 -0.009 -0.028  0.073 -1.006]
+t: 53	 action: [-0.441 -0.048 -0.699 -0.021 -0.006  0.065 -1.012]
+t: 54	 action: [-0.484  0.016 -0.605 -0.037 -0.03   0.091 -1.007]
+t: 55	 action: [-0.431  0.026 -0.657 -0.026 -0.015  0.073 -1.045]
+t: 56	 action: [-0.42   0.063 -0.571 -0.043 -0.017  0.083 -1.001]
+t: 57	 action: [-0.369  0.054 -0.597 -0.03  -0.004  0.07  -1.051]
+[07-31 02:05:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5303
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5303
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5303
+t=58: Selected seed 195 with value = 0.5303
+t: 58	 action: [-0.204  0.158 -0.638  0.009 -0.008  0.073 -1.   ]
+t: 59	 action: [-0.073  0.245 -0.646  0.005  0.007  0.063 -0.999]
+t: 60	 action: [-0.056  0.351 -0.554  0.009  0.007  0.07  -1.   ]
+t: 61	 action: [ 0.04   0.531 -0.509  0.008  0.013  0.054 -1.005]
+t: 62	 action: [-0.019  0.569 -0.412  0.006  0.011  0.081 -1.011]
+t: 63	 action: [ 0.044  0.688 -0.393  0.013  0.003  0.062 -1.035]
+t: 64	 action: [ 0.149  0.831 -0.336  0.007  0.022  0.069 -1.008]
+t: 65	 action: [ 0.208  0.87  -0.32   0.013  0.004  0.049 -1.036]
+t: 66	 action: [ 0.135  0.848 -0.231  0.019  0.015  0.027 -1.011]
+t: 67	 action: [ 0.146  0.853 -0.216  0.019  0.017  0.02  -1.005]
+t: 68	 action: [ 0.117  0.877 -0.205  0.02   0.017  0.029 -1.006]
+t: 69	 action: [ 0.119  0.87  -0.213  0.02   0.019  0.02  -1.004]
+t: 70	 action: [ 0.067  0.933 -0.218  0.014  0.018  0.027 -1.024]
+t: 71	 action: [ 0.028  0.885 -0.211  0.021  0.018  0.018 -1.027]
+t: 72	 action: [ 0.025  0.936 -0.209  0.012  0.018  0.023 -1.019]
+t: 73	 action: [ 0.019  0.904 -0.239  0.019  0.017  0.02  -1.03 ]
+[07-31 02:05:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5799
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5799
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5799
+t=74: Selected seed 195 with value = 0.5799
+t: 74	 action: [-0.094  0.357 -0.57   0.007 -0.023  0.023 -0.993]
+t: 75	 action: [-4.658e-02  5.423e-01 -4.986e-01  4.857e-03  1.488e-05  1.870e-02 -1.000e+00]
+t: 76	 action: [-0.029  0.683 -0.51   0.006 -0.011  0.026 -0.992]
+t: 77	 action: [ 0.007  0.785 -0.435  0.007  0.007  0.019 -1.006]
+t: 78	 action: [ 0.016  0.774 -0.435  0.002 -0.002  0.02  -1.009]
+t: 79	 action: [-0.018  0.875 -0.386  0.007 -0.001  0.016 -1.037]
+t: 80	 action: [ 0.019  0.915 -0.395  0.002  0.009  0.022 -1.006]
+t: 81	 action: [-0.007  0.934 -0.346  0.01   0.012  0.016 -1.039]
+t: 82	 action: [ 0.027  0.922 -0.307  0.011 -0.021  0.015 -1.005]
+t: 83	 action: [ 0.052  0.917 -0.297  0.007 -0.008  0.012 -1.006]
+t: 84	 action: [ 0.01   0.921 -0.264  0.011 -0.009  0.017 -1.   ]
+t: 85	 action: [ 0.045  0.911 -0.238  0.008  0.006  0.014 -1.005]
+t: 86	 action: [-0.05   0.951 -0.234  0.005 -0.007  0.011 -1.014]
+t: 87	 action: [-0.035  0.933 -0.195  0.013 -0.005  0.012 -1.038]
+t: 88	 action: [-0.101  0.952 -0.202  0.003  0.008  0.014 -1.007]
+t: 89	 action: [-0.098  0.927 -0.162  0.012 -0.003  0.016 -1.039]
+[07-31 02:05:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7990
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7990
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7990
+t=90: Selected seed 195 with value = 0.7990
+t: 90	 action: [-0.198  0.819 -0.246  0.002 -0.013  0.006 -0.999]
+t: 91	 action: [-1.866e-01  8.583e-01 -2.883e-01 -8.040e-04 -2.501e-03  2.071e-03 -1.010e+00]
+t: 92	 action: [-0.214  0.859 -0.238  0.002 -0.006  0.007 -0.994]
+t: 93	 action: [-0.187  0.893 -0.291  0.002  0.001  0.005 -1.01 ]
+t: 94	 action: [-0.205  0.856 -0.223 -0.002 -0.011  0.001 -1.001]
+t: 95	 action: [-2.368e-01  9.092e-01 -2.778e-01  7.356e-04 -7.485e-03  3.366e-03 -1.031e+00]
+t: 96	 action: [-0.245  0.891 -0.231 -0.002 -0.003  0.003 -1.   ]
+t: 97	 action: [-0.259  0.923 -0.293  0.004 -0.004  0.007 -1.033]
+t: 98	 action: [-0.313  0.922 -0.272  0.006 -0.029  0.013 -0.999]
+t: 99	 action: [-0.29   0.906 -0.279  0.002 -0.022  0.006 -1.005]
+t: 100	 action: [-0.358  0.918 -0.274  0.007 -0.023  0.016 -0.998]
+t: 101	 action: [-0.328  0.884 -0.277  0.005 -0.006  0.009 -1.004]
+t: 102	 action: [-0.381  0.916 -0.27   0.002 -0.022  0.01  -0.997]
+t: 103	 action: [-0.407  0.907 -0.298  0.008 -0.015  0.009 -1.028]
+t: 104	 action: [-4.383e-01  9.025e-01 -2.570e-01  7.354e-04 -9.604e-03  1.512e-02 -9.908e-01]
+t: 105	 action: [-0.445  0.878 -0.268  0.009 -0.004  0.013 -1.033]
+[07-31 02:05:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.171 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9582
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 1.171 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=106: Selected seed 195 with value = 0.9582
+t: 106	 action: [-0.851  0.24  -0.538  0.018  0.021  0.015 -0.931]
+t: 107	 action: [-0.848  0.222 -0.537  0.024  0.031  0.021 -0.969]
+t: 108	 action: [-0.912  0.166 -0.567  0.021  0.039  0.013 -0.936]
+t: 109	 action: [-0.917  0.146 -0.548  0.024  0.046  0.015 -0.983]
+t: 110	 action: [-0.94   0.112 -0.529  0.019  0.067  0.016 -0.926]
+t: 111	 action: [-0.972  0.109 -0.507  0.032  0.068  0.021 -1.024]
+t: 112	 action: [-0.934  0.064 -0.489  0.021  0.085  0.008 -0.925]
+t: 113	 action: [-0.957  0.086 -0.464  0.028  0.089  0.013 -1.03 ]
+t: 114	 action: [-0.913  0.057 -0.474  0.018  0.086  0.009 -0.978]
+t: 115	 action: [-0.907 -0.01  -0.49   0.011  0.083  0.009 -1.006]
+t: 116	 action: [-0.917  0.04  -0.425  0.018  0.09   0.009 -0.977]
+t: 117	 action: [-0.889 -0.029 -0.428  0.008  0.09   0.009 -1.01 ]
+t: 118	 action: [-0.915 -0.022 -0.397  0.013  0.086  0.006 -0.962]
+t: 119	 action: [-0.883 -0.086 -0.39   0.017  0.087  0.007 -1.036]
+t: 120	 action: [-0.897 -0.04  -0.335  0.013  0.086  0.004 -0.955]
+t: 121	 action: [-0.852 -0.097 -0.319  0.01   0.092  0.009 -1.042]
+[07-31 02:05:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.164 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9906
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9906
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 107
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 7 (6.5%)
+
+
 14%|█▍        | 7/50 [01:41<10:46, 15.03s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 8...
+Query 1/1: Action query time = 1.164 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=122: Selected seed 195 with value = 0.9906
+t: 122	 action: [-0.922 -0.013 -0.353  0.028  0.032  0.004 -0.964]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=107--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+113 113 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=107--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 107
+# successes: 7 (6.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+[07-31 02:05:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3945
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3945
+Query 1/1: Action query time = 1.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3945
+t=10: Selected seed 195 with value = 0.3945
+t: 10	 action: [ 0.197  0.192 -0.055  0.005 -0.007  0.013 -1.015]
+t: 11	 action: [ 0.327  0.223 -0.016  0.009  0.001  0.008 -1.014]
+t: 12	 action: [ 0.412  0.292 -0.08   0.004 -0.005  0.016 -1.018]
+t: 13	 action: [ 0.589  0.342 -0.029  0.007  0.003  0.01  -1.012]
+t: 14	 action: [ 0.669  0.379 -0.123 -0.002 -0.012  0.017 -1.013]
+t: 15	 action: [ 0.787  0.39  -0.089  0.009 -0.004  0.01  -1.033]
+t: 16	 action: [ 0.882  0.418 -0.143 -0.004 -0.009  0.018 -1.011]
+t: 17	 action: [ 0.908  0.427 -0.123  0.01  -0.004  0.011 -1.036]
+t: 18	 action: [ 8.711e-01  4.153e-01 -1.526e-01  6.021e-03 -7.136e-04  1.349e-02 -1.034e+00]
+t: 19	 action: [ 0.908  0.407 -0.148  0.005  0.007  0.006 -1.017]
+t: 20	 action: [ 0.903  0.399 -0.166  0.004 -0.001  0.014 -1.037]
+t: 21	 action: [ 0.913  0.395 -0.169  0.005  0.007  0.007 -1.013]
+t: 22	 action: [ 9.508e-01  4.067e-01 -2.008e-01  4.574e-04 -3.766e-03  1.214e-02 -1.009e+00]
+t: 23	 action: [ 0.96   0.394 -0.254  0.01  -0.001  0.008 -1.031]
+t: 24	 action: [ 9.723e-01  3.980e-01 -2.410e-01 -7.896e-04 -5.025e-03  1.083e-02 -1.014e+00]
+t: 25	 action: [ 9.681e-01  3.513e-01 -3.292e-01  1.315e-02 -7.858e-04  1.010e-02 -1.035e+00]
+[07-31 02:05:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3908
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3908
+Query 1/1: Action query time = 0.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3908
+t=26: Selected seed 195 with value = 0.3908
+t: 26	 action: [ 0.874  0.252 -0.185  0.005  0.026  0.006 -1.04 ]
+t: 27	 action: [ 9.053e-01  1.739e-01 -2.115e-01  5.476e-03  2.559e-02 -3.846e-04 -1.016e+00]
+t: 28	 action: [ 0.87   0.132 -0.235  0.006  0.018  0.005 -1.028]
+t: 29	 action: [ 0.891  0.054 -0.285  0.009  0.013 -0.005 -1.017]
+t: 30	 action: [ 0.881  0.038 -0.346  0.001  0.015 -0.001 -1.024]
+t: 31	 action: [ 0.823 -0.031 -0.384  0.015  0.01  -0.005 -1.037]
+t: 32	 action: [ 0.783 -0.023 -0.46   0.007  0.006 -0.003 -1.019]
+t: 33	 action: [ 0.702 -0.064 -0.501  0.021  0.006 -0.008 -1.039]
+t: 34	 action: [ 5.762e-01 -8.321e-02 -5.418e-01  2.454e-02 -5.136e-03 -2.193e-04 -1.036e+00]
+t: 35	 action: [ 0.543 -0.106 -0.649  0.021 -0.003 -0.004 -1.02 ]
+t: 36	 action: [ 0.411 -0.084 -0.617  0.024 -0.016  0.001 -1.031]
+t: 37	 action: [ 0.336 -0.104 -0.708  0.017 -0.016 -0.005 -1.018]
+t: 38	 action: [ 0.281 -0.032 -0.659  0.015 -0.025 -0.004 -1.033]
+t: 39	 action: [ 0.164 -0.051 -0.672  0.022 -0.034 -0.007 -1.039]
+t: 40	 action: [ 0.164 -0.009 -0.683  0.01  -0.03  -0.003 -1.028]
+t: 41	 action: [ 0.079 -0.029 -0.69   0.016 -0.038 -0.007 -1.038]
+[07-31 02:05:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4331
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4331
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4331
+t=42: Selected seed 195 with value = 0.4331
+t: 42	 action: [ 0.403 -0.171 -0.614  0.031 -0.017  0.009 -1.01 ]
+t: 43	 action: [ 0.25  -0.178 -0.704  0.022 -0.017  0.012 -1.028]
+t: 44	 action: [ 0.21  -0.22  -0.657  0.03  -0.037  0.013 -1.013]
+t: 45	 action: [ 0.067 -0.18  -0.746  0.019 -0.042  0.017 -1.028]
+t: 46	 action: [-0.06  -0.171 -0.697  0.009 -0.041  0.014 -1.004]
+t: 47	 action: [-0.107 -0.103 -0.872  0.016 -0.05   0.02  -1.051]
+t: 48	 action: [-0.19  -0.076 -0.725  0.005 -0.052  0.025 -1.008]
+t: 49	 action: [-0.253 -0.042 -0.866  0.012 -0.052  0.026 -1.048]
+t: 50	 action: [-0.303 -0.059 -0.744  0.009 -0.067  0.053 -1.013]
+t: 51	 action: [-0.382 -0.099 -0.78  -0.008 -0.065  0.054 -1.022]
+t: 52	 action: [-0.434 -0.016 -0.728  0.002 -0.062  0.062 -1.016]
+t: 53	 action: [-0.455 -0.061 -0.756 -0.012 -0.051  0.056 -1.022]
+t: 54	 action: [-0.533  0.002 -0.676 -0.02  -0.064  0.082 -1.013]
+t: 55	 action: [-0.522  0.009 -0.75  -0.014 -0.052  0.064 -1.052]
+t: 56	 action: [-0.507  0.031 -0.655 -0.03  -0.044  0.079 -1.012]
+t: 57	 action: [-0.489  0.039 -0.705 -0.018 -0.029  0.064 -1.058]
+[07-31 02:05:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5223
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5223
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5223
+t=58: Selected seed 195 with value = 0.5223
+t: 58	 action: [-0.165  0.053 -0.467  0.015 -0.038  0.028 -1.005]
+t: 59	 action: [-1.437e-01 -2.128e-02 -4.558e-01  7.633e-04 -3.413e-02  2.612e-02 -1.017e+00]
+t: 60	 action: [-0.167  0.056 -0.557  0.013 -0.02   0.032 -1.   ]
+t: 61	 action: [-0.092  0.071 -0.537  0.001 -0.004  0.025 -1.017]
+t: 62	 action: [-0.18   0.045 -0.542  0.009 -0.01   0.039 -0.995]
+t: 63	 action: [-0.104  0.086 -0.472  0.005  0.001  0.027 -1.044]
+t: 64	 action: [-0.137  0.216 -0.462  0.002  0.005  0.031 -0.993]
+t: 65	 action: [-5.120e-02  4.919e-01 -3.843e-01 -7.183e-05  8.477e-03  2.124e-02 -1.042e+00]
+t: 66	 action: [ 0.107  0.659 -0.348  0.001  0.031  0.02  -1.01 ]
+t: 67	 action: [ 0.133  0.733 -0.303 -0.002  0.029  0.014 -1.022]
+t: 68	 action: [ 1.188e-01  7.955e-01 -2.569e-01 -7.711e-04  4.315e-02  1.810e-02 -1.008e+00]
+t: 69	 action: [ 0.115  0.794 -0.196 -0.002  0.03   0.013 -1.019]
+t: 70	 action: [ 0.012  0.886 -0.277 -0.004  0.032  0.012 -1.008]
+t: 71	 action: [ 0.018  0.837 -0.262  0.002  0.045  0.008 -1.043]
+t: 72	 action: [-0.041  0.908 -0.265 -0.011  0.027  0.007 -1.001]
+t: 73	 action: [-0.001  0.847 -0.228 -0.003  0.039  0.008 -1.035]
+[07-31 02:05:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5494
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=74: Selected seed 195 with value = 0.5494
+t: 74	 action: [-0.161  0.082 -0.441  0.013 -0.03   0.016 -0.991]
+t: 75	 action: [-0.196  0.007 -0.454  0.003 -0.013  0.015 -1.012]
+t: 76	 action: [-0.177  0.109 -0.488  0.011 -0.018  0.017 -0.993]
+t: 77	 action: [-0.133  0.178 -0.504  0.001  0.002  0.015 -1.013]
+t: 78	 action: [-0.147  0.119 -0.392  0.006 -0.009  0.013 -0.993]
+t: 79	 action: [-1.118e-01  2.279e-01 -3.776e-01  8.736e-03  7.069e-04  1.317e-02 -1.043e+00]
+t: 80	 action: [-7.412e-02  4.619e-01 -3.260e-01  3.104e-04  2.384e-03  1.239e-02 -9.951e-01]
+t: 81	 action: [-0.04   0.599 -0.298  0.003  0.012  0.01  -1.043]
+t: 82	 action: [ 0.027  0.7   -0.284  0.003  0.011  0.016 -1.013]
+t: 83	 action: [ 0.004  0.738 -0.265 -0.004  0.014  0.011 -1.019]
+t: 84	 action: [ 3.133e-02  8.031e-01 -2.716e-01  1.001e-03  1.706e-02  1.548e-02 -1.011e+00]
+t: 85	 action: [ 0.014  0.79  -0.245 -0.003  0.016  0.012 -1.025]
+t: 86	 action: [-0.053  0.879 -0.263 -0.004  0.014  0.012 -1.014]
+t: 87	 action: [-2.640e-02  8.395e-01 -2.746e-01  7.647e-04  1.875e-02  6.311e-03 -1.046e+00]
+t: 88	 action: [-0.067  0.9   -0.25  -0.009  0.013  0.008 -1.007]
+t: 89	 action: [-0.031  0.852 -0.27  -0.003  0.018  0.008 -1.047]
+[07-31 02:05:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7126
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7126
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7126
+t=90: Selected seed 195 with value = 0.7126
+t: 90	 action: [-0.135  0.756 -0.237 -0.008  0.014  0.013 -0.986]
+t: 91	 action: [-0.099  0.768 -0.233 -0.011  0.02   0.009 -1.011]
+t: 92	 action: [-0.118  0.855 -0.233 -0.006  0.016  0.014 -0.978]
+t: 93	 action: [-0.061  0.841 -0.233 -0.007  0.021  0.014 -1.009]
+t: 94	 action: [-0.061  0.855 -0.196 -0.014  0.013  0.008 -0.995]
+t: 95	 action: [-0.054  0.858 -0.195 -0.006  0.02   0.01  -1.044]
+t: 96	 action: [-0.06   0.91  -0.205 -0.013  0.016  0.009 -0.984]
+t: 97	 action: [-0.046  0.894 -0.209 -0.003  0.019  0.013 -1.041]
+t: 98	 action: [-4.000e-02  9.137e-01 -2.481e-01 -7.055e-03  7.567e-04  2.090e-02 -1.006e+00]
+t: 99	 action: [-0.017  0.889 -0.241 -0.01   0.006  0.016 -1.02 ]
+t: 100	 action: [-4.490e-02  9.007e-01 -2.742e-01  3.775e-04  1.769e-03  2.330e-02 -9.984e-01]
+t: 101	 action: [-0.055  0.874 -0.256 -0.007  0.008  0.02  -1.019]
+t: 102	 action: [-0.165  0.893 -0.305 -0.006  0.005  0.027 -1.015]
+t: 103	 action: [-1.516e-01  8.924e-01 -3.081e-01 -3.857e-03  9.064e-04  1.945e-02 -1.045e+00]
+t: 104	 action: [-0.208  0.873 -0.318 -0.008  0.011  0.026 -1.   ]
+t: 105	 action: [-2.216e-01  8.745e-01 -3.212e-01 -9.073e-04  2.670e-03  2.318e-02 -1.045e+00]
+[07-31 02:06:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8701
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 1.004 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=106: Selected seed 195 with value = 0.8701
+t: 106	 action: [-0.254  0.906 -0.316  0.006  0.008  0.004 -1.015]
+t: 107	 action: [-0.216  0.864 -0.237  0.008  0.015 -0.002 -1.009]
+t: 108	 action: [-0.27   0.924 -0.291  0.005  0.016  0.006 -0.998]
+t: 109	 action: [-0.228  0.862 -0.212  0.01   0.022  0.002 -1.011]
+t: 110	 action: [-0.264  0.892 -0.249  0.002  0.015 -0.003 -1.004]
+t: 111	 action: [-0.291  0.87  -0.205  0.012  0.02   0.004 -1.039]
+t: 112	 action: [-0.304  0.908 -0.232 -0.002  0.024 -0.002 -0.992]
+t: 113	 action: [-0.317  0.867 -0.2    0.014  0.027  0.006 -1.041]
+t: 114	 action: [-0.239  0.933 -0.267 -0.003  0.006  0.011 -1.001]
+t: 115	 action: [-0.312  0.851 -0.245 -0.004  0.009  0.005 -1.014]
+t: 116	 action: [-0.329  0.843 -0.268  0.004  0.009  0.009 -1.002]
+t: 117	 action: [-0.361  0.734 -0.268 -0.004  0.016  0.006 -1.012]
+t: 118	 action: [-0.561  0.715 -0.34  -0.004  0.016  0.014 -1.001]
+t: 119	 action: [-0.538  0.62  -0.346  0.008  0.011  0.011 -1.045]
+t: 120	 action: [-0.606  0.397 -0.357 -0.004  0.034  0.006 -0.996]
+t: 121	 action: [-0.602  0.268 -0.388  0.013  0.031  0.012 -1.046]
+[07-31 02:06:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9876
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=122: Selected seed 195 with value = 0.9876
+t: 122	 action: [-0.633  0.051 -0.32   0.013  0.036 -0.021 -0.989]
+t: 123	 action: [-0.624 -0.025 -0.243  0.014  0.056 -0.039 -0.986]
+t: 124	 action: [-0.746 -0.034 -0.311  0.022  0.051 -0.031 -0.997]
+t: 125	 action: [-0.684 -0.114 -0.221  0.025  0.063 -0.059 -0.99 ]
+t: 126	 action: [-0.815 -0.123 -0.242  0.038  0.066 -0.053 -0.996]
+t: 127	 action: [-0.719 -0.161 -0.198  0.032  0.061 -0.049 -1.043]
+t: 128	 action: [-0.792 -0.205 -0.247  0.043  0.066 -0.067 -0.992]
+t: 129	 action: [-0.685 -0.152 -0.235  0.039  0.06  -0.07  -1.032]
+t: 130	 action: [-0.823 -0.208 -0.23   0.044  0.052 -0.056 -1.01 ]
+t: 131	 action: [-0.774 -0.262 -0.169  0.047  0.051 -0.058 -1.024]
+t: 132	 action: [-0.81  -0.251 -0.238  0.055  0.056 -0.054 -1.008]
+t: 133	 action: [-0.731 -0.254 -0.169  0.054  0.058 -0.05  -1.014]
+t: 134	 action: [-0.785 -0.267 -0.211  0.059  0.063 -0.053 -1.001]
+t: 135	 action: [-0.638 -0.161 -0.217  0.058  0.063 -0.054 -1.043]
+t: 136	 action: [-0.669 -0.237 -0.192  0.061  0.063 -0.047 -0.984]
+t: 137	 action: [-0.512 -0.103 -0.206  0.058  0.063 -0.043 -1.036]
+[07-31 02:06:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9976
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 1.010 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=138: Selected seed 195 with value = 0.9976
+t: 138	 action: [-0.875 -0.18  -0.219  0.005  0.068 -0.019 -0.913]
+t: 139	 action: [-0.749 -0.165 -0.145  0.001  0.071 -0.021 -0.948]
+t: 140	 action: [-0.704 -0.189 -0.079 -0.001  0.059 -0.019 -0.986]
+t: 141	 action: [-0.522 -0.112 -0.023 -0.008  0.044 -0.027 -0.996]
+t: 142	 action: [-0.314 -0.065 -0.014 -0.012  0.03  -0.025 -1.002]
+t: 143	 action: [-0.18  -0.011 -0.018 -0.001  0.02  -0.024 -1.05 ]
+t: 144	 action: [-0.028  0.018  0.044 -0.017  0.016 -0.028 -1.008]
+t: 145	 action: [-0.088  0.029  0.016 -0.006  0.014 -0.029 -1.032]
+t: 146	 action: [-0.072 -0.164 -0.049  0.004  0.003 -0.017 -1.021]
+t: 147	 action: [-0.044 -0.228 -0.039  0.002  0.007 -0.029 -1.008]
+t: 148	 action: [-0.146 -0.2   -0.04   0.009 -0.007 -0.016 -1.023]
+t: 149	 action: [-0.099 -0.211 -0.023  0.008  0.002 -0.028 -1.006]
+t: 150	 action: [-1.864e-01 -1.153e-01  5.894e-03  1.072e-04 -8.864e-03 -2.023e-02 -1.022e+00]
+t: 151	 action: [-0.218 -0.104 -0.01   0.01  -0.012 -0.031 -1.036]
+t: 152	 action: [-0.244 -0.115  0.024  0.006 -0.01  -0.022 -1.025]
+t: 153	 action: [-0.23  -0.107 -0.01   0.012 -0.011 -0.027 -1.04 ]
+[07-31 02:06:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9935
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=154: Selected seed 195 with value = 0.9935
+t: 154	 action: [-0.635 -0.081  0.177 -0.003  0.097 -0.03  -0.983]
+t: 155	 action: [-0.3   -0.03   0.2   -0.013  0.097 -0.02  -0.986]
+t: 156	 action: [-0.277  0.002  0.268 -0.009  0.082 -0.029 -0.992]
+t: 157	 action: [-0.077  0.034  0.257 -0.018  0.077 -0.02  -0.997]
+t: 158	 action: [-0.092  0.02   0.162 -0.017  0.058 -0.019 -1.018]
+t: 159	 action: [-0.119  0.04   0.202 -0.007  0.056 -0.013 -1.025]
+t: 160	 action: [-0.094  0.05   0.139 -0.017  0.036 -0.025 -1.018]
+t: 161	 action: [-0.074  0.089  0.165 -0.014  0.041 -0.017 -1.016]
+t: 162	 action: [-0.101  0.043  0.06  -0.007  0.028 -0.015 -1.014]
+t: 163	 action: [-0.015  0.036  0.068 -0.02   0.03  -0.02  -1.006]
+t: 164	 action: [-0.049  0.074  0.068 -0.012  0.016 -0.014 -1.017]
+t: 165	 action: [ 0.011  0.086  0.086 -0.02   0.027 -0.018 -1.001]
+t: 166	 action: [-0.087  0.046  0.051 -0.015  0.014 -0.011 -1.021]
+t: 167	 action: [-0.041  0.085  0.073 -0.016  0.012 -0.017 -1.033]
+t: 168	 action: [-0.028  0.109  0.075 -0.017  0.012 -0.015 -1.026]
+t: 169	 action: [-0.005  0.119  0.104 -0.018  0.014 -0.015 -1.03 ]
+[07-31 02:06:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9895
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=170: Selected seed 195 with value = 0.9895
+t: 170	 action: [-0.171  0.093  0.339 -0.029  0.043  0.001 -1.012]
+t: 171	 action: [-1.153e-02  1.345e-01  3.381e-01 -3.630e-02  4.416e-02 -5.641e-04 -9.879e-01]
+t: 172	 action: [-2.388e-02  1.902e-01  3.344e-01 -3.528e-02  3.382e-02  8.599e-04 -1.019e+00]
+t: 173	 action: [ 2.595e-02  1.713e-01  3.267e-01 -3.368e-02  3.948e-02  2.082e-04 -9.970e-01]
+t: 174	 action: [-0.032  0.224  0.324 -0.036  0.025 -0.003 -1.024]
+t: 175	 action: [-0.029  0.169  0.3   -0.029  0.025  0.003 -1.02 ]
+t: 176	 action: [ 0.004  0.189  0.286 -0.034  0.016 -0.004 -1.032]
+t: 177	 action: [ 4.442e-04  1.806e-01  2.701e-01 -2.683e-02  2.131e-02 -1.863e-03 -1.028e+00]
+t: 178	 action: [ 0.027  0.188  0.205 -0.024 -0.015 -0.003 -1.028]
+t: 179	 action: [-0.002  0.129  0.21  -0.033 -0.006 -0.007 -1.01 ]
+t: 180	 action: [-3.956e-02  1.722e-01  1.665e-01 -3.313e-02 -2.140e-02 -6.252e-04 -1.029e+00]
+t: 181	 action: [-0.005  0.151  0.195 -0.032 -0.011 -0.005 -1.006]
+t: 182	 action: [-0.078  0.112  0.137 -0.022 -0.02  -0.005 -1.03 ]
+t: 183	 action: [-0.06   0.146  0.142 -0.023 -0.031 -0.006 -1.044]
+t: 184	 action: [-0.054  0.124  0.148 -0.029 -0.022 -0.005 -1.032]
+t: 185	 action: [-0.031  0.161  0.178 -0.026 -0.031 -0.004 -1.044]
+[07-31 02:06:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9935
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 1.000 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=186: Selected seed 195 with value = 0.9935
+t: 186	 action: [-0.55  -0.028 -0.287 -0.01   0.044  0.001 -1.009]
+t: 187	 action: [-0.295 -0.03  -0.27  -0.02   0.024 -0.013 -1.005]
+t: 188	 action: [-0.202  0.047 -0.122 -0.017  0.02   0.001 -1.016]
+t: 189	 action: [-0.125  0.049 -0.071 -0.024  0.007 -0.01  -1.011]
+t: 190	 action: [-0.133  0.014 -0.134 -0.014  0.008 -0.007 -1.021]
+t: 191	 action: [-0.18   0.025 -0.111 -0.013  0.004 -0.01  -1.028]
+t: 192	 action: [-0.093  0.051 -0.002 -0.025 -0.01  -0.006 -1.023]
+t: 193	 action: [-0.098  0.087 -0.019 -0.02  -0.007 -0.013 -1.026]
+t: 194	 action: [-0.052  0.06   0.052 -0.007 -0.005  0.008 -1.021]
+t: 195	 action: [-0.074  0.06   0.037 -0.022 -0.005 -0.008 -1.028]
+t: 196	 action: [-0.097  0.077  0.055 -0.016 -0.021  0.008 -1.022]
+t: 197	 action: [-0.085  0.093  0.069 -0.022 -0.018 -0.005 -1.018]
+t: 198	 action: [-0.101  0.049  0.034 -0.01  -0.02   0.001 -1.025]
+t: 199	 action: [-0.154  0.094  0.021 -0.011 -0.034 -0.009 -1.044]
+t: 200	 action: [-0.092  0.078  0.056 -0.016 -0.031  0.001 -1.024]
+t: 201	 action: [-0.122  0.114  0.052 -0.016 -0.043 -0.008 -1.039]
+[07-31 02:06:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9966
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.995 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=202: Selected seed 195 with value = 0.9966
+t: 202	 action: [-3.798e-01  2.627e-02 -5.227e-02 -2.327e-03  3.946e-02  3.969e-04 -1.027e+00]
+t: 203	 action: [-0.205  0.017 -0.005 -0.014  0.019 -0.013 -1.03 ]
+t: 204	 action: [-0.119  0.085  0.067 -0.018  0.011  0.003 -1.019]
+t: 205	 action: [-0.084  0.106  0.132 -0.02   0.003 -0.009 -1.014]
+t: 206	 action: [-0.125  0.046 -0.004 -0.01   0.007 -0.004 -1.025]
+t: 207	 action: [-1.538e-01  6.584e-02  3.084e-02 -1.013e-02 -4.968e-04 -1.174e-02 -1.030e+00]
+t: 208	 action: [-0.074  0.104  0.103 -0.024 -0.015 -0.003 -1.026]
+t: 209	 action: [-0.089  0.127  0.137 -0.018 -0.014 -0.013 -1.031]
+t: 210	 action: [-2.446e-02  1.059e-01  1.220e-01 -1.052e-02  6.162e-04  8.034e-03 -1.023e+00]
+t: 211	 action: [-4.103e-02  9.867e-02  1.511e-01 -2.421e-02  3.812e-04 -7.152e-03 -1.034e+00]
+t: 212	 action: [-0.044  0.126  0.154 -0.024 -0.017  0.008 -1.02 ]
+t: 213	 action: [-0.04   0.121  0.189 -0.026 -0.009 -0.006 -1.021]
+t: 214	 action: [-4.129e-02  8.672e-02  1.242e-01 -1.050e-02 -7.290e-03  8.004e-04 -1.023e+00]
+t: 215	 action: [-0.09   0.12   0.135 -0.016 -0.016 -0.011 -1.047]
+t: 216	 action: [-3.072e-02  1.114e-01  1.646e-01 -1.994e-02 -2.064e-02 -6.961e-04 -1.023e+00]
+t: 217	 action: [-0.065  0.135  0.183 -0.023 -0.027 -0.01  -1.045]
+[07-31 02:06:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+t: 218	 action: [-3.944e-01  1.387e-02 -2.404e-02  2.764e-04  4.258e-02 -4.879e-03 -1.025e+00]
+t: 219	 action: [-0.243 -0.029 -0.014 -0.006  0.024 -0.017 -1.035]
+t: 220	 action: [-0.169  0.053  0.058 -0.007  0.02  -0.001 -1.019]
+t: 221	 action: [-0.144  0.057  0.082 -0.01   0.005 -0.014 -1.02 ]
+t: 222	 action: [-0.154  0.008 -0.017 -0.005  0.012 -0.007 -1.021]
+t: 223	 action: [-0.201  0.021 -0.006 -0.004  0.003 -0.017 -1.032]
+t: 224	 action: [-0.12   0.056  0.065 -0.013 -0.008 -0.006 -1.025]
+t: 225	 action: [-0.143  0.09   0.069 -0.01  -0.008 -0.019 -1.033]
+t: 226	 action: [-0.08   0.071  0.118  0.001  0.013  0.006 -1.022]
+t: 227	 action: [-0.098  0.07   0.131 -0.014  0.004 -0.007 -1.04 ]
+t: 228	 action: [-0.094  0.09   0.131 -0.008 -0.004  0.006 -1.022]
+t: 229	 action: [-0.097  0.111  0.162 -0.014 -0.002 -0.009 -1.028]
+t: 230	 action: [-9.249e-02  6.222e-02  1.047e-01 -3.136e-03 -1.320e-04 -4.234e-05 -1.021e+00]
+t: 231	 action: [-0.146  0.099  0.103 -0.007 -0.008 -0.013 -1.05 ]
+t: 232	 action: [-0.079  0.089  0.128 -0.01  -0.013 -0.002 -1.023]
+t: 233	 action: [-0.117  0.125  0.142 -0.013 -0.018 -0.014 -1.046]
+[07-31 02:06:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+t: 234	 action: [-0.368  0.019 -0.06   0.007  0.055 -0.01  -1.027]
+t: 235	 action: [-0.255 -0.046 -0.07   0.001  0.04  -0.022 -1.038]
+t: 236	 action: [-1.718e-01  4.105e-02 -1.433e-02  3.701e-04  2.946e-02 -1.019e-02 -1.022e+00]
+t: 237	 action: [-0.164  0.016 -0.008 -0.003  0.011 -0.023 -1.028]
+t: 238	 action: [-0.171 -0.009 -0.063  0.002  0.017 -0.01  -1.019]
+t: 239	 action: [-2.248e-01  5.370e-04 -7.817e-02  8.367e-04  8.369e-03 -2.245e-02 -1.035e+00]
+t: 240	 action: [-0.135  0.026 -0.014 -0.004 -0.002 -0.012 -1.024]
+t: 241	 action: [-1.652e-01  6.067e-02 -2.279e-02 -5.658e-03 -1.005e-03 -2.842e-02 -1.040e+00]
+t: 242	 action: [-8.782e-02  4.052e-02  5.607e-02  4.793e-03  2.042e-02  9.540e-05 -1.025e+00]
+t: 243	 action: [-0.107  0.033  0.06  -0.006  0.009 -0.015 -1.043]
+t: 244	 action: [-0.103  0.065  0.062 -0.001  0.005 -0.002 -1.024]
+t: 245	 action: [-0.104  0.091  0.088 -0.008  0.001 -0.018 -1.033]
+t: 246	 action: [-9.594e-02  3.410e-02  4.157e-02  1.699e-04  3.765e-03 -7.621e-03 -1.020e+00]
+t: 247	 action: [-0.148  0.079  0.039 -0.002 -0.002 -0.02  -1.051]
+t: 248	 action: [-0.09   0.071  0.056 -0.006 -0.008 -0.01  -1.022]
+t: 249	 action: [-0.126  0.116  0.075 -0.007 -0.01  -0.023 -1.049]
+[07-31 02:06:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+t: 250	 action: [-0.207  0.042 -0.015  0.012  0.055 -0.012 -1.032]
+t: 251	 action: [-0.151 -0.045 -0.029  0.005  0.038 -0.019 -1.039]
+t: 252	 action: [-0.102  0.045 -0.052  0.007  0.033 -0.013 -1.024]
+t: 253	 action: [-0.1   -0.011 -0.034  0.002  0.011 -0.023 -1.031]
+t: 254	 action: [-0.132  0.008 -0.066  0.007  0.018 -0.007 -1.022]
+t: 255	 action: [-0.174 -0.001 -0.084  0.004  0.006 -0.019 -1.035]
+t: 256	 action: [-8.655e-02  2.533e-02 -8.471e-02  1.404e-03 -8.887e-04 -1.136e-02 -1.023e+00]
+t: 257	 action: [-0.129  0.035 -0.092 -0.002 -0.001 -0.028 -1.039]
+t: 258	 action: [-4.372e-02  2.454e-02 -2.793e-04  1.161e-02  2.082e-02 -1.889e-03 -1.029e+00]
+t: 259	 action: [-5.823e-02 -1.512e-02 -2.560e-02  1.510e-04  5.681e-03 -1.493e-02 -1.043e+00]
+t: 260	 action: [-0.053  0.044 -0.019  0.004  0.008 -0.006 -1.026]
+t: 261	 action: [-0.052  0.04  -0.021 -0.002  0.002 -0.02  -1.035]
+t: 262	 action: [-0.052 -0.004 -0.028  0.007  0.003 -0.009 -1.021]
+t: 263	 action: [-0.105  0.038 -0.048  0.003 -0.006 -0.02  -1.05 ]
+t: 264	 action: [-5.073e-02  3.014e-02 -3.858e-02 -7.065e-04 -6.125e-03 -1.323e-02 -1.022e+00]
+t: 265	 action: [-0.092  0.071 -0.035 -0.003 -0.014 -0.025 -1.049]
+[07-31 02:06:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+t: 266	 action: [-0.165  0.047  0.021  0.013  0.047 -0.014 -1.039]
+t: 267	 action: [-0.129 -0.039  0.002  0.008  0.033 -0.021 -1.037]
+t: 268	 action: [-0.101  0.031 -0.044  0.009  0.029 -0.017 -1.031]
+t: 269	 action: [-0.101 -0.032 -0.025  0.005  0.011 -0.026 -1.034]
+t: 270	 action: [-0.137  0.004 -0.029  0.01   0.014 -0.008 -1.03 ]
+t: 271	 action: [-0.173 -0.023 -0.043  0.007  0.005 -0.02  -1.035]
+t: 272	 action: [-9.482e-02  4.261e-04 -7.215e-02  3.988e-03  7.717e-04 -1.320e-02 -1.027e+00]
+t: 273	 action: [-1.416e-01 -1.028e-03 -7.883e-02  2.757e-03  1.870e-03 -3.106e-02 -1.040e+00]
+t: 274	 action: [-6.177e-02  4.816e-04  1.397e-02  1.247e-02  2.156e-02 -7.368e-03 -1.032e+00]
+t: 275	 action: [-0.079 -0.038 -0.023  0.004  0.007 -0.022 -1.042]
+t: 276	 action: [-0.07   0.021 -0.025  0.005  0.012 -0.014 -1.031]
+t: 277	 action: [-0.069 -0.003 -0.034  0.002  0.003 -0.026 -1.037]
+t: 278	 action: [-0.065 -0.03  -0.014  0.01   0.004 -0.016 -1.025]
+t: 279	 action: [-1.243e-01  7.844e-04 -4.552e-02  8.294e-03 -3.772e-03 -2.721e-02 -1.048e+00]
+t: 280	 action: [-0.068 -0.009 -0.045  0.001 -0.003 -0.02  -1.023]
+t: 281	 action: [-0.112  0.024 -0.059  0.003 -0.006 -0.031 -1.049]
+[07-31 02:06:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+t: 282	 action: [-0.102  0.05   0.05   0.009  0.046 -0.013 -1.039]
+t: 283	 action: [-0.076 -0.029  0.035  0.006  0.029 -0.018 -1.036]
+t: 284	 action: [-0.061  0.037 -0.027  0.007  0.028 -0.017 -1.032]
+t: 285	 action: [-0.062 -0.025 -0.005  0.003  0.008 -0.022 -1.036]
+t: 286	 action: [-0.105  0.019  0.004  0.006  0.012 -0.005 -1.031]
+t: 287	 action: [-0.132 -0.017 -0.01   0.003  0.002 -0.016 -1.039]
+t: 288	 action: [-0.063  0.008 -0.048  0.003 -0.002 -0.01  -1.028]
+t: 289	 action: [-1.058e-01  1.631e-03 -3.726e-02  3.463e-04 -1.463e-03 -2.633e-02 -1.043e+00]
+t: 290	 action: [-0.022  0.009  0.032  0.007  0.016 -0.003 -1.031]
+t: 291	 action: [-4.672e-02 -3.100e-02 -2.365e-03 -5.799e-04  1.409e-03 -1.785e-02 -1.043e+00]
+t: 292	 action: [-0.03   0.022 -0.005  0.003  0.005 -0.011 -1.031]
+t: 293	 action: [-0.038 -0.005 -0.013 -0.001 -0.002 -0.021 -1.038]
+t: 294	 action: [-0.033 -0.021  0.008  0.004 -0.002 -0.01  -1.025]
+t: 295	 action: [-9.034e-02 -6.750e-04 -1.822e-02  3.438e-03 -1.378e-02 -2.227e-02 -1.052e+00]
+t: 296	 action: [-3.433e-02 -3.850e-03 -2.558e-02  1.063e-04 -7.884e-03 -1.719e-02 -1.022e+00]
+t: 297	 action: [-7.707e-02  1.803e-02 -2.624e-02 -6.694e-04 -1.901e-02 -2.638e-02 -1.051e+00]
+[07-31 02:06:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9997
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 108
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 7 (6.5%)
+
+
 16%|█▌        | 8/50 [02:13<14:10, 20.25s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 9...
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=298: Selected seed 195 with value = 0.9997
+t: 298	 action: [-0.049  0.07   0.056  0.007  0.042 -0.01  -1.036]
+t: 299	 action: [-0.037  0.005  0.036  0.005  0.026 -0.014 -1.034]
+t: 300	 action: [-0.021  0.057 -0.033  0.006  0.026 -0.014 -1.032]
+t: 301	 action: [-0.029  0.006 -0.01   0.004  0.006 -0.017 -1.036]
+t: 302	 action: [-0.065  0.06  -0.002  0.005  0.009 -0.004 -1.03 ]
+t: 303	 action: [-8.800e-02  1.608e-02 -1.234e-02  2.824e-03  2.845e-04 -1.316e-02 -1.044e+00]
+t: 304	 action: [-0.027  0.044 -0.061  0.002 -0.003 -0.01  -1.027]
+t: 305	 action: [-6.620e-02  3.113e-02 -4.654e-02 -3.828e-05 -2.558e-03 -2.319e-02 -1.045e+00]
+t: 306	 action: [ 0.008  0.026  0.008  0.008  0.016 -0.003 -1.028]
+t: 307	 action: [-2.256e-02 -6.879e-03 -2.618e-02 -5.979e-04  1.536e-03 -1.504e-02 -1.040e+00]
+t: 308	 action: [ 0.005  0.038 -0.035  0.005  0.006 -0.01  -1.03 ]
+t: 309	 action: [-1.208e-02  1.351e-02 -3.272e-02 -3.741e-04 -2.233e-03 -1.805e-02 -1.038e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=108--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=108--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 108
+# successes: 7 (6.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+[07-31 02:06:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3679
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3679
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3679
+t=10: Selected seed 195 with value = 0.3679
+t: 10	 action: [ 1.610e-01  7.631e-02 -2.306e-02  2.165e-04  2.020e-02 -4.699e-03 -1.010e+00]
+t: 11	 action: [ 0.26   0.095 -0.041 -0.008  0.029 -0.015 -1.005]
+t: 12	 action: [ 0.48   0.166 -0.041 -0.012  0.022 -0.003 -1.016]
+t: 13	 action: [ 0.656  0.203 -0.057 -0.011  0.023 -0.014 -1.017]
+t: 14	 action: [ 0.776  0.254 -0.06  -0.018  0.012 -0.004 -1.026]
+t: 15	 action: [ 0.842  0.286 -0.059 -0.014  0.017 -0.016 -1.024]
+t: 16	 action: [ 0.921  0.288 -0.076 -0.026  0.014 -0.006 -1.016]
+t: 17	 action: [ 0.924  0.302 -0.113 -0.015  0.012 -0.016 -1.033]
+t: 18	 action: [ 9.256e-01  2.305e-01 -1.151e-01 -1.969e-02  1.682e-02  2.170e-04 -1.022e+00]
+t: 19	 action: [ 0.936  0.224 -0.157 -0.018  0.013 -0.012 -1.023]
+t: 20	 action: [ 0.938  0.218 -0.171 -0.013  0.007  0.001 -1.024]
+t: 21	 action: [ 0.935  0.215 -0.224 -0.017  0.005 -0.012 -1.019]
+t: 22	 action: [ 0.977  0.185 -0.255 -0.016 -0.002 -0.003 -1.006]
+t: 23	 action: [ 0.961  0.187 -0.313 -0.01   0.004 -0.015 -1.035]
+t: 24	 action: [ 0.987  0.173 -0.365 -0.015 -0.02  -0.004 -1.003]
+t: 25	 action: [ 0.968  0.163 -0.416 -0.008 -0.004 -0.013 -1.04 ]
+[07-31 02:06:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3797
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3797
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3797
+t=26: Selected seed 195 with value = 0.3797
+t: 26	 action: [ 0.925  0.24  -0.168  0.006  0.032  0.009 -1.031]
+t: 27	 action: [ 0.934  0.13  -0.201  0.009  0.037  0.001 -1.018]
+t: 28	 action: [ 0.918  0.135 -0.261  0.01   0.027  0.009 -1.019]
+t: 29	 action: [ 9.318e-01  4.077e-02 -3.136e-01  1.387e-02  2.855e-02  1.357e-04 -1.016e+00]
+t: 30	 action: [ 9.229e-01  1.100e-02 -3.939e-01  1.402e-02  1.984e-02  5.162e-04 -1.011e+00]
+t: 31	 action: [ 0.898  0.008 -0.442  0.024  0.023 -0.003 -1.028]
+t: 32	 action: [ 8.254e-01 -5.373e-02 -5.558e-01  1.409e-02  1.196e-02 -6.209e-04 -1.007e+00]
+t: 33	 action: [ 0.779 -0.055 -0.618  0.024  0.009 -0.003 -1.03 ]
+t: 34	 action: [ 0.611 -0.084 -0.684  0.022 -0.006  0.003 -1.033]
+t: 35	 action: [ 0.558 -0.137 -0.785  0.012 -0.007 -0.004 -1.016]
+t: 36	 action: [ 0.396 -0.089 -0.77   0.014 -0.022  0.007 -1.03 ]
+t: 37	 action: [ 0.315 -0.133 -0.826  0.006 -0.021 -0.004 -1.012]
+t: 38	 action: [ 0.238 -0.022 -0.79   0.005 -0.036  0.004 -1.028]
+t: 39	 action: [ 0.151 -0.114 -0.821  0.008 -0.042 -0.003 -1.032]
+t: 40	 action: [ 0.081  0.002 -0.808 -0.001 -0.046  0.005 -1.026]
+t: 41	 action: [ 2.443e-02 -9.221e-02 -8.311e-01  1.261e-03 -4.619e-02 -4.903e-04 -1.031e+00]
+[07-31 02:06:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4175
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4175
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4175
+t=42: Selected seed 195 with value = 0.4175
+t: 42	 action: [ 0.168 -0.22  -0.462  0.021 -0.004  0.009 -1.007]
+t: 43	 action: [ 0.054 -0.239 -0.545  0.016 -0.008  0.015 -1.027]
+t: 44	 action: [ 0.025 -0.222 -0.582  0.027 -0.022  0.013 -1.01 ]
+t: 45	 action: [-0.089 -0.218 -0.674  0.015 -0.025  0.019 -1.026]
+t: 46	 action: [-0.14  -0.15  -0.682  0.007 -0.026  0.021 -1.002]
+t: 47	 action: [-0.207 -0.122 -0.778  0.011 -0.03   0.022 -1.049]
+t: 48	 action: [-0.304 -0.091 -0.722  0.005 -0.039  0.031 -1.005]
+t: 49	 action: [-0.359 -0.069 -0.8    0.007 -0.039  0.025 -1.049]
+t: 50	 action: [-0.523 -0.086 -0.716  0.002 -0.066  0.057 -1.005]
+t: 51	 action: [-0.57  -0.115 -0.765 -0.01  -0.052  0.053 -1.019]
+t: 52	 action: [-0.625 -0.029 -0.698 -0.009 -0.064  0.063 -1.01 ]
+t: 53	 action: [-0.636 -0.065 -0.728 -0.012 -0.039  0.054 -1.011]
+t: 54	 action: [-0.677 -0.023 -0.705 -0.023 -0.065  0.071 -0.994]
+t: 55	 action: [-0.639  0.035 -0.74  -0.014 -0.048  0.055 -1.042]
+t: 56	 action: [-0.655  0.011 -0.673 -0.031 -0.05   0.069 -0.994]
+t: 57	 action: [-0.596  0.07  -0.689 -0.016 -0.029  0.057 -1.047]
+[07-31 02:06:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6026
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6026
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6026
+t=58: Selected seed 195 with value = 0.6026
+t: 58	 action: [-2.645e-01  1.905e-01 -5.769e-01 -2.006e-04 -2.417e-02  3.155e-02 -9.866e-01]
+t: 59	 action: [-0.259  0.131 -0.533 -0.012 -0.003  0.026 -0.998]
+t: 60	 action: [-0.19   0.287 -0.508  0.001 -0.014  0.026 -0.987]
+t: 61	 action: [-0.169  0.383 -0.407 -0.008  0.004  0.02  -1.002]
+t: 62	 action: [-0.27   0.401 -0.371 -0.004 -0.004  0.037 -0.987]
+t: 63	 action: [-0.194  0.602 -0.293 -0.003 -0.002  0.025 -1.029]
+t: 64	 action: [-0.127  0.617 -0.278 -0.002  0.005  0.024 -0.992]
+t: 65	 action: [-9.458e-02  7.595e-01 -2.076e-01 -7.384e-04 -1.224e-03  1.772e-02 -1.029e+00]
+t: 66	 action: [ 1.047e-01  8.124e-01 -1.107e-01  5.270e-03  1.720e-02  9.688e-05 -1.013e+00]
+t: 67	 action: [ 0.062  0.802 -0.076  0.01   0.029  0.002 -1.001]
+t: 68	 action: [ 0.087  0.828 -0.092  0.006  0.019  0.002 -1.   ]
+t: 69	 action: [ 0.058  0.811 -0.064  0.014  0.026  0.006 -0.999]
+t: 70	 action: [-0.043  0.897 -0.07   0.008  0.016 -0.004 -1.023]
+t: 71	 action: [-0.024  0.824 -0.07   0.018  0.031  0.002 -1.019]
+t: 72	 action: [-0.14   0.868 -0.082  0.015  0.016 -0.005 -1.01 ]
+t: 73	 action: [-0.083  0.826 -0.113  0.021  0.023  0.007 -1.021]
+[07-31 02:06:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7290
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7290
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7290
+t=74: Selected seed 195 with value = 0.7290
+t: 74	 action: [-0.111  0.763 -0.284 -0.007 -0.013  0.024 -0.997]
+t: 75	 action: [-0.142  0.78  -0.248 -0.008  0.004  0.018 -1.009]
+t: 76	 action: [-0.1    0.83  -0.258 -0.008 -0.003  0.023 -0.987]
+t: 77	 action: [-0.094  0.833 -0.226 -0.006  0.009  0.019 -1.008]
+t: 78	 action: [-8.511e-02  8.748e-01 -2.485e-01 -1.063e-02 -3.954e-04  1.697e-02 -1.002e+00]
+t: 79	 action: [-9.948e-02  8.553e-01 -1.872e-01 -7.665e-03  4.176e-04  1.597e-02 -1.034e+00]
+t: 80	 action: [-0.094  0.922 -0.238 -0.01   0.009  0.016 -0.994]
+t: 81	 action: [-0.095  0.876 -0.172 -0.004  0.006  0.016 -1.035]
+t: 82	 action: [-1.058e-01  9.164e-01 -2.560e-01 -1.422e-04 -2.842e-02  1.662e-02 -9.993e-01]
+t: 83	 action: [-0.113  0.871 -0.231 -0.003 -0.021  0.014 -1.012]
+t: 84	 action: [-0.131  0.903 -0.263  0.006 -0.024  0.019 -0.989]
+t: 85	 action: [-1.509e-01  8.584e-01 -2.291e-01  6.571e-04 -1.949e-02  1.615e-02 -1.012e+00]
+t: 86	 action: [-0.196  0.917 -0.267 -0.003 -0.021  0.017 -1.004]
+t: 87	 action: [-0.25   0.876 -0.211  0.001 -0.021  0.015 -1.036]
+t: 88	 action: [-0.254  0.908 -0.272 -0.003 -0.013  0.019 -0.989]
+t: 89	 action: [-0.29   0.864 -0.205  0.005 -0.018  0.018 -1.038]
+[07-31 02:06:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9052
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9052
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9052
+t=90: Selected seed 195 with value = 0.9052
+t: 90	 action: [-0.265  0.784 -0.148 -0.001  0.013  0.001 -1.013]
+t: 91	 action: [-2.823e-01  7.506e-01 -5.826e-02  2.050e-04  2.505e-02  2.028e-03 -9.986e-01]
+t: 92	 action: [-0.315  0.815 -0.129  0.005  0.026  0.003 -0.998]
+t: 93	 action: [-0.324  0.771 -0.044  0.003  0.037  0.006 -1.   ]
+t: 94	 action: [-0.412  0.803 -0.08  -0.002  0.023 -0.004 -0.994]
+t: 95	 action: [-0.412  0.801 -0.079  0.003  0.036  0.007 -1.021]
+t: 96	 action: [-0.458  0.832 -0.093 -0.005  0.038 -0.002 -0.987]
+t: 97	 action: [-0.421  0.8   -0.084  0.006  0.047  0.009 -1.024]
+t: 98	 action: [-0.465  0.866 -0.159  0.005  0.015  0.009 -1.004]
+t: 99	 action: [-0.469  0.797 -0.158  0.001  0.033  0.007 -1.01 ]
+t: 100	 action: [-0.508  0.725 -0.182  0.007  0.027  0.007 -1.006]
+t: 101	 action: [-0.467  0.603 -0.194  0.005  0.058  0.005 -1.01 ]
+t: 102	 action: [-0.628  0.454 -0.238 -0.002  0.084  0.013 -0.992]
+t: 103	 action: [-0.557  0.294 -0.316  0.014  0.093  0.012 -1.04 ]
+t: 104	 action: [-5.835e-01  1.028e-01 -2.582e-01  1.153e-02  1.168e-01  4.630e-04 -9.961e-01]
+t: 105	 action: [-0.467 -0.005 -0.344  0.02   0.103  0.005 -1.042]
+[07-31 02:06:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9957
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9957
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 109
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 8 (7.3%)
+
+
 18%|█▊        | 9/50 [02:25<12:11, 17.85s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 10...
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=106: Selected seed 195 with value = 0.9957
+t: 106	 action: [-0.831  0.005 -0.355  0.044  0.039 -0.033 -0.984]
+t: 107	 action: [-0.818 -0.011 -0.346  0.038  0.064 -0.024 -0.997]
+t: 108	 action: [-0.833 -0.016 -0.336  0.048  0.06  -0.037 -0.989]
+t: 109	 action: [-0.771 -0.022 -0.319  0.037  0.082 -0.033 -0.989]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=109--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+100 100 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=109--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 109
+# successes: 8 (7.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+[07-31 02:06:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3583
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3583
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3583
+t=10: Selected seed 195 with value = 0.3583
+t: 10	 action: [ 2.291e-01  1.020e-01 -1.187e-02  1.081e-03  8.160e-04  4.419e-03 -1.010e+00]
+t: 11	 action: [ 3.267e-01  1.357e-01 -1.776e-02  4.417e-04  7.123e-03  3.490e-03 -1.010e+00]
+t: 12	 action: [ 0.455  0.169 -0.042 -0.001  0.003  0.006 -1.009]
+t: 13	 action: [ 6.158e-01  2.033e-01 -2.291e-02 -8.832e-04  9.084e-03  5.049e-03 -1.010e+00]
+t: 14	 action: [ 7.580e-01  2.183e-01 -5.408e-02 -5.066e-03  5.153e-04 -1.561e-03 -1.011e+00]
+t: 15	 action: [ 0.82   0.227 -0.047 -0.002  0.005  0.002 -1.033]
+t: 16	 action: [ 0.936  0.24  -0.087 -0.008  0.006 -0.001 -1.005]
+t: 17	 action: [ 9.354e-01  2.398e-01 -1.024e-01 -8.274e-04  6.557e-03  2.614e-03 -1.036e+00]
+t: 18	 action: [ 9.250e-01  1.916e-01 -9.724e-02  3.689e-04  9.982e-03  6.220e-03 -1.015e+00]
+t: 19	 action: [ 9.523e-01  1.758e-01 -9.687e-02 -5.888e-06  2.167e-02  1.425e-03 -1.014e+00]
+t: 20	 action: [ 0.944  0.189 -0.121  0.003  0.016  0.007 -1.015]
+t: 21	 action: [ 0.963  0.171 -0.106  0.002  0.03   0.001 -1.011]
+t: 22	 action: [ 0.977  0.182 -0.122 -0.002  0.018  0.001 -0.994]
+t: 23	 action: [ 9.949e-01  1.841e-01 -1.217e-01  6.080e-03  2.244e-02 -1.909e-04 -1.033e+00]
+t: 24	 action: [ 9.932e-01  1.974e-01 -1.478e-01 -2.120e-03  2.324e-02  6.117e-04 -9.949e-01]
+t: 25	 action: [ 1.007  0.176 -0.146  0.008  0.032  0.001 -1.036]
+[07-31 02:06:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3862
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3862
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3862
+t=26: Selected seed 195 with value = 0.3862
+t: 26	 action: [ 0.932  0.222 -0.215  0.003  0.012  0.007 -1.03 ]
+t: 27	 action: [ 9.474e-01  1.245e-01 -2.332e-01  9.957e-03  1.636e-02  8.421e-04 -1.015e+00]
+t: 28	 action: [ 0.932  0.115 -0.274  0.011  0.016  0.008 -1.026]
+t: 29	 action: [ 0.95   0.02  -0.312  0.016  0.02  -0.002 -1.013]
+t: 30	 action: [ 9.646e-01 -4.428e-04 -3.890e-01  1.853e-02  1.409e-02 -1.145e-03 -1.009e+00]
+t: 31	 action: [ 0.918 -0.053 -0.45   0.024  0.015 -0.001 -1.033]
+t: 32	 action: [ 0.905 -0.068 -0.492  0.03   0.018 -0.002 -1.013]
+t: 33	 action: [ 0.865 -0.12  -0.538  0.028  0.012 -0.003 -1.034]
+t: 34	 action: [ 7.425e-01 -1.107e-01 -5.367e-01  2.262e-02 -4.356e-04 -1.612e-03 -1.022e+00]
+t: 35	 action: [ 0.719 -0.128 -0.596  0.018  0.005 -0.007 -1.018]
+t: 36	 action: [ 0.565 -0.079 -0.614  0.019 -0.006  0.001 -1.015]
+t: 37	 action: [ 4.862e-01 -1.034e-01 -6.507e-01  1.311e-02 -9.168e-04 -7.495e-03 -1.012e+00]
+t: 38	 action: [ 3.920e-01 -3.506e-02 -6.180e-01  2.155e-02 -9.877e-03 -8.034e-04 -1.021e+00]
+t: 39	 action: [ 0.26  -0.057 -0.657  0.019 -0.015 -0.005 -1.038]
+t: 40	 action: [ 0.245  0.028 -0.662  0.012 -0.012  0.002 -1.015]
+t: 41	 action: [ 0.154 -0.011 -0.675  0.013 -0.02  -0.003 -1.038]
+[07-31 02:06:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.229 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4121
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4121
+Query 1/1: Action query time = 1.229 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4121
+t=42: Selected seed 195 with value = 0.4121
+t: 42	 action: [ 3.249e-01 -1.566e-01 -4.851e-01  2.194e-02 -1.595e-04  6.468e-03 -1.015e+00]
+t: 43	 action: [ 0.178 -0.182 -0.599  0.015 -0.004  0.009 -1.035]
+t: 44	 action: [ 0.151 -0.165 -0.587  0.021 -0.021  0.009 -1.016]
+t: 45	 action: [ 0.011 -0.181 -0.695  0.013 -0.025  0.016 -1.029]
+t: 46	 action: [-0.089 -0.144 -0.634  0.006 -0.029  0.013 -1.007]
+t: 47	 action: [-0.134 -0.13  -0.784  0.012 -0.031  0.019 -1.052]
+t: 48	 action: [-0.242 -0.059 -0.693  0.003 -0.043  0.025 -1.007]
+t: 49	 action: [-0.288 -0.077 -0.792  0.005 -0.038  0.026 -1.047]
+t: 50	 action: [-0.408 -0.058 -0.673  0.004 -0.051  0.061 -1.01 ]
+t: 51	 action: [-0.474 -0.111 -0.754 -0.012 -0.045  0.063 -1.027]
+t: 52	 action: [-0.543 -0.008 -0.67  -0.005 -0.044  0.067 -1.012]
+t: 53	 action: [-0.559 -0.071 -0.722 -0.017 -0.028  0.062 -1.018]
+t: 54	 action: [-0.636 -0.027 -0.647 -0.028 -0.051  0.088 -1.001]
+t: 55	 action: [-0.6   -0.014 -0.701 -0.018 -0.039  0.072 -1.048]
+t: 56	 action: [-0.63   0.008 -0.634 -0.038 -0.037  0.082 -0.998]
+t: 57	 action: [-0.593  0.016 -0.656 -0.025 -0.02   0.07  -1.052]
+[07-31 02:06:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.166 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5300
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5300
+Query 1/1: Action query time = 1.166 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5300
+t=58: Selected seed 195 with value = 0.5300
+t: 58	 action: [-0.36  -0.001 -0.591  0.006 -0.009  0.045 -0.982]
+t: 59	 action: [-0.294 -0.018 -0.589 -0.008  0.006  0.04  -0.997]
+t: 60	 action: [-0.269  0.102 -0.565  0.003  0.005  0.044 -0.985]
+t: 61	 action: [-0.118  0.273 -0.524 -0.007  0.013  0.034 -1.001]
+t: 62	 action: [-0.236  0.349 -0.464  0.001  0.015  0.049 -0.985]
+t: 63	 action: [-0.104  0.553 -0.403  0.001  0.006  0.037 -1.031]
+t: 64	 action: [-4.222e-02  6.278e-01 -3.618e-01 -7.023e-04  2.010e-02  3.811e-02 -9.917e-01]
+t: 65	 action: [ 1.144e-02  7.977e-01 -3.149e-01  6.460e-04  1.066e-02  2.715e-02 -1.031e+00]
+t: 66	 action: [ 0.077  0.813 -0.206  0.005  0.028  0.013 -0.989]
+t: 67	 action: [ 0.063  0.831 -0.223  0.009  0.039  0.012 -0.995]
+t: 68	 action: [ 0.058  0.849 -0.198  0.005  0.021  0.017 -0.986]
+t: 69	 action: [ 0.056  0.847 -0.217  0.01   0.02   0.016 -0.993]
+t: 70	 action: [-0.031  0.914 -0.196 -0.002  0.017  0.009 -1.006]
+t: 71	 action: [-0.016  0.872 -0.236  0.014  0.017  0.009 -1.03 ]
+t: 72	 action: [-0.092  0.91  -0.216 -0.004  0.009  0.009 -1.003]
+t: 73	 action: [-0.057  0.882 -0.266  0.013  0.006  0.014 -1.034]
+[07-31 02:06:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.180 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5861
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5861
+Query 1/1: Action query time = 1.180 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5861
+t=74: Selected seed 195 with value = 0.5861
+t: 74	 action: [-0.115  0.45  -0.474 -0.004 -0.027  0.028 -1.003]
+t: 75	 action: [-0.107  0.581 -0.385 -0.008 -0.002  0.02  -1.006]
+t: 76	 action: [-0.071  0.693 -0.411 -0.003 -0.015  0.027 -1.002]
+t: 77	 action: [-0.032  0.755 -0.294 -0.006  0.005  0.019 -1.011]
+t: 78	 action: [-0.07   0.756 -0.374 -0.005 -0.009  0.021 -1.007]
+t: 79	 action: [-0.057  0.839 -0.272 -0.003 -0.003  0.014 -1.036]
+t: 80	 action: [-6.413e-02  9.025e-01 -3.137e-01 -5.488e-03 -5.076e-05  1.912e-02 -1.006e+00]
+t: 81	 action: [-4.972e-02  8.907e-01 -2.266e-01 -5.755e-04 -1.494e-03  1.331e-02 -1.039e+00]
+t: 82	 action: [-0.034  0.919 -0.243 -0.006 -0.013  0.009 -1.013]
+t: 83	 action: [-8.275e-03  8.770e-01 -1.627e-01 -6.678e-03  4.608e-04  8.626e-03 -1.007e+00]
+t: 84	 action: [-0.049  0.908 -0.212 -0.002 -0.008  0.013 -1.006]
+t: 85	 action: [-0.016  0.863 -0.138 -0.003  0.002  0.012 -1.013]
+t: 86	 action: [-0.085  0.95  -0.215 -0.005 -0.011  0.005 -1.02 ]
+t: 87	 action: [-8.981e-02  8.989e-01 -1.358e-01 -9.827e-04 -6.247e-03  5.566e-03 -1.034e+00]
+t: 88	 action: [-0.141  0.941 -0.208 -0.006 -0.003  0.007 -1.005]
+t: 89	 action: [-0.134  0.892 -0.134  0.001 -0.004  0.011 -1.041]
+[07-31 02:06:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.150 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8094
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8094
+Query 1/1: Action query time = 1.150 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8094
+t=90: Selected seed 195 with value = 0.8094
+t: 90	 action: [-0.162  0.848 -0.283 -0.015  0.016  0.008 -1.003]
+t: 91	 action: [-0.156  0.838 -0.26  -0.011  0.024  0.004 -1.005]
+t: 92	 action: [-0.165  0.865 -0.256 -0.016  0.024  0.009 -0.994]
+t: 93	 action: [-0.136  0.859 -0.232 -0.006  0.028  0.009 -1.006]
+t: 94	 action: [-1.348e-01  8.870e-01 -2.268e-01 -1.290e-02  1.652e-02  9.249e-04 -9.963e-01]
+t: 95	 action: [-0.131  0.886 -0.218 -0.006  0.022  0.005 -1.032]
+t: 96	 action: [-0.158  0.912 -0.21  -0.013  0.023  0.001 -0.99 ]
+t: 97	 action: [-0.148  0.893 -0.212 -0.003  0.02   0.009 -1.033]
+t: 98	 action: [-0.225  0.942 -0.203 -0.007 -0.011  0.016 -0.999]
+t: 99	 action: [-0.256  0.903 -0.224 -0.006 -0.003  0.012 -1.007]
+t: 100	 action: [-0.298  0.921 -0.219  0.002 -0.011  0.017 -1.002]
+t: 101	 action: [-0.323  0.865 -0.255 -0.002 -0.003  0.015 -1.005]
+t: 102	 action: [-0.396  0.896 -0.251 -0.006 -0.01   0.018 -0.998]
+t: 103	 action: [-0.416  0.893 -0.31   0.002 -0.009  0.013 -1.034]
+t: 104	 action: [-0.468  0.852 -0.25  -0.005 -0.003  0.018 -0.992]
+t: 105	 action: [-0.475  0.846 -0.307  0.006 -0.007  0.017 -1.037]
+[07-31 02:06:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.170 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9466
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9466
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 110
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 9 (8.2%)
+
+
 20%|██        | 10/50 [02:39<11:06, 16.67s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 11...
+Query 1/1: Action query time = 1.170 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9466
+t=106: Selected seed 195 with value = 0.9466
+t: 106	 action: [-7.016e-01  4.151e-01 -2.749e-01  9.818e-03  8.773e-03 -6.514e-04 -9.823e-01]
+t: 107	 action: [-0.696  0.391 -0.257  0.02   0.02  -0.009 -0.995]
+t: 108	 action: [-0.761  0.312 -0.316  0.012  0.017 -0.004 -0.972]
+t: 109	 action: [-0.781  0.284 -0.291  0.02   0.033 -0.015 -0.999]
+t: 110	 action: [-0.84   0.212 -0.298  0.007  0.032 -0.006 -0.972]
+t: 111	 action: [-0.826  0.192 -0.307  0.026  0.038 -0.007 -1.037]
+t: 112	 action: [-0.806  0.154 -0.322  0.01   0.056 -0.012 -0.961]
+t: 113	 action: [-0.803  0.148 -0.371  0.03   0.055 -0.015 -1.035]
+t: 114	 action: [-0.785  0.051 -0.403  0.036  0.069 -0.024 -1.01 ]
+t: 115	 action: [-0.812 -0.083 -0.429  0.035  0.066 -0.028 -1.012]
+t: 116	 action: [-0.863 -0.018 -0.406  0.039  0.079 -0.022 -1.005]
+t: 117	 action: [-0.832 -0.147 -0.446  0.033  0.073 -0.027 -1.01 ]
+t: 118	 action: [-0.895 -0.125 -0.377  0.047  0.069 -0.026 -0.996]
+t: 119	 action: [-0.871 -0.186 -0.457  0.046  0.056 -0.022 -1.041]
+t: 120	 action: [-0.9   -0.173 -0.357  0.044  0.07  -0.023 -0.982]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=110--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+111 111 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=110--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 110
+# successes: 9 (8.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+[07-31 02:06:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3326
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3326
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3326
+t=10: Selected seed 195 with value = 0.3326
+t: 10	 action: [ 2.470e-01  3.528e-02 -3.573e-03 -8.594e-03  2.381e-02  7.181e-04 -1.010e+00]
+t: 11	 action: [ 0.345  0.066 -0.02  -0.012  0.04  -0.005 -1.007]
+t: 12	 action: [ 0.565  0.122 -0.034 -0.016  0.024  0.001 -1.015]
+t: 13	 action: [ 0.718  0.195 -0.031 -0.013  0.039 -0.004 -1.011]
+t: 14	 action: [ 0.86   0.227 -0.04  -0.024  0.02  -0.002 -1.015]
+t: 15	 action: [ 0.911  0.268 -0.038 -0.016  0.034 -0.005 -1.03 ]
+t: 16	 action: [ 0.983  0.269 -0.072 -0.023  0.021 -0.004 -1.013]
+t: 17	 action: [ 0.976  0.291 -0.083 -0.015  0.031 -0.005 -1.034]
+t: 18	 action: [ 0.949  0.232 -0.095 -0.012  0.033  0.004 -1.023]
+t: 19	 action: [ 0.963  0.218 -0.121 -0.013  0.044 -0.004 -1.014]
+t: 20	 action: [ 0.967  0.229 -0.129 -0.004  0.025  0.002 -1.017]
+t: 21	 action: [ 0.968  0.208 -0.146 -0.01   0.033 -0.006 -1.013]
+t: 22	 action: [ 9.947e-01  1.917e-01 -1.424e-01 -9.622e-03  2.022e-02  4.470e-06 -9.958e-01]
+t: 23	 action: [ 1.007  0.196 -0.195 -0.005  0.021 -0.005 -1.031]
+t: 24	 action: [ 1.016  0.171 -0.195 -0.005  0.007 -0.004 -0.992]
+t: 25	 action: [ 1.018  0.179 -0.26  -0.002  0.015 -0.006 -1.036]
+[07-31 02:06:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3700
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3700
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3700
+t=26: Selected seed 195 with value = 0.3700
+t: 26	 action: [ 0.936  0.252 -0.152  0.002  0.047  0.006 -1.03 ]
+t: 27	 action: [ 0.937  0.154 -0.204  0.004  0.055 -0.003 -1.019]
+t: 28	 action: [ 0.932  0.136 -0.233  0.004  0.04   0.006 -1.023]
+t: 29	 action: [ 0.936  0.054 -0.301  0.009  0.044 -0.005 -1.019]
+t: 30	 action: [ 0.959  0.025 -0.359  0.001  0.03  -0.005 -1.013]
+t: 31	 action: [ 0.907 -0.016 -0.422  0.016  0.029 -0.008 -1.032]
+t: 32	 action: [ 0.876 -0.038 -0.5    0.006  0.018 -0.008 -1.014]
+t: 33	 action: [ 0.81  -0.079 -0.552  0.019  0.013 -0.009 -1.036]
+t: 34	 action: [ 0.648 -0.117 -0.549  0.016  0.015 -0.01  -1.03 ]
+t: 35	 action: [ 0.589 -0.145 -0.664  0.01   0.013 -0.009 -1.02 ]
+t: 36	 action: [ 0.431 -0.141 -0.644  0.013  0.003 -0.002 -1.024]
+t: 37	 action: [ 0.346 -0.158 -0.71   0.007  0.004 -0.009 -1.015]
+t: 38	 action: [ 0.287 -0.062 -0.696  0.004 -0.012 -0.005 -1.027]
+t: 39	 action: [ 0.17  -0.131 -0.739  0.01  -0.016 -0.008 -1.037]
+t: 40	 action: [ 0.129 -0.034 -0.732 -0.002 -0.02   0.001 -1.025]
+t: 41	 action: [ 0.045 -0.119 -0.751  0.004 -0.024 -0.006 -1.033]
+[07-31 02:06:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4751
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4751
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4751
+t=42: Selected seed 195 with value = 0.4751
+t: 42	 action: [ 0.095 -0.257 -0.486  0.009 -0.022  0.011 -1.006]
+t: 43	 action: [-0.009 -0.255 -0.584  0.003 -0.026  0.015 -1.027]
+t: 44	 action: [-0.046 -0.196 -0.613  0.012 -0.042  0.014 -1.009]
+t: 45	 action: [-0.167 -0.211 -0.71   0.003 -0.045  0.018 -1.023]
+t: 46	 action: [-0.208 -0.126 -0.684  0.001 -0.045  0.022 -0.999]
+t: 47	 action: [-2.774e-01 -7.738e-02 -7.670e-01 -1.226e-04 -5.125e-02  2.071e-02 -1.048e+00]
+t: 48	 action: [-4.093e-01 -6.407e-02 -7.142e-01  3.008e-04 -5.858e-02  2.851e-02 -1.003e+00]
+t: 49	 action: [-0.45  -0.033 -0.784 -0.002 -0.056  0.022 -1.047]
+t: 50	 action: [-0.595 -0.067 -0.731 -0.004 -0.084  0.058 -1.005]
+t: 51	 action: [-0.632 -0.101 -0.795 -0.012 -0.065  0.047 -1.018]
+t: 52	 action: [-0.665 -0.018 -0.713 -0.008 -0.079  0.062 -1.008]
+t: 53	 action: [-0.684 -0.061 -0.757 -0.012 -0.053  0.046 -1.01 ]
+t: 54	 action: [-0.662 -0.011 -0.697 -0.025 -0.076  0.058 -0.989]
+t: 55	 action: [-0.616  0.066 -0.703 -0.013 -0.051  0.041 -1.045]
+t: 56	 action: [-0.592  0.032 -0.644 -0.025 -0.058  0.051 -0.988]
+t: 57	 action: [-0.505  0.093 -0.634 -0.012 -0.031  0.039 -1.049]
+[07-31 02:06:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7652
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7652
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7652
+t=58: Selected seed 195 with value = 0.7652
+t: 58	 action: [-0.208  0.341 -0.563 -0.003 -0.015  0.023 -1.   ]
+t: 59	 action: [-0.225  0.395 -0.495 -0.01  -0.001  0.018 -1.012]
+t: 60	 action: [-1.489e-01  4.453e-01 -4.663e-01 -2.785e-04 -1.100e-02  1.812e-02 -9.996e-01]
+t: 61	 action: [-1.598e-01  6.062e-01 -3.834e-01 -6.646e-03 -9.149e-04  1.410e-02 -1.012e+00]
+t: 62	 action: [-0.238  0.594 -0.342 -0.009 -0.006  0.024 -1.   ]
+t: 63	 action: [-2.070e-01  7.161e-01 -2.959e-01 -9.782e-04 -5.951e-03  1.699e-02 -1.039e+00]
+t: 64	 action: [-0.17   0.722 -0.251 -0.006 -0.003  0.017 -1.004]
+t: 65	 action: [-1.578e-01  8.092e-01 -2.303e-01 -4.935e-04 -8.430e-03  1.214e-02 -1.036e+00]
+t: 66	 action: [-2.856e-02  8.847e-01 -1.907e-01  3.322e-03 -4.999e-05  1.777e-03 -1.012e+00]
+t: 67	 action: [-1.577e-02  8.463e-01 -1.574e-01  5.338e-03  4.732e-03 -4.236e-04 -9.991e-01]
+t: 68	 action: [-0.043  0.863 -0.193  0.004 -0.004  0.003 -1.003]
+t: 69	 action: [-0.026  0.836 -0.166  0.008  0.004  0.003 -0.993]
+t: 70	 action: [-1.006e-01  9.097e-01 -1.586e-01 -5.189e-05 -5.824e-03 -2.338e-03 -1.024e+00]
+t: 71	 action: [-9.622e-02  8.557e-01 -1.614e-01  1.127e-02  9.108e-04  2.012e-03 -1.020e+00]
+t: 72	 action: [-0.187  0.862 -0.172 -0.001 -0.008 -0.002 -1.015]
+t: 73	 action: [-0.155  0.846 -0.197  0.011 -0.001  0.007 -1.019]
+[07-31 02:06:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8364
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8364
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=74: Selected seed 195 with value = 0.8364
+t: 74	 action: [-0.121  0.838 -0.271 -0.003 -0.001  0.006 -1.015]
+t: 75	 action: [-0.13   0.83  -0.28  -0.006  0.011  0.004 -1.01 ]
+t: 76	 action: [-0.104  0.87  -0.212 -0.003  0.005  0.005 -1.002]
+t: 77	 action: [-0.081  0.843 -0.21  -0.003  0.015  0.003 -1.011]
+t: 78	 action: [-0.091  0.879 -0.182 -0.003  0.008 -0.001 -1.013]
+t: 79	 action: [-0.098  0.869 -0.153  0.001  0.019  0.003 -1.033]
+t: 80	 action: [-0.092  0.912 -0.135 -0.006  0.012 -0.003 -1.008]
+t: 81	 action: [-0.098  0.87  -0.094  0.004  0.018  0.003 -1.033]
+t: 82	 action: [-0.088  0.912 -0.173  0.006 -0.019  0.008 -1.008]
+t: 83	 action: [-9.317e-02  8.560e-01 -1.907e-01  7.372e-04 -8.707e-03  3.768e-03 -1.012e+00]
+t: 84	 action: [-0.111  0.893 -0.18   0.006 -0.024  0.008 -0.996]
+t: 85	 action: [-1.341e-01  8.360e-01 -1.776e-01  2.911e-04 -1.965e-02  4.460e-03 -1.013e+00]
+t: 86	 action: [-0.22   0.89  -0.169 -0.001 -0.018  0.002 -1.01 ]
+t: 87	 action: [-0.285  0.857 -0.175  0.009 -0.019  0.009 -1.03 ]
+t: 88	 action: [-0.315  0.834 -0.178 -0.005 -0.018  0.001 -0.996]
+t: 89	 action: [-0.335  0.825 -0.173  0.009 -0.027  0.011 -1.035]
+[07-31 02:06:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9537
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9537
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 111
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 10 (9.0%)
+
+
 22%|██▏       | 11/50 [02:51<09:47, 15.07s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 12...
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=90: Selected seed 195 with value = 0.9537
+t: 90	 action: [-0.509  0.84  -0.143  0.003 -0.002  0.005 -0.996]
+t: 91	 action: [-0.482  0.833 -0.132  0.011  0.008  0.004 -0.979]
+t: 92	 action: [-0.486  0.873 -0.118  0.004  0.007  0.006 -0.993]
+t: 93	 action: [-0.439  0.827 -0.08   0.011  0.018  0.006 -0.985]
+t: 94	 action: [-0.504  0.817 -0.087 -0.004  0.025 -0.002 -0.973]
+t: 95	 action: [-0.466  0.844 -0.104  0.01   0.045  0.004 -1.007]
+t: 96	 action: [-0.5    0.82  -0.082 -0.007  0.053 -0.003 -0.976]
+t: 97	 action: [-0.448  0.82  -0.102  0.014  0.07   0.004 -1.009]
+t: 98	 action: [-0.531  0.697 -0.192  0.007  0.037 -0.007 -1.005]
+t: 99	 action: [-0.533  0.415 -0.186  0.006  0.067 -0.022 -1.001]
+t: 100	 action: [-0.566  0.108 -0.297  0.017  0.074 -0.022 -1.001]
+t: 101	 action: [-0.564 -0.024 -0.316  0.012  0.102 -0.042 -0.999]
+t: 102	 action: [-0.655 -0.097 -0.29   0.027  0.11  -0.02  -0.989]
+t: 103	 action: [-0.645 -0.185 -0.325  0.023  0.121 -0.026 -1.034]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=111--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+94 94 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=111--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 111
+# successes: 10 (9.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+[07-31 02:07:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3372
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3372
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3372
+t=10: Selected seed 195 with value = 0.3372
+t: 10	 action: [ 0.465  0.115 -0.024 -0.008  0.025  0.005 -1.021]
+t: 11	 action: [ 6.322e-01  1.936e-01 -2.929e-02 -7.364e-03  4.776e-02 -3.356e-04 -1.012e+00]
+t: 12	 action: [ 0.83   0.213 -0.054 -0.007  0.029  0.004 -1.015]
+t: 13	 action: [ 0.9    0.267 -0.06  -0.006  0.049 -0.002 -1.016]
+t: 14	 action: [ 9.747e-01  2.333e-01 -8.054e-02 -1.751e-02  2.579e-02  1.706e-04 -1.015e+00]
+t: 15	 action: [ 9.393e-01  2.760e-01 -8.154e-02 -9.208e-03  4.087e-02 -3.961e-04 -1.036e+00]
+t: 16	 action: [ 0.978  0.24  -0.114 -0.013  0.028 -0.002 -1.009]
+t: 17	 action: [ 0.973  0.275 -0.137 -0.006  0.041 -0.003 -1.041]
+t: 18	 action: [ 0.952  0.233 -0.158 -0.016  0.024  0.006 -1.022]
+t: 19	 action: [ 0.96   0.192 -0.194 -0.009  0.033 -0.002 -1.017]
+t: 20	 action: [ 0.972  0.216 -0.191 -0.012  0.018  0.002 -1.018]
+t: 21	 action: [ 0.961  0.167 -0.222 -0.007  0.025 -0.007 -1.016]
+t: 22	 action: [ 9.920e-01  1.607e-01 -2.294e-01 -6.563e-03  1.440e-02  3.435e-04 -9.935e-01]
+t: 23	 action: [ 0.991  0.142 -0.258 -0.001  0.014 -0.005 -1.036]
+t: 24	 action: [ 1.011  0.127 -0.281 -0.003  0.005 -0.004 -0.993]
+t: 25	 action: [ 1.001e+00  1.084e-01 -3.239e-01 -1.843e-04  1.185e-02 -7.099e-03 -1.039e+00]
+[07-31 02:07:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3742
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3742
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3742
+t=26: Selected seed 195 with value = 0.3742
+t: 26	 action: [ 0.924  0.136 -0.228  0.005  0.05   0.003 -1.035]
+t: 27	 action: [ 0.937  0.077 -0.257  0.008  0.06  -0.007 -1.018]
+t: 28	 action: [ 8.876e-01  4.278e-02 -3.014e-01  8.642e-03  3.915e-02  5.278e-04 -1.027e+00]
+t: 29	 action: [ 0.897 -0.026 -0.354  0.012  0.034 -0.01  -1.018]
+t: 30	 action: [ 0.874 -0.022 -0.43   0.007  0.026 -0.005 -1.025]
+t: 31	 action: [ 0.747 -0.047 -0.534  0.019  0.017 -0.01  -1.04 ]
+t: 32	 action: [ 0.684 -0.102 -0.569  0.012  0.009 -0.009 -1.025]
+t: 33	 action: [ 0.528 -0.103 -0.642  0.02   0.005 -0.012 -1.043]
+t: 34	 action: [ 0.385 -0.173 -0.619  0.029 -0.011 -0.003 -1.033]
+t: 35	 action: [ 0.299 -0.158 -0.695  0.021 -0.011 -0.005 -1.022]
+t: 36	 action: [ 0.206 -0.166 -0.694  0.021 -0.021  0.006 -1.026]
+t: 37	 action: [ 0.11  -0.149 -0.729  0.015 -0.021 -0.003 -1.018]
+t: 38	 action: [ 1.364e-01 -8.730e-02 -7.117e-01  1.287e-02 -2.970e-02  4.177e-04 -1.033e+00]
+t: 39	 action: [ 0.051 -0.11  -0.756  0.019 -0.035 -0.003 -1.041]
+t: 40	 action: [ 6.470e-02 -4.589e-02 -7.193e-01  1.588e-03 -2.940e-02  7.820e-04 -1.027e+00]
+t: 41	 action: [ 0.012 -0.085 -0.748  0.011 -0.032  0.002 -1.038]
+[07-31 02:07:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5942
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5942
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5942
+t=42: Selected seed 195 with value = 0.5942
+t: 42	 action: [ 0.134 -0.254 -0.349  0.006 -0.032  0.008 -0.999]
+t: 43	 action: [ 0.023 -0.276 -0.418 -0.001 -0.036  0.013 -1.026]
+t: 44	 action: [-0.019 -0.22  -0.509  0.012 -0.052  0.012 -0.999]
+t: 45	 action: [-0.152 -0.24  -0.594  0.002 -0.058  0.018 -1.022]
+t: 46	 action: [-2.244e-01 -1.632e-01 -6.017e-01  4.656e-04 -5.820e-02  1.547e-02 -9.891e-01]
+t: 47	 action: [-0.305 -0.098 -0.702 -0.004 -0.062  0.021 -1.042]
+t: 48	 action: [-0.428 -0.099 -0.679 -0.003 -0.068  0.024 -0.992]
+t: 49	 action: [-0.48  -0.041 -0.764 -0.007 -0.059  0.022 -1.041]
+t: 50	 action: [-0.572 -0.072 -0.69  -0.017 -0.072  0.052 -1.002]
+t: 51	 action: [-0.586 -0.103 -0.776 -0.017 -0.057  0.044 -1.012]
+t: 52	 action: [-6.098e-01 -3.853e-04 -6.705e-01 -2.098e-02 -5.812e-02  5.749e-02 -1.007e+00]
+t: 53	 action: [-0.594 -0.048 -0.721 -0.015 -0.035  0.044 -0.999]
+t: 54	 action: [-0.628 -0.015 -0.67  -0.033 -0.063  0.06  -0.989]
+t: 55	 action: [-0.553  0.073 -0.683 -0.017 -0.042  0.039 -1.043]
+t: 56	 action: [-0.512  0.062 -0.585 -0.031 -0.039  0.053 -0.99 ]
+t: 57	 action: [-0.406  0.133 -0.56  -0.015 -0.02   0.037 -1.041]
+[07-31 02:07:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6384
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=58: Selected seed 195 with value = 0.6384
+t: 58	 action: [-0.161  0.464 -0.476  0.002 -0.018  0.023 -0.991]
+t: 59	 action: [-0.141  0.518 -0.374 -0.005  0.001  0.019 -1.   ]
+t: 60	 action: [-0.079  0.569 -0.402  0.001 -0.011  0.017 -0.996]
+t: 61	 action: [-0.034  0.684 -0.262 -0.002  0.005  0.017 -1.004]
+t: 62	 action: [-1.283e-01  6.941e-01 -2.755e-01 -5.466e-04 -2.683e-04  2.430e-02 -9.957e-01]
+t: 63	 action: [-0.091  0.773 -0.206  0.002 -0.002  0.017 -1.027]
+t: 64	 action: [-0.079  0.817 -0.216 -0.001  0.003  0.014 -1.005]
+t: 65	 action: [-0.054  0.834 -0.157  0.005 -0.003  0.014 -1.028]
+t: 66	 action: [ 2.215e-02  8.868e-01 -1.459e-01  6.365e-03 -5.367e-03  6.627e-04 -1.013e+00]
+t: 67	 action: [ 0.016  0.854 -0.112  0.011  0.002  0.005 -1.005]
+t: 68	 action: [-0.015  0.88  -0.141  0.007 -0.005  0.002 -1.007]
+t: 69	 action: [-0.003  0.849 -0.099  0.014  0.003  0.009 -1.003]
+t: 70	 action: [-0.077  0.925 -0.123  0.006 -0.007 -0.002 -1.024]
+t: 71	 action: [-0.066  0.873 -0.125  0.017 -0.003  0.006 -1.016]
+t: 72	 action: [-0.161  0.903 -0.139  0.012 -0.006 -0.002 -1.017]
+t: 73	 action: [-0.135  0.866 -0.144  0.018 -0.004  0.012 -1.02 ]
+[07-31 02:07:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7718
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7718
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7718
+t=74: Selected seed 195 with value = 0.7718
+t: 74	 action: [-0.159  0.815 -0.285 -0.006 -0.021  0.016 -1.007]
+t: 75	 action: [-0.166  0.817 -0.252 -0.006 -0.001  0.014 -1.01 ]
+t: 76	 action: [-0.153  0.859 -0.261 -0.006 -0.012  0.016 -0.994]
+t: 77	 action: [-0.129  0.853 -0.22  -0.005  0.006  0.015 -1.008]
+t: 78	 action: [-0.135  0.864 -0.241 -0.007 -0.005  0.01  -1.012]
+t: 79	 action: [-0.135  0.869 -0.186 -0.005 -0.004  0.012 -1.035]
+t: 80	 action: [-0.144  0.904 -0.222 -0.007  0.005  0.009 -1.005]
+t: 81	 action: [-1.276e-01  8.806e-01 -1.446e-01 -3.278e-03 -1.779e-04  1.206e-02 -1.035e+00]
+t: 82	 action: [-0.168  0.921 -0.237  0.008 -0.029  0.016 -1.004]
+t: 83	 action: [-0.164  0.864 -0.186  0.002 -0.026  0.014 -1.007]
+t: 84	 action: [-0.207  0.914 -0.245  0.009 -0.025  0.018 -0.995]
+t: 85	 action: [-0.207  0.855 -0.194  0.004 -0.02   0.015 -1.004]
+t: 86	 action: [-0.268  0.903 -0.241  0.003 -0.019  0.015 -1.007]
+t: 87	 action: [-0.311  0.86  -0.175  0.006 -0.018  0.015 -1.033]
+t: 88	 action: [-3.408e-01  8.908e-01 -2.456e-01  7.417e-04 -9.813e-03  1.599e-02 -9.952e-01]
+t: 89	 action: [-0.351  0.849 -0.176  0.007 -0.011  0.017 -1.036]
+[07-31 02:07:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9463
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9463
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 112
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 11 (9.8%)
+
+
 24%|██▍       | 12/50 [03:02<08:51, 13.97s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 13...
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=90: Selected seed 195 with value = 0.9463
+t: 90	 action: [-0.458  0.816 -0.174  0.004  0.005  0.002 -1.005]
+t: 91	 action: [-0.474  0.768 -0.142  0.008  0.015  0.008 -0.997]
+t: 92	 action: [-0.508  0.811 -0.184  0.005  0.017  0.005 -0.994]
+t: 93	 action: [-0.509  0.74  -0.144  0.008  0.032  0.01  -1.002]
+t: 94	 action: [-0.639  0.766 -0.157 -0.001  0.028  0.003 -0.985]
+t: 95	 action: [-0.659  0.756 -0.187  0.009  0.041  0.011 -1.023]
+t: 96	 action: [-0.666  0.71  -0.176 -0.005  0.057  0.004 -0.98 ]
+t: 97	 action: [-0.645  0.671 -0.215  0.014  0.066  0.013 -1.028]
+t: 98	 action: [-0.746  0.401 -0.317  0.019  0.062  0.006 -1.006]
+t: 99	 action: [-0.714  0.255 -0.323  0.018  0.086  0.002 -1.006]
+t: 100	 action: [-0.7    0.086 -0.348  0.024  0.095  0.005 -1.005]
+t: 101	 action: [-0.643 -0.001 -0.365  0.016  0.108 -0.009 -1.009]
+t: 102	 action: [-0.706 -0.073 -0.313  0.034  0.148  0.002 -0.99 ]
+t: 103	 action: [-0.625 -0.154 -0.392  0.026  0.127 -0.003 -1.042]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=112--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+94 94 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=112--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 112
+# successes: 11 (9.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+[07-31 02:07:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.058 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3515
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3515
+Query 1/1: Action query time = 1.058 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3515
+t=10: Selected seed 195 with value = 0.3515
+t: 10	 action: [ 0.364  0.188 -0.017  0.001  0.003  0.007 -1.013]
+t: 11	 action: [ 0.535  0.229 -0.017  0.002  0.01   0.006 -1.007]
+t: 12	 action: [ 6.314e-01  2.560e-01 -4.131e-02  6.091e-04  4.376e-03  7.772e-03 -1.019e+00]
+t: 13	 action: [ 0.772  0.282 -0.019  0.003  0.013  0.007 -1.01 ]
+t: 14	 action: [ 8.548e-01  2.730e-01 -4.414e-02 -3.514e-03  4.262e-03  7.160e-04 -1.011e+00]
+t: 15	 action: [ 8.793e-01  2.659e-01 -3.708e-02  1.539e-04  7.048e-03  4.805e-03 -1.030e+00]
+t: 16	 action: [ 9.270e-01  2.745e-01 -7.248e-02 -4.318e-03  8.901e-03  6.158e-04 -1.013e+00]
+t: 17	 action: [ 0.947  0.274 -0.083  0.002  0.011  0.005 -1.034]
+t: 18	 action: [ 9.052e-01  2.833e-01 -7.756e-02  8.043e-04  1.078e-02  6.458e-03 -1.026e+00]
+t: 19	 action: [ 9.167e-01  2.539e-01 -7.743e-02 -5.062e-04  1.734e-02  1.797e-03 -1.009e+00]
+t: 20	 action: [ 0.934  0.253 -0.098  0.004  0.014  0.007 -1.024]
+t: 21	 action: [ 9.184e-01  2.366e-01 -9.092e-02  1.225e-04  2.456e-02  1.096e-03 -1.007e+00]
+t: 22	 action: [ 0.961  0.241 -0.1   -0.002  0.018  0.002 -1.003]
+t: 23	 action: [ 9.727e-01  2.245e-01 -1.215e-01  1.430e-03  1.516e-02 -9.779e-05 -1.026e+00]
+t: 24	 action: [ 9.834e-01  2.255e-01 -1.232e-01 -6.750e-04  2.296e-02  1.056e-03 -1.003e+00]
+t: 25	 action: [ 9.891e-01  2.068e-01 -1.526e-01  1.452e-03  2.902e-02  7.214e-04 -1.028e+00]
+[07-31 02:07:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3943
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3943
+Query 1/1: Action query time = 1.003 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3943
+t=26: Selected seed 195 with value = 0.3943
+t: 26	 action: [ 0.907  0.222 -0.235  0.007  0.016  0.009 -1.037]
+t: 27	 action: [ 0.917  0.135 -0.243  0.008  0.016  0.002 -1.014]
+t: 28	 action: [ 0.894  0.115 -0.313  0.012  0.013  0.008 -1.024]
+t: 29	 action: [ 0.898  0.031 -0.335  0.013  0.01  -0.002 -1.014]
+t: 30	 action: [ 8.821e-01  3.227e-02 -4.601e-01  1.714e-02  6.955e-03  5.627e-04 -1.020e+00]
+t: 31	 action: [ 0.822 -0.017 -0.523  0.024  0.007 -0.001 -1.037]
+t: 32	 action: [ 7.771e-01 -1.463e-02 -5.798e-01  2.814e-02  3.318e-03 -9.176e-04 -1.014e+00]
+t: 33	 action: [ 0.691 -0.074 -0.62   0.028  0.006 -0.004 -1.039]
+t: 34	 action: [ 0.547 -0.063 -0.628  0.031 -0.007  0.006 -1.028]
+t: 35	 action: [ 0.492 -0.074 -0.655  0.024 -0.001 -0.002 -1.015]
+t: 36	 action: [ 0.389 -0.07  -0.672  0.024 -0.012  0.006 -1.022]
+t: 37	 action: [ 0.321 -0.082 -0.677  0.018 -0.008 -0.004 -1.011]
+t: 38	 action: [ 3.064e-01 -1.032e-02 -6.770e-01  1.352e-02 -1.865e-02 -3.009e-06 -1.025e+00]
+t: 39	 action: [ 0.191 -0.022 -0.709  0.022 -0.021 -0.005 -1.037]
+t: 40	 action: [ 2.225e-01  1.535e-02 -6.717e-01  6.794e-03 -1.943e-02  2.801e-04 -1.020e+00]
+t: 41	 action: [ 0.137 -0.009 -0.697  0.014 -0.025 -0.004 -1.035]
+[07-31 02:07:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4299
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4299
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4299
+t=42: Selected seed 195 with value = 0.4299
+t: 42	 action: [ 0.31  -0.261 -0.437  0.023 -0.008  0.007 -1.015]
+t: 43	 action: [ 0.168 -0.276 -0.527  0.015 -0.01   0.009 -1.034]
+t: 44	 action: [ 0.154 -0.244 -0.543  0.026 -0.027  0.009 -1.016]
+t: 45	 action: [ 0.013 -0.249 -0.648  0.014 -0.031  0.016 -1.027]
+t: 46	 action: [-0.084 -0.169 -0.616  0.007 -0.031  0.013 -1.006]
+t: 47	 action: [-0.136 -0.133 -0.773  0.011 -0.037  0.018 -1.053]
+t: 48	 action: [-0.264 -0.077 -0.693  0.004 -0.041  0.025 -1.007]
+t: 49	 action: [-0.317 -0.075 -0.806  0.006 -0.04   0.025 -1.045]
+t: 50	 action: [-0.46  -0.049 -0.682  0.002 -0.05   0.061 -1.013]
+t: 51	 action: [-0.522 -0.099 -0.771 -0.013 -0.044  0.06  -1.02 ]
+t: 52	 action: [-5.855e-01  8.741e-04 -6.835e-01 -8.427e-03 -4.141e-02  7.081e-02 -1.015e+00]
+t: 53	 action: [-0.599 -0.06  -0.739 -0.017 -0.023  0.063 -1.012]
+t: 54	 action: [-0.659 -0.01  -0.658 -0.031 -0.043  0.088 -1.005]
+t: 55	 action: [-0.619 -0.008 -0.72  -0.019 -0.031  0.067 -1.048]
+t: 56	 action: [-0.608  0.035 -0.631 -0.04  -0.026  0.083 -1.004]
+t: 57	 action: [-0.556  0.035 -0.658 -0.024 -0.011  0.067 -1.052]
+[07-31 02:07:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5458
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5458
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5458
+t=58: Selected seed 195 with value = 0.5458
+t: 58	 action: [-0.288  0.019 -0.638  0.008 -0.018  0.055 -0.996]
+t: 59	 action: [-0.187  0.087 -0.604 -0.003  0.006  0.044 -0.997]
+t: 60	 action: [-0.151  0.237 -0.582  0.006 -0.002  0.053 -1.   ]
+t: 61	 action: [-1.138e-02  4.216e-01 -4.742e-01  3.218e-04  1.306e-02  3.799e-02 -1.004e+00]
+t: 62	 action: [-0.116  0.445 -0.472  0.004  0.012  0.059 -1.004]
+t: 63	 action: [-0.033  0.645 -0.361  0.007  0.007  0.039 -1.038]
+t: 64	 action: [-0.009  0.715 -0.368  0.002  0.023  0.048 -1.008]
+t: 65	 action: [ 0.028  0.823 -0.276  0.009  0.018  0.031 -1.038]
+t: 66	 action: [ 0.059  0.861 -0.212  0.006  0.019  0.017 -0.997]
+t: 67	 action: [ 0.057  0.857 -0.159  0.005  0.034  0.014 -1.003]
+t: 68	 action: [ 0.039  0.872 -0.19   0.005  0.022  0.022 -0.996]
+t: 69	 action: [ 0.046  0.857 -0.147  0.005  0.021  0.017 -1.006]
+t: 70	 action: [-1.386e-02  9.268e-01 -1.843e-01  5.225e-04  1.757e-02  1.206e-02 -1.014e+00]
+t: 71	 action: [-0.01   0.877 -0.143  0.01   0.023  0.009 -1.034]
+t: 72	 action: [-0.061  0.92  -0.196 -0.003  0.02   0.013 -1.005]
+t: 73	 action: [-0.034  0.886 -0.184  0.008  0.016  0.015 -1.039]
+[07-31 02:07:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.016 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6293
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6293
+Query 1/1: Action query time = 1.016 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6293
+t=74: Selected seed 195 with value = 0.6293
+t: 74	 action: [-1.155e-01  1.833e-01 -4.968e-01  1.239e-04 -1.978e-02  2.723e-02 -9.959e-01]
+t: 75	 action: [-0.098  0.408 -0.437 -0.005 -0.003  0.02  -1.004]
+t: 76	 action: [-5.645e-02  5.337e-01 -4.375e-01 -3.506e-04 -1.168e-02  2.616e-02 -9.952e-01]
+t: 77	 action: [-0.014  0.683 -0.385 -0.003  0.004  0.021 -1.01 ]
+t: 78	 action: [-0.028  0.638 -0.342 -0.005 -0.011  0.018 -1.008]
+t: 79	 action: [-0.031  0.805 -0.274 -0.004 -0.005  0.012 -1.039]
+t: 80	 action: [-1.739e-02  8.750e-01 -2.903e-01 -4.626e-03  3.944e-04  1.758e-02 -1.005e+00]
+t: 81	 action: [-0.03   0.893 -0.251 -0.002 -0.002  0.014 -1.042]
+t: 82	 action: [-0.04   0.928 -0.222  0.003 -0.032  0.013 -1.018]
+t: 83	 action: [-2.957e-02  9.019e-01 -1.961e-01  7.975e-04 -7.801e-03  1.244e-02 -1.008e+00]
+t: 84	 action: [-0.066  0.918 -0.232  0.008 -0.023  0.019 -1.011]
+t: 85	 action: [-0.088  0.884 -0.189  0.005 -0.005  0.017 -1.009]
+t: 86	 action: [-1.438e-01  9.524e-01 -2.124e-01  8.923e-04 -2.558e-02  7.919e-03 -1.025e+00]
+t: 87	 action: [-0.19   0.922 -0.196  0.009 -0.014  0.009 -1.039]
+t: 88	 action: [-0.237  0.938 -0.242 -0.002 -0.01   0.013 -1.007]
+t: 89	 action: [-0.267  0.907 -0.221  0.011 -0.006  0.015 -1.041]
+[07-31 02:07:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8355
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8355
+Query 1/1: Action query time = 0.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8355
+t=90: Selected seed 195 with value = 0.8355
+t: 90	 action: [-0.211  0.817 -0.294 -0.007  0.009  0.008 -1.022]
+t: 91	 action: [-0.191  0.808 -0.248 -0.009  0.015  0.006 -1.012]
+t: 92	 action: [-0.195  0.835 -0.238 -0.005  0.016  0.009 -1.008]
+t: 93	 action: [-0.155  0.831 -0.189 -0.004  0.02   0.011 -1.012]
+t: 94	 action: [-0.164  0.858 -0.184 -0.008  0.01   0.004 -1.006]
+t: 95	 action: [-0.144  0.859 -0.186 -0.006  0.007  0.008 -1.036]
+t: 96	 action: [-0.189  0.889 -0.169 -0.009  0.017  0.005 -0.997]
+t: 97	 action: [-0.174  0.876 -0.179 -0.003  0.009  0.013 -1.036]
+t: 98	 action: [-0.26   0.94  -0.175 -0.003 -0.013  0.017 -1.01 ]
+t: 99	 action: [-0.306  0.906 -0.183 -0.006 -0.007  0.015 -1.009]
+t: 100	 action: [-0.342  0.902 -0.208  0.004 -0.01   0.019 -1.013]
+t: 101	 action: [-0.38   0.85  -0.248 -0.001 -0.003  0.019 -1.007]
+t: 102	 action: [-0.476  0.876 -0.259 -0.005 -0.009  0.028 -0.999]
+t: 103	 action: [-4.848e-01  8.821e-01 -3.440e-01 -3.439e-04 -1.378e-02  2.019e-02 -1.034e+00]
+t: 104	 action: [-0.554  0.787 -0.267 -0.006  0.004  0.026 -0.991]
+t: 105	 action: [-0.558  0.784 -0.354  0.005 -0.004  0.024 -1.034]
+[07-31 02:07:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9676
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9676
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 113
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 12 (10.6%)
+
+
 26%|██▌       | 13/50 [03:15<08:26, 13.69s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 14...
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=106: Selected seed 195 with value = 0.9676
+t: 106	 action: [-0.78   0.034 -0.392  0.021  0.027 -0.004 -0.965]
+t: 107	 action: [-0.803 -0.008 -0.369  0.026  0.042 -0.006 -0.982]
+t: 108	 action: [-0.879  0.011 -0.461  0.024  0.037 -0.01  -0.969]
+t: 109	 action: [-0.871 -0.04  -0.396  0.028  0.044 -0.019 -0.989]
+t: 110	 action: [-0.913 -0.026 -0.449  0.027  0.048 -0.012 -0.96 ]
+t: 111	 action: [-0.916 -0.026 -0.376  0.036  0.047 -0.01  -1.029]
+t: 112	 action: [-0.903 -0.051 -0.418  0.032  0.061 -0.024 -0.961]
+t: 113	 action: [-0.891 -0.016 -0.348  0.036  0.052 -0.024 -1.032]
+t: 114	 action: [-0.871 -0.018 -0.332  0.039  0.071 -0.023 -1.007]
+t: 115	 action: [-0.845 -0.13  -0.336  0.04   0.073 -0.023 -1.009]
+t: 116	 action: [-0.893 -0.054 -0.313  0.041  0.077 -0.017 -1.005]
+t: 117	 action: [-0.84  -0.151 -0.336  0.037  0.078 -0.019 -1.012]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=113--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+108 108 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=113--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 113
+# successes: 12 (10.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 14...
+[07-31 02:07:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.061 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3750
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3750
+Query 1/1: Action query time = 1.061 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3750
+t=10: Selected seed 195 with value = 0.3750
+t: 10	 action: [ 0.184  0.165 -0.034  0.003 -0.009  0.011 -1.014]
+t: 11	 action: [ 0.324  0.172 -0.015  0.003 -0.003  0.007 -1.02 ]
+t: 12	 action: [ 4.772e-01  2.090e-01 -6.368e-02  5.522e-04 -8.582e-03  1.441e-02 -1.021e+00]
+t: 13	 action: [ 0.646  0.251 -0.023 -0.002 -0.002  0.007 -1.02 ]
+t: 14	 action: [ 0.75   0.288 -0.111 -0.003 -0.02   0.015 -1.013]
+t: 15	 action: [ 0.854  0.295 -0.075  0.002 -0.009  0.008 -1.037]
+t: 16	 action: [ 0.947  0.346 -0.143 -0.006 -0.017  0.015 -1.017]
+t: 17	 action: [ 0.943  0.337 -0.12  -0.002 -0.007  0.008 -1.042]
+t: 18	 action: [ 0.902  0.332 -0.147  0.003 -0.006  0.018 -1.035]
+t: 19	 action: [ 0.943  0.311 -0.147 -0.004 -0.001  0.009 -1.024]
+t: 20	 action: [ 0.929  0.357 -0.165  0.002 -0.01   0.018 -1.04 ]
+t: 21	 action: [ 0.95   0.334 -0.18  -0.005 -0.006  0.008 -1.019]
+t: 22	 action: [ 0.967  0.384 -0.211 -0.002 -0.018  0.021 -1.011]
+t: 23	 action: [ 0.973  0.352 -0.26   0.004 -0.02   0.01  -1.039]
+t: 24	 action: [ 0.984  0.409 -0.263 -0.005 -0.021  0.018 -1.016]
+t: 25	 action: [ 0.981  0.342 -0.338  0.005 -0.027  0.01  -1.042]
+[07-31 02:07:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.086 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3967
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3967
+Query 1/1: Action query time = 1.086 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3967
+t=26: Selected seed 195 with value = 0.3967
+t: 26	 action: [ 0.91   0.245 -0.198  0.005  0.019  0.007 -1.04 ]
+t: 27	 action: [ 0.931  0.158 -0.208  0.005  0.02   0.002 -1.018]
+t: 28	 action: [ 0.911  0.125 -0.249  0.006  0.016  0.008 -1.031]
+t: 29	 action: [ 0.931  0.042 -0.279  0.01   0.011 -0.002 -1.017]
+t: 30	 action: [ 9.292e-01  1.682e-02 -3.681e-01  8.953e-03  1.385e-02  3.599e-04 -1.019e+00]
+t: 31	 action: [ 0.872 -0.037 -0.406  0.021  0.011 -0.002 -1.034]
+t: 32	 action: [ 8.501e-01 -4.332e-02 -4.790e-01  2.173e-02  8.533e-03 -2.854e-04 -1.018e+00]
+t: 33	 action: [ 0.773 -0.083 -0.52   0.027  0.007 -0.004 -1.036]
+t: 34	 action: [ 0.637 -0.053 -0.532  0.018  0.003  0.005 -1.036]
+t: 35	 action: [ 0.626 -0.086 -0.623  0.017  0.005 -0.002 -1.023]
+t: 36	 action: [ 0.479 -0.05  -0.628  0.018 -0.006  0.004 -1.029]
+t: 37	 action: [ 0.408 -0.084 -0.71   0.015 -0.008 -0.004 -1.018]
+t: 38	 action: [ 0.317 -0.023 -0.668  0.018 -0.018 -0.002 -1.032]
+t: 39	 action: [ 0.201 -0.05  -0.704  0.021 -0.03  -0.007 -1.04 ]
+t: 40	 action: [ 0.185 -0.005 -0.717  0.013 -0.024 -0.001 -1.026]
+t: 41	 action: [ 0.103 -0.034 -0.75   0.018 -0.036 -0.008 -1.038]
+[07-31 02:07:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.118 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4201
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4201
+Query 1/1: Action query time = 1.118 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4201
+t=42: Selected seed 195 with value = 0.4201
+t: 42	 action: [ 5.043e-01 -2.104e-01 -5.200e-01  4.148e-02 -4.668e-03  9.908e-04 -1.024e+00]
+t: 43	 action: [ 0.356 -0.215 -0.588  0.033 -0.005 -0.003 -1.029]
+t: 44	 action: [ 0.315 -0.255 -0.621  0.043 -0.025  0.006 -1.027]
+t: 45	 action: [ 0.136 -0.198 -0.704  0.029 -0.031  0.004 -1.03 ]
+t: 46	 action: [ 0.038 -0.213 -0.67   0.014 -0.033  0.003 -1.015]
+t: 47	 action: [-0.067 -0.151 -0.822  0.023 -0.039  0.005 -1.051]
+t: 48	 action: [-0.126 -0.134 -0.722  0.008 -0.049  0.008 -1.017]
+t: 49	 action: [-0.192 -0.088 -0.845  0.018 -0.05   0.013 -1.051]
+t: 50	 action: [-0.257 -0.092 -0.728  0.008 -0.055  0.038 -1.023]
+t: 51	 action: [-0.373 -0.11  -0.781 -0.008 -0.053  0.042 -1.027]
+t: 52	 action: [-0.466 -0.03  -0.715 -0.002 -0.055  0.052 -1.025]
+t: 53	 action: [-0.492 -0.076 -0.753 -0.015 -0.04   0.05  -1.023]
+t: 54	 action: [-0.61  -0.043 -0.668 -0.026 -0.055  0.071 -1.014]
+t: 55	 action: [-0.604 -0.036 -0.767 -0.016 -0.044  0.055 -1.047]
+t: 56	 action: [-0.633 -0.002 -0.653 -0.039 -0.041  0.073 -1.013]
+t: 57	 action: [-0.607 -0.008 -0.715 -0.023 -0.024  0.061 -1.054]
+[07-31 02:07:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.160 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5284
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5284
+Query 1/1: Action query time = 1.160 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5284
+t=58: Selected seed 195 with value = 0.5284
+t: 58	 action: [-0.186  0.052 -0.384  0.008 -0.019  0.011 -1.001]
+t: 59	 action: [-1.878e-01 -7.016e-02 -3.534e-01 -6.532e-04  1.710e-03  9.631e-03 -1.010e+00]
+t: 60	 action: [-0.186  0.061 -0.481  0.005 -0.005  0.01  -0.997]
+t: 61	 action: [-1.376e-01  1.856e-01 -5.273e-01 -9.656e-04  9.669e-03  8.736e-03 -1.008e+00]
+t: 62	 action: [-0.178  0.05  -0.445  0.003  0.003  0.008 -1.   ]
+t: 63	 action: [-0.133  0.108 -0.402  0.006  0.003  0.01  -1.042]
+t: 64	 action: [-0.135  0.229 -0.361 -0.001  0.014  0.005 -1.   ]
+t: 65	 action: [-0.065  0.577 -0.335  0.002  0.024  0.004 -1.04 ]
+t: 66	 action: [-1.498e-02  6.548e-01 -3.322e-01 -6.160e-04  1.707e-02  7.258e-03 -1.016e+00]
+t: 67	 action: [-0.009  0.734 -0.325 -0.005  0.029  0.003 -1.014]
+t: 68	 action: [-2.456e-05  8.082e-01 -2.591e-01 -2.681e-03  2.839e-02  7.394e-03 -1.012e+00]
+t: 69	 action: [ 0.011  0.808 -0.261 -0.001  0.034  0.005 -1.018]
+t: 70	 action: [-0.049  0.897 -0.275 -0.005  0.022  0.003 -1.019]
+t: 71	 action: [-3.222e-02  8.525e-01 -2.766e-01  2.380e-03  2.612e-02 -4.385e-04 -1.041e+00]
+t: 72	 action: [-6.075e-02  9.330e-01 -2.071e-01 -9.278e-03  2.923e-02  1.669e-04 -1.009e+00]
+t: 73	 action: [-2.363e-02  8.678e-01 -2.281e-01  1.194e-03  2.906e-02  5.718e-05 -1.049e+00]
+[07-31 02:07:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.247 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5728
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 1.247 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=74: Selected seed 195 with value = 0.5728
+t: 74	 action: [-0.125  0.128 -0.396  0.004  0.004  0.007 -0.986]
+t: 75	 action: [-1.348e-01  1.460e-01 -4.008e-01 -2.802e-04  9.422e-03  6.256e-03 -1.011e+00]
+t: 76	 action: [-0.127  0.332 -0.388  0.003  0.005  0.008 -0.991]
+t: 77	 action: [-1.020e-01  4.662e-01 -4.137e-01 -3.461e-04  1.440e-02  7.420e-03 -1.009e+00]
+t: 78	 action: [-7.477e-02  4.467e-01 -3.308e-01  5.290e-04  8.714e-03  1.532e-03 -9.922e-01]
+t: 79	 action: [-0.077  0.629 -0.349  0.01   0.027  0.003 -1.044]
+t: 80	 action: [-5.807e-02  7.235e-01 -3.318e-01 -2.829e-03  1.444e-02  7.102e-04 -9.952e-01]
+t: 81	 action: [-0.065  0.804 -0.368  0.007  0.032  0.003 -1.04 ]
+t: 82	 action: [-0.033  0.79  -0.347  0.003  0.003  0.011 -1.02 ]
+t: 83	 action: [-0.023  0.811 -0.323 -0.005  0.01   0.005 -1.019]
+t: 84	 action: [-0.042  0.86  -0.337  0.001  0.008  0.011 -1.017]
+t: 85	 action: [-0.024  0.833 -0.314 -0.004  0.016  0.008 -1.023]
+t: 86	 action: [-0.117  0.895 -0.367 -0.002  0.005  0.006 -1.028]
+t: 87	 action: [-0.1    0.882 -0.365  0.002  0.002  0.003 -1.044]
+t: 88	 action: [-0.146  0.917 -0.344 -0.006  0.012  0.003 -1.017]
+t: 89	 action: [-0.128  0.881 -0.348  0.001  0.005  0.006 -1.051]
+[07-31 02:07:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.199 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7762
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7762
+Query 1/1: Action query time = 1.199 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7762
+t=90: Selected seed 195 with value = 0.7762
+t: 90	 action: [-1.052e-01  8.644e-01 -2.044e-01  4.035e-04  4.718e-02  1.392e-02 -9.848e-01]
+t: 91	 action: [-0.063  0.855 -0.237 -0.005  0.049  0.01  -1.007]
+t: 92	 action: [-0.135  0.9   -0.214  0.001  0.048  0.015 -0.986]
+t: 93	 action: [-1.039e-01  8.791e-01 -2.496e-01 -4.748e-04  4.621e-02  1.426e-02 -1.008e+00]
+t: 94	 action: [-0.114  0.898 -0.193 -0.004  0.033  0.006 -0.99 ]
+t: 95	 action: [-1.153e-01  8.913e-01 -2.670e-01  9.828e-04  4.427e-02  1.026e-02 -1.037e+00]
+t: 96	 action: [-0.153  0.921 -0.214 -0.006  0.036  0.006 -0.989]
+t: 97	 action: [-0.158  0.907 -0.293  0.004  0.039  0.013 -1.037]
+t: 98	 action: [-0.167  0.933 -0.306 -0.006  0.01   0.022 -1.001]
+t: 99	 action: [-0.153  0.906 -0.295 -0.009  0.015  0.014 -1.013]
+t: 100	 action: [-1.923e-01  9.296e-01 -3.049e-01 -4.423e-04  1.224e-02  2.112e-02 -9.976e-01]
+t: 101	 action: [-0.196  0.889 -0.3   -0.006  0.018  0.017 -1.013]
+t: 102	 action: [-0.266  0.917 -0.316 -0.004  0.017  0.022 -1.005]
+t: 103	 action: [-0.259  0.907 -0.338  0.002  0.024  0.015 -1.037]
+t: 104	 action: [-0.295  0.907 -0.302 -0.007  0.024  0.018 -0.994]
+t: 105	 action: [-0.298  0.889 -0.336  0.005  0.024  0.017 -1.042]
+[07-31 02:07:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8822
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8822
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8822
+t=106: Selected seed 195 with value = 0.8822
+t: 106	 action: [-0.384  0.88  -0.248  0.002  0.028  0.006 -0.996]
+t: 107	 action: [-0.357  0.843 -0.236  0.003  0.035  0.002 -1.004]
+t: 108	 action: [-0.393  0.885 -0.244  0.002  0.039  0.008 -0.989]
+t: 109	 action: [-0.36   0.842 -0.226  0.004  0.045  0.007 -1.004]
+t: 110	 action: [-4.265e-01  8.477e-01 -2.002e-01 -1.145e-03  4.245e-02  4.450e-04 -9.808e-01]
+t: 111	 action: [-0.451  0.848 -0.219  0.009  0.052  0.005 -1.033]
+t: 112	 action: [-0.477  0.835 -0.221 -0.005  0.056  0.002 -0.977]
+t: 113	 action: [-0.478  0.83  -0.245  0.01   0.056  0.009 -1.033]
+t: 114	 action: [-0.405  0.861 -0.265  0.003  0.026  0.01  -1.003]
+t: 115	 action: [-0.472  0.766 -0.284 -0.004  0.035  0.005 -1.008]
+t: 116	 action: [-0.577  0.638 -0.313  0.004  0.037  0.007 -1.002]
+t: 117	 action: [-5.861e-01  5.402e-01 -3.085e-01 -7.394e-04  5.338e-02  3.982e-03 -1.006e+00]
+t: 118	 action: [-7.450e-01  3.966e-01 -4.016e-01 -8.332e-04  5.837e-02  6.700e-03 -9.921e-01]
+t: 119	 action: [-0.734  0.258 -0.431  0.019  0.058  0.007 -1.042]
+t: 120	 action: [-7.750e-01  1.484e-01 -4.185e-01  6.693e-03  7.623e-02 -1.753e-04 -9.876e-01]
+t: 121	 action: [-0.775  0.051 -0.442  0.02   0.065  0.004 -1.043]
+[07-31 02:07:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9837
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=122: Selected seed 195 with value = 0.9837
+t: 122	 action: [-0.878 -0.004 -0.47   0.02   0.031 -0.046 -0.981]
+t: 123	 action: [-0.852 -0.043 -0.388  0.026  0.042 -0.061 -0.975]
+t: 124	 action: [-0.871 -0.081 -0.381  0.022  0.035 -0.052 -0.99 ]
+t: 125	 action: [-0.769 -0.141 -0.257  0.029  0.042 -0.077 -0.979]
+t: 126	 action: [-0.73  -0.147 -0.196  0.03   0.031 -0.073 -0.984]
+t: 127	 action: [-0.516 -0.098 -0.067  0.037  0.037 -0.068 -1.041]
+t: 128	 action: [-0.465 -0.157 -0.086  0.026  0.035 -0.067 -0.988]
+t: 129	 action: [-0.261 -0.092 -0.051  0.038  0.034 -0.075 -1.032]
+t: 130	 action: [-0.612 -0.244 -0.033  0.039  0.049 -0.055 -1.015]
+t: 131	 action: [-0.527 -0.295 -0.016  0.046  0.05  -0.047 -1.019]
+t: 132	 action: [-0.588 -0.295 -0.119  0.054  0.049 -0.039 -1.012]
+t: 133	 action: [-0.435 -0.291 -0.085  0.054  0.048 -0.037 -1.018]
+t: 134	 action: [-0.694 -0.303 -0.137  0.056  0.043 -0.036 -0.999]
+t: 135	 action: [-0.577 -0.223 -0.174  0.06   0.036 -0.034 -1.046]
+t: 136	 action: [-0.635 -0.26  -0.2    0.059  0.037 -0.024 -0.992]
+t: 137	 action: [-0.517 -0.194 -0.233  0.061  0.03  -0.023 -1.047]
+[07-31 02:07:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9643
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 0.993 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=138: Selected seed 195 with value = 0.9643
+t: 138	 action: [-0.168  0.168  0.093 -0.027 -0.022 -0.005 -1.027]
+t: 139	 action: [ 0.046  0.253  0.226 -0.032 -0.018 -0.012 -1.009]
+t: 140	 action: [ 0.388  0.355  0.363 -0.04  -0.012 -0.007 -1.032]
+t: 141	 action: [ 0.471  0.282  0.407 -0.041 -0.01  -0.015 -1.004]
+t: 142	 action: [ 5.029e-01  2.747e-01  4.439e-01 -4.916e-02 -6.900e-04 -1.237e-02 -1.034e+00]
+t: 143	 action: [ 0.559  0.208  0.439 -0.04  -0.007 -0.015 -1.03 ]
+t: 144	 action: [ 0.535  0.144  0.398 -0.031 -0.004 -0.015 -1.039]
+t: 145	 action: [ 0.568  0.124  0.387 -0.025 -0.011 -0.017 -1.033]
+t: 146	 action: [ 0.534 -0.062  0.195  0.004 -0.055 -0.008 -1.046]
+t: 147	 action: [ 0.559 -0.114  0.159  0.01  -0.051 -0.016 -1.008]
+t: 148	 action: [ 0.447 -0.263  0.111  0.019 -0.068 -0.008 -1.049]
+t: 149	 action: [ 0.4   -0.245  0.079  0.018 -0.06  -0.015 -1.012]
+t: 150	 action: [ 0.311 -0.219  0.091  0.024 -0.074 -0.017 -1.043]
+t: 151	 action: [ 0.187 -0.181  0.055  0.019 -0.083 -0.022 -1.043]
+t: 152	 action: [ 0.178 -0.176  0.082  0.025 -0.073 -0.017 -1.051]
+t: 153	 action: [ 0.179 -0.15   0.049  0.019 -0.075 -0.02  -1.052]
+[07-31 02:07:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.145 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8828
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8828
+Query 1/1: Action query time = 1.145 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8828
+t=154: Selected seed 195 with value = 0.8828
+t: 154	 action: [ 0.551 -0.322  0.171  0.011 -0.21  -0.057 -1.039]
+t: 155	 action: [ 0.615 -0.361  0.113  0.011 -0.206 -0.058 -1.022]
+t: 156	 action: [ 0.459 -0.443  0.05   0.024 -0.236 -0.065 -1.037]
+t: 157	 action: [ 0.516 -0.45   0.015  0.025 -0.223 -0.064 -1.015]
+t: 158	 action: [ 0.435 -0.374  0.013  0.023 -0.228 -0.051 -1.027]
+t: 159	 action: [ 0.465 -0.342 -0.057  0.032 -0.207 -0.057 -1.036]
+t: 160	 action: [ 0.349 -0.239 -0.189  0.015 -0.211 -0.055 -1.033]
+t: 161	 action: [ 0.34  -0.203 -0.286  0.034 -0.188 -0.064 -1.033]
+t: 162	 action: [ 0.12  -0.281 -0.494  0.045 -0.131 -0.045 -1.042]
+t: 163	 action: [-0.027 -0.202 -0.617  0.036 -0.118 -0.049 -1.019]
+t: 164	 action: [-0.105 -0.182 -0.584  0.04  -0.101 -0.044 -1.033]
+t: 165	 action: [-0.225 -0.129 -0.659  0.034 -0.09  -0.045 -1.018]
+t: 166	 action: [-0.473 -0.035 -0.607  0.019 -0.098 -0.037 -1.028]
+t: 167	 action: [-0.549  0.005 -0.669  0.027 -0.083 -0.044 -1.028]
+t: 168	 action: [-0.716 -0.016 -0.577  0.015 -0.073 -0.031 -1.01 ]
+t: 169	 action: [-0.699  0.049 -0.6    0.019 -0.065 -0.037 -1.037]
+[07-31 02:07:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.101 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9577
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9577
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 114
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 13 (11.4%)
+
+
 28%|██▊       | 14/50 [03:36<09:25, 15.72s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 15...
+Query 1/1: Action query time = 1.101 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=170: Selected seed 195 with value = 0.9577
+t: 170	 action: [-0.665  0.046 -0.567  0.006 -0.033  0.025 -0.717]
+t: 171	 action: [-0.742  0.018 -0.584  0.004 -0.023  0.036 -0.662]
+t: 172	 action: [-0.779  0.096 -0.514  0.007 -0.02   0.025 -0.837]
+t: 173	 action: [-0.799  0.047 -0.503  0.008  0.001  0.024 -0.875]
+t: 174	 action: [-0.804  0.003 -0.465  0.002 -0.002  0.03  -0.606]
+t: 175	 action: [-8.365e-01  5.229e-02 -4.727e-01  9.226e-03 -7.149e-04  4.126e-02 -2.502e-01]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=114--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+166 166 11 11
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=114--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 114
+# successes: 13 (11.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 15...
+[07-31 02:07:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3460
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3460
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3460
+t=10: Selected seed 195 with value = 0.3460
+t: 10	 action: [ 0.183  0.082 -0.052 -0.002 -0.005 -0.006 -1.015]
+t: 11	 action: [ 0.346  0.132 -0.053 -0.004 -0.003 -0.006 -1.004]
+t: 12	 action: [ 0.403  0.15  -0.074 -0.003 -0.005 -0.003 -1.01 ]
+t: 13	 action: [ 0.58   0.186 -0.08  -0.006  0.001 -0.005 -1.007]
+t: 14	 action: [ 0.686  0.194 -0.083 -0.008 -0.009 -0.006 -1.014]
+t: 15	 action: [ 0.791  0.191 -0.094 -0.008 -0.006 -0.009 -1.024]
+t: 16	 action: [ 0.857  0.227 -0.099 -0.009 -0.006 -0.007 -1.007]
+t: 17	 action: [ 0.893  0.207 -0.117 -0.01  -0.002 -0.007 -1.03 ]
+t: 18	 action: [ 0.874  0.224 -0.091 -0.005 -0.003 -0.005 -1.011]
+t: 19	 action: [ 0.891  0.195 -0.093 -0.007  0.008 -0.009 -1.008]
+t: 20	 action: [ 0.916  0.217 -0.106 -0.004 -0.005 -0.006 -1.007]
+t: 21	 action: [ 0.902  0.183 -0.096 -0.007  0.011 -0.009 -1.005]
+t: 22	 action: [ 0.936  0.192 -0.1   -0.006 -0.002 -0.009 -0.991]
+t: 23	 action: [ 0.951  0.174 -0.098 -0.005  0.003 -0.011 -1.024]
+t: 24	 action: [ 9.660e-01  1.952e-01 -1.154e-01 -5.537e-03 -7.339e-04 -9.371e-03 -9.919e-01]
+t: 25	 action: [ 0.966  0.163 -0.109 -0.006  0.003 -0.01  -1.025]
+[07-31 02:07:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3631
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3631
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3631
+t=26: Selected seed 195 with value = 0.3631
+t: 26	 action: [ 9.577e-01  1.759e-01 -2.706e-01  6.486e-03 -1.517e-04  6.499e-03 -1.035e+00]
+t: 27	 action: [ 0.973  0.087 -0.248  0.014  0.003  0.006 -1.01 ]
+t: 28	 action: [ 0.948  0.115 -0.323  0.013 -0.003  0.006 -1.035]
+t: 29	 action: [ 0.965  0.031 -0.313  0.017  0.003  0.004 -1.013]
+t: 30	 action: [ 9.553e-01  4.718e-02 -3.868e-01  1.385e-02 -3.846e-03 -2.412e-05 -1.021e+00]
+t: 31	 action: [ 9.189e-01  7.665e-03 -4.249e-01  2.142e-02  4.649e-04  1.518e-03 -1.036e+00]
+t: 32	 action: [ 0.889  0.012 -0.471  0.021 -0.005 -0.002 -1.027]
+t: 33	 action: [ 8.556e-01 -3.081e-02 -5.052e-01  2.408e-02 -5.882e-04  2.694e-04 -1.039e+00]
+t: 34	 action: [ 0.709 -0.054 -0.513  0.019 -0.032  0.005 -1.025]
+t: 35	 action: [ 0.73  -0.068 -0.563  0.017 -0.031  0.002 -1.014]
+t: 36	 action: [ 0.606 -0.047 -0.544  0.014 -0.036  0.004 -1.022]
+t: 37	 action: [ 6.067e-01 -5.739e-02 -5.760e-01  1.070e-02 -3.056e-02 -8.779e-04 -1.013e+00]
+t: 38	 action: [ 5.484e-01 -5.729e-03 -5.363e-01  7.322e-03 -3.020e-02  4.570e-04 -1.030e+00]
+t: 39	 action: [ 0.524 -0.027 -0.574  0.015 -0.029 -0.002 -1.04 ]
+t: 40	 action: [ 4.635e-01  2.255e-02 -5.589e-01  2.999e-03 -2.746e-02 -7.389e-04 -1.031e+00]
+t: 41	 action: [ 0.455 -0.002 -0.574  0.009 -0.027 -0.002 -1.037]
+[07-31 02:07:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4671
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4671
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4671
+t=42: Selected seed 195 with value = 0.4671
+t: 42	 action: [ 0.354 -0.135 -0.583  0.036 -0.003  0.006 -1.006]
+t: 43	 action: [ 0.202 -0.154 -0.643  0.024 -0.005  0.004 -1.023]
+t: 44	 action: [ 0.183 -0.168 -0.641  0.037 -0.025  0.01  -1.007]
+t: 45	 action: [ 0.013 -0.164 -0.697  0.021 -0.031  0.009 -1.022]
+t: 46	 action: [-0.103 -0.16  -0.639  0.014 -0.023  0.004 -0.999]
+t: 47	 action: [-0.162 -0.139 -0.776  0.014 -0.028  0.01  -1.04 ]
+t: 48	 action: [-0.305 -0.095 -0.68   0.007 -0.035  0.009 -0.998]
+t: 49	 action: [-0.373 -0.097 -0.774  0.005 -0.034  0.015 -1.035]
+t: 50	 action: [-0.418 -0.074 -0.65  -0.002 -0.037  0.03  -1.007]
+t: 51	 action: [-0.495 -0.101 -0.711 -0.026 -0.032  0.035 -1.023]
+t: 52	 action: [-0.548 -0.014 -0.661 -0.016 -0.032  0.04  -1.011]
+t: 53	 action: [-0.567 -0.047 -0.686 -0.037 -0.013  0.041 -1.017]
+t: 54	 action: [-0.62   0.013 -0.631 -0.032 -0.032  0.062 -1.   ]
+t: 55	 action: [-0.597  0.017 -0.71  -0.035 -0.016  0.047 -1.041]
+t: 56	 action: [-0.589  0.059 -0.6   -0.047 -0.018  0.062 -0.997]
+t: 57	 action: [-0.528  0.072 -0.651 -0.047 -0.002  0.051 -1.043]
+[07-31 02:07:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5242
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5242
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5242
+t=58: Selected seed 195 with value = 0.5242
+t: 58	 action: [-0.24  -0.006 -0.527  0.006 -0.014  0.039 -0.987]
+t: 59	 action: [-0.221 -0.095 -0.544 -0.006  0.006  0.042 -0.998]
+t: 60	 action: [-0.268 -0.017 -0.56   0.002  0.01   0.043 -0.991]
+t: 61	 action: [-0.126  0.108 -0.564 -0.007  0.025  0.04  -1.002]
+t: 62	 action: [-2.334e-01  1.601e-01 -4.639e-01 -9.393e-04  3.855e-02  6.173e-02 -9.891e-01]
+t: 63	 action: [-0.104  0.374 -0.467  0.005  0.038  0.046 -1.037]
+t: 64	 action: [-0.021  0.533 -0.348 -0.005  0.05   0.054 -0.993]
+t: 65	 action: [ 0.062  0.69  -0.38   0.001  0.052  0.038 -1.036]
+t: 66	 action: [ 1.185e-01  7.873e-01 -2.618e-01  1.861e-05  5.125e-02  1.721e-02 -9.961e-01]
+t: 67	 action: [ 1.887e-01  8.363e-01 -2.695e-01 -2.897e-04  6.857e-02  1.431e-02 -1.000e+00]
+t: 68	 action: [ 1.236e-01  8.487e-01 -2.183e-01 -1.994e-04  4.736e-02  2.035e-02 -9.922e-01]
+t: 69	 action: [ 0.207  0.855 -0.243  0.001  0.05   0.015 -1.003]
+t: 70	 action: [ 0.07   0.899 -0.255 -0.006  0.035  0.013 -1.009]
+t: 71	 action: [ 0.103  0.884 -0.311  0.004  0.04   0.011 -1.032]
+t: 72	 action: [ 0.034  0.906 -0.248 -0.009  0.028  0.013 -1.001]
+t: 73	 action: [ 0.062  0.888 -0.306  0.002  0.027  0.014 -1.037]
+[07-31 02:07:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5787
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5787
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5787
+t=74: Selected seed 195 with value = 0.5787
+t: 74	 action: [-0.051  0.526 -0.401  0.002  0.018  0.019 -0.99 ]
+t: 75	 action: [-1.289e-02  6.589e-01 -3.914e-01 -7.964e-04  2.877e-02  1.731e-02 -1.002e+00]
+t: 76	 action: [-0.016  0.729 -0.339  0.002  0.028  0.02  -0.995]
+t: 77	 action: [ 0.024  0.79  -0.345  0.002  0.038  0.018 -1.006]
+t: 78	 action: [ 0.031  0.799 -0.258 -0.001  0.032  0.015 -1.001]
+t: 79	 action: [ 0.006  0.863 -0.307  0.009  0.049  0.015 -1.034]
+t: 80	 action: [ 0.022  0.893 -0.248 -0.005  0.04   0.014 -0.999]
+t: 81	 action: [ 0.014  0.902 -0.306  0.009  0.046  0.015 -1.035]
+t: 82	 action: [ 0.036  0.883 -0.258  0.005  0.013  0.016 -1.015]
+t: 83	 action: [ 0.024  0.883 -0.256  0.004  0.015  0.013 -1.008]
+t: 84	 action: [ 0.011  0.884 -0.272  0.005  0.011  0.016 -1.007]
+t: 85	 action: [-0.006  0.882 -0.26   0.007  0.005  0.015 -1.012]
+t: 86	 action: [-1.392e-01  9.259e-01 -2.793e-01 -5.331e-04  7.963e-03  1.517e-02 -1.022e+00]
+t: 87	 action: [-0.112  0.92  -0.351  0.011  0.003  0.014 -1.033]
+t: 88	 action: [-0.21   0.916 -0.31  -0.003  0.01   0.013 -1.002]
+t: 89	 action: [-0.202  0.917 -0.364  0.011  0.003  0.017 -1.036]
+[07-31 02:07:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.036 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8340
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8340
+Query 1/1: Action query time = 1.036 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8340
+t=90: Selected seed 195 with value = 0.8340
+t: 90	 action: [-1.739e-01  8.581e-01 -2.231e-01 -7.247e-04  3.362e-02  1.051e-02 -9.924e-01]
+t: 91	 action: [-0.153  0.858 -0.278 -0.004  0.043  0.009 -1.003]
+t: 92	 action: [-0.19   0.871 -0.218 -0.003  0.044  0.012 -0.993]
+t: 93	 action: [-0.165  0.872 -0.257 -0.001  0.047  0.013 -1.011]
+t: 94	 action: [-0.184  0.875 -0.174 -0.004  0.032  0.004 -0.992]
+t: 95	 action: [-0.197  0.896 -0.233  0.002  0.045  0.01  -1.03 ]
+t: 96	 action: [-0.223  0.892 -0.192 -0.007  0.039  0.005 -0.991]
+t: 97	 action: [-0.235  0.898 -0.252  0.004  0.04   0.014 -1.033]
+t: 98	 action: [-2.708e-01  9.278e-01 -2.537e-01 -3.068e-04 -2.169e-03  1.525e-02 -9.939e-01]
+t: 99	 action: [-0.28   0.897 -0.27  -0.005  0.005  0.01  -1.008]
+t: 100	 action: [-0.334  0.915 -0.269  0.002 -0.005  0.016 -1.002]
+t: 101	 action: [-0.345  0.857 -0.301 -0.002  0.005  0.012 -1.009]
+t: 102	 action: [-0.435  0.895 -0.287 -0.004 -0.002  0.016 -0.998]
+t: 103	 action: [-0.432  0.89  -0.363  0.003 -0.001  0.011 -1.033]
+t: 104	 action: [-0.52   0.845 -0.294 -0.006  0.002  0.016 -0.992]
+t: 105	 action: [-5.254e-01  8.183e-01 -3.788e-01  6.972e-03 -2.814e-04  1.518e-02 -1.034e+00]
+[07-31 02:07:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.052 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9487
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 1.052 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=106: Selected seed 195 with value = 0.9487
+t: 106	 action: [-0.705  0.433 -0.325  0.013 -0.007  0.002 -0.936]
+t: 107	 action: [-0.71   0.344 -0.35   0.021  0.01  -0.011 -0.966]
+t: 108	 action: [-0.786  0.303 -0.411  0.021  0.007 -0.001 -0.942]
+t: 109	 action: [-0.804  0.16  -0.439  0.024  0.034 -0.019 -0.978]
+t: 110	 action: [-0.84   0.137 -0.429  0.022  0.058 -0.006 -0.928]
+t: 111	 action: [-0.894  0.076 -0.43   0.035  0.064 -0.011 -1.024]
+t: 112	 action: [-0.838  0.04  -0.481  0.034  0.086 -0.015 -0.929]
+t: 113	 action: [-0.901  0.023 -0.49   0.04   0.089 -0.023 -1.024]
+t: 114	 action: [-0.856 -0.047 -0.512  0.051  0.081 -0.035 -0.984]
+t: 115	 action: [-0.859 -0.138 -0.535  0.044  0.083 -0.039 -1.011]
+t: 116	 action: [-0.872 -0.086 -0.52   0.06   0.087 -0.037 -0.987]
+t: 117	 action: [-0.847 -0.169 -0.537  0.044  0.09  -0.036 -1.008]
+t: 118	 action: [-0.878 -0.178 -0.514  0.056  0.096 -0.041 -0.968]
+t: 119	 action: [-0.857 -0.172 -0.514  0.054  0.084 -0.04  -1.043]
+t: 120	 action: [-0.878 -0.202 -0.496  0.056  0.095 -0.037 -0.96 ]
+t: 121	 action: [-0.86  -0.183 -0.502  0.05   0.081 -0.034 -1.04 ]
+[07-31 02:07:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.072 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9866
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9866
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 115
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 14 (12.2%)
+
+
 30%|███       | 15/50 [03:50<08:57, 15.34s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 16...
+Query 1/1: Action query time = 1.072 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=122: Selected seed 195 with value = 0.9866
+t: 122	 action: [-0.895 -0.05  -0.495  0.055 -0.033  0.006 -0.915]
+t: 123	 action: [-8.771e-01 -1.065e-01 -5.504e-01  6.294e-02 -1.483e-02  5.113e-04 -9.281e-01]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=115--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+114 114 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=115--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 115
+# successes: 14 (12.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 16...
+[07-31 02:08:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3684
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3684
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3684
+t=10: Selected seed 195 with value = 0.3684
+t: 10	 action: [ 0.17   0.152 -0.034  0.014  0.008  0.014 -1.013]
+t: 11	 action: [ 0.276  0.182 -0.028  0.019  0.013  0.013 -1.012]
+t: 12	 action: [ 0.445  0.235 -0.063  0.01   0.014  0.016 -1.019]
+t: 13	 action: [ 0.607  0.239 -0.037  0.015  0.022  0.013 -1.013]
+t: 14	 action: [ 0.775  0.232 -0.07   0.01   0.014  0.015 -1.017]
+t: 15	 action: [ 0.842  0.228 -0.061  0.019  0.03   0.012 -1.033]
+t: 16	 action: [ 0.964  0.238 -0.11   0.006  0.024  0.011 -1.015]
+t: 17	 action: [ 0.958  0.227 -0.122  0.017  0.042  0.01  -1.037]
+t: 18	 action: [ 0.913  0.22  -0.119  0.008  0.036  0.01  -1.025]
+t: 19	 action: [ 0.916  0.166 -0.142  0.008  0.044  0.007 -1.015]
+t: 20	 action: [ 0.946  0.199 -0.149  0.007  0.036  0.007 -1.03 ]
+t: 21	 action: [ 0.929  0.146 -0.163  0.007  0.045  0.004 -1.012]
+t: 22	 action: [ 0.979  0.19  -0.152  0.003  0.036  0.005 -1.002]
+t: 23	 action: [ 0.999  0.158 -0.197  0.014  0.04   0.003 -1.033]
+t: 24	 action: [ 1.000e+00  1.901e-01 -1.971e-01  3.830e-04  3.264e-02  2.190e-03 -1.006e+00]
+t: 25	 action: [ 1.02   0.151 -0.235  0.011  0.034  0.002 -1.036]
+[07-31 02:08:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3940
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3940
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3940
+t=26: Selected seed 195 with value = 0.3940
+t: 26	 action: [ 0.935  0.204 -0.21   0.005  0.029  0.007 -1.041]
+t: 27	 action: [ 0.95   0.105 -0.254  0.011  0.037 -0.005 -1.02 ]
+t: 28	 action: [ 0.939  0.104 -0.274  0.01   0.03   0.005 -1.037]
+t: 29	 action: [ 0.953  0.018 -0.337  0.014  0.04  -0.009 -1.017]
+t: 30	 action: [ 0.956  0.013 -0.385  0.013  0.03  -0.004 -1.024]
+t: 31	 action: [ 0.9   -0.029 -0.463  0.024  0.04  -0.009 -1.034]
+t: 32	 action: [ 0.89  -0.043 -0.504  0.021  0.03  -0.009 -1.026]
+t: 33	 action: [ 0.824 -0.086 -0.562  0.025  0.028 -0.011 -1.035]
+t: 34	 action: [ 0.682 -0.086 -0.539  0.017  0.009 -0.007 -1.032]
+t: 35	 action: [ 0.668 -0.096 -0.645  0.011  0.009 -0.011 -1.017]
+t: 36	 action: [ 0.51  -0.069 -0.618  0.012 -0.003 -0.004 -1.026]
+t: 37	 action: [ 0.453 -0.087 -0.679  0.007  0.002 -0.012 -1.01 ]
+t: 38	 action: [ 0.345  0.011 -0.621  0.006 -0.01  -0.009 -1.03 ]
+t: 39	 action: [ 0.251 -0.018 -0.626  0.012 -0.007 -0.013 -1.036]
+t: 40	 action: [ 2.156e-01  4.438e-02 -6.609e-01  9.244e-04 -1.689e-02 -3.588e-03 -1.027e+00]
+t: 41	 action: [ 0.137 -0.003 -0.642  0.005 -0.02  -0.012 -1.031]
+[07-31 02:08:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4680
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4680
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4680
+t=42: Selected seed 195 with value = 0.4680
+t: 42	 action: [ 0.201 -0.283 -0.545  0.017 -0.017  0.009 -1.009]
+t: 43	 action: [ 0.104 -0.232 -0.641  0.007 -0.021  0.013 -1.023]
+t: 44	 action: [ 0.051 -0.26  -0.641  0.018 -0.038  0.013 -1.008]
+t: 45	 action: [-0.063 -0.213 -0.726  0.008 -0.04   0.018 -1.015]
+t: 46	 action: [-1.249e-01 -2.160e-01 -6.555e-01  8.075e-04 -4.118e-02  2.132e-02 -1.005e+00]
+t: 47	 action: [-2.082e-01 -1.192e-01 -7.875e-01 -5.525e-05 -4.901e-02  2.157e-02 -1.045e+00]
+t: 48	 action: [-0.286 -0.115 -0.699 -0.003 -0.046  0.033 -1.004]
+t: 49	 action: [-0.362 -0.07  -0.789 -0.004 -0.04   0.026 -1.041]
+t: 50	 action: [-0.462 -0.066 -0.722 -0.017 -0.057  0.06  -1.01 ]
+t: 51	 action: [-0.475 -0.116 -0.766 -0.023 -0.049  0.051 -1.015]
+t: 52	 action: [-0.514 -0.003 -0.711 -0.023 -0.047  0.066 -1.013]
+t: 53	 action: [-0.509 -0.075 -0.708 -0.022 -0.031  0.051 -1.007]
+t: 54	 action: [-0.523 -0.02  -0.65  -0.046 -0.046  0.072 -1.007]
+t: 55	 action: [-0.448 -0.018 -0.631 -0.026 -0.036  0.051 -1.048]
+t: 56	 action: [-0.438  0.033 -0.607 -0.046 -0.026  0.066 -1.006]
+t: 57	 action: [-0.364  0.018 -0.554 -0.026 -0.013  0.05  -1.052]
+[07-31 02:08:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5599
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5599
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5599
+t=58: Selected seed 195 with value = 0.5599
+t: 58	 action: [-0.258  0.239 -0.561  0.007 -0.005  0.031 -0.99 ]
+t: 59	 action: [-0.213  0.334 -0.492  0.003  0.007  0.026 -0.996]
+t: 60	 action: [-0.167  0.445 -0.467  0.006  0.007  0.027 -0.993]
+t: 61	 action: [-0.086  0.629 -0.341  0.006  0.013  0.022 -1.004]
+t: 62	 action: [-0.177  0.612 -0.329  0.005  0.014  0.032 -0.995]
+t: 63	 action: [-0.114  0.757 -0.287  0.011  0.005  0.023 -1.025]
+t: 64	 action: [-0.122  0.777 -0.27   0.004  0.017  0.025 -1.001]
+t: 65	 action: [-0.076  0.852 -0.231  0.014  0.007  0.02  -1.027]
+t: 66	 action: [ 0.025  0.905 -0.209  0.008  0.007  0.005 -0.993]
+t: 67	 action: [ 0.028  0.871 -0.164  0.013  0.006  0.006 -0.993]
+t: 68	 action: [ 2.166e-02  8.835e-01 -2.152e-01  7.942e-03  8.769e-04  8.248e-03 -9.933e-01]
+t: 69	 action: [ 0.025  0.864 -0.167  0.015  0.002  0.012 -0.993]
+t: 70	 action: [-0.079  0.935 -0.203  0.005 -0.005  0.004 -1.013]
+t: 71	 action: [-7.135e-02  8.828e-01 -2.013e-01  1.842e-02  4.965e-04  8.810e-03 -1.018e+00]
+t: 72	 action: [-0.16   0.905 -0.221  0.006 -0.009  0.007 -1.008]
+t: 73	 action: [-0.132  0.88  -0.218  0.018 -0.005  0.016 -1.021]
+[07-31 02:08:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7336
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7336
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7336
+t=74: Selected seed 195 with value = 0.7336
+t: 74	 action: [-0.142  0.735 -0.396 -0.01  -0.011  0.009 -1.007]
+t: 75	 action: [-0.149  0.816 -0.343 -0.007  0.002  0.008 -1.009]
+t: 76	 action: [-0.132  0.814 -0.336 -0.005 -0.003  0.009 -1.004]
+t: 77	 action: [-0.112  0.874 -0.305 -0.003  0.006  0.01  -1.013]
+t: 78	 action: [-0.124  0.839 -0.295 -0.006 -0.004  0.004 -1.011]
+t: 79	 action: [-0.131  0.911 -0.25  -0.003 -0.003  0.007 -1.034]
+t: 80	 action: [-0.147  0.889 -0.261 -0.004  0.004  0.005 -1.011]
+t: 81	 action: [-1.477e-01  9.320e-01 -2.255e-01  8.904e-04 -1.253e-03  1.011e-02 -1.037e+00]
+t: 82	 action: [-0.143  0.944 -0.217  0.009 -0.038  0.009 -1.006]
+t: 83	 action: [-0.153  0.906 -0.165  0.002 -0.031  0.005 -1.006]
+t: 84	 action: [-0.204  0.933 -0.215  0.01  -0.037  0.01  -1.002]
+t: 85	 action: [-0.222  0.89  -0.165  0.006 -0.03   0.007 -1.005]
+t: 86	 action: [-0.266  0.938 -0.216  0.004 -0.034  0.006 -1.009]
+t: 87	 action: [-0.307  0.915 -0.178  0.011 -0.032  0.007 -1.029]
+t: 88	 action: [-0.37   0.919 -0.212  0.002 -0.025  0.005 -0.996]
+t: 89	 action: [-0.374  0.899 -0.183  0.012 -0.026  0.011 -1.03 ]
+[07-31 02:08:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9310
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9310
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9310
+t=90: Selected seed 195 with value = 0.9310
+t: 90	 action: [-0.613  0.653 -0.36   0.003 -0.032  0.02  -0.98 ]
+t: 91	 action: [-5.760e-01  7.019e-01 -3.116e-01  1.093e-02 -3.094e-04  1.666e-02 -9.975e-01]
+t: 92	 action: [-0.705  0.617 -0.348  0.004 -0.022  0.018 -0.975]
+t: 93	 action: [-0.672  0.69  -0.297  0.011  0.005  0.016 -0.996]
+t: 94	 action: [-7.623e-01  6.303e-01 -2.847e-01  3.704e-04 -6.990e-03  2.376e-02 -9.533e-01]
+t: 95	 action: [-7.829e-01  7.186e-01 -2.670e-01  1.337e-02  8.469e-04  1.912e-02 -1.017e+00]
+t: 96	 action: [-7.977e-01  5.589e-01 -2.908e-01  4.787e-04  1.456e-02  1.998e-02 -9.467e-01]
+t: 97	 action: [-0.802  0.665 -0.284  0.014  0.022  0.017 -1.019]
+t: 98	 action: [-0.804  0.557 -0.311  0.015  0.003  0.011 -0.993]
+t: 99	 action: [-0.811  0.434 -0.361  0.027  0.03   0.011 -1.002]
+t: 100	 action: [-0.868  0.245 -0.384  0.029  0.046  0.007 -0.988]
+t: 101	 action: [-0.846  0.123 -0.43   0.029  0.069  0.007 -1.004]
+t: 102	 action: [-0.878  0.087 -0.391  0.033  0.069  0.007 -0.969]
+t: 103	 action: [-0.884 -0.055 -0.507  0.039  0.072  0.01  -1.026]
+t: 104	 action: [-0.897 -0.026 -0.378  0.037  0.096  0.001 -0.955]
+t: 105	 action: [-0.887 -0.109 -0.474  0.033  0.076  0.007 -1.036]
+[07-31 02:08:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9879
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9879
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 116
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 15 (12.9%)
+
+
 32%|███▏      | 16/50 [04:03<08:14, 14.53s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 17...
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=106: Selected seed 195 with value = 0.9879
+t: 106	 action: [-0.911 -0.028 -0.391  0.026  0.038  0.003 -0.947]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=116--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+97 97 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=116--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 116
+# successes: 15 (12.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 17...
+[07-31 02:08:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3423
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3423
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3423
+t=10: Selected seed 195 with value = 0.3423
+t: 10	 action: [ 5.948e-02  5.621e-02 -3.970e-02  5.003e-04 -8.877e-03 -6.225e-03 -1.011e+00]
+t: 11	 action: [ 0.183  0.072 -0.036 -0.002 -0.006 -0.01  -1.007]
+t: 12	 action: [ 0.269  0.106 -0.057 -0.001 -0.009 -0.003 -1.018]
+t: 13	 action: [ 4.338e-01  1.395e-01 -4.384e-02 -3.697e-03  1.643e-04 -8.435e-03 -1.009e+00]
+t: 14	 action: [ 0.551  0.127 -0.078 -0.007 -0.014 -0.009 -1.023]
+t: 15	 action: [ 0.693  0.161 -0.081 -0.004 -0.008 -0.012 -1.029]
+t: 16	 action: [ 0.819  0.189 -0.093 -0.009 -0.009 -0.008 -1.019]
+t: 17	 action: [ 0.863  0.197 -0.103 -0.005 -0.003 -0.011 -1.033]
+t: 18	 action: [ 0.892  0.175 -0.071 -0.005  0.003 -0.006 -1.012]
+t: 19	 action: [ 0.908  0.178 -0.071 -0.005  0.013 -0.011 -1.012]
+t: 20	 action: [ 0.925  0.191 -0.085 -0.002  0.004 -0.002 -1.011]
+t: 21	 action: [ 0.915  0.204 -0.068 -0.005  0.016 -0.009 -1.007]
+t: 22	 action: [ 0.951  0.21  -0.085 -0.004  0.008 -0.004 -0.994]
+t: 23	 action: [ 9.605e-01  2.134e-01 -9.585e-02  4.392e-04  6.765e-03 -9.953e-03 -1.027e+00]
+t: 24	 action: [ 0.98   0.258 -0.101 -0.003  0.011 -0.003 -0.996]
+t: 25	 action: [ 9.810e-01  2.342e-01 -1.140e-01  3.695e-04  9.788e-03 -5.003e-03 -1.028e+00]
+[07-31 02:08:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3804
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3804
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3804
+t=26: Selected seed 195 with value = 0.3804
+t: 26	 action: [ 8.941e-01  2.442e-01 -1.925e-01  1.127e-02 -2.386e-04 -2.401e-03 -1.035e+00]
+t: 27	 action: [ 0.912  0.15  -0.209  0.021  0.009 -0.012 -1.002]
+t: 28	 action: [ 0.886  0.183 -0.243  0.022  0.003 -0.005 -1.033]
+t: 29	 action: [ 0.902  0.081 -0.263  0.027  0.015 -0.015 -1.007]
+t: 30	 action: [ 0.928  0.099 -0.304  0.028  0.015 -0.012 -1.02 ]
+t: 31	 action: [ 0.887  0.065 -0.337  0.033  0.018 -0.013 -1.029]
+t: 32	 action: [ 0.869  0.028 -0.4    0.038  0.023 -0.016 -1.022]
+t: 33	 action: [ 8.235e-01  5.623e-05 -4.115e-01  3.814e-02  2.412e-02 -1.543e-02 -1.033e+00]
+t: 34	 action: [ 0.732 -0.065 -0.476  0.041  0.001 -0.022 -1.019]
+t: 35	 action: [ 0.742 -0.052 -0.501  0.028  0.009 -0.019 -1.009]
+t: 36	 action: [ 0.621 -0.104 -0.565  0.042 -0.001 -0.019 -1.014]
+t: 37	 action: [ 0.606 -0.078 -0.567  0.024  0.009 -0.019 -1.009]
+t: 38	 action: [ 0.524 -0.103 -0.563  0.035  0.005 -0.018 -1.018]
+t: 39	 action: [ 0.421 -0.059 -0.564  0.029  0.005 -0.018 -1.036]
+t: 40	 action: [ 0.441 -0.071 -0.61   0.026  0.007 -0.01  -1.016]
+t: 41	 action: [ 3.653e-01 -4.891e-02 -5.869e-01  2.185e-02  8.845e-04 -1.480e-02 -1.035e+00]
+[07-31 02:08:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4782
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4782
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4782
+t=42: Selected seed 195 with value = 0.4782
+t: 42	 action: [ 0.279 -0.148 -0.662  0.028 -0.015  0.006 -1.015]
+t: 43	 action: [ 0.142 -0.128 -0.777  0.016 -0.016 -0.007 -1.025]
+t: 44	 action: [ 0.088 -0.18  -0.699  0.02  -0.031  0.01  -1.011]
+t: 45	 action: [-0.009 -0.14  -0.774  0.012 -0.028  0.003 -1.019]
+t: 46	 action: [-0.134 -0.153 -0.69   0.003 -0.032  0.006 -1.015]
+t: 47	 action: [-0.142 -0.104 -0.811  0.009 -0.032  0.008 -1.043]
+t: 48	 action: [-0.224 -0.07  -0.709 -0.003 -0.037  0.016 -1.008]
+t: 49	 action: [-2.574e-01 -6.781e-02 -7.823e-01 -7.729e-04 -2.777e-02  1.790e-02 -1.039e+00]
+t: 50	 action: [-0.366 -0.042 -0.673 -0.001 -0.035  0.051 -1.008]
+t: 51	 action: [-0.389 -0.075 -0.734 -0.017 -0.027  0.057 -1.024]
+t: 52	 action: [-0.421  0.021 -0.643 -0.011 -0.029  0.06  -1.006]
+t: 53	 action: [-0.42  -0.025 -0.671 -0.022 -0.005  0.059 -1.017]
+t: 54	 action: [-0.472  0.024 -0.593 -0.04  -0.028  0.086 -1.011]
+t: 55	 action: [-0.422  0.051 -0.645 -0.025 -0.014  0.075 -1.05 ]
+t: 56	 action: [-0.405  0.097 -0.571 -0.047 -0.016  0.081 -1.004]
+t: 57	 action: [-0.356  0.086 -0.591 -0.031 -0.002  0.071 -1.053]
+[07-31 02:08:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5372
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5372
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5372
+t=58: Selected seed 195 with value = 0.5372
+t: 58	 action: [-0.048  0.147 -0.657  0.006  0.006  0.06  -0.998]
+t: 59	 action: [ 0.008  0.214 -0.72  -0.01   0.01   0.058 -1.009]
+t: 60	 action: [-0.025  0.283 -0.621  0.004  0.014  0.062 -0.991]
+t: 61	 action: [ 0.037  0.461 -0.628 -0.005  0.013  0.05  -1.012]
+t: 62	 action: [-2.189e-02  5.084e-01 -5.450e-01 -3.224e-04  1.508e-02  7.613e-02 -1.001e+00]
+t: 63	 action: [-0.001  0.629 -0.561  0.002  0.005  0.059 -1.038]
+t: 64	 action: [ 7.399e-02  8.385e-01 -4.478e-01  1.407e-04  1.749e-02  6.591e-02 -9.955e-01]
+t: 65	 action: [ 0.081  0.879 -0.437  0.003  0.006  0.045 -1.038]
+t: 66	 action: [ 0.107  0.851 -0.286  0.011  0.026  0.027 -0.998]
+t: 67	 action: [ 0.125  0.882 -0.314  0.015  0.033  0.017 -1.005]
+t: 68	 action: [ 0.104  0.903 -0.262  0.015  0.026  0.03  -0.993]
+t: 69	 action: [ 0.125  0.89  -0.297  0.019  0.031  0.018 -1.005]
+t: 70	 action: [ 0.054  0.937 -0.273  0.007  0.028  0.028 -1.003]
+t: 71	 action: [ 0.032  0.917 -0.307  0.017  0.029  0.016 -1.025]
+t: 72	 action: [ 0.027  0.939 -0.259  0.007  0.022  0.024 -1.003]
+t: 73	 action: [ 0.025  0.923 -0.303  0.018  0.023  0.018 -1.031]
+[07-31 02:08:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5486
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5486
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5486
+t=74: Selected seed 195 with value = 0.5486
+t: 74	 action: [-0.047  0.517 -0.527  0.007 -0.007  0.024 -0.997]
+t: 75	 action: [ 0.003  0.659 -0.466  0.005  0.008  0.02  -1.004]
+t: 76	 action: [ 0.007  0.784 -0.465  0.005  0.007  0.028 -0.994]
+t: 77	 action: [ 0.045  0.827 -0.387  0.008  0.019  0.021 -1.009]
+t: 78	 action: [ 0.053  0.873 -0.411  0.003  0.011  0.025 -1.008]
+t: 79	 action: [ 0.023  0.911 -0.376  0.013  0.014  0.019 -1.036]
+t: 80	 action: [ 4.532e-02  9.368e-01 -3.887e-01  7.802e-04  1.985e-02  2.680e-02 -1.004e+00]
+t: 81	 action: [ 0.021  0.939 -0.348  0.015  0.029  0.019 -1.038]
+t: 82	 action: [ 0.057  0.906 -0.311  0.013 -0.007  0.013 -1.005]
+t: 83	 action: [ 0.091  0.896 -0.271  0.012  0.005  0.011 -1.008]
+t: 84	 action: [ 0.049  0.903 -0.293  0.013  0.004  0.017 -1.001]
+t: 85	 action: [ 0.073  0.893 -0.245  0.012  0.009  0.014 -1.011]
+t: 86	 action: [-3.828e-02  9.407e-01 -2.755e-01  7.294e-03  1.697e-04  1.182e-02 -1.016e+00]
+t: 87	 action: [-1.165e-02  9.286e-01 -2.295e-01  1.665e-02 -5.637e-04  1.199e-02 -1.035e+00]
+t: 88	 action: [-0.08   0.94  -0.265  0.006  0.011  0.015 -1.007]
+t: 89	 action: [-0.051  0.926 -0.219  0.015  0.003  0.016 -1.038]
+[07-31 02:08:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7924
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7924
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7924
+t=90: Selected seed 195 with value = 0.7924
+t: 90	 action: [-0.168  0.86  -0.276  0.004  0.008  0.009 -1.005]
+t: 91	 action: [-1.351e-01  8.633e-01 -2.948e-01 -1.640e-04  1.377e-02  4.380e-03 -1.014e+00]
+t: 92	 action: [-0.183  0.881 -0.274  0.003  0.012  0.009 -0.997]
+t: 93	 action: [-0.127  0.9   -0.297  0.003  0.019  0.007 -1.014]
+t: 94	 action: [-0.167  0.906 -0.251  0.002  0.005  0.003 -1.006]
+t: 95	 action: [-0.162  0.924 -0.305  0.005  0.004  0.006 -1.034]
+t: 96	 action: [-1.927e-01  9.244e-01 -2.619e-01 -7.038e-04  9.084e-03  3.152e-03 -1.001e+00]
+t: 97	 action: [-0.172  0.933 -0.314  0.008  0.01   0.008 -1.035]
+t: 98	 action: [-0.212  0.934 -0.286  0.008 -0.016  0.015 -1.001]
+t: 99	 action: [-0.169  0.918 -0.312  0.003 -0.003  0.008 -1.011]
+t: 100	 action: [-0.246  0.933 -0.281  0.008 -0.012  0.016 -0.998]
+t: 101	 action: [-0.205  0.907 -0.305  0.004  0.003  0.01  -1.011]
+t: 102	 action: [-0.312  0.929 -0.28   0.003 -0.01   0.012 -1.002]
+t: 103	 action: [-0.306  0.925 -0.331  0.008 -0.006  0.01  -1.032]
+t: 104	 action: [-3.618e-01  9.240e-01 -2.617e-01  6.344e-04  2.896e-04  1.258e-02 -9.947e-01]
+t: 105	 action: [-0.341  0.906 -0.303  0.008 -0.003  0.014 -1.039]
+[07-31 02:08:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9320
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9320
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9320
+t=106: Selected seed 195 with value = 0.9320
+t: 106	 action: [-0.731  0.584 -0.429  0.008  0.013  0.022 -0.939]
+t: 107	 action: [-0.742  0.549 -0.491  0.017  0.03   0.026 -0.967]
+t: 108	 action: [-0.833  0.47  -0.433  0.014  0.024  0.026 -0.931]
+t: 109	 action: [-0.847  0.46  -0.492  0.018  0.041  0.023 -0.98 ]
+t: 110	 action: [-0.872  0.437 -0.399  0.008  0.049  0.032 -0.931]
+t: 111	 action: [-0.924  0.492 -0.434  0.025  0.063  0.029 -1.024]
+t: 112	 action: [-0.89   0.343 -0.395  0.015  0.071  0.03  -0.919]
+t: 113	 action: [-0.932  0.397 -0.413  0.025  0.085  0.024 -1.032]
+t: 114	 action: [-0.909  0.28  -0.467  0.019  0.066  0.015 -0.974]
+t: 115	 action: [-0.906  0.23  -0.493  0.012  0.081  0.014 -1.01 ]
+t: 116	 action: [-0.912  0.2   -0.446  0.016  0.092  0.012 -0.973]
+t: 117	 action: [-0.878  0.144 -0.426  0.01   0.101  0.01  -1.014]
+t: 118	 action: [-0.913  0.054 -0.388  0.016  0.112  0.009 -0.958]
+t: 119	 action: [-0.876  0.079 -0.384  0.017  0.101  0.01  -1.038]
+t: 120	 action: [-8.796e-01  7.462e-04 -3.141e-01  9.903e-03  1.177e-01  4.232e-03 -9.493e-01]
+t: 121	 action: [-0.832  0.044 -0.258  0.01   0.102  0.008 -1.045]
+[07-31 02:08:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9953
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9953
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 117
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 16 (13.7%)
+
+
 34%|███▍      | 17/50 [04:17<07:57, 14.46s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 18...
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=122: Selected seed 195 with value = 0.9953
+t: 122	 action: [-0.952 -0.017 -0.367  0.046  0.006  0.007 -0.922]
+t: 123	 action: [-0.946 -0.032 -0.401  0.047  0.017  0.016 -0.987]
+t: 124	 action: [-0.96   0.017 -0.361  0.046  0.019  0.007 -0.961]
+t: 125	 action: [-0.947 -0.008 -0.365  0.042  0.025  0.012 -0.995]
+t: 126	 action: [-0.948 -0.023 -0.357  0.044  0.026  0.003 -0.917]
+t: 127	 action: [-0.94   0.017 -0.306  0.051  0.026  0.02  -1.03 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=117--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+118 118 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=117--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 117
+# successes: 16 (13.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 18...
+[07-31 02:08:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3395
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3395
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3395
+t=10: Selected seed 195 with value = 0.3395
+t: 10	 action: [ 2.680e-01  6.557e-02 -1.072e-02  5.472e-04  5.442e-03  8.109e-03 -1.010e+00]
+t: 11	 action: [ 4.293e-01  8.730e-02 -2.115e-02  1.820e-04  1.548e-02  8.284e-03 -1.012e+00]
+t: 12	 action: [ 6.416e-01  1.176e-01 -4.487e-02  1.190e-05  8.559e-03  9.644e-03 -1.012e+00]
+t: 13	 action: [ 7.759e-01  1.350e-01 -3.088e-02 -2.945e-04  2.000e-02  6.843e-03 -1.014e+00]
+t: 14	 action: [ 0.856  0.151 -0.053 -0.003  0.01   0.006 -1.009]
+t: 15	 action: [ 0.892  0.15  -0.051  0.003  0.016  0.01  -1.032]
+t: 16	 action: [ 0.963  0.16  -0.093 -0.004  0.017  0.004 -1.006]
+t: 17	 action: [ 0.966  0.158 -0.096  0.004  0.024  0.007 -1.038]
+t: 18	 action: [ 0.929  0.144 -0.066  0.002  0.027  0.006 -1.014]
+t: 19	 action: [ 9.345e-01  1.099e-01 -7.069e-02  9.924e-04  3.516e-02  1.465e-03 -1.016e+00]
+t: 20	 action: [ 0.946  0.13  -0.1    0.005  0.025  0.004 -1.015]
+t: 21	 action: [ 0.937  0.103 -0.084  0.004  0.034 -0.002 -1.016]
+t: 22	 action: [ 0.98   0.102 -0.097  0.002  0.028  0.002 -0.989]
+t: 23	 action: [ 9.966e-01  7.766e-02 -1.102e-01  9.044e-03  2.797e-02  9.720e-04 -1.032e+00]
+t: 24	 action: [ 0.996  0.108 -0.139 -0.001  0.026 -0.002 -0.988]
+t: 25	 action: [ 1.009e+00  8.110e-02 -1.434e-01  1.252e-02  2.582e-02 -9.232e-04 -1.037e+00]
+[07-31 02:08:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3818
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3818
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3818
+t=26: Selected seed 195 with value = 0.3818
+t: 26	 action: [ 0.915  0.227 -0.171  0.004  0.028  0.008 -1.037]
+t: 27	 action: [ 0.933  0.149 -0.225  0.008  0.036 -0.002 -1.019]
+t: 28	 action: [ 0.9    0.116 -0.235  0.009  0.032  0.008 -1.028]
+t: 29	 action: [ 0.923  0.045 -0.319  0.015  0.042 -0.005 -1.017]
+t: 30	 action: [ 9.271e-01  5.900e-04 -3.675e-01  1.374e-02  3.240e-02 -1.843e-03 -1.018e+00]
+t: 31	 action: [ 0.871 -0.046 -0.454  0.026  0.041 -0.006 -1.031]
+t: 32	 action: [ 0.793 -0.088 -0.517  0.029  0.033 -0.006 -1.016]
+t: 33	 action: [ 0.717 -0.119 -0.596  0.029  0.027 -0.008 -1.032]
+t: 34	 action: [ 0.537 -0.104 -0.547  0.029  0.016  0.002 -1.026]
+t: 35	 action: [ 0.487 -0.113 -0.676  0.017  0.012 -0.006 -1.018]
+t: 36	 action: [ 0.338 -0.055 -0.647  0.021  0.005  0.002 -1.019]
+t: 37	 action: [ 0.25  -0.091 -0.727  0.012  0.007 -0.008 -1.013]
+t: 38	 action: [ 0.191  0.013 -0.683  0.015 -0.005 -0.002 -1.022]
+t: 39	 action: [ 0.115 -0.03  -0.692  0.017 -0.002 -0.008 -1.035]
+t: 40	 action: [ 8.299e-02  5.862e-02 -7.112e-01  2.366e-03 -1.208e-02  5.307e-04 -1.015e+00]
+t: 41	 action: [ 0.037  0.006 -0.704  0.008 -0.012 -0.008 -1.032]
+[07-31 02:08:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4575
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4575
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4575
+t=42: Selected seed 195 with value = 0.4575
+t: 42	 action: [ 0.146 -0.251 -0.601  0.021 -0.016  0.01  -1.008]
+t: 43	 action: [ 0.056 -0.223 -0.691  0.011 -0.021  0.015 -1.019]
+t: 44	 action: [ 0.032 -0.217 -0.677  0.022 -0.037  0.015 -1.011]
+t: 45	 action: [-0.081 -0.2   -0.763  0.011 -0.041  0.02  -1.015]
+t: 46	 action: [-0.165 -0.181 -0.681  0.003 -0.04   0.026 -1.003]
+t: 47	 action: [-0.229 -0.118 -0.814  0.001 -0.051  0.024 -1.044]
+t: 48	 action: [-3.084e-01 -8.664e-02 -7.154e-01  2.869e-04 -4.599e-02  3.699e-02 -1.006e+00]
+t: 49	 action: [-0.368 -0.073 -0.819 -0.001 -0.042  0.027 -1.041]
+t: 50	 action: [-0.422 -0.039 -0.748 -0.008 -0.066  0.061 -1.011]
+t: 51	 action: [-0.446 -0.088 -0.788 -0.017 -0.061  0.052 -1.01 ]
+t: 52	 action: [-0.484  0.005 -0.73  -0.012 -0.054  0.065 -1.016]
+t: 53	 action: [-0.483 -0.06  -0.734 -0.017 -0.041  0.052 -1.007]
+t: 54	 action: [-0.506 -0.02  -0.68  -0.038 -0.054  0.07  -1.006]
+t: 55	 action: [-0.468 -0.008 -0.693 -0.021 -0.044  0.05  -1.045]
+t: 56	 action: [-0.467  0.014 -0.64  -0.034 -0.032  0.064 -1.006]
+t: 57	 action: [-0.425  0.014 -0.626 -0.021 -0.018  0.05  -1.053]
+[07-31 02:08:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5391
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5391
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5391
+t=58: Selected seed 195 with value = 0.5391
+t: 58	 action: [-0.4    0.034 -0.622  0.007 -0.004  0.048 -0.982]
+t: 59	 action: [-3.136e-01  8.666e-02 -6.314e-01 -8.775e-04  6.805e-03  3.793e-02 -9.924e-01]
+t: 60	 action: [-0.25   0.222 -0.567  0.004  0.007  0.042 -0.993]
+t: 61	 action: [-7.963e-02  3.412e-01 -5.055e-01  6.330e-04  9.860e-03  2.868e-02 -1.000e+00]
+t: 62	 action: [-0.196  0.448 -0.382  0.003  0.015  0.045 -0.99 ]
+t: 63	 action: [-0.057  0.607 -0.297  0.009  0.005  0.033 -1.027]
+t: 64	 action: [-0.002  0.662 -0.258  0.002  0.018  0.031 -1.001]
+t: 65	 action: [ 0.053  0.73  -0.174  0.006  0.005  0.021 -1.028]
+t: 66	 action: [ 0.117  0.766 -0.162  0.006  0.02   0.01  -0.991]
+t: 67	 action: [ 0.079  0.769 -0.114  0.008  0.03   0.011 -0.994]
+t: 68	 action: [ 0.082  0.807 -0.16   0.007  0.022  0.013 -0.987]
+t: 69	 action: [ 0.065  0.8   -0.129  0.009  0.023  0.014 -0.995]
+t: 70	 action: [-2.560e-02  8.829e-01 -1.770e-01 -1.231e-04  1.721e-02  6.915e-03 -1.011e+00]
+t: 71	 action: [-0.017  0.822 -0.176  0.013  0.02   0.009 -1.028]
+t: 72	 action: [-1.069e-01  8.757e-01 -2.316e-01 -8.072e-04  1.626e-02  7.118e-03 -1.002e+00]
+t: 73	 action: [-0.062  0.843 -0.232  0.013  0.014  0.015 -1.028]
+[07-31 02:08:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6409
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6409
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6409
+t=74: Selected seed 195 with value = 0.6409
+t: 74	 action: [-0.278  0.232 -0.547  0.004 -0.034  0.033 -1.007]
+t: 75	 action: [-0.252  0.33  -0.452 -0.001 -0.006  0.023 -1.001]
+t: 76	 action: [-0.136  0.467 -0.46   0.003 -0.02   0.03  -1.007]
+t: 77	 action: [-8.500e-02  6.051e-01 -3.213e-01 -1.453e-04  1.633e-03  2.061e-02 -1.011e+00]
+t: 78	 action: [-1.670e-01  5.711e-01 -3.054e-01  8.877e-04 -1.254e-02  2.816e-02 -1.009e+00]
+t: 79	 action: [-0.11   0.734 -0.232  0.004 -0.005  0.017 -1.033]
+t: 80	 action: [-0.09   0.787 -0.223 -0.001 -0.002  0.023 -1.008]
+t: 81	 action: [-0.055  0.837 -0.174  0.005 -0.003  0.016 -1.036]
+t: 82	 action: [-0.021  0.92  -0.179 -0.002 -0.022  0.007 -1.014]
+t: 83	 action: [-0.007  0.865 -0.127 -0.002 -0.005  0.008 -1.004]
+t: 84	 action: [-4.522e-02  9.094e-01 -1.887e-01  6.743e-04 -1.661e-02  1.197e-02 -1.008e+00]
+t: 85	 action: [-3.606e-02  8.528e-01 -1.375e-01  2.567e-05 -7.229e-03  1.170e-02 -1.007e+00]
+t: 86	 action: [-0.105  0.946 -0.148 -0.004 -0.019  0.005 -1.027]
+t: 87	 action: [-0.139  0.887 -0.128  0.004 -0.015  0.006 -1.028]
+t: 88	 action: [-0.2    0.926 -0.175 -0.006 -0.011  0.008 -1.006]
+t: 89	 action: [-0.201  0.876 -0.16   0.004 -0.014  0.012 -1.029]
+[07-31 02:08:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8635
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8635
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8635
+t=90: Selected seed 195 with value = 0.8635
+t: 90	 action: [-0.216  0.68  -0.296 -0.019 -0.01   0.009 -1.031]
+t: 91	 action: [-2.330e-01  7.084e-01 -2.268e-01 -1.115e-02 -8.313e-05  9.580e-03 -1.012e+00]
+t: 92	 action: [-0.246  0.741 -0.248 -0.017  0.001  0.01  -1.015]
+t: 93	 action: [-0.24   0.754 -0.16  -0.009  0.005  0.012 -1.015]
+t: 94	 action: [-0.29   0.792 -0.185 -0.019 -0.005  0.006 -1.019]
+t: 95	 action: [-0.266  0.819 -0.145 -0.012 -0.005  0.012 -1.031]
+t: 96	 action: [-0.335  0.827 -0.153 -0.015  0.004  0.007 -1.005]
+t: 97	 action: [-0.295  0.825 -0.112 -0.008 -0.004  0.015 -1.034]
+t: 98	 action: [-0.272  0.929 -0.134 -0.006 -0.031  0.01  -1.011]
+t: 99	 action: [-0.307  0.876 -0.134 -0.003 -0.029  0.007 -1.017]
+t: 100	 action: [-0.343  0.889 -0.167  0.007 -0.028  0.012 -1.018]
+t: 101	 action: [-0.369  0.814 -0.195  0.003 -0.027  0.01  -1.015]
+t: 102	 action: [-0.52   0.874 -0.198 -0.004 -0.031  0.015 -1.   ]
+t: 103	 action: [-0.526  0.846 -0.302  0.007 -0.032  0.014 -1.037]
+t: 104	 action: [-0.606  0.743 -0.22  -0.005 -0.016  0.018 -0.992]
+t: 105	 action: [-0.602  0.69  -0.324  0.012 -0.014  0.018 -1.038]
+[07-31 02:08:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9747
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9747
+Query 1/1: Action query time = 1.004 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9747
+t=106: Selected seed 195 with value = 0.9747
+t: 106	 action: [-8.426e-01  6.188e-02 -4.372e-01  2.303e-02  3.143e-02  6.511e-05 -9.416e-01]
+t: 107	 action: [-0.857  0.032 -0.46   0.03   0.052 -0.006 -0.971]
+t: 108	 action: [-0.896  0.031 -0.461  0.029  0.055 -0.008 -0.952]
+t: 109	 action: [-0.911 -0.028 -0.454  0.029  0.07  -0.019 -0.988]
+t: 110	 action: [-0.899 -0.045 -0.439  0.03   0.092 -0.005 -0.938]
+t: 111	 action: [-0.925 -0.036 -0.423  0.042  0.08  -0.008 -1.024]
+t: 112	 action: [-0.886 -0.076 -0.423  0.038  0.104 -0.02  -0.944]
+t: 113	 action: [-0.875 -0.062 -0.424  0.037  0.082 -0.022 -1.028]
+t: 114	 action: [-0.882 -0.072 -0.406  0.046  0.079 -0.034 -1.004]
+t: 115	 action: [-0.85  -0.157 -0.441  0.044  0.077 -0.032 -1.005]
+t: 116	 action: [-0.874 -0.095 -0.391  0.05   0.077 -0.034 -1.   ]
+t: 117	 action: [-0.824 -0.181 -0.453  0.042  0.072 -0.032 -1.004]
+t: 118	 action: [-0.859 -0.189 -0.371  0.052  0.085 -0.041 -0.99 ]
+t: 119	 action: [-0.809 -0.188 -0.422  0.048  0.068 -0.031 -1.031]
+t: 120	 action: [-0.842 -0.172 -0.351  0.05   0.082 -0.039 -0.977]
+t: 121	 action: [-0.793 -0.182 -0.402  0.043  0.061 -0.03  -1.033]
+[07-31 02:08:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9903
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=122: Selected seed 195 with value = 0.9903
+t: 122	 action: [-0.794 -0.048 -0.292  0.015  0.1    0.001 -0.992]
+t: 123	 action: [-0.618 -0.081 -0.282  0.007  0.114  0.009 -0.982]
+t: 124	 action: [-0.453 -0.078 -0.249  0.01   0.106  0.002 -1.008]
+t: 125	 action: [-3.376e-01 -9.035e-02 -2.230e-01  4.553e-03  1.155e-01 -4.648e-05 -9.929e-01]
+t: 126	 action: [-2.133e-01 -1.241e-01 -1.809e-01  1.170e-02  1.216e-01  2.869e-04 -9.941e-01]
+t: 127	 action: [-2.526e-01 -1.370e-01 -1.207e-01  1.445e-02  1.045e-01  1.099e-04 -1.016e+00]
+t: 128	 action: [-0.211 -0.132 -0.172  0.003  0.112 -0.007 -1.008]
+t: 129	 action: [-0.267 -0.122 -0.141  0.013  0.108 -0.009 -1.024]
+t: 130	 action: [-0.367 -0.118 -0.287  0.002  0.114 -0.001 -1.008]
+t: 131	 action: [-0.358 -0.118 -0.299 -0.003  0.11  -0.004 -1.   ]
+t: 132	 action: [-0.373 -0.078 -0.272  0.004  0.107 -0.004 -1.013]
+t: 133	 action: [-3.499e-01 -8.847e-02 -3.040e-01  7.828e-04  1.065e-01 -6.104e-03 -1.008e+00]
+t: 134	 action: [-0.35  -0.113 -0.26  -0.009  0.107 -0.008 -1.005]
+t: 135	 action: [-0.35  -0.085 -0.247  0.001  0.095 -0.011 -1.035]
+t: 136	 action: [-0.367 -0.088 -0.253 -0.005  0.101 -0.016 -1.   ]
+t: 137	 action: [-0.339 -0.064 -0.242  0.004  0.099 -0.012 -1.045]
+[07-31 02:08:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9914
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=138: Selected seed 195 with value = 0.9914
+t: 138	 action: [-0.194  0.006 -0.095  0.026  0.104 -0.003 -1.017]
+t: 139	 action: [-1.382e-01 -1.631e-02 -9.220e-02  1.545e-02  1.183e-01  8.975e-04 -1.011e+00]
+t: 140	 action: [-0.229 -0.008 -0.071  0.018  0.092 -0.003 -1.027]
+t: 141	 action: [-0.173  0.004 -0.072  0.012  0.106 -0.002 -1.011]
+t: 142	 action: [-0.235 -0.03  -0.098  0.02   0.092 -0.007 -1.015]
+t: 143	 action: [-0.223 -0.017 -0.085  0.02   0.101 -0.006 -1.038]
+t: 144	 action: [-0.263 -0.047 -0.075  0.012  0.081 -0.009 -1.023]
+t: 145	 action: [-2.395e-01  5.327e-04 -7.886e-02  1.739e-02  9.951e-02 -8.443e-03 -1.043e+00]
+t: 146	 action: [-0.245  0.005 -0.125  0.016  0.08   0.002 -1.024]
+t: 147	 action: [-2.430e-01  4.842e-03 -1.375e-01  1.190e-02  9.387e-02 -4.949e-04 -1.009e+00]
+t: 148	 action: [-0.272  0.016 -0.096  0.012  0.067  0.002 -1.032]
+t: 149	 action: [-0.246  0.029 -0.094  0.01   0.086 -0.002 -1.013]
+t: 150	 action: [-0.27  -0.016 -0.115  0.009  0.079 -0.004 -1.013]
+t: 151	 action: [-0.271  0.013 -0.093  0.017  0.086 -0.007 -1.046]
+t: 152	 action: [-0.302 -0.008 -0.092  0.007  0.067 -0.007 -1.017]
+t: 153	 action: [-0.266  0.031 -0.076  0.014  0.085 -0.008 -1.052]
+[07-31 02:08:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9982
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=154: Selected seed 195 with value = 0.9982
+t: 154	 action: [ 1.350e-01  2.208e-01  4.429e-01 -2.328e-02  7.267e-02 -7.198e-05 -1.019e+00]
+t: 155	 action: [ 2.069e-01  1.770e-01  3.904e-01 -2.683e-02  7.606e-02  7.948e-04 -1.022e+00]
+t: 156	 action: [ 0.16   0.243  0.407 -0.032  0.046 -0.002 -1.022]
+t: 157	 action: [ 0.208  0.192  0.35  -0.027  0.06  -0.002 -1.019]
+t: 158	 action: [ 1.239e-01  1.823e-01  3.236e-01 -2.420e-02  2.250e-02 -8.482e-05 -1.021e+00]
+t: 159	 action: [ 0.141  0.175  0.303 -0.021  0.03   0.002 -1.039]
+t: 160	 action: [ 0.148  0.198  0.293 -0.026  0.012 -0.004 -1.027]
+t: 161	 action: [ 0.157  0.203  0.283 -0.022  0.029 -0.004 -1.043]
+t: 162	 action: [ 1.741e-01  2.172e-01  1.917e-01 -3.779e-03  8.779e-03  6.490e-04 -1.027e+00]
+t: 163	 action: [ 0.203  0.178  0.206 -0.016  0.022 -0.005 -1.024]
+t: 164	 action: [ 0.178  0.239  0.202 -0.01   0.004 -0.003 -1.029]
+t: 165	 action: [ 0.202  0.195  0.214 -0.018  0.018 -0.008 -1.022]
+t: 166	 action: [ 0.133  0.215  0.189 -0.005  0.004 -0.005 -1.022]
+t: 167	 action: [ 0.139  0.203  0.221 -0.012  0.003 -0.008 -1.049]
+t: 168	 action: [ 1.556e-01  2.188e-01  1.968e-01 -1.057e-02  1.340e-04 -1.089e-02 -1.027e+00]
+t: 169	 action: [ 0.158  0.217  0.234 -0.016  0.003 -0.01  -1.051]
+[07-31 02:08:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.001 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+t: 170	 action: [-0.042  0.227  0.083 -0.047  0.057 -0.002 -1.006]
+t: 171	 action: [ 0.027  0.183  0.165 -0.049  0.025 -0.019 -1.022]
+t: 172	 action: [ 0.074  0.224  0.18  -0.06   0.022 -0.011 -1.011]
+t: 173	 action: [ 0.074  0.181  0.218 -0.049  0.006 -0.024 -1.02 ]
+t: 174	 action: [ 3.781e-02  1.799e-01  1.938e-01 -5.266e-02 -6.425e-04 -1.100e-02 -1.015e+00]
+t: 175	 action: [ 0.015  0.159  0.253 -0.043 -0.002 -0.021 -1.031]
+t: 176	 action: [ 0.103  0.158  0.191 -0.054 -0.014 -0.016 -1.019]
+t: 177	 action: [ 0.07   0.172  0.243 -0.044 -0.011 -0.028 -1.032]
+t: 178	 action: [ 0.161  0.188  0.12  -0.027 -0.032 -0.015 -1.014]
+t: 179	 action: [ 0.107  0.153  0.152 -0.038 -0.033 -0.022 -1.025]
+t: 180	 action: [ 0.099  0.206  0.12  -0.04  -0.043 -0.017 -1.015]
+t: 181	 action: [ 0.074  0.176  0.158 -0.04  -0.044 -0.022 -1.02 ]
+t: 182	 action: [ 0.101  0.153  0.114 -0.022 -0.036 -0.019 -1.016]
+t: 183	 action: [ 0.048  0.172  0.161 -0.033 -0.06  -0.027 -1.038]
+t: 184	 action: [ 0.103  0.186  0.119 -0.033 -0.044 -0.02  -1.018]
+t: 185	 action: [ 0.054  0.194  0.187 -0.037 -0.062 -0.026 -1.04 ]
+[07-31 02:08:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=186: Selected seed 195 with value = 0.9973
+t: 186	 action: [-0.13   0.055 -0.284 -0.049  0.061 -0.007 -0.455]
+t: 187	 action: [-0.043  0.054 -0.292 -0.036  0.016 -0.041 -0.269]
+t: 188	 action: [-0.057  0.018 -0.195 -0.033  0.031 -0.017 -1.009]
+t: 189	 action: [-0.063 -0.008 -0.265 -0.025  0.006 -0.041 -1.02 ]
+t: 190	 action: [-0.118 -0.093 -0.219 -0.021 -0.001 -0.01  -1.048]
+t: 191	 action: [-0.144 -0.12  -0.217 -0.009  0.004 -0.031 -1.052]
+t: 192	 action: [-0.116 -0.154 -0.159 -0.014 -0.005 -0.021 -1.025]
+t: 193	 action: [-0.131 -0.095 -0.219 -0.008 -0.007 -0.042 -1.034]
+t: 194	 action: [-0.031 -0.167 -0.296  0.002  0.009  0.005 -1.038]
+t: 195	 action: [-0.112 -0.153 -0.29  -0.01   0.001 -0.012 -1.034]
+t: 196	 action: [-0.151 -0.126 -0.249  0.003  0.009 -0.001 -1.034]
+t: 197	 action: [-0.187 -0.084 -0.265 -0.006 -0.003 -0.015 -1.025]
+t: 198	 action: [-0.188 -0.046 -0.275 -0.007 -0.021  0.001 -1.04 ]
+t: 199	 action: [-2.378e-01  2.963e-03 -2.469e-01 -9.059e-04 -3.373e-02 -1.690e-02 -1.045e+00]
+t: 200	 action: [-0.186  0.002 -0.202 -0.007 -0.03  -0.002 -1.029]
+t: 201	 action: [-0.223  0.053 -0.186 -0.002 -0.037 -0.017 -1.037]
+[07-31 02:08:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.009 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.009 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+t: 202	 action: [-0.314  0.06  -0.116 -0.031  0.06  -0.006 -1.012]
+t: 203	 action: [-0.144  0.064 -0.033 -0.032  0.034 -0.022 -1.016]
+t: 204	 action: [-0.071  0.114  0.014 -0.033  0.029 -0.013 -1.012]
+t: 205	 action: [-0.045  0.133  0.077 -0.032  0.008 -0.025 -1.012]
+t: 206	 action: [-0.099  0.127 -0.002 -0.025  0.005 -0.017 -1.023]
+t: 207	 action: [-0.108  0.124  0.058 -0.021  0.006 -0.022 -1.029]
+t: 208	 action: [-0.027  0.148  0.077 -0.033 -0.014 -0.017 -1.022]
+t: 209	 action: [-0.043  0.163  0.129 -0.027 -0.007 -0.026 -1.027]
+t: 210	 action: [-0.036  0.145  0.055 -0.015 -0.018 -0.003 -1.017]
+t: 211	 action: [-0.049  0.135  0.074 -0.034 -0.015 -0.018 -1.025]
+t: 212	 action: [-0.047  0.147  0.058 -0.027 -0.028 -0.006 -1.015]
+t: 213	 action: [-0.037  0.151  0.086 -0.036 -0.025 -0.017 -1.016]
+t: 214	 action: [-0.067  0.142  0.066 -0.018 -0.024 -0.01  -1.02 ]
+t: 215	 action: [-0.096  0.164  0.087 -0.028 -0.042 -0.022 -1.041]
+t: 216	 action: [-0.026  0.159  0.074 -0.027 -0.03  -0.011 -1.019]
+t: 217	 action: [-0.047  0.174  0.118 -0.034 -0.044 -0.018 -1.039]
+[07-31 02:08:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9998
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=218: Selected seed 195 with value = 0.9998
+t: 218	 action: [-4.225e-01 -2.931e-02 -1.739e-01 -1.067e-02  6.822e-02 -3.681e-05 -1.016e+00]
+t: 219	 action: [-0.211 -0.023 -0.168 -0.019  0.042 -0.013 -1.019]
+t: 220	 action: [-0.157  0.03  -0.072 -0.009  0.047 -0.002 -1.014]
+t: 221	 action: [-0.095  0.048  0.003 -0.018  0.018 -0.018 -1.01 ]
+t: 222	 action: [-0.129  0.038 -0.099 -0.009  0.016 -0.009 -1.025]
+t: 223	 action: [-0.143  0.064 -0.051 -0.01   0.017 -0.014 -1.03 ]
+t: 224	 action: [-0.076  0.06  -0.014 -0.015 -0.006 -0.008 -1.025]
+t: 225	 action: [-8.402e-02  1.051e-01  2.630e-02 -1.419e-02  3.066e-04 -1.912e-02 -1.024e+00]
+t: 226	 action: [-5.612e-02  7.241e-02  8.571e-04  3.277e-03  8.641e-03  7.938e-03 -1.022e+00]
+t: 227	 action: [-7.713e-02  8.495e-02  2.245e-02 -1.577e-02  7.001e-04 -4.874e-03 -1.028e+00]
+t: 228	 action: [-0.086  0.077  0.022 -0.003 -0.006  0.006 -1.018]
+t: 229	 action: [-0.086  0.104  0.056 -0.017 -0.008 -0.007 -1.018]
+t: 230	 action: [-0.103  0.091  0.013 -0.005 -0.011  0.003 -1.025]
+t: 231	 action: [-0.133  0.127  0.034 -0.01  -0.021 -0.01  -1.044]
+t: 232	 action: [-6.201e-02  1.183e-01  4.139e-02 -1.002e-02 -2.074e-02  8.845e-04 -1.023e+00]
+t: 233	 action: [-0.093  0.136  0.085 -0.014 -0.03  -0.009 -1.039]
+[07-31 02:08:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9983
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=234: Selected seed 195 with value = 0.9983
+t: 234	 action: [-4.556e-01  8.796e-04 -1.680e-01 -1.161e-03  6.494e-02  2.949e-03 -1.019e+00]
+t: 235	 action: [-0.247 -0.023 -0.106 -0.012  0.052 -0.008 -1.024]
+t: 236	 action: [-0.085  0.075  0.012 -0.007  0.044  0.003 -1.015]
+t: 237	 action: [-0.049  0.098  0.079 -0.016  0.021 -0.012 -1.01 ]
+t: 238	 action: [-0.055  0.062 -0.018 -0.008  0.024 -0.002 -1.022]
+t: 239	 action: [-0.091  0.082  0.01  -0.009  0.021 -0.01  -1.036]
+t: 240	 action: [-0.02   0.134  0.078 -0.017 -0.001 -0.003 -1.024]
+t: 241	 action: [-4.884e-02  1.388e-01  1.206e-01 -1.608e-02  8.680e-04 -1.583e-02 -1.030e+00]
+t: 242	 action: [ 7.488e-02  1.340e-01  8.184e-02  6.671e-04  1.592e-02  8.402e-03 -1.024e+00]
+t: 243	 action: [-0.001  0.119  0.111 -0.018  0.006 -0.006 -1.029]
+t: 244	 action: [ 3.240e-03  1.384e-01  9.750e-02 -8.275e-03 -4.291e-04  5.456e-03 -1.020e+00]
+t: 245	 action: [-1.448e-02  1.373e-01  1.347e-01 -2.043e-02 -7.361e-04 -8.673e-03 -1.018e+00]
+t: 246	 action: [-1.266e-02  1.083e-01  8.639e-02 -6.844e-03  1.343e-03  4.512e-04 -1.027e+00]
+t: 247	 action: [-0.052  0.138  0.102 -0.012 -0.008 -0.014 -1.046]
+t: 248	 action: [-2.607e-04  1.311e-01  1.131e-01 -1.229e-02 -9.008e-03 -3.383e-03 -1.024e+00]
+t: 249	 action: [-0.04   0.15   0.146 -0.019 -0.019 -0.013 -1.041]
+[07-31 02:08:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+t: 250	 action: [-0.432  0.02  -0.23   0.001  0.066  0.001 -1.02 ]
+t: 251	 action: [-0.249 -0.023 -0.229 -0.009  0.056 -0.007 -1.032]
+t: 252	 action: [-0.077  0.072 -0.063 -0.003  0.05   0.002 -1.017]
+t: 253	 action: [-0.055  0.07   0.007 -0.012  0.028 -0.013 -1.02 ]
+t: 254	 action: [-5.083e-02  4.384e-02 -7.093e-02 -4.130e-03  3.321e-02 -8.877e-04 -1.019e+00]
+t: 255	 action: [-0.101  0.054 -0.038 -0.007  0.029 -0.009 -1.038]
+t: 256	 action: [-0.015  0.103  0.019 -0.012  0.007 -0.003 -1.021]
+t: 257	 action: [-0.057  0.111  0.05  -0.014  0.006 -0.017 -1.032]
+t: 258	 action: [ 0.138  0.121  0.077  0.004  0.026  0.008 -1.025]
+t: 259	 action: [ 0.016  0.101  0.098 -0.013  0.012 -0.006 -1.036]
+t: 260	 action: [ 0.031  0.127  0.076 -0.003  0.01   0.005 -1.022]
+t: 261	 action: [-0.008  0.134  0.11  -0.015  0.002 -0.009 -1.025]
+t: 262	 action: [-2.071e-03  8.910e-02  7.085e-02 -3.715e-03  8.302e-03  2.115e-04 -1.024e+00]
+t: 263	 action: [-0.045  0.118  0.086 -0.006 -0.003 -0.015 -1.048]
+t: 264	 action: [ 0.005  0.111  0.084 -0.009 -0.003 -0.004 -1.023]
+t: 265	 action: [-0.044  0.14   0.117 -0.014 -0.011 -0.015 -1.043]
+[07-31 02:08:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.004 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+t: 266	 action: [-0.398  0.027 -0.265  0.002  0.067  0.003 -1.019]
+t: 267	 action: [-0.227 -0.021 -0.263 -0.008  0.058 -0.003 -1.035]
+t: 268	 action: [-8.213e-02  6.255e-02 -1.102e-01 -9.602e-04  5.529e-02  3.382e-03 -1.019e+00]
+t: 269	 action: [-0.064  0.034 -0.034 -0.011  0.037 -0.01  -1.026]
+t: 270	 action: [-0.055  0.043 -0.095 -0.004  0.041  0.002 -1.021]
+t: 271	 action: [-0.101  0.052 -0.045 -0.008  0.036 -0.005 -1.04 ]
+t: 272	 action: [-1.978e-02  7.018e-02 -3.189e-02 -9.822e-03  1.826e-02 -1.946e-04 -1.023e+00]
+t: 273	 action: [-0.064  0.08  -0.014 -0.013  0.014 -0.015 -1.033]
+t: 274	 action: [ 0.147  0.104  0.071  0.003  0.031  0.008 -1.027]
+t: 275	 action: [ 0.02   0.075  0.086 -0.012  0.013 -0.006 -1.041]
+t: 276	 action: [ 0.031  0.106  0.045 -0.002  0.017  0.004 -1.025]
+t: 277	 action: [-0.013  0.116  0.081 -0.013  0.004 -0.01  -1.028]
+t: 278	 action: [ 2.179e-03  7.752e-02  4.661e-02 -4.593e-03  1.142e-02 -7.881e-04 -1.026e+00]
+t: 279	 action: [-0.046  0.098  0.069 -0.006 -0.002 -0.016 -1.05 ]
+t: 280	 action: [-4.404e-03  9.457e-02  4.235e-02 -9.264e-03  8.737e-04 -5.778e-03 -1.025e+00]
+t: 281	 action: [-0.057  0.123  0.088 -0.013 -0.008 -0.017 -1.044]
+[07-31 02:08:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+t: 282	 action: [-0.268  0.046 -0.281  0.002  0.063  0.007 -1.021]
+t: 283	 action: [-0.135  0.004 -0.254 -0.009  0.053  0.004 -1.038]
+t: 284	 action: [-4.164e-02  7.388e-02 -1.532e-01  8.221e-04  5.334e-02  6.395e-03 -1.019e+00]
+t: 285	 action: [-0.031  0.035 -0.077 -0.01   0.034 -0.002 -1.025]
+t: 286	 action: [-0.037  0.075 -0.11  -0.004  0.041  0.008 -1.021]
+t: 287	 action: [-0.07   0.076 -0.047 -0.009  0.032  0.003 -1.042]
+t: 288	 action: [ 0.01   0.084 -0.073 -0.008  0.02   0.004 -1.023]
+t: 289	 action: [-0.043  0.08  -0.044 -0.013  0.014 -0.008 -1.031]
+t: 290	 action: [ 0.16   0.094  0.029  0.004  0.031  0.011 -1.032]
+t: 291	 action: [ 3.166e-02  6.092e-02  4.986e-02 -1.104e-02  9.242e-03  1.834e-04 -1.043e+00]
+t: 292	 action: [ 4.429e-02  9.661e-02 -2.870e-03  6.796e-05  1.850e-02  6.058e-03 -1.029e+00]
+t: 293	 action: [-0.005  0.098  0.041 -0.012  0.004 -0.005 -1.028]
+t: 294	 action: [ 0.016  0.069 -0.005 -0.004  0.008  0.003 -1.03 ]
+t: 295	 action: [-0.034  0.085  0.032 -0.006 -0.005 -0.011 -1.049]
+t: 296	 action: [ 1.066e-04  7.923e-02 -2.118e-02 -7.523e-03 -2.813e-03 -2.358e-03 -1.026e+00]
+t: 297	 action: [-0.049  0.103  0.039 -0.014 -0.016 -0.014 -1.041]
+[07-31 02:08:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.014 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9998
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9998
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 118
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 16 (13.6%)
+
+
 36%|███▌      | 18/50 [04:49<10:26, 19.58s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 19...
+Query 1/1: Action query time = 1.014 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=298: Selected seed 195 with value = 0.9998
+t: 298	 action: [-0.284  0.03  -0.277  0.002  0.061  0.007 -1.018]
+t: 299	 action: [-0.154  0.003 -0.214 -0.006  0.055  0.008 -1.027]
+t: 300	 action: [-0.068  0.079 -0.139  0.002  0.053  0.006 -1.018]
+t: 301	 action: [-0.043  0.054 -0.044 -0.006  0.038  0.002 -1.017]
+t: 302	 action: [-0.063  0.088 -0.077 -0.003  0.041  0.011 -1.022]
+t: 303	 action: [-0.07   0.099 -0.01  -0.005  0.033  0.006 -1.041]
+t: 304	 action: [-0.008  0.108 -0.041 -0.005  0.019  0.005 -1.021]
+t: 305	 action: [-0.045  0.101 -0.018 -0.008  0.015 -0.004 -1.028]
+t: 306	 action: [ 0.147  0.116 -0.011  0.004  0.03   0.014 -1.034]
+t: 307	 action: [ 0.029  0.078  0.013 -0.01   0.008  0.004 -1.038]
+t: 308	 action: [ 0.035  0.111 -0.027  0.001  0.019  0.007 -1.03 ]
+t: 309	 action: [-8.138e-03  1.025e-01  1.111e-02 -1.108e-02  2.065e-03 -9.246e-04 -1.022e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=118--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=118--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 118
+# successes: 16 (13.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 19...
+[07-31 02:08:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3553
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3553
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3553
+t=10: Selected seed 195 with value = 0.3553
+t: 10	 action: [ 3.289e-01  1.965e-01 -1.359e-02  8.781e-04 -3.342e-03  1.940e-02 -1.017e+00]
+t: 11	 action: [ 0.488  0.226 -0.005  0.002  0.007  0.014 -1.014]
+t: 12	 action: [ 6.463e-01  2.629e-01 -3.774e-02  5.718e-06 -2.531e-03  2.129e-02 -1.023e+00]
+t: 13	 action: [ 7.833e-01  2.832e-01 -1.423e-02  4.569e-04  8.431e-03  1.318e-02 -1.015e+00]
+t: 14	 action: [ 8.833e-01  2.857e-01 -4.265e-02 -3.564e-03 -9.540e-04  2.454e-02 -1.009e+00]
+t: 15	 action: [ 9.091e-01  2.769e-01 -2.434e-02  8.438e-04  3.940e-03  1.457e-02 -1.028e+00]
+t: 16	 action: [ 0.97   0.267 -0.076 -0.005  0.002  0.02  -1.014]
+t: 17	 action: [ 0.968  0.267 -0.058  0.001  0.002  0.013 -1.034]
+t: 18	 action: [ 9.317e-01  2.385e-01 -8.254e-02  7.930e-04  1.148e-02  1.324e-02 -1.026e+00]
+t: 19	 action: [ 0.937  0.208 -0.078 -0.004  0.012  0.009 -1.018]
+t: 20	 action: [ 0.956  0.215 -0.102  0.002  0.009  0.01  -1.025]
+t: 21	 action: [ 0.944  0.205 -0.091 -0.004  0.013  0.007 -1.018]
+t: 22	 action: [ 0.988  0.211 -0.119 -0.001  0.009  0.011 -0.997]
+t: 23	 action: [ 0.998  0.192 -0.135  0.001  0.007  0.008 -1.03 ]
+t: 24	 action: [ 1.009  0.209 -0.154 -0.004  0.006  0.006 -0.997]
+t: 25	 action: [ 1.009  0.193 -0.18   0.001  0.005  0.008 -1.034]
+[07-31 02:09:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3970
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3970
+Query 1/1: Action query time = 1.006 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3970
+t=26: Selected seed 195 with value = 0.3970
+t: 26	 action: [ 0.923  0.243 -0.205  0.006  0.022  0.015 -1.034]
+t: 27	 action: [ 0.922  0.139 -0.234  0.007  0.018  0.007 -1.016]
+t: 28	 action: [ 0.902  0.13  -0.279  0.009  0.016  0.013 -1.021]
+t: 29	 action: [ 0.899  0.029 -0.333  0.012  0.011  0.004 -1.014]
+t: 30	 action: [ 0.911  0.037 -0.434  0.013  0.009  0.004 -1.017]
+t: 31	 action: [ 0.816 -0.018 -0.516  0.023  0.008  0.002 -1.031]
+t: 32	 action: [ 0.777 -0.017 -0.564  0.022  0.002  0.003 -1.011]
+t: 33	 action: [ 0.667 -0.07  -0.64   0.026  0.005 -0.001 -1.032]
+t: 34	 action: [ 0.523 -0.053 -0.631  0.026 -0.002  0.012 -1.035]
+t: 35	 action: [ 0.456 -0.075 -0.704  0.022  0.002  0.005 -1.018]
+t: 36	 action: [ 0.371 -0.036 -0.701  0.021 -0.007  0.01  -1.028]
+t: 37	 action: [ 0.286 -0.068 -0.751  0.018 -0.005  0.001 -1.012]
+t: 38	 action: [ 0.273  0.007 -0.726  0.017 -0.016  0.004 -1.03 ]
+t: 39	 action: [ 0.175 -0.02  -0.747  0.023 -0.018 -0.003 -1.033]
+t: 40	 action: [ 0.185  0.024 -0.75   0.009 -0.018  0.003 -1.024]
+t: 41	 action: [ 1.157e-01  5.287e-04 -7.760e-01  1.830e-02 -2.021e-02 -5.696e-03 -1.031e+00]
+[07-31 02:09:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.223 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4075
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4075
+Query 1/1: Action query time = 1.223 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4075
+t=42: Selected seed 195 with value = 0.4075
+t: 42	 action: [ 0.384 -0.273 -0.389  0.031  0.004  0.004 -1.021]
+t: 43	 action: [ 0.222 -0.302 -0.468  0.024  0.001  0.002 -1.034]
+t: 44	 action: [ 0.212 -0.286 -0.513  0.037 -0.018  0.007 -1.023]
+t: 45	 action: [ 0.052 -0.288 -0.61   0.023 -0.026  0.008 -1.031]
+t: 46	 action: [-0.026 -0.231 -0.625  0.014 -0.028  0.006 -1.01 ]
+t: 47	 action: [-0.118 -0.205 -0.767  0.021 -0.033  0.012 -1.055]
+t: 48	 action: [-0.212 -0.12  -0.719  0.008 -0.045  0.015 -1.013]
+t: 49	 action: [-0.279 -0.124 -0.804  0.015 -0.046  0.018 -1.051]
+t: 50	 action: [-0.368 -0.087 -0.732  0.009 -0.057  0.055 -1.018]
+t: 51	 action: [-0.444 -0.128 -0.791 -0.002 -0.054  0.054 -1.028]
+t: 52	 action: [-0.534 -0.022 -0.725  0.003 -0.05   0.066 -1.02 ]
+t: 53	 action: [-0.545 -0.076 -0.776 -0.008 -0.036  0.06  -1.021]
+t: 54	 action: [-0.638 -0.017 -0.681 -0.016 -0.055  0.085 -1.008]
+t: 55	 action: [-0.609 -0.015 -0.751 -0.009 -0.042  0.064 -1.051]
+t: 56	 action: [-0.635  0.021 -0.658 -0.029 -0.038  0.083 -1.006]
+t: 57	 action: [-0.608  0.031 -0.71  -0.015 -0.021  0.068 -1.057]
+[07-31 02:09:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.231 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5320
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 1.231 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=58: Selected seed 195 with value = 0.5320
+t: 58	 action: [-0.35  -0.011 -0.487  0.011 -0.025  0.04  -0.993]
+t: 59	 action: [-0.316 -0.168 -0.438 -0.003 -0.008  0.037 -1.   ]
+t: 60	 action: [-0.344 -0.036 -0.564  0.006 -0.012  0.042 -0.995]
+t: 61	 action: [-0.221  0.096 -0.549 -0.003  0.005  0.033 -1.004]
+t: 62	 action: [-0.332  0.121 -0.558  0.003  0.002  0.049 -0.995]
+t: 63	 action: [-0.171  0.267 -0.437  0.009  0.002  0.036 -1.035]
+t: 64	 action: [-0.123  0.459 -0.456 -0.001  0.011  0.04  -0.996]
+t: 65	 action: [-0.018  0.679 -0.343  0.005  0.003  0.028 -1.037]
+t: 66	 action: [ 0.031  0.787 -0.239 -0.008  0.022  0.015 -0.999]
+t: 67	 action: [ 2.669e-02  8.183e-01 -2.100e-01 -8.530e-04  4.160e-02  1.128e-02 -1.003e+00]
+t: 68	 action: [ 0.015  0.862 -0.123 -0.005  0.021  0.015 -0.998]
+t: 69	 action: [ 3.251e-02  8.411e-01 -1.452e-01  3.596e-04  2.782e-02  1.209e-02 -1.005e+00]
+t: 70	 action: [-0.052  0.914 -0.204 -0.005  0.018  0.011 -1.011]
+t: 71	 action: [-0.026  0.873 -0.174  0.009  0.024  0.007 -1.034]
+t: 72	 action: [-0.097  0.921 -0.204 -0.009  0.014  0.008 -1.005]
+t: 73	 action: [-0.053  0.888 -0.211  0.009  0.013  0.01  -1.041]
+[07-31 02:09:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.238 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5645
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5645
+Query 1/1: Action query time = 1.238 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5645
+t=74: Selected seed 195 with value = 0.5645
+t: 74	 action: [-0.225  0.045 -0.484  0.004 -0.025  0.023 -0.993]
+t: 75	 action: [-0.224 -0.011 -0.435 -0.001 -0.008  0.018 -1.006]
+t: 76	 action: [-0.168  0.138 -0.478  0.005 -0.021  0.019 -1.004]
+t: 77	 action: [-7.610e-02  3.134e-01 -4.256e-01  1.951e-04 -2.734e-03  1.548e-02 -1.013e+00]
+t: 78	 action: [-0.128  0.259 -0.328 -0.004 -0.016  0.016 -1.008]
+t: 79	 action: [-6.398e-02  4.640e-01 -2.003e-01 -7.003e-04 -7.604e-03  1.064e-02 -1.047e+00]
+t: 80	 action: [-0.04   0.562 -0.19  -0.01  -0.008  0.01  -1.016]
+t: 81	 action: [-0.034  0.691 -0.13  -0.001 -0.006  0.007 -1.05 ]
+t: 82	 action: [ 0.015  0.824 -0.194 -0.006 -0.027  0.01  -1.027]
+t: 83	 action: [-0.016  0.811 -0.132 -0.004 -0.009  0.006 -1.01 ]
+t: 84	 action: [-0.013  0.85  -0.203  0.001 -0.022  0.012 -1.023]
+t: 85	 action: [-4.106e-02  8.139e-01 -1.355e-01  3.680e-04 -4.393e-03  9.531e-03 -1.015e+00]
+t: 86	 action: [-0.138  0.909 -0.229 -0.007 -0.027  0.005 -1.039]
+t: 87	 action: [-1.508e-01  8.564e-01 -1.627e-01  2.304e-03 -2.103e-02  9.410e-04 -1.045e+00]
+t: 88	 action: [-0.21   0.897 -0.278 -0.007 -0.015  0.006 -1.023]
+t: 89	 action: [-0.209  0.852 -0.185  0.005 -0.01   0.005 -1.045]
+[07-31 02:09:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7631
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7631
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7631
+t=90: Selected seed 195 with value = 0.7631
+t: 90	 action: [-0.2    0.657 -0.335 -0.006  0.012  0.005 -1.014]
+t: 91	 action: [-0.158  0.694 -0.253 -0.008  0.024  0.003 -1.007]
+t: 92	 action: [-0.128  0.759 -0.229 -0.009  0.016  0.007 -0.997]
+t: 93	 action: [-0.038  0.774 -0.129 -0.005  0.023  0.007 -1.011]
+t: 94	 action: [-5.194e-02  8.030e-01 -1.222e-01 -1.242e-02  1.385e-02  3.283e-04 -1.016e+00]
+t: 95	 action: [-0.012  0.796 -0.098 -0.005  0.02   0.001 -1.038]
+t: 96	 action: [-3.106e-02  8.746e-01 -9.646e-02 -1.728e-02  1.720e-02  7.471e-04 -9.971e-01]
+t: 97	 action: [-0.021  0.848 -0.075 -0.003  0.013  0.006 -1.039]
+t: 98	 action: [-0.071  0.953 -0.182 -0.012 -0.026  0.018 -1.007]
+t: 99	 action: [-0.104  0.923 -0.182 -0.009 -0.021  0.015 -1.016]
+t: 100	 action: [-0.106  0.931 -0.232 -0.002 -0.028  0.021 -1.001]
+t: 101	 action: [-0.182  0.889 -0.239 -0.003 -0.026  0.02  -1.013]
+t: 102	 action: [-0.313  0.925 -0.277 -0.011 -0.028  0.02  -1.009]
+t: 103	 action: [-0.343  0.932 -0.334 -0.003 -0.031  0.017 -1.042]
+t: 104	 action: [-0.442  0.873 -0.303 -0.01  -0.017  0.022 -0.992]
+t: 105	 action: [-0.45   0.884 -0.347  0.003 -0.02   0.021 -1.04 ]
+[07-31 02:09:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.209 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9282
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9282
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 119
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 17 (14.3%)
+
+
 38%|███▊      | 19/50 [05:03<09:20, 18.08s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 20...
+Query 1/1: Action query time = 1.209 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=106: Selected seed 195 with value = 0.9282
+t: 106	 action: [-0.633  0.649 -0.3    0.005  0.005  0.002 -1.003]
+t: 107	 action: [-6.153e-01  5.803e-01 -2.185e-01  1.562e-02  1.567e-02  1.111e-04 -1.006e+00]
+t: 108	 action: [-0.7    0.49  -0.289  0.004  0.011  0.003 -0.986]
+t: 109	 action: [-0.685  0.439 -0.215  0.013  0.023 -0.007 -1.009]
+t: 110	 action: [-0.713  0.386 -0.239  0.001  0.018 -0.004 -0.999]
+t: 111	 action: [-6.125e-01  3.767e-01 -1.973e-01  1.887e-02  3.034e-02  5.043e-04 -1.043e+00]
+t: 112	 action: [-0.604  0.25  -0.227 -0.001  0.038 -0.005 -0.987]
+t: 113	 action: [-0.482  0.229 -0.229  0.018  0.052 -0.01  -1.04 ]
+t: 114	 action: [-0.582  0.061 -0.305  0.034  0.049 -0.012 -1.01 ]
+t: 115	 action: [-0.683 -0.075 -0.323  0.035  0.056 -0.017 -1.021]
+t: 116	 action: [-0.724 -0.008 -0.32   0.038  0.063 -0.017 -0.999]
+t: 117	 action: [-0.736 -0.153 -0.346  0.035  0.067 -0.017 -1.011]
+t: 118	 action: [-0.909 -0.124 -0.351  0.053  0.062 -0.011 -1.007]
+t: 119	 action: [-0.889 -0.17  -0.455  0.048  0.057 -0.013 -1.051]
+t: 120	 action: [-0.922 -0.166 -0.348  0.051  0.066 -0.017 -0.986]
+t: 121	 action: [-0.899 -0.164 -0.46   0.044  0.056 -0.014 -1.047]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=119--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+112 112 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=119--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 119
+# successes: 17 (14.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 20...
+[07-31 02:09:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3316
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3316
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3316
+t=10: Selected seed 195 with value = 0.3316
+t: 10	 action: [ 0.241  0.041  0.023 -0.005  0.03   0.002 -1.013]
+t: 11	 action: [ 0.331  0.059  0.019 -0.006  0.044 -0.002 -1.001]
+t: 12	 action: [ 0.516  0.117  0.009 -0.009  0.032  0.003 -1.011]
+t: 13	 action: [ 0.649  0.173 -0.007 -0.008  0.046 -0.003 -1.006]
+t: 14	 action: [ 0.774  0.179  0.019 -0.014  0.036 -0.002 -1.018]
+t: 15	 action: [ 0.843  0.214 -0.003 -0.011  0.043 -0.003 -1.025]
+t: 16	 action: [ 9.164e-01  2.408e-01 -2.864e-04 -1.455e-02  3.666e-02 -2.997e-03 -1.007e+00]
+t: 17	 action: [ 0.922  0.257 -0.018 -0.011  0.046 -0.005 -1.03 ]
+t: 18	 action: [ 0.929  0.251 -0.003 -0.002  0.054 -0.001 -1.014]
+t: 19	 action: [ 0.914  0.229 -0.035 -0.004  0.068 -0.008 -1.006]
+t: 20	 action: [ 0.95   0.239 -0.036  0.005  0.042 -0.008 -1.009]
+t: 21	 action: [ 0.909  0.212 -0.049 -0.001  0.061 -0.012 -1.004]
+t: 22	 action: [ 9.675e-01  1.759e-01 -3.038e-02 -2.579e-04  4.498e-02 -7.655e-03 -9.949e-01]
+t: 23	 action: [ 0.972  0.18  -0.063  0.002  0.048 -0.012 -1.026]
+t: 24	 action: [ 9.871e-01  1.622e-01 -8.198e-02 -2.353e-04  3.263e-02 -1.532e-02 -9.918e-01]
+t: 25	 action: [ 0.983  0.157 -0.138  0.004  0.041 -0.013 -1.029]
+[07-31 02:09:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3655
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3655
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3655
+t=26: Selected seed 195 with value = 0.3655
+t: 26	 action: [ 0.912  0.25  -0.14   0.003  0.049  0.006 -1.026]
+t: 27	 action: [ 9.138e-01  1.349e-01 -2.253e-01  1.011e-02  5.377e-02 -7.977e-04 -1.019e+00]
+t: 28	 action: [ 0.907  0.165 -0.253  0.007  0.042  0.006 -1.02 ]
+t: 29	 action: [ 0.891  0.059 -0.361  0.015  0.045 -0.004 -1.02 ]
+t: 30	 action: [ 9.353e-01  4.352e-02 -3.862e-01  1.241e-02  3.641e-02 -2.443e-04 -1.012e+00]
+t: 31	 action: [ 0.901 -0.007 -0.467  0.023  0.041 -0.005 -1.031]
+t: 32	 action: [ 0.883 -0.024 -0.53   0.022  0.027 -0.001 -1.01 ]
+t: 33	 action: [ 0.832 -0.081 -0.595  0.024  0.022 -0.007 -1.031]
+t: 34	 action: [ 0.759 -0.08  -0.583  0.013  0.015  0.007 -1.028]
+t: 35	 action: [ 0.716 -0.121 -0.724  0.006  0.012 -0.002 -1.021]
+t: 36	 action: [ 0.582 -0.124 -0.677  0.009 -0.001  0.007 -1.027]
+t: 37	 action: [ 0.494 -0.137 -0.764  0.001 -0.002 -0.003 -1.014]
+t: 38	 action: [ 0.411 -0.057 -0.718  0.001 -0.023  0.003 -1.03 ]
+t: 39	 action: [ 0.299 -0.124 -0.782  0.006 -0.024 -0.006 -1.036]
+t: 40	 action: [ 0.259 -0.028 -0.744 -0.005 -0.036  0.004 -1.033]
+t: 41	 action: [ 0.152 -0.111 -0.791 -0.004 -0.039 -0.006 -1.03 ]
+[07-31 02:09:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.008 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5675
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5675
+Query 1/1: Action query time = 1.008 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5675
+t=42: Selected seed 195 with value = 0.5675
+t: 42	 action: [ 0.147 -0.371 -0.497  0.01  -0.031  0.013 -1.011]
+t: 43	 action: [ 0.05  -0.331 -0.594 -0.002 -0.038  0.015 -1.023]
+t: 44	 action: [-0.055 -0.263 -0.659  0.014 -0.055  0.016 -1.018]
+t: 45	 action: [-1.781e-01 -2.490e-01 -7.516e-01  9.794e-04 -5.703e-02  1.764e-02 -1.017e+00]
+t: 46	 action: [-2.284e-01 -2.051e-01 -7.442e-01  7.862e-04 -5.796e-02  2.570e-02 -1.009e+00]
+t: 47	 action: [-0.284 -0.106 -0.825 -0.006 -0.067  0.022 -1.048]
+t: 48	 action: [-4.232e-01 -9.786e-02 -7.583e-01 -6.844e-04 -7.052e-02  3.249e-02 -1.015e+00]
+t: 49	 action: [-0.455 -0.046 -0.843 -0.005 -0.065  0.023 -1.05 ]
+t: 50	 action: [-0.556 -0.045 -0.792 -0.008 -0.089  0.065 -1.009]
+t: 51	 action: [-0.574 -0.097 -0.837 -0.01  -0.067  0.045 -1.017]
+t: 52	 action: [-0.612 -0.005 -0.771 -0.01  -0.081  0.067 -1.01 ]
+t: 53	 action: [-0.583 -0.065 -0.79  -0.009 -0.051  0.043 -1.005]
+t: 54	 action: [-0.55   0.011 -0.722 -0.027 -0.068  0.054 -0.999]
+t: 55	 action: [-0.454  0.073 -0.7   -0.009 -0.039  0.036 -1.048]
+t: 56	 action: [-0.413  0.066 -0.633 -0.023 -0.047  0.043 -0.998]
+t: 57	 action: [-0.326  0.097 -0.601 -0.008 -0.019  0.033 -1.051]
+[07-31 02:09:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7691
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7691
+Query 1/1: Action query time = 1.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7691
+t=58: Selected seed 195 with value = 0.7691
+t: 58	 action: [-2.468e-01  3.564e-01 -5.120e-01  9.131e-04 -1.259e-02  1.856e-02 -9.985e-01]
+t: 59	 action: [-0.243  0.427 -0.451 -0.005 -0.002  0.017 -1.011]
+t: 60	 action: [-0.157  0.455 -0.421  0.001 -0.006  0.018 -0.999]
+t: 61	 action: [-1.510e-01  6.235e-01 -3.290e-01 -1.853e-03  5.634e-04  1.415e-02 -1.011e+00]
+t: 62	 action: [-0.26   0.644 -0.303 -0.005 -0.005  0.019 -0.996]
+t: 63	 action: [-0.202  0.756 -0.283  0.003 -0.005  0.015 -1.036]
+t: 64	 action: [-0.176  0.725 -0.227 -0.004 -0.001  0.017 -1.   ]
+t: 65	 action: [-0.136  0.818 -0.214  0.002 -0.006  0.012 -1.032]
+t: 66	 action: [ 0.019  0.889 -0.167  0.002  0.005  0.002 -1.002]
+t: 67	 action: [ 0.016  0.849 -0.136  0.007  0.007  0.003 -0.992]
+t: 68	 action: [ 0.027  0.851 -0.186  0.002  0.003  0.006 -0.993]
+t: 69	 action: [ 0.016  0.823 -0.154  0.009  0.003  0.006 -0.984]
+t: 70	 action: [-9.985e-02  8.988e-01 -1.451e-01 -1.665e-03 -5.269e-03 -7.588e-04 -1.012e+00]
+t: 71	 action: [-0.068  0.849 -0.153  0.012  0.002  0.005 -1.016]
+t: 72	 action: [-0.213  0.824 -0.168 -0.005 -0.005  0.005 -1.003]
+t: 73	 action: [-1.450e-01  8.221e-01 -1.849e-01  1.065e-02 -3.888e-04  1.037e-02 -1.013e+00]
+[07-31 02:09:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8564
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8564
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8564
+t=74: Selected seed 195 with value = 0.8564
+t: 74	 action: [-0.071  0.785 -0.256 -0.008  0.002  0.002 -1.02 ]
+t: 75	 action: [-6.092e-02  8.287e-01 -2.232e-01 -3.673e-03  1.215e-02  5.044e-04 -1.013e+00]
+t: 76	 action: [-0.081  0.841 -0.215 -0.007  0.011  0.002 -1.011]
+t: 77	 action: [-6.219e-02  8.438e-01 -1.872e-01 -9.670e-04  1.574e-02  1.113e-04 -1.013e+00]
+t: 78	 action: [-0.088  0.847 -0.165 -0.004  0.002 -0.004 -1.019]
+t: 79	 action: [-0.11   0.86  -0.152  0.004  0.009  0.003 -1.033]
+t: 80	 action: [-0.132  0.883 -0.157 -0.007  0.009 -0.005 -1.015]
+t: 81	 action: [-0.154  0.867 -0.145  0.006  0.01   0.003 -1.031]
+t: 82	 action: [-0.093  0.913 -0.171  0.003 -0.022  0.004 -1.008]
+t: 83	 action: [-0.133  0.876 -0.175 -0.002 -0.015  0.001 -1.015]
+t: 84	 action: [-0.178  0.89  -0.171  0.004 -0.024  0.005 -1.002]
+t: 85	 action: [-0.224  0.854 -0.187 -0.002 -0.025  0.002 -1.012]
+t: 86	 action: [-0.315  0.877 -0.171 -0.003 -0.026 -0.001 -1.011]
+t: 87	 action: [-0.363  0.872 -0.195  0.006 -0.033  0.007 -1.03 ]
+t: 88	 action: [-4.366e-01  8.103e-01 -1.712e-01 -6.977e-03 -2.362e-02 -4.826e-04 -9.971e-01]
+t: 89	 action: [-0.428  0.839 -0.199  0.005 -0.036  0.009 -1.031]
+[07-31 02:09:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9570
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9570
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 120
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 18 (15.0%)
+
+
 40%|████      | 20/50 [05:15<08:03, 16.11s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 21...
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=90: Selected seed 195 with value = 0.9570
+t: 90	 action: [-0.552  0.788 -0.255  0.006 -0.015 -0.003 -0.987]
+t: 91	 action: [-5.270e-01  7.803e-01 -2.141e-01  1.418e-02 -9.332e-04 -1.483e-02 -9.842e-01]
+t: 92	 action: [-0.636  0.766 -0.184  0.005 -0.014 -0.011 -0.99 ]
+t: 93	 action: [-0.593  0.727 -0.144  0.014  0.001 -0.021 -0.99 ]
+t: 94	 action: [-0.709  0.644 -0.169  0.006  0.015 -0.01  -0.96 ]
+t: 95	 action: [-0.715  0.645 -0.157  0.02   0.036 -0.011 -1.011]
+t: 96	 action: [-0.762  0.351 -0.175  0.013  0.064 -0.016 -0.964]
+t: 97	 action: [-0.731  0.262 -0.237  0.033  0.09  -0.017 -1.013]
+t: 98	 action: [-0.796  0.036 -0.356  0.049  0.074 -0.037 -0.992]
+t: 99	 action: [-0.791 -0.091 -0.361  0.048  0.083 -0.049 -1.003]
+t: 100	 action: [-0.817 -0.099 -0.387  0.059  0.089 -0.042 -0.997]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=120--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+91 91 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=120--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 120
+# successes: 18 (15.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 21...
+[07-31 02:09:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.028 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3391
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3391
+Query 1/1: Action query time = 1.028 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3391
+t=10: Selected seed 195 with value = 0.3391
+t: 10	 action: [ 1.434e-01  3.067e-02 -2.811e-03  1.000e-03  1.929e-03  5.730e-03 -1.008e+00]
+t: 11	 action: [ 0.238  0.048 -0.007 -0.001  0.012  0.007 -1.003]
+t: 12	 action: [ 3.945e-01  9.255e-02 -2.954e-02 -7.285e-04  2.893e-03  7.788e-03 -1.015e+00]
+t: 13	 action: [ 0.58   0.136 -0.009 -0.005  0.016  0.006 -1.006]
+t: 14	 action: [ 0.697  0.17  -0.033 -0.004  0.007  0.001 -1.01 ]
+t: 15	 action: [ 0.816  0.172 -0.026 -0.003  0.009  0.006 -1.024]
+t: 16	 action: [ 9.106e-01  2.264e-01 -5.864e-02 -6.997e-03  1.261e-02  6.120e-04 -1.007e+00]
+t: 17	 action: [ 0.929  0.209 -0.042 -0.004  0.019  0.004 -1.031]
+t: 18	 action: [ 0.904  0.223 -0.025 -0.003  0.029  0.005 -1.009]
+t: 19	 action: [ 0.907  0.189 -0.029 -0.002  0.046  0.002 -1.008]
+t: 20	 action: [ 0.928  0.206 -0.056  0.001  0.029  0.003 -1.011]
+t: 21	 action: [ 9.169e-01  1.764e-01 -2.866e-02  7.906e-04  4.949e-02 -1.402e-03 -1.006e+00]
+t: 22	 action: [ 9.601e-01  1.809e-01 -5.390e-02 -7.886e-04  3.252e-02  7.360e-04 -9.853e-01]
+t: 23	 action: [ 9.921e-01  1.704e-01 -4.235e-02  3.852e-03  4.167e-02  2.963e-05 -1.026e+00]
+t: 24	 action: [ 0.986  0.171 -0.092 -0.003  0.031 -0.004 -0.987]
+t: 25	 action: [ 1.004  0.158 -0.065  0.007  0.044 -0.002 -1.032]
+[07-31 02:09:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.029 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3759
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3759
+Query 1/1: Action query time = 1.029 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3759
+t=26: Selected seed 195 with value = 0.3759
+t: 26	 action: [ 9.430e-01  2.606e-01 -1.439e-01 -9.674e-04  2.917e-02  7.626e-03 -1.035e+00]
+t: 27	 action: [ 0.943  0.182 -0.171  0.002  0.041 -0.001 -1.024]
+t: 28	 action: [ 0.96   0.196 -0.208  0.002  0.032  0.008 -1.027]
+t: 29	 action: [ 0.955  0.112 -0.239  0.005  0.044 -0.004 -1.023]
+t: 30	 action: [ 0.988  0.098 -0.29  -0.004  0.026 -0.003 -1.012]
+t: 31	 action: [ 0.959  0.061 -0.34   0.009  0.034 -0.008 -1.037]
+t: 32	 action: [ 0.987  0.03  -0.397 -0.003  0.025 -0.008 -1.011]
+t: 33	 action: [ 0.945 -0.015 -0.442  0.013  0.029 -0.009 -1.039]
+t: 34	 action: [ 0.859 -0.029 -0.433  0.013  0.032 -0.014 -1.028]
+t: 35	 action: [ 0.836 -0.095 -0.528  0.011  0.03  -0.017 -1.021]
+t: 36	 action: [ 0.666 -0.097 -0.544  0.015  0.024 -0.014 -1.025]
+t: 37	 action: [ 0.584 -0.126 -0.619  0.009  0.016 -0.018 -1.015]
+t: 38	 action: [ 0.468 -0.068 -0.603  0.019  0.009 -0.021 -1.024]
+t: 39	 action: [ 0.307 -0.115 -0.638  0.016  0.007 -0.02  -1.041]
+t: 40	 action: [ 2.661e-01 -2.669e-02 -6.724e-01  7.416e-03 -4.310e-04 -1.301e-02 -1.024e+00]
+t: 41	 action: [ 0.157 -0.089 -0.692  0.01   0.002 -0.019 -1.039]
+[07-31 02:09:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.022 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4701
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4701
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4701
+t=42: Selected seed 195 with value = 0.4701
+t: 42	 action: [ 0.218 -0.36  -0.586  0.016 -0.016  0.012 -1.011]
+t: 43	 action: [ 0.125 -0.282 -0.733  0.007 -0.025  0.01  -1.021]
+t: 44	 action: [ 0.041 -0.333 -0.694  0.017 -0.04   0.017 -1.017]
+t: 45	 action: [-0.053 -0.242 -0.799  0.007 -0.049  0.016 -1.02 ]
+t: 46	 action: [-0.122 -0.268 -0.723  0.001 -0.054  0.019 -1.012]
+t: 47	 action: [-1.569e-01 -1.661e-01 -8.689e-01  9.815e-04 -6.567e-02  1.704e-02 -1.049e+00]
+t: 48	 action: [-0.261 -0.155 -0.74  -0.003 -0.065  0.032 -1.017]
+t: 49	 action: [-0.312 -0.091 -0.855 -0.002 -0.066  0.022 -1.049]
+t: 50	 action: [-3.908e-01 -1.152e-01 -7.618e-01 -3.803e-04 -7.746e-02  5.623e-02 -1.010e+00]
+t: 51	 action: [-0.422 -0.134 -0.817 -0.011 -0.073  0.045 -1.014]
+t: 52	 action: [-0.475 -0.035 -0.741 -0.007 -0.071  0.065 -1.018]
+t: 53	 action: [-0.471 -0.087 -0.766 -0.012 -0.058  0.047 -1.011]
+t: 54	 action: [-0.469  0.002 -0.719 -0.03  -0.062  0.065 -1.008]
+t: 55	 action: [-0.397  0.026 -0.715 -0.017 -0.047  0.044 -1.044]
+t: 56	 action: [-0.424  0.031 -0.666 -0.031 -0.041  0.062 -1.01 ]
+t: 57	 action: [-0.352  0.036 -0.654 -0.017 -0.025  0.046 -1.05 ]
+[07-31 02:09:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.031 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6195
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6195
+Query 1/1: Action query time = 1.031 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6195
+t=58: Selected seed 195 with value = 0.6195
+t: 58	 action: [-0.282  0.072 -0.625  0.004 -0.013  0.032 -0.993]
+t: 59	 action: [-2.797e-01  5.700e-02 -6.097e-01 -7.372e-03 -2.213e-04  2.892e-02 -1.005e+00]
+t: 60	 action: [-0.231  0.224 -0.574  0.003 -0.004  0.028 -0.995]
+t: 61	 action: [-0.187  0.333 -0.505 -0.006  0.002  0.024 -1.007]
+t: 62	 action: [-0.25   0.391 -0.412 -0.002  0.006  0.033 -0.991]
+t: 63	 action: [-1.806e-01  5.902e-01 -3.899e-01 -4.629e-03 -5.103e-04  2.593e-02 -1.031e+00]
+t: 64	 action: [-0.112  0.63  -0.299 -0.002  0.009  0.024 -0.996]
+t: 65	 action: [-0.07   0.783 -0.272 -0.005 -0.002  0.019 -1.029]
+t: 66	 action: [ 0.037  0.834 -0.178  0.003  0.027  0.005 -1.001]
+t: 67	 action: [ 0.035  0.833 -0.159  0.005  0.03   0.003 -0.991]
+t: 68	 action: [ 0.061  0.84  -0.178  0.002  0.019  0.007 -0.99 ]
+t: 69	 action: [ 0.058  0.848 -0.161  0.007  0.01   0.007 -0.983]
+t: 70	 action: [-0.034  0.925 -0.162 -0.002  0.009  0.001 -1.011]
+t: 71	 action: [-0.012  0.879 -0.181  0.012  0.007  0.003 -1.02 ]
+t: 72	 action: [-0.105  0.898 -0.182 -0.005  0.003  0.001 -1.003]
+t: 73	 action: [-0.051  0.883 -0.212  0.011  0.004  0.009 -1.018]
+[07-31 02:09:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.041 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7533
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7533
+Query 1/1: Action query time = 1.041 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7533
+t=74: Selected seed 195 with value = 0.7533
+t: 74	 action: [-0.137  0.774 -0.308 -0.009  0.005  0.008 -1.005]
+t: 75	 action: [-0.158  0.831 -0.289 -0.007  0.012  0.008 -1.009]
+t: 76	 action: [-0.128  0.836 -0.276 -0.01   0.01   0.007 -1.004]
+t: 77	 action: [-0.109  0.87  -0.264 -0.004  0.014  0.009 -1.013]
+t: 78	 action: [-0.117  0.865 -0.247 -0.008  0.005  0.001 -1.008]
+t: 79	 action: [-1.214e-01  9.063e-01 -2.270e-01 -7.177e-04  7.800e-03  7.036e-03 -1.036e+00]
+t: 80	 action: [-1.316e-01  9.030e-01 -2.336e-01 -8.592e-03  8.764e-03  8.475e-04 -1.010e+00]
+t: 81	 action: [-0.133  0.916 -0.223  0.002  0.006  0.01  -1.037]
+t: 82	 action: [-0.096  0.917 -0.214  0.005 -0.021  0.009 -1.006]
+t: 83	 action: [-8.651e-02  8.703e-01 -1.816e-01  7.794e-04 -1.059e-02  6.249e-03 -1.010e+00]
+t: 84	 action: [-0.116  0.9   -0.207  0.006 -0.024  0.009 -1.003]
+t: 85	 action: [-0.132  0.855 -0.188  0.004 -0.02   0.008 -1.009]
+t: 86	 action: [-2.210e-01  9.052e-01 -2.135e-01  7.598e-04 -2.324e-02  4.404e-03 -1.012e+00]
+t: 87	 action: [-0.243  0.88  -0.205  0.009 -0.025  0.008 -1.033]
+t: 88	 action: [-0.315  0.872 -0.205 -0.002 -0.021  0.004 -0.999]
+t: 89	 action: [-0.311  0.86  -0.215  0.01  -0.029  0.012 -1.033]
+[07-31 02:09:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.013 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9175
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9175
+Query 1/1: Action query time = 1.013 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9175
+t=90: Selected seed 195 with value = 0.9175
+t: 90	 action: [-4.951e-01  8.136e-01 -2.195e-01  8.802e-04  1.161e-03  5.995e-03 -1.001e+00]
+t: 91	 action: [-4.686e-01  8.104e-01 -2.140e-01  5.271e-04  7.998e-03  2.574e-03 -1.002e+00]
+t: 92	 action: [-0.532  0.816 -0.201  0.003  0.005  0.006 -0.999]
+t: 93	 action: [-4.910e-01  8.179e-01 -1.886e-01  1.559e-04  1.112e-02  5.374e-03 -9.995e-01]
+t: 94	 action: [-0.548  0.791 -0.175 -0.003  0.006  0.001 -0.978]
+t: 95	 action: [-5.489e-01  8.351e-01 -1.978e-01  7.561e-04  4.979e-03  3.929e-03 -1.024e+00]
+t: 96	 action: [-5.869e-01  7.890e-01 -1.791e-01 -3.663e-03  1.414e-02  5.019e-04 -9.790e-01]
+t: 97	 action: [-0.571  0.83  -0.205  0.002  0.009  0.006 -1.022]
+t: 98	 action: [-0.535  0.864 -0.217  0.005 -0.006  0.007 -1.011]
+t: 99	 action: [-0.572  0.79  -0.269  0.003  0.009  0.002 -1.005]
+t: 100	 action: [-0.702  0.648 -0.278  0.008  0.012  0.006 -1.009]
+t: 101	 action: [-0.7    0.529 -0.344  0.013  0.035 -0.003 -1.003]
+t: 102	 action: [-0.811  0.387 -0.317  0.009  0.027  0.002 -0.993]
+t: 103	 action: [-0.809  0.255 -0.422  0.03   0.036  0.002 -1.034]
+t: 104	 action: [-0.829  0.06  -0.349  0.029  0.06  -0.004 -0.987]
+t: 105	 action: [-0.813  0.031 -0.44   0.032  0.06  -0.005 -1.035]
+[07-31 02:09:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9933
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9933
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 121
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 19 (15.7%)
+
+
 42%|████▏     | 21/50 [05:28<07:20, 15.18s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 22...
+Query 1/1: Action query time = 1.006 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=106: Selected seed 195 with value = 0.9933
+t: 106	 action: [-0.858 -0.031 -0.428  0.021  0.026 -0.018 -0.965]
+t: 107	 action: [-0.853 -0.069 -0.447  0.024  0.045 -0.02  -0.99 ]
+t: 108	 action: [-0.876 -0.067 -0.421  0.027  0.043 -0.026 -0.977]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=121--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+99 99 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=121--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 121
+# successes: 19 (15.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 22...
+[07-31 02:09:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.248 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3483
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3483
+Query 1/1: Action query time = 1.248 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3483
+t=10: Selected seed 195 with value = 0.3483
+t: 10	 action: [ 2.796e-01  7.149e-02 -1.665e-02 -9.617e-04 -3.738e-03  9.377e-03 -1.020e+00]
+t: 11	 action: [ 0.425  0.106 -0.013 -0.004  0.011  0.008 -1.011]
+t: 12	 action: [ 0.572  0.159 -0.045 -0.006 -0.002  0.011 -1.021]
+t: 13	 action: [ 0.733  0.201 -0.017 -0.007  0.013  0.008 -1.013]
+t: 14	 action: [ 0.821  0.232 -0.055 -0.007  0.002  0.007 -1.012]
+t: 15	 action: [ 0.877  0.242 -0.042 -0.005  0.007  0.008 -1.03 ]
+t: 16	 action: [ 0.951  0.266 -0.085 -0.011  0.007  0.007 -1.012]
+t: 17	 action: [ 0.957  0.263 -0.089 -0.006  0.011  0.007 -1.037]
+t: 18	 action: [ 0.914  0.252 -0.078 -0.006  0.012  0.008 -1.02 ]
+t: 19	 action: [ 0.929  0.205 -0.065 -0.005  0.024  0.004 -1.014]
+t: 20	 action: [ 0.945  0.223 -0.111 -0.001  0.01   0.007 -1.018]
+t: 21	 action: [ 0.943  0.182 -0.082 -0.001  0.027  0.002 -1.014]
+t: 22	 action: [ 0.98   0.18  -0.111 -0.003  0.012  0.003 -0.991]
+t: 23	 action: [ 1.003  0.167 -0.126  0.002  0.016  0.002 -1.031]
+t: 24	 action: [ 1.005e+00  1.500e-01 -1.514e-01 -4.262e-03  9.086e-03  2.770e-04 -9.918e-01]
+t: 25	 action: [ 1.011  0.145 -0.162  0.007  0.018  0.002 -1.037]
+[07-31 02:09:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.175 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3929
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3929
+Query 1/1: Action query time = 1.175 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3929
+t=26: Selected seed 195 with value = 0.3929
+t: 26	 action: [ 0.924  0.225 -0.187  0.003  0.02   0.007 -1.038]
+t: 27	 action: [ 9.243e-01  1.300e-01 -2.127e-01  2.250e-03  2.352e-02  9.729e-04 -1.017e+00]
+t: 28	 action: [ 0.92   0.12  -0.251  0.006  0.018  0.009 -1.027]
+t: 29	 action: [ 0.924  0.04  -0.285  0.008  0.017 -0.003 -1.017]
+t: 30	 action: [ 9.379e-01  3.652e-02 -3.746e-01  1.001e-03  1.172e-02  3.614e-05 -1.018e+00]
+t: 31	 action: [ 0.873  0.002 -0.412  0.017  0.01  -0.003 -1.034]
+t: 32	 action: [ 8.377e-01 -2.400e-02 -4.966e-01  1.105e-02  8.169e-03 -9.644e-04 -1.016e+00]
+t: 33	 action: [ 0.746 -0.055 -0.522  0.023  0.009 -0.005 -1.036]
+t: 34	 action: [ 0.622 -0.083 -0.515  0.021  0.004  0.005 -1.03 ]
+t: 35	 action: [ 0.553 -0.099 -0.603  0.021  0.01  -0.004 -1.019]
+t: 36	 action: [ 4.226e-01 -9.708e-02 -6.088e-01  2.306e-02 -8.505e-04  4.443e-03 -1.023e+00]
+t: 37	 action: [ 0.332 -0.103 -0.674  0.02   0.005 -0.005 -1.015]
+t: 38	 action: [ 0.277 -0.059 -0.637  0.024 -0.007 -0.002 -1.027]
+t: 39	 action: [ 0.179 -0.066 -0.642  0.025 -0.007 -0.007 -1.039]
+t: 40	 action: [ 1.713e-01 -9.870e-03 -6.787e-01  1.610e-02 -8.397e-03 -8.500e-04 -1.019e+00]
+t: 41	 action: [ 0.111 -0.031 -0.67   0.021 -0.01  -0.006 -1.036]
+[07-31 02:09:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.155 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4120
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4120
+Query 1/1: Action query time = 1.155 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4120
+t=42: Selected seed 195 with value = 0.4120
+t: 42	 action: [ 0.345 -0.247 -0.5    0.019 -0.005  0.007 -1.02 ]
+t: 43	 action: [ 0.221 -0.227 -0.622  0.014 -0.01   0.004 -1.028]
+t: 44	 action: [ 0.185 -0.239 -0.626  0.018 -0.029  0.01  -1.024]
+t: 45	 action: [ 0.052 -0.209 -0.731  0.011 -0.037  0.01  -1.027]
+t: 46	 action: [-0.051 -0.18  -0.682  0.002 -0.043  0.009 -1.014]
+t: 47	 action: [-0.096 -0.146 -0.831  0.007 -0.048  0.013 -1.052]
+t: 48	 action: [-2.181e-01 -8.716e-02 -7.350e-01 -5.368e-04 -5.743e-02  1.781e-02 -1.018e+00]
+t: 49	 action: [-0.256 -0.085 -0.838  0.003 -0.055  0.019 -1.051]
+t: 50	 action: [-0.378 -0.067 -0.723  0.002 -0.066  0.054 -1.02 ]
+t: 51	 action: [-0.444 -0.124 -0.774 -0.011 -0.065  0.05  -1.019]
+t: 52	 action: [-0.53  -0.005 -0.703 -0.006 -0.06   0.065 -1.025]
+t: 53	 action: [-0.542 -0.086 -0.737 -0.013 -0.048  0.056 -1.015]
+t: 54	 action: [-0.607 -0.004 -0.661 -0.033 -0.059  0.076 -1.01 ]
+t: 55	 action: [-0.554 -0.017 -0.695 -0.017 -0.048  0.057 -1.045]
+t: 56	 action: [-0.577  0.036 -0.627 -0.04  -0.041  0.075 -1.011]
+t: 57	 action: [-0.519  0.011 -0.638 -0.021 -0.026  0.06  -1.053]
+[07-31 02:09:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5325
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5325
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5325
+t=58: Selected seed 195 with value = 0.5325
+t: 58	 action: [-0.337  0.034 -0.661  0.007 -0.031  0.045 -0.991]
+t: 59	 action: [-0.257  0.084 -0.621 -0.001 -0.014  0.038 -0.997]
+t: 60	 action: [-0.17   0.267 -0.594  0.006 -0.017  0.046 -0.994]
+t: 61	 action: [-0.021  0.447 -0.5    0.003  0.004  0.036 -1.002]
+t: 62	 action: [-0.103  0.482 -0.457  0.003 -0.002  0.052 -0.996]
+t: 63	 action: [-0.019  0.684 -0.405  0.007 -0.002  0.036 -1.033]
+t: 64	 action: [-0.004  0.765 -0.377  0.003  0.006  0.045 -1.005]
+t: 65	 action: [ 2.473e-02  8.887e-01 -3.341e-01  1.008e-02 -4.802e-04  3.203e-02 -1.034e+00]
+t: 66	 action: [ 0.084  0.877 -0.277  0.006  0.008  0.016 -1.002]
+t: 67	 action: [ 0.082  0.877 -0.235  0.009  0.008  0.011 -1.   ]
+t: 68	 action: [ 0.061  0.901 -0.257  0.004  0.007  0.02  -1.   ]
+t: 69	 action: [ 0.061  0.892 -0.226  0.011  0.003  0.016 -1.004]
+t: 70	 action: [-0.009  0.955 -0.249  0.003  0.003  0.015 -1.016]
+t: 71	 action: [-0.005  0.914 -0.218  0.013  0.003  0.01  -1.027]
+t: 72	 action: [-6.650e-02  9.570e-01 -2.465e-01 -8.066e-04  2.068e-03  1.571e-02 -1.014e+00]
+t: 73	 action: [-5.027e-02  9.256e-01 -2.433e-01  1.100e-02  2.869e-04  1.680e-02 -1.034e+00]
+[07-31 02:09:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5903
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5903
+Query 1/1: Action query time = 0.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5903
+t=74: Selected seed 195 with value = 0.5903
+t: 74	 action: [-8.174e-02  2.861e-01 -5.044e-01 -7.741e-04 -2.672e-02  2.177e-02 -9.915e-01]
+t: 75	 action: [-0.015  0.512 -0.456 -0.003 -0.007  0.017 -1.003]
+t: 76	 action: [-3.267e-02  6.577e-01 -4.695e-01 -9.875e-04 -1.798e-02  2.435e-02 -9.963e-01]
+t: 77	 action: [ 8.782e-03  7.782e-01 -4.175e-01 -3.877e-04  4.003e-03  1.911e-02 -1.008e+00]
+t: 78	 action: [ 0.02   0.727 -0.422 -0.005 -0.006  0.018 -1.007]
+t: 79	 action: [-9.219e-03  8.877e-01 -3.927e-01 -4.518e-04 -4.317e-03  1.293e-02 -1.036e+00]
+t: 80	 action: [ 0.006  0.919 -0.404 -0.004  0.005  0.02  -1.007]
+t: 81	 action: [-9.962e-03  9.421e-01 -3.786e-01  2.759e-03  2.775e-04  1.570e-02 -1.040e+00]
+t: 82	 action: [-0.006  0.94  -0.32   0.007 -0.019  0.018 -1.01 ]
+t: 83	 action: [ 0.019  0.936 -0.294  0.005  0.001  0.012 -1.005]
+t: 84	 action: [-0.035  0.937 -0.289  0.006 -0.012  0.02  -1.005]
+t: 85	 action: [-0.012  0.925 -0.242  0.007  0.004  0.016 -1.007]
+t: 86	 action: [-0.111  0.955 -0.275  0.003 -0.009  0.014 -1.018]
+t: 87	 action: [-0.104  0.951 -0.259  0.01  -0.004  0.01  -1.037]
+t: 88	 action: [-1.903e-01  9.478e-01 -2.542e-01 -5.997e-05  3.314e-03  1.390e-02 -1.007e+00]
+t: 89	 action: [-0.198  0.937 -0.239  0.011 -0.003  0.016 -1.041]
+[07-31 02:09:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7687
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7687
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7687
+t=90: Selected seed 195 with value = 0.7687
+t: 90	 action: [-1.649e-01  8.538e-01 -2.634e-01 -4.086e-04  4.809e-03  1.191e-02 -1.003e+00]
+t: 91	 action: [-0.141  0.853 -0.281 -0.004  0.015  0.007 -1.008]
+t: 92	 action: [-0.174  0.871 -0.277 -0.002  0.012  0.013 -0.993]
+t: 93	 action: [-1.412e-01  8.844e-01 -2.956e-01 -6.838e-05  1.732e-02  1.190e-02 -1.005e+00]
+t: 94	 action: [-0.159  0.883 -0.267 -0.004  0.009  0.007 -1.001]
+t: 95	 action: [-0.16   0.917 -0.328  0.002  0.01   0.009 -1.031]
+t: 96	 action: [-0.195  0.914 -0.292 -0.005  0.016  0.01  -0.994]
+t: 97	 action: [-0.184  0.928 -0.359  0.004  0.012  0.014 -1.032]
+t: 98	 action: [-0.252  0.954 -0.339  0.002 -0.014  0.02  -0.999]
+t: 99	 action: [-2.411e-01  9.098e-01 -3.118e-01  2.782e-04 -5.770e-03  1.440e-02 -9.985e-01]
+t: 100	 action: [-0.327  0.938 -0.34   0.004 -0.01   0.023 -0.997]
+t: 101	 action: [-3.107e-01  8.791e-01 -3.240e-01  3.405e-03  4.550e-04  1.796e-02 -9.984e-01]
+t: 102	 action: [-3.849e-01  9.142e-01 -3.369e-01  4.477e-04 -5.986e-03  2.542e-02 -9.993e-01]
+t: 103	 action: [-0.385  0.911 -0.37   0.007 -0.005  0.018 -1.029]
+t: 104	 action: [-0.456  0.894 -0.313 -0.001  0.005  0.029 -0.99 ]
+t: 105	 action: [-4.545e-01  8.754e-01 -3.631e-01  9.929e-03 -1.006e-03  2.246e-02 -1.035e+00]
+[07-31 02:09:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9174
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9174
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9174
+t=106: Selected seed 195 with value = 0.9174
+t: 106	 action: [-0.58   0.63  -0.332  0.004  0.019  0.015 -0.987]
+t: 107	 action: [-0.589  0.596 -0.31   0.01   0.029  0.015 -0.999]
+t: 108	 action: [-0.662  0.533 -0.378  0.003  0.019  0.016 -0.975]
+t: 109	 action: [-0.664  0.551 -0.345  0.01   0.031  0.014 -0.999]
+t: 110	 action: [-0.756  0.52  -0.407 -0.001  0.018  0.022 -0.977]
+t: 111	 action: [-0.801  0.544 -0.398  0.017  0.027  0.02  -1.033]
+t: 112	 action: [-0.792  0.441 -0.442 -0.003  0.026  0.019 -0.966]
+t: 113	 action: [-0.86   0.454 -0.439  0.017  0.04   0.018 -1.038]
+t: 114	 action: [-0.736  0.274 -0.454  0.012  0.039  0.009 -0.991]
+t: 115	 action: [-0.783  0.19  -0.485  0.018  0.047  0.01  -1.004]
+t: 116	 action: [-0.846  0.114 -0.467  0.015  0.051  0.007 -0.992]
+t: 117	 action: [-0.844  0.045 -0.507  0.015  0.058  0.006 -1.002]
+t: 118	 action: [-0.943  0.031 -0.455  0.024  0.054  0.007 -0.991]
+t: 119	 action: [-0.93  -0.051 -0.504  0.031  0.054  0.011 -1.037]
+t: 120	 action: [-0.936 -0.025 -0.425  0.026  0.061  0.001 -0.982]
+t: 121	 action: [-0.925 -0.069 -0.458  0.025  0.059  0.008 -1.044]
+[07-31 02:09:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9912
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9912
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 122
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 20 (16.4%)
+
+
 44%|████▍     | 22/50 [05:43<07:04, 15.17s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 23...
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=122: Selected seed 195 with value = 0.9912
+t: 122	 action: [-0.915 -0.095 -0.432  0.022  0.033 -0.014 -0.938]
+t: 123	 action: [-0.911 -0.126 -0.431  0.025  0.042 -0.014 -0.987]
+t: 124	 action: [-0.951 -0.069 -0.43   0.025  0.044 -0.017 -0.952]
+t: 125	 action: [-0.941 -0.123 -0.425  0.026  0.052 -0.018 -0.988]
+t: 126	 action: [-0.924 -0.14  -0.404  0.026  0.062 -0.019 -0.927]
+t: 127	 action: [-0.944 -0.121 -0.374  0.035  0.064 -0.016 -1.023]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=122--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+118 118 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=122--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 122
+# successes: 20 (16.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 23...
+[07-31 02:09:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.175 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3400
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3400
+Query 1/1: Action query time = 1.175 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3400
+t=10: Selected seed 195 with value = 0.3400
+t: 10	 action: [ 0.365  0.117 -0.004 -0.005  0.018  0.01  -1.015]
+t: 11	 action: [ 0.562  0.181 -0.014 -0.004  0.033  0.007 -1.016]
+t: 12	 action: [ 0.808  0.205 -0.035 -0.011  0.023  0.013 -1.011]
+t: 13	 action: [ 0.888  0.232 -0.027 -0.006  0.04   0.005 -1.016]
+t: 14	 action: [ 0.951  0.232 -0.037 -0.011  0.019  0.007 -1.006]
+t: 15	 action: [ 0.917  0.25  -0.045 -0.005  0.032  0.006 -1.035]
+t: 16	 action: [ 0.962  0.206 -0.085 -0.011  0.022  0.007 -1.001]
+t: 17	 action: [ 0.959  0.23  -0.108 -0.003  0.035  0.003 -1.039]
+t: 18	 action: [ 0.956  0.191 -0.098 -0.006  0.017  0.008 -1.015]
+t: 19	 action: [ 0.948  0.157 -0.114 -0.004  0.028  0.003 -1.021]
+t: 20	 action: [ 0.975  0.17  -0.134 -0.002  0.013  0.007 -1.013]
+t: 21	 action: [ 9.426e-01  1.344e-01 -1.338e-01 -1.635e-03  2.090e-02 -3.436e-04 -1.018e+00]
+t: 22	 action: [ 0.987  0.092 -0.151 -0.004  0.006  0.004 -0.984]
+t: 23	 action: [ 0.972  0.108 -0.17   0.003  0.015 -0.001 -1.036]
+t: 24	 action: [ 1.003e+00  7.169e-02 -2.027e-01 -3.385e-03  3.010e-04  1.804e-03 -9.827e-01]
+t: 25	 action: [ 0.973  0.085 -0.213  0.005  0.013 -0.002 -1.04 ]
+[07-31 02:09:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.119 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3797
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3797
+Query 1/1: Action query time = 1.119 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3797
+t=26: Selected seed 195 with value = 0.3797
+t: 26	 action: [ 0.927  0.246 -0.147  0.005  0.044  0.007 -1.039]
+t: 27	 action: [ 0.943  0.152 -0.181  0.006  0.054 -0.003 -1.017]
+t: 28	 action: [ 0.906  0.105 -0.235  0.009  0.035  0.006 -1.027]
+t: 29	 action: [ 0.922  0.023 -0.316  0.014  0.031 -0.006 -1.018]
+t: 30	 action: [ 0.911  0.022 -0.388  0.004  0.024 -0.004 -1.023]
+t: 31	 action: [ 0.836 -0.044 -0.513  0.022  0.019 -0.008 -1.036]
+t: 32	 action: [ 0.742 -0.071 -0.557  0.019  0.011 -0.008 -1.019]
+t: 33	 action: [ 0.628 -0.118 -0.649  0.026  0.007 -0.01  -1.039]
+t: 34	 action: [ 0.504 -0.116 -0.602  0.027  0.002 -0.004 -1.034]
+t: 35	 action: [ 0.433 -0.126 -0.699  0.019  0.006 -0.007 -1.021]
+t: 36	 action: [ 3.086e-01 -1.150e-01 -6.889e-01  2.374e-02 -8.002e-03  4.766e-04 -1.027e+00]
+t: 37	 action: [ 0.209 -0.12  -0.733  0.014 -0.004 -0.008 -1.018]
+t: 38	 action: [ 0.195 -0.036 -0.709  0.014 -0.017 -0.005 -1.026]
+t: 39	 action: [ 0.092 -0.087 -0.719  0.019 -0.021 -0.009 -1.04 ]
+t: 40	 action: [ 1.000e-01  1.807e-02 -7.239e-01  4.430e-03 -1.865e-02 -2.877e-04 -1.022e+00]
+t: 41	 action: [ 0.028 -0.044 -0.709  0.011 -0.023 -0.007 -1.039]
+[07-31 02:09:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.076 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4834
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4834
+Query 1/1: Action query time = 1.076 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4834
+t=42: Selected seed 195 with value = 0.4834
+t: 42	 action: [ 0.184 -0.298 -0.417  0.013 -0.023  0.008 -1.007]
+t: 43	 action: [ 0.082 -0.297 -0.497  0.007 -0.028  0.011 -1.024]
+t: 44	 action: [ 0.039 -0.266 -0.576  0.022 -0.045  0.011 -1.008]
+t: 45	 action: [-0.081 -0.262 -0.671  0.01  -0.05   0.016 -1.02 ]
+t: 46	 action: [-0.151 -0.216 -0.653  0.004 -0.049  0.015 -1.   ]
+t: 47	 action: [-0.224 -0.134 -0.784  0.005 -0.06   0.02  -1.047]
+t: 48	 action: [-0.346 -0.111 -0.712  0.002 -0.058  0.027 -1.002]
+t: 49	 action: [-0.41  -0.058 -0.82   0.003 -0.055  0.024 -1.046]
+t: 50	 action: [-0.476 -0.078 -0.742 -0.001 -0.073  0.064 -1.008]
+t: 51	 action: [-0.504 -0.114 -0.808 -0.006 -0.058  0.051 -1.011]
+t: 52	 action: [-0.557 -0.013 -0.724 -0.007 -0.059  0.068 -1.012]
+t: 53	 action: [-0.554 -0.072 -0.765 -0.007 -0.035  0.049 -1.005]
+t: 54	 action: [-0.57  -0.005 -0.694 -0.024 -0.057  0.069 -0.999]
+t: 55	 action: [-0.515  0.038 -0.722 -0.008 -0.035  0.048 -1.045]
+t: 56	 action: [-0.499  0.033 -0.622 -0.024 -0.031  0.06  -1.001]
+t: 57	 action: [-0.43   0.066 -0.632 -0.009 -0.011  0.045 -1.052]
+[07-31 02:09:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5609
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5609
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5609
+t=58: Selected seed 195 with value = 0.5609
+t: 58	 action: [-0.334  0.103 -0.606  0.004 -0.019  0.027 -0.978]
+t: 59	 action: [-0.294  0.089 -0.588 -0.007  0.004  0.022 -0.986]
+t: 60	 action: [-0.22   0.216 -0.559  0.003 -0.004  0.021 -0.981]
+t: 61	 action: [-0.155  0.326 -0.465 -0.004  0.009  0.016 -0.994]
+t: 62	 action: [-2.781e-01  4.080e-01 -3.906e-01 -6.345e-04  7.367e-03  2.656e-02 -9.830e-01]
+t: 63	 action: [-0.154  0.6   -0.31   0.001  0.002  0.019 -1.025]
+t: 64	 action: [-0.102  0.635 -0.264 -0.001  0.014  0.015 -0.99 ]
+t: 65	 action: [-0.045  0.755 -0.187  0.003  0.006  0.012 -1.027]
+t: 66	 action: [ 4.034e-02  8.567e-01 -7.270e-02  4.241e-03  1.002e-02  8.314e-04 -9.977e-01]
+t: 67	 action: [ 0.027  0.804 -0.043  0.007  0.024  0.004 -0.996]
+t: 68	 action: [ 0.028  0.853 -0.068  0.006  0.013  0.004 -0.988]
+t: 69	 action: [ 0.029  0.801 -0.039  0.012  0.02   0.008 -0.996]
+t: 70	 action: [-0.067  0.916 -0.075 -0.001  0.006 -0.003 -1.015]
+t: 71	 action: [-0.064  0.815 -0.073  0.016  0.014  0.004 -1.02 ]
+t: 72	 action: [-1.503e-01  8.853e-01 -1.305e-01  4.807e-03  8.194e-03 -5.813e-04 -1.002e+00]
+t: 73	 action: [-0.116  0.814 -0.132  0.02   0.012  0.011 -1.023]
+[07-31 02:09:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7688
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7688
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7688
+t=74: Selected seed 195 with value = 0.7688
+t: 74	 action: [-0.164  0.515 -0.355 -0.007 -0.016  0.017 -1.   ]
+t: 75	 action: [-0.201  0.632 -0.297 -0.01   0.002  0.014 -1.01 ]
+t: 76	 action: [-0.122  0.719 -0.306 -0.009 -0.002  0.017 -0.991]
+t: 77	 action: [-0.11   0.764 -0.251 -0.009  0.01   0.015 -1.01 ]
+t: 78	 action: [-0.114  0.771 -0.251 -0.01  -0.002  0.009 -1.002]
+t: 79	 action: [-1.082e-01  8.028e-01 -1.747e-01 -8.354e-03 -5.190e-04  1.194e-02 -1.033e+00]
+t: 80	 action: [-0.115  0.892 -0.222 -0.01   0.008  0.009 -0.995]
+t: 81	 action: [-0.112  0.843 -0.139 -0.005  0.006  0.012 -1.034]
+t: 82	 action: [-0.101  0.919 -0.239 -0.003 -0.032  0.009 -1.005]
+t: 83	 action: [-0.113  0.863 -0.209 -0.006 -0.024  0.008 -1.014]
+t: 84	 action: [-0.127  0.903 -0.248  0.005 -0.026  0.013 -0.992]
+t: 85	 action: [-0.151  0.848 -0.207 -0.002 -0.022  0.01  -1.015]
+t: 86	 action: [-0.201  0.925 -0.236 -0.005 -0.023  0.005 -1.007]
+t: 87	 action: [-2.706e-01  8.664e-01 -1.885e-01  2.029e-04 -2.806e-02  9.858e-03 -1.035e+00]
+t: 88	 action: [-0.283  0.914 -0.244 -0.005 -0.014  0.01  -0.987]
+t: 89	 action: [-0.325  0.854 -0.186  0.003 -0.024  0.012 -1.037]
+[07-31 02:10:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9157
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9157
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9157
+t=90: Selected seed 195 with value = 0.9157
+t: 90	 action: [-0.319  0.775 -0.172 -0.006  0.008  0.002 -1.017]
+t: 91	 action: [-3.430e-01  7.497e-01 -1.071e-01 -3.879e-03  1.812e-02  4.904e-04 -9.982e-01]
+t: 92	 action: [-3.857e-01  7.983e-01 -1.348e-01  7.301e-04  1.967e-02  3.565e-03 -1.001e+00]
+t: 93	 action: [-3.825e-01  7.603e-01 -6.398e-02 -6.673e-04  2.815e-02  3.347e-03 -1.000e+00]
+t: 94	 action: [-0.45   0.796 -0.087 -0.008  0.015 -0.005 -0.992]
+t: 95	 action: [-0.438  0.802 -0.099 -0.003  0.023  0.003 -1.019]
+t: 96	 action: [-0.489  0.82  -0.081 -0.006  0.028 -0.004 -0.985]
+t: 97	 action: [-4.435e-01  7.942e-01 -9.386e-02  1.019e-03  3.399e-02  5.282e-03 -1.020e+00]
+t: 98	 action: [-0.477  0.874 -0.137  0.004  0.001  0.005 -1.003]
+t: 99	 action: [-4.485e-01  8.108e-01 -1.317e-01 -1.096e-04  1.511e-02  1.792e-03 -1.011e+00]
+t: 100	 action: [-0.497  0.733 -0.162  0.006  0.012  0.004 -1.008]
+t: 101	 action: [-0.438  0.593 -0.171  0.004  0.04  -0.003 -1.012]
+t: 102	 action: [-0.614  0.449 -0.233 -0.002  0.064  0.004 -0.988]
+t: 103	 action: [-0.552  0.251 -0.359  0.018  0.081  0.007 -1.036]
+t: 104	 action: [-0.598  0.065 -0.267  0.018  0.105 -0.003 -0.994]
+t: 105	 action: [-0.491 -0.035 -0.375  0.027  0.1   -0.002 -1.043]
+[07-31 02:10:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9933
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=106: Selected seed 195 with value = 0.9933
+t: 106	 action: [-0.82   0.002 -0.37   0.037  0.036 -0.03  -0.989]
+t: 107	 action: [-0.794 -0.021 -0.371  0.031  0.062 -0.026 -0.997]
+t: 108	 action: [-0.81  -0.021 -0.349  0.042  0.058 -0.037 -0.992]
+t: 109	 action: [-0.73  -0.033 -0.337  0.031  0.081 -0.037 -0.989]
+t: 110	 action: [-0.736 -0.067 -0.284  0.038  0.095 -0.035 -0.969]
+t: 111	 action: [-0.677 -0.042 -0.263  0.037  0.093 -0.03  -1.017]
+t: 112	 action: [-0.623 -0.112 -0.252  0.04   0.103 -0.047 -0.969]
+t: 113	 action: [-0.527 -0.071 -0.239  0.034  0.101 -0.044 -1.02 ]
+t: 114	 action: [-0.553 -0.12  -0.248  0.036  0.088 -0.07  -1.006]
+t: 115	 action: [-0.548 -0.135 -0.244  0.024  0.087 -0.075 -1.002]
+t: 116	 action: [-0.593 -0.157 -0.253  0.036  0.081 -0.067 -1.001]
+t: 117	 action: [-0.569 -0.167 -0.246  0.023  0.082 -0.072 -1.004]
+t: 118	 action: [-0.6   -0.184 -0.235  0.026  0.08  -0.086 -0.99 ]
+t: 119	 action: [-0.597 -0.158 -0.239  0.028  0.069 -0.081 -1.035]
+t: 120	 action: [-0.639 -0.212 -0.249  0.024  0.072 -0.083 -0.981]
+t: 121	 action: [-0.624 -0.191 -0.251  0.024  0.067 -0.077 -1.044]
+[07-31 02:10:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9959
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 123
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 21 (17.1%)
+
+
 46%|████▌     | 23/50 [05:58<06:46, 15.04s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 24...
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=122: Selected seed 195 with value = 0.9959
+t: 122	 action: [-0.391 -0.152 -0.206  0.033  0.127 -0.077 -1.009]
+t: 123	 action: [-0.351 -0.209 -0.181  0.024  0.132 -0.071 -0.99 ]
+t: 124	 action: [-0.432 -0.225 -0.192  0.024  0.119 -0.082 -1.024]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=123--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+115 115 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=123--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 123
+# successes: 21 (17.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 24...
+[07-31 02:10:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.097 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3524
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3524
+Query 1/1: Action query time = 1.097 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3524
+t=10: Selected seed 195 with value = 0.3524
+t: 10	 action: [ 0.351  0.133 -0.003  0.003  0.01   0.018 -1.018]
+t: 11	 action: [ 0.493  0.156 -0.012  0.006  0.021  0.015 -1.014]
+t: 12	 action: [ 0.722  0.189 -0.04   0.002  0.012  0.018 -1.022]
+t: 13	 action: [ 0.801  0.184 -0.025  0.005  0.027  0.013 -1.016]
+t: 14	 action: [ 0.905  0.185 -0.045 -0.002  0.014  0.017 -1.018]
+t: 15	 action: [ 0.899  0.19  -0.034  0.006  0.029  0.013 -1.032]
+t: 16	 action: [ 0.964  0.172 -0.086 -0.004  0.019  0.012 -1.022]
+t: 17	 action: [ 0.962  0.179 -0.065  0.008  0.038  0.011 -1.038]
+t: 18	 action: [ 0.941  0.154 -0.091  0.003  0.027  0.01  -1.025]
+t: 19	 action: [ 9.450e-01  1.269e-01 -7.834e-02  8.492e-04  4.065e-02  5.963e-03 -1.017e+00]
+t: 20	 action: [ 0.962  0.142 -0.115  0.004  0.027  0.007 -1.024]
+t: 21	 action: [ 0.957  0.118 -0.084  0.001  0.039  0.002 -1.017]
+t: 22	 action: [ 9.950e-01  1.579e-01 -1.183e-01  9.033e-05  3.018e-02  4.191e-03 -1.001e+00]
+t: 23	 action: [ 1.011  0.132 -0.118  0.006  0.037  0.003 -1.033]
+t: 24	 action: [ 1.014e+00  1.616e-01 -1.534e-01 -2.041e-03  2.808e-02  5.031e-04 -1.001e+00]
+t: 25	 action: [ 1.022e+00  1.277e-01 -1.449e-01  6.964e-03  3.191e-02  3.065e-04 -1.040e+00]
+[07-31 02:10:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3834
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3834
+Query 1/1: Action query time = 1.003 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3834
+t=26: Selected seed 195 with value = 0.3834
+t: 26	 action: [ 0.938  0.17  -0.151  0.003  0.038  0.01  -1.034]
+t: 27	 action: [ 9.514e-01  9.381e-02 -2.073e-01  8.757e-03  4.637e-02 -2.088e-04 -1.021e+00]
+t: 28	 action: [ 0.921  0.067 -0.232  0.012  0.039  0.008 -1.025]
+t: 29	 action: [ 0.934 -0.017 -0.325  0.016  0.046 -0.003 -1.018]
+t: 30	 action: [ 9.471e-01 -4.521e-02 -4.004e-01  1.593e-02  3.526e-02 -9.463e-05 -1.012e+00]
+t: 31	 action: [ 0.867 -0.089 -0.528  0.024  0.039 -0.005 -1.03 ]
+t: 32	 action: [ 0.782 -0.143 -0.561  0.028  0.032 -0.007 -1.012]
+t: 33	 action: [ 0.673 -0.138 -0.652  0.027  0.024 -0.008 -1.031]
+t: 34	 action: [ 5.244e-01 -1.407e-01 -5.750e-01  2.538e-02  1.582e-02 -3.365e-04 -1.025e+00]
+t: 35	 action: [ 0.473 -0.146 -0.701  0.015  0.01  -0.008 -1.021]
+t: 36	 action: [ 0.348 -0.065 -0.66   0.017  0.003  0.002 -1.017]
+t: 37	 action: [ 0.255 -0.108 -0.741  0.009  0.001 -0.009 -1.015]
+t: 38	 action: [ 0.198  0.031 -0.693  0.009 -0.007 -0.004 -1.018]
+t: 39	 action: [ 0.107 -0.027 -0.698  0.014 -0.009 -0.011 -1.033]
+t: 40	 action: [ 8.226e-02  6.130e-02 -7.190e-01  1.413e-03 -1.583e-02  8.303e-04 -1.013e+00]
+t: 41	 action: [ 0.021  0.003 -0.714  0.006 -0.021 -0.011 -1.03 ]
+[07-31 02:10:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4555
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=42: Selected seed 195 with value = 0.4555
+t: 42	 action: [ 0.17  -0.273 -0.494  0.016 -0.013  0.008 -1.011]
+t: 43	 action: [ 0.064 -0.264 -0.605  0.005 -0.019  0.008 -1.023]
+t: 44	 action: [ 0.007 -0.234 -0.62   0.02  -0.036  0.01  -1.013]
+t: 45	 action: [-0.119 -0.23  -0.732  0.007 -0.042  0.013 -1.016]
+t: 46	 action: [-0.183 -0.199 -0.667  0.003 -0.043  0.013 -1.006]
+t: 47	 action: [-2.354e-01 -1.291e-01 -7.741e-01 -1.985e-04 -5.396e-02  1.645e-02 -1.043e+00]
+t: 48	 action: [-3.363e-01 -1.048e-01 -7.086e-01  5.067e-04 -5.074e-02  2.326e-02 -1.009e+00]
+t: 49	 action: [-0.386 -0.078 -0.791 -0.002 -0.049  0.02  -1.04 ]
+t: 50	 action: [-0.448 -0.06  -0.728 -0.009 -0.065  0.059 -1.009]
+t: 51	 action: [-0.473 -0.104 -0.793 -0.014 -0.057  0.046 -1.014]
+t: 52	 action: [-0.512  0.001 -0.717 -0.014 -0.054  0.061 -1.013]
+t: 53	 action: [-0.513 -0.068 -0.744 -0.014 -0.038  0.045 -1.006]
+t: 54	 action: [-0.527 -0.017 -0.684 -0.033 -0.052  0.06  -1.003]
+t: 55	 action: [-0.464  0.011 -0.674 -0.015 -0.038  0.041 -1.045]
+t: 56	 action: [-0.463  0.03  -0.637 -0.032 -0.03   0.053 -1.004]
+t: 57	 action: [-0.405  0.042 -0.6   -0.016 -0.015  0.04  -1.051]
+[07-31 02:10:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5491
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5491
+Query 1/1: Action query time = 0.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5491
+t=58: Selected seed 195 with value = 0.5491
+t: 58	 action: [-2.473e-01  1.484e-01 -5.613e-01  5.147e-03  2.887e-04  3.101e-02 -9.877e-01]
+t: 59	 action: [-0.215  0.195 -0.525 -0.003  0.008  0.025 -0.995]
+t: 60	 action: [-0.195  0.319 -0.472  0.003  0.011  0.025 -0.989]
+t: 61	 action: [-1.243e-01  4.624e-01 -3.858e-01  3.563e-04  1.342e-02  1.942e-02 -1.000e+00]
+t: 62	 action: [-0.224  0.447 -0.317  0.002  0.017  0.032 -0.994]
+t: 63	 action: [-0.156  0.644 -0.264  0.008  0.008  0.023 -1.024]
+t: 64	 action: [-1.152e-01  6.957e-01 -2.312e-01 -4.563e-04  1.832e-02  2.033e-02 -9.971e-01]
+t: 65	 action: [-0.074  0.782 -0.182  0.008  0.006  0.015 -1.026]
+t: 66	 action: [ 0.027  0.835 -0.16   0.006  0.016  0.004 -0.99 ]
+t: 67	 action: [ 0.019  0.824 -0.141  0.013  0.016  0.006 -0.987]
+t: 68	 action: [ 0.013  0.835 -0.185  0.006  0.008  0.007 -0.985]
+t: 69	 action: [ 0.017  0.834 -0.162  0.014  0.004  0.011 -0.987]
+t: 70	 action: [-7.724e-02  9.058e-01 -1.803e-01  1.065e-03  4.045e-05  1.825e-03 -1.011e+00]
+t: 71	 action: [-0.08   0.863 -0.214  0.019  0.002  0.008 -1.017]
+t: 72	 action: [-0.159  0.883 -0.226  0.002 -0.006  0.005 -1.004]
+t: 73	 action: [-0.138  0.868 -0.247  0.019 -0.002  0.015 -1.019]
+[07-31 02:10:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7526
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7526
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7526
+t=74: Selected seed 195 with value = 0.7526
+t: 74	 action: [-1.681e-01  3.983e-01 -4.286e-01  7.166e-04 -8.575e-03  1.581e-02 -1.008e+00]
+t: 75	 action: [-0.191  0.575 -0.327 -0.003  0.006  0.014 -1.007]
+t: 76	 action: [-0.1    0.646 -0.358 -0.001  0.006  0.014 -1.006]
+t: 77	 action: [-0.074  0.755 -0.262 -0.003  0.016  0.013 -1.013]
+t: 78	 action: [-0.109  0.739 -0.255 -0.002  0.003  0.011 -1.012]
+t: 79	 action: [-0.089  0.838 -0.194  0.002  0.005  0.01  -1.035]
+t: 80	 action: [-0.103  0.872 -0.208 -0.005  0.014  0.009 -1.011]
+t: 81	 action: [-0.095  0.873 -0.163  0.002  0.011  0.01  -1.036]
+t: 82	 action: [-0.064  0.932 -0.175  0.005 -0.024  0.005 -1.011]
+t: 83	 action: [-6.238e-02  8.671e-01 -1.060e-01 -5.854e-04 -1.203e-02  5.691e-03 -1.006e+00]
+t: 84	 action: [-0.087  0.913 -0.177  0.007 -0.022  0.007 -1.004]
+t: 85	 action: [-0.114  0.853 -0.11   0.001 -0.018  0.007 -1.006]
+t: 86	 action: [-1.885e-01  9.289e-01 -1.605e-01  4.726e-04 -2.299e-02  2.222e-03 -1.019e+00]
+t: 87	 action: [-0.231  0.875 -0.117  0.007 -0.027  0.006 -1.028]
+t: 88	 action: [-0.304  0.903 -0.172 -0.004 -0.017  0.003 -0.999]
+t: 89	 action: [-0.31   0.86  -0.137  0.007 -0.028  0.009 -1.026]
+[07-31 02:10:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9201
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9201
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9201
+t=90: Selected seed 195 with value = 0.9201
+t: 90	 action: [-0.332  0.731 -0.279 -0.002 -0.025  0.01  -1.027]
+t: 91	 action: [-3.567e-01  7.726e-01 -2.244e-01  6.982e-04 -5.591e-03  5.855e-03 -1.015e+00]
+t: 92	 action: [-0.434  0.761 -0.256  0.002 -0.012  0.009 -1.015]
+t: 93	 action: [-4.204e-01  8.008e-01 -1.990e-01  9.663e-04  3.984e-03  7.277e-03 -1.015e+00]
+t: 94	 action: [-0.517  0.761 -0.215 -0.003 -0.014  0.007 -1.004]
+t: 95	 action: [-0.496  0.82  -0.178  0.002 -0.005  0.009 -1.026]
+t: 96	 action: [-0.557  0.774 -0.193 -0.004  0.002  0.006 -0.993]
+t: 97	 action: [-0.523  0.828 -0.155  0.003 -0.003  0.01  -1.026]
+t: 98	 action: [-0.459  0.895 -0.129  0.003 -0.016  0.005 -1.026]
+t: 99	 action: [-4.987e-01  8.390e-01 -1.646e-01  4.842e-03 -4.395e-04  1.284e-03 -1.012e+00]
+t: 100	 action: [-0.631  0.681 -0.171  0.005  0.002  0.005 -1.024]
+t: 101	 action: [-6.168e-01  5.582e-01 -2.295e-01  1.154e-02  1.495e-02  3.734e-04 -1.012e+00]
+t: 102	 action: [-0.749  0.401 -0.244 -0.002  0.002  0.004 -1.   ]
+t: 103	 action: [-0.77   0.212 -0.396  0.024  0.011  0.005 -1.033]
+t: 104	 action: [-0.782  0.024 -0.302  0.017  0.037 -0.002 -0.991]
+t: 105	 action: [-0.793 -0.048 -0.455  0.029  0.047  0.004 -1.037]
+[07-31 02:10:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9876
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9876
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 124
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 22 (17.7%)
+
+
 48%|████▊     | 24/50 [06:10<06:13, 14.35s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 25...
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=106: Selected seed 195 with value = 0.9876
+t: 106	 action: [-0.857 -0.013 -0.422  0.024  0.023 -0.007 -0.946]
+t: 107	 action: [-0.856 -0.07  -0.462  0.025  0.037 -0.01  -0.972]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=124--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+98 98 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=124--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 124
+# successes: 22 (17.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 25...
+[07-31 02:10:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3490
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3490
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3490
+t=10: Selected seed 195 with value = 0.3490
+t: 10	 action: [ 0.144  0.077 -0.05   0.004 -0.007  0.002 -1.018]
+t: 11	 action: [ 2.503e-01  8.797e-02 -4.213e-02  8.345e-03  2.119e-03  6.400e-04 -1.008e+00]
+t: 12	 action: [ 0.365  0.13  -0.084  0.002 -0.006  0.004 -1.019]
+t: 13	 action: [ 0.538  0.165 -0.062  0.006  0.006  0.002 -1.009]
+t: 14	 action: [ 0.69   0.187 -0.087 -0.001 -0.008 -0.002 -1.025]
+t: 15	 action: [ 7.770e-01  2.155e-01 -9.108e-02  6.326e-03  1.153e-03  8.599e-05 -1.032e+00]
+t: 16	 action: [ 0.921  0.233 -0.12  -0.003 -0.001 -0.002 -1.017]
+t: 17	 action: [ 9.199e-01  2.470e-01 -1.324e-01  5.884e-03 -3.914e-04  9.839e-04 -1.036e+00]
+t: 18	 action: [ 0.91   0.252 -0.097  0.005  0.011  0.006 -1.022]
+t: 19	 action: [ 9.258e-01  2.458e-01 -1.099e-01  3.170e-03  1.712e-02  6.433e-04 -1.014e+00]
+t: 20	 action: [ 0.939  0.267 -0.122  0.005  0.015  0.006 -1.023]
+t: 21	 action: [ 9.313e-01  2.679e-01 -1.307e-01  2.683e-03  2.378e-02 -1.157e-05 -1.012e+00]
+t: 22	 action: [ 9.758e-01  2.588e-01 -1.296e-01  5.894e-04  1.591e-02  2.901e-03 -1.004e+00]
+t: 23	 action: [ 9.733e-01  2.656e-01 -1.523e-01  8.086e-03  1.295e-02  5.470e-04 -1.031e+00]
+t: 24	 action: [ 0.997  0.297 -0.161 -0.001  0.023  0.001 -1.006]
+t: 25	 action: [ 0.992  0.275 -0.202  0.008  0.024  0.002 -1.035]
+[07-31 02:10:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3859
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3859
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3859
+t=26: Selected seed 195 with value = 0.3859
+t: 26	 action: [ 0.927  0.184 -0.262  0.008  0.003  0.004 -1.03 ]
+t: 27	 action: [ 0.948  0.061 -0.289  0.015  0.008 -0.004 -1.008]
+t: 28	 action: [ 0.923  0.084 -0.336  0.019  0.005  0.003 -1.026]
+t: 29	 action: [ 0.949 -0.021 -0.37   0.022  0.007 -0.008 -1.008]
+t: 30	 action: [ 0.949 -0.002 -0.442  0.036  0.007 -0.005 -1.011]
+t: 31	 action: [ 0.923 -0.046 -0.469  0.032  0.005 -0.007 -1.033]
+t: 32	 action: [ 0.895 -0.048 -0.55   0.042  0.01  -0.008 -1.014]
+t: 33	 action: [ 0.875 -0.1   -0.553  0.034  0.004 -0.01  -1.035]
+t: 34	 action: [ 0.764 -0.126 -0.617  0.027 -0.015 -0.016 -1.021]
+t: 35	 action: [ 0.77  -0.095 -0.672  0.019 -0.007 -0.015 -1.012]
+t: 36	 action: [ 0.624 -0.106 -0.664  0.021 -0.02  -0.014 -1.018]
+t: 37	 action: [ 0.596 -0.075 -0.704  0.013 -0.011 -0.016 -1.008]
+t: 38	 action: [ 0.504 -0.048 -0.642  0.02  -0.02  -0.014 -1.022]
+t: 39	 action: [ 0.379 -0.029 -0.669  0.019 -0.021 -0.016 -1.037]
+t: 40	 action: [ 0.386 -0.006 -0.658  0.011 -0.018 -0.008 -1.022]
+t: 41	 action: [ 2.910e-01  5.778e-04 -6.541e-01  1.244e-02 -2.240e-02 -1.384e-02 -1.035e+00]
+[07-31 02:10:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4696
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4696
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4696
+t=42: Selected seed 195 with value = 0.4696
+t: 42	 action: [ 0.25  -0.223 -0.444  0.027 -0.004  0.007 -1.009]
+t: 43	 action: [ 0.092 -0.233 -0.542  0.017 -0.005  0.001 -1.036]
+t: 44	 action: [ 0.068 -0.202 -0.514  0.026 -0.022  0.01  -1.008]
+t: 45	 action: [-0.074 -0.207 -0.618  0.013 -0.021  0.01  -1.026]
+t: 46	 action: [-0.18  -0.163 -0.555  0.011 -0.021  0.009 -0.996]
+t: 47	 action: [-0.234 -0.132 -0.704  0.014 -0.02   0.015 -1.052]
+t: 48	 action: [-0.32  -0.069 -0.63   0.005 -0.031  0.021 -0.996]
+t: 49	 action: [-0.374 -0.07  -0.725  0.004 -0.025  0.022 -1.042]
+t: 50	 action: [-0.485 -0.009 -0.597 -0.007 -0.027  0.046 -1.01 ]
+t: 51	 action: [-0.543 -0.067 -0.69  -0.025 -0.014  0.054 -1.024]
+t: 52	 action: [-0.58   0.032 -0.625 -0.022 -0.02   0.055 -1.011]
+t: 53	 action: [-5.997e-01 -2.697e-02 -6.622e-01 -3.111e-02 -9.627e-04  5.560e-02 -1.014e+00]
+t: 54	 action: [-0.656 -0.008 -0.635 -0.033 -0.026  0.085 -1.002]
+t: 55	 action: [-0.643  0.02  -0.696 -0.028 -0.015  0.069 -1.047]
+t: 56	 action: [-0.606  0.043 -0.636 -0.045 -0.017  0.077 -0.999]
+t: 57	 action: [-0.549  0.055 -0.649 -0.035 -0.002  0.067 -1.047]
+[07-31 02:10:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5414
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5414
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5414
+t=58: Selected seed 195 with value = 0.5414
+t: 58	 action: [-0.251  0.083 -0.716  0.007 -0.005  0.07  -0.993]
+t: 59	 action: [-0.136  0.213 -0.704 -0.004  0.01   0.059 -1.   ]
+t: 60	 action: [-0.085  0.381 -0.595  0.004  0.008  0.066 -0.995]
+t: 61	 action: [ 2.216e-02  5.982e-01 -5.419e-01  2.357e-04  1.394e-02  4.848e-02 -1.007e+00]
+t: 62	 action: [-0.016  0.663 -0.469  0.003  0.015  0.074 -1.001]
+t: 63	 action: [ 0.043  0.785 -0.44   0.006  0.004  0.055 -1.034]
+t: 64	 action: [ 0.085  0.898 -0.384  0.003  0.021  0.062 -1.   ]
+t: 65	 action: [ 0.12   0.942 -0.365  0.009  0.009  0.042 -1.035]
+t: 66	 action: [ 0.057  0.893 -0.298  0.009  0.012  0.022 -0.996]
+t: 67	 action: [ 0.074  0.913 -0.31   0.012  0.017  0.015 -0.998]
+t: 68	 action: [ 0.05   0.911 -0.274  0.008  0.012  0.026 -0.997]
+t: 69	 action: [ 0.073  0.911 -0.294  0.014  0.014  0.017 -1.   ]
+t: 70	 action: [-0.005  0.961 -0.289  0.005  0.012  0.02  -1.011]
+t: 71	 action: [ 7.180e-04  9.445e-01 -3.045e-01  1.301e-02  1.084e-02  1.176e-02 -1.024e+00]
+t: 72	 action: [-0.029  0.955 -0.275  0.002  0.009  0.019 -1.01 ]
+t: 73	 action: [-0.012  0.946 -0.303  0.012  0.006  0.016 -1.029]
+[07-31 02:10:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.012 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5483
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5483
+Query 1/1: Action query time = 1.012 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5483
+t=74: Selected seed 195 with value = 0.5483
+t: 74	 action: [-0.072  0.173 -0.6    0.005 -0.014  0.035 -0.992]
+t: 75	 action: [-0.004  0.394 -0.548  0.006  0.004  0.026 -0.998]
+t: 76	 action: [ 0.012  0.594 -0.534  0.004 -0.002  0.039 -0.995]
+t: 77	 action: [ 0.033  0.72  -0.474  0.009  0.008  0.027 -1.007]
+t: 78	 action: [ 0.034  0.748 -0.43   0.002  0.005  0.038 -1.01 ]
+t: 79	 action: [-1.076e-02  8.806e-01 -4.090e-01  8.874e-03 -9.337e-05  2.307e-02 -1.037e+00]
+t: 80	 action: [ 0.044  0.92  -0.401  0.001  0.016  0.037 -1.009]
+t: 81	 action: [ 0.007  0.959 -0.379  0.013  0.014  0.023 -1.041]
+t: 82	 action: [ 0.029  0.92  -0.336  0.014 -0.017  0.02  -1.004]
+t: 83	 action: [ 0.048  0.929 -0.328  0.014 -0.002  0.015 -1.004]
+t: 84	 action: [ 0.012  0.928 -0.306  0.015 -0.006  0.024 -1.   ]
+t: 85	 action: [ 0.034  0.929 -0.29   0.014  0.004  0.018 -1.005]
+t: 86	 action: [-0.07   0.959 -0.267  0.009 -0.007  0.017 -1.014]
+t: 87	 action: [-0.064  0.958 -0.257  0.019 -0.004  0.014 -1.037]
+t: 88	 action: [-0.127  0.956 -0.253  0.009  0.007  0.019 -1.005]
+t: 89	 action: [-0.141  0.956 -0.247  0.018 -0.003  0.018 -1.041]
+[07-31 02:10:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.013 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7279
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7279
+Query 1/1: Action query time = 1.013 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7279
+t=90: Selected seed 195 with value = 0.7279
+t: 90	 action: [-7.306e-02  7.501e-01 -3.564e-01  2.822e-04  8.414e-05  1.244e-02 -9.931e-01]
+t: 91	 action: [-0.063  0.8   -0.368 -0.004  0.005  0.009 -1.008]
+t: 92	 action: [-1.035e-01  8.441e-01 -3.465e-01 -6.819e-04  6.458e-03  1.310e-02 -9.877e-01]
+t: 93	 action: [-8.256e-02  8.847e-01 -3.627e-01 -6.205e-05  1.013e-02  1.140e-02 -1.012e+00]
+t: 94	 action: [-0.11   0.872 -0.314 -0.004  0.003  0.007 -0.998]
+t: 95	 action: [-1.426e-01  9.239e-01 -3.560e-01  8.089e-04 -2.832e-03  1.092e-02 -1.033e+00]
+t: 96	 action: [-0.165  0.918 -0.328 -0.005  0.009  0.01  -0.995]
+t: 97	 action: [-0.181  0.95  -0.36   0.005  0.003  0.014 -1.039]
+t: 98	 action: [-0.174  0.958 -0.326  0.008 -0.024  0.019 -0.998]
+t: 99	 action: [-0.167  0.94  -0.333  0.006 -0.012  0.011 -1.006]
+t: 100	 action: [-0.22   0.953 -0.32   0.008 -0.018  0.021 -1.   ]
+t: 101	 action: [-0.231  0.921 -0.321  0.011  0.001  0.014 -1.007]
+t: 102	 action: [-0.326  0.938 -0.311  0.003 -0.017  0.017 -0.997]
+t: 103	 action: [-0.359  0.94  -0.346  0.015 -0.009  0.015 -1.03 ]
+t: 104	 action: [-0.401  0.92  -0.295  0.002 -0.004  0.023 -0.99 ]
+t: 105	 action: [-0.424  0.917 -0.328  0.017 -0.004  0.02  -1.036]
+[07-31 02:10:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8969
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8969
+Query 1/1: Action query time = 0.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=106: Selected seed 195 with value = 0.8969
+t: 106	 action: [-0.483  0.737 -0.383  0.002  0.017  0.012 -0.981]
+t: 107	 action: [-0.482  0.722 -0.32   0.006  0.022  0.013 -0.987]
+t: 108	 action: [-0.57   0.699 -0.377  0.002  0.025  0.015 -0.973]
+t: 109	 action: [-0.563  0.715 -0.342  0.006  0.029  0.016 -0.986]
+t: 110	 action: [-6.570e-01  6.855e-01 -3.073e-01 -9.514e-04  2.748e-02  2.204e-02 -9.597e-01]
+t: 111	 action: [-0.69   0.726 -0.365  0.012  0.032  0.02  -1.02 ]
+t: 112	 action: [-0.728  0.639 -0.314 -0.002  0.04   0.025 -0.955]
+t: 113	 action: [-0.772  0.679 -0.393  0.011  0.046  0.021 -1.026]
+t: 114	 action: [-0.669  0.603 -0.388  0.006  0.021  0.026 -0.979]
+t: 115	 action: [-0.725  0.513 -0.4    0.005  0.046  0.023 -0.989]
+t: 116	 action: [-0.805  0.411 -0.421  0.008  0.044  0.021 -0.974]
+t: 117	 action: [-0.829  0.306 -0.434  0.003  0.07   0.019 -0.994]
+t: 118	 action: [-0.89   0.286 -0.378  0.007  0.081  0.026 -0.97 ]
+t: 119	 action: [-0.881  0.191 -0.484  0.016  0.083  0.021 -1.028]
+t: 120	 action: [-0.891  0.156 -0.337  0.008  0.097  0.015 -0.958]
+t: 121	 action: [-0.887  0.099 -0.463  0.012  0.091  0.018 -1.038]
+[07-31 02:10:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.023 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9896
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9896
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 125
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 23 (18.4%)
+
+
 50%|█████     | 25/50 [06:25<06:01, 14.44s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 26...
+Query 1/1: Action query time = 1.023 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=122: Selected seed 195 with value = 0.9896
+t: 122	 action: [-0.954 -0.035 -0.537  0.045  0.01  -0.004 -0.93 ]
+t: 123	 action: [-0.931 -0.047 -0.469  0.044  0.022 -0.004 -0.988]
+t: 124	 action: [-0.964  0.012 -0.502  0.042  0.026 -0.007 -0.954]
+t: 125	 action: [-0.947 -0.023 -0.415  0.036  0.036 -0.007 -0.993]
+t: 126	 action: [-0.963 -0.041 -0.473  0.038  0.038 -0.008 -0.921]
+t: 127	 action: [-9.597e-01 -1.996e-03 -3.687e-01  4.845e-02  4.622e-02 -9.887e-04 -1.032e+00]
+t: 128	 action: [-0.944 -0.029 -0.378  0.033  0.055 -0.007 -0.935]
+t: 129	 action: [-0.899  0.023 -0.301  0.039  0.059 -0.003 -1.031]
+t: 130	 action: [-0.91  -0.016 -0.35   0.033  0.058  0.004 -0.984]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=125--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+121 121 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=125--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 125
+# successes: 23 (18.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 26...
+[07-31 02:10:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.079 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3539
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3539
+Query 1/1: Action query time = 1.079 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3539
+t=10: Selected seed 195 with value = 0.3539
+t: 10	 action: [ 0.267  0.058 -0.052  0.003 -0.007  0.011 -1.016]
+t: 11	 action: [ 0.431  0.097 -0.03   0.002  0.008  0.009 -1.013]
+t: 12	 action: [ 6.024e-01  1.714e-01 -8.484e-02  9.235e-04 -4.872e-03  1.323e-02 -1.022e+00]
+t: 13	 action: [ 0.765  0.217 -0.056 -0.002  0.009  0.009 -1.014]
+t: 14	 action: [ 0.841  0.245 -0.107 -0.003 -0.004  0.009 -1.007]
+t: 15	 action: [ 8.895e-01  2.777e-01 -8.317e-02 -9.975e-04  4.124e-03  7.777e-03 -1.032e+00]
+t: 16	 action: [ 0.965  0.273 -0.137 -0.005  0.001  0.01  -1.012]
+t: 17	 action: [ 0.962  0.286 -0.141 -0.002  0.005  0.007 -1.038]
+t: 18	 action: [ 0.921  0.258 -0.112  0.003  0.012  0.012 -1.02 ]
+t: 19	 action: [ 9.442e-01  2.280e-01 -1.261e-01 -7.825e-04  2.253e-02  7.473e-03 -1.016e+00]
+t: 20	 action: [ 0.954  0.236 -0.125  0.004  0.013  0.011 -1.02 ]
+t: 21	 action: [ 0.958  0.204 -0.126  0.002  0.027  0.006 -1.016]
+t: 22	 action: [ 9.867e-01  2.026e-01 -1.382e-01 -8.501e-04  1.261e-02  7.750e-03 -9.892e-01]
+t: 23	 action: [ 1.006  0.194 -0.174  0.004  0.015  0.004 -1.033]
+t: 24	 action: [ 1.015  0.168 -0.157 -0.003  0.013  0.004 -0.99 ]
+t: 25	 action: [ 1.015  0.167 -0.194  0.008  0.019  0.004 -1.039]
+[07-31 02:10:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3963
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3963
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3963
+t=26: Selected seed 195 with value = 0.3963
+t: 26	 action: [ 0.913  0.196 -0.2    0.005  0.027  0.006 -1.038]
+t: 27	 action: [ 9.209e-01  1.156e-01 -2.533e-01  4.799e-03  3.318e-02 -9.283e-04 -1.014e+00]
+t: 28	 action: [ 0.898  0.086 -0.256  0.006  0.022  0.007 -1.024]
+t: 29	 action: [ 0.903  0.023 -0.309  0.009  0.024 -0.007 -1.015]
+t: 30	 action: [ 8.967e-01  4.206e-03 -3.645e-01  7.625e-04  1.723e-02 -1.268e-03 -1.022e+00]
+t: 31	 action: [ 0.818 -0.036 -0.426  0.018  0.015 -0.004 -1.036]
+t: 32	 action: [ 0.783 -0.047 -0.475  0.006  0.012 -0.004 -1.017]
+t: 33	 action: [ 0.668 -0.072 -0.507  0.022  0.01  -0.008 -1.038]
+t: 34	 action: [ 0.558 -0.098 -0.501  0.018 -0.005  0.003 -1.03 ]
+t: 35	 action: [ 4.998e-01 -9.140e-02 -5.905e-01  1.824e-02  7.798e-04 -4.667e-03 -1.015e+00]
+t: 36	 action: [ 0.382 -0.099 -0.582  0.017 -0.013  0.004 -1.023]
+t: 37	 action: [ 0.306 -0.093 -0.646  0.015 -0.009 -0.006 -1.012]
+t: 38	 action: [ 0.274 -0.044 -0.616  0.011 -0.018 -0.002 -1.029]
+t: 39	 action: [ 0.183 -0.035 -0.654  0.021 -0.022 -0.007 -1.036]
+t: 40	 action: [ 1.927e-01 -2.009e-03 -6.369e-01  5.128e-03 -2.105e-02 -3.586e-04 -1.023e+00]
+t: 41	 action: [ 0.134 -0.012 -0.666  0.016 -0.025 -0.005 -1.034]
+[07-31 02:10:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4110
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4110
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4110
+t=42: Selected seed 195 with value = 0.4110
+t: 42	 action: [ 0.337 -0.243 -0.476  0.021 -0.006  0.007 -1.018]
+t: 43	 action: [ 0.208 -0.261 -0.566  0.014 -0.01   0.006 -1.031]
+t: 44	 action: [ 0.184 -0.228 -0.59   0.023 -0.029  0.009 -1.021]
+t: 45	 action: [ 0.047 -0.236 -0.681  0.014 -0.036  0.012 -1.026]
+t: 46	 action: [-0.047 -0.167 -0.655  0.005 -0.038  0.009 -1.01 ]
+t: 47	 action: [-0.104 -0.139 -0.806  0.01  -0.047  0.015 -1.054]
+t: 48	 action: [-0.22  -0.075 -0.717  0.003 -0.052  0.02  -1.014]
+t: 49	 action: [-0.275 -0.081 -0.822  0.007 -0.052  0.022 -1.049]
+t: 50	 action: [-0.398 -0.056 -0.717  0.005 -0.062  0.061 -1.017]
+t: 51	 action: [-0.469 -0.109 -0.782 -0.007 -0.06   0.059 -1.019]
+t: 52	 action: [-0.544 -0.004 -0.706 -0.002 -0.054  0.072 -1.02 ]
+t: 53	 action: [-0.562 -0.067 -0.754 -0.01  -0.041  0.062 -1.013]
+t: 54	 action: [-0.625 -0.005 -0.665 -0.026 -0.054  0.087 -1.009]
+t: 55	 action: [-0.584 -0.001 -0.726 -0.013 -0.041  0.066 -1.047]
+t: 56	 action: [-0.588  0.04  -0.632 -0.034 -0.036  0.083 -1.008]
+t: 57	 action: [-0.544  0.039 -0.672 -0.017 -0.02   0.067 -1.053]
+[07-31 02:10:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.017 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5304
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5304
+Query 1/1: Action query time = 1.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5304
+t=58: Selected seed 195 with value = 0.5304
+t: 58	 action: [-0.283  0.033 -0.62   0.006 -0.024  0.055 -0.992]
+t: 59	 action: [-2.102e-01  9.007e-03 -5.969e-01 -6.075e-03  4.738e-05  4.467e-02 -9.968e-01]
+t: 60	 action: [-0.188  0.132 -0.596  0.004 -0.009  0.053 -0.997]
+t: 61	 action: [-0.042  0.268 -0.513 -0.005  0.008  0.037 -1.002]
+t: 62	 action: [-0.16   0.35  -0.473  0.002  0.006  0.058 -0.996]
+t: 63	 action: [-0.059  0.534 -0.354  0.003  0.003  0.04  -1.036]
+t: 64	 action: [-1.919e-02  6.178e-01 -3.410e-01 -9.899e-04  1.463e-02  4.546e-02 -1.002e+00]
+t: 65	 action: [ 0.023  0.748 -0.236  0.002  0.006  0.03  -1.038]
+t: 66	 action: [ 8.484e-02  8.118e-01 -1.575e-01 -8.691e-04  3.147e-02  1.435e-02 -1.001e+00]
+t: 67	 action: [ 0.071  0.823 -0.117  0.002  0.048  0.012 -1.004]
+t: 68	 action: [ 0.057  0.846 -0.107  0.003  0.029  0.019 -0.999]
+t: 69	 action: [ 0.052  0.83  -0.083  0.003  0.029  0.015 -1.006]
+t: 70	 action: [-0.008  0.912 -0.129 -0.004  0.025  0.008 -1.015]
+t: 71	 action: [-0.009  0.854 -0.093  0.008  0.03   0.007 -1.036]
+t: 72	 action: [-0.062  0.908 -0.149 -0.008  0.021  0.011 -1.008]
+t: 73	 action: [-0.032  0.861 -0.141  0.008  0.016  0.013 -1.042]
+[07-31 02:10:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6412
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6412
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6412
+t=74: Selected seed 195 with value = 0.6412
+t: 74	 action: [-1.331e-01  2.394e-01 -4.570e-01 -8.854e-04 -2.291e-02  2.831e-02 -9.963e-01]
+t: 75	 action: [-0.131  0.435 -0.381 -0.006 -0.004  0.021 -1.007]
+t: 76	 action: [-0.082  0.563 -0.392 -0.003 -0.016  0.028 -0.996]
+t: 77	 action: [-0.036  0.687 -0.331 -0.005  0.002  0.022 -1.01 ]
+t: 78	 action: [-0.035  0.665 -0.3   -0.008 -0.013  0.02  -1.008]
+t: 79	 action: [-0.034  0.794 -0.245 -0.007 -0.007  0.014 -1.041]
+t: 80	 action: [-0.029  0.881 -0.247 -0.008 -0.003  0.019 -1.004]
+t: 81	 action: [-0.041  0.871 -0.23  -0.005 -0.004  0.015 -1.043]
+t: 82	 action: [-3.914e-02  9.237e-01 -2.209e-01  6.776e-05 -3.187e-02  1.513e-02 -1.020e+00]
+t: 83	 action: [-0.04   0.891 -0.187 -0.001 -0.015  0.013 -1.012]
+t: 84	 action: [-0.065  0.912 -0.244  0.005 -0.026  0.022 -1.011]
+t: 85	 action: [-0.086  0.873 -0.205  0.002 -0.014  0.017 -1.014]
+t: 86	 action: [-0.146  0.938 -0.231 -0.002 -0.029  0.011 -1.026]
+t: 87	 action: [-0.189  0.907 -0.218  0.004 -0.022  0.01  -1.043]
+t: 88	 action: [-0.232  0.925 -0.267 -0.004 -0.015  0.017 -1.006]
+t: 89	 action: [-0.259  0.891 -0.24   0.007 -0.013  0.015 -1.045]
+[07-31 02:10:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8245
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8245
+Query 1/1: Action query time = 1.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8245
+t=90: Selected seed 195 with value = 0.8245
+t: 90	 action: [-0.198  0.835 -0.307 -0.003  0.01   0.007 -1.017]
+t: 91	 action: [-0.162  0.813 -0.241 -0.007  0.021  0.005 -1.009]
+t: 92	 action: [-0.166  0.861 -0.24  -0.001  0.018  0.008 -1.003]
+t: 93	 action: [-0.107  0.831 -0.178 -0.002  0.027  0.01  -1.008]
+t: 94	 action: [-0.129  0.876 -0.18  -0.005  0.015  0.003 -1.003]
+t: 95	 action: [-0.087  0.858 -0.157 -0.004  0.021  0.006 -1.036]
+t: 96	 action: [-0.15   0.911 -0.163 -0.006  0.023  0.003 -0.995]
+t: 97	 action: [-1.164e-01  8.701e-01 -1.565e-01 -7.402e-04  2.357e-02  1.161e-02 -1.036e+00]
+t: 98	 action: [-0.23   0.945 -0.178 -0.004 -0.006  0.018 -1.002]
+t: 99	 action: [-2.957e-01  8.962e-01 -1.951e-01 -6.664e-03  6.389e-04  1.585e-02 -1.006e+00]
+t: 100	 action: [-0.32   0.907 -0.212  0.003 -0.005  0.02  -1.008]
+t: 101	 action: [-0.38   0.843 -0.254 -0.003  0.003  0.02  -1.003]
+t: 102	 action: [-0.499  0.857 -0.266 -0.005 -0.002  0.03  -0.996]
+t: 103	 action: [-5.060e-01  8.505e-01 -3.304e-01 -4.568e-04 -4.240e-03  2.080e-02 -1.035e+00]
+t: 104	 action: [-0.571  0.764 -0.271 -0.006  0.009  0.025 -0.993]
+t: 105	 action: [-5.745e-01  7.532e-01 -3.282e-01  4.257e-03 -9.573e-04  2.391e-02 -1.035e+00]
+[07-31 02:10:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.079 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9750
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9750
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 126
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 24 (19.0%)
+
+
 52%|█████▏    | 26/50 [06:38<05:38, 14.10s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 27...
+Query 1/1: Action query time = 1.079 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=106: Selected seed 195 with value = 0.9750
+t: 106	 action: [-0.781  0.02  -0.383  0.02   0.026 -0.002 -0.973]
+t: 107	 action: [-0.784 -0.049 -0.326  0.021  0.054 -0.017 -0.997]
+t: 108	 action: [-0.873 -0.041 -0.41   0.028  0.044 -0.011 -0.974]
+t: 109	 action: [-0.854 -0.099 -0.346  0.026  0.063 -0.037 -0.995]
+t: 110	 action: [-0.888 -0.149 -0.347  0.04   0.074 -0.019 -0.967]
+t: 111	 action: [-0.863 -0.126 -0.316  0.036  0.075 -0.026 -1.039]
+t: 112	 action: [-0.877 -0.17  -0.331  0.046  0.086 -0.04  -0.962]
+t: 113	 action: [-0.812 -0.107 -0.313  0.038  0.078 -0.054 -1.037]
+t: 114	 action: [-0.848 -0.136 -0.306  0.049  0.086 -0.029 -1.003]
+t: 115	 action: [-0.812 -0.188 -0.289  0.046  0.086 -0.034 -1.019]
+t: 116	 action: [-0.861 -0.141 -0.28   0.053  0.092 -0.03  -0.999]
+t: 117	 action: [-0.789 -0.179 -0.275  0.046  0.087 -0.03  -1.016]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=126--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+108 108 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=126--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 126
+# successes: 24 (19.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 27...
+[07-31 02:10:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.111 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3618
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3618
+Query 1/1: Action query time = 1.111 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3618
+t=10: Selected seed 195 with value = 0.3618
+t: 10	 action: [ 0.215  0.125 -0.033 -0.006 -0.005 -0.002 -1.009]
+t: 11	 action: [ 3.823e-01  1.752e-01 -2.674e-02 -6.128e-03 -7.160e-04 -5.008e-03 -1.008e+00]
+t: 12	 action: [ 4.587e-01  2.005e-01 -5.317e-02 -8.506e-03 -4.926e-03 -7.385e-04 -1.010e+00]
+t: 13	 action: [ 0.647  0.237 -0.045 -0.007  0.003 -0.003 -1.01 ]
+t: 14	 action: [ 0.765  0.226 -0.066 -0.015 -0.01  -0.006 -1.01 ]
+t: 15	 action: [ 0.83   0.234 -0.075 -0.011 -0.004 -0.007 -1.03 ]
+t: 16	 action: [ 0.911  0.246 -0.088 -0.016 -0.007 -0.006 -1.007]
+t: 17	 action: [ 0.923  0.248 -0.114 -0.01  -0.002 -0.005 -1.034]
+t: 18	 action: [ 9.049e-01  2.439e-01 -8.669e-02 -8.206e-03 -2.607e-03 -1.611e-05 -1.015e+00]
+t: 19	 action: [ 0.921  0.225 -0.086 -0.007  0.008 -0.006 -1.012]
+t: 20	 action: [ 0.935  0.234 -0.104 -0.005 -0.001  0.003 -1.013]
+t: 21	 action: [ 0.923  0.225 -0.093 -0.006  0.013 -0.006 -1.008]
+t: 22	 action: [ 0.962  0.222 -0.095 -0.009  0.001 -0.002 -0.993]
+t: 23	 action: [ 0.967  0.217 -0.108 -0.003  0.003 -0.007 -1.028]
+t: 24	 action: [ 0.987  0.224 -0.115 -0.007  0.005 -0.002 -0.994]
+t: 25	 action: [ 0.977  0.208 -0.132 -0.002  0.004 -0.004 -1.029]
+[07-31 02:10:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.108 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3886
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3886
+Query 1/1: Action query time = 1.108 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3886
+t=26: Selected seed 195 with value = 0.3886
+t: 26	 action: [ 0.934  0.249 -0.247  0.007 -0.002 -0.001 -1.034]
+t: 27	 action: [ 0.953  0.14  -0.273  0.014  0.003 -0.008 -1.002]
+t: 28	 action: [ 0.916  0.112 -0.311  0.015 -0.007  0.001 -1.029]
+t: 29	 action: [ 0.934  0.022 -0.348  0.022  0.002 -0.008 -1.005]
+t: 30	 action: [ 0.922  0.017 -0.407  0.022 -0.009 -0.008 -1.017]
+t: 31	 action: [ 0.887 -0.037 -0.465  0.03  -0.004 -0.008 -1.032]
+t: 32	 action: [ 0.846 -0.033 -0.517  0.035 -0.01  -0.005 -1.017]
+t: 33	 action: [ 0.807 -0.088 -0.558  0.037 -0.007 -0.006 -1.035]
+t: 34	 action: [ 0.66  -0.098 -0.558  0.035 -0.024 -0.006 -1.023]
+t: 35	 action: [ 0.658 -0.069 -0.623  0.032 -0.019 -0.006 -1.01 ]
+t: 36	 action: [ 5.497e-01 -8.690e-02 -6.238e-01  3.519e-02 -2.559e-02 -8.546e-05 -1.019e+00]
+t: 37	 action: [ 0.531 -0.059 -0.665  0.026 -0.015 -0.007 -1.01 ]
+t: 38	 action: [ 0.48  -0.019 -0.626  0.02  -0.018 -0.001 -1.023]
+t: 39	 action: [ 0.362 -0.008 -0.66   0.028 -0.015 -0.003 -1.037]
+t: 40	 action: [ 0.396  0.014 -0.644  0.017 -0.012  0.001 -1.022]
+t: 41	 action: [ 3.262e-01  1.253e-02 -6.553e-01  2.232e-02 -1.237e-02 -9.544e-04 -1.038e+00]
+[07-31 02:10:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4599
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4599
+Query 1/1: Action query time = 1.004 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4599
+t=42: Selected seed 195 with value = 0.4599
+t: 42	 action: [ 0.347 -0.234 -0.52   0.035 -0.013  0.002 -1.011]
+t: 43	 action: [ 0.191 -0.216 -0.601  0.024 -0.014 -0.002 -1.03 ]
+t: 44	 action: [ 0.169 -0.238 -0.593  0.038 -0.03   0.008 -1.011]
+t: 45	 action: [ 0.022 -0.2   -0.669  0.022 -0.03   0.008 -1.025]
+t: 46	 action: [-0.11  -0.196 -0.625  0.015 -0.028  0.003 -1.003]
+t: 47	 action: [-0.161 -0.146 -0.777  0.02  -0.029  0.009 -1.05 ]
+t: 48	 action: [-0.263 -0.102 -0.672  0.009 -0.035  0.012 -1.001]
+t: 49	 action: [-0.317 -0.084 -0.78   0.012 -0.031  0.019 -1.041]
+t: 50	 action: [-4.249e-01 -5.053e-02 -6.187e-01  1.744e-05 -2.557e-02  4.293e-02 -1.008e+00]
+t: 51	 action: [-0.494 -0.083 -0.704 -0.022 -0.014  0.055 -1.02 ]
+t: 52	 action: [-5.564e-01  1.956e-04 -6.301e-01 -1.559e-02 -2.083e-02  5.744e-02 -1.010e+00]
+t: 53	 action: [-0.576 -0.041 -0.672 -0.031 -0.002  0.059 -1.013]
+t: 54	 action: [-0.632 -0.002 -0.623 -0.033 -0.025  0.086 -1.002]
+t: 55	 action: [-0.617  0.013 -0.704 -0.027 -0.012  0.074 -1.044]
+t: 56	 action: [-0.608  0.038 -0.613 -0.05  -0.016  0.083 -0.998]
+t: 57	 action: [-0.56   0.051 -0.649 -0.038 -0.005  0.073 -1.047]
+[07-31 02:10:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5311
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5311
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5311
+t=58: Selected seed 195 with value = 0.5311
+t: 58	 action: [-0.239 -0.003 -0.63   0.008 -0.014  0.059 -0.987]
+t: 59	 action: [-0.168 -0.005 -0.66  -0.005  0.008  0.056 -0.996]
+t: 60	 action: [-0.192  0.088 -0.616  0.006  0.006  0.064 -0.986]
+t: 61	 action: [-0.056  0.271 -0.608 -0.003  0.019  0.052 -0.999]
+t: 62	 action: [-0.123  0.316 -0.505  0.002  0.026  0.075 -0.994]
+t: 63	 action: [-0.016  0.537 -0.511  0.003  0.019  0.056 -1.035]
+t: 64	 action: [ 0.059  0.716 -0.41   0.001  0.038  0.067 -0.991]
+t: 65	 action: [ 0.16   0.836 -0.414  0.004  0.038  0.047 -1.036]
+t: 66	 action: [ 0.062  0.85  -0.316  0.005  0.032  0.031 -0.986]
+t: 67	 action: [ 0.104  0.877 -0.305  0.007  0.047  0.022 -0.999]
+t: 68	 action: [ 0.068  0.884 -0.278  0.003  0.038  0.036 -0.987]
+t: 69	 action: [ 0.106  0.885 -0.3    0.008  0.04   0.023 -1.004]
+t: 70	 action: [ 0.048  0.928 -0.286  0.002  0.035  0.028 -1.003]
+t: 71	 action: [ 0.037  0.909 -0.285  0.01   0.044  0.016 -1.027]
+t: 72	 action: [ 0.028  0.931 -0.26  -0.002  0.035  0.025 -0.999]
+t: 73	 action: [ 0.026  0.918 -0.312  0.008  0.035  0.019 -1.037]
+[07-31 02:10:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5423
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 1.005 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=74: Selected seed 195 with value = 0.5423
+t: 74	 action: [-0.156  0.049 -0.564  0.004 -0.026  0.035 -0.993]
+t: 75	 action: [-0.082  0.172 -0.538 -0.001  0.001  0.028 -1.   ]
+t: 76	 action: [-0.039  0.39  -0.526  0.002 -0.01   0.039 -0.995]
+t: 77	 action: [ 0.026  0.589 -0.465  0.001  0.01   0.029 -1.005]
+t: 78	 action: [-1.111e-02  4.867e-01 -4.553e-01 -7.383e-04  8.549e-03  4.030e-02 -1.010e+00]
+t: 79	 action: [-5.706e-04  7.196e-01 -4.298e-01  4.081e-03  6.912e-03  2.552e-02 -1.036e+00]
+t: 80	 action: [ 0.042  0.835 -0.406 -0.002  0.02   0.038 -1.007]
+t: 81	 action: [ 0.042  0.902 -0.388  0.007  0.023  0.025 -1.039]
+t: 82	 action: [ 0.035  0.902 -0.299  0.005  0.004  0.02  -1.005]
+t: 83	 action: [ 0.041  0.902 -0.276  0.002  0.012  0.015 -1.003]
+t: 84	 action: [ 0.02   0.909 -0.281  0.004  0.011  0.022 -0.998]
+t: 85	 action: [ 0.038  0.899 -0.248  0.004  0.008  0.018 -1.009]
+t: 86	 action: [-0.031  0.95  -0.26   0.002  0.01   0.016 -1.015]
+t: 87	 action: [-0.025  0.926 -0.253  0.007  0.005  0.012 -1.035]
+t: 88	 action: [-8.432e-02  9.462e-01 -2.605e-01 -9.101e-04  1.930e-02  1.540e-02 -1.004e+00]
+t: 89	 action: [-0.079  0.925 -0.271  0.008  0.003  0.017 -1.041]
+[07-31 02:10:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7116
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7116
+Query 1/1: Action query time = 1.000 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7116
+t=90: Selected seed 195 with value = 0.7116
+t: 90	 action: [-0.105  0.801 -0.314 -0.001  0.012  0.012 -0.998]
+t: 91	 action: [-0.102  0.827 -0.347 -0.004  0.017  0.009 -1.004]
+t: 92	 action: [-0.131  0.846 -0.31  -0.004  0.017  0.013 -0.992]
+t: 93	 action: [-0.116  0.888 -0.331 -0.002  0.018  0.012 -1.008]
+t: 94	 action: [-0.122  0.885 -0.286 -0.004  0.01   0.006 -1.003]
+t: 95	 action: [-0.144  0.929 -0.346  0.002  0.01   0.009 -1.032]
+t: 96	 action: [-0.161  0.92  -0.298 -0.007  0.016  0.008 -0.997]
+t: 97	 action: [-0.172  0.951 -0.348  0.003  0.011  0.013 -1.035]
+t: 98	 action: [-0.186  0.967 -0.31   0.005 -0.024  0.02  -1.002]
+t: 99	 action: [-2.017e-01  9.350e-01 -3.219e-01  4.789e-04 -1.494e-02  1.196e-02 -1.002e+00]
+t: 100	 action: [-0.242  0.956 -0.315  0.007 -0.021  0.022 -1.002]
+t: 101	 action: [-0.262  0.915 -0.33   0.006 -0.012  0.015 -1.004]
+t: 102	 action: [-0.329  0.944 -0.324  0.001 -0.02   0.019 -1.005]
+t: 103	 action: [-0.35   0.94  -0.381  0.011 -0.014  0.015 -1.028]
+t: 104	 action: [-4.118e-01  9.193e-01 -3.197e-01 -8.020e-04 -1.012e-02  2.152e-02 -9.922e-01]
+t: 105	 action: [-0.414  0.918 -0.386  0.015 -0.008  0.02  -1.033]
+[07-31 02:10:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.234 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 1.234 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=106: Selected seed 195 with value = 0.8936
+t: 106	 action: [-0.498  0.752 -0.319  0.003  0.025  0.008 -0.994]
+t: 107	 action: [-0.48   0.752 -0.291  0.008  0.026  0.006 -0.996]
+t: 108	 action: [-0.544  0.736 -0.305  0.004  0.034  0.009 -0.989]
+t: 109	 action: [-0.519  0.753 -0.286  0.008  0.036  0.01  -0.996]
+t: 110	 action: [-5.958e-01  7.339e-01 -2.515e-01 -4.624e-04  3.529e-02  8.474e-03 -9.694e-01]
+t: 111	 action: [-0.614  0.772 -0.303  0.013  0.039  0.011 -1.024]
+t: 112	 action: [-0.658  0.707 -0.267 -0.002  0.049  0.009 -0.965]
+t: 113	 action: [-0.68   0.738 -0.325  0.013  0.05   0.015 -1.026]
+t: 114	 action: [-0.617  0.716 -0.299  0.005  0.029  0.016 -0.991]
+t: 115	 action: [-6.618e-01  6.039e-01 -3.344e-01 -9.367e-04  4.535e-02  1.351e-02 -9.920e-01]
+t: 116	 action: [-0.779  0.44  -0.379  0.008  0.05   0.01  -0.989]
+t: 117	 action: [-0.785  0.314 -0.411  0.004  0.072  0.011 -0.992]
+t: 118	 action: [-0.877  0.254 -0.403  0.012  0.083  0.014 -0.981]
+t: 119	 action: [-0.876  0.14  -0.505  0.025  0.081  0.015 -1.033]
+t: 120	 action: [-0.884  0.09  -0.402  0.025  0.099  0.003 -0.972]
+t: 121	 action: [-0.887  0.016 -0.525  0.024  0.085  0.011 -1.041]
+[07-31 02:10:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.166 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9905
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 127
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 25 (19.7%)
+
+
 54%|█████▍    | 27/50 [06:54<05:32, 14.47s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 28...
+Query 1/1: Action query time = 1.166 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=122: Selected seed 195 with value = 0.9905
+t: 122	 action: [-0.931 -0.021 -0.545  0.041  0.007 -0.019 -0.921]
+t: 123	 action: [-0.912 -0.082 -0.495  0.042  0.022 -0.017 -0.968]
+t: 124	 action: [-0.951 -0.007 -0.544  0.043  0.017 -0.024 -0.944]
+t: 125	 action: [-0.937 -0.092 -0.489  0.04   0.029 -0.024 -0.984]
+t: 126	 action: [-0.943 -0.084 -0.517  0.042  0.039 -0.019 -0.917]
+t: 127	 action: [-0.948 -0.072 -0.426  0.054  0.038 -0.017 -1.022]
+t: 128	 action: [-0.939 -0.08  -0.456  0.043  0.05  -0.021 -0.929]
+t: 129	 action: [-0.906 -0.065 -0.395  0.048  0.047 -0.022 -1.027]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=127--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+120 120 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=127--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 127
+# successes: 25 (19.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 28...
+[07-31 02:11:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.062 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3364
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3364
+Query 1/1: Action query time = 1.062 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3364
+t=10: Selected seed 195 with value = 0.3364
+t: 10	 action: [ 0.169  0.079 -0.004 -0.002  0.014 -0.002 -1.016]
+t: 11	 action: [ 0.278  0.115  0.002 -0.009  0.019 -0.008 -1.003]
+t: 12	 action: [ 0.358  0.117 -0.008 -0.006  0.017 -0.001 -1.022]
+t: 13	 action: [ 5.060e-01  1.540e-01 -5.060e-04 -1.307e-02  2.833e-02 -9.143e-03 -1.008e+00]
+t: 14	 action: [ 0.622  0.175 -0.004 -0.011  0.022 -0.006 -1.016]
+t: 15	 action: [ 0.729  0.165 -0.028 -0.012  0.025 -0.012 -1.024]
+t: 16	 action: [ 0.843  0.214 -0.002 -0.017  0.027 -0.01  -1.014]
+t: 17	 action: [ 0.857  0.191 -0.028 -0.016  0.036 -0.013 -1.031]
+t: 18	 action: [ 0.876  0.249 -0.006 -0.015  0.033 -0.021 -1.014]
+t: 19	 action: [ 0.885  0.232 -0.017 -0.011  0.04  -0.02  -1.011]
+t: 20	 action: [ 0.921  0.227 -0.024 -0.01   0.033 -0.025 -1.012]
+t: 21	 action: [ 0.903  0.211 -0.019 -0.008  0.044 -0.021 -1.008]
+t: 22	 action: [ 0.954  0.235 -0.016 -0.009  0.04  -0.023 -0.992]
+t: 23	 action: [ 0.973  0.222 -0.028 -0.008  0.042 -0.023 -1.026]
+t: 24	 action: [ 0.988  0.24  -0.035 -0.007  0.043 -0.026 -0.991]
+t: 25	 action: [ 0.987  0.213 -0.033 -0.005  0.046 -0.021 -1.027]
+[07-31 02:11:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.032 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3698
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3698
+Query 1/1: Action query time = 1.032 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3698
+t=26: Selected seed 195 with value = 0.3698
+t: 26	 action: [ 9.598e-01  2.491e-01 -1.700e-01  9.667e-05  4.884e-02  4.887e-04 -1.046e+00]
+t: 27	 action: [ 0.958  0.187 -0.214  0.003  0.06  -0.008 -1.017]
+t: 28	 action: [ 9.551e-01  2.076e-01 -2.302e-01  1.096e-03  4.597e-02 -7.262e-04 -1.041e+00]
+t: 29	 action: [ 0.954  0.147 -0.276  0.004  0.058 -0.011 -1.021]
+t: 30	 action: [ 0.978  0.144 -0.312 -0.004  0.041 -0.007 -1.031]
+t: 31	 action: [ 0.95   0.104 -0.335  0.009  0.046 -0.011 -1.036]
+t: 32	 action: [ 0.959  0.085 -0.401 -0.004  0.036 -0.01  -1.031]
+t: 33	 action: [ 0.916  0.042 -0.428  0.009  0.034 -0.014 -1.041]
+t: 34	 action: [ 0.791 -0.009 -0.481  0.013  0.021 -0.012 -1.034]
+t: 35	 action: [ 0.734 -0.044 -0.614  0.009  0.019 -0.011 -1.017]
+t: 36	 action: [ 0.595 -0.073 -0.595  0.01   0.008 -0.005 -1.026]
+t: 37	 action: [ 0.512 -0.075 -0.676  0.006  0.008 -0.009 -1.012]
+t: 38	 action: [ 4.527e-01 -2.934e-02 -6.389e-01  4.618e-03 -3.224e-04 -6.796e-03 -1.036e+00]
+t: 39	 action: [ 0.405 -0.063 -0.632  0.011  0.005 -0.01  -1.04 ]
+t: 40	 action: [ 0.357 -0.012 -0.681 -0.004 -0.011 -0.003 -1.034]
+t: 41	 action: [ 0.299 -0.052 -0.656  0.003 -0.003 -0.007 -1.035]
+[07-31 02:11:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5219
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5219
+Query 1/1: Action query time = 1.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5219
+t=42: Selected seed 195 with value = 0.5219
+t: 42	 action: [ 0.127 -0.325 -0.711  0.017 -0.036  0.009 -1.011]
+t: 43	 action: [ 0.046 -0.202 -0.856  0.008 -0.047  0.009 -1.021]
+t: 44	 action: [-0.014 -0.224 -0.755  0.016 -0.06   0.012 -1.011]
+t: 45	 action: [-0.138 -0.16  -0.879  0.007 -0.062  0.013 -1.017]
+t: 46	 action: [-2.514e-01 -1.190e-01 -7.552e-01 -6.034e-04 -7.092e-02  1.497e-02 -1.010e+00]
+t: 47	 action: [-0.269 -0.068 -0.894 -0.003 -0.072  0.016 -1.045]
+t: 48	 action: [-0.434 -0.031 -0.761 -0.005 -0.081  0.023 -1.009]
+t: 49	 action: [-0.426 -0.022 -0.879 -0.006 -0.065  0.019 -1.044]
+t: 50	 action: [-0.528 -0.023 -0.754 -0.005 -0.077  0.062 -1.007]
+t: 51	 action: [-0.524 -0.059 -0.816 -0.014 -0.061  0.048 -1.009]
+t: 52	 action: [-0.543  0.018 -0.719 -0.009 -0.068  0.071 -1.011]
+t: 53	 action: [-0.496 -0.021 -0.745 -0.014 -0.05   0.051 -1.001]
+t: 54	 action: [-0.558  0.019 -0.678 -0.031 -0.069  0.065 -1.002]
+t: 55	 action: [-0.44   0.028 -0.689 -0.018 -0.049  0.044 -1.043]
+t: 56	 action: [-0.389  0.068 -0.589 -0.034 -0.049  0.058 -1.006]
+t: 57	 action: [-0.276  0.061 -0.585 -0.018 -0.032  0.045 -1.046]
+[07-31 02:11:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.016 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7576
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7576
+Query 1/1: Action query time = 1.016 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7576
+t=58: Selected seed 195 with value = 0.7576
+t: 58	 action: [-1.974e-01  6.015e-01 -4.260e-01 -8.361e-04 -9.823e-03  1.669e-02 -9.977e-01]
+t: 59	 action: [-0.194  0.674 -0.35  -0.003  0.003  0.012 -1.016]
+t: 60	 action: [-1.215e-01  6.869e-01 -3.365e-01  6.143e-04 -9.194e-03  1.175e-02 -9.996e-01]
+t: 61	 action: [-1.175e-01  7.618e-01 -2.662e-01  2.492e-04  2.752e-03  1.031e-02 -1.016e+00]
+t: 62	 action: [-1.843e-01  7.901e-01 -2.597e-01 -5.317e-03  9.064e-05  1.209e-02 -9.953e-01]
+t: 63	 action: [-0.146  0.824 -0.205  0.008 -0.002  0.011 -1.044]
+t: 64	 action: [-0.147  0.841 -0.208 -0.004 -0.004  0.005 -1.004]
+t: 65	 action: [-0.136  0.841 -0.173  0.009 -0.006  0.009 -1.043]
+t: 66	 action: [-0.065  0.914 -0.213  0.009 -0.011  0.007 -1.007]
+t: 67	 action: [-0.057  0.861 -0.19   0.012 -0.004  0.005 -1.004]
+t: 68	 action: [-0.097  0.897 -0.214  0.01  -0.02   0.006 -1.002]
+t: 69	 action: [-0.09   0.853 -0.212  0.015 -0.013  0.008 -1.002]
+t: 70	 action: [-0.15   0.906 -0.185  0.008 -0.017  0.004 -1.018]
+t: 71	 action: [-0.161  0.87  -0.189  0.016 -0.008  0.008 -1.026]
+t: 72	 action: [-0.229  0.869 -0.189  0.01  -0.022  0.002 -1.011]
+t: 73	 action: [-0.22   0.859 -0.221  0.016 -0.015  0.011 -1.028]
+[07-31 02:11:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8644
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8644
+Query 1/1: Action query time = 1.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8644
+t=74: Selected seed 195 with value = 0.8644
+t: 74	 action: [-0.118  0.868 -0.216  0.007  0.003  0.006 -1.024]
+t: 75	 action: [-0.132  0.859 -0.255  0.003  0.011  0.002 -1.01 ]
+t: 76	 action: [-0.168  0.88  -0.189  0.006  0.006  0.007 -1.011]
+t: 77	 action: [-0.169  0.861 -0.223  0.005  0.01   0.003 -1.009]
+t: 78	 action: [-1.837e-01  8.541e-01 -1.840e-01  5.085e-03  3.583e-03 -1.424e-04 -1.026e+00]
+t: 79	 action: [-0.251  0.87  -0.211  0.009  0.007  0.003 -1.033]
+t: 80	 action: [-2.600e-01  8.733e-01 -1.648e-01  1.188e-03  5.599e-03  2.540e-04 -1.018e+00]
+t: 81	 action: [-0.304  0.866 -0.185  0.009  0.002  0.004 -1.035]
+t: 82	 action: [-0.313  0.889 -0.158  0.008 -0.024  0.013 -1.002]
+t: 83	 action: [-0.297  0.838 -0.16   0.005 -0.018  0.007 -1.01 ]
+t: 84	 action: [-0.375  0.878 -0.157  0.008 -0.024  0.013 -1.001]
+t: 85	 action: [-0.335  0.809 -0.148  0.005 -0.019  0.007 -1.008]
+t: 86	 action: [-0.391  0.849 -0.153  0.002 -0.022  0.011 -1.003]
+t: 87	 action: [-0.42   0.836 -0.139  0.01  -0.025  0.011 -1.033]
+t: 88	 action: [-0.426  0.825 -0.146  0.001 -0.017  0.008 -0.999]
+t: 89	 action: [-0.406  0.799 -0.12   0.008 -0.022  0.012 -1.038]
+[07-31 02:11:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9814
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9814
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 128
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 26 (20.3%)
+
+
 56%|█████▌    | 28/50 [07:05<04:59, 13.62s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 29...
+Query 1/1: Action query time = 0.992 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=90: Selected seed 195 with value = 0.9814
+t: 90	 action: [-0.572  0.836 -0.158  0.001 -0.014  0.012 -0.995]
+t: 91	 action: [-5.655e-01  8.476e-01 -1.235e-01  5.800e-03  6.501e-04  1.231e-02 -9.941e-01]
+t: 92	 action: [-0.612  0.844 -0.177  0.002 -0.007  0.014 -0.998]
+t: 93	 action: [-0.585  0.837 -0.129  0.001  0.005  0.01  -1.007]
+t: 94	 action: [-0.676  0.622 -0.187 -0.004  0.031  0.014 -0.978]
+t: 95	 action: [-0.707  0.578 -0.197  0.011  0.039  0.015 -1.029]
+t: 96	 action: [-0.664  0.288 -0.226  0.001  0.075  0.004 -0.982]
+t: 97	 action: [-0.617  0.212 -0.277  0.021  0.091  0.008 -1.033]
+t: 98	 action: [-0.634  0.019 -0.346  0.041  0.102 -0.037 -1.013]
+t: 99	 action: [-0.567 -0.133 -0.315  0.03   0.109 -0.06  -1.009]
+t: 100	 action: [-0.462 -0.199 -0.308  0.038  0.116 -0.054 -1.014]
+t: 101	 action: [-0.38  -0.263 -0.261  0.029  0.117 -0.073 -1.018]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=128--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+92 92 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=128--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 128
+# successes: 26 (20.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 29...
+[07-31 02:11:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3293
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3293
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3293
+t=10: Selected seed 195 with value = 0.3293
+t: 10	 action: [ 2.489e-01  8.874e-02 -1.090e-02 -2.061e-03 -1.298e-04  1.169e-03 -1.013e+00]
+t: 11	 action: [ 0.374  0.129 -0.008 -0.005  0.008 -0.004 -1.01 ]
+t: 12	 action: [ 0.515  0.166 -0.026 -0.012 -0.001  0.002 -1.017]
+t: 13	 action: [ 0.678  0.201 -0.009 -0.009  0.009 -0.005 -1.013]
+t: 14	 action: [ 0.801  0.214 -0.042 -0.012  0.001 -0.003 -1.005]
+t: 15	 action: [ 0.854  0.209 -0.038 -0.009  0.002 -0.007 -1.031]
+t: 16	 action: [ 0.931  0.231 -0.061 -0.023  0.003 -0.004 -1.008]
+t: 17	 action: [ 9.322e-01  2.282e-01 -6.552e-02 -1.045e-02  2.947e-05 -7.491e-03 -1.035e+00]
+t: 18	 action: [ 9.055e-01  2.495e-01 -5.619e-02 -5.901e-04  7.077e-04 -6.070e-04 -1.014e+00]
+t: 19	 action: [ 0.911  0.205 -0.044 -0.003  0.011 -0.009 -1.014]
+t: 20	 action: [ 9.353e-01  2.077e-01 -7.783e-02  2.433e-03 -6.750e-04 -2.116e-03 -1.010e+00]
+t: 21	 action: [ 0.918  0.173 -0.051 -0.003  0.013 -0.01  -1.011]
+t: 22	 action: [ 9.679e-01  1.742e-01 -7.876e-02 -9.689e-04  3.613e-03 -4.933e-03 -9.885e-01]
+t: 23	 action: [ 0.982  0.167 -0.077  0.001  0.006 -0.011 -1.031]
+t: 24	 action: [ 0.994  0.152 -0.102 -0.001  0.004 -0.007 -0.987]
+t: 25	 action: [ 0.987  0.145 -0.093  0.002  0.005 -0.01  -1.033]
+[07-31 02:11:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3878
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3878
+Query 1/1: Action query time = 0.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3878
+t=26: Selected seed 195 with value = 0.3878
+t: 26	 action: [ 0.896  0.263 -0.197  0.004  0.01   0.002 -1.034]
+t: 27	 action: [ 9.079e-01  1.794e-01 -2.146e-01  6.051e-04  1.124e-02 -8.388e-03 -1.011e+00]
+t: 28	 action: [ 0.9    0.149 -0.258  0.006  0.009  0.002 -1.027]
+t: 29	 action: [ 0.916  0.069 -0.289  0.007  0.009 -0.011 -1.013]
+t: 30	 action: [ 9.282e-01  3.000e-02 -3.562e-01  9.564e-04  9.503e-03 -7.160e-03 -1.017e+00]
+t: 31	 action: [ 0.876 -0.02  -0.371  0.019  0.007 -0.008 -1.032]
+t: 32	 action: [ 0.84  -0.033 -0.47   0.012  0.009 -0.008 -1.018]
+t: 33	 action: [ 0.784 -0.083 -0.472  0.025  0.007 -0.01  -1.036]
+t: 34	 action: [ 0.629 -0.087 -0.499  0.022  0.003 -0.008 -1.027]
+t: 35	 action: [ 0.608 -0.105 -0.56   0.017  0.009 -0.008 -1.017]
+t: 36	 action: [ 0.448 -0.093 -0.591  0.026 -0.004 -0.002 -1.022]
+t: 37	 action: [ 0.373 -0.118 -0.637  0.016  0.002 -0.007 -1.014]
+t: 38	 action: [ 0.277 -0.064 -0.632  0.023 -0.009 -0.004 -1.026]
+t: 39	 action: [ 0.167 -0.082 -0.624  0.022 -0.014 -0.004 -1.038]
+t: 40	 action: [ 1.448e-01 -1.404e-02 -6.851e-01  1.891e-02 -1.283e-02  3.805e-04 -1.023e+00]
+t: 41	 action: [ 8.139e-02 -4.401e-02 -6.722e-01  1.770e-02 -1.955e-02 -5.576e-04 -1.038e+00]
+[07-31 02:11:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4240
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4240
+Query 1/1: Action query time = 1.001 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4240
+t=42: Selected seed 195 with value = 0.4240
+t: 42	 action: [ 3.466e-01 -1.736e-01 -5.352e-01  2.999e-02 -6.484e-05  6.827e-03 -1.018e+00]
+t: 43	 action: [ 0.214 -0.197 -0.646  0.02  -0.007  0.009 -1.03 ]
+t: 44	 action: [ 0.165 -0.193 -0.625  0.025 -0.02   0.01  -1.019]
+t: 45	 action: [ 0.037 -0.193 -0.727  0.015 -0.025  0.016 -1.03 ]
+t: 46	 action: [-0.083 -0.136 -0.68   0.007 -0.033  0.013 -1.014]
+t: 47	 action: [-0.113 -0.125 -0.829  0.01  -0.035  0.02  -1.053]
+t: 48	 action: [-0.244 -0.066 -0.716  0.003 -0.049  0.027 -1.014]
+t: 49	 action: [-0.285 -0.07  -0.826  0.005 -0.042  0.028 -1.05 ]
+t: 50	 action: [-0.404 -0.076 -0.683  0.004 -0.055  0.058 -1.012]
+t: 51	 action: [-0.466 -0.114 -0.76  -0.013 -0.051  0.062 -1.022]
+t: 52	 action: [-0.529 -0.022 -0.666 -0.008 -0.051  0.071 -1.013]
+t: 53	 action: [-0.541 -0.074 -0.726 -0.018 -0.037  0.065 -1.016]
+t: 54	 action: [-0.608 -0.019 -0.654 -0.034 -0.06   0.088 -1.004]
+t: 55	 action: [-0.557 -0.015 -0.715 -0.021 -0.046  0.073 -1.046]
+t: 56	 action: [-0.551  0.015 -0.624 -0.044 -0.047  0.085 -1.002]
+t: 57	 action: [-0.487  0.013 -0.66  -0.028 -0.03   0.073 -1.052]
+[07-31 02:11:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5188
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5188
+Query 1/1: Action query time = 1.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5188
+t=58: Selected seed 195 with value = 0.5188
+t: 58	 action: [-0.288  0.09  -0.67   0.006 -0.023  0.061 -0.986]
+t: 59	 action: [-0.241  0.063 -0.656 -0.006 -0.002  0.053 -0.992]
+t: 60	 action: [-0.182  0.142 -0.626  0.005 -0.008  0.062 -0.986]
+t: 61	 action: [-0.06   0.261 -0.561 -0.003  0.008  0.048 -0.995]
+t: 62	 action: [-0.151  0.324 -0.472  0.002  0.006  0.07  -0.987]
+t: 63	 action: [-4.005e-02  4.892e-01 -4.321e-01  3.590e-03  7.795e-04  5.085e-02 -1.032e+00]
+t: 64	 action: [ 0.033  0.59  -0.365  0.001  0.014  0.059 -0.992]
+t: 65	 action: [ 0.123  0.749 -0.328  0.003  0.003  0.042 -1.033]
+t: 66	 action: [ 0.11   0.772 -0.209  0.005  0.024  0.026 -0.999]
+t: 67	 action: [ 0.117  0.79  -0.164  0.009  0.03   0.019 -1.002]
+t: 68	 action: [ 0.09   0.836 -0.174  0.006  0.026  0.031 -0.995]
+t: 69	 action: [ 0.08   0.823 -0.141  0.011  0.025  0.022 -1.004]
+t: 70	 action: [ 2.869e-02  9.026e-01 -1.701e-01  7.601e-04  2.126e-02  2.188e-02 -1.011e+00]
+t: 71	 action: [ 0.015  0.834 -0.146  0.013  0.028  0.013 -1.032]
+t: 72	 action: [-0.028  0.918 -0.167  0.002  0.022  0.022 -1.006]
+t: 73	 action: [-0.001  0.856 -0.185  0.013  0.022  0.019 -1.039]
+[07-31 02:11:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5897
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5897
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5897
+t=74: Selected seed 195 with value = 0.5897
+t: 74	 action: [-3.725e-02  5.912e-01 -4.375e-01  8.335e-04 -2.226e-02  3.364e-02 -9.973e-01]
+t: 75	 action: [-1.927e-02  6.943e-01 -3.748e-01 -3.150e-03  7.987e-04  2.437e-02 -1.005e+00]
+t: 76	 action: [-0.025  0.773 -0.399  0.001 -0.013  0.034 -0.996]
+t: 77	 action: [-0.01   0.82  -0.343 -0.001  0.008  0.024 -1.008]
+t: 78	 action: [-0.005  0.849 -0.363 -0.002 -0.008  0.03  -1.006]
+t: 79	 action: [-3.694e-02  8.811e-01 -3.226e-01 -1.028e-03 -3.103e-03  1.811e-02 -1.036e+00]
+t: 80	 action: [-0.021  0.93  -0.322 -0.003  0.002  0.029 -1.001]
+t: 81	 action: [-2.769e-02  9.192e-01 -2.975e-01  1.028e-03  1.755e-03  1.777e-02 -1.041e+00]
+t: 82	 action: [-0.01   0.919 -0.265  0.007 -0.019  0.02  -1.01 ]
+t: 83	 action: [ 8.173e-04  8.917e-01 -2.058e-01  2.167e-03 -7.605e-04  1.506e-02 -1.007e+00]
+t: 84	 action: [-0.042  0.912 -0.242  0.006 -0.013  0.023 -1.005]
+t: 85	 action: [-0.03   0.879 -0.178  0.003  0.002  0.018 -1.009]
+t: 86	 action: [-1.022e-01  9.431e-01 -2.443e-01  3.407e-04 -1.470e-02  1.796e-02 -1.013e+00]
+t: 87	 action: [-0.096  0.907 -0.198  0.006 -0.006  0.012 -1.037]
+t: 88	 action: [-0.171  0.939 -0.242 -0.004 -0.006  0.019 -1.002]
+t: 89	 action: [-0.176  0.894 -0.188  0.005 -0.005  0.015 -1.043]
+[07-31 02:11:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8011
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8011
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8011
+t=90: Selected seed 195 with value = 0.8011
+t: 90	 action: [-0.16   0.859 -0.291 -0.002  0.013  0.009 -1.009]
+t: 91	 action: [-0.144  0.853 -0.264 -0.006  0.022  0.005 -1.007]
+t: 92	 action: [-0.156  0.879 -0.265 -0.001  0.019  0.01  -1.   ]
+t: 93	 action: [-1.191e-01  8.785e-01 -2.485e-01 -5.661e-04  2.253e-02  9.922e-03 -1.006e+00]
+t: 94	 action: [-0.125  0.891 -0.232 -0.004  0.014  0.004 -1.   ]
+t: 95	 action: [-1.100e-01  8.999e-01 -2.394e-01 -7.777e-04  1.733e-02  6.297e-03 -1.034e+00]
+t: 96	 action: [-0.157  0.918 -0.223 -0.004  0.019  0.004 -0.994]
+t: 97	 action: [-0.141  0.913 -0.253  0.002  0.015  0.011 -1.034]
+t: 98	 action: [-0.253  0.946 -0.238 -0.002 -0.009  0.021 -0.998]
+t: 99	 action: [-2.857e-01  9.157e-01 -2.579e-01 -5.110e-03 -5.300e-04  1.521e-02 -1.002e+00]
+t: 100	 action: [-0.332  0.924 -0.253  0.003 -0.007  0.022 -1.002]
+t: 101	 action: [-0.359  0.874 -0.298 -0.001  0.001  0.018 -1.002]
+t: 102	 action: [-0.443  0.884 -0.275 -0.003 -0.004  0.026 -0.996]
+t: 103	 action: [-4.432e-01  8.969e-01 -3.466e-01  7.351e-04 -5.432e-03  1.669e-02 -1.031e+00]
+t: 104	 action: [-0.495  0.837 -0.265 -0.004  0.004  0.023 -0.991]
+t: 105	 action: [-0.49   0.841 -0.344  0.005 -0.002  0.019 -1.036]
+[07-31 02:11:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9561
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9561
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 129
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 27 (20.9%)
+
+
 58%|█████▊    | 29/50 [07:19<04:43, 13.50s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 30...
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=106: Selected seed 195 with value = 0.9561
+t: 106	 action: [-0.765  0.229 -0.339  0.007  0.01   0.007 -0.977]
+t: 107	 action: [-0.775  0.223 -0.316  0.016  0.028  0.006 -0.994]
+t: 108	 action: [-0.816  0.154 -0.404  0.006  0.018  0.005 -0.97 ]
+t: 109	 action: [-8.335e-01  1.284e-01 -3.810e-01  1.760e-02  3.843e-02 -6.612e-04 -9.958e-01]
+t: 110	 action: [-0.889  0.123 -0.385  0.004  0.031  0.003 -0.968]
+t: 111	 action: [-0.882  0.106 -0.382  0.024  0.039  0.004 -1.035]
+t: 112	 action: [-0.858  0.076 -0.382  0.006  0.052 -0.002 -0.96 ]
+t: 113	 action: [-0.853  0.11  -0.382  0.026  0.054 -0.005 -1.038]
+t: 114	 action: [-0.815  0.045 -0.374  0.031  0.054 -0.007 -1.012]
+t: 115	 action: [-0.814 -0.057 -0.391  0.031  0.06  -0.017 -1.012]
+t: 116	 action: [-0.861 -0.025 -0.35   0.032  0.067 -0.01  -1.008]
+t: 117	 action: [-0.82  -0.096 -0.371  0.027  0.071 -0.019 -1.012]
+t: 118	 action: [-0.883 -0.123 -0.327  0.043  0.066 -0.013 -1.006]
+t: 119	 action: [-0.864 -0.131 -0.347  0.042  0.054 -0.015 -1.039]
+t: 120	 action: [-0.884 -0.166 -0.295  0.042  0.07  -0.015 -0.992]
+t: 121	 action: [-0.86  -0.131 -0.298  0.036  0.059 -0.015 -1.042]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=129--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+112 112 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=129--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 129
+# successes: 27 (20.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 30...
+[07-31 02:11:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3689
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3689
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3689
+t=10: Selected seed 195 with value = 0.3689
+t: 10	 action: [ 3.479e-01  2.092e-01 -9.583e-02  1.423e-02 -4.364e-04  1.059e-02 -1.021e+00]
+t: 11	 action: [ 0.515  0.23  -0.063  0.016  0.009  0.007 -1.015]
+t: 12	 action: [ 0.643  0.282 -0.128  0.013  0.004  0.012 -1.023]
+t: 13	 action: [ 0.789  0.295 -0.085  0.016  0.013  0.008 -1.016]
+t: 14	 action: [ 0.897  0.323 -0.163  0.008  0.001  0.011 -1.021]
+t: 15	 action: [ 0.911  0.296 -0.16   0.017  0.006  0.008 -1.036]
+t: 16	 action: [ 0.983  0.322 -0.205  0.011  0.007  0.01  -1.021]
+t: 17	 action: [ 0.981  0.308 -0.211  0.019  0.009  0.008 -1.04 ]
+t: 18	 action: [ 0.942  0.316 -0.22   0.015  0.008  0.009 -1.034]
+t: 19	 action: [ 0.952  0.249 -0.271  0.018  0.014  0.004 -1.019]
+t: 20	 action: [ 0.961  0.301 -0.242  0.016  0.01   0.008 -1.036]
+t: 21	 action: [ 0.958  0.233 -0.294  0.017  0.017  0.003 -1.016]
+t: 22	 action: [ 0.995  0.281 -0.266  0.019  0.01   0.006 -1.013]
+t: 23	 action: [ 0.998  0.226 -0.354  0.022  0.009  0.004 -1.034]
+t: 24	 action: [ 1.003  0.26  -0.317  0.022  0.012  0.004 -1.014]
+t: 25	 action: [ 1.013  0.196 -0.402  0.022  0.01   0.004 -1.036]
+[07-31 02:11:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4048
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4048
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4048
+t=26: Selected seed 195 with value = 0.4048
+t: 26	 action: [ 8.637e-01  1.038e-01 -3.451e-01  1.126e-02  2.783e-02 -7.745e-04 -1.036e+00]
+t: 27	 action: [ 0.897  0.054 -0.369  0.019  0.029 -0.012 -1.011]
+t: 28	 action: [ 0.813  0.03  -0.393  0.018  0.019 -0.006 -1.027]
+t: 29	 action: [ 0.82  -0.023 -0.427  0.021  0.013 -0.02  -1.01 ]
+t: 30	 action: [ 0.778 -0.013 -0.491  0.024  0.019 -0.011 -1.028]
+t: 31	 action: [ 0.702 -0.034 -0.524  0.032  0.014 -0.013 -1.035]
+t: 32	 action: [ 0.658 -0.044 -0.579  0.025  0.009 -0.015 -1.022]
+t: 33	 action: [ 0.572 -0.064 -0.591  0.03   0.003 -0.02  -1.037]
+t: 34	 action: [ 0.41  -0.103 -0.625  0.029 -0.037 -0.003 -1.026]
+t: 35	 action: [ 0.37  -0.084 -0.677  0.019 -0.034 -0.007 -1.01 ]
+t: 36	 action: [ 2.928e-01 -8.624e-02 -6.620e-01  1.579e-02 -4.810e-02  8.219e-04 -1.020e+00]
+t: 37	 action: [ 0.244 -0.087 -0.675  0.01  -0.039 -0.009 -1.007]
+t: 38	 action: [ 0.224 -0.01  -0.679  0.007 -0.052 -0.005 -1.029]
+t: 39	 action: [ 0.146 -0.022 -0.672  0.015 -0.053 -0.008 -1.034]
+t: 40	 action: [ 0.171  0.014 -0.674  0.003 -0.051 -0.003 -1.026]
+t: 41	 action: [ 0.099 -0.014 -0.656  0.006 -0.052 -0.007 -1.03 ]
+[07-31 02:11:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5345
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5345
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5345
+t=42: Selected seed 195 with value = 0.5345
+t: 42	 action: [ 0.141 -0.293 -0.276  0.028 -0.008  0.01  -0.996]
+t: 43	 action: [ 0.028 -0.344 -0.307  0.019 -0.009  0.015 -1.026]
+t: 44	 action: [-0.008 -0.244 -0.375  0.032 -0.02   0.013 -1.   ]
+t: 45	 action: [-0.135 -0.29  -0.444  0.018 -0.021  0.022 -1.02 ]
+t: 46	 action: [-0.214 -0.208 -0.456  0.013 -0.015  0.019 -0.986]
+t: 47	 action: [-0.287 -0.18  -0.58   0.015 -0.015  0.026 -1.045]
+t: 48	 action: [-0.387 -0.11  -0.607  0.006 -0.022  0.032 -0.989]
+t: 49	 action: [-0.462 -0.109 -0.708  0.003 -0.014  0.031 -1.037]
+t: 50	 action: [-5.148e-01 -2.895e-02 -6.336e-01  1.905e-04 -2.373e-02  4.178e-02 -1.006e+00]
+t: 51	 action: [-0.558 -0.082 -0.699 -0.021 -0.016  0.048 -1.019]
+t: 52	 action: [-0.565  0.024 -0.695 -0.012 -0.018  0.044 -1.014]
+t: 53	 action: [-0.555 -0.02  -0.713 -0.023 -0.004  0.047 -1.006]
+t: 54	 action: [-0.636  0.007 -0.71  -0.027 -0.03   0.079 -0.996]
+t: 55	 action: [-0.579  0.01  -0.755 -0.023 -0.021  0.056 -1.038]
+t: 56	 action: [-0.524  0.064 -0.688 -0.038 -0.017  0.068 -0.996]
+t: 57	 action: [-0.426  0.101 -0.695 -0.027 -0.004  0.053 -1.026]
+[07-31 02:11:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5334
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5334
+Query 1/1: Action query time = 0.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5334
+t=58: Selected seed 195 with value = 0.5334
+t: 58	 action: [-0.284 -0.027 -0.73   0.03  -0.017  0.074 -0.983]
+t: 59	 action: [-0.184  0.054 -0.748  0.008  0.007  0.064 -0.997]
+t: 60	 action: [-0.064  0.208 -0.66   0.023  0.002  0.074 -0.982]
+t: 61	 action: [ 0.041  0.434 -0.631  0.008  0.015  0.054 -1.002]
+t: 62	 action: [ 0.037  0.505 -0.507  0.008  0.012  0.073 -0.988]
+t: 63	 action: [ 0.137  0.65  -0.52   0.007  0.008  0.059 -1.037]
+t: 64	 action: [ 0.195  0.819 -0.392  0.008  0.024  0.062 -0.985]
+t: 65	 action: [ 0.238  0.872 -0.402  0.008  0.016  0.045 -1.037]
+t: 66	 action: [ 0.155  0.831 -0.361  0.015  0.018  0.03  -0.997]
+t: 67	 action: [ 0.18   0.873 -0.339  0.008  0.021  0.025 -1.002]
+t: 68	 action: [ 0.141  0.886 -0.294  0.009  0.02   0.032 -0.997]
+t: 69	 action: [ 0.152  0.882 -0.299  0.007  0.018  0.021 -1.007]
+t: 70	 action: [ 0.071  0.941 -0.307  0.005  0.018  0.022 -1.012]
+t: 71	 action: [ 0.028  0.916 -0.318  0.007  0.013  0.017 -1.03 ]
+t: 72	 action: [ 0.053  0.948 -0.266  0.001  0.016  0.018 -1.009]
+t: 73	 action: [ 0.022  0.923 -0.315  0.005  0.009  0.016 -1.039]
+[07-31 02:11:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5416
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5416
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5416
+t=74: Selected seed 195 with value = 0.5416
+t: 74	 action: [-0.162 -0.007 -0.675  0.023 -0.026  0.05  -0.988]
+t: 75	 action: [-0.119  0.001 -0.671  0.009  0.001  0.042 -1.   ]
+t: 76	 action: [-0.079  0.138 -0.636  0.023 -0.004  0.053 -0.983]
+t: 77	 action: [ 0.003  0.398 -0.605  0.01   0.012  0.037 -1.004]
+t: 78	 action: [-0.051  0.332 -0.53   0.007  0.015  0.058 -0.998]
+t: 79	 action: [-0.012  0.541 -0.567  0.012  0.009  0.04  -1.039]
+t: 80	 action: [ 0.076  0.776 -0.414  0.007  0.03   0.051 -0.992]
+t: 81	 action: [ 0.117  0.869 -0.422  0.012  0.033  0.032 -1.042]
+t: 82	 action: [ 0.1    0.868 -0.355  0.015  0.015  0.028 -0.993]
+t: 83	 action: [ 0.138  0.9   -0.359  0.01   0.02   0.023 -1.004]
+t: 84	 action: [ 0.095  0.894 -0.302  0.011  0.025  0.03  -0.992]
+t: 85	 action: [ 0.103  0.897 -0.312  0.011  0.022  0.02  -1.006]
+t: 86	 action: [ 0.041  0.949 -0.268  0.006  0.027  0.021 -1.005]
+t: 87	 action: [ 0.015  0.929 -0.28   0.012  0.025  0.016 -1.034]
+t: 88	 action: [ 0.019  0.947 -0.236  0.002  0.035  0.019 -1.   ]
+t: 89	 action: [ 0.011  0.927 -0.284  0.009  0.025  0.016 -1.043]
+[07-31 02:11:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6356
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=90: Selected seed 195 with value = 0.6356
+t: 90	 action: [-0.085  0.388 -0.501  0.001 -0.022  0.018 -0.992]
+t: 91	 action: [-0.062  0.596 -0.467  0.003 -0.004  0.012 -1.005]
+t: 92	 action: [-5.955e-02  7.300e-01 -4.561e-01  2.054e-04 -8.795e-03  1.751e-02 -9.869e-01]
+t: 93	 action: [-0.028  0.815 -0.432  0.003  0.006  0.014 -1.01 ]
+t: 94	 action: [-0.057  0.795 -0.367 -0.002 -0.002  0.012 -1.002]
+t: 95	 action: [-0.078  0.912 -0.385  0.003 -0.005  0.011 -1.039]
+t: 96	 action: [-0.076  0.918 -0.362 -0.002  0.013  0.013 -0.997]
+t: 97	 action: [-0.084  0.961 -0.369  0.006  0.01   0.014 -1.042]
+t: 98	 action: [-0.073  0.951 -0.322  0.009 -0.017  0.013 -1.004]
+t: 99	 action: [-0.027  0.947 -0.333  0.005  0.003  0.008 -1.006]
+t: 100	 action: [-0.095  0.952 -0.298  0.01  -0.002  0.016 -0.997]
+t: 101	 action: [-0.079  0.94  -0.286  0.009  0.009  0.012 -1.006]
+t: 102	 action: [-0.172  0.968 -0.259  0.004  0.002  0.009 -1.011]
+t: 103	 action: [-0.194  0.967 -0.271  0.014 -0.002  0.011 -1.035]
+t: 104	 action: [-0.228  0.963 -0.238  0.004  0.019  0.014 -0.995]
+t: 105	 action: [-0.261  0.962 -0.254  0.016  0.012  0.017 -1.039]
+[07-31 02:11:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8799
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8799
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8799
+t=106: Selected seed 195 with value = 0.8799
+t: 106	 action: [-1.935e-01  8.074e-01 -2.641e-01 -4.533e-04  8.628e-03  8.267e-03 -9.968e-01]
+t: 107	 action: [-0.216  0.83  -0.345 -0.003  0.019  0.005 -0.998]
+t: 108	 action: [-2.495e-01  8.262e-01 -2.478e-01 -5.010e-04  1.813e-02  8.823e-03 -9.971e-01]
+t: 109	 action: [-2.586e-01  8.556e-01 -3.395e-01  2.853e-04  2.471e-02  6.440e-03 -1.008e+00]
+t: 110	 action: [-0.298  0.827 -0.212 -0.005  0.01   0.005 -0.994]
+t: 111	 action: [-3.351e-01  8.811e-01 -3.097e-01  9.114e-04  1.645e-02  9.424e-03 -1.022e+00]
+t: 112	 action: [-0.386  0.836 -0.217 -0.003  0.019  0.007 -0.993]
+t: 113	 action: [-0.397  0.882 -0.325  0.004  0.022  0.012 -1.032]
+t: 114	 action: [-0.366  0.905 -0.272  0.004 -0.004  0.011 -1.001]
+t: 115	 action: [-0.402  0.849 -0.317 -0.004  0.009  0.004 -1.003]
+t: 116	 action: [-0.458  0.84  -0.269  0.004  0.003  0.013 -0.998]
+t: 117	 action: [-5.046e-01  7.454e-01 -3.332e-01 -9.165e-04  1.318e-02  8.511e-03 -1.008e+00]
+t: 118	 action: [-5.915e-01  8.135e-01 -2.915e-01 -8.749e-05  3.708e-03  9.619e-03 -9.920e-01]
+t: 119	 action: [-0.627  0.79  -0.397  0.005  0.004  0.01  -1.03 ]
+t: 120	 action: [-0.732  0.678 -0.297 -0.001  0.021  0.017 -0.976]
+t: 121	 action: [-0.779  0.575 -0.412  0.008  0.023  0.018 -1.039]
+[07-31 02:11:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9677
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9677
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 130
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 28 (21.5%)
+
+
 60%|██████    | 30/50 [07:33<04:37, 13.88s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 31...
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=122: Selected seed 195 with value = 0.9677
+t: 122	 action: [-0.905  0.093 -0.705  0.045  0.007  0.008 -0.915]
+t: 123	 action: [-0.905  0.062 -0.625  0.044  0.024  0.008 -0.96 ]
+t: 124	 action: [-0.939  0.068 -0.703  0.046  0.025  0.007 -0.938]
+t: 125	 action: [-0.929  0.024 -0.593  0.04   0.037  0.001 -0.981]
+t: 126	 action: [-0.936 -0.008 -0.598  0.044  0.058  0.002 -0.912]
+t: 127	 action: [-0.961  0.025 -0.523  0.047  0.054  0.003 -1.018]
+t: 128	 action: [-9.345e-01 -1.921e-02 -5.081e-01  4.357e-02  7.646e-02 -7.733e-04 -9.243e-01]
+t: 129	 action: [-0.94   0.006 -0.469  0.042  0.073 -0.005 -1.025]
+t: 130	 action: [-0.916 -0.021 -0.511  0.03   0.059 -0.003 -0.974]
+t: 131	 action: [-0.894 -0.083 -0.528  0.026  0.056 -0.007 -1.005]
+t: 132	 action: [-0.923 -0.035 -0.453  0.033  0.066  0.002 -0.981]
+t: 133	 action: [-0.886 -0.092 -0.471  0.028  0.065 -0.004 -1.012]
+t: 134	 action: [-0.914 -0.119 -0.404  0.025  0.066 -0.006 -0.959]
+t: 135	 action: [-0.868 -0.09  -0.402  0.031  0.054 -0.007 -1.032]
+t: 136	 action: [-0.907 -0.112 -0.341  0.026  0.071 -0.002 -0.956]
+t: 137	 action: [-0.862 -0.078 -0.337  0.027  0.068 -0.002 -1.039]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=130--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+128 128 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=130--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 130
+# successes: 28 (21.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 31...
+[07-31 02:11:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3167
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3167
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3167
+t=10: Selected seed 195 with value = 0.3167
+t: 10	 action: [ 0.336  0.077 -0.028  0.002  0.002  0.007 -1.01 ]
+t: 11	 action: [ 5.108e-01  9.236e-02 -2.685e-02  6.640e-04  9.712e-03  7.439e-03 -1.014e+00]
+t: 12	 action: [ 0.692  0.115 -0.061  0.002  0.001  0.009 -1.012]
+t: 13	 action: [ 8.217e-01  1.230e-01 -5.293e-02  2.135e-04  1.154e-02  6.642e-03 -1.015e+00]
+t: 14	 action: [ 9.191e-01  1.539e-01 -8.720e-02 -1.073e-03  6.430e-04  4.911e-03 -1.005e+00]
+t: 15	 action: [ 0.917  0.134 -0.081  0.002  0.006  0.007 -1.034]
+t: 16	 action: [ 0.986  0.155 -0.121 -0.003  0.004  0.003 -1.006]
+t: 17	 action: [ 0.974  0.14  -0.128  0.004  0.01   0.005 -1.041]
+t: 18	 action: [ 0.931  0.154 -0.105  0.007  0.009  0.009 -1.011]
+t: 19	 action: [ 0.96   0.106 -0.107  0.006  0.021  0.007 -1.018]
+t: 20	 action: [ 0.95   0.134 -0.128  0.007  0.01   0.009 -1.007]
+t: 21	 action: [ 0.963  0.083 -0.121  0.009  0.024  0.004 -1.017]
+t: 22	 action: [ 0.985  0.11  -0.143  0.002  0.011  0.003 -0.984]
+t: 23	 action: [ 1.009  0.067 -0.146  0.012  0.017  0.004 -1.035]
+t: 24	 action: [ 1.001  0.077 -0.172  0.001  0.01   0.001 -0.98 ]
+t: 25	 action: [ 1.015  0.041 -0.175  0.015  0.02   0.003 -1.039]
+[07-31 02:11:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3857
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3857
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3857
+t=26: Selected seed 195 with value = 0.3857
+t: 26	 action: [ 0.889  0.192 -0.194  0.003  0.013  0.008 -1.033]
+t: 27	 action: [ 9.169e-01  1.317e-01 -2.342e-01  9.307e-03  1.523e-02  7.139e-04 -1.013e+00]
+t: 28	 action: [ 0.874  0.073 -0.266  0.013  0.015  0.008 -1.021]
+t: 29	 action: [ 0.895  0.004 -0.347  0.018  0.014 -0.002 -1.012]
+t: 30	 action: [ 8.814e-01 -4.803e-02 -4.156e-01  2.735e-02  1.584e-02 -3.442e-04 -1.014e+00]
+t: 31	 action: [ 0.827 -0.121 -0.496  0.03   0.015 -0.001 -1.029]
+t: 32	 action: [ 0.733 -0.136 -0.561  0.036  0.016 -0.001 -1.011]
+t: 33	 action: [ 0.653 -0.172 -0.612  0.032  0.007 -0.003 -1.031]
+t: 34	 action: [ 0.524 -0.125 -0.6    0.029 -0.005  0.005 -1.022]
+t: 35	 action: [ 0.475 -0.121 -0.707  0.018 -0.001 -0.002 -1.017]
+t: 36	 action: [ 0.338 -0.066 -0.689  0.022 -0.015  0.008 -1.012]
+t: 37	 action: [ 0.244 -0.098 -0.757  0.012 -0.013 -0.003 -1.013]
+t: 38	 action: [ 0.195 -0.011 -0.71   0.016 -0.025  0.003 -1.019]
+t: 39	 action: [ 0.1   -0.04  -0.723  0.017 -0.033 -0.002 -1.036]
+t: 40	 action: [ 0.077  0.031 -0.737  0.005 -0.029  0.005 -1.01 ]
+t: 41	 action: [ 2.623e-02 -2.426e-03 -7.357e-01  9.992e-03 -3.620e-02  2.553e-04 -1.034e+00]
+[07-31 02:11:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4306
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4306
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4306
+t=42: Selected seed 195 with value = 0.4306
+t: 42	 action: [ 0.232 -0.196 -0.507  0.019 -0.009  0.009 -1.008]
+t: 43	 action: [ 0.089 -0.194 -0.618  0.012 -0.01   0.012 -1.035]
+t: 44	 action: [ 0.078 -0.182 -0.567  0.02  -0.026  0.014 -1.008]
+t: 45	 action: [-0.057 -0.184 -0.678  0.01  -0.027  0.021 -1.024]
+t: 46	 action: [-0.135 -0.16  -0.595  0.005 -0.027  0.024 -0.999]
+t: 47	 action: [-0.195 -0.117 -0.753  0.009 -0.033  0.024 -1.051]
+t: 48	 action: [-0.287 -0.058 -0.663  0.002 -0.036  0.037 -0.999]
+t: 49	 action: [-0.346 -0.061 -0.77   0.003 -0.033  0.03  -1.043]
+t: 50	 action: [-0.471 -0.022 -0.654 -0.001 -0.045  0.072 -1.009]
+t: 51	 action: [-0.507 -0.074 -0.74  -0.016 -0.037  0.072 -1.024]
+t: 52	 action: [-0.553  0.028 -0.667 -0.011 -0.036  0.076 -1.011]
+t: 53	 action: [-0.556 -0.027 -0.713 -0.019 -0.017  0.07  -1.012]
+t: 54	 action: [-6.290e-01 -9.466e-04 -6.451e-01 -3.062e-02 -4.109e-02  9.916e-02 -1.003e+00]
+t: 55	 action: [-0.574  0.029 -0.717 -0.019 -0.029  0.081 -1.048]
+t: 56	 action: [-0.577  0.052 -0.637 -0.037 -0.026  0.091 -1.   ]
+t: 57	 action: [-0.521  0.066 -0.677 -0.023 -0.01   0.076 -1.049]
+[07-31 02:11:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5110
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5110
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5110
+t=58: Selected seed 195 with value = 0.5110
+t: 58	 action: [-0.282 -0.01  -0.732  0.021 -0.03   0.087 -0.987]
+t: 59	 action: [-0.148  0.096 -0.711  0.003 -0.008  0.069 -0.995]
+t: 60	 action: [-0.007  0.28  -0.668  0.018 -0.013  0.083 -0.992]
+t: 61	 action: [ 0.093  0.446 -0.588  0.006  0.01   0.059 -1.003]
+t: 62	 action: [ 7.017e-02  5.304e-01 -4.623e-01  1.052e-02  6.085e-04  7.969e-02 -9.925e-01]
+t: 63	 action: [ 0.18   0.683 -0.416  0.008  0.003  0.061 -1.035]
+t: 64	 action: [ 0.2    0.798 -0.381  0.011  0.011  0.065 -0.997]
+t: 65	 action: [ 0.257  0.841 -0.346  0.01   0.003  0.047 -1.036]
+t: 66	 action: [ 0.139  0.854 -0.303  0.01   0.023  0.036 -1.002]
+t: 67	 action: [ 0.138  0.86  -0.28   0.009  0.031  0.03  -1.007]
+t: 68	 action: [ 0.104  0.891 -0.257  0.007  0.024  0.039 -1.004]
+t: 69	 action: [ 0.087  0.866 -0.26   0.007  0.022  0.025 -1.01 ]
+t: 70	 action: [ 0.033  0.925 -0.275  0.003  0.017  0.027 -1.019]
+t: 71	 action: [ 0.015  0.89  -0.271  0.009  0.018  0.02  -1.038]
+t: 72	 action: [-6.681e-03  9.227e-01 -2.627e-01 -4.596e-04  1.513e-02  2.424e-02 -1.019e+00]
+t: 73	 action: [ 0.005  0.902 -0.278  0.004  0.011  0.019 -1.044]
+[07-31 02:11:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5176
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5176
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5176
+t=74: Selected seed 195 with value = 0.5176
+t: 74	 action: [-0.112  0.049 -0.627  0.017 -0.046  0.056 -1.001]
+t: 75	 action: [-0.024  0.05  -0.599  0.006 -0.027  0.05  -1.004]
+t: 76	 action: [-0.067  0.142 -0.624  0.025 -0.028  0.057 -0.998]
+t: 77	 action: [ 0.019  0.344 -0.578  0.012  0.004  0.047 -1.008]
+t: 78	 action: [-0.075  0.279 -0.55   0.011 -0.006  0.063 -1.007]
+t: 79	 action: [-0.031  0.509 -0.505  0.016  0.004  0.049 -1.041]
+t: 80	 action: [ 0.017  0.625 -0.46   0.014  0.011  0.054 -1.004]
+t: 81	 action: [ 0.071  0.791 -0.419  0.018  0.007  0.042 -1.043]
+t: 82	 action: [ 0.121  0.86  -0.286  0.006  0.031  0.028 -1.002]
+t: 83	 action: [ 0.166  0.865 -0.236  0.008  0.041  0.022 -1.017]
+t: 84	 action: [ 0.094  0.892 -0.206  0.003  0.032  0.027 -1.003]
+t: 85	 action: [ 0.11   0.861 -0.164  0.006  0.033  0.019 -1.017]
+t: 86	 action: [ 0.038  0.93  -0.237  0.002  0.026  0.019 -1.013]
+t: 87	 action: [ 0.025  0.887 -0.216  0.009  0.032  0.014 -1.043]
+t: 88	 action: [-0.012  0.927 -0.219 -0.002  0.024  0.014 -1.013]
+t: 89	 action: [ 0.007  0.89  -0.21   0.003  0.023  0.014 -1.05 ]
+[07-31 02:11:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6241
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6241
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6241
+t=90: Selected seed 195 with value = 0.6241
+t: 90	 action: [-7.823e-02  2.030e-01 -4.793e-01 -9.805e-04 -1.544e-02  1.721e-02 -9.916e-01]
+t: 91	 action: [-0.045  0.425 -0.441 -0.004 -0.003  0.014 -1.004]
+t: 92	 action: [-0.061  0.571 -0.447 -0.002 -0.013  0.017 -0.992]
+t: 93	 action: [-0.01   0.718 -0.413 -0.003  0.002  0.016 -1.008]
+t: 94	 action: [-0.023  0.691 -0.391 -0.007 -0.008  0.01  -1.005]
+t: 95	 action: [-0.04   0.869 -0.371 -0.002 -0.006  0.008 -1.036]
+t: 96	 action: [-3.756e-02  9.018e-01 -3.762e-01 -6.503e-03  6.441e-04  1.057e-02 -1.003e+00]
+t: 97	 action: [-3.613e-02  9.357e-01 -3.636e-01 -8.619e-04 -2.766e-03  1.124e-02 -1.039e+00]
+t: 98	 action: [-0.044  0.949 -0.312  0.004 -0.03   0.014 -1.014]
+t: 99	 action: [-0.029  0.936 -0.293  0.002 -0.007  0.012 -1.006]
+t: 100	 action: [-0.071  0.941 -0.295  0.006 -0.023  0.018 -1.008]
+t: 101	 action: [-8.124e-02  9.138e-01 -2.490e-01  5.403e-03 -8.614e-05  1.581e-02 -1.008e+00]
+t: 102	 action: [-0.153  0.958 -0.279  0.002 -0.024  0.01  -1.022]
+t: 103	 action: [-0.174  0.958 -0.27   0.01  -0.009  0.009 -1.038]
+t: 104	 action: [-2.365e-01  9.441e-01 -2.700e-01 -4.863e-04 -7.063e-03  1.169e-02 -1.007e+00]
+t: 105	 action: [-0.255  0.935 -0.256  0.012 -0.002  0.015 -1.042]
+[07-31 02:11:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.048 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8202
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8202
+Query 1/1: Action query time = 1.048 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8202
+t=106: Selected seed 195 with value = 0.8202
+t: 106	 action: [-1.783e-01  8.234e-01 -2.727e-01  7.285e-04  1.647e-02  1.118e-02 -1.015e+00]
+t: 107	 action: [-0.162  0.832 -0.278 -0.003  0.021  0.008 -1.007]
+t: 108	 action: [-0.191  0.839 -0.261  0.001  0.024  0.012 -1.006]
+t: 109	 action: [-0.177  0.859 -0.274  0.002  0.027  0.013 -1.007]
+t: 110	 action: [-0.189  0.872 -0.242 -0.002  0.015  0.006 -1.007]
+t: 111	 action: [-0.191  0.895 -0.298  0.002  0.015  0.01  -1.03 ]
+t: 112	 action: [-0.229  0.901 -0.253 -0.003  0.022  0.008 -1.   ]
+t: 113	 action: [-0.231  0.907 -0.321  0.005  0.017  0.015 -1.032]
+t: 114	 action: [-0.282  0.946 -0.275  0.002 -0.012  0.017 -1.005]
+t: 115	 action: [-0.304  0.905 -0.278 -0.002 -0.007  0.013 -1.002]
+t: 116	 action: [-0.359  0.911 -0.297  0.005 -0.01   0.019 -1.009]
+t: 117	 action: [-0.379  0.846 -0.315  0.002 -0.004  0.017 -1.003]
+t: 118	 action: [-0.463  0.884 -0.306 -0.001 -0.009  0.022 -1.   ]
+t: 119	 action: [-0.463  0.89  -0.388  0.006 -0.009  0.017 -1.03 ]
+t: 120	 action: [-0.536  0.825 -0.302 -0.003  0.002  0.025 -0.993]
+t: 121	 action: [-0.547  0.799 -0.394  0.01  -0.002  0.022 -1.034]
+[07-31 02:11:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.103 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9355
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 1.103 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=122: Selected seed 195 with value = 0.9355
+t: 122	 action: [-0.695  0.26  -0.34   0.011  0.013  0.009 -0.987]
+t: 123	 action: [-0.693  0.252 -0.285  0.019  0.025  0.012 -0.998]
+t: 124	 action: [-0.762  0.219 -0.43   0.01   0.016  0.009 -0.976]
+t: 125	 action: [-0.765  0.204 -0.356  0.018  0.031  0.008 -0.995]
+t: 126	 action: [-0.839  0.216 -0.413  0.006  0.019  0.008 -0.979]
+t: 127	 action: [-0.854  0.22  -0.347  0.025  0.027  0.015 -1.036]
+t: 128	 action: [-0.847  0.186 -0.426  0.005  0.033  0.004 -0.97 ]
+t: 129	 action: [-0.867  0.215 -0.366  0.024  0.039  0.008 -1.041]
+t: 130	 action: [-8.268e-01  1.461e-01 -3.845e-01  2.315e-02  4.218e-02 -6.212e-04 -1.014e+00]
+t: 131	 action: [-0.818  0.05  -0.421  0.027  0.047 -0.006 -1.011]
+t: 132	 action: [-8.742e-01  5.819e-02 -3.727e-01  2.357e-02  5.448e-02 -9.978e-04 -1.015e+00]
+t: 133	 action: [-0.825 -0.027 -0.403  0.024  0.06  -0.008 -1.011]
+t: 134	 action: [-0.905 -0.034 -0.351  0.03   0.051 -0.003 -1.011]
+t: 135	 action: [-0.882 -0.087 -0.354  0.036  0.043 -0.003 -1.039]
+t: 136	 action: [-0.901 -0.105 -0.308  0.028  0.056 -0.005 -1.001]
+t: 137	 action: [-0.869 -0.089 -0.294  0.031  0.048 -0.004 -1.044]
+[07-31 02:11:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.121 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9927
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9927
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 131
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 29 (22.1%)
+
+
 62%|██████▏   | 31/50 [07:50<04:36, 14.58s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 32...
+Query 1/1: Action query time = 1.121 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=138: Selected seed 195 with value = 0.9927
+t: 138	 action: [-8.962e-01 -8.066e-02 -3.651e-01  2.158e-02  5.327e-02 -1.744e-04 -9.413e-01]
+t: 139	 action: [-0.909 -0.132 -0.401  0.029  0.062  0.001 -0.989]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=131--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+130 130 9 9
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=131--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 131
+# successes: 29 (22.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 32...
+[07-31 02:12:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3368
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3368
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3368
+t=10: Selected seed 195 with value = 0.3368
+t: 10	 action: [ 0.113  0.085 -0.01  -0.004 -0.001 -0.002 -1.019]
+t: 11	 action: [ 0.286  0.119 -0.008 -0.008  0.006 -0.007 -1.011]
+t: 12	 action: [ 0.32   0.137 -0.025 -0.009 -0.003 -0.002 -1.018]
+t: 13	 action: [ 0.525  0.174 -0.011 -0.011  0.008 -0.008 -1.013]
+t: 14	 action: [ 0.66   0.185 -0.033 -0.012 -0.005 -0.007 -1.015]
+t: 15	 action: [ 7.653e-01  1.858e-01 -3.645e-02 -1.119e-02  3.338e-04 -1.138e-02 -1.030e+00]
+t: 16	 action: [ 0.873  0.217 -0.045 -0.017 -0.002 -0.01  -1.01 ]
+t: 17	 action: [ 8.822e-01  2.025e-01 -5.224e-02 -1.291e-02  1.113e-04 -1.170e-02 -1.034e+00]
+t: 18	 action: [ 0.893  0.217 -0.045 -0.018  0.004 -0.012 -1.01 ]
+t: 19	 action: [ 0.913  0.193 -0.038 -0.012  0.012 -0.015 -1.016]
+t: 20	 action: [ 0.926  0.205 -0.066 -0.016  0.002 -0.015 -1.007]
+t: 21	 action: [ 0.922  0.183 -0.043 -0.011  0.014 -0.015 -1.014]
+t: 22	 action: [ 0.965  0.199 -0.056 -0.015  0.006 -0.014 -0.986]
+t: 23	 action: [ 0.984  0.188 -0.06  -0.008  0.005 -0.017 -1.031]
+t: 24	 action: [ 0.993  0.207 -0.081 -0.013  0.006 -0.015 -0.986]
+t: 25	 action: [ 0.993  0.185 -0.078 -0.007  0.006 -0.015 -1.031]
+[07-31 02:12:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3764
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3764
+Query 1/1: Action query time = 1.006 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3764
+t=26: Selected seed 195 with value = 0.3764
+t: 26	 action: [ 0.956  0.249 -0.201  0.005  0.009 -0.003 -1.035]
+t: 27	 action: [ 0.943  0.187 -0.221  0.005  0.02  -0.009 -1.008]
+t: 28	 action: [ 9.481e-01  1.703e-01 -2.441e-01  6.346e-03  1.257e-02 -5.785e-04 -1.036e+00]
+t: 29	 action: [ 0.937  0.113 -0.273  0.011  0.028 -0.011 -1.011]
+t: 30	 action: [ 0.963  0.069 -0.299  0.001  0.02  -0.012 -1.02 ]
+t: 31	 action: [ 0.909  0.073 -0.316  0.018  0.03  -0.01  -1.033]
+t: 32	 action: [ 9.102e-01 -1.740e-04 -3.635e-01  1.375e-02  2.529e-02 -1.039e-02 -1.026e+00]
+t: 33	 action: [ 0.848  0.012 -0.362  0.026  0.028 -0.01  -1.035]
+t: 34	 action: [ 0.733 -0.071 -0.361  0.022  0.005 -0.008 -1.02 ]
+t: 35	 action: [ 0.732 -0.065 -0.422  0.019  0.009 -0.007 -1.014]
+t: 36	 action: [ 0.583 -0.098 -0.432  0.025 -0.002 -0.005 -1.021]
+t: 37	 action: [ 0.55  -0.075 -0.473  0.017  0.004 -0.008 -1.012]
+t: 38	 action: [ 0.428 -0.083 -0.494  0.023 -0.005 -0.003 -1.024]
+t: 39	 action: [ 0.356 -0.065 -0.491  0.025 -0.008 -0.002 -1.035]
+t: 40	 action: [ 3.250e-01 -3.464e-02 -5.661e-01  1.891e-02 -1.299e-02 -4.695e-04 -1.029e+00]
+t: 41	 action: [ 2.819e-01 -4.030e-02 -5.402e-01  1.830e-02 -1.845e-02 -6.282e-04 -1.036e+00]
+[07-31 02:12:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4357
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4357
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4357
+t=42: Selected seed 195 with value = 0.4357
+t: 42	 action: [ 0.351 -0.151 -0.6    0.044 -0.006  0.009 -1.013]
+t: 43	 action: [ 0.222 -0.16  -0.723  0.034 -0.014  0.006 -1.022]
+t: 44	 action: [ 0.162 -0.185 -0.674  0.033 -0.025  0.011 -1.017]
+t: 45	 action: [ 0.038 -0.17  -0.763  0.022 -0.03   0.012 -1.024]
+t: 46	 action: [-0.089 -0.16  -0.718  0.011 -0.039  0.009 -1.015]
+t: 47	 action: [-0.096 -0.152 -0.85   0.013 -0.037  0.016 -1.052]
+t: 48	 action: [-0.242 -0.099 -0.731  0.004 -0.051  0.022 -1.016]
+t: 49	 action: [-0.261 -0.103 -0.83   0.007 -0.044  0.024 -1.052]
+t: 50	 action: [-0.336 -0.12  -0.692  0.007 -0.06   0.048 -1.01 ]
+t: 51	 action: [-0.403 -0.134 -0.743 -0.011 -0.056  0.051 -1.02 ]
+t: 52	 action: [-0.477 -0.044 -0.666 -0.003 -0.057  0.063 -1.012]
+t: 53	 action: [-0.482 -0.093 -0.7   -0.015 -0.045  0.059 -1.016]
+t: 54	 action: [-0.543 -0.011 -0.648 -0.032 -0.065  0.079 -1.004]
+t: 55	 action: [-0.487 -0.01  -0.689 -0.021 -0.051  0.065 -1.046]
+t: 56	 action: [-0.494  0.037 -0.617 -0.042 -0.052  0.082 -1.003]
+t: 57	 action: [-0.427  0.016 -0.625 -0.026 -0.034  0.07  -1.05 ]
+[07-31 02:12:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5151
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5151
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5151
+t=58: Selected seed 195 with value = 0.5151
+t: 58	 action: [-0.323  0.044 -0.679  0.006 -0.033  0.051 -0.992]
+t: 59	 action: [-0.347 -0.016 -0.679 -0.003 -0.023  0.051 -1.002]
+t: 60	 action: [-0.339  0.036 -0.657  0.003 -0.018  0.059 -0.988]
+t: 61	 action: [-2.839e-01  2.878e-02 -6.202e-01 -3.564e-03 -2.906e-04  5.387e-02 -1.002e+00]
+t: 62	 action: [-0.282  0.115 -0.547  0.003 -0.001  0.07  -0.991]
+t: 63	 action: [-0.188  0.249 -0.533  0.004  0.001  0.056 -1.035]
+t: 64	 action: [-9.825e-02  3.501e-01 -4.576e-01  5.841e-04  8.353e-03  6.428e-02 -9.922e-01]
+t: 65	 action: [-0.006  0.543 -0.399  0.002  0.003  0.052 -1.034]
+t: 66	 action: [ 0.086  0.59  -0.266  0.006  0.018  0.023 -1.003]
+t: 67	 action: [ 0.157  0.678 -0.243  0.01   0.028  0.016 -1.002]
+t: 68	 action: [ 0.137  0.767 -0.199  0.005  0.021  0.025 -0.996]
+t: 69	 action: [ 0.186  0.8   -0.196  0.01   0.028  0.017 -1.002]
+t: 70	 action: [ 0.082  0.861 -0.196  0.002  0.02   0.022 -1.013]
+t: 71	 action: [ 0.08   0.826 -0.181  0.014  0.032  0.01  -1.032]
+t: 72	 action: [ 0.038  0.911 -0.162 -0.001  0.02   0.018 -1.012]
+t: 73	 action: [ 0.042  0.858 -0.198  0.013  0.025  0.014 -1.037]
+[07-31 02:12:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5580
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5580
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5580
+t=74: Selected seed 195 with value = 0.5580
+t: 74	 action: [-0.017  0.599 -0.432  0.001 -0.021  0.035 -1.003]
+t: 75	 action: [ 3.992e-03  7.233e-01 -3.754e-01 -3.593e-04  3.589e-03  2.472e-02 -1.001e+00]
+t: 76	 action: [ 0.011  0.808 -0.393  0.001 -0.011  0.037 -1.002]
+t: 77	 action: [ 0.009  0.848 -0.331  0.003  0.009  0.024 -1.006]
+t: 78	 action: [ 3.496e-02  8.447e-01 -3.682e-01 -1.349e-03  5.019e-04  3.420e-02 -1.012e+00]
+t: 79	 action: [-0.008  0.888 -0.353  0.004  0.003  0.02  -1.033]
+t: 80	 action: [ 0.016  0.931 -0.344 -0.002  0.009  0.032 -1.009]
+t: 81	 action: [-0.003  0.923 -0.335  0.007  0.013  0.019 -1.039]
+t: 82	 action: [ 0.012  0.92  -0.279  0.007 -0.015  0.017 -1.009]
+t: 83	 action: [ 0.021  0.907 -0.253  0.005  0.002  0.014 -1.004]
+t: 84	 action: [-0.018  0.92  -0.251  0.006 -0.009  0.02  -1.006]
+t: 85	 action: [-1.676e-04  9.059e-01 -2.136e-01  5.534e-03  5.311e-03  1.619e-02 -1.007e+00]
+t: 86	 action: [-0.082  0.947 -0.247  0.003 -0.008  0.015 -1.016]
+t: 87	 action: [-0.076  0.922 -0.248  0.008 -0.004  0.012 -1.035]
+t: 88	 action: [-1.457e-01  9.434e-01 -2.303e-01 -6.764e-04  2.780e-04  1.455e-02 -1.007e+00]
+t: 89	 action: [-0.156  0.917 -0.225  0.008 -0.004  0.016 -1.041]
+[07-31 02:12:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7625
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7625
+Query 1/1: Action query time = 1.003 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7625
+t=90: Selected seed 195 with value = 0.7625
+t: 90	 action: [-0.17   0.869 -0.245 -0.001  0.009  0.01  -0.995]
+t: 91	 action: [-0.145  0.86  -0.27  -0.007  0.018  0.005 -1.004]
+t: 92	 action: [-0.181  0.884 -0.248 -0.002  0.014  0.011 -0.991]
+t: 93	 action: [-0.144  0.883 -0.28  -0.002  0.019  0.009 -1.003]
+t: 94	 action: [-0.161  0.88  -0.24  -0.006  0.01   0.004 -0.996]
+t: 95	 action: [-0.172  0.907 -0.304 -0.002  0.014  0.006 -1.029]
+t: 96	 action: [-0.199  0.907 -0.256 -0.006  0.016  0.006 -0.995]
+t: 97	 action: [-0.193  0.914 -0.334  0.002  0.013  0.011 -1.032]
+t: 98	 action: [-0.284  0.941 -0.283  0.003 -0.013  0.021 -0.994]
+t: 99	 action: [-2.841e-01  8.900e-01 -2.953e-01 -2.144e-03 -5.678e-04  1.254e-02 -9.947e-01]
+t: 100	 action: [-0.359  0.926 -0.287  0.005 -0.009  0.022 -0.995]
+t: 101	 action: [-3.521e-01  8.600e-01 -3.100e-01  7.267e-04  4.735e-03  1.523e-02 -9.985e-01]
+t: 102	 action: [-4.125e-01  8.936e-01 -2.885e-01 -4.456e-04 -4.235e-03  2.362e-02 -9.933e-01]
+t: 103	 action: [-0.42   0.886 -0.335  0.004 -0.004  0.014 -1.026]
+t: 104	 action: [-0.474  0.871 -0.271 -0.001  0.004  0.024 -0.986]
+t: 105	 action: [-0.47   0.851 -0.322  0.007 -0.002  0.017 -1.033]
+[07-31 02:12:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.037 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9352
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 1.037 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=106: Selected seed 195 with value = 0.9352
+t: 106	 action: [-0.686  0.571 -0.278  0.003  0.022  0.01  -0.972]
+t: 107	 action: [-0.69   0.562 -0.271  0.014  0.027  0.01  -0.991]
+t: 108	 action: [-0.739  0.499 -0.312  0.004  0.026  0.009 -0.964]
+t: 109	 action: [-0.762  0.527 -0.295  0.016  0.037  0.008 -0.996]
+t: 110	 action: [-8.024e-01  4.536e-01 -3.329e-01 -2.842e-04  3.648e-02  1.220e-02 -9.614e-01]
+t: 111	 action: [-0.849  0.501 -0.328  0.02   0.045  0.013 -1.031]
+t: 112	 action: [-0.807  0.373 -0.379 -0.001  0.058  0.006 -0.954]
+t: 113	 action: [-0.851  0.379 -0.393  0.025  0.063  0.01  -1.035]
+t: 114	 action: [-0.777  0.184 -0.466  0.021  0.06   0.005 -0.996]
+t: 115	 action: [-0.817  0.102 -0.497  0.024  0.067  0.003 -1.001]
+t: 116	 action: [-0.858  0.062 -0.47   0.024  0.077  0.004 -0.998]
+t: 117	 action: [-8.491e-01 -1.269e-02 -5.002e-01  2.099e-02  7.986e-02 -6.560e-04 -1.002e+00]
+t: 118	 action: [-0.911 -0.036 -0.43   0.032  0.083  0.001 -0.985]
+t: 119	 action: [-0.903 -0.108 -0.481  0.035  0.071  0.002 -1.037]
+t: 120	 action: [-0.898 -0.1   -0.394  0.031  0.084 -0.005 -0.976]
+t: 121	 action: [-0.901 -0.133 -0.414  0.028  0.069 -0.003 -1.042]
+[07-31 02:12:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9930
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9930
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 132
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 30 (22.7%)
+
+
 64%|██████▍   | 32/50 [08:04<04:21, 14.51s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 33...
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=122: Selected seed 195 with value = 0.9930
+t: 122	 action: [-0.894 -0.059 -0.388  0.02   0.045  0.001 -0.955]
+t: 123	 action: [-9.083e-01 -1.039e-01 -4.079e-01  2.626e-02  5.379e-02 -4.853e-04 -9.935e-01]
+t: 124	 action: [-0.919 -0.093 -0.385  0.027  0.057 -0.002 -0.971]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=132--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+115 115 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=132--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 132
+# successes: 30 (22.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 33...
+[07-31 02:12:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3664
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3664
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3664
+t=10: Selected seed 195 with value = 0.3664
+t: 10	 action: [ 0.291  0.193 -0.027  0.005  0.008  0.017 -1.018]
+t: 11	 action: [ 0.424  0.219 -0.025  0.009  0.015  0.016 -1.011]
+t: 12	 action: [ 0.602  0.274 -0.061  0.003  0.01   0.018 -1.027]
+t: 13	 action: [ 0.721  0.262 -0.033  0.007  0.02   0.015 -1.012]
+t: 14	 action: [ 0.863  0.228 -0.08  -0.001  0.01   0.016 -1.018]
+t: 15	 action: [ 0.883  0.223 -0.063  0.01   0.023  0.013 -1.032]
+t: 16	 action: [ 0.962  0.201 -0.125 -0.004  0.015  0.012 -1.023]
+t: 17	 action: [ 0.959  0.201 -0.137  0.01   0.031  0.011 -1.036]
+t: 18	 action: [ 0.93   0.172 -0.148  0.006  0.023  0.012 -1.031]
+t: 19	 action: [ 0.923  0.129 -0.164  0.005  0.033  0.01  -1.012]
+t: 20	 action: [ 0.953  0.148 -0.184  0.006  0.024  0.009 -1.032]
+t: 21	 action: [ 0.933  0.115 -0.192  0.006  0.034  0.007 -1.011]
+t: 22	 action: [ 9.884e-01  1.528e-01 -1.908e-01  1.637e-04  2.454e-02  7.998e-03 -1.006e+00]
+t: 23	 action: [ 1.005  0.126 -0.224  0.01   0.028  0.007 -1.029]
+t: 24	 action: [ 1.005  0.167 -0.238 -0.001  0.024  0.004 -1.008]
+t: 25	 action: [ 1.018  0.135 -0.272  0.011  0.027  0.006 -1.034]
+[07-31 02:12:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3972
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3972
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3972
+t=26: Selected seed 195 with value = 0.3972
+t: 26	 action: [ 0.935  0.155 -0.228  0.005  0.021  0.011 -1.036]
+t: 27	 action: [ 0.941  0.071 -0.274  0.011  0.03   0.003 -1.017]
+t: 28	 action: [ 0.922  0.067 -0.302  0.012  0.025  0.01  -1.026]
+t: 29	 action: [ 0.932 -0.013 -0.372  0.014  0.031 -0.002 -1.015]
+t: 30	 action: [ 0.938 -0.016 -0.45   0.018  0.023  0.001 -1.018]
+t: 31	 action: [ 8.688e-01 -5.233e-02 -5.330e-01  2.400e-02  2.521e-02 -1.027e-03 -1.031e+00]
+t: 32	 action: [ 8.106e-01 -8.388e-02 -5.683e-01  2.305e-02  2.265e-02 -7.673e-04 -1.017e+00]
+t: 33	 action: [ 0.712 -0.101 -0.618  0.024  0.015 -0.005 -1.034]
+t: 34	 action: [ 5.925e-01 -8.132e-02 -5.983e-01  1.749e-02 -3.060e-04  5.102e-03 -1.028e+00]
+t: 35	 action: [ 0.52  -0.098 -0.689  0.012  0.004 -0.004 -1.02 ]
+t: 36	 action: [ 0.389 -0.061 -0.655  0.013 -0.01   0.006 -1.018]
+t: 37	 action: [ 0.289 -0.098 -0.71   0.008 -0.007 -0.006 -1.014]
+t: 38	 action: [ 2.173e-01  5.458e-03 -6.505e-01  6.280e-03 -1.668e-02  7.047e-04 -1.026e+00]
+t: 39	 action: [ 0.132 -0.044 -0.675  0.012 -0.019 -0.006 -1.037]
+t: 40	 action: [ 0.111  0.035 -0.672  0.002 -0.022  0.003 -1.017]
+t: 41	 action: [ 0.049 -0.028 -0.683  0.007 -0.029 -0.005 -1.035]
+[07-31 02:12:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.024 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4226
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4226
+Query 1/1: Action query time = 1.024 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4226
+t=42: Selected seed 195 with value = 0.4226
+t: 42	 action: [ 0.261 -0.257 -0.444  0.014 -0.009  0.008 -1.012]
+t: 43	 action: [ 0.116 -0.223 -0.556  0.008 -0.012  0.011 -1.033]
+t: 44	 action: [ 0.083 -0.213 -0.562  0.019 -0.031  0.012 -1.01 ]
+t: 45	 action: [-0.06  -0.205 -0.67   0.009 -0.035  0.018 -1.025]
+t: 46	 action: [-0.126 -0.181 -0.603  0.003 -0.037  0.019 -1.003]
+t: 47	 action: [-0.2   -0.113 -0.747  0.005 -0.044  0.02  -1.049]
+t: 48	 action: [-3.058e-01 -7.850e-02 -6.799e-01  9.229e-04 -4.488e-02  3.273e-02 -1.003e+00]
+t: 49	 action: [-3.695e-01 -6.826e-02 -7.619e-01  5.591e-04 -4.218e-02  2.584e-02 -1.044e+00]
+t: 50	 action: [-0.495 -0.037 -0.681 -0.005 -0.055  0.066 -1.012]
+t: 51	 action: [-0.526 -0.102 -0.755 -0.013 -0.049  0.058 -1.022]
+t: 52	 action: [-0.577  0.014 -0.68  -0.011 -0.045  0.07  -1.014]
+t: 53	 action: [-0.585 -0.065 -0.715 -0.013 -0.027  0.058 -1.01 ]
+t: 54	 action: [-0.623 -0.02  -0.646 -0.032 -0.045  0.08  -1.005]
+t: 55	 action: [-0.572 -0.018 -0.662 -0.014 -0.031  0.058 -1.048]
+t: 56	 action: [-0.557  0.042 -0.617 -0.033 -0.026  0.074 -1.004]
+t: 57	 action: [-0.496  0.028 -0.594 -0.015 -0.01   0.057 -1.052]
+[07-31 02:12:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5378
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5378
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5378
+t=58: Selected seed 195 with value = 0.5378
+t: 58	 action: [-0.295  0.161 -0.633  0.006 -0.019  0.044 -0.991]
+t: 59	 action: [-0.2    0.263 -0.567  0.001 -0.001  0.034 -0.997]
+t: 60	 action: [-0.135  0.412 -0.536  0.006 -0.008  0.042 -0.994]
+t: 61	 action: [-0.007  0.613 -0.414  0.006  0.006  0.031 -1.006]
+t: 62	 action: [-0.102  0.609 -0.397  0.004 -0.001  0.046 -0.997]
+t: 63	 action: [-0.03   0.775 -0.331  0.009 -0.001  0.03  -1.03 ]
+t: 64	 action: [-0.026  0.818 -0.319  0.004  0.005  0.038 -1.004]
+t: 65	 action: [-8.123e-03  9.018e-01 -2.760e-01  1.168e-02 -8.493e-04  2.577e-02 -1.034e+00]
+t: 66	 action: [ 0.071  0.898 -0.259  0.007  0.001  0.011 -1.001]
+t: 67	 action: [ 0.056  0.883 -0.222  0.011  0.002  0.01  -1.   ]
+t: 68	 action: [ 0.045  0.903 -0.257  0.007 -0.005  0.014 -1.001]
+t: 69	 action: [ 0.043  0.888 -0.225  0.013 -0.001  0.015 -1.001]
+t: 70	 action: [-0.043  0.952 -0.251  0.004 -0.007  0.011 -1.017]
+t: 71	 action: [-0.026  0.908 -0.231  0.014 -0.002  0.008 -1.027]
+t: 72	 action: [-0.108  0.944 -0.262  0.002 -0.012  0.011 -1.017]
+t: 73	 action: [-0.085  0.917 -0.255  0.013 -0.01   0.016 -1.03 ]
+[07-31 02:12:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6152
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6152
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6152
+t=74: Selected seed 195 with value = 0.6152
+t: 74	 action: [-0.107  0.477 -0.512 -0.002 -0.027  0.018 -0.992]
+t: 75	 action: [-0.073  0.641 -0.437 -0.004 -0.014  0.014 -1.006]
+t: 76	 action: [-7.948e-02  7.544e-01 -4.569e-01 -3.270e-04 -2.181e-02  1.861e-02 -9.950e-01]
+t: 77	 action: [-2.655e-02  8.277e-01 -3.898e-01 -9.604e-04 -7.117e-03  1.576e-02 -1.009e+00]
+t: 78	 action: [-0.05   0.797 -0.414 -0.005 -0.016  0.012 -1.006]
+t: 79	 action: [-0.052  0.907 -0.354 -0.002 -0.01   0.009 -1.036]
+t: 80	 action: [-0.065  0.923 -0.38  -0.003 -0.008  0.013 -1.008]
+t: 81	 action: [-0.055  0.948 -0.324  0.002 -0.006  0.012 -1.04 ]
+t: 82	 action: [-0.067  0.95  -0.303  0.007 -0.037  0.014 -1.006]
+t: 83	 action: [-0.034  0.935 -0.271  0.003 -0.026  0.009 -1.002]
+t: 84	 action: [-0.103  0.945 -0.267  0.008 -0.032  0.015 -1.002]
+t: 85	 action: [-0.091  0.924 -0.213  0.006 -0.02   0.013 -1.005]
+t: 86	 action: [-0.169  0.957 -0.253  0.004 -0.027  0.01  -1.014]
+t: 87	 action: [-0.186  0.946 -0.216  0.01  -0.019  0.008 -1.035]
+t: 88	 action: [-2.541e-01  9.482e-01 -2.243e-01  9.085e-04 -1.439e-02  1.068e-02 -1.003e+00]
+t: 89	 action: [-0.262  0.933 -0.189  0.012 -0.009  0.013 -1.039]
+[07-31 02:12:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7866
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7866
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7866
+t=90: Selected seed 195 with value = 0.7866
+t: 90	 action: [-0.193  0.839 -0.284 -0.006  0.005  0.01  -0.998]
+t: 91	 action: [-0.171  0.845 -0.283 -0.008  0.009  0.006 -1.006]
+t: 92	 action: [-0.203  0.863 -0.274 -0.006  0.01   0.012 -0.993]
+t: 93	 action: [-0.158  0.872 -0.291 -0.002  0.01   0.011 -1.006]
+t: 94	 action: [-0.175  0.872 -0.267 -0.009  0.007  0.007 -0.995]
+t: 95	 action: [-1.694e-01  9.011e-01 -3.099e-01 -3.533e-03  2.056e-04  8.474e-03 -1.029e+00]
+t: 96	 action: [-0.214  0.902 -0.275 -0.009  0.012  0.01  -0.993]
+t: 97	 action: [-1.905e-01  9.101e-01 -3.361e-01  7.240e-04  1.323e-03  1.367e-02 -1.031e+00]
+t: 98	 action: [-0.293  0.936 -0.279  0.001 -0.018  0.019 -0.995]
+t: 99	 action: [-0.319  0.895 -0.3   -0.003 -0.013  0.014 -0.999]
+t: 100	 action: [-0.379  0.91  -0.279  0.004 -0.013  0.022 -0.997]
+t: 101	 action: [-0.402  0.85  -0.321  0.001 -0.003  0.018 -0.999]
+t: 102	 action: [-0.468  0.871 -0.293 -0.002 -0.01   0.025 -0.991]
+t: 103	 action: [-0.482  0.877 -0.356  0.004 -0.011  0.017 -1.027]
+t: 104	 action: [-0.544  0.826 -0.272 -0.002  0.002  0.027 -0.982]
+t: 105	 action: [-0.558  0.817 -0.35   0.007 -0.003  0.022 -1.031]
+[07-31 02:12:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9429
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9429
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9429
+t=106: Selected seed 195 with value = 0.9429
+t: 106	 action: [-0.75   0.42  -0.34   0.006  0.018  0.008 -0.977]
+t: 107	 action: [-0.746  0.419 -0.3    0.02   0.029  0.012 -0.99 ]
+t: 108	 action: [-0.805  0.33  -0.412  0.006  0.024  0.006 -0.967]
+t: 109	 action: [-0.827  0.325 -0.363  0.021  0.039  0.006 -0.992]
+t: 110	 action: [-0.878  0.255 -0.437  0.002  0.029  0.007 -0.971]
+t: 111	 action: [-0.906  0.265 -0.379  0.027  0.037  0.014 -1.031]
+t: 112	 action: [-0.863  0.207 -0.442  0.003  0.048  0.001 -0.961]
+t: 113	 action: [-0.896  0.213 -0.412  0.027  0.055  0.006 -1.035]
+t: 114	 action: [-0.85   0.108 -0.442  0.024  0.051  0.002 -1.01 ]
+t: 115	 action: [-8.597e-01  1.497e-02 -4.816e-01  2.696e-02  6.053e-02  7.340e-04 -1.005e+00]
+t: 116	 action: [-0.893  0.05  -0.411  0.025  0.068  0.002 -1.01 ]
+t: 117	 action: [-0.873 -0.054 -0.46   0.022  0.076 -0.003 -1.006]
+t: 118	 action: [-9.182e-01 -5.329e-02 -3.861e-01  3.234e-02  6.939e-02  2.168e-04 -9.991e-01]
+t: 119	 action: [-9.044e-01 -1.293e-01 -4.197e-01  3.495e-02  6.022e-02  7.245e-04 -1.033e+00]
+t: 120	 action: [-0.917 -0.098 -0.341  0.03   0.077 -0.003 -0.989]
+t: 121	 action: [-0.901 -0.137 -0.355  0.027  0.064 -0.002 -1.038]
+[07-31 02:12:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.173 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9887
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9887
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 133
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 31 (23.3%)
+
+
 66%|██████▌   | 33/50 [08:18<04:06, 14.51s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 34...
+Query 1/1: Action query time = 1.173 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=122: Selected seed 195 with value = 0.9887
+t: 122	 action: [-8.935e-01 -1.066e-01 -3.394e-01  1.530e-02  6.600e-02 -1.789e-04 -9.654e-01]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=133--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+113 113 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=133--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 133
+# successes: 31 (23.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 34...
+[07-31 02:12:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3154
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3154
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3154
+t=10: Selected seed 195 with value = 0.3154
+t: 10	 action: [ 0.197  0.057 -0.005  0.004  0.006  0.011 -1.005]
+t: 11	 action: [ 0.338  0.071 -0.012  0.006  0.013  0.01  -1.013]
+t: 12	 action: [ 0.483  0.078 -0.032  0.004  0.007  0.013 -1.009]
+t: 13	 action: [ 0.663  0.103 -0.021  0.004  0.015  0.009 -1.015]
+t: 14	 action: [ 7.968e-01  1.511e-01 -3.980e-02  6.442e-04  9.284e-03  1.200e-02 -1.003e+00]
+t: 15	 action: [ 0.871  0.147 -0.036  0.006  0.015  0.009 -1.033]
+t: 16	 action: [ 0.977  0.176 -0.068 -0.001  0.015  0.009 -1.   ]
+t: 17	 action: [ 0.958  0.155 -0.061  0.006  0.021  0.007 -1.039]
+t: 18	 action: [ 0.918  0.19  -0.068  0.006  0.021  0.01  -1.012]
+t: 19	 action: [ 0.94   0.177 -0.061  0.004  0.033  0.006 -1.02 ]
+t: 20	 action: [ 0.948  0.188 -0.093  0.007  0.021  0.009 -1.012]
+t: 21	 action: [ 0.954  0.168 -0.075  0.006  0.034  0.004 -1.017]
+t: 22	 action: [ 0.99   0.172 -0.093  0.004  0.025  0.006 -0.985]
+t: 23	 action: [ 1.009  0.163 -0.106  0.011  0.033  0.003 -1.035]
+t: 24	 action: [ 1.013e+00  1.680e-01 -1.252e-01  6.800e-04  2.346e-02  3.230e-03 -9.833e-01]
+t: 25	 action: [ 1.021  0.145 -0.147  0.013  0.033  0.002 -1.038]
+[07-31 02:12:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3758
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3758
+Query 1/1: Action query time = 1.001 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3758
+t=26: Selected seed 195 with value = 0.3758
+t: 26	 action: [ 0.923  0.238 -0.19   0.003  0.016  0.011 -1.036]
+t: 27	 action: [ 0.937  0.159 -0.201  0.011  0.02   0.005 -1.022]
+t: 28	 action: [ 0.928  0.122 -0.254  0.009  0.019  0.011 -1.03 ]
+t: 29	 action: [ 0.934  0.053 -0.285  0.016  0.023  0.002 -1.02 ]
+t: 30	 action: [ 0.954  0.001 -0.356  0.016  0.017  0.002 -1.013]
+t: 31	 action: [ 9.082e-01 -5.799e-02 -4.359e-01  2.599e-02  1.838e-02 -7.847e-04 -1.036e+00]
+t: 32	 action: [ 8.862e-01 -8.317e-02 -4.815e-01  2.939e-02  1.841e-02  4.034e-04 -1.012e+00]
+t: 33	 action: [ 0.839 -0.132 -0.56   0.029  0.013 -0.003 -1.037]
+t: 34	 action: [ 0.708 -0.103 -0.525  0.025  0.009  0.005 -1.029]
+t: 35	 action: [ 0.666 -0.12  -0.604  0.018  0.009 -0.004 -1.023]
+t: 36	 action: [ 5.199e-01 -6.958e-02 -6.237e-01  2.071e-02  2.046e-04  3.863e-03 -1.019e+00]
+t: 37	 action: [ 0.435 -0.108 -0.679  0.013  0.001 -0.006 -1.015]
+t: 38	 action: [ 3.344e-01 -4.258e-03 -6.353e-01  2.051e-02 -9.513e-03 -1.017e-03 -1.022e+00]
+t: 39	 action: [ 0.236 -0.054 -0.675  0.018 -0.011 -0.008 -1.039]
+t: 40	 action: [ 2.033e-01  4.054e-02 -6.869e-01  7.321e-03 -1.564e-02  5.024e-04 -1.015e+00]
+t: 41	 action: [ 0.129 -0.025 -0.696  0.01  -0.022 -0.008 -1.036]
+[07-31 02:12:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4163
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4163
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4163
+t=42: Selected seed 195 with value = 0.4163
+t: 42	 action: [ 0.275 -0.222 -0.56   0.024 -0.01   0.007 -1.013]
+t: 43	 action: [ 0.147 -0.213 -0.673  0.015 -0.012  0.006 -1.029]
+t: 44	 action: [ 0.12  -0.21  -0.648  0.022 -0.031  0.01  -1.018]
+t: 45	 action: [-0.009 -0.2   -0.744  0.013 -0.035  0.014 -1.023]
+t: 46	 action: [-0.088 -0.188 -0.659  0.003 -0.037  0.012 -1.009]
+t: 47	 action: [-0.14  -0.141 -0.809  0.009 -0.043  0.015 -1.052]
+t: 48	 action: [-2.359e-01 -8.967e-02 -7.088e-01 -5.842e-04 -4.622e-02  2.574e-02 -1.013e+00]
+t: 49	 action: [-0.3   -0.091 -0.804  0.003 -0.043  0.023 -1.048]
+t: 50	 action: [-3.841e-01 -5.097e-02 -7.159e-01  4.256e-04 -5.804e-02  6.372e-02 -1.014e+00]
+t: 51	 action: [-0.424 -0.114 -0.774 -0.013 -0.054  0.06  -1.022]
+t: 52	 action: [-0.489  0.007 -0.703 -0.007 -0.051  0.074 -1.019]
+t: 53	 action: [-0.495 -0.068 -0.727 -0.016 -0.037  0.065 -1.017]
+t: 54	 action: [-0.545 -0.001 -0.651 -0.036 -0.052  0.087 -1.012]
+t: 55	 action: [-0.493 -0.005 -0.676 -0.019 -0.039  0.065 -1.052]
+t: 56	 action: [-0.517  0.048 -0.628 -0.04  -0.036  0.086 -1.012]
+t: 57	 action: [-0.475  0.028 -0.628 -0.024 -0.019  0.07  -1.057]
+[07-31 02:12:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5363
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5363
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5363
+t=58: Selected seed 195 with value = 0.5363
+t: 58	 action: [-0.414 -0.048 -0.636  0.009 -0.017  0.053 -0.985]
+t: 59	 action: [-0.322  0.009 -0.639 -0.004  0.002  0.046 -0.996]
+t: 60	 action: [-2.552e-01  1.655e-01 -6.035e-01  5.071e-03 -9.723e-04  5.188e-02 -9.917e-01]
+t: 61	 action: [-0.078  0.351 -0.544 -0.002  0.011  0.04  -1.003]
+t: 62	 action: [-0.172  0.418 -0.484  0.003  0.011  0.055 -0.992]
+t: 63	 action: [-0.039  0.625 -0.406  0.006  0.002  0.041 -1.033]
+t: 64	 action: [-0.014  0.7   -0.384  0.001  0.02   0.044 -1.001]
+t: 65	 action: [ 0.045  0.83  -0.316  0.006  0.006  0.031 -1.034]
+t: 66	 action: [ 0.05   0.852 -0.255  0.007  0.018  0.015 -0.99 ]
+t: 67	 action: [ 0.046  0.857 -0.227  0.007  0.029  0.013 -0.999]
+t: 68	 action: [ 0.032  0.879 -0.232  0.005  0.021  0.019 -0.989]
+t: 69	 action: [ 0.042  0.864 -0.218  0.007  0.022  0.016 -0.998]
+t: 70	 action: [-0.037  0.93  -0.233  0.001  0.018  0.012 -1.008]
+t: 71	 action: [-0.015  0.888 -0.22   0.012  0.021  0.008 -1.033]
+t: 72	 action: [-0.085  0.926 -0.235 -0.002  0.018  0.01  -1.003]
+t: 73	 action: [-0.048  0.897 -0.249  0.01   0.015  0.013 -1.036]
+[07-31 02:12:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5710
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5710
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5710
+t=74: Selected seed 195 with value = 0.5710
+t: 74	 action: [-0.183  0.135 -0.551  0.003 -0.033  0.034 -1.   ]
+t: 75	 action: [-0.149  0.323 -0.471 -0.002 -0.01   0.024 -1.006]
+t: 76	 action: [-0.088  0.468 -0.494  0.003 -0.023  0.032 -1.001]
+t: 77	 action: [-1.421e-02  6.522e-01 -3.909e-01  2.174e-04  1.837e-03  2.272e-02 -1.013e+00]
+t: 78	 action: [-7.291e-02  5.816e-01 -4.208e-01 -6.915e-04 -1.335e-02  2.695e-02 -1.013e+00]
+t: 79	 action: [-3.647e-02  7.744e-01 -3.024e-01  8.453e-04 -5.265e-03  1.562e-02 -1.039e+00]
+t: 80	 action: [-3.093e-02  8.495e-01 -3.541e-01 -9.079e-04 -2.025e-03  2.306e-02 -1.013e+00]
+t: 81	 action: [-0.027  0.895 -0.271  0.003 -0.002  0.015 -1.043]
+t: 82	 action: [-0.021  0.917 -0.235  0.003 -0.025  0.011 -1.013]
+t: 83	 action: [ 0.002  0.889 -0.185 -0.002 -0.005  0.01  -1.007]
+t: 84	 action: [-0.045  0.911 -0.224  0.005 -0.018  0.015 -1.008]
+t: 85	 action: [-0.025  0.877 -0.162  0.002 -0.003  0.014 -1.012]
+t: 86	 action: [-8.565e-02  9.572e-01 -2.011e-01  5.595e-04 -1.995e-02  6.759e-03 -1.024e+00]
+t: 87	 action: [-0.103  0.911 -0.154  0.004 -0.012  0.004 -1.038]
+t: 88	 action: [-0.16   0.945 -0.219 -0.002 -0.007  0.009 -1.009]
+t: 89	 action: [-0.167  0.905 -0.173  0.006 -0.006  0.01  -1.041]
+[07-31 02:12:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7929
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 0.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=90: Selected seed 195 with value = 0.7929
+t: 90	 action: [-0.141  0.741 -0.308 -0.015  0.002  0.01  -1.016]
+t: 91	 action: [-0.136  0.773 -0.28  -0.01   0.006  0.009 -1.012]
+t: 92	 action: [-0.138  0.797 -0.256 -0.012  0.009  0.01  -1.005]
+t: 93	 action: [-0.105  0.827 -0.231 -0.005  0.009  0.012 -1.015]
+t: 94	 action: [-0.104  0.839 -0.214 -0.014  0.001  0.005 -1.011]
+t: 95	 action: [-0.1    0.868 -0.222 -0.008 -0.002  0.008 -1.035]
+t: 96	 action: [-0.13   0.89  -0.201 -0.014  0.007  0.005 -1.001]
+t: 97	 action: [-0.119  0.895 -0.216 -0.004 -0.001  0.012 -1.036]
+t: 98	 action: [-0.173  0.959 -0.203 -0.005 -0.029  0.016 -1.011]
+t: 99	 action: [-0.217  0.923 -0.211 -0.005 -0.023  0.014 -1.011]
+t: 100	 action: [-0.239  0.936 -0.222  0.004 -0.026  0.022 -1.01 ]
+t: 101	 action: [-2.826e-01  8.839e-01 -2.432e-01  2.434e-04 -2.098e-02  1.824e-02 -1.009e+00]
+t: 102	 action: [-0.36   0.926 -0.242 -0.006 -0.029  0.018 -1.006]
+t: 103	 action: [-0.394  0.931 -0.315  0.002 -0.031  0.016 -1.035]
+t: 104	 action: [-0.464  0.88  -0.244 -0.004 -0.016  0.025 -0.992]
+t: 105	 action: [-0.47   0.882 -0.311  0.007 -0.018  0.022 -1.034]
+[07-31 02:12:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9222
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9222
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 134
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 32 (23.9%)
+
+
 68%|██████▊   | 34/50 [08:31<03:45, 14.08s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 35...
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9222
+t=106: Selected seed 195 with value = 0.9222
+t: 106	 action: [-0.676  0.492 -0.306  0.009  0.015  0.004 -0.994]
+t: 107	 action: [-0.661  0.468 -0.252  0.023  0.023  0.006 -1.002]
+t: 108	 action: [-0.738  0.446 -0.344  0.007  0.019  0.005 -0.983]
+t: 109	 action: [-0.74   0.431 -0.262  0.021  0.028  0.002 -1.002]
+t: 110	 action: [-0.805  0.398 -0.33   0.003  0.019  0.002 -0.983]
+t: 111	 action: [-0.803  0.468 -0.269  0.027  0.026  0.013 -1.036]
+t: 112	 action: [-7.869e-01  3.639e-01 -3.340e-01  1.313e-03  3.383e-02 -4.630e-04 -9.746e-01]
+t: 113	 action: [-0.783  0.388 -0.288  0.025  0.04   0.007 -1.039]
+t: 114	 action: [-7.556e-01  1.944e-01 -3.801e-01  2.341e-02  4.291e-02  3.835e-04 -1.014e+00]
+t: 115	 action: [-7.744e-01  9.021e-02 -4.276e-01  2.884e-02  5.646e-02 -2.238e-04 -1.008e+00]
+t: 116	 action: [-8.442e-01  7.314e-02 -3.826e-01  2.561e-02  6.160e-02 -3.634e-04 -1.011e+00]
+t: 117	 action: [-0.811 -0.038 -0.448  0.026  0.071 -0.002 -1.008]
+t: 118	 action: [-0.929 -0.041 -0.385  0.034  0.065 -0.002 -1.007]
+t: 119	 action: [-0.903 -0.129 -0.482  0.038  0.056  0.004 -1.038]
+t: 120	 action: [-0.922 -0.106 -0.358  0.032  0.069 -0.006 -0.993]
+t: 121	 action: [-9.033e-01 -1.499e-01 -4.490e-01  3.069e-02  5.467e-02  5.037e-04 -1.042e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=134--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+112 112 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=134--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 134
+# successes: 32 (23.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 35...
+[07-31 02:12:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3567
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3567
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3567
+t=10: Selected seed 195 with value = 0.3567
+t: 10	 action: [ 1.398e-01  9.586e-02  5.191e-03 -5.030e-04  1.370e-02  7.671e-03 -1.024e+00]
+t: 11	 action: [ 0.26   0.118 -0.002 -0.003  0.018  0.009 -1.018]
+t: 12	 action: [ 0.448  0.145 -0.011 -0.001  0.013  0.008 -1.028]
+t: 13	 action: [ 0.621  0.173 -0.012 -0.005  0.022  0.008 -1.02 ]
+t: 14	 action: [ 0.745  0.173 -0.029 -0.005  0.006  0.007 -1.027]
+t: 15	 action: [ 0.836  0.157 -0.024 -0.005  0.013  0.008 -1.032]
+t: 16	 action: [ 0.93   0.187 -0.052 -0.006  0.008  0.004 -1.022]
+t: 17	 action: [ 0.945  0.182 -0.034 -0.005  0.018  0.006 -1.037]
+t: 18	 action: [ 0.934  0.159 -0.033  0.003  0.034  0.005 -1.026]
+t: 19	 action: [ 9.119e-01  1.434e-01 -5.330e-02  3.758e-04  4.337e-02  2.563e-03 -1.018e+00]
+t: 20	 action: [ 0.957  0.156 -0.08   0.004  0.028  0.004 -1.03 ]
+t: 21	 action: [ 9.199e-01  1.431e-01 -6.635e-02  5.643e-04  3.425e-02 -9.909e-05 -1.016e+00]
+t: 22	 action: [ 9.776e-01  1.559e-01 -8.994e-02  1.675e-04  2.420e-02  1.922e-03 -1.003e+00]
+t: 23	 action: [ 9.807e-01  1.508e-01 -1.117e-01  8.652e-03  2.620e-02  5.912e-04 -1.034e+00]
+t: 24	 action: [ 1.001e+00  1.731e-01 -1.669e-01 -3.543e-03  1.884e-02 -1.005e-03 -1.005e+00]
+t: 25	 action: [ 1.004e+00  1.521e-01 -1.667e-01  8.028e-03  2.152e-02  7.695e-05 -1.036e+00]
+[07-31 02:12:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3748
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3748
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3748
+t=26: Selected seed 195 with value = 0.3748
+t: 26	 action: [ 0.934  0.223 -0.133  0.004  0.029  0.008 -1.032]
+t: 27	 action: [ 0.952  0.164 -0.152  0.007  0.038 -0.003 -1.023]
+t: 28	 action: [ 0.941  0.138 -0.207  0.009  0.031  0.008 -1.024]
+t: 29	 action: [ 0.958  0.073 -0.24   0.013  0.041 -0.003 -1.02 ]
+t: 30	 action: [ 0.978  0.03  -0.332  0.006  0.028 -0.002 -1.009]
+t: 31	 action: [ 0.942 -0.015 -0.41   0.019  0.038 -0.007 -1.037]
+t: 32	 action: [ 0.938 -0.039 -0.489  0.018  0.026 -0.005 -1.008]
+t: 33	 action: [ 0.884 -0.082 -0.554  0.022  0.025 -0.007 -1.037]
+t: 34	 action: [ 0.733 -0.118 -0.539  0.032  0.024 -0.006 -1.027]
+t: 35	 action: [ 0.668 -0.153 -0.634  0.017  0.018 -0.01  -1.023]
+t: 36	 action: [ 0.499 -0.107 -0.665  0.028  0.011 -0.001 -1.022]
+t: 37	 action: [ 0.386 -0.138 -0.721  0.013  0.01  -0.009 -1.017]
+t: 38	 action: [ 0.28  -0.026 -0.701  0.024 -0.002 -0.004 -1.021]
+t: 39	 action: [ 0.183 -0.083 -0.712  0.017 -0.003 -0.01  -1.041]
+t: 40	 action: [ 0.117  0.022 -0.759  0.008 -0.012  0.003 -1.018]
+t: 41	 action: [ 0.054 -0.046 -0.753  0.008 -0.014 -0.006 -1.038]
+[07-31 02:12:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4431
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4431
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4431
+t=42: Selected seed 195 with value = 0.4431
+t: 42	 action: [ 0.214 -0.292 -0.57   0.021 -0.013  0.009 -1.011]
+t: 43	 action: [ 0.109 -0.248 -0.701  0.01  -0.02   0.008 -1.022]
+t: 44	 action: [ 0.047 -0.265 -0.675  0.019 -0.038  0.013 -1.018]
+t: 45	 action: [-0.06  -0.217 -0.782  0.009 -0.045  0.015 -1.018]
+t: 46	 action: [-0.127 -0.217 -0.701  0.002 -0.048  0.016 -1.011]
+t: 47	 action: [-0.161 -0.144 -0.83   0.004 -0.057  0.016 -1.047]
+t: 48	 action: [-0.252 -0.12  -0.731 -0.002 -0.059  0.029 -1.016]
+t: 49	 action: [-3.109e-01 -9.158e-02 -8.236e-01 -2.419e-04 -5.657e-02  2.181e-02 -1.046e+00]
+t: 50	 action: [-0.383 -0.087 -0.74  -0.001 -0.073  0.06  -1.01 ]
+t: 51	 action: [-0.417 -0.116 -0.798 -0.011 -0.068  0.051 -1.015]
+t: 52	 action: [-0.467 -0.019 -0.722 -0.007 -0.065  0.067 -1.015]
+t: 53	 action: [-0.473 -0.076 -0.744 -0.013 -0.051  0.053 -1.01 ]
+t: 54	 action: [-0.483 -0.013 -0.691 -0.033 -0.059  0.069 -1.008]
+t: 55	 action: [-0.424  0.003 -0.693 -0.017 -0.044  0.05  -1.045]
+t: 56	 action: [-0.453  0.019 -0.654 -0.034 -0.038  0.066 -1.007]
+t: 57	 action: [-0.401  0.019 -0.642 -0.019 -0.021  0.052 -1.051]
+[07-31 02:12:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5341
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5341
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5341
+t=58: Selected seed 195 with value = 0.5341
+t: 58	 action: [-0.32  -0.005 -0.59   0.006 -0.011  0.033 -0.989]
+t: 59	 action: [-0.308 -0.044 -0.601 -0.007  0.003  0.032 -1.002]
+t: 60	 action: [-0.306  0.074 -0.583  0.003  0.001  0.031 -0.99 ]
+t: 61	 action: [-0.225  0.179 -0.565 -0.007  0.006  0.027 -1.004]
+t: 62	 action: [-2.977e-01  2.369e-01 -4.794e-01 -4.016e-04  1.375e-02  3.564e-02 -9.865e-01]
+t: 63	 action: [-0.201  0.457 -0.437  0.001  0.001  0.029 -1.026]
+t: 64	 action: [-0.131  0.527 -0.37  -0.001  0.015  0.026 -0.99 ]
+t: 65	 action: [-7.328e-02  7.320e-01 -3.126e-01 -3.187e-04  1.591e-03  2.067e-02 -1.027e+00]
+t: 66	 action: [ 0.046  0.752 -0.223  0.004  0.027  0.006 -0.981]
+t: 67	 action: [ 0.044  0.787 -0.219  0.005  0.034  0.006 -0.976]
+t: 68	 action: [ 0.068  0.811 -0.216  0.004  0.022  0.008 -0.977]
+t: 69	 action: [ 0.064  0.827 -0.218  0.005  0.017  0.01  -0.974]
+t: 70	 action: [-0.04   0.91  -0.221 -0.001  0.014  0.003 -0.999]
+t: 71	 action: [-0.009  0.863 -0.248  0.011  0.014  0.004 -1.018]
+t: 72	 action: [-0.108  0.904 -0.246 -0.006  0.008  0.002 -0.993]
+t: 73	 action: [-0.041  0.879 -0.276  0.009  0.006  0.01  -1.023]
+[07-31 02:12:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5941
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5941
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5941
+t=74: Selected seed 195 with value = 0.5941
+t: 74	 action: [-1.885e-01  3.720e-01 -5.136e-01 -1.057e-04 -2.182e-02  3.134e-02 -1.003e+00]
+t: 75	 action: [-0.168  0.473 -0.43  -0.005  0.003  0.023 -1.003]
+t: 76	 action: [-0.1    0.613 -0.422  0.002 -0.011  0.029 -1.004]
+t: 77	 action: [-0.052  0.719 -0.301 -0.003  0.006  0.021 -1.01 ]
+t: 78	 action: [-1.236e-01  6.755e-01 -3.231e-01 -5.919e-04 -2.171e-03  2.873e-02 -1.005e+00]
+t: 79	 action: [-8.433e-02  8.065e-01 -2.711e-01  2.593e-03 -3.418e-04  1.767e-02 -1.032e+00]
+t: 80	 action: [-0.097  0.857 -0.26  -0.002  0.004  0.024 -1.006]
+t: 81	 action: [-6.617e-02  8.929e-01 -2.282e-01  5.187e-03  9.563e-05  1.667e-02 -1.034e+00]
+t: 82	 action: [-0.024  0.928 -0.196 -0.002 -0.005  0.01  -1.006]
+t: 83	 action: [ 0.001  0.89  -0.158 -0.003  0.002  0.009 -1.003]
+t: 84	 action: [-0.042  0.917 -0.201  0.002 -0.005  0.013 -1.004]
+t: 85	 action: [-1.710e-02  8.843e-01 -1.633e-01  5.489e-04 -8.628e-04  1.279e-02 -1.007e+00]
+t: 86	 action: [-0.088  0.956 -0.177 -0.002 -0.008  0.006 -1.018]
+t: 87	 action: [-0.094  0.913 -0.165  0.005 -0.003  0.007 -1.026]
+t: 88	 action: [-0.157  0.937 -0.199 -0.005 -0.005  0.008 -1.004]
+t: 89	 action: [-0.147  0.912 -0.19   0.006 -0.009  0.014 -1.028]
+[07-31 02:12:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8263
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8263
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8263
+t=90: Selected seed 195 with value = 0.8263
+t: 90	 action: [-0.157  0.813 -0.276 -0.017  0.015  0.007 -1.011]
+t: 91	 action: [-0.18   0.825 -0.268 -0.011  0.019  0.005 -1.011]
+t: 92	 action: [-0.184  0.827 -0.249 -0.016  0.023  0.008 -1.003]
+t: 93	 action: [-0.19   0.84  -0.237 -0.007  0.025  0.008 -1.013]
+t: 94	 action: [-2.057e-01  8.598e-01 -2.164e-01 -1.505e-02  1.126e-02  5.026e-04 -1.003e+00]
+t: 95	 action: [-0.223  0.875 -0.222 -0.007  0.014  0.006 -1.032]
+t: 96	 action: [-0.257  0.879 -0.21  -0.015  0.018  0.001 -0.997]
+t: 97	 action: [-0.255  0.879 -0.216 -0.004  0.012  0.01  -1.033]
+t: 98	 action: [-0.243  0.939 -0.195 -0.001 -0.019  0.011 -1.004]
+t: 99	 action: [-0.29   0.905 -0.211 -0.004 -0.013  0.008 -1.011]
+t: 100	 action: [-0.321  0.919 -0.207  0.005 -0.021  0.014 -1.009]
+t: 101	 action: [-3.547e-01  8.596e-01 -2.376e-01 -3.668e-04 -1.587e-02  1.097e-02 -1.009e+00]
+t: 102	 action: [-0.429  0.901 -0.224 -0.004 -0.021  0.011 -1.   ]
+t: 103	 action: [-0.456  0.901 -0.308  0.004 -0.022  0.011 -1.032]
+t: 104	 action: [-0.524  0.84  -0.221 -0.004 -0.013  0.016 -0.993]
+t: 105	 action: [-0.534  0.831 -0.299  0.008 -0.017  0.016 -1.033]
+[07-31 02:12:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9596
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9596
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 135
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 33 (24.4%)
+
+
 70%|███████   | 35/50 [08:44<03:26, 13.74s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 36...
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=106: Selected seed 195 with value = 0.9596
+t: 106	 action: [-0.777  0.327 -0.375  0.029  0.009  0.003 -0.948]
+t: 107	 action: [-0.794  0.274 -0.409  0.038  0.032 -0.009 -0.97 ]
+t: 108	 action: [-8.275e-01  2.327e-01 -4.079e-01  3.866e-02  3.307e-02 -9.337e-04 -9.544e-01]
+t: 109	 action: [-0.846  0.102 -0.421  0.037  0.064 -0.022 -0.978]
+t: 110	 action: [-0.863  0.083 -0.395  0.048  0.085 -0.005 -0.938]
+t: 111	 action: [-0.887  0.039 -0.394  0.052  0.093 -0.009 -1.02 ]
+t: 112	 action: [-0.841  0.015 -0.379  0.056  0.113 -0.016 -0.942]
+t: 113	 action: [-0.843 -0.011 -0.385  0.048  0.109 -0.024 -1.019]
+t: 114	 action: [-0.849 -0.079 -0.431  0.051  0.087 -0.039 -0.996]
+t: 115	 action: [-0.827 -0.205 -0.453  0.038  0.086 -0.042 -1.005]
+t: 116	 action: [-0.877 -0.122 -0.437  0.059  0.089 -0.04  -0.995]
+t: 117	 action: [-0.832 -0.232 -0.474  0.038  0.085 -0.04  -1.004]
+t: 118	 action: [-0.885 -0.205 -0.423  0.058  0.098 -0.045 -0.976]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=135--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+109 109 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=135--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 135
+# successes: 33 (24.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 36...
+[07-31 02:12:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3513
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3513
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3513
+t=10: Selected seed 195 with value = 0.3513
+t: 10	 action: [ 0.096  0.05  -0.063  0.005 -0.008 -0.005 -1.014]
+t: 11	 action: [ 0.219  0.052 -0.063  0.006 -0.002 -0.007 -1.004]
+t: 12	 action: [ 0.3    0.076 -0.085  0.003 -0.007 -0.001 -1.016]
+t: 13	 action: [ 0.475  0.107 -0.075  0.003  0.003 -0.005 -1.008]
+t: 14	 action: [ 0.614  0.1   -0.095 -0.001 -0.012 -0.006 -1.024]
+t: 15	 action: [ 0.757  0.144 -0.107  0.005 -0.004 -0.008 -1.029]
+t: 16	 action: [ 0.869  0.162 -0.113 -0.003 -0.006 -0.005 -1.018]
+t: 17	 action: [ 0.905  0.181 -0.131  0.003 -0.001 -0.006 -1.032]
+t: 18	 action: [ 0.9    0.164 -0.096  0.004  0.002  0.004 -1.013]
+t: 19	 action: [ 0.928  0.165 -0.115  0.002  0.011 -0.004 -1.01 ]
+t: 20	 action: [ 0.928  0.192 -0.118  0.005  0.003  0.005 -1.012]
+t: 21	 action: [ 0.933  0.203 -0.125  0.003  0.012 -0.003 -1.008]
+t: 22	 action: [ 0.959  0.215 -0.122  0.001  0.005  0.002 -0.998]
+t: 23	 action: [ 0.975  0.214 -0.146  0.008  0.006 -0.003 -1.027]
+t: 24	 action: [ 9.820e-01  2.831e-01 -1.488e-01  2.263e-04  7.384e-03  8.990e-04 -9.993e-01]
+t: 25	 action: [ 9.929e-01  2.485e-01 -1.809e-01  8.457e-03  4.113e-03  9.269e-04 -1.029e+00]
+[07-31 02:12:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3889
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3889
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3889
+t=26: Selected seed 195 with value = 0.3889
+t: 26	 action: [ 0.923  0.149 -0.239  0.014  0.002  0.003 -1.031]
+t: 27	 action: [ 0.934  0.093 -0.263  0.024  0.007 -0.004 -0.997]
+t: 28	 action: [ 0.916  0.123 -0.291  0.025  0.003  0.004 -1.028]
+t: 29	 action: [ 0.933  0.061 -0.307  0.027  0.007 -0.008 -1.003]
+t: 30	 action: [ 0.947  0.075 -0.366  0.033  0.008 -0.004 -1.017]
+t: 31	 action: [ 0.902  0.06  -0.389  0.035  0.005 -0.006 -1.027]
+t: 32	 action: [ 0.875  0.041 -0.472  0.038  0.008 -0.006 -1.017]
+t: 33	 action: [ 0.817  0.025 -0.487  0.036  0.002 -0.01  -1.031]
+t: 34	 action: [ 0.689 -0.031 -0.544  0.041 -0.016 -0.008 -1.015]
+t: 35	 action: [ 0.692 -0.026 -0.602  0.028 -0.007 -0.011 -1.004]
+t: 36	 action: [ 0.559 -0.044 -0.607  0.036 -0.022 -0.007 -1.008]
+t: 37	 action: [ 0.542 -0.043 -0.655  0.021 -0.006 -0.013 -1.004]
+t: 38	 action: [ 0.488 -0.045 -0.589  0.029 -0.019 -0.011 -1.012]
+t: 39	 action: [ 0.374 -0.004 -0.61   0.027 -0.014 -0.014 -1.029]
+t: 40	 action: [ 0.422 -0.026 -0.608  0.021 -0.018 -0.009 -1.008]
+t: 41	 action: [ 0.315 -0.005 -0.604  0.019 -0.013 -0.013 -1.027]
+[07-31 02:12:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4707
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4707
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4707
+t=42: Selected seed 195 with value = 0.4707
+t: 42	 action: [ 0.279 -0.178 -0.563  0.03  -0.01   0.008 -1.004]
+t: 43	 action: [ 0.116 -0.176 -0.674  0.018 -0.011 -0.002 -1.03 ]
+t: 44	 action: [ 0.072 -0.166 -0.612  0.022 -0.03   0.011 -1.003]
+t: 45	 action: [-0.056 -0.156 -0.698  0.011 -0.029  0.008 -1.022]
+t: 46	 action: [-0.185 -0.14  -0.615  0.009 -0.028  0.009 -1.   ]
+t: 47	 action: [-0.217 -0.112 -0.765  0.015 -0.031  0.014 -1.048]
+t: 48	 action: [-0.301 -0.05  -0.666  0.001 -0.04   0.022 -0.997]
+t: 49	 action: [-0.35  -0.051 -0.765  0.002 -0.038  0.022 -1.039]
+t: 50	 action: [-0.427  0.002 -0.641 -0.003 -0.045  0.047 -1.007]
+t: 51	 action: [-0.473 -0.045 -0.71  -0.026 -0.036  0.058 -1.024]
+t: 52	 action: [-0.502  0.038 -0.663 -0.017 -0.041  0.056 -1.008]
+t: 53	 action: [-0.513 -0.008 -0.68  -0.033 -0.02   0.061 -1.015]
+t: 54	 action: [-0.584  0.011 -0.639 -0.034 -0.042  0.091 -1.005]
+t: 55	 action: [-0.554  0.06  -0.716 -0.03  -0.034  0.08  -1.044]
+t: 56	 action: [-0.537  0.066 -0.639 -0.046 -0.033  0.085 -1.   ]
+t: 57	 action: [-0.489  0.089 -0.668 -0.038 -0.017  0.077 -1.044]
+[07-31 02:12:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5316
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5316
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5316
+t=58: Selected seed 195 with value = 0.5316
+t: 58	 action: [-0.195 -0.011 -0.668  0.013 -0.011  0.057 -0.996]
+t: 59	 action: [-0.119  0.035 -0.75  -0.003  0.01   0.057 -1.006]
+t: 60	 action: [-0.099  0.146 -0.651  0.008  0.009  0.06  -0.99 ]
+t: 61	 action: [ 0.009  0.32  -0.68  -0.001  0.017  0.049 -1.008]
+t: 62	 action: [-0.038  0.417 -0.594  0.002  0.023  0.067 -1.   ]
+t: 63	 action: [ 0.016  0.563 -0.604  0.003  0.008  0.056 -1.04 ]
+t: 64	 action: [ 0.065  0.772 -0.491  0.003  0.033  0.057 -0.994]
+t: 65	 action: [ 0.083  0.839 -0.478  0.004  0.018  0.043 -1.04 ]
+t: 66	 action: [ 0.05   0.838 -0.369  0.006  0.026  0.035 -0.995]
+t: 67	 action: [ 0.084  0.89  -0.398  0.006  0.032  0.024 -0.994]
+t: 68	 action: [ 0.069  0.91  -0.308  0.004  0.032  0.036 -0.992]
+t: 69	 action: [ 0.104  0.902 -0.348  0.009  0.034  0.02  -1.002]
+t: 70	 action: [ 0.039  0.954 -0.334  0.003  0.033  0.025 -1.006]
+t: 71	 action: [ 0.023  0.937 -0.359  0.008  0.034  0.016 -1.019]
+t: 72	 action: [ 3.644e-02  9.551e-01 -2.923e-01 -1.058e-04  3.048e-02  2.027e-02 -1.001e+00]
+t: 73	 action: [ 0.028  0.937 -0.354  0.009  0.03   0.016 -1.033]
+[07-31 02:13:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5840
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5840
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5840
+t=74: Selected seed 195 with value = 0.5840
+t: 74	 action: [ 0.046  0.888 -0.41   0.011 -0.022  0.008 -1.005]
+t: 75	 action: [ 0.04   0.904 -0.395  0.015 -0.005  0.007 -1.001]
+t: 76	 action: [ 0.032  0.91  -0.388  0.008 -0.018  0.009 -0.997]
+t: 77	 action: [ 0.016  0.913 -0.39   0.015 -0.001  0.007 -1.005]
+t: 78	 action: [ 0.034  0.943 -0.387  0.004 -0.007  0.004 -1.004]
+t: 79	 action: [-0.008  0.936 -0.382  0.014 -0.01   0.007 -1.02 ]
+t: 80	 action: [-0.005  0.954 -0.385  0.003 -0.004  0.006 -0.996]
+t: 81	 action: [-0.013  0.95  -0.382  0.014 -0.011  0.007 -1.026]
+t: 82	 action: [-0.031  0.944 -0.398  0.009 -0.044  0.005 -1.004]
+t: 83	 action: [-0.02   0.946 -0.397  0.007 -0.049  0.009 -1.008]
+t: 84	 action: [-0.051  0.951 -0.397  0.008 -0.036  0.011 -1.003]
+t: 85	 action: [-0.066  0.938 -0.4    0.006 -0.032  0.011 -1.012]
+t: 86	 action: [-0.12   0.953 -0.409  0.004 -0.032  0.008 -1.008]
+t: 87	 action: [-0.167  0.96  -0.4    0.006 -0.024  0.014 -1.027]
+t: 88	 action: [-0.175  0.951 -0.406  0.002 -0.019  0.014 -1.003]
+t: 89	 action: [-0.206  0.951 -0.387  0.006 -0.012  0.015 -1.036]
+[07-31 02:13:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8414
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8414
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8414
+t=90: Selected seed 195 with value = 0.8414
+t: 90	 action: [-7.834e-02  8.000e-01 -2.742e-01  6.102e-04  3.333e-02  1.137e-02 -1.006e+00]
+t: 91	 action: [-0.068  0.825 -0.313 -0.003  0.04   0.009 -1.007]
+t: 92	 action: [-0.122  0.846 -0.255  0.002  0.039  0.011 -0.994]
+t: 93	 action: [-1.083e-01  8.713e-01 -2.981e-01  6.680e-04  4.138e-02  1.170e-02 -1.014e+00]
+t: 94	 action: [-1.126e-01  8.321e-01 -2.412e-01 -8.922e-04  2.424e-02  4.966e-03 -1.001e+00]
+t: 95	 action: [-0.177  0.905 -0.294  0.004  0.032  0.008 -1.032]
+t: 96	 action: [-1.756e-01  8.801e-01 -2.503e-01 -7.733e-04  2.645e-02  4.748e-03 -9.899e-01]
+t: 97	 action: [-0.23   0.927 -0.302  0.005  0.032  0.011 -1.037]
+t: 98	 action: [-0.231  0.951 -0.244  0.005 -0.007  0.015 -1.002]
+t: 99	 action: [-0.237  0.907 -0.274  0.002  0.001  0.011 -1.014]
+t: 100	 action: [-0.258  0.919 -0.254  0.005 -0.006  0.017 -1.003]
+t: 101	 action: [-0.268  0.846 -0.277  0.004  0.003  0.014 -1.018]
+t: 102	 action: [-0.325  0.897 -0.249  0.002 -0.013  0.011 -1.001]
+t: 103	 action: [-0.367  0.88  -0.284  0.007 -0.013  0.01  -1.034]
+t: 104	 action: [-3.807e-01  8.410e-01 -2.493e-01  1.620e-04 -6.947e-03  1.350e-02 -9.929e-01]
+t: 105	 action: [-0.408  0.772 -0.282  0.008 -0.007  0.014 -1.043]
+[07-31 02:13:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9136
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9136
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=106: Selected seed 195 with value = 0.9136
+t: 106	 action: [-0.422  0.596 -0.214  0.003  0.021  0.005 -1.007]
+t: 107	 action: [-0.434  0.551 -0.204  0.009  0.014  0.003 -1.017]
+t: 108	 action: [-0.491  0.502 -0.258  0.003  0.016  0.008 -1.005]
+t: 109	 action: [-0.467  0.49  -0.214  0.007  0.012  0.006 -1.012]
+t: 110	 action: [-6.112e-01  5.160e-01 -2.229e-01  1.436e-03  9.594e-04  3.819e-03 -9.922e-01]
+t: 111	 action: [-0.605  0.487 -0.249  0.013  0.006  0.016 -1.037]
+t: 112	 action: [-6.337e-01  4.741e-01 -2.827e-01 -8.655e-04  5.788e-03  1.015e-02 -9.920e-01]
+t: 113	 action: [-0.618  0.449 -0.247  0.012  0.007  0.019 -1.033]
+t: 114	 action: [-0.49   0.393 -0.258  0.007  0.02   0.01  -0.994]
+t: 115	 action: [-0.6    0.292 -0.249  0.01   0.021  0.014 -1.011]
+t: 116	 action: [-0.707  0.214 -0.312  0.007  0.03   0.008 -0.988]
+t: 117	 action: [-0.722  0.123 -0.325  0.007  0.04   0.011 -1.006]
+t: 118	 action: [-0.861  0.067 -0.345  0.006  0.043  0.008 -0.995]
+t: 119	 action: [-0.856 -0.048 -0.373  0.024  0.044  0.013 -1.045]
+t: 120	 action: [-0.874 -0.044 -0.364  0.009  0.05   0.003 -0.986]
+t: 121	 action: [-0.873 -0.08  -0.388  0.019  0.052  0.009 -1.053]
+[07-31 02:13:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9860
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9860
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 136
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 34 (25.0%)
+
+
 72%|███████▏  | 36/50 [08:59<03:14, 13.92s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 37...
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=122: Selected seed 195 with value = 0.9860
+t: 122	 action: [-0.937 -0.097 -0.605  0.044  0.002 -0.035 -0.928]
+t: 123	 action: [-0.917 -0.116 -0.551  0.049  0.014 -0.026 -0.99 ]
+t: 124	 action: [-0.95  -0.019 -0.6    0.043  0.009 -0.033 -0.951]
+t: 125	 action: [-0.94  -0.094 -0.555  0.044  0.017 -0.029 -0.992]
+t: 126	 action: [-0.956 -0.099 -0.564  0.04   0.019 -0.027 -0.918]
+t: 127	 action: [-0.956 -0.062 -0.486  0.056  0.018 -0.022 -1.025]
+t: 128	 action: [-0.954 -0.07  -0.499  0.039  0.027 -0.02  -0.934]
+t: 129	 action: [-0.93  -0.034 -0.446  0.048  0.027 -0.022 -1.028]
+t: 130	 action: [-9.327e-01 -3.758e-02 -4.396e-01  3.852e-02  3.000e-02 -9.066e-04 -9.742e-01]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=136--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+121 121 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=136--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 136
+# successes: 34 (25.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 37...
+[07-31 02:13:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3393
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3393
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3393
+t=10: Selected seed 195 with value = 0.3393
+t: 10	 action: [ 0.04   0.056 -0.018 -0.001 -0.003 -0.005 -1.009]
+t: 11	 action: [ 0.164  0.068 -0.017 -0.004  0.003 -0.009 -1.009]
+t: 12	 action: [ 0.252  0.1   -0.038 -0.003 -0.005 -0.004 -1.017]
+t: 13	 action: [ 0.449  0.139 -0.018 -0.005  0.005 -0.009 -1.012]
+t: 14	 action: [ 0.608  0.153 -0.06  -0.007 -0.008 -0.008 -1.017]
+t: 15	 action: [ 7.443e-01  1.635e-01 -4.588e-02 -4.868e-03 -4.124e-04 -1.209e-02 -1.031e+00]
+t: 16	 action: [ 0.866  0.202 -0.072 -0.01  -0.004 -0.01  -1.015]
+t: 17	 action: [ 8.915e-01  1.976e-01 -6.358e-02 -5.325e-03 -3.502e-04 -1.199e-02 -1.034e+00]
+t: 18	 action: [ 0.901  0.187 -0.053 -0.008  0.004 -0.009 -1.011]
+t: 19	 action: [ 0.911  0.184 -0.047 -0.005  0.012 -0.013 -1.012]
+t: 20	 action: [ 0.931  0.193 -0.07  -0.004  0.004 -0.011 -1.009]
+t: 21	 action: [ 0.92   0.197 -0.052 -0.004  0.015 -0.013 -1.008]
+t: 22	 action: [ 0.964  0.206 -0.067 -0.007  0.01  -0.01  -0.992]
+t: 23	 action: [ 9.736e-01  2.017e-01 -6.826e-02  2.655e-04  6.652e-03 -1.312e-02 -1.029e+00]
+t: 24	 action: [ 0.989  0.236 -0.088 -0.005  0.011 -0.012 -0.994]
+t: 25	 action: [ 0.986  0.212 -0.085  0.001  0.007 -0.011 -1.03 ]
+[07-31 02:13:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3596
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3596
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3596
+t=26: Selected seed 195 with value = 0.3596
+t: 26	 action: [ 0.943  0.247 -0.216  0.005  0.004 -0.009 -1.026]
+t: 27	 action: [ 0.949  0.139 -0.23   0.007  0.013 -0.015 -1.008]
+t: 28	 action: [ 0.948  0.156 -0.275  0.01   0.007 -0.012 -1.028]
+t: 29	 action: [ 0.95   0.051 -0.293  0.015  0.019 -0.017 -1.009]
+t: 30	 action: [ 0.982  0.03  -0.338  0.009  0.011 -0.019 -1.009]
+t: 31	 action: [ 0.932 -0.025 -0.353  0.022  0.013 -0.015 -1.035]
+t: 32	 action: [ 0.96  -0.03  -0.417  0.027  0.017 -0.02  -1.014]
+t: 33	 action: [ 0.915 -0.092 -0.422  0.03   0.018 -0.017 -1.037]
+t: 34	 action: [ 0.839 -0.15  -0.435  0.027  0.002 -0.024 -1.017]
+t: 35	 action: [ 0.868 -0.124 -0.463  0.021  0.01  -0.016 -1.013]
+t: 36	 action: [ 7.081e-01 -1.738e-01 -5.066e-01  3.021e-02 -1.284e-04 -1.790e-02 -1.016e+00]
+t: 37	 action: [ 0.701 -0.122 -0.523  0.019  0.008 -0.015 -1.01 ]
+t: 38	 action: [ 0.572 -0.147 -0.524  0.032  0.005 -0.013 -1.02 ]
+t: 39	 action: [ 0.451 -0.113 -0.544  0.026  0.003 -0.011 -1.039]
+t: 40	 action: [ 0.442 -0.089 -0.57   0.028  0.006 -0.004 -1.023]
+t: 41	 action: [ 3.596e-01 -6.583e-02 -5.749e-01  2.073e-02 -9.763e-04 -7.775e-03 -1.038e+00]
+[07-31 02:13:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4730
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4730
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4730
+t=42: Selected seed 195 with value = 0.4730
+t: 42	 action: [ 0.265 -0.162 -0.612  0.041 -0.013  0.003 -1.007]
+t: 43	 action: [ 0.129 -0.142 -0.72   0.023 -0.018 -0.005 -1.023]
+t: 44	 action: [ 0.094 -0.181 -0.66   0.033 -0.03   0.009 -1.007]
+t: 45	 action: [-0.018 -0.145 -0.738  0.016 -0.029  0.004 -1.02 ]
+t: 46	 action: [-0.145 -0.153 -0.685  0.014 -0.035  0.005 -1.007]
+t: 47	 action: [-0.167 -0.107 -0.801  0.014 -0.033  0.01  -1.046]
+t: 48	 action: [-0.264 -0.073 -0.697  0.005 -0.043  0.014 -1.004]
+t: 49	 action: [-0.314 -0.061 -0.774  0.005 -0.032  0.02  -1.041]
+t: 50	 action: [-0.407 -0.072 -0.641  0.005 -0.045  0.049 -1.005]
+t: 51	 action: [-0.466 -0.096 -0.718 -0.013 -0.034  0.059 -1.02 ]
+t: 52	 action: [-0.516 -0.009 -0.62  -0.006 -0.041  0.062 -1.004]
+t: 53	 action: [-0.534 -0.053 -0.678 -0.019 -0.019  0.063 -1.012]
+t: 54	 action: [-0.607 -0.002 -0.617 -0.034 -0.045  0.088 -1.001]
+t: 55	 action: [-0.572  0.033 -0.684 -0.021 -0.029  0.08  -1.044]
+t: 56	 action: [-0.588  0.039 -0.6   -0.044 -0.036  0.085 -0.995]
+t: 57	 action: [-0.548  0.063 -0.632 -0.028 -0.016  0.077 -1.047]
+[07-31 02:13:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5300
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5300
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5300
+t=58: Selected seed 195 with value = 0.5300
+t: 58	 action: [-0.183  0.1   -0.646  0.005 -0.014  0.071 -1.004]
+t: 59	 action: [-0.136  0.123 -0.694 -0.005 -0.01   0.068 -1.004]
+t: 60	 action: [-0.151  0.182 -0.627  0.002 -0.002  0.076 -1.002]
+t: 61	 action: [-0.025  0.302 -0.627 -0.003  0.004  0.065 -1.007]
+t: 62	 action: [-0.086  0.385 -0.539  0.001  0.002  0.086 -1.012]
+t: 63	 action: [-0.02   0.514 -0.515  0.004 -0.003  0.07  -1.036]
+t: 64	 action: [ 0.024  0.67  -0.434  0.001  0.008  0.075 -1.013]
+t: 65	 action: [ 4.417e-02  7.797e-01 -3.966e-01  4.225e-03  7.660e-05  5.964e-02 -1.036e+00]
+t: 66	 action: [ 0.087  0.761 -0.269  0.01   0.014  0.034 -1.007]
+t: 67	 action: [ 0.12   0.815 -0.283  0.013  0.017  0.024 -0.999]
+t: 68	 action: [ 0.114  0.851 -0.212  0.01   0.016  0.033 -1.004]
+t: 69	 action: [ 0.151  0.864 -0.24   0.015  0.019  0.021 -0.999]
+t: 70	 action: [ 0.082  0.922 -0.231  0.007  0.021  0.032 -1.02 ]
+t: 71	 action: [ 0.058  0.888 -0.237  0.016  0.019  0.021 -1.026]
+t: 72	 action: [ 0.058  0.931 -0.203  0.004  0.019  0.024 -1.02 ]
+t: 73	 action: [ 0.041  0.909 -0.247  0.016  0.016  0.02  -1.03 ]
+[07-31 02:13:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5367
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5367
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5367
+t=74: Selected seed 195 with value = 0.5367
+t: 74	 action: [-0.116  0.12  -0.615  0.012 -0.017  0.047 -0.997]
+t: 75	 action: [-0.03   0.256 -0.597  0.006  0.005  0.037 -0.997]
+t: 76	 action: [ 0.024  0.519 -0.521  0.011 -0.003  0.049 -0.997]
+t: 77	 action: [ 0.068  0.693 -0.451  0.008  0.011  0.034 -1.003]
+t: 78	 action: [ 0.036  0.624 -0.442  0.005  0.005  0.056 -1.007]
+t: 79	 action: [ 0.038  0.774 -0.436  0.011  0.003  0.035 -1.035]
+t: 80	 action: [ 0.093  0.896 -0.382  0.004  0.015  0.051 -1.005]
+t: 81	 action: [ 0.102  0.927 -0.366  0.011  0.018  0.03  -1.036]
+t: 82	 action: [ 0.075  0.9   -0.323  0.009  0.004  0.024 -1.004]
+t: 83	 action: [ 0.095  0.906 -0.294  0.008  0.007  0.02  -1.003]
+t: 84	 action: [ 0.069  0.903 -0.271  0.006  0.01   0.026 -1.   ]
+t: 85	 action: [ 0.075  0.901 -0.258  0.009  0.01   0.02  -1.008]
+t: 86	 action: [ 0.025  0.953 -0.267  0.004  0.008  0.022 -1.014]
+t: 87	 action: [ 0.012  0.93  -0.248  0.009  0.003  0.017 -1.032]
+t: 88	 action: [-5.218e-03  9.518e-01 -2.376e-01  5.990e-04  1.538e-02  1.930e-02 -1.008e+00]
+t: 89	 action: [ 0.004  0.932 -0.249  0.007  0.006  0.018 -1.038]
+[07-31 02:13:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6868
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6868
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6868
+t=90: Selected seed 195 with value = 0.6868
+t: 90	 action: [-0.143  0.803 -0.333  0.001 -0.009  0.009 -0.999]
+t: 91	 action: [-1.072e-01  8.478e-01 -3.557e-01 -3.017e-03  8.204e-04  4.928e-03 -1.007e+00]
+t: 92	 action: [-0.143  0.869 -0.332  0.002 -0.003  0.009 -0.993]
+t: 93	 action: [-9.191e-02  9.058e-01 -3.548e-01  7.593e-04  5.123e-03  7.946e-03 -1.008e+00]
+t: 94	 action: [-1.218e-01  8.928e-01 -3.144e-01 -2.445e-03  4.699e-05  2.517e-03 -1.007e+00]
+t: 95	 action: [-0.122  0.938 -0.342  0.001 -0.005  0.006 -1.033]
+t: 96	 action: [-0.145  0.927 -0.328 -0.003  0.006  0.004 -1.004]
+t: 97	 action: [-0.135  0.958 -0.347  0.005 -0.001  0.01  -1.035]
+t: 98	 action: [-0.151  0.947 -0.321  0.009 -0.033  0.015 -1.002]
+t: 99	 action: [-0.112  0.937 -0.326  0.007 -0.022  0.009 -1.001]
+t: 100	 action: [-0.181  0.947 -0.316  0.01  -0.024  0.016 -0.998]
+t: 101	 action: [-1.618e-01  9.260e-01 -3.086e-01  1.020e-02 -6.786e-04  1.121e-02 -1.001e+00]
+t: 102	 action: [-0.26   0.944 -0.309  0.003 -0.015  0.01  -1.008]
+t: 103	 action: [-0.278  0.941 -0.32   0.015 -0.007  0.011 -1.03 ]
+t: 104	 action: [-3.267e-01  9.369e-01 -2.883e-01  3.342e-03 -6.587e-04  1.139e-02 -9.972e-01]
+t: 105	 action: [-0.337  0.924 -0.291  0.017 -0.002  0.015 -1.035]
+[07-31 02:13:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8820
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=106: Selected seed 195 with value = 0.8820
+t: 106	 action: [-0.426  0.814 -0.312  0.001  0.015  0.01  -0.992]
+t: 107	 action: [-0.414  0.81  -0.309  0.005  0.022  0.009 -0.997]
+t: 108	 action: [-4.707e-01  8.046e-01 -3.007e-01  9.634e-04  2.353e-02  1.206e-02 -9.886e-01]
+t: 109	 action: [-0.448  0.813 -0.316  0.005  0.029  0.013 -0.997]
+t: 110	 action: [-4.982e-01  7.865e-01 -2.531e-01 -5.217e-04  2.670e-02  1.327e-02 -9.758e-01]
+t: 111	 action: [-0.541  0.825 -0.32   0.009  0.031  0.013 -1.027]
+t: 112	 action: [-0.575  0.767 -0.262 -0.002  0.038  0.015 -0.974]
+t: 113	 action: [-0.604  0.801 -0.345  0.009  0.039  0.016 -1.029]
+t: 114	 action: [-0.571  0.778 -0.332  0.004  0.008  0.02  -0.99 ]
+t: 115	 action: [-0.636  0.69  -0.363  0.003  0.029  0.015 -0.994]
+t: 116	 action: [-0.73   0.615 -0.348  0.005  0.022  0.018 -0.982]
+t: 117	 action: [-7.656e-01  5.117e-01 -3.657e-01  9.467e-04  5.178e-02  1.611e-02 -9.981e-01]
+t: 118	 action: [-0.839  0.475 -0.345  0.003  0.064  0.024 -0.975]
+t: 119	 action: [-0.856  0.372 -0.432  0.013  0.065  0.017 -1.031]
+t: 120	 action: [-0.881  0.28  -0.331  0.005  0.089  0.016 -0.965]
+t: 121	 action: [-0.886  0.196 -0.421  0.01   0.083  0.019 -1.04 ]
+[07-31 02:13:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9909
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9909
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 137
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 35 (25.5%)
+
+
 74%|███████▍  | 37/50 [09:13<03:02, 14.05s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 38...
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=122: Selected seed 195 with value = 0.9909
+t: 122	 action: [-0.941 -0.076 -0.536  0.035  0.015 -0.014 -0.94 ]
+t: 123	 action: [-0.911 -0.083 -0.454  0.028  0.025 -0.014 -0.989]
+t: 124	 action: [-0.962 -0.019 -0.512  0.033  0.031 -0.019 -0.959]
+t: 125	 action: [-0.933 -0.068 -0.418  0.025  0.039 -0.019 -0.993]
+t: 126	 action: [-0.956 -0.075 -0.472  0.03   0.047 -0.019 -0.936]
+t: 127	 action: [-0.954 -0.047 -0.363  0.036  0.048 -0.015 -1.034]
+t: 128	 action: [-0.951 -0.057 -0.377  0.028  0.06  -0.019 -0.947]
+t: 129	 action: [-0.9   -0.017 -0.298  0.031  0.061 -0.019 -1.031]
+t: 130	 action: [-0.893 -0.07  -0.339  0.033  0.071 -0.007 -0.985]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=137--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+121 121 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=137--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 137
+# successes: 35 (25.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 38...
+[07-31 02:13:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.012 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3419
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3419
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3419
+t=10: Selected seed 195 with value = 0.3419
+t: 10	 action: [ 0.094  0.064  0.009 -0.003  0.014  0.005 -1.011]
+t: 11	 action: [ 0.215  0.104  0.006 -0.008  0.022  0.008 -1.013]
+t: 12	 action: [ 0.43   0.162 -0.009 -0.009  0.015  0.007 -1.014]
+t: 13	 action: [ 0.621  0.201 -0.005 -0.011  0.027  0.007 -1.019]
+t: 14	 action: [ 0.739  0.22  -0.007 -0.008  0.011  0.005 -1.013]
+t: 15	 action: [ 0.841  0.195 -0.015 -0.009  0.016  0.008 -1.027]
+t: 16	 action: [ 0.942  0.235 -0.04  -0.011  0.01   0.004 -1.007]
+t: 17	 action: [ 0.956  0.221 -0.035 -0.011  0.02   0.007 -1.035]
+t: 18	 action: [ 0.934  0.2   -0.011  0.001  0.039  0.005 -1.013]
+t: 19	 action: [ 0.912  0.161 -0.046 -0.001  0.049  0.005 -1.017]
+t: 20	 action: [ 0.952  0.177 -0.065  0.002  0.028  0.004 -1.016]
+t: 21	 action: [ 9.098e-01  1.346e-01 -6.879e-02  5.973e-06  3.386e-02  2.902e-03 -1.017e+00]
+t: 22	 action: [ 9.690e-01  1.401e-01 -7.548e-02  4.329e-04  2.168e-02  3.001e-03 -9.899e-01]
+t: 23	 action: [ 0.979  0.108 -0.123  0.007  0.022  0.003 -1.03 ]
+t: 24	 action: [ 9.890e-01  1.343e-01 -1.593e-01 -3.873e-03  1.046e-02  4.240e-04 -9.903e-01]
+t: 25	 action: [ 0.999  0.085 -0.19   0.008  0.016  0.003 -1.035]
+[07-31 02:13:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3730
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3730
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3730
+t=26: Selected seed 195 with value = 0.3730
+t: 26	 action: [ 0.925  0.271 -0.125  0.002  0.034  0.007 -1.033]
+t: 27	 action: [ 0.948  0.185 -0.148  0.005  0.042 -0.002 -1.023]
+t: 28	 action: [ 0.931  0.18  -0.198  0.006  0.034  0.007 -1.024]
+t: 29	 action: [ 0.951  0.086 -0.236  0.01   0.041 -0.004 -1.022]
+t: 30	 action: [ 9.674e-01  8.555e-02 -3.047e-01 -9.606e-05  2.817e-02 -3.622e-03 -1.010e+00]
+t: 31	 action: [ 0.947  0.01  -0.389  0.014  0.034 -0.008 -1.037]
+t: 32	 action: [ 0.933  0.011 -0.455  0.007  0.022 -0.007 -1.007]
+t: 33	 action: [ 0.907 -0.063 -0.531  0.018  0.02  -0.009 -1.037]
+t: 34	 action: [ 0.731 -0.065 -0.511  0.023  0.024 -0.009 -1.031]
+t: 35	 action: [ 0.681 -0.128 -0.615  0.013  0.02  -0.012 -1.022]
+t: 36	 action: [ 0.497 -0.094 -0.64   0.023  0.009 -0.007 -1.025]
+t: 37	 action: [ 0.391 -0.139 -0.705  0.009  0.007 -0.013 -1.017]
+t: 38	 action: [ 0.297 -0.034 -0.686  0.022 -0.01  -0.011 -1.024]
+t: 39	 action: [ 0.198 -0.104 -0.704  0.015 -0.016 -0.014 -1.04 ]
+t: 40	 action: [ 0.13   0.009 -0.749  0.007 -0.023 -0.003 -1.021]
+t: 41	 action: [ 0.059 -0.071 -0.743  0.006 -0.029 -0.012 -1.037]
+[07-31 02:13:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4518
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4518
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4518
+t=42: Selected seed 195 with value = 0.4518
+t: 42	 action: [ 0.185 -0.323 -0.534  0.02  -0.013  0.011 -1.01 ]
+t: 43	 action: [ 0.095 -0.3   -0.661  0.011 -0.022  0.012 -1.02 ]
+t: 44	 action: [ 0.032 -0.278 -0.67   0.023 -0.039  0.016 -1.017]
+t: 45	 action: [-0.058 -0.25  -0.772  0.011 -0.049  0.018 -1.018]
+t: 46	 action: [-0.121 -0.222 -0.715  0.004 -0.052  0.019 -1.01 ]
+t: 47	 action: [-0.158 -0.155 -0.845  0.005 -0.064  0.019 -1.048]
+t: 48	 action: [-2.554e-01 -1.159e-01 -7.431e-01  2.794e-04 -6.477e-02  3.254e-02 -1.015e+00]
+t: 49	 action: [-0.319 -0.089 -0.844  0.003 -0.065  0.024 -1.049]
+t: 50	 action: [-0.397 -0.099 -0.769  0.004 -0.085  0.064 -1.012]
+t: 51	 action: [-0.435 -0.134 -0.812 -0.005 -0.078  0.053 -1.013]
+t: 52	 action: [-4.935e-01 -2.960e-02 -7.475e-01 -7.684e-04 -7.477e-02  7.008e-02 -1.017e+00]
+t: 53	 action: [-0.493 -0.085 -0.768 -0.007 -0.058  0.053 -1.009]
+t: 54	 action: [-0.501 -0.004 -0.72  -0.023 -0.065  0.07  -1.006]
+t: 55	 action: [-0.448  0.03  -0.746 -0.01  -0.046  0.05  -1.045]
+t: 56	 action: [-0.491  0.02  -0.667 -0.024 -0.04   0.065 -1.006]
+t: 57	 action: [-0.436  0.047 -0.702 -0.01  -0.02   0.05  -1.052]
+[07-31 02:13:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5342
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5342
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5342
+t=58: Selected seed 195 with value = 0.5342
+t: 58	 action: [-0.416  0.042 -0.615  0.004 -0.024  0.039 -0.982]
+t: 59	 action: [-0.43  -0.043 -0.638 -0.009 -0.011  0.037 -1.001]
+t: 60	 action: [-0.445  0.041 -0.653  0.003 -0.012  0.038 -0.98 ]
+t: 61	 action: [-0.388  0.056 -0.64  -0.008 -0.002  0.031 -1.001]
+t: 62	 action: [-0.496  0.131 -0.559 -0.001 -0.003  0.051 -0.977]
+t: 63	 action: [-3.390e-01  2.871e-01 -5.318e-01  2.618e-04 -5.636e-03  3.723e-02 -1.024e+00]
+t: 64	 action: [-0.23   0.369 -0.411 -0.001  0.004  0.039 -0.978]
+t: 65	 action: [-0.139  0.621 -0.312 -0.003 -0.003  0.027 -1.026]
+t: 66	 action: [ 0.09   0.595 -0.166  0.004  0.035  0.005 -0.989]
+t: 67	 action: [ 0.102  0.651 -0.147  0.012  0.051  0.007 -0.99 ]
+t: 68	 action: [ 0.136  0.718 -0.153  0.005  0.035  0.008 -0.979]
+t: 69	 action: [ 0.117  0.746 -0.137  0.013  0.039  0.01  -0.988]
+t: 70	 action: [-2.450e-02  8.448e-01 -1.418e-01 -1.873e-03  2.579e-02  4.809e-04 -1.001e+00]
+t: 71	 action: [ 0.006  0.809 -0.157  0.018  0.032  0.005 -1.021]
+t: 72	 action: [-1.182e-01  8.664e-01 -1.863e-01 -2.327e-03  2.044e-02  4.699e-04 -9.938e-01]
+t: 73	 action: [-0.03   0.839 -0.221  0.018  0.019  0.009 -1.028]
+[07-31 02:13:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5901
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5901
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5901
+t=74: Selected seed 195 with value = 0.5901
+t: 74	 action: [-2.657e-01  2.234e-01 -5.313e-01 -2.275e-04 -4.451e-02  3.265e-02 -9.997e-01]
+t: 75	 action: [-0.237  0.226 -0.455 -0.006 -0.024  0.024 -1.002]
+t: 76	 action: [-1.616e-01  3.849e-01 -4.711e-01 -4.695e-05 -2.894e-02  2.836e-02 -9.999e-01]
+t: 77	 action: [-0.104  0.478 -0.326 -0.004 -0.007  0.021 -1.009]
+t: 78	 action: [-0.21   0.464 -0.335 -0.006 -0.016  0.031 -0.999]
+t: 79	 action: [-0.133  0.628 -0.22  -0.001 -0.009  0.02  -1.032]
+t: 80	 action: [-0.12   0.672 -0.235 -0.005 -0.004  0.022 -0.997]
+t: 81	 action: [-0.063  0.733 -0.146  0.002 -0.003  0.016 -1.032]
+t: 82	 action: [ 0.023  0.879 -0.108 -0.01   0.015  0.004 -1.016]
+t: 83	 action: [ 0.012  0.827 -0.064 -0.004  0.027  0.008 -1.006]
+t: 84	 action: [ 0.001  0.876 -0.118 -0.006  0.014  0.009 -1.009]
+t: 85	 action: [ 8.188e-03  8.181e-01 -7.069e-02 -5.570e-04  1.689e-02  1.079e-02 -1.007e+00]
+t: 86	 action: [-0.074  0.928 -0.103 -0.012  0.007  0.001 -1.025]
+t: 87	 action: [-8.071e-02  8.478e-01 -8.733e-02 -2.261e-04  1.102e-02  6.879e-03 -1.024e+00]
+t: 88	 action: [-0.148  0.903 -0.146 -0.011  0.008  0.005 -1.008]
+t: 89	 action: [-0.129  0.84  -0.128  0.002  0.007  0.013 -1.029]
+[07-31 02:13:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8166
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8166
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8166
+t=90: Selected seed 195 with value = 0.8166
+t: 90	 action: [-0.212  0.766 -0.311 -0.028  0.004  0.007 -1.015]
+t: 91	 action: [-0.225  0.758 -0.238 -0.016  0.012  0.008 -1.011]
+t: 92	 action: [-0.211  0.795 -0.247 -0.029  0.015  0.008 -1.001]
+t: 93	 action: [-0.194  0.787 -0.151 -0.013  0.02   0.01  -1.012]
+t: 94	 action: [-0.19   0.84  -0.191 -0.024  0.01   0.002 -1.01 ]
+t: 95	 action: [-0.173  0.82  -0.13  -0.014  0.015  0.011 -1.031]
+t: 96	 action: [-0.206  0.863 -0.157 -0.022  0.018  0.003 -0.998]
+t: 97	 action: [-0.176  0.827 -0.101 -0.011  0.014  0.013 -1.033]
+t: 98	 action: [-0.17   0.923 -0.15  -0.006 -0.025  0.012 -1.001]
+t: 99	 action: [-0.205  0.872 -0.146 -0.004 -0.02   0.01  -1.016]
+t: 100	 action: [-0.209  0.887 -0.179  0.005 -0.03   0.015 -1.003]
+t: 101	 action: [-0.259  0.835 -0.18   0.002 -0.028  0.012 -1.012]
+t: 102	 action: [-0.381  0.895 -0.215 -0.004 -0.033  0.017 -0.998]
+t: 103	 action: [-0.417  0.862 -0.279  0.006 -0.035  0.016 -1.038]
+t: 104	 action: [-0.499  0.815 -0.237 -0.005 -0.027  0.021 -0.991]
+t: 105	 action: [-0.489  0.803 -0.291  0.012 -0.029  0.019 -1.039]
+[07-31 02:13:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9554
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=106: Selected seed 195 with value = 0.9554
+t: 106	 action: [-0.724  0.538 -0.288  0.009  0.003  0.002 -0.975]
+t: 107	 action: [-0.704  0.483 -0.245  0.022  0.027 -0.005 -0.971]
+t: 108	 action: [-0.794  0.382 -0.294  0.016  0.024  0.003 -0.972]
+t: 109	 action: [-0.795  0.264 -0.278  0.025  0.057 -0.014 -0.988]
+t: 110	 action: [-0.804  0.182 -0.255  0.007  0.069 -0.006 -0.969]
+t: 111	 action: [-0.76   0.125 -0.282  0.036  0.076 -0.005 -1.031]
+t: 112	 action: [-0.737  0.046 -0.265  0.025  0.101 -0.014 -0.966]
+t: 113	 action: [-0.651  0.01  -0.355  0.039  0.087 -0.018 -1.025]
+t: 114	 action: [-0.81  -0.13  -0.378  0.043  0.069 -0.045 -1.015]
+t: 115	 action: [-0.788 -0.227 -0.395  0.044  0.069 -0.05  -1.015]
+t: 116	 action: [-0.808 -0.192 -0.404  0.052  0.069 -0.05  -1.009]
+t: 117	 action: [-0.75  -0.254 -0.428  0.044  0.062 -0.05  -1.011]
+t: 118	 action: [-0.837 -0.268 -0.388  0.059  0.078 -0.05  -1.   ]
+t: 119	 action: [-0.791 -0.249 -0.507  0.058  0.063 -0.045 -1.04 ]
+t: 120	 action: [-0.831 -0.259 -0.404  0.061  0.075 -0.055 -0.986]
+t: 121	 action: [-0.767 -0.231 -0.511  0.052  0.054 -0.045 -1.036]
+[07-31 02:13:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9946
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=122: Selected seed 195 with value = 0.9946
+t: 122	 action: [-0.861 -0.134 -0.301  0.015  0.064  0.011 -0.992]
+t: 123	 action: [-0.83  -0.107 -0.205  0.013  0.068  0.01  -1.007]
+t: 124	 action: [-0.405  0.025 -0.191  0.016  0.061  0.005 -1.015]
+t: 125	 action: [-0.156  0.07  -0.052  0.012  0.055  0.002 -1.006]
+t: 126	 action: [-0.044  0.078 -0.049  0.021  0.045  0.002 -0.997]
+t: 127	 action: [ 0.154  0.121  0.024  0.023  0.038  0.001 -1.041]
+t: 128	 action: [ 0.087  0.151  0.041  0.017  0.031 -0.003 -1.026]
+t: 129	 action: [ 0.064  0.121  0.045  0.02   0.032 -0.005 -1.041]
+t: 130	 action: [ 2.322e-01  4.186e-02 -3.378e-02  6.561e-04 -1.342e-03 -2.368e-03 -1.038e+00]
+t: 131	 action: [ 0.164  0.007 -0.018 -0.008  0.009 -0.016 -1.006]
+t: 132	 action: [ 0.142  0.035 -0.021  0.004 -0.015 -0.007 -1.033]
+t: 133	 action: [ 0.062 -0.021 -0.018  0.002  0.001 -0.016 -1.01 ]
+t: 134	 action: [ 0.059  0.013 -0.023 -0.01  -0.008 -0.017 -1.037]
+t: 135	 action: [-3.160e-02  2.786e-02 -1.858e-02  1.861e-03 -7.740e-04 -2.461e-02 -1.045e+00]
+t: 136	 action: [-0.036  0.024 -0.019 -0.004 -0.014 -0.023 -1.029]
+t: 137	 action: [-0.082  0.005 -0.018  0.009 -0.009 -0.023 -1.053]
+[07-31 02:13:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9987
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=138: Selected seed 195 with value = 0.9987
+t: 138	 action: [-0.415 -0.007 -0.094  0.013  0.045  0.013 -1.035]
+t: 139	 action: [-0.067  0.103  0.017  0.008  0.037  0.006 -1.014]
+t: 140	 action: [ 0.124  0.268  0.142  0.001  0.02   0.003 -1.042]
+t: 141	 action: [ 2.728e-01  2.410e-01  1.994e-01 -4.489e-04  1.482e-02 -1.698e-03 -1.009e+00]
+t: 142	 action: [ 0.235  0.288  0.248  0.006  0.008 -0.004 -1.031]
+t: 143	 action: [ 0.289  0.2    0.279  0.008  0.011 -0.007 -1.04 ]
+t: 144	 action: [ 0.25   0.176  0.238 -0.001 -0.002 -0.008 -1.043]
+t: 145	 action: [ 0.353  0.153  0.2    0.005  0.006 -0.013 -1.043]
+t: 146	 action: [ 0.408  0.099  0.128 -0.002 -0.035 -0.005 -1.048]
+t: 147	 action: [ 0.403  0.091  0.13  -0.007 -0.02  -0.016 -1.01 ]
+t: 148	 action: [ 0.333  0.069  0.105  0.001 -0.046 -0.01  -1.051]
+t: 149	 action: [ 0.28   0.078  0.102 -0.003 -0.038 -0.017 -1.013]
+t: 150	 action: [ 0.228  0.068  0.107 -0.008 -0.04  -0.025 -1.04 ]
+t: 151	 action: [ 0.116  0.109  0.078  0.003 -0.043 -0.028 -1.045]
+t: 152	 action: [ 0.149  0.088  0.092 -0.006 -0.046 -0.031 -1.046]
+t: 153	 action: [ 0.084  0.104  0.064  0.005 -0.045 -0.027 -1.054]
+[07-31 02:13:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9974
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=154: Selected seed 195 with value = 0.9974
+t: 154	 action: [-0.663 -0.235 -0.305  0.04   0.084 -0.047 -1.025]
+t: 155	 action: [-0.391 -0.191 -0.301  0.024  0.06  -0.045 -1.019]
+t: 156	 action: [-0.293 -0.128 -0.202  0.031  0.054 -0.055 -1.028]
+t: 157	 action: [-0.032 -0.071 -0.115  0.017  0.038 -0.05  -1.015]
+t: 158	 action: [-0.096  0.025 -0.065  0.02   0.032 -0.055 -1.018]
+t: 159	 action: [-5.652e-02  8.756e-02  6.618e-04  2.169e-02  2.503e-02 -4.819e-02 -1.034e+00]
+t: 160	 action: [ 0.136  0.057  0.057  0.005  0.019 -0.048 -1.028]
+t: 161	 action: [ 0.077  0.111  0.064  0.009  0.008 -0.051 -1.037]
+t: 162	 action: [ 0.365  0.082  0.054  0.005 -0.009 -0.039 -1.038]
+t: 163	 action: [ 3.369e-01  6.937e-02  1.066e-01 -5.620e-04  3.660e-03 -4.117e-02 -1.023e+00]
+t: 164	 action: [ 0.307  0.062  0.047  0.004 -0.022 -0.039 -1.033]
+t: 165	 action: [ 2.006e-01  6.521e-02  1.224e-01  3.563e-04 -6.717e-03 -3.965e-02 -1.024e+00]
+t: 166	 action: [ 1.707e-01  3.493e-02  7.360e-02 -6.489e-04 -2.235e-02 -4.687e-02 -1.036e+00]
+t: 167	 action: [ 0.056  0.075  0.078  0.004 -0.023 -0.045 -1.043]
+t: 168	 action: [ 1.119e-01  4.426e-02  5.520e-02 -3.837e-04 -2.992e-02 -4.582e-02 -1.034e+00]
+t: 169	 action: [ 0.021  0.072  0.071  0.002 -0.03  -0.042 -1.05 ]
+[07-31 02:13:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 1.000 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=170: Selected seed 195 with value = 0.9950
+t: 170	 action: [-0.407 -0.221 -0.063  0.004  0.05  -0.063 -1.042]
+t: 171	 action: [ 0.003 -0.103  0.055  0.002  0.019 -0.062 -1.029]
+t: 172	 action: [ 0.087 -0.149  0.134  0.003  0.03  -0.06  -1.047]
+t: 173	 action: [ 0.23  -0.074  0.185 -0.001  0.008 -0.062 -1.022]
+t: 174	 action: [ 0.156 -0.034  0.218 -0.005  0.017 -0.057 -1.044]
+t: 175	 action: [ 0.106  0.015  0.234  0.002  0.002 -0.061 -1.047]
+t: 176	 action: [ 0.212 -0.05   0.183 -0.008  0.01  -0.049 -1.049]
+t: 177	 action: [ 1.909e-01 -1.328e-02  1.616e-01  3.694e-04 -2.654e-03 -5.853e-02 -1.045e+00]
+t: 178	 action: [ 0.253 -0.18   0.007  0.023 -0.021 -0.055 -1.042]
+t: 179	 action: [ 0.156 -0.159  0.011  0.01  -0.011 -0.057 -1.03 ]
+t: 180	 action: [ 0.068 -0.173 -0.037  0.022 -0.029 -0.054 -1.036]
+t: 181	 action: [ 0.045 -0.155 -0.023  0.008 -0.023 -0.053 -1.027]
+t: 182	 action: [ 0.043 -0.097 -0.029  0.015 -0.031 -0.055 -1.039]
+t: 183	 action: [-0.017 -0.041 -0.043  0.008 -0.042 -0.058 -1.052]
+t: 184	 action: [-0.033 -0.054 -0.054  0.007 -0.034 -0.052 -1.037]
+t: 185	 action: [-0.078 -0.038 -0.073  0.003 -0.042 -0.052 -1.056]
+[07-31 02:13:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8752
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=186: Selected seed 195 with value = 0.8752
+t: 186	 action: [ 0.615  0.055  0.391 -0.052 -0.078 -0.019 -1.069]
+t: 187	 action: [ 0.717 -0.049  0.411 -0.036 -0.092 -0.042 -1.033]
+t: 188	 action: [ 0.599 -0.188  0.269 -0.018 -0.109 -0.02  -1.065]
+t: 189	 action: [ 0.668 -0.291  0.249 -0.01  -0.115 -0.043 -1.03 ]
+t: 190	 action: [ 0.605 -0.261  0.184 -0.005 -0.106 -0.029 -1.045]
+t: 191	 action: [ 0.628 -0.379  0.098  0.009 -0.13  -0.043 -1.06 ]
+t: 192	 action: [ 0.49  -0.364  0.064  0.005 -0.115 -0.034 -1.052]
+t: 193	 action: [ 0.508 -0.414 -0.032  0.027 -0.125 -0.045 -1.058]
+t: 194	 action: [ 0.219 -0.542 -0.285  0.033 -0.121 -0.041 -1.047]
+t: 195	 action: [ 0.136 -0.377 -0.405  0.031 -0.101 -0.046 -1.025]
+t: 196	 action: [ 0.051 -0.409 -0.432  0.034 -0.108 -0.036 -1.045]
+t: 197	 action: [-0.018 -0.25  -0.526  0.031 -0.094 -0.042 -1.02 ]
+t: 198	 action: [-0.092 -0.176 -0.53   0.01  -0.091 -0.037 -1.042]
+t: 199	 action: [-0.169 -0.071 -0.578  0.026 -0.078 -0.043 -1.053]
+t: 200	 action: [-0.334 -0.091 -0.605  0.001 -0.065 -0.03  -1.038]
+t: 201	 action: [-0.359 -0.009 -0.631  0.019 -0.053 -0.037 -1.054]
+[07-31 02:13:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9434
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9434
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 138
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 36 (26.1%)
+
+
 76%|███████▌  | 38/50 [09:35<03:17, 16.44s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 39...
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=202: Selected seed 195 with value = 0.9434
+t: 202	 action: [-0.524  0.008 -0.654  0.002 -0.021  0.03  -0.955]
+t: 203	 action: [-0.565 -0.029 -0.643  0.003 -0.009  0.036 -0.956]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=138--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+194 194 13 13
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=138--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 138
+# successes: 36 (26.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 39...
+[07-31 02:13:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3441
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3441
+Query 1/1: Action query time = 1.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3441
+t=10: Selected seed 195 with value = 0.3441
+t: 10	 action: [ 0.13   0.02  -0.053  0.005 -0.013  0.005 -1.011]
+t: 11	 action: [ 0.216  0.022 -0.038  0.003  0.003  0.002 -0.999]
+t: 12	 action: [ 0.311  0.07  -0.083  0.002 -0.012  0.007 -1.018]
+t: 13	 action: [ 0.465  0.119 -0.052 -0.001  0.009  0.003 -1.   ]
+t: 14	 action: [ 5.728e-01  1.244e-01 -8.057e-02 -9.228e-04 -5.316e-03 -1.925e-04 -1.012e+00]
+t: 15	 action: [ 7.145e-01  1.992e-01 -6.468e-02 -8.317e-04  1.961e-03  3.662e-04 -1.023e+00]
+t: 16	 action: [ 8.329e-01  2.310e-01 -9.579e-02 -3.718e-03  3.479e-03  1.672e-05 -1.008e+00]
+t: 17	 action: [ 8.683e-01  2.411e-01 -8.686e-02 -3.314e-03  3.744e-03  8.099e-04 -1.030e+00]
+t: 18	 action: [ 0.872  0.248 -0.055  0.004  0.025  0.008 -1.013]
+t: 19	 action: [ 8.851e-01  2.317e-01 -4.275e-02 -3.128e-04  3.829e-02  3.225e-03 -1.008e+00]
+t: 20	 action: [ 0.92   0.215 -0.069  0.006  0.031  0.006 -1.011]
+t: 21	 action: [ 0.916  0.192 -0.039  0.003  0.051  0.002 -1.006]
+t: 22	 action: [ 9.594e-01  2.020e-01 -6.693e-02  3.232e-04  3.109e-02  2.589e-03 -9.885e-01]
+t: 23	 action: [ 9.816e-01  2.032e-01 -6.879e-02  2.845e-03  3.487e-02 -1.730e-04 -1.028e+00]
+t: 24	 action: [ 9.909e-01  1.773e-01 -8.594e-02 -2.180e-03  3.522e-02  4.733e-05 -9.860e-01]
+t: 25	 action: [ 1.005e+00  1.716e-01 -8.038e-02  6.287e-03  4.521e-02 -1.652e-04 -1.033e+00]
+[07-31 02:13:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3894
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3894
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3894
+t=26: Selected seed 195 with value = 0.3894
+t: 26	 action: [ 9.562e-01  2.183e-01 -1.790e-01  6.498e-04  2.004e-02  7.482e-03 -1.037e+00]
+t: 27	 action: [ 9.513e-01  1.357e-01 -2.212e-01  2.419e-03  3.072e-02 -7.408e-04 -1.016e+00]
+t: 28	 action: [ 0.966  0.145 -0.234  0.004  0.023  0.008 -1.033]
+t: 29	 action: [ 0.962  0.064 -0.285  0.005  0.035 -0.006 -1.016]
+t: 30	 action: [ 0.985  0.059 -0.311 -0.004  0.021 -0.002 -1.019]
+t: 31	 action: [ 0.936  0.047 -0.389  0.01   0.028 -0.006 -1.036]
+t: 32	 action: [ 0.964  0.009 -0.398 -0.002  0.023 -0.005 -1.022]
+t: 33	 action: [ 0.905 -0.011 -0.461  0.014  0.023 -0.009 -1.039]
+t: 34	 action: [ 8.143e-01 -2.248e-02 -4.221e-01  1.087e-02  1.407e-02 -3.999e-04 -1.029e+00]
+t: 35	 action: [ 0.804 -0.071 -0.493  0.009  0.013 -0.007 -1.017]
+t: 36	 action: [ 6.489e-01 -5.765e-02 -5.014e-01  9.676e-03  8.544e-03  3.863e-04 -1.026e+00]
+t: 37	 action: [ 0.594 -0.085 -0.546  0.007  0.01  -0.01  -1.01 ]
+t: 38	 action: [ 0.47  -0.006 -0.53   0.004  0.002 -0.007 -1.03 ]
+t: 39	 action: [ 0.384 -0.031 -0.542  0.011  0.003 -0.011 -1.038]
+t: 40	 action: [ 3.272e-01  1.982e-02 -5.686e-01  3.727e-04 -7.976e-04 -3.298e-03 -1.030e+00]
+t: 41	 action: [ 0.286 -0.018 -0.566  0.006 -0.002 -0.011 -1.036]
+[07-31 02:13:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4161
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4161
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4161
+t=42: Selected seed 195 with value = 0.4161
+t: 42	 action: [ 0.321 -0.254 -0.514  0.02  -0.007  0.007 -1.018]
+t: 43	 action: [ 0.208 -0.234 -0.644  0.014 -0.014  0.003 -1.026]
+t: 44	 action: [ 0.157 -0.25  -0.626  0.02  -0.031  0.01  -1.024]
+t: 45	 action: [ 0.041 -0.207 -0.737  0.012 -0.041  0.008 -1.026]
+t: 46	 action: [-0.033 -0.2   -0.681  0.002 -0.049  0.007 -1.016]
+t: 47	 action: [-0.087 -0.152 -0.845  0.007 -0.056  0.01  -1.052]
+t: 48	 action: [-0.184 -0.104 -0.72  -0.001 -0.062  0.015 -1.02 ]
+t: 49	 action: [-0.248 -0.082 -0.846  0.004 -0.06   0.017 -1.051]
+t: 50	 action: [-0.32  -0.112 -0.744  0.006 -0.07   0.048 -1.019]
+t: 51	 action: [-0.39  -0.14  -0.794 -0.006 -0.069  0.044 -1.018]
+t: 52	 action: [-4.658e-01 -3.435e-02 -7.229e-01 -2.298e-04 -6.222e-02  5.956e-02 -1.025e+00]
+t: 53	 action: [-0.481 -0.102 -0.749 -0.008 -0.052  0.048 -1.015]
+t: 54	 action: [-0.526 -0.006 -0.676 -0.026 -0.06   0.069 -1.014]
+t: 55	 action: [-0.481 -0.008 -0.711 -0.014 -0.047  0.049 -1.043]
+t: 56	 action: [-0.503  0.031 -0.631 -0.031 -0.042  0.069 -1.014]
+t: 57	 action: [-0.45   0.007 -0.647 -0.016 -0.026  0.054 -1.048]
+[07-31 02:13:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6274
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6274
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6274
+t=58: Selected seed 195 with value = 0.6274
+t: 58	 action: [-0.337  0.106 -0.581  0.004 -0.026  0.029 -0.984]
+t: 59	 action: [-0.33   0.075 -0.563 -0.011 -0.008  0.026 -1.004]
+t: 60	 action: [-0.248  0.259 -0.539  0.003 -0.015  0.029 -0.983]
+t: 61	 action: [-0.21   0.406 -0.466 -0.009  0.002  0.024 -1.004]
+t: 62	 action: [-2.484e-01  4.552e-01 -4.190e-01 -2.347e-03  4.690e-04  3.322e-02 -9.826e-01]
+t: 63	 action: [-1.534e-01  6.154e-01 -3.930e-01 -3.679e-03 -2.030e-04  2.624e-02 -1.034e+00]
+t: 64	 action: [-0.114  0.674 -0.341 -0.001  0.006  0.028 -0.986]
+t: 65	 action: [-0.061  0.806 -0.324 -0.002  0.001  0.022 -1.032]
+t: 66	 action: [ 0.037  0.868 -0.179  0.003  0.026  0.01  -1.   ]
+t: 67	 action: [ 0.029  0.856 -0.185  0.004  0.041  0.005 -0.998]
+t: 68	 action: [ 0.042  0.872 -0.155  0.002  0.019  0.013 -0.991]
+t: 69	 action: [ 0.043  0.865 -0.171  0.007  0.024  0.01  -0.997]
+t: 70	 action: [-0.048  0.93  -0.14  -0.002  0.017  0.006 -1.008]
+t: 71	 action: [-0.03   0.884 -0.189  0.012  0.023  0.006 -1.024]
+t: 72	 action: [-0.119  0.914 -0.134 -0.003  0.011  0.007 -1.002]
+t: 73	 action: [-0.089  0.89  -0.213  0.012  0.01   0.012 -1.028]
+[07-31 02:13:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7319
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7319
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7319
+t=74: Selected seed 195 with value = 0.7319
+t: 74	 action: [-0.112  0.798 -0.278 -0.01  -0.005  0.008 -0.999]
+t: 75	 action: [-0.125  0.835 -0.261 -0.01   0.003  0.008 -1.007]
+t: 76	 action: [-0.121  0.85  -0.257 -0.009 -0.002  0.008 -0.996]
+t: 77	 action: [-0.106  0.872 -0.248 -0.006  0.005  0.01  -1.008]
+t: 78	 action: [-0.099  0.862 -0.244 -0.012 -0.004  0.002 -1.006]
+t: 79	 action: [-0.112  0.898 -0.232 -0.006 -0.003  0.006 -1.036]
+t: 80	 action: [-1.299e-01  9.028e-01 -2.412e-01 -1.015e-02  1.294e-04  1.532e-03 -1.005e+00]
+t: 81	 action: [-0.132  0.912 -0.237 -0.003 -0.002  0.009 -1.039]
+t: 82	 action: [-0.125  0.924 -0.239  0.004 -0.028  0.012 -1.005]
+t: 83	 action: [-0.126  0.869 -0.197 -0.002 -0.02   0.007 -1.008]
+t: 84	 action: [-0.155  0.908 -0.231  0.008 -0.029  0.011 -0.999]
+t: 85	 action: [-0.163  0.854 -0.196  0.002 -0.024  0.009 -1.008]
+t: 86	 action: [-0.228  0.905 -0.231  0.002 -0.027  0.007 -1.008]
+t: 87	 action: [-0.253  0.873 -0.191  0.006 -0.027  0.007 -1.035]
+t: 88	 action: [-2.888e-01  8.850e-01 -2.195e-01 -2.161e-04 -2.192e-02  5.307e-03 -9.972e-01]
+t: 89	 action: [-0.294  0.857 -0.187  0.008 -0.027  0.011 -1.038]
+[07-31 02:13:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9098
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=90: Selected seed 195 with value = 0.9098
+t: 90	 action: [-0.457  0.808 -0.218  0.003  0.022  0.009 -0.997]
+t: 91	 action: [-0.43   0.786 -0.219  0.003  0.029  0.008 -1.   ]
+t: 92	 action: [-0.484  0.814 -0.202  0.004  0.031  0.009 -0.992]
+t: 93	 action: [-0.447  0.798 -0.184  0.004  0.038  0.01  -1.   ]
+t: 94	 action: [-4.955e-01  7.967e-01 -1.654e-01 -5.078e-04  3.689e-02  3.217e-03 -9.802e-01]
+t: 95	 action: [-0.495  0.821 -0.179  0.006  0.046  0.007 -1.024]
+t: 96	 action: [-0.519  0.807 -0.167 -0.003  0.047  0.002 -0.981]
+t: 97	 action: [-0.492  0.822 -0.177  0.007  0.044  0.008 -1.024]
+t: 98	 action: [-0.46   0.871 -0.212  0.004  0.016  0.013 -1.005]
+t: 99	 action: [-0.493  0.813 -0.252 -0.002  0.026  0.007 -1.005]
+t: 100	 action: [-0.588  0.757 -0.24   0.005  0.022  0.008 -1.006]
+t: 101	 action: [-5.747e-01  6.740e-01 -2.811e-01 -1.173e-04  4.133e-02  3.608e-03 -1.004e+00]
+t: 102	 action: [-0.739  0.555 -0.27  -0.001  0.039  0.008 -0.989]
+t: 103	 action: [-0.727  0.42  -0.359  0.014  0.041  0.006 -1.036]
+t: 104	 action: [-7.848e-01  2.185e-01 -3.066e-01  7.000e-03  6.187e-02 -6.528e-04 -9.885e-01]
+t: 105	 action: [-0.752  0.126 -0.386  0.016  0.059  0.001 -1.035]
+[07-31 02:13:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9966
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9966
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 139
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 37 (26.6%)
+
+
 78%|███████▊  | 39/50 [09:48<02:48, 15.30s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 40...
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=106: Selected seed 195 with value = 0.9966
+t: 106	 action: [-0.858 -0.01  -0.409  0.032  0.025 -0.026 -0.974]
+t: 107	 action: [-0.856 -0.019 -0.402  0.03   0.047 -0.024 -0.998]
+t: 108	 action: [-0.871 -0.021 -0.412  0.037  0.041 -0.032 -0.984]
+t: 109	 action: [-0.832 -0.035 -0.377  0.03   0.062 -0.035 -0.994]
+t: 110	 action: [-0.829 -0.072 -0.358  0.034  0.075 -0.029 -0.957]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=139--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+101 101 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=139--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 139
+# successes: 37 (26.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 40...
+[07-31 02:13:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3250
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3250
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3250
+t=10: Selected seed 195 with value = 0.3250
+t: 10	 action: [ 0.23   0.074  0.004 -0.001  0.021  0.006 -1.012]
+t: 11	 action: [ 0.312  0.132  0.004  0.003  0.04   0.003 -1.001]
+t: 12	 action: [ 4.577e-01  2.120e-01 -1.159e-02  4.381e-04  2.686e-02  8.577e-03 -1.010e+00]
+t: 13	 action: [ 0.594  0.287 -0.003  0.004  0.045  0.005 -1.007]
+t: 14	 action: [ 0.721  0.325 -0.037 -0.006  0.034  0.003 -1.022]
+t: 15	 action: [ 8.067e-01  3.748e-01 -5.062e-03  8.049e-04  5.120e-02  5.858e-03 -1.030e+00]
+t: 16	 action: [ 0.888  0.376 -0.045 -0.005  0.043  0.004 -1.008]
+t: 17	 action: [ 0.899  0.4   -0.027  0.002  0.056  0.006 -1.038]
+t: 18	 action: [ 0.855  0.456 -0.066  0.005  0.04   0.007 -1.019]
+t: 19	 action: [ 0.869  0.426 -0.05   0.005  0.051  0.002 -1.008]
+t: 20	 action: [ 0.904  0.424 -0.083  0.006  0.038  0.004 -1.017]
+t: 21	 action: [ 8.746e-01  3.650e-01 -8.778e-02  5.720e-03  4.962e-02  4.103e-04 -1.010e+00]
+t: 22	 action: [ 0.936  0.334 -0.139 -0.001  0.032  0.004 -1.001]
+t: 23	 action: [ 0.936  0.296 -0.176  0.011  0.032  0.004 -1.03 ]
+t: 24	 action: [ 9.671e-01  2.862e-01 -2.026e-01 -8.187e-05  2.712e-02 -1.340e-03 -1.002e+00]
+t: 25	 action: [ 0.952  0.224 -0.256  0.012  0.029  0.004 -1.037]
+[07-31 02:14:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3791
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3791
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3791
+t=26: Selected seed 195 with value = 0.3791
+t: 26	 action: [ 0.856  0.256 -0.182  0.005  0.051  0.011 -1.029]
+t: 27	 action: [ 0.886  0.147 -0.216  0.012  0.049  0.006 -1.015]
+t: 28	 action: [ 0.837  0.138 -0.269  0.011  0.041  0.009 -1.016]
+t: 29	 action: [ 8.583e-01  2.194e-02 -3.489e-01  1.823e-02  3.355e-02  5.293e-04 -1.015e+00]
+t: 30	 action: [ 8.271e-01 -7.082e-04 -4.228e-01  1.949e-02  2.981e-02  2.351e-03 -1.018e+00]
+t: 31	 action: [ 0.772 -0.032 -0.514  0.027  0.022 -0.003 -1.028]
+t: 32	 action: [ 7.091e-01 -1.242e-01 -5.884e-01  3.864e-02  1.798e-02 -8.984e-04 -1.013e+00]
+t: 33	 action: [ 0.647 -0.136 -0.677  0.032  0.008 -0.008 -1.032]
+t: 34	 action: [ 0.522 -0.168 -0.739  0.034 -0.005  0.005 -1.04 ]
+t: 35	 action: [ 4.665e-01 -1.808e-01 -8.073e-01  2.799e-02 -1.293e-02 -8.552e-04 -1.012e+00]
+t: 36	 action: [ 0.351 -0.195 -0.789  0.033 -0.013  0.004 -1.039]
+t: 37	 action: [ 0.266 -0.181 -0.821  0.02  -0.024 -0.005 -1.011]
+t: 38	 action: [ 2.273e-01 -1.125e-01 -8.081e-01  2.744e-02 -2.823e-02 -2.330e-04 -1.042e+00]
+t: 39	 action: [ 0.152 -0.156 -0.833  0.024 -0.044 -0.006 -1.028]
+t: 40	 action: [ 1.340e-01 -5.795e-02 -7.979e-01  1.445e-02 -3.234e-02 -9.662e-04 -1.042e+00]
+t: 41	 action: [ 0.064 -0.119 -0.815  0.013 -0.049 -0.008 -1.028]
+[07-31 02:14:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5764
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5764
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5764
+t=42: Selected seed 195 with value = 0.5764
+t: 42	 action: [ 0.246 -0.355 -0.458  0.026 -0.017  0.008 -1.027]
+t: 43	 action: [ 0.177 -0.247 -0.5    0.017 -0.027  0.008 -1.019]
+t: 44	 action: [ 0.116 -0.313 -0.64   0.024 -0.038  0.01  -1.031]
+t: 45	 action: [ 0.039 -0.19  -0.673  0.013 -0.049  0.007 -1.017]
+t: 46	 action: [-0.012 -0.287 -0.721  0.007 -0.048  0.011 -1.023]
+t: 47	 action: [-0.096 -0.171 -0.775  0.011 -0.069  0.011 -1.047]
+t: 48	 action: [-1.714e-01 -1.412e-01 -7.736e-01 -6.962e-04 -6.205e-02  1.582e-02 -1.030e+00]
+t: 49	 action: [-0.275 -0.066 -0.843  0.003 -0.069  0.011 -1.047]
+t: 50	 action: [-0.344 -0.06  -0.849 -0.005 -0.085  0.032 -1.041]
+t: 51	 action: [-0.409 -0.065 -0.855 -0.011 -0.082  0.024 -1.013]
+t: 52	 action: [-0.461 -0.007 -0.841 -0.013 -0.077  0.041 -1.048]
+t: 53	 action: [-0.473 -0.031 -0.817 -0.012 -0.067  0.026 -1.01 ]
+t: 54	 action: [-0.533  0.016 -0.754 -0.037 -0.076  0.037 -1.034]
+t: 55	 action: [-0.496  0.065 -0.744 -0.013 -0.059  0.019 -1.051]
+t: 56	 action: [-0.49   0.071 -0.67  -0.034 -0.048  0.034 -1.039]
+t: 57	 action: [-0.441  0.1   -0.637 -0.012 -0.03   0.02  -1.055]
+[07-31 02:14:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7417
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7417
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7417
+t=58: Selected seed 195 with value = 0.7417
+t: 58	 action: [-1.189e-01  6.169e-01 -3.615e-01  3.328e-03 -7.002e-04  9.751e-03 -9.966e-01]
+t: 59	 action: [-0.124  0.735 -0.298 -0.004  0.016  0.01  -1.005]
+t: 60	 action: [-0.1    0.79  -0.308  0.003  0.01   0.009 -0.993]
+t: 61	 action: [-0.069  0.825 -0.255 -0.002  0.027  0.01  -1.004]
+t: 62	 action: [-9.041e-02  8.036e-01 -2.639e-01  5.352e-04  9.759e-03  3.483e-03 -1.004e+00]
+t: 63	 action: [-0.093  0.848 -0.217  0.003  0.019  0.008 -1.035]
+t: 64	 action: [-0.106  0.896 -0.23  -0.004  0.016  0.002 -1.004]
+t: 65	 action: [-0.111  0.876 -0.198  0.005  0.026  0.007 -1.035]
+t: 66	 action: [-0.1    0.908 -0.204  0.009 -0.013  0.006 -0.999]
+t: 67	 action: [-8.625e-02  8.506e-01 -1.639e-01  9.318e-05  2.847e-03  4.647e-03 -1.003e+00]
+t: 68	 action: [-0.136  0.891 -0.203  0.009 -0.008  0.006 -0.995]
+t: 69	 action: [-0.131  0.839 -0.146  0.002  0.004  0.007 -1.004]
+t: 70	 action: [-1.905e-01  9.078e-01 -1.845e-01  1.928e-03 -9.337e-03  2.832e-04 -1.012e+00]
+t: 71	 action: [-0.219  0.856 -0.141  0.007 -0.006  0.006 -1.029]
+t: 72	 action: [-2.673e-01  8.911e-01 -1.881e-01  1.355e-04 -4.111e-03 -3.173e-04 -9.977e-01]
+t: 73	 action: [-0.272  0.846 -0.137  0.007 -0.005  0.01  -1.032]
+[07-31 02:14:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8845
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8845
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8845
+t=74: Selected seed 195 with value = 0.8845
+t: 74	 action: [-0.176  0.853 -0.235 -0.005 -0.014  0.016 -1.026]
+t: 75	 action: [-0.196  0.831 -0.223 -0.006  0.001  0.012 -1.016]
+t: 76	 action: [-0.216  0.868 -0.214 -0.002 -0.005  0.017 -1.008]
+t: 77	 action: [-0.215  0.848 -0.205 -0.004  0.006  0.014 -1.012]
+t: 78	 action: [-0.213  0.845 -0.202 -0.002 -0.007  0.009 -1.021]
+t: 79	 action: [-0.273  0.855 -0.192 -0.003 -0.003  0.013 -1.038]
+t: 80	 action: [-0.271  0.872 -0.183 -0.003 -0.001  0.009 -1.009]
+t: 81	 action: [-3.009e-01  8.653e-01 -1.658e-01  5.666e-04 -5.571e-04  1.332e-02 -1.035e+00]
+t: 82	 action: [-0.341  0.905 -0.221  0.003 -0.024  0.019 -1.006]
+t: 83	 action: [-0.321  0.857 -0.217 -0.005 -0.013  0.013 -1.014]
+t: 84	 action: [-0.372  0.877 -0.223  0.006 -0.021  0.02  -1.   ]
+t: 85	 action: [-0.327  0.823 -0.235 -0.003 -0.01   0.014 -1.011]
+t: 86	 action: [-0.362  0.873 -0.215 -0.004 -0.018  0.018 -1.   ]
+t: 87	 action: [-0.368  0.852 -0.2   -0.003 -0.018  0.015 -1.035]
+t: 88	 action: [-0.377  0.859 -0.207 -0.004 -0.011  0.016 -0.993]
+t: 89	 action: [-0.332  0.813 -0.197 -0.003 -0.011  0.015 -1.039]
+[07-31 02:14:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9756
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9756
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 140
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 38 (27.1%)
+
+
 80%|████████  | 40/50 [09:59<02:21, 14.17s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 41...
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=90: Selected seed 195 with value = 0.9756
+t: 90	 action: [-0.51   0.14  -0.386  0.034  0.026 -0.009 -0.992]
+t: 91	 action: [-0.608  0.087 -0.342  0.039  0.039 -0.013 -1.006]
+t: 92	 action: [-0.608  0.097 -0.42   0.041  0.039 -0.011 -0.987]
+t: 93	 action: [-0.654  0.051 -0.371  0.041  0.048 -0.019 -1.006]
+t: 94	 action: [-0.815  0.085 -0.486  0.037  0.054 -0.008 -0.984]
+t: 95	 action: [-0.757  0.062 -0.405  0.046  0.052 -0.012 -1.036]
+t: 96	 action: [-0.812  0.045 -0.496  0.044  0.067 -0.012 -0.978]
+t: 97	 action: [-0.775  0.032 -0.434  0.046  0.058 -0.019 -1.033]
+t: 98	 action: [-0.869  0.035 -0.517  0.06   0.041 -0.022 -1.006]
+t: 99	 action: [-0.87  -0.043 -0.51   0.052  0.046 -0.023 -1.019]
+t: 100	 action: [-0.904 -0.019 -0.504  0.062  0.047 -0.018 -1.007]
+t: 101	 action: [-0.871 -0.093 -0.507  0.05   0.049 -0.018 -1.02 ]
+t: 102	 action: [-0.909 -0.15  -0.481  0.047  0.057 -0.017 -0.993]
+t: 103	 action: [-0.874 -0.184 -0.474  0.043  0.051 -0.019 -1.042]
+t: 104	 action: [-0.873 -0.224 -0.44   0.041  0.066 -0.018 -0.985]
+t: 105	 action: [-0.832 -0.248 -0.44   0.037  0.062 -0.018 -1.043]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=140--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+96 96 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=140--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 140
+# successes: 38 (27.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 41...
+[07-31 02:14:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3294
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3294
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3294
+t=10: Selected seed 195 with value = 0.3294
+t: 10	 action: [ 0.346  0.084 -0.017  0.002  0.01   0.012 -1.009]
+t: 11	 action: [ 0.555  0.122 -0.026  0.002  0.018  0.011 -1.016]
+t: 12	 action: [ 0.785  0.135 -0.058  0.002  0.01   0.014 -1.009]
+t: 13	 action: [ 0.886  0.147 -0.056  0.002  0.019  0.009 -1.016]
+t: 14	 action: [ 0.946  0.138 -0.078 -0.001  0.007  0.01  -1.004]
+t: 15	 action: [ 0.923  0.135 -0.08   0.003  0.013  0.009 -1.032]
+t: 16	 action: [ 0.977  0.134 -0.127 -0.003  0.008  0.008 -1.002]
+t: 17	 action: [ 0.973  0.137 -0.137  0.005  0.016  0.006 -1.037]
+t: 18	 action: [ 0.947  0.128 -0.098  0.007  0.008  0.01  -1.01 ]
+t: 19	 action: [ 0.966  0.105 -0.106  0.008  0.02   0.007 -1.02 ]
+t: 20	 action: [ 0.969  0.113 -0.129  0.008  0.007  0.009 -1.007]
+t: 21	 action: [ 0.964  0.102 -0.121  0.01   0.018  0.003 -1.016]
+t: 22	 action: [ 0.991  0.085 -0.143  0.004  0.008  0.004 -0.979]
+t: 23	 action: [ 0.996  0.08  -0.137  0.013  0.014  0.003 -1.033]
+t: 24	 action: [ 1.006  0.071 -0.18   0.002  0.006  0.001 -0.979]
+t: 25	 action: [ 0.997  0.08  -0.171  0.016  0.011  0.002 -1.036]
+[07-31 02:14:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3937
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3937
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3937
+t=26: Selected seed 195 with value = 0.3937
+t: 26	 action: [ 0.902  0.221 -0.179  0.004  0.017  0.008 -1.034]
+t: 27	 action: [ 9.134e-01  1.468e-01 -2.264e-01  7.517e-03  2.089e-02  5.392e-04 -1.013e+00]
+t: 28	 action: [ 0.882  0.107 -0.245  0.01   0.016  0.009 -1.021]
+t: 29	 action: [ 0.89   0.033 -0.321  0.015  0.018 -0.004 -1.012]
+t: 30	 action: [ 8.769e-01 -1.751e-02 -4.046e-01  1.922e-02  1.759e-02  4.168e-04 -1.019e+00]
+t: 31	 action: [ 0.792 -0.091 -0.487  0.03   0.018 -0.001 -1.031]
+t: 32	 action: [ 7.193e-01 -1.021e-01 -5.498e-01  3.625e-02  1.604e-02 -5.388e-04 -1.014e+00]
+t: 33	 action: [ 0.611 -0.146 -0.603  0.034  0.009 -0.005 -1.035]
+t: 34	 action: [ 0.49  -0.107 -0.565  0.027 -0.004  0.007 -1.021]
+t: 35	 action: [ 0.429 -0.095 -0.681  0.019  0.003 -0.002 -1.016]
+t: 36	 action: [ 0.318 -0.089 -0.657  0.023 -0.01   0.007 -1.013]
+t: 37	 action: [ 0.237 -0.087 -0.722  0.014 -0.004 -0.004 -1.012]
+t: 38	 action: [ 0.187 -0.014 -0.676  0.017 -0.017  0.002 -1.019]
+t: 39	 action: [ 0.118 -0.034 -0.675  0.02  -0.019 -0.003 -1.036]
+t: 40	 action: [ 0.112  0.034 -0.703  0.007 -0.018  0.002 -1.011]
+t: 41	 action: [ 0.067  0.005 -0.686  0.013 -0.022 -0.003 -1.035]
+[07-31 02:14:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4304
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4304
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4304
+t=42: Selected seed 195 with value = 0.4304
+t: 42	 action: [ 0.259 -0.225 -0.555  0.022 -0.011  0.009 -1.012]
+t: 43	 action: [ 0.125 -0.214 -0.663  0.014 -0.012  0.013 -1.032]
+t: 44	 action: [ 0.108 -0.21  -0.629  0.022 -0.029  0.014 -1.012]
+t: 45	 action: [-0.025 -0.21  -0.719  0.012 -0.031  0.021 -1.024]
+t: 46	 action: [-0.103 -0.184 -0.641  0.003 -0.029  0.025 -1.004]
+t: 47	 action: [-0.162 -0.138 -0.795  0.008 -0.035  0.023 -1.052]
+t: 48	 action: [-2.649e-01 -7.994e-02 -7.004e-01  5.066e-04 -3.640e-02  3.863e-02 -1.005e+00]
+t: 49	 action: [-0.331 -0.085 -0.793  0.002 -0.033  0.03  -1.046]
+t: 50	 action: [-0.447 -0.023 -0.689 -0.005 -0.045  0.074 -1.012]
+t: 51	 action: [-0.484 -0.087 -0.759 -0.019 -0.039  0.069 -1.024]
+t: 52	 action: [-0.541  0.025 -0.68  -0.013 -0.038  0.078 -1.016]
+t: 53	 action: [-0.544 -0.041 -0.711 -0.022 -0.02   0.069 -1.016]
+t: 54	 action: [-0.609  0.001 -0.631 -0.038 -0.041  0.095 -1.008]
+t: 55	 action: [-0.553  0.01  -0.671 -0.023 -0.03   0.074 -1.052]
+t: 56	 action: [-0.556  0.071 -0.613 -0.043 -0.024  0.088 -1.006]
+t: 57	 action: [-0.502  0.052 -0.618 -0.028 -0.008  0.072 -1.056]
+[07-31 02:14:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5197
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=58: Selected seed 195 with value = 0.5197
+t: 58	 action: [-0.317 -0.043 -0.718  0.02  -0.028  0.072 -0.984]
+t: 59	 action: [-0.188  0.046 -0.678  0.006 -0.006  0.059 -0.992]
+t: 60	 action: [-0.089  0.218 -0.65   0.02  -0.012  0.071 -0.989]
+t: 61	 action: [ 0.03   0.41  -0.567  0.009  0.01   0.052 -1.001]
+t: 62	 action: [ 0.003  0.478 -0.479  0.011  0.001  0.073 -0.992]
+t: 63	 action: [ 0.104  0.664 -0.429  0.01   0.001  0.053 -1.036]
+t: 64	 action: [ 0.125  0.78  -0.381  0.013  0.012  0.063 -0.995]
+t: 65	 action: [ 0.201  0.859 -0.349  0.012  0.003  0.043 -1.038]
+t: 66	 action: [ 0.111  0.863 -0.311  0.012  0.013  0.028 -0.997]
+t: 67	 action: [ 0.105  0.872 -0.28   0.011  0.015  0.024 -1.004]
+t: 68	 action: [ 0.084  0.89  -0.273  0.009  0.014  0.03  -0.998]
+t: 69	 action: [ 0.069  0.878 -0.264  0.008  0.008  0.023 -1.006]
+t: 70	 action: [ 0.006  0.939 -0.276  0.005  0.01   0.023 -1.015]
+t: 71	 action: [ 0.001  0.901 -0.269  0.01   0.007  0.017 -1.037]
+t: 72	 action: [-0.034  0.936 -0.266  0.002  0.01   0.022 -1.012]
+t: 73	 action: [-1.541e-02  9.140e-01 -2.862e-01  5.930e-03  9.621e-04  1.829e-02 -1.042e+00]
+[07-31 02:14:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5331
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5331
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5331
+t=74: Selected seed 195 with value = 0.5331
+t: 74	 action: [-0.112  0.014 -0.642  0.009 -0.033  0.038 -0.999]
+t: 75	 action: [-0.028  0.063 -0.572  0.006 -0.011  0.032 -1.004]
+t: 76	 action: [-0.027  0.228 -0.608  0.015 -0.018  0.04  -0.998]
+t: 77	 action: [ 0.042  0.522 -0.527  0.009  0.008  0.031 -1.01 ]
+t: 78	 action: [-1.486e-02  3.465e-01 -5.188e-01  2.706e-03 -6.238e-04  4.147e-02 -1.016e+00]
+t: 79	 action: [-0.003  0.622 -0.463  0.01   0.003  0.028 -1.041]
+t: 80	 action: [ 0.042  0.766 -0.437  0.005  0.013  0.037 -1.013]
+t: 81	 action: [ 0.068  0.872 -0.401  0.011  0.009  0.025 -1.046]
+t: 82	 action: [ 0.06   0.88  -0.318  0.007  0.004  0.023 -1.008]
+t: 83	 action: [ 0.061  0.892 -0.291  0.007  0.012  0.018 -1.011]
+t: 84	 action: [ 0.038  0.903 -0.261  0.004  0.011  0.023 -1.006]
+t: 85	 action: [ 0.045  0.886 -0.238  0.007  0.012  0.019 -1.014]
+t: 86	 action: [-0.024  0.944 -0.242  0.005  0.01   0.017 -1.02 ]
+t: 87	 action: [-0.018  0.918 -0.243  0.01   0.006  0.013 -1.043]
+t: 88	 action: [-0.07   0.936 -0.225  0.001  0.017  0.013 -1.014]
+t: 89	 action: [-0.046  0.915 -0.244  0.008  0.006  0.015 -1.049]
+[07-31 02:14:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6800
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6800
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6800
+t=90: Selected seed 195 with value = 0.6800
+t: 90	 action: [-0.07   0.423 -0.43  -0.006 -0.005  0.015 -0.998]
+t: 91	 action: [-0.054  0.564 -0.393 -0.006  0.002  0.013 -1.007]
+t: 92	 action: [-0.078  0.678 -0.404 -0.007 -0.002  0.016 -0.991]
+t: 93	 action: [-0.032  0.781 -0.38  -0.004  0.006  0.016 -1.009]
+t: 94	 action: [-0.041  0.779 -0.357 -0.011 -0.001  0.01  -1.005]
+t: 95	 action: [-0.062  0.902 -0.374 -0.002 -0.004  0.009 -1.034]
+t: 96	 action: [-0.07   0.913 -0.358 -0.01   0.006  0.011 -0.997]
+t: 97	 action: [-6.930e-02  9.511e-01 -3.720e-01 -2.306e-04 -6.630e-04  1.307e-02 -1.036e+00]
+t: 98	 action: [-8.466e-02  9.712e-01 -3.246e-01  7.478e-04 -3.049e-02  1.835e-02 -1.012e+00]
+t: 99	 action: [-7.720e-02  9.451e-01 -3.044e-01  4.839e-04 -1.445e-02  1.385e-02 -1.006e+00]
+t: 100	 action: [-0.116  0.961 -0.317  0.006 -0.022  0.023 -1.005]
+t: 101	 action: [-0.138  0.923 -0.28   0.005 -0.004  0.019 -1.006]
+t: 102	 action: [-0.21   0.954 -0.289  0.001 -0.022  0.014 -1.017]
+t: 103	 action: [-0.243  0.961 -0.298  0.011 -0.012  0.014 -1.037]
+t: 104	 action: [-2.973e-01  9.366e-01 -2.765e-01 -5.009e-04 -4.482e-03  1.860e-02 -1.000e+00]
+t: 105	 action: [-0.326  0.94  -0.289  0.014 -0.002  0.02  -1.039]
+[07-31 02:14:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8625
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8625
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8625
+t=106: Selected seed 195 with value = 0.8625
+t: 106	 action: [-0.209  0.855 -0.283  0.004  0.017  0.01  -1.019]
+t: 107	 action: [-2.035e-01  8.676e-01 -2.813e-01 -1.177e-04  2.150e-02  5.438e-03 -1.007e+00]
+t: 108	 action: [-0.246  0.863 -0.279  0.003  0.024  0.011 -1.009]
+t: 109	 action: [-0.242  0.872 -0.276  0.004  0.028  0.011 -1.005]
+t: 110	 action: [-2.872e-01  8.784e-01 -2.643e-01  3.706e-04  1.762e-02  5.109e-03 -1.006e+00]
+t: 111	 action: [-0.31   0.906 -0.307  0.005  0.016  0.01  -1.031]
+t: 112	 action: [-0.348  0.891 -0.281 -0.002  0.024  0.007 -0.998]
+t: 113	 action: [-0.366  0.9   -0.325  0.006  0.02   0.014 -1.031]
+t: 114	 action: [-0.339  0.922 -0.296  0.002 -0.001  0.016 -1.009]
+t: 115	 action: [-0.384  0.852 -0.293 -0.002  0.005  0.012 -1.002]
+t: 116	 action: [-0.42   0.84  -0.321  0.003  0.001  0.016 -1.01 ]
+t: 117	 action: [-4.728e-01  7.413e-01 -3.155e-01  5.511e-04  9.547e-03  1.385e-02 -1.002e+00]
+t: 118	 action: [-0.579  0.8   -0.332 -0.001  0.005  0.022 -0.997]
+t: 119	 action: [-0.589  0.742 -0.404  0.006  0.001  0.018 -1.03 ]
+t: 120	 action: [-0.674  0.612 -0.342 -0.002  0.019  0.021 -0.987]
+t: 121	 action: [-0.71   0.445 -0.422  0.01   0.009  0.021 -1.034]
+[07-31 02:14:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9663
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9663
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 141
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 39 (27.7%)
+
+
 82%|████████▏ | 41/50 [10:14<02:08, 14.31s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 42...
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=122: Selected seed 195 with value = 0.9663
+t: 122	 action: [-0.726  0.026 -0.438  0.014  0.01   0.004 -0.967]
+t: 123	 action: [-0.724 -0.027 -0.341  0.017  0.038 -0.004 -0.977]
+t: 124	 action: [-0.836  0.002 -0.495  0.021  0.02   0.003 -0.967]
+t: 125	 action: [-0.818 -0.076 -0.386  0.021  0.048 -0.017 -0.983]
+t: 126	 action: [-0.899 -0.032 -0.362  0.029  0.053 -0.002 -0.961]
+t: 127	 action: [-0.901 -0.035 -0.327  0.031  0.063 -0.005 -1.039]
+t: 128	 action: [-0.894 -0.049 -0.327  0.038  0.079 -0.009 -0.958]
+t: 129	 action: [-0.885 -0.01  -0.297  0.035  0.073 -0.021 -1.043]
+t: 130	 action: [-0.852 -0.015 -0.281  0.042  0.082 -0.02  -1.005]
+t: 131	 action: [-0.819 -0.118 -0.261  0.038  0.091 -0.024 -1.013]
+t: 132	 action: [-0.847 -0.072 -0.243  0.042  0.093 -0.018 -1.006]
+t: 133	 action: [-0.764 -0.12  -0.231  0.035  0.093 -0.021 -1.016]
+t: 134	 action: [-0.835 -0.14  -0.222  0.054  0.092 -0.02  -1.   ]
+t: 135	 action: [-0.766 -0.101 -0.179  0.047  0.079 -0.019 -1.043]
+t: 136	 action: [-0.786 -0.158 -0.182  0.05   0.085 -0.015 -0.984]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=141--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+127 127 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=141--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 141
+# successes: 39 (27.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 42...
+[07-31 02:14:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3407
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3407
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3407
+t=10: Selected seed 195 with value = 0.3407
+t: 10	 action: [ 0.377  0.141 -0.005 -0.007  0.019  0.009 -1.021]
+t: 11	 action: [ 0.55   0.217 -0.011 -0.009  0.036  0.006 -1.014]
+t: 12	 action: [ 0.76   0.277 -0.034 -0.017  0.023  0.012 -1.019]
+t: 13	 action: [ 0.868  0.34  -0.024 -0.012  0.038  0.005 -1.015]
+t: 14	 action: [ 0.944  0.343 -0.037 -0.018  0.022  0.007 -1.014]
+t: 15	 action: [ 0.927  0.36  -0.042 -0.011  0.03   0.007 -1.036]
+t: 16	 action: [ 0.986  0.324 -0.083 -0.019  0.021  0.007 -1.011]
+t: 17	 action: [ 0.971  0.348 -0.118 -0.012  0.027  0.005 -1.041]
+t: 18	 action: [ 0.948  0.282 -0.13  -0.011  0.02   0.009 -1.03 ]
+t: 19	 action: [ 0.965  0.24  -0.141 -0.012  0.024  0.005 -1.018]
+t: 20	 action: [ 0.969  0.247 -0.164 -0.007  0.011  0.007 -1.028]
+t: 21	 action: [ 0.964  0.199 -0.161 -0.009  0.018  0.002 -1.017]
+t: 22	 action: [ 0.991  0.173 -0.184 -0.01   0.006  0.004 -1.   ]
+t: 23	 action: [ 0.988  0.165 -0.226 -0.006  0.012  0.003 -1.036]
+t: 24	 action: [ 1.008  0.126 -0.245 -0.008 -0.006  0.002 -0.999]
+t: 25	 action: [ 0.99   0.117 -0.285 -0.004  0.009  0.003 -1.041]
+[07-31 02:14:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3774
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=26: Selected seed 195 with value = 0.3774
+t: 26	 action: [ 0.907  0.175 -0.223  0.007  0.041  0.004 -1.032]
+t: 27	 action: [ 0.934  0.094 -0.249  0.007  0.039 -0.005 -1.011]
+t: 28	 action: [ 8.831e-01  4.202e-02 -3.063e-01  1.283e-02  2.709e-02  7.558e-04 -1.021e+00]
+t: 29	 action: [ 0.884 -0.029 -0.38   0.015  0.014 -0.009 -1.013]
+t: 30	 action: [ 0.841 -0.034 -0.443  0.013  0.014 -0.005 -1.022]
+t: 31	 action: [ 0.741 -0.043 -0.538  0.021  0.005 -0.01  -1.034]
+t: 32	 action: [ 0.661 -0.119 -0.593  0.026 -0.002 -0.008 -1.017]
+t: 33	 action: [ 0.532 -0.106 -0.678  0.025 -0.004 -0.012 -1.036]
+t: 34	 action: [ 0.398 -0.185 -0.656  0.041 -0.018 -0.006 -1.033]
+t: 35	 action: [ 0.334 -0.147 -0.737  0.029 -0.018 -0.007 -1.015]
+t: 36	 action: [ 2.462e-01 -1.481e-01 -7.177e-01  3.540e-02 -2.662e-02  8.545e-04 -1.029e+00]
+t: 37	 action: [ 0.17  -0.121 -0.761  0.023 -0.025 -0.007 -1.017]
+t: 38	 action: [ 0.18  -0.047 -0.739  0.023 -0.036 -0.005 -1.029]
+t: 39	 action: [ 0.087 -0.073 -0.776  0.026 -0.041 -0.008 -1.037]
+t: 40	 action: [ 0.109 -0.004 -0.751  0.011 -0.034 -0.002 -1.026]
+t: 41	 action: [ 0.035 -0.042 -0.773  0.017 -0.037 -0.006 -1.037]
+[07-31 02:14:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4571
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4571
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4571
+t=42: Selected seed 195 with value = 0.4571
+t: 42	 action: [ 0.243 -0.247 -0.385  0.013 -0.016  0.007 -1.01 ]
+t: 43	 action: [ 0.121 -0.274 -0.456  0.012 -0.018  0.012 -1.029]
+t: 44	 action: [ 0.111 -0.236 -0.526  0.02  -0.037  0.01  -1.007]
+t: 45	 action: [-0.027 -0.255 -0.617  0.013 -0.043  0.017 -1.027]
+t: 46	 action: [-0.123 -0.171 -0.614  0.006 -0.043  0.014 -0.999]
+t: 47	 action: [-0.201 -0.117 -0.75   0.01  -0.05   0.02  -1.048]
+t: 48	 action: [-0.334 -0.088 -0.689  0.003 -0.054  0.025 -1.001]
+t: 49	 action: [-0.397 -0.054 -0.797  0.005 -0.05   0.024 -1.045]
+t: 50	 action: [-4.968e-01 -7.050e-02 -7.100e-01  4.487e-04 -6.887e-02  5.766e-02 -1.009e+00]
+t: 51	 action: [-0.546 -0.115 -0.791 -0.008 -0.058  0.051 -1.013]
+t: 52	 action: [-0.605 -0.021 -0.692 -0.009 -0.056  0.064 -1.01 ]
+t: 53	 action: [-0.603 -0.074 -0.765 -0.01  -0.034  0.051 -1.005]
+t: 54	 action: [-0.646 -0.029 -0.668 -0.027 -0.057  0.073 -0.998]
+t: 55	 action: [-0.598  0.024 -0.734 -0.012 -0.039  0.053 -1.044]
+t: 56	 action: [-0.578  0.016 -0.607 -0.031 -0.033  0.066 -0.998]
+t: 57	 action: [-0.494  0.066 -0.653 -0.012 -0.015  0.05  -1.05 ]
+[07-31 02:14:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5418
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5418
+Query 1/1: Action query time = 1.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5418
+t=58: Selected seed 195 with value = 0.5418
+t: 58	 action: [-0.19   0.205 -0.579  0.002 -0.022  0.044 -0.991]
+t: 59	 action: [-0.146  0.237 -0.515 -0.009  0.003  0.033 -0.996]
+t: 60	 action: [-0.066  0.36  -0.502  0.001 -0.006  0.039 -0.993]
+t: 61	 action: [-0.003  0.476 -0.374 -0.007  0.01   0.026 -1.001]
+t: 62	 action: [-0.104  0.464 -0.378 -0.003  0.005  0.042 -0.993]
+t: 63	 action: [-0.036  0.658 -0.259 -0.004  0.001  0.027 -1.031]
+t: 64	 action: [-0.01   0.717 -0.262 -0.004  0.015  0.029 -0.997]
+t: 65	 action: [-1.026e-04  7.527e-01 -1.749e-01 -2.488e-03  8.362e-03  1.870e-02 -1.031e+00]
+t: 66	 action: [ 2.392e-02  8.826e-01 -1.443e-01  3.248e-05  1.609e-02  1.392e-02 -1.003e+00]
+t: 67	 action: [ 0.011  0.825 -0.081  0.002  0.023  0.012 -1.005]
+t: 68	 action: [-0.003  0.882 -0.122  0.005  0.019  0.017 -0.997]
+t: 69	 action: [ 0.005  0.812 -0.062  0.007  0.021  0.016 -1.005]
+t: 70	 action: [-0.049  0.925 -0.127 -0.004  0.013  0.008 -1.016]
+t: 71	 action: [-0.062  0.825 -0.075  0.006  0.022  0.008 -1.027]
+t: 72	 action: [-0.113  0.905 -0.157 -0.006  0.018  0.01  -1.004]
+t: 73	 action: [-0.104  0.81  -0.105  0.009  0.023  0.014 -1.033]
+[07-31 02:14:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.011 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7099
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7099
+Query 1/1: Action query time = 1.011 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7099
+t=74: Selected seed 195 with value = 0.7099
+t: 74	 action: [-0.113  0.688 -0.336 -0.008 -0.016  0.025 -0.993]
+t: 75	 action: [-0.126  0.731 -0.273 -0.011  0.001  0.02  -1.009]
+t: 76	 action: [-0.084  0.796 -0.295 -0.012 -0.008  0.025 -0.984]
+t: 77	 action: [-0.051  0.819 -0.243 -0.01   0.006  0.021 -1.01 ]
+t: 78	 action: [-0.052  0.863 -0.272 -0.013 -0.006  0.021 -0.999]
+t: 79	 action: [-0.058  0.851 -0.193 -0.012 -0.006  0.017 -1.037]
+t: 80	 action: [-0.05   0.926 -0.24  -0.014  0.002  0.022 -0.99 ]
+t: 81	 action: [-0.05   0.879 -0.166 -0.01  -0.004  0.018 -1.04 ]
+t: 82	 action: [-8.544e-02  9.242e-01 -2.458e-01 -1.308e-04 -2.811e-02  2.303e-02 -9.978e-01]
+t: 83	 action: [-0.098  0.887 -0.241 -0.003 -0.02   0.018 -1.014]
+t: 84	 action: [-0.113  0.916 -0.264  0.006 -0.024  0.027 -0.988]
+t: 85	 action: [-1.441e-01  8.746e-01 -2.575e-01  7.108e-04 -1.630e-02  2.165e-02 -1.014e+00]
+t: 86	 action: [-0.194  0.923 -0.27  -0.004 -0.022  0.027 -1.   ]
+t: 87	 action: [-2.520e-01  8.958e-01 -2.519e-01 -2.629e-04 -2.198e-02  1.881e-02 -1.039e+00]
+t: 88	 action: [-0.266  0.915 -0.291 -0.004 -0.014  0.031 -0.986]
+t: 89	 action: [-0.306  0.884 -0.261  0.004 -0.017  0.023 -1.043]
+[07-31 02:14:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8741
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8741
+Query 1/1: Action query time = 1.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8741
+t=90: Selected seed 195 with value = 0.8741
+t: 90	 action: [-0.195  0.816 -0.211 -0.004  0.009  0.002 -1.028]
+t: 91	 action: [-0.187  0.763 -0.06  -0.003  0.019  0.002 -1.004]
+t: 92	 action: [-0.205  0.845 -0.164  0.002  0.018  0.004 -1.007]
+t: 93	 action: [-0.197  0.78  -0.039  0.001  0.029  0.006 -1.004]
+t: 94	 action: [-0.274  0.85  -0.117 -0.003  0.018 -0.002 -1.017]
+t: 95	 action: [-2.766e-01  8.297e-01 -6.675e-02 -2.661e-04  2.487e-02  7.828e-03 -1.028e+00]
+t: 96	 action: [-3.290e-01  8.881e-01 -1.309e-01 -3.704e-03  2.705e-02 -5.214e-04 -1.004e+00]
+t: 97	 action: [-0.31   0.833 -0.077  0.004  0.031  0.011 -1.031]
+t: 98	 action: [-0.375  0.885 -0.189  0.002  0.009  0.014 -1.003]
+t: 99	 action: [-4.385e-01  8.020e-01 -2.016e-01 -4.945e-04  1.578e-02  1.386e-02 -1.008e+00]
+t: 100	 action: [-0.474  0.817 -0.214  0.006  0.014  0.016 -1.006]
+t: 101	 action: [-0.494  0.717 -0.227  0.002  0.032  0.016 -1.007]
+t: 102	 action: [-0.669  0.65  -0.301 -0.002  0.041  0.028 -0.998]
+t: 103	 action: [-0.626  0.537 -0.35   0.01   0.05   0.022 -1.037]
+t: 104	 action: [-0.661  0.312 -0.307  0.002  0.08   0.015 -0.998]
+t: 105	 action: [-0.59   0.176 -0.388  0.017  0.073  0.02  -1.038]
+[07-31 02:14:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.009 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9974
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9974
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 142
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 40 (28.2%)
+
+
 84%|████████▍ | 42/50 [10:27<01:51, 13.90s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 43...
+Query 1/1: Action query time = 1.009 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=106: Selected seed 195 with value = 0.9974
+t: 106	 action: [-0.81  -0.025 -0.322  0.044  0.047 -0.028 -0.978]
+t: 107	 action: [-0.821 -0.031 -0.322  0.038  0.064 -0.022 -1.001]
+t: 108	 action: [-0.866 -0.015 -0.321  0.047  0.062 -0.034 -0.984]
+t: 109	 action: [-0.833 -0.02  -0.304  0.04   0.078 -0.028 -0.997]
+t: 110	 action: [-0.849 -0.08  -0.279  0.049  0.083 -0.031 -0.959]
+t: 111	 action: [-0.844 -0.031 -0.283  0.044  0.096 -0.025 -1.028]
+t: 112	 action: [-0.851 -0.076 -0.258  0.055  0.093 -0.04  -0.962]
+t: 113	 action: [-0.777 -0.028 -0.256  0.044  0.105 -0.034 -1.027]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=142--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+104 104 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=142--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 142
+# successes: 40 (28.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 43...
+[07-31 02:14:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.009 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3308
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3308
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3308
+t=10: Selected seed 195 with value = 0.3308
+t: 10	 action: [ 1.468e-01  6.210e-02  2.872e-03 -7.140e-04  1.794e-02  6.759e-03 -1.024e+00]
+t: 11	 action: [ 0.256  0.075 -0.002 -0.006  0.027  0.006 -1.015]
+t: 12	 action: [ 0.444  0.129 -0.013 -0.006  0.016  0.008 -1.03 ]
+t: 13	 action: [ 0.627  0.173 -0.017 -0.009  0.023  0.006 -1.018]
+t: 14	 action: [ 0.756  0.232 -0.018 -0.008  0.01   0.006 -1.027]
+t: 15	 action: [ 0.847  0.231 -0.022 -0.01   0.017  0.006 -1.031]
+t: 16	 action: [ 0.94   0.256 -0.044 -0.013  0.009  0.004 -1.024]
+t: 17	 action: [ 0.951  0.263 -0.042 -0.011  0.015  0.005 -1.037]
+t: 18	 action: [ 0.936  0.196 -0.045 -0.002  0.025  0.005 -1.027]
+t: 19	 action: [ 0.922  0.195 -0.072 -0.008  0.024  0.001 -1.019]
+t: 20	 action: [ 0.963  0.209 -0.101 -0.002  0.017  0.003 -1.028]
+t: 21	 action: [ 9.323e-01  2.083e-01 -9.967e-02 -8.371e-03  1.580e-02 -9.661e-04 -1.019e+00]
+t: 22	 action: [ 0.989  0.199 -0.119 -0.003  0.011  0.002 -1.002]
+t: 23	 action: [ 9.850e-01  2.162e-01 -1.533e-01  5.115e-04  1.247e-02 -6.760e-04 -1.034e+00]
+t: 24	 action: [ 1.017  0.211 -0.198 -0.006  0.004 -0.001 -1.002]
+t: 25	 action: [ 1.004e+00  2.111e-01 -2.219e-01 -4.207e-04  1.062e-02 -9.576e-04 -1.041e+00]
+[07-31 02:14:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.008 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3787
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3787
+Query 1/1: Action query time = 1.008 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3787
+t=26: Selected seed 195 with value = 0.3787
+t: 26	 action: [ 0.91   0.277 -0.137  0.005  0.031  0.008 -1.033]
+t: 27	 action: [ 0.932  0.181 -0.16   0.005  0.036 -0.003 -1.021]
+t: 28	 action: [ 0.91   0.185 -0.219  0.008  0.025  0.007 -1.023]
+t: 29	 action: [ 0.934  0.077 -0.263  0.011  0.027 -0.005 -1.018]
+t: 30	 action: [ 0.949  0.064 -0.354  0.003  0.021 -0.003 -1.013]
+t: 31	 action: [ 0.91  -0.007 -0.427  0.016  0.024 -0.008 -1.035]
+t: 32	 action: [ 0.867 -0.009 -0.526  0.012  0.012 -0.008 -1.011]
+t: 33	 action: [ 0.809 -0.079 -0.587  0.021  0.012 -0.009 -1.036]
+t: 34	 action: [ 0.64  -0.103 -0.585  0.034  0.01  -0.007 -1.03 ]
+t: 35	 action: [ 0.576 -0.159 -0.686  0.02   0.011 -0.01  -1.021]
+t: 36	 action: [ 0.434 -0.113 -0.693  0.031  0.002 -0.005 -1.024]
+t: 37	 action: [ 0.34  -0.151 -0.753  0.016  0.005 -0.009 -1.016]
+t: 38	 action: [ 0.272 -0.023 -0.746  0.023 -0.009 -0.01  -1.024]
+t: 39	 action: [ 0.166 -0.095 -0.731  0.019 -0.012 -0.011 -1.039]
+t: 40	 action: [ 0.139  0.02  -0.784  0.01  -0.013 -0.002 -1.02 ]
+t: 41	 action: [ 0.065 -0.055 -0.765  0.011 -0.016 -0.007 -1.037]
+[07-31 02:14:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.022 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4210
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4210
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4210
+t=42: Selected seed 195 with value = 0.4210
+t: 42	 action: [ 0.225 -0.246 -0.48   0.022 -0.011  0.008 -1.009]
+t: 43	 action: [ 0.108 -0.285 -0.59   0.014 -0.019  0.008 -1.025]
+t: 44	 action: [ 0.07  -0.235 -0.616  0.026 -0.034  0.012 -1.016]
+t: 45	 action: [-0.041 -0.255 -0.72   0.015 -0.043  0.015 -1.024]
+t: 46	 action: [-0.119 -0.191 -0.684  0.006 -0.046  0.012 -1.006]
+t: 47	 action: [-0.169 -0.173 -0.803  0.011 -0.055  0.017 -1.05 ]
+t: 48	 action: [-0.269 -0.102 -0.726  0.003 -0.058  0.027 -1.011]
+t: 49	 action: [-0.34  -0.105 -0.811  0.008 -0.056  0.024 -1.051]
+t: 50	 action: [-0.398 -0.107 -0.745  0.007 -0.07   0.064 -1.012]
+t: 51	 action: [-4.486e-01 -1.407e-01 -8.100e-01 -5.016e-04 -6.263e-02  5.774e-02 -1.016e+00]
+t: 52	 action: [-0.519 -0.044 -0.727  0.001 -0.06   0.072 -1.016]
+t: 53	 action: [-0.525 -0.092 -0.771 -0.004 -0.042  0.059 -1.011]
+t: 54	 action: [-0.557 -0.018 -0.695 -0.017 -0.057  0.078 -1.004]
+t: 55	 action: [-0.521  0.017 -0.744 -0.007 -0.037  0.059 -1.045]
+t: 56	 action: [-0.552  0.007 -0.654 -0.023 -0.036  0.074 -1.003]
+t: 57	 action: [-0.512  0.043 -0.701 -0.009 -0.016  0.06  -1.052]
+[07-31 02:14:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5268
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5268
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5268
+t=58: Selected seed 195 with value = 0.5268
+t: 58	 action: [-0.426  0.046 -0.59   0.005 -0.022  0.047 -0.979]
+t: 59	 action: [-0.422 -0.038 -0.62  -0.006 -0.007  0.043 -0.998]
+t: 60	 action: [-0.46   0.017 -0.642  0.003 -0.009  0.045 -0.975]
+t: 61	 action: [-0.38   0.041 -0.646 -0.005  0.001  0.035 -0.998]
+t: 62	 action: [-4.804e-01  1.130e-01 -5.567e-01  1.558e-03  9.141e-04  5.505e-02 -9.747e-01]
+t: 63	 action: [-0.303  0.264 -0.517  0.004 -0.001  0.042 -1.025]
+t: 64	 action: [-1.779e-01  3.657e-01 -4.194e-01  2.353e-04  8.568e-03  4.209e-02 -9.764e-01]
+t: 65	 action: [-6.612e-02  6.028e-01 -3.168e-01 -1.130e-04  4.079e-04  2.974e-02 -1.026e+00]
+t: 66	 action: [ 0.104  0.562 -0.135  0.004  0.035  0.007 -0.99 ]
+t: 67	 action: [ 0.118  0.606 -0.105  0.011  0.051  0.009 -0.994]
+t: 68	 action: [ 0.139  0.708 -0.111  0.005  0.035  0.011 -0.981]
+t: 69	 action: [ 0.126  0.711 -0.087  0.014  0.04   0.013 -0.993]
+t: 70	 action: [-0.011  0.822 -0.109 -0.003  0.028  0.002 -1.004]
+t: 71	 action: [ 0.008  0.762 -0.119  0.019  0.038  0.005 -1.028]
+t: 72	 action: [-1.023e-01  8.600e-01 -1.718e-01 -8.249e-04  2.465e-02  2.468e-03 -9.981e-01]
+t: 73	 action: [-0.027  0.802 -0.204  0.02   0.024  0.01  -1.033]
+[07-31 02:14:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.011 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5600
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5600
+Query 1/1: Action query time = 1.011 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5600
+t=74: Selected seed 195 with value = 0.5600
+t: 74	 action: [-0.282  0.137 -0.583  0.001 -0.051  0.038 -1.001]
+t: 75	 action: [-0.25   0.103 -0.526 -0.006 -0.035  0.028 -1.003]
+t: 76	 action: [-0.194  0.25  -0.543  0.001 -0.036  0.032 -1.001]
+t: 77	 action: [-0.119  0.362 -0.398 -0.004 -0.019  0.022 -1.012]
+t: 78	 action: [-0.228  0.358 -0.417 -0.003 -0.025  0.034 -0.998]
+t: 79	 action: [-1.385e-01  5.273e-01 -2.500e-01  1.424e-04 -1.572e-02  2.270e-02 -1.037e+00]
+t: 80	 action: [-0.117  0.588 -0.283 -0.004 -0.013  0.023 -0.998]
+t: 81	 action: [-0.055  0.677 -0.135  0.002 -0.006  0.016 -1.038]
+t: 82	 action: [ 0.042  0.857 -0.114 -0.014  0.01   0.006 -1.015]
+t: 83	 action: [ 0.023  0.807 -0.046 -0.005  0.02   0.008 -1.011]
+t: 84	 action: [ 0.013  0.87  -0.096 -0.007  0.012  0.01  -1.01 ]
+t: 85	 action: [ 1.774e-02  8.054e-01 -4.730e-02 -6.105e-04  1.433e-02  1.028e-02 -1.013e+00]
+t: 86	 action: [-0.063  0.92  -0.101 -0.013  0.006  0.002 -1.021]
+t: 87	 action: [-6.659e-02  8.279e-01 -6.649e-02  2.309e-04  9.193e-03  4.788e-03 -1.033e+00]
+t: 88	 action: [-0.136  0.902 -0.146 -0.011  0.007  0.005 -1.007]
+t: 89	 action: [-0.124  0.826 -0.12   0.003  0.006  0.01  -1.038]
+[07-31 02:14:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7896
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7896
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7896
+t=90: Selected seed 195 with value = 0.7896
+t: 90	 action: [-2.179e-01  5.779e-01 -3.608e-01 -2.135e-02 -5.648e-04  1.086e-02 -1.011e+00]
+t: 91	 action: [-0.218  0.618 -0.26  -0.016  0.009  0.011 -1.011]
+t: 92	 action: [-0.17   0.696 -0.273 -0.024  0.012  0.012 -0.997]
+t: 93	 action: [-0.122  0.725 -0.152 -0.014  0.015  0.014 -1.013]
+t: 94	 action: [-0.123  0.765 -0.167 -0.024  0.004  0.007 -1.009]
+t: 95	 action: [-0.079  0.769 -0.093 -0.016  0.005  0.011 -1.035]
+t: 96	 action: [-0.111  0.85  -0.116 -0.024  0.011  0.007 -0.997]
+t: 97	 action: [-0.08   0.806 -0.05  -0.013  0.006  0.014 -1.035]
+t: 98	 action: [-0.128  0.932 -0.149 -0.007 -0.028  0.014 -1.003]
+t: 99	 action: [-0.158  0.885 -0.142 -0.005 -0.021  0.013 -1.019]
+t: 100	 action: [-0.155  0.906 -0.183  0.004 -0.03   0.021 -0.999]
+t: 101	 action: [-2.157e-01  8.596e-01 -1.757e-01  6.325e-04 -2.849e-02  1.699e-02 -1.015e+00]
+t: 102	 action: [-0.322  0.916 -0.207 -0.008 -0.034  0.02  -1.002]
+t: 103	 action: [-0.376  0.884 -0.263  0.002 -0.036  0.017 -1.041]
+t: 104	 action: [-0.452  0.863 -0.239 -0.006 -0.027  0.027 -0.989]
+t: 105	 action: [-0.458  0.846 -0.282  0.007 -0.03   0.022 -1.04 ]
+[07-31 02:14:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9363
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9363
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 143
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 41 (28.7%)
+
+
 86%|████████▌ | 43/50 [10:40<01:35, 13.68s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 44...
+Query 1/1: Action query time = 1.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9363
+t=106: Selected seed 195 with value = 0.9363
+t: 106	 action: [-5.972e-01  6.767e-01 -2.433e-01  3.452e-04  4.793e-03  3.178e-03 -9.919e-01]
+t: 107	 action: [-0.566  0.626 -0.136  0.008  0.019  0.001 -0.99 ]
+t: 108	 action: [-0.693  0.588 -0.191  0.005  0.015  0.003 -0.982]
+t: 109	 action: [-0.665  0.505 -0.1    0.009  0.035 -0.005 -1.001]
+t: 110	 action: [-0.74   0.448 -0.14  -0.005  0.032 -0.006 -0.98 ]
+t: 111	 action: [-0.676  0.444 -0.156  0.014  0.049  0.001 -1.033]
+t: 112	 action: [-0.641  0.284 -0.146 -0.006  0.071 -0.007 -0.98 ]
+t: 113	 action: [-0.494  0.206 -0.24   0.021  0.076 -0.007 -1.03 ]
+t: 114	 action: [-0.733  0.034 -0.29   0.021  0.057 -0.02  -1.012]
+t: 115	 action: [-0.739 -0.122 -0.32   0.029  0.069 -0.032 -1.018]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=143--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+106 106 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=143--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 143
+# successes: 41 (28.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 44...
+[07-31 02:14:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.012 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3449
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3449
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3449
+t=10: Selected seed 195 with value = 0.3449
+t: 10	 action: [ 0.283  0.109 -0.01   0.003 -0.007  0.007 -1.015]
+t: 11	 action: [ 0.372  0.143 -0.011  0.005  0.003  0.004 -1.015]
+t: 12	 action: [ 0.548  0.146 -0.043  0.001 -0.008  0.008 -1.017]
+t: 13	 action: [ 0.682  0.181 -0.016  0.002  0.005  0.005 -1.016]
+t: 14	 action: [ 0.832  0.215 -0.05  -0.002 -0.007  0.004 -1.01 ]
+t: 15	 action: [ 0.878  0.217 -0.03   0.005  0.001  0.005 -1.037]
+t: 16	 action: [ 0.976  0.224 -0.09  -0.004 -0.004  0.003 -1.011]
+t: 17	 action: [ 9.672e-01  2.192e-01 -6.213e-02  5.080e-03 -5.542e-04  5.143e-03 -1.041e+00]
+t: 18	 action: [ 0.918  0.212 -0.105  0.005  0.002  0.007 -1.023]
+t: 19	 action: [ 9.363e-01  1.932e-01 -1.027e-01  3.279e-04  1.059e-02  7.786e-04 -1.018e+00]
+t: 20	 action: [ 0.94   0.211 -0.13   0.005  0.004  0.007 -1.024]
+t: 21	 action: [ 9.509e-01  1.880e-01 -1.192e-01  7.126e-04  1.217e-02 -1.536e-03 -1.017e+00]
+t: 22	 action: [ 0.978  0.238 -0.132  0.001  0.008  0.002 -1.   ]
+t: 23	 action: [ 1.003e+00  2.136e-01 -1.443e-01  7.066e-03  5.022e-03 -2.258e-04 -1.037e+00]
+t: 24	 action: [ 9.969e-01  2.528e-01 -1.625e-01 -1.773e-03  1.067e-02  5.138e-04 -1.002e+00]
+t: 25	 action: [ 1.014e+00  2.027e-01 -1.781e-01  8.436e-03  6.378e-03 -3.952e-04 -1.041e+00]
+[07-31 02:14:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3892
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3892
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3892
+t=26: Selected seed 195 with value = 0.3892
+t: 26	 action: [ 0.903  0.259 -0.177  0.003  0.009  0.012 -1.033]
+t: 27	 action: [ 0.924  0.16  -0.215  0.005  0.011  0.006 -1.015]
+t: 28	 action: [ 0.902  0.13  -0.24   0.008  0.009  0.012 -1.025]
+t: 29	 action: [ 0.915  0.029 -0.307  0.013  0.01   0.004 -1.015]
+t: 30	 action: [ 0.931 -0.013 -0.387  0.02   0.008  0.002 -1.012]
+t: 31	 action: [ 0.851 -0.077 -0.465  0.027  0.008  0.003 -1.03 ]
+t: 32	 action: [ 0.805 -0.102 -0.515  0.036  0.009  0.002 -1.013]
+t: 33	 action: [ 0.719 -0.135 -0.585  0.032  0.008  0.001 -1.032]
+t: 34	 action: [ 0.618 -0.1   -0.571  0.022 -0.002  0.009 -1.027]
+t: 35	 action: [ 5.889e-01 -1.162e-01 -6.750e-01  1.837e-02  3.646e-03  7.948e-04 -1.020e+00]
+t: 36	 action: [ 0.444 -0.051 -0.669  0.02  -0.009  0.009 -1.019]
+t: 37	 action: [ 3.671e-01 -9.749e-02 -7.413e-01  1.446e-02 -5.636e-03 -8.956e-04 -1.016e+00]
+t: 38	 action: [ 0.3    0.008 -0.7    0.02  -0.018  0.003 -1.023]
+t: 39	 action: [ 0.198 -0.03  -0.742  0.02  -0.024 -0.001 -1.037]
+t: 40	 action: [ 0.176  0.046 -0.737  0.01  -0.022  0.004 -1.016]
+t: 41	 action: [ 1.105e-01 -3.821e-04 -7.718e-01  1.487e-02 -2.806e-02 -1.381e-03 -1.036e+00]
+[07-31 02:14:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4093
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4093
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4093
+t=42: Selected seed 195 with value = 0.4093
+t: 42	 action: [ 0.393 -0.163 -0.47   0.031  0.001  0.006 -1.02 ]
+t: 43	 action: [ 2.283e-01 -2.026e-01 -5.605e-01  2.342e-02 -7.927e-04  7.018e-03 -1.037e+00]
+t: 44	 action: [ 0.203 -0.195 -0.578  0.033 -0.02   0.008 -1.019]
+t: 45	 action: [ 0.044 -0.198 -0.68   0.021 -0.024  0.014 -1.033]
+t: 46	 action: [-0.057 -0.171 -0.642  0.011 -0.025  0.011 -1.009]
+t: 47	 action: [-0.115 -0.142 -0.79   0.019 -0.026  0.018 -1.054]
+t: 48	 action: [-0.213 -0.089 -0.71   0.006 -0.041  0.023 -1.008]
+t: 49	 action: [-0.262 -0.083 -0.811  0.013 -0.038  0.026 -1.05 ]
+t: 50	 action: [-0.362 -0.091 -0.699  0.007 -0.051  0.059 -1.013]
+t: 51	 action: [-0.438 -0.126 -0.769 -0.008 -0.045  0.062 -1.031]
+t: 52	 action: [-0.526 -0.042 -0.693 -0.003 -0.046  0.07  -1.013]
+t: 53	 action: [-0.535 -0.086 -0.745 -0.014 -0.029  0.067 -1.022]
+t: 54	 action: [-0.629 -0.041 -0.661 -0.022 -0.053  0.093 -1.003]
+t: 55	 action: [-0.604 -0.024 -0.728 -0.015 -0.038  0.076 -1.053]
+t: 56	 action: [-0.643 -0.008 -0.65  -0.036 -0.038  0.09  -0.998]
+t: 57	 action: [-0.609  0.006 -0.69  -0.022 -0.018  0.077 -1.056]
+[07-31 02:14:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5262
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5262
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5262
+t=58: Selected seed 195 with value = 0.5262
+t: 58	 action: [-0.282  0.031 -0.479  0.008 -0.02   0.028 -0.996]
+t: 59	 action: [-0.249 -0.115 -0.43  -0.008  0.002  0.028 -1.006]
+t: 60	 action: [-0.257  0.011 -0.565  0.003 -0.005  0.031 -0.994]
+t: 61	 action: [-0.166  0.16  -0.57  -0.009  0.01   0.026 -1.007]
+t: 62	 action: [-2.952e-01  9.155e-02 -5.751e-01  4.422e-04  8.791e-03  3.875e-02 -9.925e-01]
+t: 63	 action: [-1.657e-01  2.210e-01 -5.000e-01  8.981e-04  3.298e-03  2.869e-02 -1.039e+00]
+t: 64	 action: [-0.162  0.381 -0.47  -0.004  0.019  0.032 -0.993]
+t: 65	 action: [-0.058  0.686 -0.403 -0.004  0.013  0.022 -1.037]
+t: 66	 action: [-0.02   0.775 -0.274  0.001  0.026  0.013 -1.001]
+t: 67	 action: [-0.005  0.814 -0.278 -0.002  0.038  0.012 -1.012]
+t: 68	 action: [-2.843e-02  8.570e-01 -2.165e-01  6.821e-04  2.931e-02  1.558e-02 -9.988e-01]
+t: 69	 action: [ 4.469e-03  8.428e-01 -2.324e-01  4.462e-04  2.974e-02  1.413e-02 -1.013e+00]
+t: 70	 action: [-0.086  0.932 -0.277 -0.006  0.021  0.013 -1.009]
+t: 71	 action: [-0.06   0.886 -0.256  0.007  0.023  0.009 -1.039]
+t: 72	 action: [-0.117  0.943 -0.274 -0.01   0.018  0.011 -1.002]
+t: 73	 action: [-0.083  0.901 -0.273  0.005  0.015  0.011 -1.045]
+[07-31 02:14:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5442
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5442
+Query 1/1: Action query time = 1.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5442
+t=74: Selected seed 195 with value = 0.5442
+t: 74	 action: [-0.171  0.106 -0.454  0.005 -0.03   0.019 -0.996]
+t: 75	 action: [-0.177  0.121 -0.423 -0.003 -0.009  0.015 -1.011]
+t: 76	 action: [-0.14   0.234 -0.442  0.003 -0.021  0.016 -1.001]
+t: 77	 action: [-0.074  0.462 -0.412 -0.002  0.003  0.013 -1.016]
+t: 78	 action: [-0.104  0.309 -0.365 -0.001 -0.011  0.013 -1.005]
+t: 79	 action: [-0.067  0.55  -0.306  0.001 -0.004  0.009 -1.045]
+t: 80	 action: [-5.921e-02  6.007e-01 -2.836e-01 -4.083e-03 -9.572e-04  7.996e-03 -1.008e+00]
+t: 81	 action: [-4.313e-02  7.600e-01 -2.791e-01  4.307e-04  5.621e-04  5.810e-03 -1.045e+00]
+t: 82	 action: [-3.012e-02  8.226e-01 -2.847e-01  2.217e-04 -1.232e-02  8.857e-03 -1.019e+00]
+t: 83	 action: [-0.036  0.827 -0.222 -0.006  0.002  0.004 -1.012]
+t: 84	 action: [-0.046  0.857 -0.253  0.001 -0.006  0.01  -1.014]
+t: 85	 action: [-0.037  0.832 -0.198 -0.003  0.007  0.007 -1.023]
+t: 86	 action: [-0.1    0.917 -0.271 -0.006 -0.01   0.003 -1.028]
+t: 87	 action: [-1.142e-01  8.795e-01 -2.372e-01 -1.068e-03 -5.427e-03 -7.897e-04 -1.042e+00]
+t: 88	 action: [-0.137  0.922 -0.247 -0.008  0.001  0.003 -1.013]
+t: 89	 action: [-1.296e-01  8.739e-01 -2.169e-01  4.530e-04 -2.853e-03  2.529e-03 -1.050e+00]
+[07-31 02:14:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7319
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7319
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7319
+t=90: Selected seed 195 with value = 0.7319
+t: 90	 action: [-0.137  0.735 -0.289 -0.016  0.012  0.007 -0.994]
+t: 91	 action: [-0.115  0.748 -0.226 -0.013  0.019  0.005 -1.008]
+t: 92	 action: [-0.126  0.83  -0.278 -0.019  0.014  0.009 -0.985]
+t: 93	 action: [-0.084  0.832 -0.226 -0.011  0.018  0.01  -1.008]
+t: 94	 action: [-6.653e-02  8.676e-01 -2.348e-01 -2.106e-02  8.905e-03  4.889e-04 -9.970e-01]
+t: 95	 action: [-0.051  0.87  -0.201 -0.009  0.015  0.004 -1.038]
+t: 96	 action: [-0.077  0.924 -0.249 -0.022  0.012  0.001 -0.987]
+t: 97	 action: [-0.055  0.901 -0.228 -0.007  0.009  0.008 -1.038]
+t: 98	 action: [-0.085  0.945 -0.263 -0.021 -0.023  0.017 -1.001]
+t: 99	 action: [-0.097  0.914 -0.259 -0.014 -0.013  0.012 -1.014]
+t: 100	 action: [-0.104  0.929 -0.277 -0.01  -0.021  0.019 -0.995]
+t: 101	 action: [-0.14   0.888 -0.28  -0.009 -0.011  0.016 -1.017]
+t: 102	 action: [-0.216  0.915 -0.292 -0.013 -0.022  0.015 -1.008]
+t: 103	 action: [-0.228  0.915 -0.3   -0.006 -0.021  0.013 -1.042]
+t: 104	 action: [-0.268  0.89  -0.291 -0.01  -0.01   0.016 -0.995]
+t: 105	 action: [-2.864e-01  8.878e-01 -3.060e-01  4.002e-04 -1.217e-02  1.727e-02 -1.047e+00]
+[07-31 02:14:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8701
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=106: Selected seed 195 with value = 0.8701
+t: 106	 action: [-0.292  0.906 -0.291  0.003  0.01   0.004 -1.013]
+t: 107	 action: [-2.623e-01  8.611e-01 -2.375e-01  3.795e-03  1.881e-02  8.080e-04 -1.007e+00]
+t: 108	 action: [-0.308  0.922 -0.264  0.003  0.017  0.006 -1.001]
+t: 109	 action: [-0.272  0.847 -0.222  0.006  0.028  0.005 -1.008]
+t: 110	 action: [-3.248e-01  9.007e-01 -2.415e-01 -6.660e-04  1.526e-02 -1.825e-03 -1.004e+00]
+t: 111	 action: [-0.332  0.881 -0.238  0.007  0.019  0.005 -1.032]
+t: 112	 action: [-3.647e-01  9.122e-01 -2.328e-01 -2.745e-03  2.261e-02 -2.034e-04 -9.949e-01]
+t: 113	 action: [-0.357  0.857 -0.252  0.009  0.024  0.008 -1.035]
+t: 114	 action: [-2.863e-01  9.152e-01 -2.337e-01 -5.800e-03  4.137e-04  9.889e-03 -1.005e+00]
+t: 115	 action: [-0.378  0.795 -0.258 -0.005  0.009  0.006 -1.009]
+t: 116	 action: [-0.43   0.78  -0.264  0.003  0.004  0.008 -1.005]
+t: 117	 action: [-4.734e-01  6.190e-01 -2.850e-01 -8.336e-04  1.313e-02  6.281e-03 -1.007e+00]
+t: 118	 action: [-0.706  0.544 -0.377 -0.002  0.013  0.01  -1.001]
+t: 119	 action: [-0.706  0.337 -0.439  0.017  0.01   0.011 -1.04 ]
+t: 120	 action: [-0.732  0.238 -0.404  0.003  0.034  0.002 -0.995]
+t: 121	 action: [-0.763  0.073 -0.471  0.025  0.035  0.011 -1.041]
+[07-31 02:15:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9879
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9879
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 144
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 42 (29.2%)
+
+
 88%|████████▊ | 44/50 [10:55<01:23, 13.98s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 45...
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=122: Selected seed 195 with value = 0.9879
+t: 122	 action: [-0.695 -0.042 -0.292  0.021  0.039 -0.023 -0.993]
+t: 123	 action: [-0.715 -0.135 -0.217  0.024  0.063 -0.03  -1.004]
+t: 124	 action: [-0.827 -0.11  -0.296  0.032  0.053 -0.03  -0.992]
+t: 125	 action: [-0.798 -0.165 -0.218  0.036  0.072 -0.044 -1.   ]
+t: 126	 action: [-0.854 -0.196 -0.255  0.042  0.07  -0.034 -0.983]
+t: 127	 action: [-0.814 -0.173 -0.238  0.04   0.071 -0.034 -1.04 ]
+t: 128	 action: [-0.847 -0.207 -0.277  0.048  0.072 -0.044 -0.976]
+t: 129	 action: [-0.759 -0.138 -0.272  0.047  0.069 -0.049 -1.037]
+t: 130	 action: [-0.845 -0.158 -0.27   0.054  0.066 -0.034 -1.007]
+t: 131	 action: [-0.798 -0.211 -0.22   0.054  0.073 -0.032 -1.018]
+t: 132	 action: [-0.823 -0.154 -0.263  0.064  0.07  -0.031 -1.008]
+t: 133	 action: [-0.732 -0.178 -0.218  0.058  0.076 -0.029 -1.015]
+t: 134	 action: [-0.794 -0.195 -0.24   0.063  0.074 -0.033 -0.992]
+t: 135	 action: [-0.66  -0.112 -0.204  0.062  0.078 -0.03  -1.036]
+t: 136	 action: [-0.733 -0.183 -0.227  0.066  0.074 -0.03  -0.982]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=144--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+127 127 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=144--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 144
+# successes: 42 (29.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 45...
+[07-31 02:15:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.010 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3508
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3508
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3508
+t=10: Selected seed 195 with value = 0.3508
+t: 10	 action: [ 0.126  0.05   0.002  0.001  0.014  0.005 -1.029]
+t: 11	 action: [ 2.099e-01  6.368e-02 -5.083e-03 -6.317e-04  1.993e-02  7.865e-03 -1.010e+00]
+t: 12	 action: [ 3.556e-01  1.095e-01 -1.434e-02 -1.824e-04  1.447e-02  6.333e-03 -1.032e+00]
+t: 13	 action: [ 0.516  0.164 -0.012 -0.005  0.024  0.007 -1.014]
+t: 14	 action: [ 6.549e-01  1.738e-01 -3.167e-02 -4.610e-03  1.119e-02  9.526e-04 -1.033e+00]
+t: 15	 action: [ 0.776  0.199 -0.021 -0.004  0.018  0.005 -1.027]
+t: 16	 action: [ 8.763e-01  2.346e-01 -4.238e-02 -7.062e-03  1.675e-02  3.111e-04 -1.025e+00]
+t: 17	 action: [ 0.919  0.237 -0.027 -0.006  0.029  0.003 -1.032]
+t: 18	 action: [ 9.094e-01  1.995e-01 -3.512e-02  3.058e-04  4.404e-02  4.967e-03 -1.030e+00]
+t: 19	 action: [ 9.079e-01  1.795e-01 -4.568e-02 -4.652e-03  5.485e-02  8.936e-04 -1.015e+00]
+t: 20	 action: [ 0.941  0.196 -0.069  0.003  0.04   0.002 -1.03 ]
+t: 21	 action: [ 0.927  0.169 -0.051 -0.003  0.05  -0.003 -1.012]
+t: 22	 action: [ 0.966  0.181 -0.065 -0.001  0.039  0.001 -1.007]
+t: 23	 action: [ 0.988  0.184 -0.089  0.004  0.042 -0.003 -1.031]
+t: 24	 action: [ 0.995  0.19  -0.12  -0.004  0.035 -0.004 -1.006]
+t: 25	 action: [ 1.014  0.17  -0.149  0.005  0.036 -0.004 -1.033]
+[07-31 02:15:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3791
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3791
+Query 1/1: Action query time = 1.003 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3791
+t=26: Selected seed 195 with value = 0.3791
+t: 26	 action: [ 9.517e-01  2.779e-01 -1.363e-01  1.006e-03  3.417e-02  8.852e-03 -1.032e+00]
+t: 27	 action: [ 0.965  0.182 -0.185  0.002  0.045  0.001 -1.025]
+t: 28	 action: [ 0.962  0.227 -0.213  0.003  0.036  0.009 -1.023]
+t: 29	 action: [ 9.710e-01  1.112e-01 -2.679e-01  5.332e-03  4.798e-02 -6.577e-04 -1.024e+00]
+t: 30	 action: [ 9.899e-01  9.912e-02 -3.259e-01  4.342e-04  3.224e-02  3.330e-04 -1.012e+00]
+t: 31	 action: [ 0.973  0.062 -0.383  0.012  0.046 -0.004 -1.036]
+t: 32	 action: [ 0.987  0.037 -0.444  0.004  0.03  -0.001 -1.008]
+t: 33	 action: [ 0.955 -0.007 -0.499  0.014  0.034 -0.006 -1.037]
+t: 34	 action: [ 0.884 -0.015 -0.491  0.015  0.03   0.003 -1.024]
+t: 35	 action: [ 0.851 -0.09  -0.618  0.006  0.024 -0.004 -1.023]
+t: 36	 action: [ 0.685 -0.084 -0.599  0.015  0.015  0.005 -1.026]
+t: 37	 action: [ 0.612 -0.127 -0.697  0.004  0.014 -0.006 -1.018]
+t: 38	 action: [ 4.798e-01 -1.835e-02 -6.447e-01  9.867e-03 -5.991e-03  3.810e-04 -1.021e+00]
+t: 39	 action: [ 0.345 -0.089 -0.724  0.009 -0.005 -0.006 -1.04 ]
+t: 40	 action: [ 2.697e-01 -1.633e-02 -7.177e-01  6.863e-04 -2.259e-02  4.196e-03 -1.026e+00]
+t: 41	 action: [ 0.175 -0.09  -0.769  0.002 -0.023 -0.006 -1.035]
+[07-31 02:15:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4568
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4568
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4568
+t=42: Selected seed 195 with value = 0.4568
+t: 42	 action: [ 0.183 -0.353 -0.545  0.011 -0.02   0.012 -1.012]
+t: 43	 action: [ 0.085 -0.273 -0.666  0.007 -0.024  0.011 -1.021]
+t: 44	 action: [ 0.007 -0.319 -0.671  0.016 -0.042  0.016 -1.017]
+t: 45	 action: [-0.089 -0.241 -0.763  0.008 -0.048  0.016 -1.021]
+t: 46	 action: [-0.116 -0.267 -0.738  0.002 -0.049  0.019 -1.014]
+t: 47	 action: [-0.163 -0.169 -0.836  0.006 -0.058  0.018 -1.049]
+t: 48	 action: [-2.384e-01 -1.587e-01 -7.526e-01 -7.837e-04 -6.238e-02  3.123e-02 -1.018e+00]
+t: 49	 action: [-0.299 -0.101 -0.835  0.003 -0.063  0.022 -1.05 ]
+t: 50	 action: [-0.411 -0.123 -0.762  0.004 -0.077  0.057 -1.007]
+t: 51	 action: [-0.46  -0.163 -0.794 -0.004 -0.071  0.046 -1.019]
+t: 52	 action: [-4.982e-01 -3.387e-02 -7.433e-01 -2.912e-04 -6.936e-02  6.489e-02 -1.012e+00]
+t: 53	 action: [-0.506 -0.108 -0.756 -0.006 -0.055  0.047 -1.013]
+t: 54	 action: [-0.488  0.01  -0.733 -0.018 -0.062  0.064 -1.005]
+t: 55	 action: [-0.419  0.035 -0.712 -0.008 -0.045  0.044 -1.047]
+t: 56	 action: [-0.44   0.056 -0.682 -0.02  -0.042  0.06  -1.006]
+t: 57	 action: [-0.376  0.057 -0.658 -0.008 -0.023  0.044 -1.051]
+[07-31 02:15:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6827
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6827
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6827
+t=58: Selected seed 195 with value = 0.6827
+t: 58	 action: [-0.322  0.111 -0.571  0.003 -0.016  0.027 -0.989]
+t: 59	 action: [-0.316  0.071 -0.566 -0.009 -0.001  0.026 -1.01 ]
+t: 60	 action: [-0.273  0.237 -0.52   0.003 -0.007  0.025 -0.99 ]
+t: 61	 action: [-0.241  0.353 -0.464 -0.008  0.002  0.021 -1.011]
+t: 62	 action: [-3.555e-01  3.905e-01 -3.886e-01 -8.299e-03 -8.857e-04  2.792e-02 -9.840e-01]
+t: 63	 action: [-0.24   0.558 -0.403 -0.006 -0.002  0.023 -1.036]
+t: 64	 action: [-0.195  0.568 -0.279 -0.005  0.003  0.022 -0.99 ]
+t: 65	 action: [-0.136  0.747 -0.293 -0.005 -0.003  0.017 -1.035]
+t: 66	 action: [ 5.835e-02  8.041e-01 -1.580e-01  6.628e-04  3.293e-02  6.749e-03 -9.951e-01]
+t: 67	 action: [ 0.039  0.809 -0.126  0.003  0.042  0.006 -0.985]
+t: 68	 action: [ 0.096  0.804 -0.164  0.001  0.026  0.01  -0.982]
+t: 69	 action: [ 0.06   0.817 -0.147  0.005  0.021  0.009 -0.969]
+t: 70	 action: [-0.08   0.875 -0.15  -0.003  0.014  0.003 -1.003]
+t: 71	 action: [-0.033  0.831 -0.181  0.01   0.015  0.007 -1.015]
+t: 72	 action: [-0.18   0.834 -0.173 -0.006  0.008  0.007 -0.993]
+t: 73	 action: [-0.085  0.837 -0.219  0.009  0.007  0.012 -1.009]
+[07-31 02:15:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7926
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7926
+Query 1/1: Action query time = 1.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7926
+t=74: Selected seed 195 with value = 0.7926
+t: 74	 action: [-0.103  0.711 -0.292 -0.017  0.009  0.007 -1.006]
+t: 75	 action: [-0.121  0.789 -0.256 -0.009  0.015  0.006 -1.011]
+t: 76	 action: [-0.096  0.792 -0.26  -0.016  0.014  0.007 -1.005]
+t: 77	 action: [-0.082  0.835 -0.238 -0.006  0.017  0.007 -1.013]
+t: 78	 action: [-9.419e-02  8.271e-01 -2.199e-01 -9.248e-03  4.163e-03 -4.216e-04 -1.009e+00]
+t: 79	 action: [-0.103  0.869 -0.201 -0.002  0.01   0.005 -1.038]
+t: 80	 action: [-1.213e-01  8.826e-01 -2.125e-01 -1.024e-02  9.655e-03 -8.851e-04 -1.011e+00]
+t: 81	 action: [-1.283e-01  8.858e-01 -2.079e-01  6.709e-04  7.708e-03  6.849e-03 -1.037e+00]
+t: 82	 action: [-7.713e-02  9.072e-01 -1.925e-01 -7.873e-04 -2.223e-02  7.653e-03 -1.000e+00]
+t: 83	 action: [-0.087  0.862 -0.172 -0.003 -0.012  0.004 -1.012]
+t: 84	 action: [-0.095  0.871 -0.179  0.003 -0.025  0.008 -0.999]
+t: 85	 action: [-0.135  0.836 -0.173 -0.002 -0.023  0.006 -1.011]
+t: 86	 action: [-0.231  0.88  -0.185 -0.003 -0.026  0.002 -1.011]
+t: 87	 action: [-0.254  0.861 -0.187  0.005 -0.029  0.006 -1.034]
+t: 88	 action: [-0.339  0.807 -0.171 -0.006 -0.023  0.002 -0.998]
+t: 89	 action: [-0.323  0.829 -0.19   0.006 -0.034  0.009 -1.034]
+[07-31 02:15:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9270
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=90: Selected seed 195 with value = 0.9270
+t: 90	 action: [-0.497  0.832 -0.255 -0.003 -0.013  0.004 -1.003]
+t: 91	 action: [-4.640e-01  8.210e-01 -2.251e-01 -1.462e-03  5.044e-03 -5.860e-04 -9.984e-01]
+t: 92	 action: [-5.173e-01  8.337e-01 -2.253e-01 -1.256e-04 -6.215e-03  4.967e-03 -9.989e-01]
+t: 93	 action: [-0.46   0.822 -0.189 -0.002  0.008  0.002 -0.997]
+t: 94	 action: [-0.548  0.802 -0.178 -0.007 -0.002 -0.002 -0.977]
+t: 95	 action: [-5.329e-01  8.314e-01 -1.800e-01 -1.464e-03 -8.344e-04  4.084e-04 -1.018e+00]
+t: 96	 action: [-0.589  0.785 -0.18  -0.007  0.011 -0.002 -0.978]
+t: 97	 action: [-0.558  0.816 -0.186  0.001  0.006  0.003 -1.015]
+t: 98	 action: [-0.554  0.827 -0.207  0.004  0.004  0.003 -1.012]
+t: 99	 action: [-0.595  0.67  -0.241  0.009  0.019 -0.004 -1.004]
+t: 100	 action: [-0.737  0.434 -0.318  0.015  0.033  0.002 -1.008]
+t: 101	 action: [-0.729  0.274 -0.383  0.025  0.058 -0.013 -1.005]
+t: 102	 action: [-0.811  0.139 -0.342  0.023  0.044 -0.003 -0.995]
+t: 103	 action: [-8.188e-01 -1.772e-04 -4.681e-01  4.456e-02  5.846e-02 -3.927e-03 -1.034e+00]
+t: 104	 action: [-0.821 -0.072 -0.354  0.041  0.075 -0.011 -0.987]
+t: 105	 action: [-0.813 -0.13  -0.468  0.045  0.07  -0.015 -1.041]
+[07-31 02:15:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9905
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 145
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 43 (29.7%)
+
+
 90%|█████████ | 45/50 [11:07<01:07, 13.59s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 46...
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=106: Selected seed 195 with value = 0.9905
+t: 106	 action: [-0.845 -0.04  -0.436  0.029  0.027 -0.027 -0.961]
+t: 107	 action: [-0.839 -0.107 -0.466  0.035  0.045 -0.029 -0.974]
+t: 108	 action: [-0.881 -0.108 -0.459  0.036  0.04  -0.035 -0.968]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=145--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+99 99 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=145--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 145
+# successes: 43 (29.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 46...
+[07-31 02:15:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3299
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3299
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3299
+t=10: Selected seed 195 with value = 0.3299
+t: 10	 action: [ 1.838e-01  1.325e-01 -5.151e-02  2.004e-03  9.473e-04  8.773e-04 -1.014e+00]
+t: 11	 action: [ 3.023e-01  1.714e-01 -4.126e-02  6.384e-04  8.144e-03 -3.409e-03 -1.006e+00]
+t: 12	 action: [ 3.829e-01  2.054e-01 -7.510e-02  3.835e-04  5.526e-03  3.090e-03 -1.022e+00]
+t: 13	 action: [ 0.535  0.226 -0.057 -0.001  0.013 -0.002 -1.009]
+t: 14	 action: [ 0.661  0.22  -0.07  -0.003  0.005 -0.004 -1.022]
+t: 15	 action: [ 7.465e-01  2.043e-01 -7.719e-02 -9.740e-04  7.960e-03 -6.667e-03 -1.028e+00]
+t: 16	 action: [ 0.848  0.228 -0.086 -0.005  0.013 -0.004 -1.02 ]
+t: 17	 action: [ 8.746e-01  2.168e-01 -1.078e-01 -8.917e-04  2.054e-02 -6.231e-03 -1.034e+00]
+t: 18	 action: [ 0.892  0.21  -0.082  0.005  0.02  -0.002 -1.018]
+t: 19	 action: [ 0.889  0.177 -0.083  0.004  0.031 -0.007 -1.012]
+t: 20	 action: [ 0.923  0.169 -0.101  0.006  0.024 -0.003 -1.017]
+t: 21	 action: [ 0.901  0.143 -0.086  0.005  0.04  -0.007 -1.01 ]
+t: 22	 action: [ 0.941  0.168 -0.087  0.003  0.028 -0.005 -0.999]
+t: 23	 action: [ 0.953  0.152 -0.1    0.008  0.039 -0.009 -1.028]
+t: 24	 action: [ 9.663e-01  1.550e-01 -1.060e-01  1.978e-04  3.503e-02 -6.709e-03 -9.987e-01]
+t: 25	 action: [ 0.975  0.135 -0.118  0.009  0.048 -0.008 -1.03 ]
+[07-31 02:15:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3855
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3855
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3855
+t=26: Selected seed 195 with value = 0.3855
+t: 26	 action: [ 0.936  0.199 -0.243  0.008  0.024  0.003 -1.044]
+t: 27	 action: [ 0.952  0.115 -0.277  0.016  0.031 -0.006 -1.011]
+t: 28	 action: [ 0.926  0.119 -0.298  0.014  0.026  0.003 -1.038]
+t: 29	 action: [ 0.951  0.045 -0.342  0.017  0.035 -0.01  -1.012]
+t: 30	 action: [ 0.936  0.031 -0.37   0.019  0.027 -0.007 -1.028]
+t: 31	 action: [ 9.014e-01  4.004e-04 -3.925e-01  2.672e-02  3.219e-02 -1.026e-02 -1.032e+00]
+t: 32	 action: [ 0.864 -0.004 -0.449  0.02   0.025 -0.01  -1.029]
+t: 33	 action: [ 0.816 -0.044 -0.463  0.026  0.023 -0.014 -1.034]
+t: 34	 action: [ 0.645 -0.068 -0.487  0.022  0.004 -0.007 -1.027]
+t: 35	 action: [ 0.628 -0.1   -0.584  0.012  0.007 -0.012 -1.01 ]
+t: 36	 action: [ 0.496 -0.063 -0.548  0.012 -0.004 -0.006 -1.024]
+t: 37	 action: [ 0.459 -0.082 -0.611  0.007  0.004 -0.013 -1.006]
+t: 38	 action: [ 0.389  0.005 -0.539  0.009 -0.009 -0.01  -1.028]
+t: 39	 action: [ 0.306 -0.011 -0.523  0.014 -0.002 -0.014 -1.032]
+t: 40	 action: [ 0.314  0.033 -0.578  0.001 -0.014 -0.008 -1.028]
+t: 41	 action: [ 0.266  0.019 -0.543  0.005 -0.009 -0.013 -1.03 ]
+[07-31 02:15:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4777
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4777
+Query 1/1: Action query time = 1.001 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4777
+t=42: Selected seed 195 with value = 0.4777
+t: 42	 action: [ 0.174 -0.227 -0.632  0.018 -0.028  0.011 -1.005]
+t: 43	 action: [ 0.069 -0.19  -0.746  0.008 -0.034  0.017 -1.02 ]
+t: 44	 action: [ 0.038 -0.194 -0.683  0.017 -0.046  0.018 -1.006]
+t: 45	 action: [-0.065 -0.174 -0.772  0.007 -0.045  0.024 -1.015]
+t: 46	 action: [-1.746e-01 -1.439e-01 -6.778e-01 -5.054e-04 -4.412e-02  3.504e-02 -1.005e+00]
+t: 47	 action: [-2.026e-01 -8.716e-02 -8.343e-01 -5.616e-04 -4.850e-02  2.923e-02 -1.046e+00]
+t: 48	 action: [-0.293 -0.058 -0.703 -0.005 -0.045  0.046 -1.003]
+t: 49	 action: [-0.34  -0.051 -0.813 -0.005 -0.035  0.035 -1.042]
+t: 50	 action: [-0.445 -0.057 -0.69  -0.01  -0.051  0.071 -1.008]
+t: 51	 action: [-0.47  -0.111 -0.753 -0.021 -0.042  0.063 -1.011]
+t: 52	 action: [-0.507 -0.004 -0.658 -0.016 -0.041  0.075 -1.01 ]
+t: 53	 action: [-0.507 -0.072 -0.69  -0.02  -0.021  0.061 -1.007]
+t: 54	 action: [-0.532 -0.02  -0.62  -0.04  -0.04   0.086 -1.005]
+t: 55	 action: [-0.474 -0.021 -0.65  -0.026 -0.027  0.066 -1.048]
+t: 56	 action: [-0.476  0.023 -0.577 -0.041 -0.022  0.076 -1.002]
+t: 57	 action: [-0.41   0.011 -0.589 -0.026 -0.008  0.061 -1.054]
+[07-31 02:15:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5306
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5306
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5306
+t=58: Selected seed 195 with value = 0.5306
+t: 58	 action: [-0.285  0.19  -0.645  0.007 -0.019  0.046 -0.994]
+t: 59	 action: [-0.183  0.264 -0.585  0.003 -0.005  0.037 -1.   ]
+t: 60	 action: [-0.129  0.396 -0.546  0.006 -0.006  0.041 -0.998]
+t: 61	 action: [ 0.001  0.569 -0.424  0.006  0.007  0.033 -1.004]
+t: 62	 action: [-0.08   0.561 -0.373  0.005  0.003  0.049 -1.004]
+t: 63	 action: [-0.006  0.702 -0.315  0.01  -0.001  0.035 -1.032]
+t: 64	 action: [ 0.021  0.796 -0.297  0.005  0.009  0.04  -1.012]
+t: 65	 action: [ 0.029  0.867 -0.239  0.011 -0.002  0.029 -1.032]
+t: 66	 action: [ 0.096  0.848 -0.23   0.013 -0.007  0.01  -1.006]
+t: 67	 action: [ 7.573e-02  8.514e-01 -2.046e-01  1.693e-02  8.977e-04  9.118e-03 -1.006e+00]
+t: 68	 action: [ 0.068  0.877 -0.221  0.014 -0.005  0.013 -1.004]
+t: 69	 action: [ 0.063  0.873 -0.187  0.018  0.002  0.013 -1.006]
+t: 70	 action: [-0.016  0.937 -0.216  0.01  -0.006  0.01  -1.022]
+t: 71	 action: [-0.012  0.891 -0.204  0.019 -0.003  0.009 -1.026]
+t: 72	 action: [-0.075  0.936 -0.219  0.009 -0.005  0.01  -1.021]
+t: 73	 action: [-0.069  0.905 -0.211  0.018 -0.004  0.015 -1.029]
+[07-31 02:15:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6348
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=74: Selected seed 195 with value = 0.6348
+t: 74	 action: [-1.274e-01  6.038e-01 -4.887e-01 -4.545e-05 -2.598e-02  1.659e-02 -9.982e-01]
+t: 75	 action: [-0.097  0.717 -0.396 -0.002 -0.01   0.014 -1.004]
+t: 76	 action: [-9.403e-02  7.984e-01 -4.285e-01  8.204e-04 -1.736e-02  1.800e-02 -9.964e-01]
+t: 77	 action: [-3.793e-02  8.536e-01 -3.476e-01  8.484e-04  7.937e-04  1.501e-02 -1.006e+00]
+t: 78	 action: [-0.067  0.835 -0.385 -0.002 -0.012  0.011 -1.012]
+t: 79	 action: [-6.871e-02  9.080e-01 -2.950e-01  6.335e-04 -7.359e-03  1.088e-02 -1.034e+00]
+t: 80	 action: [-0.079  0.92  -0.347 -0.002 -0.003  0.012 -1.011]
+t: 81	 action: [-0.069  0.945 -0.258  0.004 -0.004  0.013 -1.038]
+t: 82	 action: [-0.05   0.94  -0.279  0.01  -0.036  0.013 -1.006]
+t: 83	 action: [-0.002  0.919 -0.226  0.006 -0.028  0.01  -1.001]
+t: 84	 action: [-0.085  0.938 -0.26   0.01  -0.03   0.014 -1.   ]
+t: 85	 action: [-0.057  0.915 -0.194  0.01  -0.018  0.013 -1.   ]
+t: 86	 action: [-0.148  0.951 -0.243  0.005 -0.025  0.009 -1.016]
+t: 87	 action: [-0.16   0.931 -0.162  0.014 -0.019  0.01  -1.031]
+t: 88	 action: [-0.223  0.944 -0.227  0.004 -0.012  0.01  -1.005]
+t: 89	 action: [-0.238  0.925 -0.151  0.015 -0.008  0.015 -1.033]
+[07-31 02:15:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8154
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=90: Selected seed 195 with value = 0.8154
+t: 90	 action: [-2.363e-01  8.475e-01 -2.412e-01 -1.215e-03 -3.294e-04  7.893e-03 -1.003e+00]
+t: 91	 action: [-0.219  0.84  -0.253 -0.006  0.005  0.005 -1.009]
+t: 92	 action: [-0.258  0.863 -0.236 -0.001  0.005  0.009 -0.996]
+t: 93	 action: [-2.162e-01  8.640e-01 -2.626e-01 -8.391e-04  7.551e-03  8.366e-03 -1.010e+00]
+t: 94	 action: [-0.237  0.856 -0.227 -0.007  0.004  0.004 -1.   ]
+t: 95	 action: [-0.265  0.888 -0.272 -0.004 -0.002  0.007 -1.03 ]
+t: 96	 action: [-0.292  0.88  -0.239 -0.006  0.009  0.006 -0.998]
+t: 97	 action: [-2.929e-01  8.956e-01 -2.974e-01  6.961e-04 -9.532e-04  1.118e-02 -1.033e+00]
+t: 98	 action: [-0.38   0.91  -0.253  0.003 -0.019  0.018 -0.998]
+t: 99	 action: [-0.404  0.872 -0.273 -0.002 -0.009  0.012 -1.001]
+t: 100	 action: [-0.462  0.884 -0.256  0.004 -0.014  0.018 -1.   ]
+t: 101	 action: [-4.847e-01  8.193e-01 -2.878e-01  4.049e-04  3.928e-03  1.387e-02 -1.003e+00]
+t: 102	 action: [-5.076e-01  8.566e-01 -2.662e-01  1.637e-05 -6.135e-03  2.195e-02 -9.883e-01]
+t: 103	 action: [-0.55   0.847 -0.319  0.002 -0.006  0.015 -1.027]
+t: 104	 action: [-5.973e-01  7.992e-01 -2.451e-01 -1.255e-04  8.079e-03  2.170e-02 -9.820e-01]
+t: 105	 action: [-6.292e-01  7.645e-01 -2.911e-01  3.615e-03 -8.223e-05  1.786e-02 -1.033e+00]
+[07-31 02:15:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9722
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9722
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 146
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 44 (30.1%)
+
+
 92%|█████████▏| 46/50 [11:20<00:53, 13.41s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 47...
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=106: Selected seed 195 with value = 0.9722
+t: 106	 action: [-8.780e-01  1.548e-02 -5.635e-01  2.480e-02  2.450e-02  4.893e-05 -9.329e-01]
+t: 107	 action: [-0.87  -0.006 -0.479  0.023  0.037  0.008 -0.975]
+t: 108	 action: [-0.941  0.013 -0.573  0.024  0.044 -0.002 -0.947]
+t: 109	 action: [-0.921 -0.01  -0.462  0.02   0.047 -0.002 -0.99 ]
+t: 110	 action: [-9.520e-01 -3.881e-02 -4.912e-01  1.918e-02  7.254e-02  1.207e-04 -9.367e-01]
+t: 111	 action: [-0.973 -0.029 -0.422  0.028  0.064  0.006 -1.029]
+t: 112	 action: [-0.951 -0.039 -0.429  0.019  0.086 -0.003 -0.941]
+t: 113	 action: [-0.945 -0.022 -0.383  0.024  0.076 -0.003 -1.031]
+t: 114	 action: [-0.932 -0.005 -0.397  0.026  0.082  0.003 -0.979]
+t: 115	 action: [-0.905 -0.086 -0.377  0.025  0.079  0.007 -1.01 ]
+t: 116	 action: [-0.939 -0.015 -0.351  0.025  0.083  0.007 -0.977]
+t: 117	 action: [-0.889 -0.099 -0.347  0.023  0.083  0.009 -1.015]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=146--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+108 108 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=146--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 146
+# successes: 44 (30.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 47...
+[07-31 02:15:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3335
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3335
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3335
+t=10: Selected seed 195 with value = 0.3335
+t: 10	 action: [ 0.356  0.137  0.011 -0.011  0.022  0.008 -1.016]
+t: 11	 action: [ 0.56   0.182 -0.01  -0.015  0.036  0.009 -1.022]
+t: 12	 action: [ 0.784  0.228 -0.021 -0.023  0.022  0.01  -1.014]
+t: 13	 action: [ 0.876  0.255 -0.015 -0.018  0.036  0.008 -1.021]
+t: 14	 action: [ 0.961  0.257 -0.029 -0.019  0.016  0.006 -1.01 ]
+t: 15	 action: [ 0.948  0.264 -0.031 -0.017  0.026  0.008 -1.039]
+t: 16	 action: [ 0.977  0.253 -0.075 -0.022  0.013  0.006 -1.01 ]
+t: 17	 action: [ 0.987  0.259 -0.095 -0.017  0.025  0.007 -1.042]
+t: 18	 action: [ 0.953  0.178 -0.078 -0.007  0.024  0.006 -1.021]
+t: 19	 action: [ 0.956  0.135 -0.094 -0.007  0.028  0.005 -1.023]
+t: 20	 action: [ 0.973  0.15  -0.119 -0.004  0.012  0.004 -1.021]
+t: 21	 action: [ 0.95   0.112 -0.118 -0.004  0.017  0.003 -1.022]
+t: 22	 action: [ 0.99   0.103 -0.145 -0.003  0.006  0.002 -0.994]
+t: 23	 action: [ 0.996  0.088 -0.184  0.002  0.015  0.003 -1.038]
+t: 24	 action: [ 1.010e+00  7.900e-02 -2.178e-01 -4.776e-03 -9.268e-03  3.019e-04 -9.961e-01]
+t: 25	 action: [ 1.     0.057 -0.242  0.005  0.012  0.003 -1.04 ]
+[07-31 02:15:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.007 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3776
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3776
+Query 1/1: Action query time = 1.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3776
+t=26: Selected seed 195 with value = 0.3776
+t: 26	 action: [ 0.936  0.181 -0.195  0.004  0.028  0.005 -1.037]
+t: 27	 action: [ 0.954  0.099 -0.219  0.005  0.028 -0.005 -1.016]
+t: 28	 action: [ 0.906  0.056 -0.275  0.012  0.025  0.004 -1.025]
+t: 29	 action: [ 0.919 -0.035 -0.329  0.015  0.016 -0.007 -1.018]
+t: 30	 action: [ 0.893 -0.057 -0.417  0.014  0.015 -0.007 -1.019]
+t: 31	 action: [ 0.807 -0.121 -0.501  0.027  0.009 -0.01  -1.034]
+t: 32	 action: [ 0.68  -0.168 -0.565  0.032  0.008 -0.009 -1.015]
+t: 33	 action: [ 0.561 -0.177 -0.631  0.033  0.004 -0.011 -1.038]
+t: 34	 action: [ 0.416 -0.171 -0.606  0.039  0.004  0.002 -1.028]
+t: 35	 action: [ 0.361 -0.161 -0.7    0.03   0.006 -0.004 -1.021]
+t: 36	 action: [ 0.248 -0.109 -0.688  0.036 -0.002  0.008 -1.02 ]
+t: 37	 action: [ 0.165 -0.126 -0.74   0.025  0.002 -0.003 -1.018]
+t: 38	 action: [ 0.145 -0.022 -0.718  0.029 -0.009  0.001 -1.021]
+t: 39	 action: [ 0.071 -0.074 -0.724  0.03  -0.009 -0.004 -1.041]
+t: 40	 action: [ 0.046  0.033 -0.741  0.019 -0.008  0.004 -1.015]
+t: 41	 action: [ 0.011 -0.025 -0.728  0.022 -0.009 -0.002 -1.041]
+[07-31 02:15:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4395
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4395
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4395
+t=42: Selected seed 195 with value = 0.4395
+t: 42	 action: [ 0.19  -0.28  -0.515  0.016 -0.019  0.008 -1.008]
+t: 43	 action: [ 0.086 -0.249 -0.633  0.007 -0.024  0.01  -1.026]
+t: 44	 action: [ 0.046 -0.239 -0.632  0.02  -0.041  0.012 -1.01 ]
+t: 45	 action: [-0.07  -0.222 -0.734  0.008 -0.044  0.017 -1.02 ]
+t: 46	 action: [-0.145 -0.192 -0.662  0.003 -0.046  0.018 -1.003]
+t: 47	 action: [-0.208 -0.143 -0.796  0.003 -0.053  0.019 -1.047]
+t: 48	 action: [-3.113e-01 -9.257e-02 -7.098e-01 -7.491e-05 -5.232e-02  3.095e-02 -1.006e+00]
+t: 49	 action: [-3.675e-01 -8.781e-02 -7.980e-01 -8.060e-04 -4.719e-02  2.508e-02 -1.044e+00]
+t: 50	 action: [-0.491 -0.048 -0.697 -0.008 -0.064  0.065 -1.01 ]
+t: 51	 action: [-0.51  -0.103 -0.775 -0.015 -0.056  0.054 -1.014]
+t: 52	 action: [-0.558  0.003 -0.685 -0.013 -0.054  0.07  -1.013]
+t: 53	 action: [-0.561 -0.069 -0.722 -0.016 -0.036  0.054 -1.006]
+t: 54	 action: [-0.574 -0.018 -0.653 -0.035 -0.051  0.074 -1.004]
+t: 55	 action: [-0.504 -0.008 -0.662 -0.018 -0.038  0.053 -1.046]
+t: 56	 action: [-0.488  0.033 -0.611 -0.035 -0.029  0.067 -1.003]
+t: 57	 action: [-0.413  0.027 -0.586 -0.018 -0.014  0.051 -1.053]
+[07-31 02:15:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5260
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=58: Selected seed 195 with value = 0.5260
+t: 58	 action: [-0.289  0.142 -0.658  0.009 -0.021  0.063 -0.993]
+t: 59	 action: [-0.155  0.25  -0.602  0.002 -0.006  0.05  -0.998]
+t: 60	 action: [-0.097  0.405 -0.554  0.01  -0.007  0.058 -0.998]
+t: 61	 action: [ 0.019  0.577 -0.448  0.008  0.007  0.044 -1.006]
+t: 62	 action: [-0.027  0.619 -0.386  0.006  0.001  0.066 -1.003]
+t: 63	 action: [ 3.020e-02  7.563e-01 -3.498e-01  9.547e-03 -4.384e-04  4.640e-02 -1.033e+00]
+t: 64	 action: [ 0.048  0.835 -0.319  0.007  0.009  0.056 -1.006]
+t: 65	 action: [ 8.633e-02  9.033e-01 -2.918e-01  1.362e-02 -6.251e-04  3.911e-02 -1.034e+00]
+t: 66	 action: [ 0.082  0.873 -0.261  0.014  0.003  0.018 -1.001]
+t: 67	 action: [ 0.07   0.884 -0.254  0.016  0.005  0.014 -1.002]
+t: 68	 action: [ 0.056  0.889 -0.254  0.013  0.003  0.022 -1.001]
+t: 69	 action: [ 0.055  0.89  -0.244  0.015  0.003  0.018 -1.004]
+t: 70	 action: [-0.021  0.949 -0.256  0.009  0.001  0.018 -1.019]
+t: 71	 action: [-1.420e-02  9.214e-01 -2.752e-01  1.680e-02  4.019e-04  1.240e-02 -1.028e+00]
+t: 72	 action: [-7.307e-02  9.445e-01 -2.601e-01  6.981e-03  6.194e-04  1.815e-02 -1.017e+00]
+t: 73	 action: [-0.059  0.929 -0.278  0.015 -0.002  0.019 -1.033]
+[07-31 02:15:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.016 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5594
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5594
+Query 1/1: Action query time = 1.016 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5594
+t=74: Selected seed 195 with value = 0.5594
+t: 74	 action: [-0.1    0.172 -0.608  0.003 -0.03   0.033 -0.996]
+t: 75	 action: [-0.018  0.388 -0.512  0.004 -0.014  0.025 -1.003]
+t: 76	 action: [-0.015  0.564 -0.534  0.003 -0.02   0.035 -0.999]
+t: 77	 action: [ 0.015  0.727 -0.428  0.007  0.002  0.026 -1.009]
+t: 78	 action: [-1.553e-03  6.744e-01 -4.473e-01  7.309e-05 -1.088e-02  3.236e-02 -1.013e+00]
+t: 79	 action: [-0.021  0.856 -0.389  0.006 -0.005  0.021 -1.039]
+t: 80	 action: [ 1.084e-02  9.096e-01 -3.971e-01  1.018e-03  8.779e-04  3.218e-02 -1.012e+00]
+t: 81	 action: [-0.007  0.943 -0.35   0.01  -0.002  0.022 -1.043]
+t: 82	 action: [ 0.015  0.92  -0.312  0.008 -0.02   0.019 -1.004]
+t: 83	 action: [ 0.035  0.928 -0.278  0.008 -0.004  0.014 -1.007]
+t: 84	 action: [-0.017  0.921 -0.278  0.007 -0.013  0.022 -1.002]
+t: 85	 action: [ 0.011  0.921 -0.236  0.01  -0.001  0.018 -1.008]
+t: 86	 action: [-0.077  0.957 -0.254  0.005 -0.012  0.016 -1.015]
+t: 87	 action: [-0.082  0.947 -0.238  0.012 -0.007  0.012 -1.039]
+t: 88	 action: [-1.519e-01  9.488e-01 -2.385e-01  2.143e-03 -5.550e-04  1.669e-02 -1.008e+00]
+t: 89	 action: [-0.169  0.942 -0.231  0.013 -0.004  0.018 -1.042]
+[07-31 02:15:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7260
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7260
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7260
+t=90: Selected seed 195 with value = 0.7260
+t: 90	 action: [-0.134  0.735 -0.338 -0.007 -0.005  0.014 -0.996]
+t: 91	 action: [-1.024e-01  7.552e-01 -3.228e-01 -7.110e-03  2.742e-06  8.975e-03 -1.007e+00]
+t: 92	 action: [-0.133  0.815 -0.334 -0.009 -0.002  0.014 -0.988]
+t: 93	 action: [-0.08   0.858 -0.328 -0.003  0.003  0.013 -1.008]
+t: 94	 action: [-0.089  0.856 -0.316 -0.013 -0.003  0.01  -0.999]
+t: 95	 action: [-0.099  0.918 -0.345 -0.003 -0.007  0.01  -1.03 ]
+t: 96	 action: [-0.12   0.917 -0.331 -0.012  0.003  0.012 -0.993]
+t: 97	 action: [-1.136e-01  9.498e-01 -3.650e-01  8.129e-05 -4.808e-03  1.424e-02 -1.033e+00]
+t: 98	 action: [-0.168  0.965 -0.341  0.003 -0.029  0.023 -0.999]
+t: 99	 action: [-1.715e-01  9.317e-01 -3.154e-01  8.221e-04 -2.318e-02  1.552e-02 -1.001e+00]
+t: 100	 action: [-0.232  0.952 -0.334  0.005 -0.023  0.026 -0.997]
+t: 101	 action: [-0.249  0.91  -0.313  0.006 -0.014  0.021 -1.   ]
+t: 102	 action: [-3.395e-01  9.238e-01 -3.293e-01  8.187e-04 -2.202e-02  2.589e-02 -9.986e-01]
+t: 103	 action: [-0.366  0.937 -0.349  0.01  -0.02   0.019 -1.03 ]
+t: 104	 action: [-4.206e-01  9.037e-01 -3.035e-01 -8.891e-04 -6.270e-03  3.041e-02 -9.871e-01]
+t: 105	 action: [-0.439  0.915 -0.334  0.014 -0.005  0.026 -1.033]
+[07-31 02:15:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9051
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9051
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9051
+t=106: Selected seed 195 with value = 0.9051
+t: 106	 action: [-0.425  0.812 -0.333  0.004  0.015  0.007 -1.001]
+t: 107	 action: [-0.44   0.791 -0.285  0.009  0.02   0.005 -1.004]
+t: 108	 action: [-0.49   0.783 -0.328  0.003  0.021  0.008 -0.995]
+t: 109	 action: [-0.495  0.762 -0.282  0.009  0.029  0.008 -1.001]
+t: 110	 action: [-5.843e-01  7.849e-01 -3.365e-01 -1.964e-04  1.751e-02  4.219e-03 -9.836e-01]
+t: 111	 action: [-0.624  0.795 -0.335  0.014  0.019  0.012 -1.031]
+t: 112	 action: [-0.648  0.746 -0.347 -0.002  0.025  0.006 -0.978]
+t: 113	 action: [-0.69   0.731 -0.347  0.013  0.032  0.014 -1.034]
+t: 114	 action: [-0.607  0.599 -0.356  0.007  0.017  0.013 -0.992]
+t: 115	 action: [-0.651  0.495 -0.37   0.012  0.025  0.014 -1.001]
+t: 116	 action: [-0.745  0.37  -0.395  0.008  0.032  0.011 -0.992]
+t: 117	 action: [-0.776  0.258 -0.408  0.012  0.043  0.012 -1.001]
+t: 118	 action: [-0.93   0.207 -0.447  0.011  0.047  0.015 -0.986]
+t: 119	 action: [-0.914  0.07  -0.513  0.027  0.058  0.019 -1.037]
+t: 120	 action: [-0.93   0.103 -0.418  0.017  0.068  0.007 -0.98 ]
+t: 121	 action: [-0.93  -0.013 -0.509  0.024  0.072  0.018 -1.046]
+[07-31 02:15:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9904
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9904
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 147
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 45 (30.6%)
+
+
 94%|█████████▍| 47/50 [11:35<00:41, 13.72s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 48...
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=122: Selected seed 195 with value = 0.9904
+t: 122	 action: [-0.918 -0.131 -0.48   0.023  0.039 -0.012 -0.947]
+t: 123	 action: [-0.907 -0.117 -0.419  0.024  0.045 -0.011 -0.99 ]
+t: 124	 action: [-0.957 -0.07  -0.456  0.024  0.052 -0.015 -0.959]
+t: 125	 action: [-0.934 -0.09  -0.386  0.025  0.056 -0.016 -0.991]
+t: 126	 action: [-0.938 -0.121 -0.413  0.023  0.067 -0.016 -0.938]
+t: 127	 action: [-0.946 -0.082 -0.333  0.033  0.069 -0.014 -1.027]
+t: 128	 action: [-0.933 -0.097 -0.349  0.025  0.072 -0.02  -0.944]
+t: 129	 action: [-0.88  -0.045 -0.286  0.031  0.074 -0.019 -1.03 ]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=147--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+120 120 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=147--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 147
+# successes: 45 (30.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 48...
+[07-31 02:15:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.021 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3516
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3516
+Query 1/1: Action query time = 1.021 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3516
+t=10: Selected seed 195 with value = 0.3516
+t: 10	 action: [ 0.33   0.191 -0.065  0.003 -0.002  0.005 -1.017]
+t: 11	 action: [ 0.499  0.217 -0.043  0.005  0.007  0.002 -1.011]
+t: 12	 action: [ 6.387e-01  2.624e-01 -9.711e-02  2.604e-03 -2.176e-04  6.482e-03 -1.020e+00]
+t: 13	 action: [ 0.782  0.267 -0.07   0.004  0.009  0.004 -1.013]
+t: 14	 action: [ 8.716e-01  2.716e-01 -1.040e-01 -1.188e-03 -2.623e-03  2.722e-04 -1.019e+00]
+t: 15	 action: [ 0.889  0.246 -0.117  0.004  0.003  0.003 -1.031]
+t: 16	 action: [ 9.571e-01  2.609e-01 -1.471e-01 -3.497e-03  3.965e-04  4.492e-04 -1.019e+00]
+t: 17	 action: [ 0.967  0.249 -0.172  0.005  0.003  0.004 -1.035]
+t: 18	 action: [ 0.944  0.258 -0.14   0.006  0.003  0.006 -1.025]
+t: 19	 action: [ 9.522e-01  2.004e-01 -1.715e-01  5.173e-03  1.242e-02 -6.537e-04 -1.013e+00]
+t: 20	 action: [ 0.962  0.233 -0.164  0.006  0.004  0.006 -1.024]
+t: 21	 action: [ 9.538e-01  1.874e-01 -1.820e-01  6.310e-03  1.477e-02 -3.632e-04 -1.012e+00]
+t: 22	 action: [ 0.984  0.221 -0.179  0.002  0.006  0.002 -1.005]
+t: 23	 action: [ 9.887e-01  1.756e-01 -2.211e-01  9.678e-03  7.027e-03  7.736e-04 -1.028e+00]
+t: 24	 action: [ 9.936e-01  2.128e-01 -2.172e-01 -8.838e-06  8.068e-03  9.069e-04 -1.005e+00]
+t: 25	 action: [ 1.006  0.167 -0.256  0.012  0.008  0.003 -1.03 ]
+[07-31 02:15:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.025 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4010
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4010
+Query 1/1: Action query time = 1.025 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4010
+t=26: Selected seed 195 with value = 0.4010
+t: 26	 action: [ 0.874  0.184 -0.26   0.009  0.021 -0.002 -1.033]
+t: 27	 action: [ 0.897  0.081 -0.286  0.013  0.023 -0.011 -1.002]
+t: 28	 action: [ 0.834  0.077 -0.323  0.017  0.014 -0.006 -1.019]
+t: 29	 action: [ 0.847 -0.003 -0.364  0.019  0.014 -0.017 -1.004]
+t: 30	 action: [ 0.802  0.004 -0.451  0.029  0.014 -0.011 -1.021]
+t: 31	 action: [ 0.738 -0.012 -0.507  0.032  0.012 -0.011 -1.029]
+t: 32	 action: [ 0.68  -0.024 -0.563  0.031  0.009 -0.015 -1.012]
+t: 33	 action: [ 0.599 -0.05  -0.588  0.032  0.004 -0.017 -1.033]
+t: 34	 action: [ 0.428 -0.076 -0.624  0.031 -0.026 -0.006 -1.022]
+t: 35	 action: [ 0.404 -0.077 -0.674  0.021 -0.024 -0.008 -1.007]
+t: 36	 action: [ 3.149e-01 -7.469e-02 -6.615e-01  2.119e-02 -3.550e-02 -9.002e-04 -1.016e+00]
+t: 37	 action: [ 0.275 -0.087 -0.686  0.013 -0.03  -0.01  -1.005]
+t: 38	 action: [ 0.254 -0.026 -0.661  0.011 -0.038 -0.004 -1.024]
+t: 39	 action: [ 0.171 -0.044 -0.657  0.018 -0.04  -0.008 -1.033]
+t: 40	 action: [ 1.792e-01 -5.092e-04 -6.568e-01  4.440e-03 -3.885e-02 -1.119e-03 -1.019e+00]
+t: 41	 action: [ 0.116 -0.033 -0.639  0.01  -0.041 -0.006 -1.03 ]
+[07-31 02:15:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.009 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4906
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 1.009 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=42: Selected seed 195 with value = 0.4906
+t: 42	 action: [ 0.159 -0.231 -0.473  0.034 -0.009  0.01  -0.998]
+t: 43	 action: [ 0.026 -0.243 -0.544  0.019 -0.01   0.018 -1.032]
+t: 44	 action: [ 0.008 -0.191 -0.535  0.032 -0.025  0.015 -0.999]
+t: 45	 action: [-0.132 -0.195 -0.62   0.016 -0.024  0.026 -1.025]
+t: 46	 action: [-0.238 -0.135 -0.569  0.011 -0.022  0.029 -0.987]
+t: 47	 action: [-0.294 -0.093 -0.724  0.014 -0.023  0.034 -1.05 ]
+t: 48	 action: [-0.392 -0.062 -0.641  0.006 -0.03   0.043 -0.987]
+t: 49	 action: [-0.455 -0.043 -0.766  0.006 -0.023  0.039 -1.04 ]
+t: 50	 action: [-5.063e-01 -3.451e-03 -6.280e-01  3.660e-04 -3.220e-02  5.930e-02 -1.004e+00]
+t: 51	 action: [-0.542 -0.054 -0.713 -0.021 -0.019  0.063 -1.021]
+t: 52	 action: [-0.577  0.018 -0.659 -0.014 -0.028  0.062 -1.008]
+t: 53	 action: [-0.574 -0.022 -0.696 -0.026 -0.008  0.058 -1.011]
+t: 54	 action: [-0.638 -0.015 -0.67  -0.027 -0.036  0.092 -0.996]
+t: 55	 action: [-0.6    0.016 -0.743 -0.025 -0.023  0.072 -1.041]
+t: 56	 action: [-0.561  0.019 -0.662 -0.04  -0.028  0.078 -0.993]
+t: 57	 action: [-0.481  0.047 -0.698 -0.03  -0.009  0.065 -1.036]
+[07-31 02:15:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5276
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=58: Selected seed 195 with value = 0.5276
+t: 58	 action: [-0.289  0.025 -0.72   0.021 -0.022  0.089 -0.988]
+t: 59	 action: [-1.710e-01  8.199e-02 -7.554e-01  2.278e-03 -2.490e-04  7.590e-02 -9.911e-01]
+t: 60	 action: [-0.119  0.226 -0.686  0.019 -0.006  0.089 -0.994]
+t: 61	 action: [-0.005  0.365 -0.649  0.005  0.012  0.065 -1.002]
+t: 62	 action: [-0.043  0.438 -0.486  0.01   0.005  0.085 -0.997]
+t: 63	 action: [ 0.065  0.61  -0.453  0.008  0.004  0.07  -1.034]
+t: 64	 action: [ 0.189  0.741 -0.379  0.01   0.015  0.073 -0.992]
+t: 65	 action: [ 0.284  0.782 -0.364  0.008  0.004  0.053 -1.037]
+t: 66	 action: [ 0.183  0.788 -0.264  0.007  0.025  0.04  -1.002]
+t: 67	 action: [ 0.214  0.807 -0.228  0.007  0.036  0.03  -1.003]
+t: 68	 action: [ 0.16   0.853 -0.21   0.006  0.031  0.044 -1.004]
+t: 69	 action: [ 0.183  0.829 -0.196  0.006  0.03   0.026 -1.007]
+t: 70	 action: [ 0.102  0.894 -0.228  0.003  0.025  0.027 -1.016]
+t: 71	 action: [ 0.074  0.851 -0.236  0.008  0.027  0.02  -1.034]
+t: 72	 action: [ 6.496e-02  9.036e-01 -2.248e-01 -9.807e-04  2.399e-02  2.672e-02 -1.012e+00]
+t: 73	 action: [ 0.045  0.866 -0.254  0.005  0.021  0.019 -1.04 ]
+[07-31 02:15:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5341
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5341
+Query 1/1: Action query time = 1.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5341
+t=74: Selected seed 195 with value = 0.5341
+t: 74	 action: [-0.105  0.065 -0.638  0.013 -0.049  0.061 -1.005]
+t: 75	 action: [-0.052  0.067 -0.649  0.005 -0.032  0.056 -1.004]
+t: 76	 action: [-0.111  0.142 -0.646  0.021 -0.029  0.063 -1.004]
+t: 77	 action: [-0.009  0.314 -0.633  0.011  0.003  0.052 -1.006]
+t: 78	 action: [-0.117  0.257 -0.544  0.015 -0.006  0.074 -1.01 ]
+t: 79	 action: [-0.066  0.491 -0.468  0.017  0.005  0.057 -1.042]
+t: 80	 action: [-0.02   0.603 -0.442  0.017  0.013  0.064 -1.008]
+t: 81	 action: [-0.002  0.755 -0.38   0.018  0.009  0.048 -1.044]
+t: 82	 action: [ 0.142  0.827 -0.216  0.004  0.034  0.027 -1.005]
+t: 83	 action: [ 0.193  0.845 -0.183  0.003  0.048  0.021 -1.012]
+t: 84	 action: [ 0.125  0.871 -0.136  0.003  0.034  0.027 -1.005]
+t: 85	 action: [ 0.154  0.852 -0.122  0.001  0.036  0.019 -1.013]
+t: 86	 action: [ 0.064  0.912 -0.181 -0.002  0.028  0.018 -1.014]
+t: 87	 action: [ 0.043  0.876 -0.194  0.004  0.035  0.013 -1.042]
+t: 88	 action: [ 0.016  0.911 -0.185 -0.005  0.024  0.015 -1.011]
+t: 89	 action: [ 1.763e-02  8.848e-01 -2.117e-01 -4.613e-04  2.371e-02  1.395e-02 -1.050e+00]
+[07-31 02:15:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6859
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6859
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6859
+t=90: Selected seed 195 with value = 0.6859
+t: 90	 action: [-0.109  0.14  -0.446 -0.003 -0.01   0.022 -0.997]
+t: 91	 action: [-0.097  0.376 -0.402 -0.007 -0.002  0.018 -1.005]
+t: 92	 action: [-0.064  0.501 -0.364 -0.006 -0.007  0.019 -0.994]
+t: 93	 action: [-0.016  0.674 -0.339 -0.006  0.004  0.019 -1.011]
+t: 94	 action: [-0.026  0.618 -0.259 -0.013 -0.008  0.012 -1.007]
+t: 95	 action: [-0.029  0.795 -0.258 -0.007 -0.005  0.011 -1.04 ]
+t: 96	 action: [-2.681e-02  8.606e-01 -2.291e-01 -1.305e-02 -3.841e-04  1.150e-02 -1.001e+00]
+t: 97	 action: [-0.031  0.898 -0.252 -0.006 -0.002  0.013 -1.042]
+t: 98	 action: [-0.034  0.945 -0.223 -0.004 -0.04   0.015 -1.02 ]
+t: 99	 action: [-0.036  0.92  -0.216 -0.002 -0.017  0.015 -1.01 ]
+t: 100	 action: [-0.06   0.936 -0.25   0.006 -0.03   0.022 -1.013]
+t: 101	 action: [-0.11   0.901 -0.22   0.004 -0.009  0.02  -1.009]
+t: 102	 action: [-1.798e-01  9.534e-01 -2.265e-01 -5.332e-04 -2.980e-02  1.034e-02 -1.027e+00]
+t: 103	 action: [-0.233  0.942 -0.256  0.007 -0.016  0.012 -1.042]
+t: 104	 action: [-0.285  0.937 -0.262 -0.002 -0.008  0.016 -1.006]
+t: 105	 action: [-0.324  0.925 -0.276  0.011 -0.003  0.019 -1.038]
+[07-31 02:15:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8785
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8785
+Query 1/1: Action query time = 1.003 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8785
+t=106: Selected seed 195 with value = 0.8785
+t: 106	 action: [-0.309  0.813 -0.272  0.001  0.019  0.006 -1.028]
+t: 107	 action: [-0.307  0.826 -0.242 -0.001  0.023  0.003 -1.007]
+t: 108	 action: [-0.335  0.817 -0.246  0.003  0.028  0.007 -1.016]
+t: 109	 action: [-0.326  0.819 -0.204  0.001  0.032  0.008 -1.009]
+t: 110	 action: [-3.847e-01  8.403e-01 -1.885e-01 -1.778e-03  1.947e-02  3.518e-04 -1.006e+00]
+t: 111	 action: [-0.369  0.862 -0.214  0.002  0.021  0.009 -1.031]
+t: 112	 action: [-0.417  0.849 -0.182 -0.003  0.028  0.002 -0.997]
+t: 113	 action: [-0.386  0.853 -0.202  0.003  0.024  0.013 -1.031]
+t: 114	 action: [-3.079e-01  8.932e-01 -1.675e-01 -1.419e-03 -5.517e-04  1.095e-02 -1.020e+00]
+t: 115	 action: [-0.37   0.825 -0.173 -0.003  0.005  0.01  -1.007]
+t: 116	 action: [-0.423  0.753 -0.203  0.004  0.004  0.011 -1.025]
+t: 117	 action: [-4.433e-01  6.669e-01 -2.228e-01 -6.166e-04  1.120e-02  1.219e-02 -1.006e+00]
+t: 118	 action: [-0.627  0.678 -0.262 -0.003  0.012  0.019 -1.007]
+t: 119	 action: [-0.607  0.561 -0.34   0.008  0.003  0.019 -1.034]
+t: 120	 action: [-0.699  0.374 -0.308 -0.004  0.034  0.012 -0.999]
+t: 121	 action: [-0.691  0.229 -0.417  0.015  0.034  0.021 -1.034]
+[07-31 02:15:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9828
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9828
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 148
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 46 (31.1%)
+
+
 96%|█████████▌| 48/50 [11:49<00:28, 14.00s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 49...
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=122: Selected seed 195 with value = 0.9828
+t: 122	 action: [-0.834 -0.078 -0.495  0.033  0.027 -0.03  -0.943]
+t: 123	 action: [-0.844 -0.122 -0.4    0.032  0.041 -0.025 -0.975]
+t: 124	 action: [-0.923 -0.064 -0.525  0.037  0.036 -0.034 -0.953]
+t: 125	 action: [-0.912 -0.118 -0.394  0.036  0.045 -0.033 -0.981]
+t: 126	 action: [-0.928 -0.115 -0.465  0.037  0.049 -0.039 -0.938]
+t: 127	 action: [-0.95  -0.104 -0.332  0.041  0.053 -0.028 -1.021]
+t: 128	 action: [-0.936 -0.101 -0.409  0.04   0.058 -0.04  -0.939]
+t: 129	 action: [-0.92  -0.073 -0.299  0.041  0.056 -0.035 -1.025]
+t: 130	 action: [-0.889 -0.025 -0.317  0.04   0.075 -0.043 -0.988]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=148--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+121 121 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=148--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 148
+# successes: 46 (31.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 49...
+[07-31 02:16:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3352
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3352
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3352
+t=10: Selected seed 195 with value = 0.3352
+t: 10	 action: [ 0.25   0.054  0.032 -0.003  0.022  0.007 -1.016]
+t: 11	 action: [ 0.398  0.091  0.031 -0.004  0.036  0.009 -1.007]
+t: 12	 action: [ 0.577  0.143  0.005 -0.008  0.025  0.009 -1.017]
+t: 13	 action: [ 0.731  0.19  -0.005 -0.007  0.041  0.007 -1.009]
+t: 14	 action: [ 0.798  0.203  0.02  -0.009  0.026  0.004 -1.01 ]
+t: 15	 action: [ 0.864  0.217 -0.003 -0.007  0.036  0.007 -1.027]
+t: 16	 action: [ 0.926  0.233 -0.021 -0.012  0.029  0.003 -1.005]
+t: 17	 action: [ 0.938  0.234 -0.023 -0.007  0.041  0.005 -1.032]
+t: 18	 action: [ 9.228e-01  2.425e-01 -3.305e-04 -4.290e-03  4.525e-02  5.957e-03 -1.016e+00]
+t: 19	 action: [ 0.921  0.209 -0.032 -0.004  0.061  0.005 -1.012]
+t: 20	 action: [ 9.449e-01  2.249e-01 -4.873e-02  3.097e-04  3.815e-02  4.649e-03 -1.019e+00]
+t: 21	 action: [ 9.182e-01  1.818e-01 -3.684e-02 -7.465e-04  5.627e-02  2.036e-03 -1.012e+00]
+t: 22	 action: [ 0.965  0.157 -0.033 -0.001  0.037  0.003 -0.99 ]
+t: 23	 action: [ 0.98   0.155 -0.055  0.002  0.043  0.002 -1.028]
+t: 24	 action: [ 9.842e-01  1.425e-01 -9.565e-02 -2.442e-03  2.923e-02  3.701e-04 -9.919e-01]
+t: 25	 action: [ 9.898e-01  1.217e-01 -1.113e-01  4.317e-03  3.774e-02  2.216e-04 -1.034e+00]
+[07-31 02:16:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3631
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3631
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3631
+t=26: Selected seed 195 with value = 0.3631
+t: 26	 action: [ 0.934  0.31  -0.13   0.002  0.043  0.01  -1.033]
+t: 27	 action: [ 0.947  0.203 -0.178  0.007  0.047  0.005 -1.023]
+t: 28	 action: [ 0.934  0.206 -0.219  0.004  0.039  0.01  -1.024]
+t: 29	 action: [ 0.936  0.09  -0.304  0.012  0.041  0.001 -1.024]
+t: 30	 action: [ 0.953  0.057 -0.338  0.008  0.033  0.001 -1.014]
+t: 31	 action: [ 0.929 -0.026 -0.46   0.021  0.035 -0.002 -1.034]
+t: 32	 action: [ 9.125e-01 -4.500e-02 -4.682e-01  2.385e-02  2.557e-02 -4.525e-04 -1.014e+00]
+t: 33	 action: [ 0.881 -0.131 -0.596  0.025  0.02  -0.004 -1.036]
+t: 34	 action: [ 0.797 -0.121 -0.528  0.018  0.023  0.005 -1.029]
+t: 35	 action: [ 0.74  -0.159 -0.663  0.011  0.016 -0.002 -1.023]
+t: 36	 action: [ 0.611 -0.176 -0.644  0.016  0.008  0.005 -1.03 ]
+t: 37	 action: [ 0.51  -0.173 -0.724  0.006  0.003 -0.005 -1.018]
+t: 38	 action: [ 4.272e-01 -6.670e-02 -6.870e-01  8.931e-03 -1.604e-02  9.826e-04 -1.026e+00]
+t: 39	 action: [ 0.295 -0.135 -0.753  0.011 -0.021 -0.006 -1.038]
+t: 40	 action: [ 0.28  -0.01  -0.736 -0.002 -0.029  0.003 -1.032]
+t: 41	 action: [ 0.172 -0.093 -0.774  0.001 -0.036 -0.006 -1.033]
+[07-31 02:16:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4814
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4814
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4814
+t=42: Selected seed 195 with value = 0.4814
+t: 42	 action: [ 0.194 -0.383 -0.46   0.015 -0.02   0.013 -1.015]
+t: 43	 action: [ 0.088 -0.315 -0.559  0.007 -0.025  0.014 -1.023]
+t: 44	 action: [ 0.001 -0.323 -0.625  0.021 -0.043  0.017 -1.021]
+t: 45	 action: [-0.112 -0.257 -0.722  0.008 -0.05   0.017 -1.021]
+t: 46	 action: [-0.151 -0.263 -0.729  0.003 -0.05   0.021 -1.015]
+t: 47	 action: [-0.208 -0.155 -0.812  0.005 -0.063  0.019 -1.05 ]
+t: 48	 action: [-3.125e-01 -1.421e-01 -7.608e-01  8.738e-04 -6.452e-02  2.974e-02 -1.021e+00]
+t: 49	 action: [-0.368 -0.077 -0.836  0.002 -0.068  0.02  -1.051]
+t: 50	 action: [-0.474 -0.085 -0.783  0.003 -0.081  0.06  -1.013]
+t: 51	 action: [-0.515 -0.134 -0.822 -0.003 -0.074  0.044 -1.02 ]
+t: 52	 action: [-5.562e-01 -1.956e-02 -7.642e-01 -1.001e-03 -7.218e-02  6.432e-02 -1.016e+00]
+t: 53	 action: [-0.555 -0.093 -0.787 -0.005 -0.057  0.045 -1.01 ]
+t: 54	 action: [-0.539  0.014 -0.737 -0.018 -0.062  0.058 -1.007]
+t: 55	 action: [-0.461  0.072 -0.729 -0.004 -0.044  0.037 -1.049]
+t: 56	 action: [-0.466  0.06  -0.668 -0.016 -0.041  0.05  -1.007]
+t: 57	 action: [-0.386  0.094 -0.663 -0.005 -0.021  0.037 -1.05 ]
+[07-31 02:16:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7263
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7263
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7263
+t=58: Selected seed 195 with value = 0.7263
+t: 58	 action: [-0.388  0.093 -0.577  0.003 -0.022  0.018 -0.989]
+t: 59	 action: [-0.346  0.09  -0.553 -0.005 -0.004  0.018 -1.008]
+t: 60	 action: [-0.296  0.238 -0.513  0.002 -0.009  0.018 -0.992]
+t: 61	 action: [-0.25   0.386 -0.42  -0.003  0.002  0.015 -1.01 ]
+t: 62	 action: [-0.38   0.447 -0.37  -0.005 -0.004  0.018 -0.985]
+t: 63	 action: [-2.402e-01  6.434e-01 -3.395e-01  3.242e-03 -6.101e-04  1.555e-02 -1.035e+00]
+t: 64	 action: [-0.183  0.621 -0.245 -0.004  0.005  0.014 -0.99 ]
+t: 65	 action: [-1.390e-01  7.799e-01 -2.204e-01  1.821e-03  1.856e-04  1.141e-02 -1.032e+00]
+t: 66	 action: [ 0.089  0.843 -0.122  0.002  0.022  0.003 -1.004]
+t: 67	 action: [ 0.059  0.813 -0.074  0.008  0.038  0.004 -0.992]
+t: 68	 action: [ 1.119e-01  7.984e-01 -1.347e-01  7.975e-04  2.155e-02  8.114e-03 -9.904e-01]
+t: 69	 action: [ 0.058  0.794 -0.097  0.009  0.024  0.007 -0.979]
+t: 70	 action: [-1.166e-01  8.736e-01 -9.910e-02 -2.198e-03  9.373e-03 -6.367e-04 -1.013e+00]
+t: 71	 action: [-0.073  0.819 -0.113  0.015  0.014  0.006 -1.017]
+t: 72	 action: [-0.241  0.795 -0.128 -0.005  0.009  0.004 -0.998]
+t: 73	 action: [-0.152  0.803 -0.16   0.014  0.009  0.01  -1.011]
+[07-31 02:16:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8321
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8321
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8321
+t=74: Selected seed 195 with value = 0.8321
+t: 74	 action: [-0.135  0.484 -0.327 -0.01  -0.009  0.003 -1.012]
+t: 75	 action: [-0.132  0.638 -0.238 -0.004  0.007  0.003 -1.009]
+t: 76	 action: [-0.099  0.67  -0.257 -0.007  0.009  0.003 -1.004]
+t: 77	 action: [-0.066  0.748 -0.182 -0.001  0.018  0.002 -1.013]
+t: 78	 action: [-1.097e-01  7.027e-01 -1.568e-01 -5.230e-03  5.968e-04 -4.189e-03 -1.015e+00]
+t: 79	 action: [-0.093  0.786 -0.132  0.003  0.008  0.002 -1.031]
+t: 80	 action: [-0.122  0.823 -0.134 -0.008  0.015 -0.005 -1.009]
+t: 81	 action: [-0.111  0.82  -0.132  0.006  0.023  0.002 -1.03 ]
+t: 82	 action: [-7.081e-02  9.218e-01 -1.663e-01 -7.255e-04 -3.245e-02  1.100e-03 -1.008e+00]
+t: 83	 action: [-0.114  0.865 -0.142 -0.002 -0.021 -0.002 -1.015]
+t: 84	 action: [-0.127  0.864 -0.166  0.003 -0.029  0.004 -0.998]
+t: 85	 action: [-0.2    0.828 -0.147 -0.001 -0.028 -0.002 -1.011]
+t: 86	 action: [-0.311  0.877 -0.165 -0.004 -0.035 -0.003 -1.013]
+t: 87	 action: [-0.355  0.85  -0.188  0.006 -0.039  0.002 -1.032]
+t: 88	 action: [-0.461  0.764 -0.175 -0.007 -0.028 -0.003 -0.992]
+t: 89	 action: [-0.449  0.795 -0.2    0.005 -0.039  0.003 -1.029]
+[07-31 02:16:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9548
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9548
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 149
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 47 (31.5%)
+
+
 98%|█████████▊| 49/50 [12:01<00:13, 13.21s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: push the plate to the front of the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 50...
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=90: Selected seed 195 with value = 0.9548
+t: 90	 action: [-0.539  0.754 -0.324  0.006 -0.037  0.003 -1.002]
+t: 91	 action: [-0.522  0.749 -0.23   0.01  -0.016 -0.009 -0.999]
+t: 92	 action: [-0.633  0.714 -0.249  0.004 -0.025 -0.003 -0.999]
+t: 93	 action: [-0.58   0.694 -0.161  0.007 -0.004 -0.014 -1.001]
+t: 94	 action: [-0.71   0.651 -0.206 -0.002 -0.01  -0.006 -0.968]
+t: 95	 action: [-0.713  0.677 -0.168  0.014  0.005 -0.004 -1.012]
+t: 96	 action: [-0.753  0.482 -0.186 -0.002  0.025 -0.007 -0.968]
+t: 97	 action: [-0.731  0.443 -0.215  0.017  0.046 -0.009 -1.015]
+t: 98	 action: [-0.818  0.107 -0.307  0.038  0.044 -0.014 -0.999]
+t: 99	 action: [-0.825 -0.018 -0.334  0.038  0.053 -0.025 -1.013]
+t: 100	 action: [-0.835 -0.055 -0.347  0.051  0.07  -0.023 -1.003]
+t: 101	 action: [-0.814 -0.144 -0.343  0.041  0.074 -0.028 -1.016]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=149--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+92 92 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=149--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 149
+# successes: 47 (31.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 50...
+[07-31 02:16:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3292
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3292
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3292
+t=10: Selected seed 195 with value = 0.3292
+t: 10	 action: [ 0.195  0.107  0.01  -0.005  0.005 -0.001 -1.022]
+t: 11	 action: [ 0.323  0.152  0.002 -0.009  0.01  -0.008 -1.01 ]
+t: 12	 action: [ 0.4    0.173  0.006 -0.011  0.006 -0.001 -1.021]
+t: 13	 action: [ 5.529e-01  2.177e-01  8.735e-04 -1.461e-02  1.268e-02 -8.983e-03 -1.014e+00]
+t: 14	 action: [ 6.708e-01  2.295e-01  8.614e-04 -1.730e-02  5.860e-03 -5.864e-03 -1.018e+00]
+t: 15	 action: [ 0.755  0.221 -0.02  -0.013  0.005 -0.012 -1.028]
+t: 16	 action: [ 0.85   0.266 -0.005 -0.025  0.008 -0.01  -1.013]
+t: 17	 action: [ 0.866  0.246 -0.025 -0.018  0.005 -0.012 -1.035]
+t: 18	 action: [ 0.872  0.281 -0.002 -0.021  0.013 -0.015 -1.017]
+t: 19	 action: [ 0.879  0.241 -0.017 -0.015  0.015 -0.019 -1.014]
+t: 20	 action: [ 0.919  0.256 -0.025 -0.018  0.011 -0.02  -1.012]
+t: 21	 action: [ 0.896  0.222 -0.018 -0.014  0.018 -0.019 -1.012]
+t: 22	 action: [ 0.95   0.237 -0.018 -0.015  0.014 -0.017 -0.993]
+t: 23	 action: [ 0.964  0.215 -0.031 -0.012  0.007 -0.02  -1.028]
+t: 24	 action: [ 0.989  0.224 -0.038 -0.013  0.015 -0.021 -0.991]
+t: 25	 action: [ 0.978  0.201 -0.039 -0.011  0.007 -0.019 -1.03 ]
+[07-31 02:16:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3743
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3743
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3743
+t=26: Selected seed 195 with value = 0.3743
+t: 26	 action: [ 0.935  0.274 -0.176  0.002  0.011 -0.003 -1.036]
+t: 27	 action: [ 0.929  0.208 -0.199 -0.001  0.01  -0.009 -1.016]
+t: 28	 action: [ 0.923  0.147 -0.237  0.006  0.004 -0.002 -1.031]
+t: 29	 action: [ 0.927  0.092 -0.273  0.006  0.008 -0.009 -1.016]
+t: 30	 action: [ 9.399e-01  4.269e-02 -3.352e-01  2.340e-03 -1.894e-04 -9.009e-03 -1.018e+00]
+t: 31	 action: [ 0.891  0.01  -0.358  0.014  0.003 -0.009 -1.034]
+t: 32	 action: [ 0.85  -0.047 -0.439  0.007 -0.006 -0.007 -1.02 ]
+t: 33	 action: [ 0.798 -0.061 -0.456  0.023 -0.004 -0.008 -1.036]
+t: 34	 action: [ 0.649 -0.147 -0.444  0.031 -0.016 -0.01  -1.025]
+t: 35	 action: [ 0.642 -0.137 -0.542  0.026 -0.012 -0.006 -1.018]
+t: 36	 action: [ 4.757e-01 -1.583e-01 -5.640e-01  3.096e-02 -2.389e-02 -4.343e-04 -1.025e+00]
+t: 37	 action: [ 0.445 -0.134 -0.637  0.022 -0.021 -0.003 -1.018]
+t: 38	 action: [ 0.335 -0.087 -0.634  0.02  -0.027 -0.002 -1.024]
+t: 39	 action: [ 2.458e-01 -7.091e-02 -6.712e-01  2.151e-02 -2.832e-02 -7.768e-05 -1.037e+00]
+t: 40	 action: [ 2.267e-01 -2.404e-02 -7.041e-01  1.054e-02 -2.728e-02  5.772e-06 -1.027e+00]
+t: 41	 action: [ 0.179 -0.03  -0.726  0.012 -0.028  0.005 -1.038]
+[07-31 02:16:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4368
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4368
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4368
+t=42: Selected seed 195 with value = 0.4368
+t: 42	 action: [ 0.289 -0.148 -0.63   0.043 -0.013  0.01  -1.007]
+t: 43	 action: [ 0.185 -0.153 -0.716  0.028 -0.018  0.008 -1.019]
+t: 44	 action: [ 0.151 -0.159 -0.693  0.034 -0.029  0.013 -1.012]
+t: 45	 action: [ 0.045 -0.15  -0.749  0.02  -0.031  0.015 -1.019]
+t: 46	 action: [-0.087 -0.122 -0.717  0.012 -0.033  0.012 -1.01 ]
+t: 47	 action: [-0.08  -0.129 -0.825  0.013 -0.034  0.019 -1.048]
+t: 48	 action: [-0.236 -0.082 -0.725  0.005 -0.042  0.026 -1.013]
+t: 49	 action: [-0.235 -0.094 -0.804  0.007 -0.038  0.027 -1.048]
+t: 50	 action: [-0.313 -0.092 -0.709  0.009 -0.061  0.052 -1.005]
+t: 51	 action: [-0.415 -0.119 -0.757 -0.01  -0.057  0.057 -1.019]
+t: 52	 action: [-0.493 -0.031 -0.682  0.001 -0.059  0.069 -1.012]
+t: 53	 action: [-0.52  -0.079 -0.717 -0.016 -0.046  0.068 -1.012]
+t: 54	 action: [-0.606 -0.016 -0.661 -0.027 -0.062  0.089 -0.999]
+t: 55	 action: [-0.584 -0.014 -0.728 -0.02  -0.049  0.075 -1.045]
+t: 56	 action: [-0.605  0.023 -0.623 -0.039 -0.053  0.094 -0.999]
+t: 57	 action: [-0.576  0.025 -0.665 -0.026 -0.033  0.082 -1.047]
+[07-31 02:16:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5272
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5272
+Query 1/1: Action query time = 1.001 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5272
+t=58: Selected seed 195 with value = 0.5272
+t: 58	 action: [-0.233  0.062 -0.63   0.018 -0.031  0.072 -0.999]
+t: 59	 action: [-0.235  0.076 -0.674  0.008 -0.026  0.072 -0.997]
+t: 60	 action: [-0.253  0.107 -0.623  0.019 -0.013  0.08  -0.999]
+t: 61	 action: [-0.148  0.191 -0.617  0.01   0.001  0.072 -1.   ]
+t: 62	 action: [-1.740e-01  2.856e-01 -5.168e-01  1.151e-02  7.086e-04  1.030e-01 -1.002e+00]
+t: 63	 action: [-0.09   0.393 -0.528  0.021  0.003  0.081 -1.035]
+t: 64	 action: [ 0.033  0.579 -0.396  0.008  0.014  0.096 -1.005]
+t: 65	 action: [ 0.141  0.682 -0.396  0.018  0.006  0.072 -1.035]
+t: 66	 action: [ 0.204  0.723 -0.205  0.008  0.03   0.041 -1.006]
+t: 67	 action: [ 0.284  0.759 -0.159  0.011  0.034  0.028 -1.003]
+t: 68	 action: [ 0.215  0.829 -0.145  0.004  0.035  0.041 -1.   ]
+t: 69	 action: [ 0.303  0.824 -0.129  0.01   0.033  0.025 -1.003]
+t: 70	 action: [ 0.174  0.9   -0.165  0.002  0.032  0.032 -1.015]
+t: 71	 action: [ 0.167  0.839 -0.129  0.012  0.036  0.021 -1.033]
+t: 72	 action: [ 0.128  0.919 -0.15  -0.003  0.031  0.027 -1.009]
+t: 73	 action: [ 0.097  0.869 -0.176  0.008  0.028  0.02  -1.038]
+[07-31 02:16:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.032 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5451
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 1.032 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=74: Selected seed 195 with value = 0.5451
+t: 74	 action: [-0.052  0.114 -0.545  0.012 -0.032  0.039 -0.999]
+t: 75	 action: [-0.007  0.253 -0.525  0.007 -0.009  0.033 -1.002]
+t: 76	 action: [ 0.047  0.419 -0.513  0.016 -0.016  0.045 -0.996]
+t: 77	 action: [ 0.092  0.644 -0.474  0.008  0.007  0.032 -1.007]
+t: 78	 action: [ 0.067  0.512 -0.466  0.002  0.001  0.047 -1.009]
+t: 79	 action: [ 0.06   0.706 -0.441  0.011  0.006  0.029 -1.038]
+t: 80	 action: [ 0.115  0.823 -0.414  0.002  0.017  0.044 -1.004]
+t: 81	 action: [ 0.118  0.864 -0.402  0.012  0.02   0.027 -1.041]
+t: 82	 action: [ 0.115  0.889 -0.301  0.006  0.004  0.028 -1.006]
+t: 83	 action: [ 0.149  0.892 -0.277  0.004  0.011  0.021 -1.009]
+t: 84	 action: [ 0.089  0.898 -0.231  0.003  0.012  0.029 -1.003]
+t: 85	 action: [ 0.101  0.878 -0.211  0.005  0.012  0.02  -1.011]
+t: 86	 action: [ 0.041  0.94  -0.239  0.002  0.012  0.023 -1.015]
+t: 87	 action: [ 0.013  0.905 -0.223  0.007  0.011  0.016 -1.039]
+t: 88	 action: [-0.007  0.937 -0.204 -0.002  0.021  0.017 -1.007]
+t: 89	 action: [-6.369e-04  8.950e-01 -2.078e-01  5.521e-03  1.308e-02  1.736e-02 -1.044e+00]
+[07-31 02:16:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.008 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7608
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 1.008 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=90: Selected seed 195 with value = 0.7608
+t: 90	 action: [-0.156  0.82  -0.298 -0.006  0.005  0.011 -0.995]
+t: 91	 action: [-0.137  0.828 -0.307 -0.008  0.01   0.007 -1.005]
+t: 92	 action: [-0.162  0.856 -0.297 -0.007  0.01   0.011 -0.988]
+t: 93	 action: [-0.129  0.875 -0.309 -0.004  0.012  0.011 -1.005]
+t: 94	 action: [-0.13   0.875 -0.276 -0.009  0.005  0.005 -0.994]
+t: 95	 action: [-0.131  0.91  -0.319 -0.003  0.002  0.007 -1.029]
+t: 96	 action: [-0.16   0.915 -0.293 -0.01   0.011  0.007 -0.99 ]
+t: 97	 action: [-1.490e-01  9.302e-01 -3.464e-01 -7.720e-04  2.669e-03  1.215e-02 -1.032e+00]
+t: 98	 action: [-2.191e-01  9.556e-01 -3.114e-01 -3.956e-06 -2.285e-02  2.022e-02 -9.984e-01]
+t: 99	 action: [-0.227  0.914 -0.29  -0.004 -0.016  0.013 -1.001]
+t: 100	 action: [-0.289  0.941 -0.316  0.004 -0.018  0.023 -0.997]
+t: 101	 action: [-0.292  0.885 -0.307  0.001 -0.009  0.017 -1.001]
+t: 102	 action: [-0.357  0.921 -0.321 -0.001 -0.018  0.023 -0.998]
+t: 103	 action: [-0.372  0.916 -0.34   0.005 -0.017  0.016 -1.028]
+t: 104	 action: [-0.434  0.899 -0.304 -0.002 -0.006  0.027 -0.987]
+t: 105	 action: [-0.433  0.884 -0.336  0.009 -0.007  0.021 -1.033]
+[07-31 02:16:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9095
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9095
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9095
+t=106: Selected seed 195 with value = 0.9095
+t: 106	 action: [-0.582  0.66  -0.292  0.005  0.022  0.008 -0.991]
+t: 107	 action: [-0.571  0.641 -0.257  0.014  0.027  0.009 -0.996]
+t: 108	 action: [-0.653  0.585 -0.32   0.005  0.025  0.01  -0.977]
+t: 109	 action: [-0.634  0.611 -0.289  0.013  0.031  0.01  -0.997]
+t: 110	 action: [-7.140e-01  6.060e-01 -3.281e-01  9.593e-04  2.462e-02  1.273e-02 -9.748e-01]
+t: 111	 action: [-0.743  0.642 -0.323  0.019  0.032  0.016 -1.033]
+t: 112	 action: [-7.575e-01  5.430e-01 -3.613e-01 -5.765e-04  3.568e-02  1.203e-02 -9.645e-01]
+t: 113	 action: [-0.799  0.57  -0.368  0.02   0.045  0.016 -1.036]
+t: 114	 action: [-0.72   0.378 -0.413  0.012  0.042  0.009 -0.987]
+t: 115	 action: [-0.749  0.279 -0.485  0.015  0.049  0.009 -0.999]
+t: 116	 action: [-0.833  0.177 -0.455  0.017  0.058  0.007 -0.992]
+t: 117	 action: [-0.823  0.082 -0.535  0.014  0.065  0.006 -0.998]
+t: 118	 action: [-0.924  0.064 -0.448  0.027  0.072  0.005 -0.984]
+t: 119	 action: [-0.907 -0.025 -0.554  0.032  0.069  0.011 -1.037]
+t: 120	 action: [-9.109e-01 -1.380e-02 -4.331e-01  3.204e-02  7.739e-02  9.146e-06 -9.772e-01]
+t: 121	 action: [-0.907 -0.058 -0.521  0.026  0.071  0.006 -1.044]
+[07-31 02:16:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9924
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9924
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 150
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 48 (32.0%)
+
+
100%|██████████| 50/50 [12:15<00:00, 13.57s/it]
100%|██████████| 50/50 [12:15<00:00, 14.72s/it]
+INFO:cosmos_policy.experiments.robot.robot_utils:Current task success rate: 0.96
+INFO:cosmos_policy.experiments.robot.robot_utils:Current total success rate: 0.32
+
 60%|██████    | 6/10 [1:05:43<40:15, 603.82s/it]
100%|██████████| 10/10 [1:05:43<00:00, 394.31s/it]
+INFO:cosmos_policy.experiments.robot.robot_utils:Final results:
+INFO:cosmos_policy.experiments.robot.robot_utils:Total episodes: 150
+INFO:cosmos_policy.experiments.robot.robot_utils:Total successes: 48
+INFO:cosmos_policy.experiments.robot.robot_utils:Overall success rate: 0.3200 (32.0%)
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=122: Selected seed 195 with value = 0.9924
+t: 122	 action: [-0.923 -0.051 -0.446  0.025  0.025 -0.016 -0.932]
+t: 123	 action: [-0.919 -0.107 -0.45   0.03   0.034 -0.015 -0.983]
+t: 124	 action: [-0.955 -0.043 -0.445  0.029  0.032 -0.02  -0.953]
+t: 125	 action: [-0.942 -0.115 -0.446  0.03   0.041 -0.02  -0.987]
+t: 126	 action: [-0.928 -0.122 -0.431  0.03   0.046 -0.022 -0.922]
+t: 127	 action: [-0.942 -0.11  -0.395  0.04   0.051 -0.018 -1.023]
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=150--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+118 118 8 8
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=150--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 150
+# successes: 48 (32.0%)
+Current task success rate: 0.96
+Current total success rate: 0.32
+Final results:
+Total episodes: 150
+Total successes: 48
+Overall success rate: 0.3200 (32.0%)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f1986442a70>
+Traceback (most recent call last):
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f18e4cd2540>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f1986673ec0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f1986673ec0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f1986673e40>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f19864428c0>
+Traceback (most recent call last):
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f18e4cd2540>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f1986673ec0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f1986673ec0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f1986673e40>,
+	),
+	result = 0
+)
+sys:1: DeprecationWarning: builtin type swigvarlink has no __module__ attribute
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/eval_CLbest_t6.log b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/eval_CLbest_t6.log
new file mode 100644
index 0000000000000000000000000000000000000000..8bc7bbf6af59cd16ed9dd722739887ff8e96007f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/eval_CLbest_t6.log
@@ -0,0 +1,10184 @@
+Uninstalled 1 package in 2ms
+Installed 1 package in 18ms
+[07-31 02:00:23|CRITICAL|cosmos_policy/_src/predict2/checkpointer/dcp.py:188:<module>] for the back comptiable pytorch! New DefaultLoadPlanner class is created.
+[robosuite WARNING] No private macro file found! (__init__.py:7)
+[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)
+[robosuite WARNING] To setup, run: python /home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9)
+Using LIBERO constants:
+  NUM_ACTIONS_CHUNK = 16
+  ACTION_DIM = 7
+  PROPRIO_DIM = 9
+If needed, manually set the correct constants in `projects/cosmos/cosmos_policy/constants.py`!
+Loaded T5 text embeddings from /home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl onto device cuda:0
+Instantiating pretrained Cosmos model...
+[07-31 02:00:24|INFO|cosmos_policy/_src/imaginaire/visualize/video.py:31:<module>] No module named 'ffmpegcv'
+[07-31 02:00:25|CRITICAL|cosmos_policy/_src/imaginaire/utils/config_helper.py:192:import_all_modules_from_package] Reloading all modules from package cosmos_policy._src.predict2.configs.video2world.experiment
+[07-31 02:00:25|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering video_basic_augmentor_v1...
+[07-31 02:00:25|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering video_basic_augmentor_v2...
+[07-31 02:00:25|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering noframedrop_nocameramove_video_augmentor_v1...
+[07-31 02:00:25|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering nocameramove_video_augmentor_v1...
+[07-31 02:00:25|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering image_basic_augmentor...
+[07-31 02:00:25|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering image_basic_augmentor_without_embeddings...
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_high_motion
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_av
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_physical_ai
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_4k_cooldown
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face_only2
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded_only2
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_high_motion_only2
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics_only2
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_av_only2
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_physical_ai_only2
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_4k_cooldown_only2
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face_high_sigma
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded_high_sigma
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_high_motion_high_sigma
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics_high_sigma
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_av_high_sigma
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_physical_ai_high_sigma
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_4k_cooldown_high_sigma
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face_high_sigma2
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded_high_sigma2
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics_high_sigma2
+[07-31 02:00:29|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-2-Size-2B-Res-720-Fps-16-Note-rf_with_edm_ckpt
+[07-31 02:00:29|CRITICAL|cosmos_policy/_src/imaginaire/utils/config_helper.py:192:import_all_modules_from_package] Reloading all modules from package cosmos_policy.config.experiment
+[07-31 02:00:29|INFO|cosmos_policy/_src/imaginaire/utils/checkpoint_db.py:927:get_checkpoint_by_hf] Downloading checkpoint from HuggingFace: nvidia/Cosmos-Predict2-2B-Video2World/model-480p-16fps.pt
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_base_stage
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_base_stage_inference_only
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_cl_stage
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_cl_stage_inference_only
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero__inference_only
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_task6_ft
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_task6_regen_cl
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_robocasa_50_demos_per_task
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_robocasa_50_demos_per_task__inference
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__inference_only
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__resumeFrom50K_648_rollouts_Vsprime_value_func
+[07-31 02:00:29|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__resumeFrom50K_648_rollouts_Vsprime_value_func__inference_only
+[07-31 02:00:32|INFO|cosmos_policy/_src/predict2/utils/model_loader.py:91:load_model_from_checkpoint] Overriding config checkpoint path with: /home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model
+[07-31 02:00:32|INFO|cosmos_policy/_src/imaginaire/utils/misc.py:152:set_random_seed] Using random seed 0.
+[07-31 02:00:32|INFO|cosmos_policy/_src/predict2/utils/model_loader.py:111:load_model_from_checkpoint] Loading model from /home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model
+[07-31 02:00:32|WARNING|cosmos_policy/_src/predict2/models/text2world_model.py:145:__init__] DiffusionModel: precision torch.bfloat16
+[07-31 02:00:32|INFO|cosmos_policy/_src/imaginaire/utils/checkpoint_db.py:927:get_checkpoint_by_hf] Downloading checkpoint from HuggingFace: nvidia/Cosmos-Predict2-2B-Video2World/tokenizer/tokenizer.pth
+[07-31 02:00:32|INFO|cosmos_policy/tokenizers/wan2pt1.py:165:_policy_video_vae] loading /home/azureuser/.cache/huggingface/hub/models--nvidia--Cosmos-Predict2-2B-Video2World/snapshots/f50c09f5d8ab133a90cac3f4886a6471e9ba3f18/tokenizer/tokenizer.pth
+[07-31 02:00:32|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on DiffusionModel: set_up_tokenizer: 0.86 s
+[07-31 02:00:32|CRITICAL|cosmos_policy/_src/predict2/models/text2world_model.py:173:__init__] Using mean loss reduce with loss scale 10.0
+[07-31 02:00:32|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #0-fps: 
+ ReMapkey 
+	input key: fps
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: fps 
+	Dtype: None
+[07-31 02:00:32|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #1-padding_mask: 
+ ReMapkey 
+	input key: padding_mask
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: padding_mask 
+	Dtype: None
+[07-31 02:00:32|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #2-text: 
+ TextAttr 
+	input key: ['t5_text_embeddings']
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: [crossattn_emb]
+[07-31 02:00:32|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #3-use_video_condition: 
+ BooleanFlag 
+	input key: fps
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: use_video_condition 
+	 This is a boolean flag
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1805:enable_selective_checkpoint] Enable selective checkpoint with predict2_2b_720, for every 1 blocks. Total blocks: 28
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 0
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 1
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 2
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 3
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 4
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 5
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 6
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 7
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 8
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 9
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 10
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 11
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 12
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 13
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 14
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 15
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 16
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 17
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 18
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 19
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 20
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 21
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 22
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 23
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 24
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 25
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 26
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 27
+[07-31 02:00:33|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on meta to cuda and broadcast model states: 0.14 s
+[07-31 02:00:33|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on Creating PyTorch model: 0.76 s
+[07-31 02:00:33|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on Creating PyTorch model and ema if enabled: 0.77 s
+[07-31 02:00:33|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on DiffusionModel: set_up_model: 0.77 s
+[07-31 02:00:33|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on instantiate model: 1.65 s
+[07-31 02:00:33|INFO|cosmos_policy/_src/predict2/utils/model_loader.py:227:load_model_state_dict_from_checkpoint] Loading model cached locally from /home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model
+/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/torch/distributed/checkpoint/state_dict_loader.py:153: UserWarning: torch.distributed is disabled, unavailable or uninitialized, assuming the intent is to load in a single process.
+  warnings.warn(
+[07-31 02:00:35|CRITICAL|cosmos_policy/_src/predict2/models/text2world_model.py:839:load_state_dict] load model in non-strict mode
+[07-31 02:00:35|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.0.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
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+[07-31 02:00:35|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.26.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 02:00:35|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 02:00:35|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 02:00:35|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 02:00:35|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 02:00:35|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key t_embedding_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 02:00:35|CRITICAL|cosmos_policy/_src/predict2/models/text2world_model.py:840:load_state_dict] [RANK 0] _IncompatibleKeys(missing_keys=[], unexpected_keys=[], incorrect_shapes=[])
+INFO:cosmos_policy.experiments.robot.robot_utils:Logging to local log file: cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-02_00_23--CLbest_t6.txt
+INFO:cosmos_policy.experiments.robot.robot_utils:Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLbest_t6', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200)
+INFO:cosmos_policy.experiments.robot.robot_utils:Using serial inference (parallel inference disabled)
+INFO:cosmos_policy.experiments.robot.robot_utils:Task suite: libero_goal
+INFO:cosmos_policy.experiments.robot.robot_utils:Number of tasks: 10
+INFO:cosmos_policy.experiments.robot.robot_utils:Running only task IDs: [6]
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLbest_t6', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200)
+Using serial inference (parallel inference disabled)
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+
  0%|          | 0/10 [00:00<?, ?it/s]INFO:cosmos_policy.experiments.robot.robot_utils:Using default initial states
+Using default initial states
+Local assets not found. Downloading from HuggingFace Hub...
+Assets already downloaded at /home/azureuser/.cache/libero/assets
+
+
  0%|          | 0/50 [00:00<?, ?it/s]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 1...
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+[07-31 02:00:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.619 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4403
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4403
+Query 1/1: Action query time = 1.619 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4403
+t=10: Selected seed 195 with value = 0.4403
+t: 10	 action: [ 0.15   0.08  -0.02   0.006 -0.002  0.005 -0.991]
+t: 11	 action: [ 0.3    0.173  0.006  0.006  0.003  0.005 -0.991]
+t: 12	 action: [ 3.729e-01  2.618e-01 -2.839e-02  3.966e-03 -1.301e-04  7.124e-03 -9.843e-01]
+t: 13	 action: [ 0.52   0.351  0.005  0.005  0.001  0.008 -0.986]
+t: 14	 action: [ 0.569  0.434 -0.025  0.002  0.002  0.01  -0.992]
+t: 15	 action: [ 0.682  0.494 -0.01   0.004 -0.002  0.013 -1.003]
+t: 16	 action: [ 7.337e-01  5.260e-01 -3.379e-02  4.201e-04  3.918e-03  1.183e-02 -9.840e-01]
+t: 17	 action: [ 0.794  0.555 -0.025  0.004 -0.004  0.015 -1.001]
+t: 18	 action: [ 7.718e-01  5.732e-01 -4.720e-02 -4.110e-03  9.591e-04  1.642e-02 -9.869e-01]
+t: 19	 action: [ 0.8    0.606 -0.034 -0.01   0.004  0.014 -0.995]
+t: 20	 action: [ 7.773e-01  5.898e-01 -9.547e-02 -9.384e-03  5.302e-04  1.653e-02 -9.850e-01]
+t: 21	 action: [ 0.79   0.609 -0.101 -0.013  0.005  0.016 -0.985]
+t: 22	 action: [ 0.796  0.604 -0.153 -0.009  0.006  0.016 -0.986]
+t: 23	 action: [ 0.766  0.621 -0.161 -0.009 -0.004  0.017 -1.007]
+t: 24	 action: [ 0.766  0.588 -0.298 -0.008  0.007  0.014 -0.984]
+t: 25	 action: [ 0.753  0.547 -0.332 -0.008 -0.003  0.018 -1.004]
+[07-31 02:00:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5088
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5088
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5088
+t=26: Selected seed 195 with value = 0.5088
+t: 26	 action: [ 0.887  0.458 -0.31   0.002  0.017  0.015 -0.999]
+t: 27	 action: [ 0.876  0.447 -0.386 -0.004  0.011  0.014 -1.001]
+t: 28	 action: [ 0.822  0.405 -0.446  0.003  0.01   0.013 -1.003]
+t: 29	 action: [ 0.757  0.349 -0.504  0.003  0.005  0.011 -1.003]
+t: 30	 action: [ 6.967e-01  3.214e-01 -5.233e-01  3.272e-04 -1.450e-03  5.697e-03 -1.007e+00]
+t: 31	 action: [ 0.539  0.255 -0.659  0.007 -0.003  0.007 -1.005]
+t: 32	 action: [ 0.423  0.191 -0.706  0.008 -0.016  0.003 -1.011]
+t: 33	 action: [ 0.316  0.14  -0.791  0.016 -0.017  0.004 -1.006]
+t: 34	 action: [ 0.204  0.072 -0.841  0.025 -0.025  0.004 -1.006]
+t: 35	 action: [ 0.134  0.049 -0.888  0.021 -0.021 -0.005 -0.99 ]
+t: 36	 action: [ 0.107  0.033 -0.892  0.025 -0.033  0.002 -1.009]
+t: 37	 action: [ 0.042 -0.003 -0.917  0.018 -0.032 -0.011 -0.99 ]
+t: 38	 action: [ 0.063  0.012 -0.898  0.018 -0.036 -0.011 -1.01 ]
+t: 39	 action: [ 0.009 -0.005 -0.925  0.016 -0.039 -0.016 -0.998]
+t: 40	 action: [-0.005 -0.006 -0.904  0.007 -0.039 -0.014 -1.007]
+t: 41	 action: [-0.036 -0.035 -0.918  0.011 -0.046 -0.02  -0.999]
+[07-31 02:00:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5657
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=42: Selected seed 195 with value = 0.5657
+t: 42	 action: [-0.289  0.108 -0.887  0.004 -0.015  0.011 -1.006]
+t: 43	 action: [-0.234  0.12  -0.821 -0.008 -0.019  0.015 -1.   ]
+t: 44	 action: [-0.205  0.11  -0.823  0.004 -0.005  0.01  -1.004]
+t: 45	 action: [-0.097  0.11  -0.722 -0.002 -0.006  0.012 -1.002]
+t: 46	 action: [-6.956e-02  1.067e-01 -7.502e-01 -2.770e-04  4.983e-03  6.252e-03 -1.021e+00]
+t: 47	 action: [-0.04   0.129 -0.706 -0.007  0.004  0.008 -1.006]
+t: 48	 action: [-2.864e-02  7.509e-02 -6.429e-01  1.570e-04  1.205e-02  4.304e-03 -1.023e+00]
+t: 49	 action: [-0.042  0.092 -0.614 -0.003  0.009 -0.004 -1.001]
+t: 50	 action: [-0.1    0.034 -0.623  0.004  0.022  0.011 -0.958]
+t: 51	 action: [-1.249e-01  9.511e-03 -5.822e-01 -1.013e-02  1.960e-02 -2.622e-05  6.708e-01]
+t: 52	 action: [-0.122  0.008 -0.534  0.003  0.017  0.008  0.956]
+t: 53	 action: [-0.138 -0.03  -0.451 -0.01   0.012 -0.005  1.014]
+t: 54	 action: [-0.119  0.006 -0.348 -0.003  0.011 -0.006  0.983]
+t: 55	 action: [-0.106 -0.017 -0.277 -0.016  0.009 -0.022  0.968]
+t: 56	 action: [-0.09  -0.014 -0.163 -0.008  0.008 -0.012  0.996]
+t: 57	 action: [-0.082 -0.043 -0.109 -0.024  0.012 -0.025  1.008]
+[07-31 02:00:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.954 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6983
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6983
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6983
+t=58: Selected seed 195 with value = 0.6983
+t: 58	 action: [-0.093 -0.133 -0.083 -0.007 -0.008 -0.012  0.989]
+t: 59	 action: [-0.057 -0.108  0.007 -0.016 -0.003 -0.034  0.986]
+t: 60	 action: [-0.054 -0.06   0.131 -0.005 -0.014 -0.038  0.993]
+t: 61	 action: [-0.016 -0.074  0.255 -0.012 -0.008 -0.045  0.99 ]
+t: 62	 action: [ 0.006 -0.048  0.439 -0.005 -0.013 -0.034  0.985]
+t: 63	 action: [ 0.004 -0.028  0.669 -0.005 -0.008 -0.043  0.97 ]
+t: 64	 action: [ 0.027 -0.031  0.813  0.003 -0.006 -0.053  0.985]
+t: 65	 action: [ 0.003 -0.051  0.871  0.005 -0.002 -0.052  0.977]
+t: 66	 action: [ 0.006 -0.18   0.912  0.011  0.022 -0.052  0.98 ]
+t: 67	 action: [ 0.009 -0.268  0.921  0.022  0.034 -0.052  0.98 ]
+t: 68	 action: [-0.021 -0.331  0.929  0.026  0.036 -0.044  0.976]
+t: 69	 action: [ 0.002 -0.453  0.909  0.034  0.056 -0.041  0.984]
+t: 70	 action: [-0.08  -0.553  0.858  0.047  0.051 -0.029  0.988]
+t: 71	 action: [-0.066 -0.621  0.798  0.051  0.051 -0.027  0.975]
+t: 72	 action: [-0.137 -0.672  0.777  0.05   0.066 -0.015  0.988]
+t: 73	 action: [-0.129 -0.708  0.645  0.055  0.064 -0.015  0.976]
+[07-31 02:00:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8298
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8298
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8298
+t=74: Selected seed 195 with value = 0.8298
+t: 74	 action: [-1.416e-01 -7.892e-01  4.087e-01  1.023e-02  3.596e-02  5.431e-04  9.684e-01]
+t: 75	 action: [-0.239 -0.793  0.241  0.008  0.032 -0.005  0.978]
+t: 76	 action: [-2.469e-01 -8.192e-01  9.643e-02  8.902e-03  2.446e-02  8.815e-04  9.710e-01]
+t: 77	 action: [-3.211e-01 -7.855e-01 -5.254e-03  1.048e-02  1.359e-02  9.521e-04  9.860e-01]
+t: 78	 action: [-3.328e-01 -7.661e-01 -1.048e-01  1.072e-02  1.966e-02 -6.425e-04  9.820e-01]
+t: 79	 action: [-0.392 -0.706 -0.239  0.008  0.007 -0.001  0.982]
+t: 80	 action: [-3.982e-01 -6.271e-01 -3.544e-01  5.255e-03 -3.052e-04  5.618e-04  9.856e-01]
+t: 81	 action: [-4.080e-01 -5.026e-01 -5.204e-01  8.648e-04 -9.579e-03  3.740e-03  9.962e-01]
+t: 82	 action: [-0.381 -0.272 -0.505 -0.004 -0.029  0.013  0.971]
+t: 83	 action: [-0.42  -0.164 -0.647 -0.022 -0.023  0.023  0.984]
+t: 84	 action: [-0.371 -0.092 -0.681 -0.022 -0.039  0.018  0.972]
+t: 85	 action: [-0.35  -0.037 -0.766 -0.033 -0.031  0.028  0.999]
+t: 86	 action: [-0.342  0.019 -0.751 -0.041 -0.052  0.029  0.991]
+t: 87	 action: [-0.279  0.068 -0.758 -0.05  -0.056  0.032  0.985]
+t: 88	 action: [-0.231  0.025 -0.715 -0.051 -0.041  0.027  0.987]
+t: 89	 action: [-0.137  0.08  -0.611 -0.051 -0.043  0.034  0.994]
+[07-31 02:00:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9892
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9892
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 1
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 1 (100.0%)
+
+
  2%|▏         | 1/50 [00:11<09:38, 11.80s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 2...
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=90: Selected seed 195 with value = 0.9892
+t: 90	 action: [-0.007  0.016 -0.091 -0.003  0.035  0.01   0.993]
+t: 91	 action: [-0.008  0.002  0.034 -0.006  0.033  0.009  0.937]
+t: 92	 action: [-6.722e-03  5.992e-03  1.277e-01  8.060e-04  3.975e-02  5.413e-03 -1.006e+00]
+t: 93	 action: [-0.004 -0.004  0.224  0.002  0.041 -0.007 -1.02 ]
+t: 94	 action: [ 0.004 -0.014  0.233 -0.002  0.043 -0.003 -0.998]
+t: 95	 action: [ 0.023 -0.017  0.278  0.001  0.045  0.002 -1.029]
+t: 96	 action: [ 2.445e-02 -1.125e-02  2.655e-01  6.564e-05  4.979e-02 -8.262e-03 -1.009e+00]
+t: 97	 action: [ 0.039 -0.01   0.256  0.01   0.048 -0.015 -1.03 ]
+t: 98	 action: [ 0.046  0.016  0.192  0.01   0.035 -0.006 -0.996]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+89 89 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+[07-31 02:00:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4335
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4335
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4335
+t=10: Selected seed 195 with value = 0.4335
+t: 10	 action: [ 6.447e-02 -2.073e-03 -7.236e-03  3.918e-03 -6.037e-04  3.886e-03 -9.934e-01]
+t: 11	 action: [ 1.388e-01  5.342e-02  1.095e-02  4.206e-05  4.844e-03  9.782e-03 -9.871e-01]
+t: 12	 action: [ 2.294e-01  1.337e-01 -8.329e-03  2.011e-03  1.123e-04  8.092e-03 -1.002e+00]
+t: 13	 action: [ 0.393  0.236  0.011 -0.002  0.004  0.009 -0.992]
+t: 14	 action: [ 5.000e-01  2.930e-01  6.440e-03  2.372e-04  3.633e-03  9.380e-03 -1.013e+00]
+t: 15	 action: [ 0.659  0.37  -0.002  0.001  0.003  0.014 -1.002]
+t: 16	 action: [ 0.731  0.471  0.005 -0.002  0.005  0.011 -1.007]
+t: 17	 action: [ 8.273e-01  4.727e-01 -5.445e-03  6.631e-04  3.300e-03  1.250e-02 -1.008e+00]
+t: 18	 action: [ 0.759  0.482 -0.037  0.006  0.008  0.019 -1.007]
+t: 19	 action: [ 0.785  0.475 -0.049 -0.004  0.009  0.016 -0.997]
+t: 20	 action: [ 0.804  0.484 -0.065  0.004  0.005  0.017 -1.007]
+t: 21	 action: [ 0.821  0.474 -0.099 -0.005  0.009  0.013 -0.994]
+t: 22	 action: [ 0.843  0.509 -0.078  0.002  0.005  0.018 -1.001]
+t: 23	 action: [ 8.686e-01  5.009e-01 -1.827e-01 -1.743e-05  6.167e-04  1.482e-02 -1.000e+00]
+t: 24	 action: [ 8.589e-01  4.910e-01 -1.440e-01  7.227e-04  1.757e-03  1.323e-02 -1.002e+00]
+t: 25	 action: [ 9.014e-01  4.483e-01 -2.974e-01  2.127e-04  2.395e-04  1.334e-02 -1.009e+00]
+[07-31 02:00:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4999
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4999
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4999
+t=26: Selected seed 195 with value = 0.4999
+t: 26	 action: [ 0.865  0.454 -0.238  0.007  0.004  0.011 -0.994]
+t: 27	 action: [ 0.849  0.406 -0.338  0.006  0.005  0.011 -1.004]
+t: 28	 action: [ 0.827  0.394 -0.357  0.006  0.003  0.011 -0.993]
+t: 29	 action: [ 0.765  0.301 -0.436  0.01   0.004  0.008 -1.005]
+t: 30	 action: [ 0.7    0.324 -0.414  0.002  0.001  0.002 -1.   ]
+t: 31	 action: [ 5.580e-01  2.720e-01 -5.239e-01  1.250e-02 -9.255e-04  3.450e-03 -1.004e+00]
+t: 32	 action: [ 4.725e-01  2.012e-01 -5.682e-01  6.485e-03 -4.167e-03 -3.173e-04 -9.967e-01]
+t: 33	 action: [ 3.626e-01  1.491e-01 -6.573e-01  1.741e-02 -6.558e-03  3.653e-04 -1.005e+00]
+t: 34	 action: [ 0.267  0.107 -0.669  0.017 -0.013 -0.002 -1.001]
+t: 35	 action: [ 0.187  0.066 -0.76   0.019 -0.002 -0.008 -1.002]
+t: 36	 action: [ 0.144  0.049 -0.819  0.021 -0.019 -0.005 -1.005]
+t: 37	 action: [ 0.065 -0.001 -0.881  0.019 -0.01  -0.013 -1.001]
+t: 38	 action: [ 0.077  0.025 -0.887  0.027 -0.021 -0.018 -1.006]
+t: 39	 action: [ 0.009  0.011 -0.909  0.021 -0.02  -0.018 -1.005]
+t: 40	 action: [-0.007  0.01  -0.888  0.017 -0.024 -0.021 -1.007]
+t: 41	 action: [-0.047 -0.031 -0.922  0.018 -0.028 -0.022 -1.007]
+[07-31 02:00:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.050 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5599
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5599
+Query 1/1: Action query time = 1.050 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5599
+t=42: Selected seed 195 with value = 0.5599
+t: 42	 action: [-0.214  0.025 -0.892  0.005 -0.067  0.01  -1.   ]
+t: 43	 action: [-0.265  0.073 -0.907 -0.002 -0.073  0.016 -1.002]
+t: 44	 action: [-0.324  0.052 -0.856  0.007 -0.052  0.018 -0.992]
+t: 45	 action: [-0.396  0.088 -0.854  0.002 -0.05   0.023 -1.003]
+t: 46	 action: [-0.418  0.111 -0.849  0.004 -0.031  0.02  -1.002]
+t: 47	 action: [-0.461  0.164 -0.799 -0.003 -0.013  0.021 -1.013]
+t: 48	 action: [-0.384  0.105 -0.778  0.004 -0.014  0.026 -1.001]
+t: 49	 action: [-0.407  0.138 -0.723 -0.002  0.007  0.021 -1.019]
+t: 50	 action: [-0.359  0.076 -0.636  0.008  0.005  0.019 -0.984]
+t: 51	 action: [-3.790e-01  2.148e-02 -6.790e-01 -2.519e-04  1.300e-02  1.883e-02 -1.046e+00]
+t: 52	 action: [-0.295  0.004 -0.599  0.008  0.016  0.017 -0.995]
+t: 53	 action: [-0.242 -0.049 -0.616 -0.003  0.024  0.018 -1.035]
+t: 54	 action: [-0.252 -0.031 -0.587  0.005  0.022  0.008 -0.999]
+t: 55	 action: [-0.277 -0.058 -0.546 -0.001  0.031  0.006 -0.505]
+t: 56	 action: [-0.192 -0.08  -0.54   0.004  0.031  0.006  0.959]
+t: 57	 action: [-0.127 -0.079 -0.47  -0.005  0.04   0.005  0.984]
+[07-31 02:00:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.031 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6529
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6529
+Query 1/1: Action query time = 1.031 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6529
+t=58: Selected seed 195 with value = 0.6529
+t: 58	 action: [-0.199 -0.003 -0.482 -0.007 -0.01   0.032  0.974]
+t: 59	 action: [-0.184  0.008 -0.388 -0.016 -0.004  0.023  0.986]
+t: 60	 action: [-0.115 -0.019 -0.285 -0.012  0.003  0.013  0.985]
+t: 61	 action: [-0.1   -0.034 -0.174 -0.015  0.002  0.008  0.995]
+t: 62	 action: [-0.074 -0.094 -0.102 -0.019  0.011  0.001  0.994]
+t: 63	 action: [-0.055 -0.108 -0.005 -0.021  0.005 -0.005  0.999]
+t: 64	 action: [-0.026 -0.084  0.035 -0.012  0.012 -0.013  1.001]
+t: 65	 action: [-0.031 -0.081  0.125 -0.015  0.009 -0.029  1.008]
+t: 66	 action: [-0.031 -0.052  0.184 -0.001  0.016 -0.024  0.98 ]
+t: 67	 action: [-0.005 -0.034  0.288  0.005  0.005 -0.03   0.982]
+t: 68	 action: [ 6.884e-04  3.968e-03  5.246e-01  2.442e-03  6.303e-04 -3.503e-02  9.751e-01]
+t: 69	 action: [ 0.007 -0.009  0.74   0.007  0.001 -0.036  0.986]
+t: 70	 action: [-0.018  0.029  0.876  0.006  0.008 -0.028  0.991]
+t: 71	 action: [-0.018  0.048  0.946  0.021  0.007 -0.028  0.987]
+t: 72	 action: [-0.013  0.003  0.951  0.013  0.01  -0.026  0.998]
+t: 73	 action: [-0.006 -0.058  0.963  0.031  0.014 -0.025  0.997]
+[07-31 02:00:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.106 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7958
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7958
+Query 1/1: Action query time = 1.106 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7958
+t=74: Selected seed 195 with value = 0.7958
+t: 74	 action: [-0.022 -0.405  0.88   0.019  0.032 -0.007  1.008]
+t: 75	 action: [-0.082 -0.502  0.862  0.022  0.042  0.002  0.999]
+t: 76	 action: [-0.102 -0.559  0.75   0.022  0.032 -0.002  0.997]
+t: 77	 action: [-0.173 -0.633  0.629  0.023  0.043  0.008  0.991]
+t: 78	 action: [-1.759e-01 -7.022e-01  4.121e-01  3.646e-02  3.515e-02 -7.811e-04  1.021e+00]
+t: 79	 action: [-0.231 -0.709  0.226  0.038  0.035  0.015  0.985]
+t: 80	 action: [-0.26  -0.73   0.157  0.022  0.029  0.002  1.01 ]
+t: 81	 action: [-0.283 -0.726  0.015  0.025  0.029  0.022  0.996]
+t: 82	 action: [-0.281 -0.719 -0.06   0.011  0.016  0.01   0.987]
+t: 83	 action: [-0.325 -0.69  -0.159 -0.005  0.014  0.029  0.989]
+t: 84	 action: [-0.302 -0.55  -0.263  0.006  0.004  0.014  0.978]
+t: 85	 action: [-0.292 -0.521 -0.369 -0.018  0.003  0.033  0.999]
+t: 86	 action: [-0.341 -0.353 -0.458 -0.018 -0.009  0.026  1.01 ]
+t: 87	 action: [-0.297 -0.339 -0.567 -0.023 -0.018  0.039  0.987]
+t: 88	 action: [-0.236 -0.169 -0.595 -0.044 -0.011  0.024  0.998]
+t: 89	 action: [-0.172 -0.122 -0.622 -0.03  -0.015  0.041  0.996]
+[07-31 02:00:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.180 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9179
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9179
+Query 1/1: Action query time = 1.180 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9179
+t=90: Selected seed 195 with value = 0.9179
+t: 90	 action: [-0.295 -0.387 -0.67   0.007 -0.043 -0.012  0.968]
+t: 91	 action: [-0.206 -0.297 -0.579 -0.006 -0.02  -0.011  1.026]
+t: 92	 action: [-0.169 -0.185 -0.572  0.005 -0.032 -0.012  0.998]
+t: 93	 action: [-0.055 -0.152 -0.439 -0.008 -0.012 -0.017  0.971]
+t: 94	 action: [-0.053 -0.044 -0.289 -0.002  0.026 -0.007  1.002]
+t: 95	 action: [-0.032 -0.032 -0.205 -0.008  0.03  -0.01   1.001]
+t: 96	 action: [ 0.018  0.01  -0.08  -0.002  0.051 -0.013  1.017]
+t: 97	 action: [ 0.042  0.003 -0.018 -0.007  0.068 -0.015 -0.793]
+t: 98	 action: [ 0.057 -0.066  0.095  0.008  0.081 -0.007 -0.982]
+t: 99	 action: [ 0.049 -0.042  0.127  0.008  0.087 -0.02  -1.009]
+t: 100	 action: [ 0.096 -0.017  0.161  0.006  0.089 -0.014 -1.003]
+t: 101	 action: [ 0.121 -0.023  0.188  0.006  0.095 -0.026 -1.006]
+t: 102	 action: [ 0.115  0.002  0.229  0.003  0.089 -0.016 -1.015]
+t: 103	 action: [ 0.15   0.008  0.307  0.008  0.098 -0.027 -1.017]
+t: 104	 action: [ 1.798e-01  3.009e-03  2.766e-01 -3.924e-04  8.409e-02 -2.336e-02 -1.009e+00]
+t: 105	 action: [ 0.178  0.021  0.335  0.006  0.098 -0.029 -1.017]
+[07-31 02:01:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.175 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.175 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.174  0.053  0.415  0.008  0.062 -0.049 -1.003]
+t: 107	 action: [ 0.152  0.051  0.411  0.005  0.069 -0.043 -1.014]
+t: 108	 action: [ 0.137  0.048  0.379  0.008  0.05  -0.048 -0.986]
+t: 109	 action: [ 0.125  0.054  0.369  0.008  0.06  -0.04  -1.007]
+t: 110	 action: [ 0.072  0.045  0.349  0.005  0.042 -0.042 -1.004]
+t: 111	 action: [ 0.073  0.059  0.306  0.009  0.037 -0.036 -1.014]
+t: 112	 action: [ 0.06   0.034  0.275  0.004  0.038 -0.034 -1.   ]
+t: 113	 action: [ 0.054  0.054  0.238  0.009  0.028 -0.033 -1.011]
+t: 114	 action: [ 0.061  0.014  0.126  0.009  0.016 -0.023 -0.996]
+t: 115	 action: [ 0.037  0.014  0.105  0.006  0.012 -0.031 -1.016]
+t: 116	 action: [ 0.04   0.018  0.082  0.007  0.007 -0.015 -0.984]
+t: 117	 action: [ 0.042  0.016  0.063  0.005  0.009 -0.027 -1.011]
+t: 118	 action: [ 1.801e-02 -7.782e-04  7.603e-02  6.200e-03  1.148e-02 -1.565e-02 -1.008e+00]
+t: 119	 action: [ 0.007  0.018  0.05   0.007  0.005 -0.025 -1.018]
+t: 120	 action: [ 0.013  0.003  0.062  0.004  0.007 -0.012 -1.001]
+t: 121	 action: [ 0.015  0.017  0.044  0.006  0.005 -0.02  -1.021]
+[07-31 02:01:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.162 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9974
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 1.162 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=122: Selected seed 195 with value = 0.9974
+t: 122	 action: [ 0.062  0.033  0.214  0.012  0.003 -0.012 -1.007]
+t: 123	 action: [ 5.868e-02  3.898e-02  1.582e-01  6.478e-03 -6.875e-05 -1.623e-02 -1.012e+00]
+t: 124	 action: [ 0.053  0.047  0.148  0.009  0.006 -0.016 -1.005]
+t: 125	 action: [ 0.063  0.054  0.135  0.006  0.002 -0.02  -0.999]
+t: 126	 action: [ 0.047  0.048  0.132  0.006  0.001 -0.014 -1.014]
+t: 127	 action: [ 0.045  0.059  0.128  0.007 -0.003 -0.017 -1.024]
+t: 128	 action: [ 0.053  0.061  0.124  0.004  0.008 -0.018 -1.016]
+t: 129	 action: [ 0.053  0.07   0.124  0.005  0.001 -0.022 -1.01 ]
+t: 130	 action: [ 7.008e-02  5.722e-02  1.328e-01  1.295e-02  9.069e-04 -8.841e-03 -1.009e+00]
+t: 131	 action: [ 5.743e-02  5.743e-02  1.172e-01  6.740e-03  9.309e-04 -1.865e-02 -1.014e+00]
+t: 132	 action: [ 0.061  0.055  0.117  0.009  0.003 -0.014 -1.005]
+t: 133	 action: [ 0.061  0.062  0.106  0.006  0.002 -0.021 -1.007]
+t: 134	 action: [ 0.059  0.06   0.114  0.006  0.006 -0.013 -1.018]
+t: 135	 action: [ 0.039  0.072  0.112  0.007 -0.001 -0.022 -1.023]
+t: 136	 action: [ 0.058  0.064  0.112  0.003  0.01  -0.019 -1.015]
+t: 137	 action: [ 0.046  0.074  0.108  0.005  0.002 -0.023 -1.021]
+[07-31 02:01:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.100 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9927
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 1.100 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=138: Selected seed 195 with value = 0.9927
+t: 138	 action: [ 0.029  0.056  0.119  0.002 -0.012  0.004 -1.006]
+t: 139	 action: [ 0.026  0.053  0.093 -0.004 -0.013 -0.006 -1.007]
+t: 140	 action: [ 0.025  0.06   0.106 -0.002 -0.01   0.002 -1.005]
+t: 141	 action: [ 0.018  0.056  0.1   -0.006 -0.008 -0.01  -0.999]
+t: 142	 action: [ 0.031  0.07   0.098 -0.005 -0.012 -0.002 -1.012]
+t: 143	 action: [ 0.02   0.067  0.122 -0.003 -0.017 -0.007 -1.02 ]
+t: 144	 action: [ 0.031  0.064  0.111 -0.006 -0.005 -0.005 -1.013]
+t: 145	 action: [ 0.015  0.067  0.135 -0.006 -0.009 -0.012 -1.008]
+t: 146	 action: [ 0.042  0.044  0.107  0.004 -0.018  0.006 -1.009]
+t: 147	 action: [ 0.022  0.055  0.099 -0.005 -0.01  -0.008 -1.009]
+t: 148	 action: [ 0.028  0.048  0.103 -0.001 -0.016  0.003 -1.011]
+t: 149	 action: [ 0.02   0.06   0.1   -0.007 -0.008 -0.01  -1.003]
+t: 150	 action: [ 0.035  0.058  0.1   -0.003 -0.013 -0.001 -1.018]
+t: 151	 action: [ 0.007  0.072  0.125 -0.004 -0.013 -0.012 -1.018]
+t: 152	 action: [ 0.031  0.06   0.109 -0.006 -0.008 -0.006 -1.016]
+t: 153	 action: [ 0.005  0.072  0.135 -0.007 -0.01  -0.012 -1.014]
+[07-31 02:01:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.056 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9725
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 1.056 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=154: Selected seed 195 with value = 0.9725
+t: 154	 action: [-1.659e-02  2.642e-02 -2.625e-01  2.538e-03  1.139e-02 -2.426e-04 -9.887e-01]
+t: 155	 action: [ 0.005  0.013 -0.321 -0.004  0.003 -0.003 -0.99 ]
+t: 156	 action: [-0.029  0.036 -0.275 -0.003  0.006  0.004 -0.997]
+t: 157	 action: [-5.664e-03  2.076e-02 -3.309e-01 -7.263e-03  9.231e-05 -2.785e-03 -9.977e-01]
+t: 158	 action: [-1.874e-02  5.397e-02 -2.642e-01 -4.856e-03 -3.521e-04  1.633e-03 -1.013e+00]
+t: 159	 action: [-0.021  0.071 -0.298 -0.003 -0.009  0.003 -1.011]
+t: 160	 action: [-2.108e-02  5.967e-02 -2.528e-01 -7.893e-03 -1.711e-04  3.067e-03 -1.016e+00]
+t: 161	 action: [-2.234e-02  6.701e-02 -2.591e-01 -6.654e-03 -6.432e-03 -4.436e-04 -1.009e+00]
+t: 162	 action: [-0.033  0.034 -0.195  0.004 -0.006  0.011 -1.001]
+t: 163	 action: [-1.274e-02  1.304e-02 -2.268e-01 -2.734e-03 -3.145e-03  3.497e-04 -9.981e-01]
+t: 164	 action: [-0.038  0.037 -0.203 -0.003 -0.009  0.011 -1.011]
+t: 165	 action: [-0.001  0.018 -0.222 -0.006 -0.002  0.002 -1.   ]
+t: 166	 action: [-0.037  0.048 -0.162 -0.002 -0.009  0.005 -1.029]
+t: 167	 action: [-3.535e-02  4.629e-02 -1.366e-01 -1.572e-03 -1.065e-02  1.812e-04 -1.014e+00]
+t: 168	 action: [-0.031  0.054 -0.164 -0.008 -0.007  0.003 -1.028]
+t: 169	 action: [-0.029  0.049 -0.123 -0.005 -0.009  0.002 -1.012]
+[07-31 02:01:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.009 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9782
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 1.009 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=170: Selected seed 195 with value = 0.9782
+t: 170	 action: [-3.352e-02  1.813e-03 -2.056e-01  9.141e-04 -6.231e-03  6.492e-03 -1.006e+00]
+t: 171	 action: [-0.017 -0.039 -0.242 -0.008 -0.005 -0.014 -1.016]
+t: 172	 action: [-2.328e-02 -3.385e-04 -1.317e-01  2.196e-03 -9.599e-03  1.866e-03 -1.004e+00]
+t: 173	 action: [-0.009 -0.036 -0.18  -0.006 -0.004 -0.018 -1.01 ]
+t: 174	 action: [-2.870e-03  3.914e-03 -1.050e-01  2.157e-04 -8.204e-03  1.395e-03 -1.009e+00]
+t: 175	 action: [-0.002 -0.005 -0.096 -0.005 -0.005 -0.014 -1.013]
+t: 176	 action: [ 7.351e-03  1.072e-02 -4.175e-02  6.945e-05 -1.167e-03 -4.125e-03 -1.017e+00]
+t: 177	 action: [-8.549e-03 -4.001e-03 -3.805e-02 -4.363e-03  4.421e-04 -2.089e-02 -1.017e+00]
+t: 178	 action: [-4.314e-02 -5.107e-02 -2.506e-01 -7.112e-03  2.375e-03  7.222e-04 -9.561e-01]
+t: 179	 action: [-4.827e-02 -5.448e-02 -2.447e-01 -9.830e-03  5.035e-04 -1.088e-02 -9.777e-01]
+t: 180	 action: [-0.014 -0.036 -0.168 -0.01   0.002 -0.002  0.971]
+t: 181	 action: [ 0.03  -0.042 -0.173 -0.012  0.001 -0.002  1.023]
+t: 182	 action: [-2.916e-02 -2.068e-02 -1.408e-01 -9.277e-03 -9.121e-04 -4.090e-03  9.788e-01]
+t: 183	 action: [ 0.015 -0.012 -0.121 -0.007 -0.004 -0.005  0.967]
+t: 184	 action: [-0.005 -0.015 -0.067 -0.009  0.003 -0.011  0.947]
+t: 185	 action: [ 5.196e-02 -1.123e-02 -2.498e-02 -9.614e-03 -4.091e-04 -4.421e-03  8.971e-01]
+[07-31 02:01:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9129
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9129
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9129
+t=186: Selected seed 195 with value = 0.9129
+t: 186	 action: [-0.228 -0.276 -0.41  -0.025  0.018  0.012  0.984]
+t: 187	 action: [-0.253 -0.253 -0.378 -0.034  0.014  0.025  1.009]
+t: 188	 action: [-0.214 -0.184 -0.402 -0.042  0.009  0.018  1.002]
+t: 189	 action: [-0.217 -0.131 -0.335 -0.054  0.01   0.021  0.955]
+t: 190	 action: [-0.173 -0.137 -0.293 -0.067  0.021  0.025  0.998]
+t: 191	 action: [-0.162 -0.123 -0.21  -0.069  0.016  0.036  1.003]
+t: 192	 action: [-0.083 -0.048 -0.147 -0.058  0.016  0.029  0.998]
+t: 193	 action: [-0.045 -0.053 -0.085 -0.052  0.02   0.026 -0.976]
+t: 194	 action: [-0.073 -0.02  -0.006 -0.066  0.036  0.023 -1.002]
+t: 195	 action: [-0.091 -0.021  0.072 -0.051  0.018  0.016 -1.001]
+t: 196	 action: [-0.051 -0.015  0.12  -0.034  0.021  0.01  -1.001]
+t: 197	 action: [-0.051 -0.015  0.184 -0.026  0.015  0.008 -0.996]
+t: 198	 action: [-0.049  0.002  0.196 -0.016  0.003  0.009 -1.029]
+t: 199	 action: [-0.055 -0.011  0.32  -0.01   0.004  0.007 -1.003]
+t: 200	 action: [-3.774e-02  9.112e-03  3.166e-01  1.637e-03  3.359e-03 -9.542e-05 -1.020e+00]
+t: 201	 action: [-0.012 -0.002  0.369  0.002  0.014  0.005 -0.997]
+[07-31 02:01:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9945
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=202: Selected seed 195 with value = 0.9945
+t: 202	 action: [ 0.045 -0.069  0.37   0.016  0.046 -0.017 -1.01 ]
+t: 203	 action: [ 0.04  -0.044  0.308  0.017  0.03  -0.024 -1.01 ]
+t: 204	 action: [ 0.045 -0.018  0.291  0.014  0.03  -0.023 -1.007]
+t: 205	 action: [ 0.045 -0.009  0.254  0.018  0.018 -0.023 -0.995]
+t: 206	 action: [ 0.029  0.011  0.22   0.011  0.015 -0.027 -1.015]
+t: 207	 action: [ 0.009  0.018  0.195  0.017  0.009 -0.026 -1.024]
+t: 208	 action: [ 0.039  0.021  0.206  0.009  0.016 -0.026 -1.016]
+t: 209	 action: [ 0.021  0.04   0.177  0.016  0.006 -0.028 -1.009]
+t: 210	 action: [ 5.711e-02  1.988e-02  1.516e-01  1.209e-02 -9.533e-04 -3.207e-02 -1.018e+00]
+t: 211	 action: [ 0.033  0.015  0.139  0.012  0.004 -0.03  -1.02 ]
+t: 212	 action: [ 0.033  0.019  0.128  0.01  -0.006 -0.032 -1.014]
+t: 213	 action: [ 0.029  0.016  0.121  0.011  0.004 -0.03  -1.01 ]
+t: 214	 action: [ 2.814e-02  1.952e-02  1.408e-01  6.475e-03 -3.790e-04 -2.932e-02 -1.026e+00]
+t: 215	 action: [ 0.002  0.049  0.115  0.011 -0.002 -0.034 -1.026]
+t: 216	 action: [ 2.353e-02  2.321e-02  1.362e-01  5.045e-03 -3.809e-04 -3.026e-02 -1.022e+00]
+t: 217	 action: [ 1.041e-02  4.869e-02  1.266e-01  9.255e-03 -2.645e-04 -3.131e-02 -1.022e+00]
+[07-31 02:01:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9965
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=218: Selected seed 195 with value = 0.9965
+t: 218	 action: [ 0.056  0.012  0.018  0.004  0.009 -0.002 -1.006]
+t: 219	 action: [ 0.037  0.008  0.02  -0.002  0.004 -0.015 -1.01 ]
+t: 220	 action: [ 0.036  0.016  0.024  0.005  0.01  -0.008 -1.004]
+t: 221	 action: [ 0.018  0.019  0.032 -0.002  0.006 -0.018 -1.002]
+t: 222	 action: [ 0.045  0.01   0.03   0.001  0.008 -0.01  -1.007]
+t: 223	 action: [ 2.545e-02  2.508e-02  3.447e-02 -9.294e-04  9.088e-04 -1.933e-02 -1.020e+00]
+t: 224	 action: [ 0.034  0.018  0.051  0.002  0.012 -0.015 -1.011]
+t: 225	 action: [ 0.011  0.035  0.064 -0.002  0.005 -0.024 -1.014]
+t: 226	 action: [ 0.05   0.012  0.018  0.004  0.008 -0.006 -1.013]
+t: 227	 action: [ 0.028  0.015  0.015 -0.002  0.005 -0.016 -1.014]
+t: 228	 action: [ 0.03   0.017  0.025  0.002  0.007 -0.012 -1.012]
+t: 229	 action: [ 0.017  0.02   0.025 -0.003  0.005 -0.018 -1.01 ]
+t: 230	 action: [ 4.126e-02  1.795e-02  2.803e-02  9.190e-04  8.806e-03 -1.228e-02 -1.018e+00]
+t: 231	 action: [ 1.271e-02  3.087e-02  2.372e-02 -6.050e-04  2.990e-04 -2.269e-02 -1.022e+00]
+t: 232	 action: [ 3.143e-02  2.434e-02  4.802e-02  1.796e-04  1.055e-02 -1.816e-02 -1.017e+00]
+t: 233	 action: [ 0.005  0.036  0.049 -0.002  0.002 -0.023 -1.022]
+[07-31 02:01:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9935
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=234: Selected seed 195 with value = 0.9935
+t: 234	 action: [ 0.048  0.018  0.028  0.001 -0.005  0.005 -1.009]
+t: 235	 action: [ 0.028  0.023  0.028 -0.007 -0.004 -0.01  -1.01 ]
+t: 236	 action: [ 3.188e-02  2.475e-02  2.912e-02 -1.685e-03 -4.383e-03  4.336e-05 -1.008e+00]
+t: 237	 action: [ 0.014  0.035  0.037 -0.009 -0.002 -0.013 -1.001]
+t: 238	 action: [ 0.046  0.027  0.04  -0.002 -0.005 -0.002 -1.012]
+t: 239	 action: [ 0.027  0.039  0.058 -0.005 -0.006 -0.013 -1.019]
+t: 240	 action: [ 0.039  0.036  0.057 -0.003 -0.002 -0.007 -1.014]
+t: 241	 action: [ 0.015  0.051  0.077 -0.006 -0.004 -0.017 -1.013]
+t: 242	 action: [ 0.041  0.024  0.022 -0.002 -0.007  0.001 -1.018]
+t: 243	 action: [ 0.021  0.03   0.018 -0.007 -0.002 -0.011 -1.013]
+t: 244	 action: [ 0.028  0.028  0.029 -0.007 -0.008 -0.005 -1.016]
+t: 245	 action: [ 0.014  0.036  0.025 -0.009 -0.002 -0.012 -1.009]
+t: 246	 action: [ 0.042  0.032  0.032 -0.005 -0.006 -0.006 -1.024]
+t: 247	 action: [ 0.011  0.045  0.031 -0.005 -0.007 -0.016 -1.019]
+t: 248	 action: [ 0.036  0.037  0.05  -0.006 -0.005 -0.012 -1.021]
+t: 249	 action: [ 0.004  0.051  0.05  -0.006 -0.006 -0.015 -1.017]
+[07-31 02:01:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.953 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9915
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.953 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=250: Selected seed 195 with value = 0.9915
+t: 250	 action: [ 2.505e-02  1.295e-02 -3.002e-02  2.133e-04 -5.377e-03  7.620e-03 -1.006e+00]
+t: 251	 action: [ 0.014  0.003 -0.037 -0.008 -0.006 -0.006 -1.012]
+t: 252	 action: [ 0.025  0.019 -0.031 -0.003 -0.008  0.005 -1.008]
+t: 253	 action: [ 0.01   0.018 -0.015 -0.01  -0.005 -0.007 -1.   ]
+t: 254	 action: [ 0.037  0.019 -0.007 -0.004 -0.013  0.001 -1.012]
+t: 255	 action: [ 0.029  0.03   0.001 -0.004 -0.012 -0.007 -1.019]
+t: 256	 action: [ 4.052e-02  3.038e-02  2.770e-03 -4.381e-03 -1.081e-02 -6.979e-04 -1.014e+00]
+t: 257	 action: [ 0.023  0.042  0.014 -0.007 -0.008 -0.009 -1.009]
+t: 258	 action: [ 0.034  0.021 -0.036 -0.002 -0.012  0.006 -1.017]
+t: 259	 action: [ 0.018  0.016 -0.038 -0.008 -0.006 -0.009 -1.011]
+t: 260	 action: [ 0.027  0.024 -0.028 -0.007 -0.014  0.002 -1.02 ]
+t: 261	 action: [ 0.018  0.02  -0.02  -0.01  -0.008 -0.009 -1.009]
+t: 262	 action: [ 0.037  0.026 -0.02  -0.005 -0.016 -0.001 -1.027]
+t: 263	 action: [ 0.011  0.035 -0.011 -0.005 -0.013 -0.012 -1.018]
+t: 264	 action: [ 0.039  0.029 -0.002 -0.008 -0.015 -0.006 -1.025]
+t: 265	 action: [ 0.006  0.041 -0.004 -0.007 -0.013 -0.01  -1.012]
+[07-31 02:01:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9907
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=266: Selected seed 195 with value = 0.9907
+t: 266	 action: [ 6.737e-03  1.566e-02 -1.114e-01 -3.978e-04 -4.916e-03  5.600e-03 -1.003e+00]
+t: 267	 action: [ 0.002  0.01  -0.156 -0.01  -0.007 -0.01  -1.015]
+t: 268	 action: [ 0.013  0.024 -0.099 -0.004 -0.008  0.005 -1.004]
+t: 269	 action: [ 0.004  0.029 -0.134 -0.013 -0.006 -0.009 -1.001]
+t: 270	 action: [ 2.218e-02  2.052e-02 -6.813e-02 -5.440e-03 -1.532e-02  4.855e-04 -1.011e+00]
+t: 271	 action: [ 0.021  0.049 -0.061 -0.007 -0.015 -0.01  -1.019]
+t: 272	 action: [ 0.033  0.036 -0.05  -0.006 -0.013 -0.001 -1.014]
+t: 273	 action: [ 0.023  0.059 -0.031 -0.01  -0.01  -0.011 -1.011]
+t: 274	 action: [ 0.02   0.019 -0.108 -0.005 -0.015  0.004 -1.014]
+t: 275	 action: [ 0.013  0.01  -0.125 -0.012 -0.009 -0.012 -1.009]
+t: 276	 action: [ 0.02   0.024 -0.099 -0.013 -0.015  0.001 -1.022]
+t: 277	 action: [ 0.018  0.019 -0.106 -0.015 -0.012 -0.01  -1.008]
+t: 278	 action: [ 0.026  0.022 -0.077 -0.009 -0.021 -0.002 -1.028]
+t: 279	 action: [ 0.003  0.037 -0.049 -0.008 -0.02  -0.014 -1.009]
+t: 280	 action: [ 0.031  0.027 -0.052 -0.014 -0.019 -0.006 -1.029]
+t: 281	 action: [ 0.004  0.046 -0.025 -0.01  -0.018 -0.01  -0.985]
+[07-31 02:01:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9794
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=282: Selected seed 195 with value = 0.9794
+t: 282	 action: [-0.09   0.005 -0.328 -0.012 -0.013 -0.017 -0.991]
+t: 283	 action: [-0.067 -0.018 -0.364 -0.024 -0.012 -0.029 -1.019]
+t: 284	 action: [-0.059  0.021 -0.293 -0.012 -0.013 -0.012 -0.989]
+t: 285	 action: [-0.047  0.004 -0.305 -0.024 -0.007 -0.022 -1.006]
+t: 286	 action: [-0.055  0.013 -0.226 -0.017 -0.016 -0.015 -1.   ]
+t: 287	 action: [-0.013  0.046 -0.188 -0.02  -0.015 -0.029 -1.015]
+t: 288	 action: [-0.009  0.029 -0.215 -0.018 -0.009 -0.012 -1.007]
+t: 289	 action: [ 0.004  0.065 -0.174 -0.022 -0.005 -0.024 -1.015]
+t: 290	 action: [-0.025  0.017 -0.343 -0.029 -0.015 -0.012 -0.969]
+t: 291	 action: [-0.021 -0.019 -0.278 -0.033 -0.009 -0.024 -0.978]
+t: 292	 action: [ 0.031  0.025 -0.245 -0.041 -0.013 -0.004  0.97 ]
+t: 293	 action: [ 0.086  0.011 -0.106 -0.038 -0.005 -0.009  1.041]
+t: 294	 action: [ 0.001  0.014 -0.159 -0.03  -0.015 -0.011  0.97 ]
+t: 295	 action: [ 0.044  0.031 -0.075 -0.03  -0.019 -0.015  0.992]
+t: 296	 action: [ 0.04   0.019 -0.019 -0.038 -0.011 -0.008  0.945]
+t: 297	 action: [ 0.08   0.035  0.029 -0.037 -0.011 -0.01   0.912]
+[07-31 02:01:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9731
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9731
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 2
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 1 (50.0%)
+
+
  4%|▍         | 2/50 [00:43<18:59, 23.74s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 3...
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=298: Selected seed 195 with value = 0.9731
+t: 298	 action: [-0.056  0.023 -0.017 -0.038  0.034 -0.008  0.944]
+t: 299	 action: [-0.03   0.008  0.107 -0.034  0.035 -0.024  0.903]
+t: 300	 action: [ 0.003  0.003  0.234 -0.006  0.022 -0.028 -1.007]
+t: 301	 action: [-0.016 -0.019  0.34  -0.01   0.027 -0.029 -0.987]
+t: 302	 action: [ 0.062 -0.022  0.336 -0.011  0.03  -0.024 -0.985]
+t: 303	 action: [ 0.008 -0.035  0.392 -0.008  0.031 -0.016 -1.026]
+t: 304	 action: [ 0.078 -0.033  0.43   0.003  0.036 -0.029 -1.014]
+t: 305	 action: [ 0.019 -0.043  0.414  0.013  0.037 -0.033 -0.997]
+t: 306	 action: [ 0.025 -0.051  0.342  0.01   0.037 -0.028 -1.014]
+t: 307	 action: [-7.393e-04 -7.081e-02  2.962e-01  8.341e-03  2.508e-02 -3.310e-02 -1.020e+00]
+t: 308	 action: [ 0.04  -0.074  0.221  0.008  0.033 -0.022 -1.016]
+t: 309	 action: [ 0.035 -0.075  0.222  0.006  0.029 -0.029 -1.001]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+[07-31 02:01:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4428
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4428
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4428
+t=10: Selected seed 195 with value = 0.4428
+t: 10	 action: [ 0.063 -0.033 -0.038  0.015 -0.009  0.004 -0.993]
+t: 11	 action: [ 1.535e-01  4.475e-02  5.139e-03  1.940e-02  5.181e-04  7.589e-03 -9.937e-01]
+t: 12	 action: [ 0.23   0.142 -0.045  0.01  -0.008  0.008 -0.993]
+t: 13	 action: [ 3.928e-01  2.501e-01 -1.749e-05  1.593e-02 -1.199e-03  8.034e-03 -9.919e-01]
+t: 14	 action: [ 0.472  0.334 -0.03   0.004 -0.004  0.009 -1.003]
+t: 15	 action: [ 0.639  0.475 -0.005  0.016 -0.001  0.013 -1.006]
+t: 16	 action: [ 7.000e-01  5.472e-01 -3.413e-02  1.390e-03 -8.097e-04  1.174e-02 -9.926e-01]
+t: 17	 action: [ 0.786  0.583 -0.026  0.015 -0.002  0.012 -1.008]
+t: 18	 action: [ 7.602e-01  5.841e-01 -7.475e-02  7.676e-03  9.180e-04  1.858e-02 -9.939e-01]
+t: 19	 action: [ 0.803  0.607 -0.071  0.008  0.004  0.016 -1.001]
+t: 20	 action: [ 8.022e-01  6.004e-01 -1.170e-01  6.555e-03 -4.535e-04  1.715e-02 -9.944e-01]
+t: 21	 action: [ 0.824  0.603 -0.133  0.003  0.004  0.014 -0.995]
+t: 22	 action: [ 0.843  0.618 -0.162  0.001 -0.002  0.019 -0.99 ]
+t: 23	 action: [ 0.858  0.639 -0.215  0.009 -0.005  0.018 -1.009]
+t: 24	 action: [ 8.683e-01  6.086e-01 -2.911e-01  1.905e-04 -3.300e-03  1.444e-02 -9.891e-01]
+t: 25	 action: [ 0.874  0.566 -0.345  0.006 -0.005  0.016 -1.014]
+[07-31 02:01:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4871
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4871
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4871
+t=26: Selected seed 195 with value = 0.4871
+t: 26	 action: [ 0.815  0.528 -0.321  0.006 -0.004  0.014 -0.99 ]
+t: 27	 action: [ 0.774  0.494 -0.373  0.007  0.002  0.016 -0.998]
+t: 28	 action: [ 0.725  0.455 -0.452  0.005 -0.004  0.014 -0.992]
+t: 29	 action: [ 0.647  0.381 -0.487  0.012  0.003  0.014 -1.   ]
+t: 30	 action: [ 0.563  0.353 -0.523  0.003 -0.003  0.007 -1.   ]
+t: 31	 action: [ 4.314e-01  2.620e-01 -5.877e-01  1.340e-02  8.396e-04  1.073e-02 -1.002e+00]
+t: 32	 action: [ 0.371  0.235 -0.655  0.007 -0.006  0.006 -0.999]
+t: 33	 action: [ 0.293  0.142 -0.703  0.017 -0.002  0.008 -1.004]
+t: 34	 action: [ 0.189  0.078 -0.763  0.014 -0.008  0.011 -1.003]
+t: 35	 action: [ 0.156  0.047 -0.797  0.016  0.004  0.007 -1.   ]
+t: 36	 action: [ 0.121  0.046 -0.86   0.013 -0.01   0.01  -1.006]
+t: 37	 action: [ 8.275e-02 -5.408e-03 -8.788e-01  1.362e-02  1.927e-04  4.014e-03 -1.000e+00]
+t: 38	 action: [ 0.099  0.034 -0.897  0.008 -0.014 -0.001 -1.009]
+t: 39	 action: [ 0.04   0.012 -0.903  0.012 -0.013 -0.005 -1.003]
+t: 40	 action: [ 0.03   0.02  -0.903  0.001 -0.014 -0.005 -1.01 ]
+t: 41	 action: [-0.013 -0.021 -0.906  0.009 -0.015 -0.008 -1.006]
+[07-31 02:01:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5526
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5526
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5526
+t=42: Selected seed 195 with value = 0.5526
+t: 42	 action: [-0.315  0.034 -0.905  0.006 -0.062  0.011 -1.   ]
+t: 43	 action: [-3.029e-01  5.527e-02 -8.859e-01 -3.997e-04 -7.017e-02  1.270e-02 -1.007e+00]
+t: 44	 action: [-0.345  0.049 -0.87   0.008 -0.05   0.013 -0.993]
+t: 45	 action: [-0.323  0.055 -0.823  0.004 -0.055  0.014 -1.009]
+t: 46	 action: [-0.325  0.035 -0.81   0.006 -0.028  0.012 -1.008]
+t: 47	 action: [-3.020e-01  8.457e-02 -7.464e-01  1.690e-04 -2.014e-02  1.444e-02 -1.016e+00]
+t: 48	 action: [-0.212  0.021 -0.725  0.005 -0.017  0.011 -1.007]
+t: 49	 action: [-0.215  0.049 -0.673  0.002 -0.005  0.008 -1.023]
+t: 50	 action: [-0.249  0.035 -0.678  0.01  -0.007  0.009 -0.986]
+t: 51	 action: [-0.262 -0.015 -0.643 -0.002 -0.004  0.006 -1.027]
+t: 52	 action: [-0.273 -0.003 -0.642  0.008 -0.001  0.009 -0.992]
+t: 53	 action: [-2.411e-01 -7.012e-02 -6.060e-01 -4.999e-03 -9.205e-04  2.312e-03 -1.028e+00]
+t: 54	 action: [-2.538e-01 -2.923e-02 -5.775e-01  6.584e-03  6.617e-03  1.918e-04 -9.974e-01]
+t: 55	 action: [-0.302 -0.08  -0.504 -0.004  0.009 -0.012  1.002]
+t: 56	 action: [-0.159 -0.061 -0.494  0.005  0.014 -0.002  0.991]
+t: 57	 action: [-0.11  -0.093 -0.392 -0.009  0.028 -0.014  1.007]
+[07-31 02:01:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6913
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6913
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6913
+t=58: Selected seed 195 with value = 0.6913
+t: 58	 action: [-2.828e-01 -2.819e-02 -3.864e-01 -2.365e-03 -3.404e-04  3.351e-02  9.666e-01]
+t: 59	 action: [-0.238 -0.043 -0.319 -0.001  0.006  0.025  0.985]
+t: 60	 action: [-0.143 -0.09  -0.197 -0.009  0.008  0.018  0.973]
+t: 61	 action: [-0.111 -0.09  -0.095 -0.01   0.013  0.014  0.987]
+t: 62	 action: [-0.057 -0.204  0.048 -0.018  0.019  0.016  0.979]
+t: 63	 action: [-0.029 -0.179  0.189 -0.012  0.023  0.012  0.991]
+t: 64	 action: [ 0.005 -0.146  0.342 -0.012  0.021 -0.002  0.981]
+t: 65	 action: [-0.006 -0.11   0.618 -0.01   0.025 -0.006  0.995]
+t: 66	 action: [ 0.064 -0.024  0.718 -0.002  0.004 -0.011  0.982]
+t: 67	 action: [ 0.071 -0.074  0.857  0.001  0.003 -0.021  0.978]
+t: 68	 action: [ 7.808e-02 -1.168e-01  8.726e-01  5.194e-04 -2.681e-03 -9.395e-03  9.718e-01]
+t: 69	 action: [ 0.047 -0.196  0.934  0.005 -0.001 -0.017  0.978]
+t: 70	 action: [-1.733e-02 -3.181e-01  9.033e-01  8.672e-03 -6.807e-04 -3.879e-03  9.919e-01]
+t: 71	 action: [-3.095e-02 -3.555e-01  9.225e-01  2.648e-02  2.684e-04  1.399e-03  9.807e-01]
+t: 72	 action: [-6.173e-02 -5.517e-01  8.878e-01  2.055e-02  6.168e-04 -2.310e-03  9.960e-01]
+t: 73	 action: [-0.073 -0.561  0.848  0.033 -0.001  0.009  0.986]
+[07-31 02:01:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.954 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8291
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8291
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8291
+t=74: Selected seed 195 with value = 0.8291
+t: 74	 action: [-1.661e-01 -7.184e-01  3.160e-01  2.527e-02  3.257e-02  6.697e-04  9.705e-01]
+t: 75	 action: [-0.231 -0.743  0.149  0.034  0.027  0.004  0.988]
+t: 76	 action: [-2.682e-01 -7.586e-01  3.041e-02  3.174e-02  1.856e-02 -6.855e-04  9.735e-01]
+t: 77	 action: [-0.286 -0.747 -0.054  0.035  0.008  0.009  0.984]
+t: 78	 action: [-0.326 -0.716 -0.202  0.03   0.01   0.003  0.986]
+t: 79	 action: [-0.36  -0.67  -0.331  0.024 -0.002  0.011  0.991]
+t: 80	 action: [-0.371 -0.597 -0.422  0.009 -0.005  0.007  0.993]
+t: 81	 action: [-0.36  -0.509 -0.554  0.006 -0.011  0.018  0.998]
+t: 82	 action: [-0.367 -0.263 -0.667 -0.004 -0.032  0.018  0.981]
+t: 83	 action: [-0.412 -0.206 -0.761 -0.014 -0.017  0.027  0.993]
+t: 84	 action: [-0.341 -0.143 -0.736 -0.024 -0.031  0.02   0.981]
+t: 85	 action: [-0.305 -0.119 -0.747 -0.028 -0.011  0.029  0.996]
+t: 86	 action: [-0.273 -0.022 -0.702 -0.042 -0.041  0.014  0.997]
+t: 87	 action: [-0.253 -0.019 -0.625 -0.036 -0.051  0.026  0.99 ]
+t: 88	 action: [-0.146  0.003 -0.499 -0.062 -0.025  0.01   0.996]
+t: 89	 action: [-0.084  0.01  -0.335 -0.043 -0.025  0.025  0.994]
+[07-31 02:01:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9890
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=90: Selected seed 195 with value = 0.9890
+t: 90	 action: [ 3.908e-02 -5.108e-04  1.683e-01 -5.776e-04  7.778e-02 -2.905e-03 -9.617e-01]
+t: 91	 action: [ 0.058 -0.007  0.205 -0.006  0.073 -0.024 -0.991]
+t: 92	 action: [ 9.737e-02  2.480e-03  3.243e-01  2.017e-04  6.648e-02 -1.750e-02 -9.849e-01]
+t: 93	 action: [ 0.146  0.016  0.375 -0.002  0.074 -0.026 -1.002]
+t: 94	 action: [ 0.154  0.014  0.414  0.001  0.062 -0.031 -1.004]
+t: 95	 action: [ 0.152  0.04   0.43  -0.002  0.055 -0.031 -1.017]
+t: 96	 action: [ 0.187  0.015  0.471  0.002  0.07  -0.034 -1.001]
+t: 97	 action: [ 0.193  0.055  0.44   0.004  0.06  -0.032 -1.012]
+t: 98	 action: [ 0.189  0.017  0.474  0.012  0.085 -0.026 -1.009]
+t: 99	 action: [ 0.172  0.027  0.442  0.014  0.089 -0.031 -1.007]
+t: 100	 action: [ 0.165  0.026  0.391  0.015  0.084 -0.02  -1.006]
+t: 101	 action: [ 0.175  0.036  0.367  0.016  0.09  -0.028 -1.007]
+t: 102	 action: [ 0.169  0.018  0.381  0.011  0.085 -0.026 -1.021]
+t: 103	 action: [ 0.139  0.044  0.331  0.017  0.084 -0.026 -1.014]
+t: 104	 action: [ 0.164  0.04   0.308  0.008  0.084 -0.021 -1.016]
+t: 105	 action: [ 0.14   0.054  0.272  0.016  0.083 -0.021 -1.014]
+[07-31 02:01:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9928
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=106: Selected seed 195 with value = 0.9928
+t: 106	 action: [ 0.124  0.012  0.172  0.015  0.064  0.002 -0.995]
+t: 107	 action: [ 0.103 -0.013  0.165  0.008  0.058  0.002 -1.007]
+t: 108	 action: [ 0.131  0.012  0.134  0.01   0.068  0.003 -0.998]
+t: 109	 action: [ 1.084e-01 -1.610e-02  1.551e-01  5.987e-03  6.508e-02 -8.109e-04 -9.961e-01]
+t: 110	 action: [ 1.188e-01  1.167e-02  1.468e-01  9.339e-03  7.054e-02 -8.989e-06 -9.967e-01]
+t: 111	 action: [ 0.098 -0.001  0.167  0.012  0.068  0.008 -1.018]
+t: 112	 action: [ 0.133  0.011  0.146  0.007  0.082 -0.001 -0.998]
+t: 113	 action: [ 0.096 -0.005  0.17   0.01   0.076  0.004 -1.004]
+t: 114	 action: [ 0.118 -0.001  0.171  0.019  0.068  0.007 -1.001]
+t: 115	 action: [ 1.093e-01 -8.030e-03  1.421e-01  9.562e-03  5.926e-02  5.588e-04 -1.016e+00]
+t: 116	 action: [ 0.119  0.004  0.138  0.011  0.074  0.005 -1.002]
+t: 117	 action: [ 1.169e-01 -1.313e-02  1.243e-01  6.502e-03  6.503e-02 -2.059e-05 -1.014e+00]
+t: 118	 action: [ 0.105  0.008  0.156  0.012  0.081  0.002 -1.007]
+t: 119	 action: [ 0.084  0.013  0.132  0.014  0.063  0.004 -1.018]
+t: 120	 action: [ 0.116  0.009  0.145  0.006  0.089 -0.001 -1.002]
+t: 121	 action: [ 0.086  0.005  0.135  0.011  0.071  0.006 -1.002]
+[07-31 02:01:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9849
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=122: Selected seed 195 with value = 0.9849
+t: 122	 action: [-4.638e-02  2.121e-02 -1.730e-01  6.495e-03 -1.036e-02  1.606e-04 -9.990e-01]
+t: 123	 action: [-0.03  -0.016 -0.254  0.005 -0.008 -0.013 -1.005]
+t: 124	 action: [-0.06   0.022 -0.16   0.005 -0.012 -0.001 -0.995]
+t: 125	 action: [-0.032 -0.012 -0.24   0.003 -0.005 -0.016 -1.004]
+t: 126	 action: [-0.035  0.02  -0.141  0.004 -0.011 -0.004 -1.012]
+t: 127	 action: [-0.027  0.021 -0.181  0.008 -0.019 -0.011 -1.021]
+t: 128	 action: [-0.04   0.017 -0.106  0.002 -0.008 -0.007 -1.001]
+t: 129	 action: [-0.03   0.021 -0.127  0.005 -0.011 -0.018 -1.019]
+t: 130	 action: [-0.077  0.014 -0.165  0.008 -0.019 -0.002 -1.003]
+t: 131	 action: [-0.036 -0.012 -0.208  0.004 -0.016 -0.017 -1.004]
+t: 132	 action: [-0.089  0.016 -0.146  0.006 -0.02  -0.002 -0.997]
+t: 133	 action: [-0.023 -0.007 -0.189  0.002 -0.013 -0.005 -0.924]
+t: 134	 action: [-0.067  0.012 -0.129  0.005 -0.015 -0.006 -1.02 ]
+t: 135	 action: [-0.054  0.019 -0.118  0.008 -0.023 -0.017 -1.019]
+t: 136	 action: [-0.07   0.008 -0.093  0.002 -0.011 -0.009 -0.991]
+t: 137	 action: [-0.048  0.021 -0.083  0.005 -0.019 -0.003 -0.115]
+[07-31 02:01:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9711
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9711
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=138: Selected seed 195 with value = 0.9711
+t: 138	 action: [-0.141  0.022 -0.29   0.004 -0.024  0.011 -1.011]
+t: 139	 action: [-0.123 -0.014 -0.444 -0.005 -0.019 -0.004 -1.019]
+t: 140	 action: [-0.135  0.017 -0.213  0.007 -0.025  0.008 -1.011]
+t: 141	 action: [-1.028e-01 -2.024e-02 -3.664e-01 -8.206e-04 -1.483e-02 -8.638e-03 -1.013e+00]
+t: 142	 action: [-0.087  0.007 -0.196  0.002 -0.022  0.006 -1.012]
+t: 143	 action: [-0.079  0.019 -0.207 -0.002 -0.022 -0.005 -1.018]
+t: 144	 action: [-0.083  0.003 -0.128  0.005 -0.015  0.001 -1.019]
+t: 145	 action: [-0.099  0.006 -0.146  0.001 -0.014 -0.015 -1.018]
+t: 146	 action: [-0.13  -0.01  -0.289 -0.002 -0.017  0.007 -0.962]
+t: 147	 action: [-0.112 -0.045 -0.335 -0.007 -0.011 -0.004 -0.976]
+t: 148	 action: [-0.09  -0.02  -0.214 -0.002 -0.016  0.007  0.984]
+t: 149	 action: [ 0.003 -0.042 -0.237 -0.007 -0.009  0.009  1.005]
+t: 150	 action: [-0.103 -0.011 -0.215 -0.006 -0.013  0.005  0.988]
+t: 151	 action: [-0.029 -0.009 -0.161 -0.003 -0.017  0.003  0.987]
+t: 152	 action: [-0.06  -0.018 -0.122 -0.003 -0.008  0.001  0.978]
+t: 153	 action: [ 0.021 -0.016 -0.066 -0.005 -0.013  0.006  0.986]
+[07-31 02:01:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9444
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9444
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9444
+t=154: Selected seed 195 with value = 0.9444
+t: 154	 action: [-0.128 -0.051 -0.43  -0.063 -0.004  0.011  1.01 ]
+t: 155	 action: [-0.121 -0.069 -0.261 -0.057 -0.018  0.012  0.984]
+t: 156	 action: [-0.079  0.005 -0.24  -0.068 -0.017  0.01   0.977]
+t: 157	 action: [-7.798e-02 -7.854e-03 -5.499e-02 -5.486e-02 -2.931e-02  4.182e-05  9.527e-01]
+t: 158	 action: [-0.085 -0.02  -0.092 -0.058 -0.033  0.006  1.027]
+t: 159	 action: [-0.067 -0.032  0.004 -0.044 -0.037  0.011  0.96 ]
+t: 160	 action: [-0.006 -0.01   0.058 -0.034 -0.035  0.003 -0.977]
+t: 161	 action: [-0.013  0.003  0.125 -0.029 -0.034 -0.001 -1.038]
+t: 162	 action: [ 0.022  0.009  0.176 -0.009 -0.038  0.002 -1.029]
+t: 163	 action: [ 0.013  0.021  0.225 -0.008 -0.048 -0.01  -1.013]
+t: 164	 action: [ 5.801e-02  2.683e-03  1.811e-01 -2.837e-04 -4.023e-02  1.130e-03 -1.025e+00]
+t: 165	 action: [ 6.831e-02  1.084e-02  2.043e-01  8.437e-05 -3.119e-02 -9.982e-03 -1.007e+00]
+t: 166	 action: [ 0.07   0.013  0.202  0.004 -0.033 -0.005 -1.039]
+t: 167	 action: [ 0.037  0.048  0.272  0.01  -0.026 -0.012 -1.017]
+t: 168	 action: [ 0.106  0.012  0.212  0.002 -0.025 -0.005 -1.029]
+t: 169	 action: [ 0.072  0.047  0.265  0.01  -0.016 -0.008 -1.011]
+[07-31 02:01:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9922
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 0.997 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=170: Selected seed 195 with value = 0.9922
+t: 170	 action: [ 0.048  0.014  0.301  0.007  0.039 -0.022 -0.988]
+t: 171	 action: [ 0.029  0.026  0.244  0.004  0.032 -0.018 -1.008]
+t: 172	 action: [ 0.024  0.023  0.155  0.007  0.029 -0.011 -0.992]
+t: 173	 action: [ 0.024  0.039  0.119  0.008  0.023 -0.014 -0.998]
+t: 174	 action: [ 0.018  0.019  0.099  0.007  0.017 -0.008 -1.006]
+t: 175	 action: [-0.007  0.044  0.065  0.012  0.011 -0.008 -1.023]
+t: 176	 action: [ 0.005  0.025  0.057  0.006  0.019 -0.003 -1.013]
+t: 177	 action: [-0.009  0.05   0.018  0.013  0.015 -0.008 -1.012]
+t: 178	 action: [ 0.02   0.026 -0.007  0.008  0.011  0.005 -1.003]
+t: 179	 action: [ 0.01   0.04   0.02   0.004  0.006 -0.002 -1.021]
+t: 180	 action: [ 0.005  0.021 -0.004  0.006  0.016  0.005 -1.005]
+t: 181	 action: [ 0.014  0.034  0.018  0.004  0.018 -0.002 -1.008]
+t: 182	 action: [ 0.012  0.02  -0.003  0.004  0.016  0.004 -1.022]
+t: 183	 action: [-1.068e-02  5.270e-02  1.334e-02  6.208e-03  9.718e-03 -3.190e-04 -1.026e+00]
+t: 184	 action: [ 1.077e-02  1.690e-02  1.636e-02  2.688e-03  2.675e-02  5.104e-04 -1.024e+00]
+t: 185	 action: [-4.382e-03  4.374e-02  1.531e-02  5.781e-03  2.629e-02  8.525e-04 -1.022e+00]
+[07-31 02:01:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9976
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=186: Selected seed 195 with value = 0.9976
+t: 186	 action: [ 0.047  0.021  0.013  0.013  0.026  0.003 -1.003]
+t: 187	 action: [ 0.036  0.004  0.018  0.009  0.02  -0.003 -1.008]
+t: 188	 action: [ 0.038  0.029 -0.005  0.011  0.027  0.003 -1.   ]
+t: 189	 action: [ 0.039  0.014  0.018  0.009  0.027 -0.003 -0.997]
+t: 190	 action: [ 0.039  0.031  0.008  0.011  0.029 -0.001 -1.007]
+t: 191	 action: [ 0.025  0.013  0.007  0.012  0.019 -0.001 -1.025]
+t: 192	 action: [ 0.041  0.029  0.014  0.008  0.032 -0.003 -1.006]
+t: 193	 action: [ 0.028  0.022  0.012  0.012  0.027 -0.004 -1.013]
+t: 194	 action: [ 0.048  0.015 -0.008  0.012  0.024  0.005 -1.005]
+t: 195	 action: [ 0.041  0.017  0.007  0.009  0.019 -0.005 -1.014]
+t: 196	 action: [ 0.037  0.019 -0.011  0.01   0.026  0.004 -1.001]
+t: 197	 action: [ 0.035  0.022  0.01   0.009  0.024 -0.004 -1.009]
+t: 198	 action: [ 0.04   0.022  0.001  0.008  0.031 -0.001 -1.012]
+t: 199	 action: [ 0.018  0.026 -0.002  0.012  0.016 -0.005 -1.029]
+t: 200	 action: [ 0.037  0.019  0.009  0.005  0.034 -0.003 -1.008]
+t: 201	 action: [ 0.017  0.029  0.002  0.011  0.024 -0.004 -1.024]
+[07-31 02:01:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9898
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=202: Selected seed 195 with value = 0.9898
+t: 202	 action: [ 0.039  0.002 -0.073  0.013  0.011  0.006 -0.991]
+t: 203	 action: [ 0.015 -0.041 -0.062  0.005  0.008 -0.008 -1.009]
+t: 204	 action: [ 0.036  0.016 -0.038  0.009  0.016  0.003 -0.995]
+t: 205	 action: [ 0.013 -0.028 -0.015  0.004  0.018 -0.01  -1.002]
+t: 206	 action: [ 5.124e-02  7.620e-03 -1.723e-02  6.369e-03  1.475e-02  6.800e-04 -9.822e-01]
+t: 207	 action: [ 0.047 -0.015 -0.001  0.006  0.01  -0.007 -1.017]
+t: 208	 action: [ 0.057  0.017  0.014  0.005  0.021 -0.004 -0.991]
+t: 209	 action: [ 0.013 -0.003  0.021  0.004  0.019 -0.013 -1.017]
+t: 210	 action: [ 0.045 -0.004 -0.083  0.007  0.012  0.003 -0.988]
+t: 211	 action: [ 0.041 -0.039 -0.074  0.004  0.006 -0.004 -0.958]
+t: 212	 action: [ 0.014 -0.002 -0.073  0.005  0.015  0.002 -0.849]
+t: 213	 action: [ 0.053 -0.039 -0.054  0.002  0.007  0.006 -0.631]
+t: 214	 action: [ 0.035  0.004 -0.034  0.005  0.016 -0.002 -0.978]
+t: 215	 action: [ 1.680e-02 -1.469e-02 -2.482e-02  5.848e-03  3.446e-04  8.287e-04  9.386e-01]
+t: 216	 action: [ 0.017 -0.003 -0.024  0.003  0.019 -0.007  0.93 ]
+t: 217	 action: [ 0.072 -0.013 -0.015  0.002  0.003  0.005  0.811]
+[07-31 02:01:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9869
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=218: Selected seed 195 with value = 0.9869
+t: 218	 action: [-0.068 -0.017  0.047  0.002 -0.016  0.004 -0.978]
+t: 219	 action: [-2.448e-02 -1.732e-02  2.405e-02 -2.919e-03 -4.131e-03  8.618e-04 -1.002e+00]
+t: 220	 action: [-0.039  0.006  0.033  0.001 -0.017  0.002 -0.988]
+t: 221	 action: [-0.005  0.012  0.026 -0.002 -0.004 -0.005 -0.999]
+t: 222	 action: [-1.589e-02  2.338e-02  3.094e-02 -2.151e-04 -2.202e-02  2.922e-05 -1.008e+00]
+t: 223	 action: [-7.885e-03  4.402e-02  2.388e-02 -1.059e-03 -1.871e-02 -9.756e-04 -1.031e+00]
+t: 224	 action: [ 0.003  0.028  0.037  0.001 -0.014 -0.002 -1.009]
+t: 225	 action: [ 0.003  0.059  0.029 -0.001 -0.011 -0.01  -1.01 ]
+t: 226	 action: [ 0.041  0.029  0.03   0.007 -0.022  0.009 -1.   ]
+t: 227	 action: [ 2.216e-02  4.969e-02  6.284e-02 -1.887e-03 -6.401e-03  7.236e-04 -1.019e+00]
+t: 228	 action: [ 0.042  0.039  0.035  0.005 -0.014  0.006 -0.998]
+t: 229	 action: [ 0.031  0.055  0.05  -0.002 -0.001 -0.002 -1.004]
+t: 230	 action: [ 0.046  0.043  0.039  0.003 -0.017  0.003 -1.02 ]
+t: 231	 action: [ 0.006  0.08   0.079 -0.002 -0.011 -0.005 -1.025]
+t: 232	 action: [ 0.053  0.06   0.054  0.002 -0.004 -0.002 -1.014]
+t: 233	 action: [ 0.01   0.082  0.074 -0.003 -0.005 -0.005 -1.016]
+[07-31 02:01:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.953 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9805
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 0.953 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=234: Selected seed 195 with value = 0.9805
+t: 234	 action: [-0.084  0.014 -0.211  0.005 -0.015  0.012 -0.994]
+t: 235	 action: [-0.07  -0.017 -0.319  0.002 -0.011  0.001 -1.006]
+t: 236	 action: [-0.065  0.016 -0.147  0.007 -0.014  0.01  -0.997]
+t: 237	 action: [-0.041 -0.017 -0.218  0.002 -0.005 -0.004 -1.003]
+t: 238	 action: [-0.024  0.012 -0.124  0.006 -0.012  0.008 -1.   ]
+t: 239	 action: [-1.255e-02  1.635e-02 -1.305e-01  2.977e-03 -1.265e-02  2.197e-05 -1.015e+00]
+t: 240	 action: [-0.018  0.01  -0.069  0.004 -0.006  0.004 -1.003]
+t: 241	 action: [-0.023  0.008 -0.064  0.003 -0.007 -0.009 -1.014]
+t: 242	 action: [-0.061 -0.012 -0.237  0.003 -0.011  0.008 -0.949]
+t: 243	 action: [-5.650e-02 -3.948e-02 -2.834e-01  3.764e-04 -4.470e-03  2.102e-04 -9.742e-01]
+t: 244	 action: [-0.053 -0.016 -0.194  0.002 -0.011  0.008  0.432]
+t: 245	 action: [ 0.002 -0.038 -0.204 -0.002 -0.004  0.014  0.993]
+t: 246	 action: [-0.051 -0.004 -0.174  0.002 -0.006  0.005  0.981]
+t: 247	 action: [ 0.012  0.003 -0.141  0.002 -0.012  0.004  0.96 ]
+t: 248	 action: [-4.639e-02 -1.492e-02 -1.186e-01 -1.749e-05 -3.857e-03  1.476e-03  9.025e-01]
+t: 249	 action: [ 3.160e-02 -9.136e-03 -6.855e-02 -8.583e-04 -1.098e-02  1.018e-02  9.695e-01]
+[07-31 02:01:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9238
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9238
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9238
+t=250: Selected seed 195 with value = 0.9238
+t: 250	 action: [-0.236 -0.139 -0.56  -0.021 -0.058  0.013  0.988]
+t: 251	 action: [-0.262 -0.163 -0.574 -0.034 -0.057  0.02   0.998]
+t: 252	 action: [-0.217 -0.062 -0.542 -0.033 -0.068  0.013  0.986]
+t: 253	 action: [-0.218 -0.094 -0.485 -0.04  -0.068  0.024  0.99 ]
+t: 254	 action: [-0.239 -0.081 -0.363 -0.049 -0.062  0.012  1.   ]
+t: 255	 action: [-0.233 -0.098 -0.256 -0.047 -0.059  0.023  0.998]
+t: 256	 action: [-0.112 -0.041 -0.185 -0.049 -0.046  0.007  0.998]
+t: 257	 action: [-0.083 -0.057 -0.078 -0.041 -0.042  0.017  0.999]
+t: 258	 action: [ 0.032  0.012 -0.017 -0.045 -0.014  0.015  1.015]
+t: 259	 action: [ 0.066  0.002  0.09  -0.043 -0.007  0.003 -0.999]
+t: 260	 action: [ 0.096  0.002  0.169 -0.021  0.003  0.007 -1.025]
+t: 261	 action: [ 0.102 -0.005  0.239 -0.019  0.008 -0.004 -1.002]
+t: 262	 action: [ 1.175e-01  1.749e-02  2.544e-01 -3.320e-03 -6.416e-04 -1.753e-03 -9.663e-01]
+t: 263	 action: [ 0.102  0.037  0.374  0.003  0.009 -0.014 -1.002]
+t: 264	 action: [ 1.295e-01  1.602e-02  3.477e-01  3.802e-04  1.454e-02 -8.739e-03 -1.029e+00]
+t: 265	 action: [ 0.087  0.039  0.377  0.007  0.025 -0.013 -0.995]
+[07-31 02:01:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9933
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=266: Selected seed 195 with value = 0.9933
+t: 266	 action: [ 0.037 -0.016  0.371  0.003  0.035  0.008 -0.994]
+t: 267	 action: [ 7.265e-02 -3.375e-02  3.784e-01  2.786e-03  4.515e-02  3.965e-04 -1.019e+00]
+t: 268	 action: [ 0.062 -0.016  0.344  0.008  0.038  0.005 -0.997]
+t: 269	 action: [ 9.676e-02 -2.929e-02  3.459e-01  1.132e-02  4.724e-02 -7.505e-04 -1.008e+00]
+t: 270	 action: [ 0.091 -0.003  0.324  0.006  0.039 -0.001 -1.015]
+t: 271	 action: [ 0.084 -0.011  0.296  0.013  0.043 -0.002 -1.032]
+t: 272	 action: [ 0.105 -0.005  0.251  0.012  0.052 -0.003 -1.012]
+t: 273	 action: [ 0.097  0.003  0.224  0.018  0.049 -0.008 -1.021]
+t: 274	 action: [ 0.095  0.005  0.114  0.021  0.061  0.005 -1.015]
+t: 275	 action: [ 0.105  0.003  0.118  0.02   0.071 -0.001 -1.015]
+t: 276	 action: [ 0.08   0.006  0.083  0.02   0.063  0.003 -1.009]
+t: 277	 action: [ 0.094  0.007  0.081  0.019  0.075 -0.002 -1.009]
+t: 278	 action: [ 0.077  0.004  0.08   0.015  0.066  0.001 -1.026]
+t: 279	 action: [ 7.850e-02  1.923e-02  9.609e-02  2.002e-02  7.448e-02  6.328e-05 -1.024e+00]
+t: 280	 action: [ 8.332e-02  8.078e-03  7.366e-02  1.368e-02  7.564e-02 -3.532e-04 -1.018e+00]
+t: 281	 action: [ 7.292e-02  2.196e-02  9.401e-02  1.836e-02  8.097e-02  4.946e-04 -1.029e+00]
+[07-31 02:01:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9906
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=282: Selected seed 195 with value = 0.9906
+t: 282	 action: [ 0.073 -0.002 -0.02   0.013  0.036  0.001 -0.994]
+t: 283	 action: [ 0.05  -0.057  0.001  0.007  0.037 -0.012 -1.01 ]
+t: 284	 action: [ 6.077e-02  2.232e-03  4.921e-03  1.108e-02  4.039e-02 -2.258e-04 -9.972e-01]
+t: 285	 action: [ 0.036 -0.05   0.018  0.009  0.046 -0.014 -1.   ]
+t: 286	 action: [ 0.081  0.002  0.011  0.008  0.041 -0.003 -0.983]
+t: 287	 action: [ 0.06  -0.031  0.023  0.008  0.041 -0.012 -1.022]
+t: 288	 action: [ 0.068  0.008  0.042  0.007  0.048 -0.007 -0.995]
+t: 289	 action: [ 0.026 -0.024  0.044  0.008  0.045 -0.017 -1.017]
+t: 290	 action: [ 0.075 -0.021 -0.039  0.007  0.038 -0.002 -0.992]
+t: 291	 action: [ 0.065 -0.054 -0.02   0.006  0.031 -0.002 -0.89 ]
+t: 292	 action: [ 0.037 -0.019 -0.034  0.007  0.039 -0.002  0.038]
+t: 293	 action: [ 0.05  -0.057 -0.01   0.006  0.031 -0.011  0.712]
+t: 294	 action: [ 0.062 -0.005 -0.01   0.006  0.041 -0.006 -0.977]
+t: 295	 action: [ 0.033 -0.031 -0.013  0.008  0.023  0.003  0.725]
+t: 296	 action: [ 0.03  -0.008  0.002  0.004  0.042 -0.01  -1.008]
+t: 297	 action: [ 9.491e-04 -3.231e-02 -5.094e-04  5.743e-03  2.608e-02 -3.761e-03 -1.036e+00]
+[07-31 02:01:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9913
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9913
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 3
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 1 (33.3%)
+
+
  6%|▌         | 3/50 [01:15<21:17, 27.18s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 4...
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=298: Selected seed 195 with value = 0.9913
+t: 298	 action: [-0.083 -0.019  0.013  0.007 -0.026  0.006 -0.981]
+t: 299	 action: [-0.036 -0.02  -0.011  0.003 -0.019  0.002 -1.006]
+t: 300	 action: [-0.039  0.019 -0.007  0.006 -0.028  0.004 -0.988]
+t: 301	 action: [-0.004  0.022 -0.02   0.001 -0.022 -0.005 -0.996]
+t: 302	 action: [-0.023  0.038 -0.009  0.003 -0.038  0.001 -1.005]
+t: 303	 action: [-0.006  0.05  -0.019  0.002 -0.041 -0.003 -1.026]
+t: 304	 action: [ 0.006  0.058 -0.006  0.003 -0.03  -0.002 -1.008]
+t: 305	 action: [ 4.014e-03  6.978e-02 -9.944e-03  7.623e-04 -3.290e-02 -1.390e-02 -1.008e+00]
+t: 306	 action: [ 0.038  0.063 -0.026  0.01  -0.039  0.008 -0.993]
+t: 307	 action: [ 2.330e-02  5.767e-02  1.315e-02  4.202e-04 -2.783e-02 -1.349e-03 -1.012e+00]
+t: 308	 action: [ 0.027  0.063 -0.015  0.008 -0.033  0.004 -0.992]
+t: 309	 action: [ 0.023  0.057  0.015  0.001 -0.022 -0.005 -1.   ]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+[07-31 02:01:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4027
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4027
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4027
+t=10: Selected seed 195 with value = 0.4027
+t: 10	 action: [ 0.148  0.177 -0.027  0.004 -0.022  0.002 -0.99 ]
+t: 11	 action: [ 0.269  0.249  0.003 -0.001 -0.01  -0.006 -0.984]
+t: 12	 action: [ 0.358  0.383 -0.039  0.002 -0.023  0.003 -0.991]
+t: 13	 action: [ 0.469  0.436 -0.004 -0.002 -0.014 -0.006 -0.986]
+t: 14	 action: [ 0.542  0.499 -0.039  0.001 -0.021  0.003 -1.007]
+t: 15	 action: [ 6.199e-01  5.305e-01 -2.025e-02  2.447e-03 -1.678e-02 -8.592e-04 -9.998e-01]
+t: 16	 action: [ 0.679  0.556 -0.051 -0.001 -0.018  0.003 -0.994]
+t: 17	 action: [ 0.746  0.562 -0.048  0.003 -0.015 -0.002 -1.003]
+t: 18	 action: [ 0.724  0.591 -0.026  0.002 -0.011  0.01  -0.993]
+t: 19	 action: [ 0.749  0.581 -0.003  0.003 -0.002  0.004 -0.989]
+t: 20	 action: [ 0.76   0.577 -0.05   0.002 -0.011  0.011 -0.991]
+t: 21	 action: [ 0.765  0.543 -0.032  0.004  0.002  0.004 -0.986]
+t: 22	 action: [ 7.742e-01  5.322e-01 -6.890e-02 -1.475e-04 -6.005e-03  8.182e-03 -9.937e-01]
+t: 23	 action: [ 0.78   0.519 -0.106  0.007 -0.005  0.004 -1.001]
+t: 24	 action: [ 7.624e-01  4.396e-01 -1.196e-01 -3.633e-04 -3.274e-03  7.009e-03 -9.921e-01]
+t: 25	 action: [ 0.781  0.389 -0.194  0.008 -0.002  0.003 -1.006]
+[07-31 02:01:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.955 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5178
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5178
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5178
+t=26: Selected seed 195 with value = 0.5178
+t: 26	 action: [ 0.73   0.359 -0.405  0.006 -0.016  0.009 -0.998]
+t: 27	 action: [ 0.636  0.256 -0.439  0.007 -0.01   0.008 -0.996]
+t: 28	 action: [ 0.568  0.184 -0.561  0.006 -0.02   0.008 -0.993]
+t: 29	 action: [ 0.499  0.104 -0.637  0.013 -0.014  0.007 -0.992]
+t: 30	 action: [ 0.451  0.096 -0.697  0.006 -0.019  0.002 -1.005]
+t: 31	 action: [ 0.388  0.061 -0.767  0.014 -0.021  0.002 -1.007]
+t: 32	 action: [ 0.335  0.046 -0.9    0.01  -0.018  0.003 -1.   ]
+t: 33	 action: [ 2.883e-01  4.883e-02 -9.289e-01  1.542e-02 -2.007e-02  5.162e-04 -1.006e+00]
+t: 34	 action: [ 0.115  0.031 -0.948  0.006 -0.036  0.01  -1.006]
+t: 35	 action: [ 0.036  0.009 -0.966  0.003 -0.038  0.011 -0.998]
+t: 36	 action: [ 0.015  0.029 -0.957  0.002 -0.035  0.014 -1.003]
+t: 37	 action: [-0.008  0.003 -0.967 -0.005 -0.04   0.011 -0.992]
+t: 38	 action: [-6.320e-02  2.109e-02 -9.538e-01 -5.608e-04 -4.402e-02  1.323e-02 -1.018e+00]
+t: 39	 action: [-0.067  0.008 -0.943 -0.014 -0.051  0.011 -1.002]
+t: 40	 action: [-0.119  0.016 -0.946 -0.007 -0.038  0.016 -1.014]
+t: 41	 action: [-1.319e-01 -2.986e-04 -9.224e-01 -2.742e-02 -5.028e-02  1.269e-02 -1.003e+00]
+[07-31 02:01:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5895
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5895
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5895
+t=42: Selected seed 195 with value = 0.5895
+t: 42	 action: [-0.26   0.017 -0.887  0.011 -0.025  0.004 -1.005]
+t: 43	 action: [-0.219  0.005 -0.867  0.012 -0.033 -0.007 -1.001]
+t: 44	 action: [-0.173 -0.011 -0.826  0.011 -0.017  0.003 -0.993]
+t: 45	 action: [-0.129 -0.031 -0.789  0.01  -0.022 -0.01  -1.003]
+t: 46	 action: [-0.146 -0.035 -0.732  0.006 -0.01  -0.003 -1.015]
+t: 47	 action: [-0.168 -0.043 -0.681  0.011 -0.016 -0.007 -1.004]
+t: 48	 action: [-0.128 -0.054 -0.66   0.003 -0.004 -0.006 -1.008]
+t: 49	 action: [-0.179 -0.072 -0.663  0.008 -0.007 -0.017 -1.006]
+t: 50	 action: [-0.322 -0.085 -0.734  0.004 -0.007 -0.008 -1.   ]
+t: 51	 action: [-0.314 -0.091 -0.671  0.001 -0.009 -0.022 -1.022]
+t: 52	 action: [-0.372 -0.075 -0.671  0.004  0.005 -0.015 -0.978]
+t: 53	 action: [-0.324 -0.084 -0.615 -0.007 -0.01  -0.029  0.278]
+t: 54	 action: [-0.313 -0.055 -0.528  0.004  0.013 -0.029  0.967]
+t: 55	 action: [-0.244 -0.094 -0.412 -0.002  0.01  -0.039  1.017]
+t: 56	 action: [-2.118e-01 -6.232e-02 -3.626e-01 -2.578e-04  3.493e-02 -3.765e-02  9.920e-01]
+t: 57	 action: [-0.121 -0.082 -0.204 -0.014  0.045 -0.043  1.017]
+[07-31 02:02:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6867
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6867
+Query 1/1: Action query time = 1.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6867
+t=58: Selected seed 195 with value = 0.6867
+t: 58	 action: [-0.149 -0.007 -0.331  0.002  0.009  0.008  0.969]
+t: 59	 action: [-0.081 -0.034 -0.178 -0.002  0.025 -0.002  0.974]
+t: 60	 action: [-0.014 -0.005 -0.048  0.002  0.045 -0.008  0.971]
+t: 61	 action: [ 0.013 -0.029  0.052 -0.003  0.057 -0.022  0.98 ]
+t: 62	 action: [ 0.074 -0.014  0.156 -0.004  0.101 -0.023  0.988]
+t: 63	 action: [ 0.093 -0.028  0.331 -0.002  0.102 -0.034  0.981]
+t: 64	 action: [ 1.209e-01 -8.781e-03  5.317e-01 -9.665e-04  1.121e-01 -6.127e-02  9.897e-01]
+t: 65	 action: [ 0.117  0.003  0.717  0.003  0.102 -0.056  0.987]
+t: 66	 action: [ 0.124 -0.095  0.787  0.01   0.085 -0.076  0.969]
+t: 67	 action: [ 0.141 -0.142  0.874  0.017  0.068 -0.077  0.977]
+t: 68	 action: [ 0.106 -0.185  0.892  0.016  0.073 -0.074  0.966]
+t: 69	 action: [ 0.069 -0.253  0.939  0.027  0.062 -0.072  0.98 ]
+t: 70	 action: [ 0.04  -0.318  0.916  0.031  0.083 -0.072  0.986]
+t: 71	 action: [ 0.011 -0.377  0.914  0.042  0.074 -0.057  0.983]
+t: 72	 action: [-0.029 -0.497  0.888  0.041  0.073 -0.053  0.992]
+t: 73	 action: [-0.038 -0.552  0.827  0.055  0.062 -0.043  0.989]
+[07-31 02:02:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7994
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 0.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=74: Selected seed 195 with value = 0.7994
+t: 74	 action: [ 0.047 -0.704  0.631  0.07   0.094 -0.027  0.985]
+t: 75	 action: [-0.002 -0.75   0.514  0.062  0.092 -0.022  1.006]
+t: 76	 action: [ 0.012 -0.789  0.376  0.063  0.094 -0.023  0.985]
+t: 77	 action: [-0.046 -0.79   0.213  0.052  0.09  -0.016  0.999]
+t: 78	 action: [-0.064 -0.85   0.183  0.054  0.078 -0.014  1.007]
+t: 79	 action: [-0.109 -0.814  0.067  0.049  0.063 -0.006  0.999]
+t: 80	 action: [-0.104 -0.842 -0.005  0.033  0.073 -0.009  1.   ]
+t: 81	 action: [-1.527e-01 -7.811e-01 -1.317e-01  2.905e-02  6.092e-02 -7.175e-04  9.973e-01]
+t: 82	 action: [-0.131 -0.727 -0.257  0.011  0.041  0.005  0.98 ]
+t: 83	 action: [-0.202 -0.652 -0.373  0.002  0.027  0.013  0.991]
+t: 84	 action: [-0.177 -0.536 -0.482 -0.001  0.015  0.008  0.966]
+t: 85	 action: [-0.23  -0.431 -0.603 -0.021  0.004  0.019  0.995]
+t: 86	 action: [-0.233 -0.318 -0.604 -0.023 -0.016  0.011  1.004]
+t: 87	 action: [-0.264 -0.222 -0.689 -0.041 -0.025  0.024  0.992]
+t: 88	 action: [-0.215 -0.128 -0.654 -0.048 -0.03   0.013  0.986]
+t: 89	 action: [-0.222 -0.051 -0.691 -0.051 -0.024  0.027  0.985]
+[07-31 02:02:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9471
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9471
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 4
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 2 (50.0%)
+
+
  8%|▊         | 4/50 [01:26<16:05, 20.99s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 5...
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=90: Selected seed 195 with value = 0.9471
+t: 90	 action: [-1.160e-01  6.198e-03 -3.209e-01 -4.159e-02 -6.632e-04  1.697e-02  1.000e+00]
+t: 91	 action: [-8.051e-02  6.743e-03 -2.116e-01 -5.074e-02  9.178e-04  2.147e-02  9.963e-01]
+t: 92	 action: [-7.563e-02  5.126e-02 -1.176e-01 -4.412e-02 -9.545e-04  1.392e-02  9.837e-01]
+t: 93	 action: [-0.046  0.05  -0.011 -0.049 -0.001  0.023  0.848]
+t: 94	 action: [-0.021  0.073  0.04  -0.057 -0.006  0.003 -0.917]
+t: 95	 action: [-0.015  0.089  0.17  -0.046 -0.006  0.009 -1.009]
+t: 96	 action: [ 0.041  0.095  0.182 -0.039 -0.009 -0.002 -1.003]
+t: 97	 action: [ 2.329e-02  8.744e-02  3.075e-01 -3.247e-02 -4.144e-03 -7.046e-04 -1.014e+00]
+t: 98	 action: [ 3.109e-02  7.116e-02  3.141e-01 -2.322e-02 -3.897e-02  4.325e-04 -9.996e-01]
+t: 99	 action: [ 0.002  0.066  0.316 -0.015 -0.033 -0.009 -1.008]
+t: 100	 action: [ 6.667e-03  4.829e-02  2.958e-01 -6.343e-03 -4.446e-02  8.017e-05 -9.961e-01]
+t: 101	 action: [ 0.006  0.054  0.28  -0.008 -0.037 -0.011 -1.   ]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+92 92 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+[07-31 02:02:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.205 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4144
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4144
+Query 1/1: Action query time = 1.205 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4144
+t=10: Selected seed 195 with value = 0.4144
+t: 10	 action: [ 0.262  0.196 -0.007  0.005  0.006  0.004 -1.008]
+t: 11	 action: [ 3.567e-01  2.883e-01  1.709e-02  6.354e-04  5.331e-03  3.982e-03 -9.943e-01]
+t: 12	 action: [ 0.46   0.394  0.006  0.003  0.009  0.005 -1.004]
+t: 13	 action: [ 5.298e-01  4.507e-01  2.874e-02 -2.481e-04  6.035e-03  4.789e-03 -9.945e-01]
+t: 14	 action: [ 0.634  0.497  0.026  0.002  0.019  0.003 -1.017]
+t: 15	 action: [ 0.684  0.535  0.015  0.001  0.014  0.009 -1.007]
+t: 16	 action: [ 7.338e-01  5.632e-01  3.532e-02 -2.735e-04  2.254e-02  2.606e-03 -1.009e+00]
+t: 17	 action: [ 7.452e-01  5.785e-01  1.529e-02  3.778e-04  1.195e-02  7.529e-03 -1.007e+00]
+t: 18	 action: [ 0.715  0.56  -0.004  0.008  0.016  0.01  -1.008]
+t: 19	 action: [ 0.694  0.549  0.008  0.003  0.009  0.005 -0.999]
+t: 20	 action: [ 0.744  0.556 -0.024  0.006  0.009  0.008 -1.008]
+t: 21	 action: [ 0.71   0.537 -0.005  0.001  0.007  0.005 -0.996]
+t: 22	 action: [ 0.756  0.548 -0.066  0.004  0.009  0.006 -1.009]
+t: 23	 action: [ 0.763  0.531 -0.063  0.003 -0.002  0.006 -1.004]
+t: 24	 action: [ 0.745  0.499 -0.147  0.003  0.002  0.003 -1.013]
+t: 25	 action: [ 0.756  0.453 -0.15   0.002 -0.004  0.005 -1.006]
+[07-31 02:02:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.213 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5171
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 1.213 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=26: Selected seed 195 with value = 0.5171
+t: 26	 action: [ 0.805  0.318 -0.293  0.005  0.008  0.006 -1.   ]
+t: 27	 action: [ 7.464e-01  2.465e-01 -3.307e-01  4.814e-04  4.695e-03  1.131e-03 -1.003e+00]
+t: 28	 action: [ 6.396e-01  1.727e-01 -4.508e-01  2.988e-03 -8.297e-04  3.037e-03 -1.003e+00]
+t: 29	 action: [ 5.936e-01  1.218e-01 -5.232e-01  3.780e-03 -3.910e-04 -2.766e-03 -1.001e+00]
+t: 30	 action: [ 5.091e-01  1.184e-01 -6.548e-01  8.954e-04 -1.636e-02 -3.168e-03 -1.002e+00]
+t: 31	 action: [ 0.439  0.11  -0.759  0.006 -0.019 -0.008 -1.01 ]
+t: 32	 action: [ 3.796e-01  1.219e-01 -8.979e-01  5.007e-04 -2.715e-02 -7.957e-03 -1.003e+00]
+t: 33	 action: [ 0.328  0.121 -0.911  0.006 -0.032 -0.011 -1.006]
+t: 34	 action: [ 0.151  0.067 -0.943  0.004 -0.032 -0.004 -1.015]
+t: 35	 action: [ 8.451e-02  8.915e-02 -9.760e-01 -7.657e-04 -3.217e-02 -1.359e-02 -1.004e+00]
+t: 36	 action: [ 7.090e-02  7.429e-02 -9.569e-01  1.661e-04 -3.433e-02 -5.532e-03 -1.011e+00]
+t: 37	 action: [ 0.024  0.081 -0.974 -0.005 -0.032 -0.014 -1.001]
+t: 38	 action: [-0.007  0.087 -0.948 -0.002 -0.036 -0.008 -1.014]
+t: 39	 action: [-0.034  0.087 -0.953 -0.006 -0.038 -0.017 -1.012]
+t: 40	 action: [-0.087  0.03  -0.936 -0.005 -0.033 -0.008 -1.011]
+t: 41	 action: [-0.111  0.049 -0.934 -0.01  -0.034 -0.015 -1.009]
+[07-31 02:02:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.179 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5941
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5941
+Query 1/1: Action query time = 1.179 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5941
+t=42: Selected seed 195 with value = 0.5941
+t: 42	 action: [-0.218  0.101 -0.948  0.005 -0.006  0.009 -1.028]
+t: 43	 action: [-0.124  0.091 -0.862  0.001 -0.01   0.007 -1.003]
+t: 44	 action: [-0.089  0.067 -0.868  0.004  0.01   0.008 -1.017]
+t: 45	 action: [-0.01   0.049 -0.753  0.004  0.004  0.008 -1.003]
+t: 46	 action: [ 0.001  0.052 -0.788  0.002  0.026  0.006 -1.033]
+t: 47	 action: [ 2.635e-02  4.734e-02 -6.978e-01  6.160e-04  1.888e-02  5.610e-03 -1.011e+00]
+t: 48	 action: [-1.410e-02  3.238e-02 -6.482e-01 -2.946e-04  3.762e-02  5.000e-03 -1.026e+00]
+t: 49	 action: [-0.036  0.017 -0.609  0.003  0.031 -0.002 -1.013]
+t: 50	 action: [-0.204  0.035 -0.616  0.003  0.047  0.006 -0.999]
+t: 51	 action: [-0.247  0.062 -0.615 -0.009  0.046  0.007 -0.997]
+t: 52	 action: [-0.265  0.031 -0.496 -0.005  0.041  0.008  0.975]
+t: 53	 action: [-0.286  0.044 -0.499 -0.006  0.04   0.007  1.005]
+t: 54	 action: [-0.279  0.016 -0.332 -0.009  0.054 -0.005  0.998]
+t: 55	 action: [-0.235  0.035 -0.267 -0.028  0.046 -0.002  1.016]
+t: 56	 action: [-0.237  0.014 -0.148 -0.029  0.042 -0.007  0.993]
+t: 57	 action: [-0.162  0.015 -0.098 -0.052  0.046 -0.015  1.015]
+[07-31 02:02:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.182 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6913
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6913
+Query 1/1: Action query time = 1.182 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6913
+t=58: Selected seed 195 with value = 0.6913
+t: 58	 action: [-0.203  0.024 -0.052 -0.051 -0.021  0.018  0.962]
+t: 59	 action: [-0.129  0.025  0.112 -0.05  -0.002  0.017  0.978]
+t: 60	 action: [-0.094  0.033  0.327 -0.034 -0.016  0.009  0.967]
+t: 61	 action: [-5.704e-03  3.161e-02  5.146e-01 -3.260e-02 -7.729e-04  9.735e-03  9.772e-01]
+t: 62	 action: [ 0.029  0.034  0.7   -0.027 -0.001  0.004  0.975]
+t: 63	 action: [ 0.068  0.046  0.841 -0.013  0.003  0.005  0.975]
+t: 64	 action: [ 8.449e-02  1.428e-02  9.176e-01 -2.143e-03  6.066e-03 -2.891e-06  9.743e-01]
+t: 65	 action: [ 8.465e-02 -1.997e-03  9.344e-01  4.239e-03  2.216e-03 -3.791e-04  9.766e-01]
+t: 66	 action: [ 0.121 -0.1    0.927  0.006  0.011  0.009  0.971]
+t: 67	 action: [ 1.356e-01 -2.099e-01  9.553e-01  1.123e-02  2.096e-02 -9.368e-04  9.835e-01]
+t: 68	 action: [ 0.079 -0.302  0.914  0.02   0.013  0.007  0.964]
+t: 69	 action: [ 7.028e-02 -4.408e-01  9.198e-01  3.337e-02  2.180e-02 -8.772e-04  9.822e-01]
+t: 70	 action: [ 0.006 -0.606  0.883  0.048  0.025  0.004  0.979]
+t: 71	 action: [-0.005 -0.671  0.826  0.054  0.024  0.005  0.978]
+t: 72	 action: [-0.048 -0.738  0.765  0.062  0.027  0.001  0.976]
+t: 73	 action: [-6.291e-02 -7.618e-01  5.525e-01  6.702e-02  1.873e-02  6.514e-04  9.792e-01]
+[07-31 02:02:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.138 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8037
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8037
+Query 1/1: Action query time = 1.138 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8037
+t=74: Selected seed 195 with value = 0.8037
+t: 74	 action: [-1.414e-01 -8.341e-01  3.857e-01  5.665e-02 -1.744e-04  3.446e-04  9.777e-01]
+t: 75	 action: [-0.238 -0.819  0.252  0.065  0.003  0.002  0.985]
+t: 76	 action: [-2.502e-01 -8.689e-01  1.661e-01  6.096e-02 -4.864e-03 -9.215e-04  9.772e-01]
+t: 77	 action: [-3.026e-01 -8.096e-01  7.179e-02  6.618e-02  8.271e-04  1.211e-03  9.875e-01]
+t: 78	 action: [-0.297 -0.835  0.046  0.063  0.003 -0.001  0.988]
+t: 79	 action: [-0.317 -0.746 -0.054  0.063 -0.001  0.006  0.991]
+t: 80	 action: [-0.307 -0.699 -0.115  0.052  0.004 -0.001  0.991]
+t: 81	 action: [-2.933e-01 -5.909e-01 -2.514e-01  5.078e-02  1.578e-05  5.028e-03  9.963e-01]
+t: 82	 action: [-0.135 -0.372 -0.316  0.02  -0.005  0.005  0.975]
+t: 83	 action: [-0.127 -0.246 -0.449  0.017 -0.004  0.012  0.982]
+t: 84	 action: [-0.074 -0.144 -0.567  0.007 -0.015  0.006  0.965]
+t: 85	 action: [-0.034 -0.063 -0.682  0.006 -0.005  0.014  0.989]
+t: 86	 action: [-0.068  0.001 -0.813 -0.003 -0.023  0.012  0.988]
+t: 87	 action: [-0.053 -0.013 -0.903  0.005 -0.021  0.024  0.984]
+t: 88	 action: [-0.068  0.025 -0.862 -0.003 -0.02   0.014  0.978]
+t: 89	 action: [-5.344e-02 -9.474e-03 -8.657e-01 -8.523e-05 -1.432e-02  2.664e-02  9.871e-01]
+[07-31 02:02:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.108 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9413
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9413
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 5
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 3 (60.0%)
+
+
 10%|█         | 5/50 [01:39<13:28, 17.98s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 6...
+Query 1/1: Action query time = 1.108 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9413
+t=90: Selected seed 195 with value = 0.9413
+t: 90	 action: [-0.291 -0.018 -0.562 -0.002  0.041  0.059  0.933]
+t: 91	 action: [-0.286 -0.02  -0.429 -0.006  0.044  0.042  0.991]
+t: 92	 action: [-0.205  0.007 -0.274 -0.003  0.043  0.062  1.005]
+t: 93	 action: [-0.16   0.001 -0.117 -0.004  0.043  0.044  0.945]
+t: 94	 action: [-0.159 -0.002 -0.052 -0.004  0.018  0.042  0.841]
+t: 95	 action: [-0.132 -0.017  0.05  -0.01   0.013  0.037 -0.988]
+t: 96	 action: [-0.057 -0.003  0.122 -0.004  0.017  0.026 -0.999]
+t: 97	 action: [-0.012 -0.005  0.209 -0.003  0.017  0.02  -1.036]
+t: 98	 action: [ 0.011  0.013  0.232  0.002  0.011  0.01  -1.006]
+t: 99	 action: [ 0.004  0.004  0.259  0.002  0.011  0.01  -1.013]
+t: 100	 action: [ 0.019  0.015  0.235  0.003  0.007  0.007 -0.999]
+t: 101	 action: [ 0.022  0.006  0.265  0.004  0.012  0.005 -1.007]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+92 92 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+[07-31 02:02:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4374
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4374
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4374
+t=10: Selected seed 195 with value = 0.4374
+t: 10	 action: [ 0.128  0.036 -0.019  0.006  0.007  0.007 -0.992]
+t: 11	 action: [ 0.294  0.126  0.008  0.005  0.008  0.008 -0.994]
+t: 12	 action: [ 0.366  0.199 -0.022  0.004  0.015  0.01  -0.99 ]
+t: 13	 action: [ 0.528  0.286  0.006  0.002  0.014  0.012 -0.993]
+t: 14	 action: [ 0.611  0.35  -0.008  0.002  0.023  0.009 -0.997]
+t: 15	 action: [ 7.516e-01  4.276e-01 -6.782e-03  9.014e-04  2.327e-02  1.506e-02 -1.003e+00]
+t: 16	 action: [ 7.715e-01  4.785e-01 -2.866e-02  4.597e-04  3.183e-02  1.206e-02 -9.939e-01]
+t: 17	 action: [ 8.322e-01  5.036e-01 -3.878e-02  5.810e-04  2.886e-02  1.673e-02 -1.003e+00]
+t: 18	 action: [ 0.732  0.511 -0.076  0.007  0.028  0.014 -0.997]
+t: 19	 action: [ 0.74   0.502 -0.062  0.002  0.026  0.011 -1.003]
+t: 20	 action: [ 0.767  0.525 -0.141  0.005  0.024  0.015 -0.999]
+t: 21	 action: [ 7.812e-01  5.007e-01 -1.233e-01  1.181e-04  2.413e-02  1.462e-02 -9.986e-01]
+t: 22	 action: [ 0.811  0.578 -0.152  0.004  0.027  0.012 -0.992]
+t: 23	 action: [ 0.837  0.551 -0.152  0.002  0.018  0.014 -1.004]
+t: 24	 action: [ 0.797  0.57  -0.29   0.002  0.021  0.012 -0.994]
+t: 25	 action: [ 0.829  0.496 -0.285  0.001  0.014  0.015 -1.006]
+[07-31 02:02:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4835
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4835
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4835
+t=26: Selected seed 195 with value = 0.4835
+t: 26	 action: [ 0.902  0.461 -0.208  0.002  0.023  0.019 -0.995]
+t: 27	 action: [ 0.92   0.448 -0.297 -0.002  0.014  0.017 -0.999]
+t: 28	 action: [ 0.879  0.41  -0.312  0.002  0.016  0.015 -0.998]
+t: 29	 action: [ 0.835  0.354 -0.384  0.002  0.009  0.015 -1.001]
+t: 30	 action: [ 7.421e-01  3.288e-01 -4.097e-01 -4.630e-04  1.507e-03  7.968e-03 -1.001e+00]
+t: 31	 action: [ 0.605  0.286 -0.552  0.01  -0.009  0.012 -1.006]
+t: 32	 action: [ 0.496  0.186 -0.639  0.004 -0.016  0.005 -1.004]
+t: 33	 action: [ 0.368  0.146 -0.775  0.018 -0.034  0.011 -1.01 ]
+t: 34	 action: [ 0.253  0.077 -0.88   0.007 -0.04   0.012 -1.006]
+t: 35	 action: [ 0.153  0.082 -0.911  0.01  -0.043  0.008 -0.994]
+t: 36	 action: [ 0.127  0.04  -0.919  0.005 -0.047  0.009 -1.009]
+t: 37	 action: [ 0.03   0.027 -0.933  0.008 -0.053  0.005 -0.99 ]
+t: 38	 action: [ 0.056  0.048 -0.914 -0.002 -0.058  0.002 -1.012]
+t: 39	 action: [-9.497e-03  1.852e-02 -9.467e-01  3.793e-03 -6.168e-02  1.870e-04 -1.008e+00]
+t: 40	 action: [-4.736e-02  1.427e-02 -9.140e-01 -3.549e-03 -5.560e-02 -6.538e-04 -1.014e+00]
+t: 41	 action: [-0.092 -0.03  -0.929  0.002 -0.066 -0.002 -1.01 ]
+[07-31 02:02:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5504
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5504
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5504
+t=42: Selected seed 195 with value = 0.5504
+t: 42	 action: [-0.21   0.085 -0.87   0.003 -0.03   0.019 -1.002]
+t: 43	 action: [-0.231  0.079 -0.846 -0.011 -0.035  0.029 -1.006]
+t: 44	 action: [-0.217  0.069 -0.828  0.005 -0.025  0.019 -1.   ]
+t: 45	 action: [-0.191  0.067 -0.764 -0.004 -0.026  0.028 -1.003]
+t: 46	 action: [-0.161  0.043 -0.779 -0.002 -0.016  0.018 -1.01 ]
+t: 47	 action: [-0.156  0.079 -0.742 -0.009 -0.013  0.024 -1.008]
+t: 48	 action: [-1.536e-01  2.970e-02 -7.044e-01  1.995e-04 -1.133e-02  1.440e-02 -1.014e+00]
+t: 49	 action: [-0.176  0.059 -0.666 -0.003 -0.005  0.016 -1.003]
+t: 50	 action: [-0.161  0.046 -0.608  0.004  0.01   0.044 -0.977]
+t: 51	 action: [-0.181  0.024 -0.631 -0.005  0.008  0.03   0.275]
+t: 52	 action: [-0.144  0.022 -0.508  0.001  0.008  0.031  0.955]
+t: 53	 action: [-0.142 -0.002 -0.456 -0.007  0.005  0.021  1.012]
+t: 54	 action: [-0.123  0.018 -0.328 -0.009  0.001  0.004  0.979]
+t: 55	 action: [-0.113  0.014 -0.252 -0.013  0.001 -0.003  0.989]
+t: 56	 action: [-7.149e-02  1.113e-02 -1.161e-01 -1.760e-02 -4.404e-04 -6.145e-03  9.931e-01]
+t: 57	 action: [-0.054 -0.012 -0.045 -0.021  0.003 -0.013  1.004]
+[07-31 02:02:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.955 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6820
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6820
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6820
+t=58: Selected seed 195 with value = 0.6820
+t: 58	 action: [-0.097  0.008 -0.099 -0.035 -0.026 -0.003  0.979]
+t: 59	 action: [-0.021 -0.034  0.027 -0.036 -0.016 -0.021  0.986]
+t: 60	 action: [-0.014  0.029  0.199 -0.02  -0.024 -0.027  0.982]
+t: 61	 action: [ 0.029 -0.012  0.365 -0.023 -0.011 -0.032  0.992]
+t: 62	 action: [ 0.068  0.014  0.572 -0.031 -0.011 -0.019  0.985]
+t: 63	 action: [ 0.115  0.026  0.756 -0.024 -0.003 -0.032  0.979]
+t: 64	 action: [ 0.118  0.008  0.889 -0.013  0.002 -0.038  0.981]
+t: 65	 action: [ 0.144 -0.017  0.903 -0.011  0.004 -0.038  0.985]
+t: 66	 action: [ 0.182 -0.063  0.898 -0.006  0.014 -0.027  0.97 ]
+t: 67	 action: [ 0.199 -0.17   0.953 -0.01   0.019 -0.03   0.989]
+t: 68	 action: [ 0.139 -0.279  0.927 -0.003  0.028 -0.017  0.968]
+t: 69	 action: [ 0.116 -0.399  0.964  0.001  0.036 -0.019  0.99 ]
+t: 70	 action: [ 0.032 -0.514  0.912  0.013  0.054 -0.016  0.98 ]
+t: 71	 action: [ 0.029 -0.597  0.885  0.017  0.055 -0.013  0.988]
+t: 72	 action: [-0.054 -0.699  0.882  0.021  0.064 -0.008  0.985]
+t: 73	 action: [-0.053 -0.745  0.783  0.024  0.058 -0.007  0.99 ]
+[07-31 02:02:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8245
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8245
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8245
+t=74: Selected seed 195 with value = 0.8245
+t: 74	 action: [-0.116 -0.891  0.522  0.04   0.021  0.006  0.976]
+t: 75	 action: [-0.229 -0.887  0.314  0.042  0.005  0.012  0.991]
+t: 76	 action: [-0.255 -0.931  0.165  0.04  -0.001  0.006  0.983]
+t: 77	 action: [-0.329 -0.885  0.055  0.043 -0.007  0.019  0.99 ]
+t: 78	 action: [-0.375 -0.881 -0.049  0.034 -0.016  0.007  0.987]
+t: 79	 action: [-0.396 -0.801 -0.173  0.033 -0.023  0.023  0.985]
+t: 80	 action: [-0.442 -0.71  -0.335  0.021 -0.037  0.018  1.003]
+t: 81	 action: [-0.444 -0.613 -0.502  0.023 -0.041  0.031  0.989]
+t: 82	 action: [-0.322 -0.376 -0.615  0.01  -0.049  0.033  0.981]
+t: 83	 action: [-0.359 -0.262 -0.768  0.002 -0.042  0.043  0.991]
+t: 84	 action: [-0.319 -0.107 -0.768  0.005 -0.046  0.045  0.976]
+t: 85	 action: [-0.308 -0.074 -0.872 -0.009 -0.03   0.049  1.   ]
+t: 86	 action: [-0.308  0.02  -0.821 -0.003 -0.051  0.05   0.995]
+t: 87	 action: [-0.289  0.003 -0.845 -0.011 -0.036  0.053  0.98 ]
+t: 88	 action: [-0.226  0.053 -0.714 -0.011 -0.027  0.054  0.991]
+t: 89	 action: [-0.186  0.041 -0.661 -0.016 -0.009  0.057  0.988]
+[07-31 02:02:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.955 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9654
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9654
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 6
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 4 (66.7%)
+
+
 12%|█▏        | 6/50 [01:50<11:28, 15.65s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 7...
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=90: Selected seed 195 with value = 0.9654
+t: 90	 action: [-0.189  0.002 -0.372 -0.004  0.027  0.028  1.01 ]
+t: 91	 action: [-0.105  0.008 -0.213 -0.009  0.038  0.026  1.014]
+t: 92	 action: [-0.103  0.009 -0.148 -0.004  0.051  0.013  1.   ]
+t: 93	 action: [-0.036  0.019  0.008 -0.004  0.061  0.009 -0.972]
+t: 94	 action: [ 0.047  0.02   0.161 -0.006  0.086  0.004 -1.001]
+t: 95	 action: [ 0.055  0.015  0.249 -0.013  0.08   0.006 -1.039]
+t: 96	 action: [ 1.171e-01  7.769e-03  3.354e-01 -6.389e-04  9.356e-02 -3.250e-03 -9.949e-01]
+t: 97	 action: [ 1.186e-01  2.659e-02  3.778e-01 -6.454e-04  8.735e-02 -6.253e-03 -1.003e+00]
+t: 98	 action: [ 1.003e-01  1.377e-02  3.375e-01  5.144e-03  9.208e-02 -5.947e-04 -9.952e-01]
+t: 99	 action: [ 0.104  0.031  0.361  0.002  0.087 -0.01  -1.013]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+90 90 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+[07-31 02:02:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4709
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4709
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4709
+t=10: Selected seed 195 with value = 0.4709
+t: 10	 action: [ 0.225  0.13  -0.037  0.015  0.008  0.005 -0.99 ]
+t: 11	 action: [ 0.332  0.224 -0.008  0.023  0.007  0.004 -0.997]
+t: 12	 action: [ 0.437  0.308 -0.064  0.014  0.008  0.006 -0.993]
+t: 13	 action: [ 0.524  0.384 -0.031  0.021  0.004  0.006 -0.995]
+t: 14	 action: [ 0.64   0.44  -0.061  0.006  0.008  0.003 -0.994]
+t: 15	 action: [ 7.107e-01  4.990e-01 -5.623e-02  1.960e-02  8.374e-04  7.820e-03 -1.010e+00]
+t: 16	 action: [ 0.776  0.537 -0.099  0.006  0.009  0.004 -0.995]
+t: 17	 action: [ 7.949e-01  5.525e-01 -1.181e-01  1.747e-02 -9.410e-05  8.051e-03 -1.007e+00]
+t: 18	 action: [ 0.791  0.58  -0.156  0.011  0.008  0.011 -0.993]
+t: 19	 action: [ 0.783  0.563 -0.164  0.014  0.005  0.008 -1.001]
+t: 20	 action: [ 0.802  0.601 -0.2    0.008  0.01   0.012 -0.999]
+t: 21	 action: [ 0.796  0.576 -0.226  0.006  0.006  0.011 -0.993]
+t: 22	 action: [ 0.813  0.602 -0.227  0.004  0.011  0.009 -0.991]
+t: 23	 action: [ 0.8    0.581 -0.26   0.011  0.002  0.012 -1.002]
+t: 24	 action: [ 0.774  0.598 -0.328  0.002  0.015  0.008 -0.998]
+t: 25	 action: [ 0.762  0.536 -0.396  0.006  0.005  0.014 -0.997]
+[07-31 02:02:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5301
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5301
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5301
+t=26: Selected seed 195 with value = 0.5301
+t: 26	 action: [ 0.878  0.462 -0.381  0.01  -0.008  0.009 -1.013]
+t: 27	 action: [ 0.857  0.455 -0.391  0.014 -0.005  0.01  -1.003]
+t: 28	 action: [ 0.82   0.431 -0.48   0.011 -0.016  0.009 -1.02 ]
+t: 29	 action: [ 0.764  0.372 -0.495  0.018 -0.016  0.009 -1.006]
+t: 30	 action: [ 0.634  0.345 -0.606  0.02  -0.02   0.006 -1.019]
+t: 31	 action: [ 0.48   0.3   -0.682  0.026 -0.036  0.011 -1.015]
+t: 32	 action: [ 0.397  0.243 -0.796  0.032 -0.035  0.006 -1.027]
+t: 33	 action: [ 0.279  0.173 -0.873  0.034 -0.056  0.01  -1.016]
+t: 34	 action: [ 0.195  0.12  -0.928  0.042 -0.05   0.01  -1.014]
+t: 35	 action: [ 0.131  0.101 -0.941  0.036 -0.057  0.012 -1.001]
+t: 36	 action: [ 0.091  0.08  -0.939  0.034 -0.048  0.013 -1.021]
+t: 37	 action: [ 0.03   0.06  -0.93   0.029 -0.06   0.011 -1.003]
+t: 38	 action: [ 0.001  0.069 -0.921  0.021 -0.062  0.007 -1.023]
+t: 39	 action: [-0.033  0.047 -0.922  0.021 -0.067  0.01  -1.009]
+t: 40	 action: [-0.088  0.029 -0.914  0.006 -0.051  0.006 -1.029]
+t: 41	 action: [-0.109  0.021 -0.878  0.013 -0.064  0.01  -1.016]
+[07-31 02:02:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5928
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5928
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5928
+t=42: Selected seed 195 with value = 0.5928
+t: 42	 action: [-0.43  -0.068 -0.876  0.028 -0.073  0.021 -1.033]
+t: 43	 action: [-0.494 -0.088 -0.864  0.013 -0.071  0.034 -1.01 ]
+t: 44	 action: [-0.516 -0.067 -0.873  0.016 -0.072  0.021 -1.027]
+t: 45	 action: [-0.568 -0.073 -0.833  0.009 -0.073  0.032 -1.004]
+t: 46	 action: [-0.587 -0.075 -0.814  0.009 -0.055  0.023 -1.035]
+t: 47	 action: [-0.596 -0.058 -0.795  0.003 -0.069  0.036 -1.012]
+t: 48	 action: [-0.59  -0.033 -0.769  0.003 -0.047  0.024 -1.037]
+t: 49	 action: [-5.845e-01 -2.698e-02 -7.598e-01 -3.779e-04 -5.008e-02  2.849e-02 -1.002e+00]
+t: 50	 action: [-0.537 -0.072 -0.769  0.007 -0.025  0.029 -0.98 ]
+t: 51	 action: [-0.543 -0.081 -0.733  0.007 -0.016  0.033  0.6  ]
+t: 52	 action: [-0.338 -0.046 -0.548 -0.013  0.009  0.033  0.95 ]
+t: 53	 action: [-0.258 -0.07  -0.397 -0.014  0.016  0.032  0.995]
+t: 54	 action: [-0.233 -0.02  -0.278 -0.043  0.039  0.021  0.972]
+t: 55	 action: [-0.11  -0.04  -0.094 -0.083  0.04   0.022  1.   ]
+t: 56	 action: [-0.016 -0.012  0.06  -0.08   0.063  0.015  1.001]
+t: 57	 action: [ 0.023 -0.039  0.31  -0.106  0.068  0.017  1.003]
+[07-31 02:02:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7232
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=58: Selected seed 195 with value = 0.7232
+t: 58	 action: [ 0.017 -0.012  0.17  -0.017  0.04  -0.015  0.982]
+t: 59	 action: [ 0.025 -0.039  0.337 -0.017  0.036 -0.029  0.993]
+t: 60	 action: [ 0.037 -0.011  0.592 -0.005  0.038 -0.033  0.983]
+t: 61	 action: [ 0.024 -0.044  0.812 -0.006  0.038 -0.032  0.995]
+t: 62	 action: [ 0.055 -0.033  0.852 -0.001  0.043 -0.028  0.991]
+t: 63	 action: [ 0.012 -0.071  0.914  0.009  0.048 -0.03   0.977]
+t: 64	 action: [ 0.021 -0.174  0.912  0.007  0.051 -0.026  0.984]
+t: 65	 action: [-0.002 -0.278  0.932  0.024  0.059 -0.025  0.981]
+t: 66	 action: [-3.893e-02 -4.593e-01  8.726e-01  4.224e-02  5.056e-02  3.905e-04  9.868e-01]
+t: 67	 action: [-0.051 -0.586  0.853  0.045  0.064 -0.006  0.994]
+t: 68	 action: [-0.102 -0.618  0.75   0.039  0.038  0.005  0.981]
+t: 69	 action: [-1.179e-01 -6.793e-01  6.597e-01  4.324e-02  4.346e-02  6.334e-04  9.933e-01]
+t: 70	 action: [-0.197 -0.746  0.499  0.039  0.04   0.002  1.001]
+t: 71	 action: [-0.25  -0.753  0.351  0.045  0.029  0.007  0.98 ]
+t: 72	 action: [-0.263 -0.781  0.279  0.034  0.023  0.005  0.995]
+t: 73	 action: [-0.275 -0.758  0.147  0.038  0.009  0.011  0.982]
+[07-31 02:02:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8711
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8711
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 7
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 5 (71.4%)
+
+
 14%|█▍        | 7/50 [02:00<09:51, 13.76s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 8...
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=74: Selected seed 195 with value = 0.8711
+t: 74	 action: [-0.225 -0.762 -0.144  0.034  0.045  0.005  0.979]
+t: 75	 action: [-0.252 -0.731 -0.264  0.028  0.046  0.011  0.978]
+t: 76	 action: [-0.275 -0.65  -0.434  0.023  0.038  0.008  0.987]
+t: 77	 action: [-0.292 -0.555 -0.576  0.018  0.033  0.02   0.979]
+t: 78	 action: [-0.297 -0.507 -0.674  0.013  0.026  0.012  0.99 ]
+t: 79	 action: [-0.31  -0.381 -0.705  0.013  0.012  0.025  0.984]
+t: 80	 action: [-0.281 -0.29  -0.796  0.003  0.017  0.022  0.995]
+t: 81	 action: [-0.293 -0.194 -0.848 -0.003  0.006  0.03   0.987]
+t: 82	 action: [-0.195 -0.102 -0.825 -0.01   0.008  0.043  0.996]
+t: 83	 action: [-0.219 -0.082 -0.745 -0.022  0.016  0.04   0.994]
+t: 84	 action: [-0.143 -0.051 -0.619 -0.029  0.015  0.041  0.95 ]
+t: 85	 action: [-0.128 -0.044 -0.454 -0.032  0.022  0.029  0.987]
+t: 86	 action: [-0.124 -0.005 -0.306 -0.043  0.001  0.02   1.014]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+77 77 5 5
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+[07-31 02:02:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4117
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4117
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4117
+t=10: Selected seed 195 with value = 0.4117
+t: 10	 action: [ 0.156  0.125 -0.004  0.002  0.002  0.004 -1.003]
+t: 11	 action: [ 0.275  0.21   0.009 -0.004  0.005 -0.003 -0.989]
+t: 12	 action: [ 3.313e-01  3.394e-01 -7.432e-03  5.799e-04  2.956e-03  6.286e-03 -9.989e-01]
+t: 13	 action: [ 0.486  0.421  0.016 -0.004  0.004 -0.001 -0.99 ]
+t: 14	 action: [ 5.198e-01  4.645e-01  4.152e-04 -1.684e-03  6.747e-03  3.035e-03 -1.006e+00]
+t: 15	 action: [ 6.238e-01  5.112e-01 -4.980e-03 -2.760e-03  1.280e-03 -2.547e-04 -1.001e+00]
+t: 16	 action: [ 6.920e-01  5.590e-01  9.240e-04 -2.376e-03  9.714e-03  5.022e-03 -9.920e-01]
+t: 17	 action: [ 7.819e-01  5.685e-01 -8.062e-03 -2.327e-03  1.521e-03  6.654e-04 -1.004e+00]
+t: 18	 action: [ 0.76   0.557 -0.05   0.006  0.02   0.016 -0.997]
+t: 19	 action: [ 0.809  0.557 -0.027  0.004  0.018  0.01  -0.992]
+t: 20	 action: [ 0.789  0.533 -0.083  0.005  0.017  0.015 -0.994]
+t: 21	 action: [ 0.826  0.522 -0.089  0.003  0.016  0.009 -0.989]
+t: 22	 action: [ 0.825  0.51  -0.086  0.002  0.015  0.012 -0.992]
+t: 23	 action: [ 0.837  0.495 -0.123  0.003  0.004  0.008 -0.999]
+t: 24	 action: [ 8.241e-01  4.553e-01 -1.493e-01  1.077e-04  1.325e-02  1.023e-02 -9.889e-01]
+t: 25	 action: [ 0.827  0.392 -0.244  0.004  0.004  0.007 -1.003]
+[07-31 02:02:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4830
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4830
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4830
+t=26: Selected seed 195 with value = 0.4830
+t: 26	 action: [ 0.876  0.398 -0.26   0.003  0.027  0.012 -1.002]
+t: 27	 action: [ 8.093e-01  3.381e-01 -3.010e-01 -6.999e-04  2.137e-02  1.043e-02 -1.005e+00]
+t: 28	 action: [ 0.778  0.306 -0.376  0.003  0.016  0.01  -1.006]
+t: 29	 action: [ 0.691  0.221 -0.442  0.004  0.008  0.009 -1.005]
+t: 30	 action: [ 0.592  0.231 -0.52   0.001 -0.007  0.004 -1.007]
+t: 31	 action: [ 0.452  0.172 -0.652  0.007 -0.01   0.003 -1.009]
+t: 32	 action: [ 0.361  0.152 -0.772  0.003 -0.026  0.003 -1.01 ]
+t: 33	 action: [ 0.284  0.116 -0.847  0.012 -0.025  0.002 -1.009]
+t: 34	 action: [ 0.15   0.044 -0.917  0.01  -0.032  0.009 -1.014]
+t: 35	 action: [ 0.065  0.032 -0.943  0.011 -0.034  0.006 -0.997]
+t: 36	 action: [ 0.05   0.017 -0.942  0.007 -0.037  0.008 -1.014]
+t: 37	 action: [ 0.011 -0.011 -0.944  0.007 -0.041  0.003 -0.996]
+t: 38	 action: [-0.006  0.017 -0.93   0.004 -0.045  0.003 -1.016]
+t: 39	 action: [-2.126e-02 -2.306e-02 -9.278e-01  6.579e-03 -4.485e-02 -8.248e-04 -9.995e-01]
+t: 40	 action: [-8.995e-02 -4.382e-02 -9.302e-01 -4.177e-04 -4.694e-02  1.246e-03 -1.014e+00]
+t: 41	 action: [-1.186e-01 -6.059e-02 -9.067e-01  8.457e-04 -4.855e-02 -2.599e-03 -9.999e-01]
+[07-31 02:02:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5699
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5699
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5699
+t=42: Selected seed 195 with value = 0.5699
+t: 42	 action: [-0.149  0.006 -0.929  0.01  -0.044  0.011 -0.99 ]
+t: 43	 action: [-0.208 -0.023 -0.924 -0.002 -0.049  0.016 -0.998]
+t: 44	 action: [-0.22   0.012 -0.878  0.013 -0.033  0.02  -0.993]
+t: 45	 action: [-0.274 -0.027 -0.839  0.003 -0.033  0.021 -1.003]
+t: 46	 action: [-0.332  0.021 -0.818  0.008 -0.022  0.016 -0.992]
+t: 47	 action: [-0.392 -0.025 -0.786  0.002 -0.024  0.02  -1.003]
+t: 48	 action: [-0.36   0.015 -0.715  0.008 -0.013  0.019 -0.999]
+t: 49	 action: [-0.392 -0.025 -0.721  0.002 -0.007  0.017 -1.01 ]
+t: 50	 action: [-0.417  0.003 -0.612  0.01   0.017  0.019 -0.972]
+t: 51	 action: [-0.401 -0.068 -0.613  0.002  0.011  0.027 -1.032]
+t: 52	 action: [-0.367 -0.049 -0.571  0.009  0.023  0.01  -0.992]
+t: 53	 action: [-3.086e-01 -1.034e-01 -5.747e-01 -4.117e-04  1.362e-02  1.378e-02 -1.038e+00]
+t: 54	 action: [-0.399 -0.043 -0.551  0.005  0.01  -0.003 -0.988]
+t: 55	 action: [-0.321 -0.097 -0.547 -0.002  0.001 -0.008  1.019]
+t: 56	 action: [-0.192 -0.095 -0.449  0.004  0.014 -0.009  1.003]
+t: 57	 action: [-0.09  -0.097 -0.394 -0.007  0.007 -0.016  1.002]
+[07-31 02:02:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6550
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6550
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6550
+t=58: Selected seed 195 with value = 0.6550
+t: 58	 action: [-0.141 -0.025 -0.365 -0.004  0.009 -0.002  0.978]
+t: 59	 action: [-0.11  -0.047 -0.271 -0.007  0.004 -0.024  0.986]
+t: 60	 action: [-0.081 -0.066 -0.214 -0.003  0.018 -0.035  0.985]
+t: 61	 action: [-0.041 -0.077 -0.119 -0.003  0.01  -0.046  0.995]
+t: 62	 action: [-0.031 -0.095 -0.069 -0.004  0.014 -0.044  1.001]
+t: 63	 action: [-0.013 -0.1    0.033 -0.006  0.006 -0.057  0.994]
+t: 64	 action: [ 0.012 -0.084  0.072 -0.004  0.009 -0.083  1.002]
+t: 65	 action: [ 0.001 -0.071  0.21  -0.004  0.005 -0.085  1.001]
+t: 66	 action: [ 0.024 -0.024  0.198 -0.001 -0.008 -0.093  0.981]
+t: 67	 action: [ 0.038 -0.039  0.315 -0.001 -0.003 -0.09   0.98 ]
+t: 68	 action: [ 0.015 -0.023  0.524  0.003 -0.021 -0.101  0.98 ]
+t: 69	 action: [ 0.027 -0.041  0.743  0.002 -0.005 -0.095  0.985]
+t: 70	 action: [ 0.009 -0.011  0.876  0.009 -0.013 -0.093  1.005]
+t: 71	 action: [-0.014 -0.049  0.93   0.017 -0.004 -0.082  0.985]
+t: 72	 action: [-0.022 -0.123  0.957  0.021 -0.007 -0.087  1.011]
+t: 73	 action: [-0.024 -0.201  0.963  0.032  0.005 -0.076  0.995]
+[07-31 02:02:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7484
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7484
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7484
+t=74: Selected seed 195 with value = 0.7484
+t: 74	 action: [-0.056 -0.499  0.852  0.05   0.036 -0.062  1.003]
+t: 75	 action: [-0.043 -0.55   0.892  0.049  0.037 -0.049  1.007]
+t: 76	 action: [-0.087 -0.614  0.795  0.054  0.055 -0.06   1.002]
+t: 77	 action: [-0.067 -0.644  0.728  0.048  0.057 -0.046  0.995]
+t: 78	 action: [-0.117 -0.699  0.622  0.048  0.073 -0.038  1.005]
+t: 79	 action: [-0.136 -0.664  0.555  0.048  0.08  -0.029  0.989]
+t: 80	 action: [-0.155 -0.733  0.392  0.037  0.087 -0.033  1.001]
+t: 81	 action: [-0.17  -0.701  0.281  0.03   0.092 -0.021  0.986]
+t: 82	 action: [-0.139 -0.722  0.254  0.022  0.083 -0.025  0.987]
+t: 83	 action: [-0.147 -0.689  0.132  0.015  0.082 -0.025  0.992]
+t: 84	 action: [-0.148 -0.712  0.078  0.019  0.082 -0.011  0.976]
+t: 85	 action: [-0.135 -0.679  0.012  0.011  0.078 -0.017  0.996]
+t: 86	 action: [-0.208 -0.587 -0.067  0.01   0.073 -0.009  1.002]
+t: 87	 action: [-0.184 -0.566 -0.164  0.01   0.072 -0.002  0.986]
+t: 88	 action: [-2.001e-01 -4.128e-01 -2.787e-01  1.581e-03  6.880e-02 -5.760e-04  9.876e-01]
+t: 89	 action: [-0.147 -0.338 -0.348  0.002  0.07   0.009  0.978]
+[07-31 02:02:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8711
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=90: Selected seed 195 with value = 0.8711
+t: 90	 action: [-0.349 -0.172 -0.711 -0.007 -0.029  0.011  0.976]
+t: 91	 action: [-0.328 -0.087 -0.73  -0.022 -0.028  0.018  0.984]
+t: 92	 action: [-0.267  0.004 -0.712 -0.016 -0.019  0.019  0.984]
+t: 93	 action: [-2.241e-01  6.413e-04 -6.453e-01 -2.319e-02 -1.535e-02  2.190e-02  9.879e-01]
+t: 94	 action: [-0.182  0.057 -0.557 -0.018  0.013  0.022  0.992]
+t: 95	 action: [-0.127  0.054 -0.419 -0.022  0.023  0.032  0.997]
+t: 96	 action: [-0.045  0.05  -0.332 -0.017  0.039  0.029  0.994]
+t: 97	 action: [-0.03   0.05  -0.184 -0.017  0.059  0.032  1.003]
+t: 98	 action: [ 0.056  0.022 -0.067 -0.006  0.073  0.013  0.99 ]
+t: 99	 action: [ 0.038  0.02  -0.048 -0.013  0.08   0.009  0.984]
+t: 100	 action: [ 0.046  0.004  0.04  -0.007  0.08   0.008  1.001]
+t: 101	 action: [ 0.013  0.001  0.045 -0.01   0.075  0.008  0.953]
+t: 102	 action: [ 0.024  0.012  0.064 -0.005  0.05  -0.001 -0.995]
+t: 103	 action: [ 0.002  0.012  0.117 -0.009  0.027  0.001 -1.008]
+t: 104	 action: [ 0.044  0.005  0.21  -0.007  0.023 -0.008 -1.   ]
+t: 105	 action: [ 0.05   0.012  0.255 -0.009  0.006 -0.003 -1.031]
+[07-31 02:02:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.955 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9530
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9530
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 8
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 6 (75.0%)
+
+
 16%|█▌        | 8/50 [02:13<09:24, 13.44s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 9...
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=106: Selected seed 195 with value = 0.9530
+t: 106	 action: [0.06  0.081 0.38  0.012 0.048 0.019 0.898]
+t: 107	 action: [0.053 0.047 0.329 0.014 0.019 0.018 0.894]
+t: 108	 action: [ 0.086  0.087  0.393  0.024  0.01   0.003 -0.997]
+t: 109	 action: [ 0.112  0.061  0.367  0.019 -0.003  0.003 -1.003]
+t: 110	 action: [ 0.129  0.033  0.279  0.002 -0.034 -0.005 -1.   ]
+t: 111	 action: [ 0.113  0.04   0.299  0.008 -0.019  0.012 -1.032]
+t: 112	 action: [ 1.478e-01  5.051e-02  1.802e-01 -1.237e-05 -3.525e-02 -5.181e-03 -9.962e-01]
+t: 113	 action: [ 0.128  0.048  0.175  0.011 -0.04  -0.006 -1.014]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+104 104 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+[07-31 02:02:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4346
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4346
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4346
+t=10: Selected seed 195 with value = 0.4346
+t: 10	 action: [ 8.027e-02  1.064e-01 -7.477e-05  3.665e-03  5.038e-03  3.865e-03 -9.963e-01]
+t: 11	 action: [ 0.191  0.18   0.012  0.003  0.006  0.005 -0.993]
+t: 12	 action: [ 0.312  0.301  0.001  0.001  0.008  0.006 -1.001]
+t: 13	 action: [ 4.551e-01  3.746e-01  1.345e-02  5.519e-04  4.602e-03  5.740e-03 -9.948e-01]
+t: 14	 action: [ 5.862e-01  4.348e-01  1.724e-02  2.505e-05  1.279e-02  4.598e-03 -1.007e+00]
+t: 15	 action: [ 0.687  0.467  0.004  0.002  0.006  0.008 -1.009]
+t: 16	 action: [ 0.777  0.525  0.014 -0.002  0.017  0.006 -1.003]
+t: 17	 action: [ 8.290e-01  5.421e-01  5.724e-04 -3.315e-04  6.191e-03  7.206e-03 -1.012e+00]
+t: 18	 action: [ 0.789  0.527 -0.013  0.003  0.017  0.01  -0.998]
+t: 19	 action: [ 0.802  0.532 -0.002 -0.007  0.012  0.006 -1.   ]
+t: 20	 action: [ 0.828  0.54  -0.036 -0.002  0.011  0.01  -1.   ]
+t: 21	 action: [ 0.832  0.531 -0.03  -0.009  0.01   0.006 -0.997]
+t: 22	 action: [ 0.857  0.545 -0.048 -0.004  0.015  0.008 -0.992]
+t: 23	 action: [ 0.851  0.546 -0.058 -0.006  0.001  0.005 -1.006]
+t: 24	 action: [ 0.861  0.523 -0.115 -0.007  0.009  0.007 -0.996]
+t: 25	 action: [ 8.681e-01  4.865e-01 -1.510e-01 -6.839e-03  4.003e-04  6.338e-03 -1.009e+00]
+[07-31 02:02:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5019
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=26: Selected seed 195 with value = 0.5019
+t: 26	 action: [ 0.893  0.403 -0.251  0.005  0.017  0.012 -1.001]
+t: 27	 action: [ 8.591e-01  3.499e-01 -3.189e-01  2.111e-04  1.216e-02  1.061e-02 -1.003e+00]
+t: 28	 action: [ 0.832  0.317 -0.381  0.004  0.012  0.01  -1.001]
+t: 29	 action: [ 0.761  0.234 -0.456  0.003  0.007  0.008 -1.003]
+t: 30	 action: [ 0.67   0.232 -0.505  0.002 -0.002  0.003 -1.004]
+t: 31	 action: [ 0.532  0.176 -0.627  0.007 -0.003  0.002 -1.005]
+t: 32	 action: [ 0.438  0.135 -0.702  0.005 -0.014  0.001 -1.004]
+t: 33	 action: [ 3.473e-01  1.103e-01 -7.620e-01  1.110e-02 -1.173e-02  3.785e-04 -1.005e+00]
+t: 34	 action: [ 0.226  0.034 -0.833  0.013 -0.015  0.006 -1.011]
+t: 35	 action: [ 0.143  0.021 -0.882  0.011 -0.012 -0.002 -1.002]
+t: 36	 action: [ 0.117  0.002 -0.9    0.011 -0.021  0.005 -1.012]
+t: 37	 action: [ 0.043 -0.008 -0.912  0.008 -0.024 -0.004 -1.   ]
+t: 38	 action: [ 0.058  0.022 -0.91   0.01  -0.034 -0.005 -1.011]
+t: 39	 action: [-0.001  0.002 -0.906  0.007 -0.039 -0.011 -1.006]
+t: 40	 action: [-0.044 -0.005 -0.917  0.001 -0.039 -0.004 -1.01 ]
+t: 41	 action: [-0.079 -0.022 -0.898  0.001 -0.044 -0.011 -1.003]
+[07-31 02:02:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.949 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5768
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 0.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=42: Selected seed 195 with value = 0.5768
+t: 42	 action: [-0.266  0.028 -0.936  0.009 -0.056  0.009 -0.984]
+t: 43	 action: [-0.316  0.034 -0.937  0.006 -0.074  0.021 -0.996]
+t: 44	 action: [-0.331  0.021 -0.891  0.014 -0.039  0.023 -0.984]
+t: 45	 action: [-0.359  0.018 -0.851  0.011 -0.049  0.029 -1.004]
+t: 46	 action: [-0.379  0.017 -0.832  0.008 -0.026  0.021 -0.988]
+t: 47	 action: [-0.367  0.024 -0.75   0.009 -0.015  0.026 -1.002]
+t: 48	 action: [-0.314 -0.009 -0.718  0.009 -0.011  0.03  -0.99 ]
+t: 49	 action: [-0.302 -0.017 -0.653  0.009  0.004  0.025 -1.01 ]
+t: 50	 action: [-0.34   0.006 -0.602  0.016  0.026  0.03  -0.966]
+t: 51	 action: [-0.374 -0.032 -0.591  0.012  0.021  0.035 -1.028]
+t: 52	 action: [-0.377 -0.03  -0.557  0.013  0.03   0.014 -0.984]
+t: 53	 action: [-0.342 -0.069 -0.553  0.008  0.026  0.025 -1.031]
+t: 54	 action: [-0.456 -0.025 -0.565  0.011  0.019  0.001 -0.973]
+t: 55	 action: [-0.419 -0.069 -0.511  0.007  0.01   0.005  0.985]
+t: 56	 action: [-0.333 -0.032 -0.499  0.009  0.02  -0.002  0.992]
+t: 57	 action: [-0.214 -0.069 -0.401  0.002  0.016 -0.004  1.001]
+[07-31 02:02:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6761
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6761
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6761
+t=58: Selected seed 195 with value = 0.6761
+t: 58	 action: [-0.189 -0.043 -0.393 -0.005  0.004  0.02   0.967]
+t: 59	 action: [-0.165 -0.078 -0.316 -0.005  0.012  0.018  0.987]
+t: 60	 action: [-0.119 -0.103 -0.218 -0.006  0.017  0.009  0.975]
+t: 61	 action: [-0.097 -0.113 -0.15  -0.006  0.02   0.008  0.991]
+t: 62	 action: [-0.071 -0.175 -0.023 -0.011  0.028 -0.001  0.991]
+t: 63	 action: [-7.220e-02 -1.747e-01  7.689e-02 -8.448e-03  1.709e-02  2.561e-04  1.001e+00]
+t: 64	 action: [-0.022 -0.148  0.172 -0.007  0.035 -0.009  0.992]
+t: 65	 action: [-0.021 -0.129  0.333 -0.004  0.022 -0.018  1.01 ]
+t: 66	 action: [ 2.372e-02 -9.653e-03  5.260e-01 -3.634e-04  1.934e-02 -1.990e-02  9.761e-01]
+t: 67	 action: [ 0.036 -0.025  0.717  0.003  0.017 -0.028  0.982]
+t: 68	 action: [ 3.769e-02 -2.925e-02  8.396e-01  8.775e-04  1.277e-02 -2.043e-02  9.718e-01]
+t: 69	 action: [ 0.032 -0.064  0.928  0.008  0.012 -0.026  0.979]
+t: 70	 action: [ 0.022 -0.1    0.94   0.009  0.018 -0.011  0.994]
+t: 71	 action: [-0.005 -0.186  0.944  0.025  0.023 -0.008  0.988]
+t: 72	 action: [-0.031 -0.326  0.913  0.025  0.019 -0.008  0.999]
+t: 73	 action: [-0.027 -0.38   0.902  0.038  0.02   0.001  0.995]
+[07-31 02:02:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.027 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8000
+Query 1/1: Action query time = 1.027 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8000
+t=74: Selected seed 195 with value = 0.8000
+t: 74	 action: [-0.04  -0.544  0.847  0.01   0.008  0.005  0.984]
+t: 75	 action: [-0.091 -0.606  0.789  0.011  0.01   0.015  0.992]
+t: 76	 action: [-0.123 -0.645  0.631  0.01  -0.003  0.004  0.979]
+t: 77	 action: [-0.174 -0.677  0.461  0.015  0.002  0.017  0.988]
+t: 78	 action: [-0.203 -0.731  0.299  0.016 -0.001  0.004  0.997]
+t: 79	 action: [-0.273 -0.724  0.159  0.01  -0.008  0.016  0.995]
+t: 80	 action: [-0.303 -0.724  0.022  0.015 -0.013  0.005  0.992]
+t: 81	 action: [-0.322 -0.696 -0.114  0.008 -0.016  0.017  1.003]
+t: 82	 action: [-0.327 -0.698 -0.175  0.008 -0.033  0.009  0.986]
+t: 83	 action: [-0.377 -0.63  -0.298  0.005 -0.026  0.023  0.991]
+t: 84	 action: [-0.37  -0.503 -0.445  0.002 -0.042  0.009  0.978]
+t: 85	 action: [-0.376 -0.436 -0.572 -0.009 -0.03   0.025  0.992]
+t: 86	 action: [-3.493e-01 -3.226e-01 -6.300e-01 -2.278e-04 -5.299e-02  1.119e-02  9.990e-01]
+t: 87	 action: [-0.361 -0.23  -0.707 -0.009 -0.07   0.025  0.998]
+t: 88	 action: [-0.198 -0.1   -0.72  -0.022 -0.045  0.009  0.993]
+t: 89	 action: [-0.166 -0.078 -0.696 -0.02  -0.049  0.025  1.004]
+[07-31 02:03:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9403
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9403
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 9
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 7 (77.8%)
+
+
 18%|█▊        | 9/50 [02:24<08:44, 12.79s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 10...
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9403
+t=90: Selected seed 195 with value = 0.9403
+t: 90	 action: [-7.879e-02 -1.036e-01 -5.411e-01  6.077e-03 -3.015e-02  5.152e-04  9.637e-01]
+t: 91	 action: [-0.006 -0.067 -0.41  -0.004 -0.015 -0.012  1.016]
+t: 92	 action: [-3.848e-03 -7.087e-04 -2.977e-01  4.094e-03 -4.471e-04 -4.972e-03  9.991e-01]
+t: 93	 action: [ 0.037 -0.008 -0.135 -0.004  0.02  -0.019  0.905]
+t: 94	 action: [ 0.015  0.039 -0.065 -0.001  0.061 -0.013  0.293]
+t: 95	 action: [ 0.03   0.045  0.022 -0.004  0.067 -0.017 -0.979]
+t: 96	 action: [ 7.826e-02  9.917e-04  7.741e-02 -9.195e-05  8.539e-02 -3.022e-02 -1.014e+00]
+t: 97	 action: [ 0.108  0.016  0.121 -0.001  0.086 -0.029 -1.05 ]
+t: 98	 action: [ 0.056 -0.015  0.178  0.008  0.078 -0.046 -0.997]
+t: 99	 action: [ 0.055 -0.032  0.2    0.007  0.076 -0.054 -1.015]
+t: 100	 action: [ 0.048 -0.013  0.179  0.007  0.069 -0.054 -0.981]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+91 91 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+[07-31 02:03:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4144
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4144
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4144
+t=10: Selected seed 195 with value = 0.4144
+t: 10	 action: [ 0.074  0.044  0.009  0.001  0.005  0.001 -1.005]
+t: 11	 action: [ 0.193  0.107  0.015 -0.01   0.005 -0.007 -0.991]
+t: 12	 action: [ 0.283  0.215  0.005 -0.003  0.004  0.004 -1.007]
+t: 13	 action: [ 0.436  0.297  0.017 -0.011  0.004 -0.006 -0.993]
+t: 14	 action: [ 0.555  0.391  0.015 -0.006  0.011  0.002 -1.012]
+t: 15	 action: [ 0.658  0.427  0.002 -0.009  0.004 -0.005 -1.009]
+t: 16	 action: [ 0.755  0.503  0.005 -0.008  0.011  0.003 -1.005]
+t: 17	 action: [ 0.805  0.508  0.004 -0.009  0.002 -0.005 -1.01 ]
+t: 18	 action: [ 0.781  0.544 -0.025 -0.006  0.012  0.008 -1.006]
+t: 19	 action: [ 8.116e-01  5.361e-01 -3.398e-03 -1.416e-02  8.463e-03 -8.494e-04 -9.973e-01]
+t: 20	 action: [ 0.835  0.552 -0.038 -0.01   0.007  0.01  -1.005]
+t: 21	 action: [ 8.491e-01  5.282e-01 -1.283e-02 -1.299e-02  8.404e-03 -3.900e-04 -9.966e-01]
+t: 22	 action: [ 0.876  0.537 -0.056 -0.012  0.011  0.006 -1.   ]
+t: 23	 action: [ 8.876e-01  5.272e-01 -6.072e-02 -1.092e-02  7.019e-04 -1.484e-03 -1.006e+00]
+t: 24	 action: [ 0.901  0.486 -0.098 -0.011  0.004  0.006 -1.001]
+t: 25	 action: [ 9.056e-01  4.509e-01 -1.111e-01 -8.672e-03 -3.608e-05 -5.878e-04 -1.010e+00]
+[07-31 02:03:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5354
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=26: Selected seed 195 with value = 0.5354
+t: 26	 action: [ 0.806  0.483 -0.276  0.007  0.002  0.01  -1.005]
+t: 27	 action: [ 0.767  0.442 -0.269  0.003  0.004  0.008 -0.999]
+t: 28	 action: [ 0.745  0.358 -0.409  0.005 -0.001  0.008 -1.003]
+t: 29	 action: [ 0.678  0.266 -0.444  0.009  0.004  0.005 -0.999]
+t: 30	 action: [ 0.613  0.194 -0.518  0.007 -0.004  0.001 -1.011]
+t: 31	 action: [ 4.900e-01  1.082e-01 -6.375e-01  1.966e-02 -4.972e-03 -1.339e-04 -1.007e+00]
+t: 32	 action: [ 4.167e-01  7.161e-02 -7.521e-01  2.730e-02 -7.625e-03  9.543e-04 -1.009e+00]
+t: 33	 action: [ 0.335  0.052 -0.829  0.031 -0.008 -0.003 -1.009]
+t: 34	 action: [ 0.236  0.04  -0.907  0.027 -0.018  0.005 -1.01 ]
+t: 35	 action: [ 0.134  0.038 -0.924  0.022 -0.018 -0.002 -1.001]
+t: 36	 action: [ 0.091  0.038 -0.929  0.021 -0.025  0.005 -1.009]
+t: 37	 action: [ 0.038  0.038 -0.938  0.015 -0.033 -0.004 -0.998]
+t: 38	 action: [-0.04   0.057 -0.945  0.016 -0.032  0.001 -1.016]
+t: 39	 action: [-0.079  0.063 -0.939  0.014 -0.04  -0.007 -1.007]
+t: 40	 action: [-0.163  0.068 -0.94   0.005 -0.038  0.002 -1.011]
+t: 41	 action: [-0.208  0.066 -0.928  0.005 -0.046 -0.007 -1.008]
+[07-31 02:03:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.956 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5832
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5832
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5832
+t=42: Selected seed 195 with value = 0.5832
+t: 42	 action: [-0.27   0.03  -0.953  0.009 -0.056  0.008 -0.995]
+t: 43	 action: [-0.312  0.057 -0.907  0.006 -0.063  0.009 -0.997]
+t: 44	 action: [-0.307  0.028 -0.904  0.011 -0.037  0.012 -0.995]
+t: 45	 action: [-0.334  0.028 -0.83   0.007 -0.035  0.011 -0.998]
+t: 46	 action: [-0.398  0.032 -0.861  0.007 -0.009  0.011 -0.999]
+t: 47	 action: [-0.424  0.02  -0.743  0.008 -0.004  0.014 -1.004]
+t: 48	 action: [-0.357  0.004 -0.757  0.007  0.006  0.01  -1.001]
+t: 49	 action: [-0.358 -0.022 -0.686  0.005  0.012  0.009 -1.003]
+t: 50	 action: [-0.384 -0.008 -0.707  0.009  0.012  0.006 -0.994]
+t: 51	 action: [-0.408 -0.055 -0.653  0.004  0.008 -0.003 -0.998]
+t: 52	 action: [-0.428 -0.06  -0.679  0.009  0.023  0.006 -0.986]
+t: 53	 action: [-0.373 -0.078 -0.637  0.003  0.015  0.007 -1.037]
+t: 54	 action: [-0.455 -0.04  -0.643  0.006  0.017 -0.002 -1.018]
+t: 55	 action: [-0.375 -0.077 -0.577  0.003  0.008 -0.016 -0.911]
+t: 56	 action: [-0.311 -0.075 -0.549  0.004  0.026 -0.009  0.978]
+t: 57	 action: [-1.655e-01 -8.118e-02 -4.358e-01 -2.425e-04  1.940e-02 -1.501e-02  1.025e+00]
+[07-31 02:03:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.952 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6596
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6596
+Query 1/1: Action query time = 0.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6596
+t=58: Selected seed 195 with value = 0.6596
+t: 58	 action: [-0.383 -0.086 -0.55  -0.004 -0.011 -0.002  0.961]
+t: 59	 action: [-0.295 -0.099 -0.435 -0.002 -0.002 -0.012  0.987]
+t: 60	 action: [-0.201 -0.139 -0.362 -0.003  0.01  -0.016  0.988]
+t: 61	 action: [-0.126 -0.129 -0.233 -0.005  0.007 -0.025  0.989]
+t: 62	 action: [-0.11  -0.17  -0.182 -0.008  0.027 -0.016  0.995]
+t: 63	 action: [-0.059 -0.169 -0.065 -0.006  0.032 -0.025  0.998]
+t: 64	 action: [-0.003 -0.162 -0.028 -0.008  0.039 -0.034  1.005]
+t: 65	 action: [ 0.007 -0.152  0.043 -0.008  0.046 -0.044  1.002]
+t: 66	 action: [-0.006 -0.08   0.071 -0.002  0.04  -0.032  0.979]
+t: 67	 action: [ 0.015 -0.071  0.129 -0.002  0.038 -0.038  0.991]
+t: 68	 action: [ 2.611e-02 -2.871e-02  2.724e-01 -7.087e-04  2.439e-02 -4.408e-02  9.741e-01]
+t: 69	 action: [ 0.03  -0.043  0.466 -0.001  0.025 -0.046  0.988]
+t: 70	 action: [ 4.613e-02  4.357e-04  7.162e-01 -5.652e-05  2.104e-02 -4.083e-02  9.975e-01]
+t: 71	 action: [ 0.008 -0.009  0.88   0.002  0.018 -0.038  0.988]
+t: 72	 action: [ 0.047 -0.027  0.948  0.009  0.019 -0.038  1.   ]
+t: 73	 action: [ 0.019 -0.094  0.961  0.016  0.023 -0.034  0.991]
+[07-31 02:03:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.953 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7708
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7708
+Query 1/1: Action query time = 0.953 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7708
+t=74: Selected seed 195 with value = 0.7708
+t: 74	 action: [ 0.163 -0.059  0.899  0.009  0.071 -0.006  0.985]
+t: 75	 action: [ 0.138 -0.196  0.945  0.022  0.075 -0.009  0.981]
+t: 76	 action: [ 0.119 -0.331  0.908  0.032  0.074 -0.004  0.982]
+t: 77	 action: [ 0.054 -0.473  0.895  0.043  0.074 -0.007  0.98 ]
+t: 78	 action: [ 0.05  -0.596  0.828  0.057  0.062 -0.002  0.996]
+t: 79	 action: [ 0.011 -0.681  0.724  0.059  0.062  0.004  0.981]
+t: 80	 action: [ 3.590e-04 -7.303e-01  5.303e-01  5.618e-02  5.451e-02  1.080e-04  9.957e-01]
+t: 81	 action: [-0.03  -0.739  0.346  0.058  0.047  0.004  0.981]
+t: 82	 action: [-0.09  -0.785  0.097  0.042  0.019  0.007  0.988]
+t: 83	 action: [-0.121 -0.789  0.008  0.029  0.009  0.007  0.986]
+t: 84	 action: [-0.14  -0.759 -0.122  0.024 -0.006  0.007  0.978]
+t: 85	 action: [-0.169 -0.698 -0.252  0.016 -0.003  0.01   0.987]
+t: 86	 action: [-0.231 -0.586 -0.383  0.006 -0.034  0.011  0.99 ]
+t: 87	 action: [-0.221 -0.518 -0.523  0.004 -0.032  0.013  0.98 ]
+t: 88	 action: [-0.227 -0.399 -0.607 -0.005 -0.056  0.009  0.982]
+t: 89	 action: [-0.222 -0.297 -0.676 -0.007 -0.058  0.012  0.986]
+[07-31 02:03:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9241
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9241
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 10
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 8 (80.0%)
+
+
 20%|██        | 10/50 [02:35<08:12, 12.30s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 11...
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=90: Selected seed 195 with value = 0.9241
+t: 90	 action: [-0.233 -0.251 -0.692 -0.013 -0.005  0.012  0.984]
+t: 91	 action: [-0.214 -0.133 -0.771 -0.034 -0.02   0.025  0.995]
+t: 92	 action: [-0.187 -0.006 -0.747 -0.029 -0.015  0.024  0.989]
+t: 93	 action: [-0.168  0.027 -0.741 -0.048 -0.029  0.031  0.988]
+t: 94	 action: [-0.13   0.051 -0.594 -0.037 -0.024  0.034  1.   ]
+t: 95	 action: [-0.115  0.116 -0.474 -0.04  -0.004  0.04   1.003]
+t: 96	 action: [-0.052  0.087 -0.361 -0.04  -0.014  0.042  0.987]
+t: 97	 action: [-0.028  0.141 -0.217 -0.034  0.012  0.031 -0.96 ]
+t: 98	 action: [-2.070e-02  7.867e-02 -2.775e-02 -3.582e-02  1.014e-03  2.286e-02 -1.034e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+89 89 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+[07-31 02:03:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.028 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4402
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4402
+Query 1/1: Action query time = 1.028 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4402
+t=10: Selected seed 195 with value = 0.4402
+t: 10	 action: [ 0.16   0.09   0.003  0.004  0.003  0.003 -0.999]
+t: 11	 action: [ 2.521e-01  1.594e-01  6.523e-03 -4.673e-03  4.820e-03  9.947e-05 -9.924e-01]
+t: 12	 action: [ 0.368  0.257 -0.006  0.003  0.006  0.006 -0.999]
+t: 13	 action: [ 0.492  0.329  0.007 -0.003  0.006  0.003 -0.992]
+t: 14	 action: [ 0.611  0.409  0.007 -0.002  0.016  0.003 -1.002]
+t: 15	 action: [ 0.696  0.45  -0.003 -0.004  0.011  0.005 -1.01 ]
+t: 16	 action: [ 0.774  0.498 -0.008 -0.001  0.021  0.005 -0.998]
+t: 17	 action: [ 0.816  0.511 -0.015 -0.001  0.013  0.007 -1.01 ]
+t: 18	 action: [ 0.789  0.535 -0.045  0.002  0.016  0.011 -0.998]
+t: 19	 action: [ 0.795  0.534 -0.029 -0.01   0.013  0.005 -0.996]
+t: 20	 action: [ 0.825  0.556 -0.086 -0.002  0.014  0.012 -1.002]
+t: 21	 action: [ 0.819  0.544 -0.066 -0.01   0.014  0.008 -0.993]
+t: 22	 action: [ 0.866  0.597 -0.098 -0.005  0.02   0.008 -0.994]
+t: 23	 action: [ 0.864  0.571 -0.099 -0.01   0.007  0.007 -1.004]
+t: 24	 action: [ 0.86   0.599 -0.179 -0.006  0.018  0.009 -1.   ]
+t: 25	 action: [ 0.861  0.534 -0.18  -0.008  0.007  0.009 -1.008]
+[07-31 02:03:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4694
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4694
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4694
+t=26: Selected seed 195 with value = 0.4694
+t: 26	 action: [ 0.919  0.414 -0.315  0.002  0.016  0.012 -1.003]
+t: 27	 action: [ 0.908  0.405 -0.403 -0.007  0.012  0.012 -1.006]
+t: 28	 action: [ 0.888  0.391 -0.429  0.003  0.01   0.012 -1.002]
+t: 29	 action: [ 0.815  0.34  -0.493 -0.003  0.007  0.011 -1.005]
+t: 30	 action: [ 7.584e-01  3.404e-01 -5.156e-01 -4.722e-04 -5.365e-03  5.823e-03 -1.010e+00]
+t: 31	 action: [ 0.6    0.295 -0.631  0.003 -0.006  0.007 -1.01 ]
+t: 32	 action: [ 0.461  0.22  -0.688  0.002 -0.019  0.006 -1.01 ]
+t: 33	 action: [ 0.344  0.186 -0.748  0.008 -0.018  0.006 -1.008]
+t: 34	 action: [ 0.235  0.055 -0.857  0.01  -0.021  0.012 -1.008]
+t: 35	 action: [ 0.12   0.015 -0.889  0.011 -0.021  0.012 -0.997]
+t: 36	 action: [ 0.085 -0.025 -0.91   0.014 -0.025  0.011 -1.013]
+t: 37	 action: [ 0.024 -0.064 -0.922  0.012 -0.031  0.009 -0.993]
+t: 38	 action: [-0.023 -0.08  -0.915  0.01  -0.04   0.005 -1.01 ]
+t: 39	 action: [-0.106 -0.095 -0.92   0.006 -0.051  0.006 -1.001]
+t: 40	 action: [-0.19  -0.199 -0.922  0.006 -0.045  0.004 -1.014]
+t: 41	 action: [-0.285 -0.147 -0.921  0.001 -0.058  0.005 -0.999]
+[07-31 02:03:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.163 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5911
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5911
+Query 1/1: Action query time = 1.163 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5911
+t=42: Selected seed 195 with value = 0.5911
+t: 42	 action: [-0.191  0.026 -0.907  0.004 -0.042  0.029 -1.021]
+t: 43	 action: [-0.293  0.01  -0.896 -0.008 -0.047  0.037 -1.   ]
+t: 44	 action: [-0.337  0.015 -0.878  0.004 -0.041  0.026 -1.017]
+t: 45	 action: [-0.395  0.013 -0.831 -0.005 -0.045  0.034 -1.001]
+t: 46	 action: [-4.193e-01  2.324e-02 -8.372e-01  5.234e-04 -4.055e-02  2.581e-02 -1.027e+00]
+t: 47	 action: [-0.446  0.037 -0.816 -0.006 -0.041  0.033 -1.009]
+t: 48	 action: [-4.463e-01  7.305e-03 -7.630e-01 -1.085e-04 -3.494e-02  2.230e-02 -1.023e+00]
+t: 49	 action: [-0.453  0.04  -0.748 -0.003 -0.027  0.026 -1.005]
+t: 50	 action: [-0.426  0.025 -0.693  0.005 -0.006  0.047 -0.935]
+t: 51	 action: [-0.423  0.002 -0.666 -0.006  0.002  0.037  0.948]
+t: 52	 action: [-2.958e-01  2.416e-02 -5.497e-01  4.776e-04  3.536e-03  4.028e-02  9.812e-01]
+t: 53	 action: [-2.547e-01  1.792e-03 -4.643e-01 -1.182e-02  5.844e-04  2.660e-02  9.996e-01]
+t: 54	 action: [-0.242  0.017 -0.284 -0.014  0.006  0.022  0.963]
+t: 55	 action: [-2.064e-01 -2.258e-04 -2.008e-01 -1.250e-02  4.590e-03  2.018e-02  9.765e-01]
+t: 56	 action: [-0.089 -0.006 -0.014 -0.025  0.014  0.01   1.004]
+t: 57	 action: [-0.04  -0.019  0.058 -0.019  0.008  0.009  0.994]
+[07-31 02:03:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.056 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6936
+Query 1/1: Action query time = 1.056 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6936
+t=58: Selected seed 195 with value = 0.6936
+t: 58	 action: [-0.04  -0.049 -0.005 -0.017 -0.018 -0.034  0.993]
+t: 59	 action: [ 0.011 -0.057  0.098 -0.02  -0.005 -0.047  0.993]
+t: 60	 action: [ 0.009  0.028  0.343 -0.01  -0.01  -0.053  0.993]
+t: 61	 action: [ 2.499e-02 -2.821e-03  5.668e-01 -1.219e-02 -9.687e-04 -5.155e-02  9.960e-01]
+t: 62	 action: [ 0.066  0.042  0.705 -0.015  0.009 -0.049  0.997]
+t: 63	 action: [ 0.073  0.067  0.835 -0.011  0.013 -0.056  0.978]
+t: 64	 action: [ 0.097  0.029  0.908 -0.003  0.027 -0.055  0.991]
+t: 65	 action: [ 8.215e-02  3.374e-04  9.215e-01  2.247e-03  4.700e-02 -5.352e-02  9.832e-01]
+t: 66	 action: [ 0.129 -0.104  0.912  0.007  0.046 -0.042  0.978]
+t: 67	 action: [ 0.087 -0.247  0.946  0.023  0.055 -0.038  0.991]
+t: 68	 action: [ 0.078 -0.35   0.897  0.019  0.067 -0.022  0.978]
+t: 69	 action: [ 0.055 -0.526  0.888  0.032  0.078 -0.023  0.986]
+t: 70	 action: [-0.023 -0.609  0.825  0.03   0.092 -0.02   0.991]
+t: 71	 action: [-0.026 -0.716  0.774  0.037  0.091 -0.021  0.987]
+t: 72	 action: [-0.095 -0.741  0.655  0.034  0.091 -0.005  0.996]
+t: 73	 action: [-0.095 -0.789  0.538  0.038  0.077 -0.008  0.985]
+[07-31 02:03:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.174 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8152
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8152
+Query 1/1: Action query time = 1.174 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8152
+t=74: Selected seed 195 with value = 0.8152
+t: 74	 action: [-0.115 -0.832  0.231  0.056  0.044 -0.002  0.985]
+t: 75	 action: [-0.192 -0.819  0.093  0.059  0.035  0.002  0.989]
+t: 76	 action: [-0.183 -0.874  0.006  0.059  0.043 -0.001  0.982]
+t: 77	 action: [-0.238 -0.816 -0.057  0.055  0.032  0.005  0.985]
+t: 78	 action: [-0.241 -0.812 -0.103  0.057  0.033  0.001  0.995]
+t: 79	 action: [-0.261 -0.714 -0.213  0.052  0.018  0.011  0.991]
+t: 80	 action: [-0.227 -0.587 -0.33   0.03   0.028  0.003  0.994]
+t: 81	 action: [-0.249 -0.479 -0.5    0.032  0.015  0.016  0.994]
+t: 82	 action: [-0.21  -0.328 -0.547  0.007  0.007  0.016  0.973]
+t: 83	 action: [-2.318e-01 -1.781e-01 -6.763e-01  3.027e-03 -4.301e-05  3.117e-02  9.913e-01]
+t: 84	 action: [-0.207 -0.104 -0.729 -0.002 -0.003  0.023  0.958]
+t: 85	 action: [-2.016e-01 -4.864e-02 -7.959e-01 -1.172e-02  6.069e-04  3.473e-02  9.937e-01]
+t: 86	 action: [-0.212 -0.001 -0.823 -0.013 -0.008  0.036  0.986]
+t: 87	 action: [-0.222 -0.022 -0.828 -0.016 -0.008  0.042  0.981]
+t: 88	 action: [-0.213 -0.001 -0.74  -0.021 -0.001  0.037  0.973]
+t: 89	 action: [-0.205 -0.016 -0.667 -0.02  -0.003  0.044  0.982]
+[07-31 02:03:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.133 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9910
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9910
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 11
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 9 (81.8%)
+
+
 22%|██▏       | 11/50 [02:47<07:54, 12.17s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 12...
+Query 1/1: Action query time = 1.133 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=90: Selected seed 195 with value = 0.9910
+t: 90	 action: [-0.012  0.008  0.152 -0.008  0.026  0.009 -0.968]
+t: 91	 action: [ 0.009 -0.016  0.194 -0.016  0.017  0.003 -1.017]
+t: 92	 action: [ 0.017  0.007  0.229 -0.002  0.019  0.007 -0.98 ]
+t: 93	 action: [ 0.037 -0.008  0.275 -0.01   0.015  0.005 -1.011]
+t: 94	 action: [ 0.028  0.012  0.268 -0.008  0.012  0.001 -0.998]
+t: 95	 action: [ 0.026  0.012  0.29  -0.01   0.009 -0.001 -1.027]
+t: 96	 action: [ 0.047  0.013  0.293 -0.001  0.018  0.001 -0.996]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+87 87 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+[07-31 02:03:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.599 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4819
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4819
+Query 1/1: Action query time = 1.599 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4819
+t=10: Selected seed 195 with value = 0.4819
+t: 10	 action: [ 0.442  0.343  0.016  0.008  0.021  0.011 -1.01 ]
+t: 11	 action: [ 0.518  0.427  0.009  0.016  0.037  0.007 -1.007]
+t: 12	 action: [ 0.655  0.48   0.005  0.017  0.033  0.011 -0.996]
+t: 13	 action: [ 0.716  0.51  -0.004  0.02   0.04   0.007 -1.006]
+t: 14	 action: [ 0.786  0.547 -0.006  0.001  0.036  0.012 -1.014]
+t: 15	 action: [ 0.822  0.547 -0.018  0.015  0.045  0.013 -1.017]
+t: 16	 action: [ 0.846  0.544 -0.027  0.01   0.048  0.01  -1.002]
+t: 17	 action: [ 0.864  0.539 -0.081  0.02   0.043  0.011 -1.017]
+t: 18	 action: [ 0.838  0.514 -0.186  0.007  0.009  0.009 -1.007]
+t: 19	 action: [ 0.847  0.481 -0.23   0.002  0.005  0.006 -1.008]
+t: 20	 action: [ 0.875  0.477 -0.273  0.007  0.005  0.008 -1.002]
+t: 21	 action: [ 8.725e-01  4.331e-01 -3.349e-01 -6.097e-04  3.484e-03  4.639e-03 -1.003e+00]
+t: 22	 action: [ 8.808e-01  4.242e-01 -4.083e-01  1.794e-04  4.756e-03  4.335e-03 -1.007e+00]
+t: 23	 action: [ 8.905e-01  3.748e-01 -4.870e-01  2.280e-03 -2.578e-04  5.680e-03 -1.014e+00]
+t: 24	 action: [ 8.768e-01  3.410e-01 -5.966e-01  1.349e-04  3.268e-03  3.742e-03 -1.005e+00]
+t: 25	 action: [ 8.738e-01  2.269e-01 -6.719e-01 -1.009e-03 -7.506e-04  4.381e-03 -1.015e+00]
+[07-31 02:03:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.594 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5134
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5134
+Query 1/1: Action query time = 1.594 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5134
+t=26: Selected seed 195 with value = 0.5134
+t: 26	 action: [ 0.771  0.265 -0.526  0.007  0.01   0.013 -1.011]
+t: 27	 action: [ 0.654  0.238 -0.576  0.004  0.006  0.018 -1.01 ]
+t: 28	 action: [ 0.559  0.167 -0.674  0.01   0.005  0.014 -1.016]
+t: 29	 action: [ 4.464e-01  1.658e-01 -6.971e-01  6.106e-03 -5.953e-06  2.085e-02 -1.011e+00]
+t: 30	 action: [ 0.346  0.182 -0.77   0.007 -0.011  0.013 -1.012]
+t: 31	 action: [ 0.282  0.165 -0.827  0.006 -0.006  0.02  -1.009]
+t: 32	 action: [ 0.228  0.15  -0.876  0.003 -0.017  0.018 -1.015]
+t: 33	 action: [ 0.162  0.154 -0.883  0.002 -0.009  0.024 -1.006]
+t: 34	 action: [ 0.139  0.04  -0.933  0.003 -0.034  0.026 -1.02 ]
+t: 35	 action: [ 0.067  0.026 -0.952  0.003 -0.036  0.031 -1.006]
+t: 36	 action: [ 0.01   0.016 -0.937  0.001 -0.043  0.036 -1.02 ]
+t: 37	 action: [-4.563e-02 -2.245e-02 -9.491e-01  6.267e-04 -4.636e-02  3.908e-02 -1.002e+00]
+t: 38	 action: [-0.18  -0.016 -0.914 -0.003 -0.057  0.044 -1.023]
+t: 39	 action: [-0.285 -0.033 -0.918 -0.004 -0.06   0.039 -1.008]
+t: 40	 action: [-0.401 -0.104 -0.907 -0.002 -0.058  0.055 -1.019]
+t: 41	 action: [-0.472 -0.089 -0.895 -0.005 -0.063  0.05  -1.003]
+[07-31 02:03:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.616 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5842
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5842
+Query 1/1: Action query time = 1.616 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5842
+t=42: Selected seed 195 with value = 0.5842
+t: 42	 action: [-0.464 -0.034 -0.825  0.008 -0.041  0.03  -1.022]
+t: 43	 action: [-4.888e-01 -3.972e-02 -7.877e-01  9.052e-04 -4.360e-02  3.478e-02 -1.004e+00]
+t: 44	 action: [-0.502 -0.004 -0.759  0.005 -0.032  0.028 -1.013]
+t: 45	 action: [-0.502 -0.002 -0.741 -0.004 -0.031  0.035 -1.028]
+t: 46	 action: [-4.910e-01  5.689e-02 -7.014e-01  3.225e-04 -2.832e-02  1.764e-02 -1.044e+00]
+t: 47	 action: [-0.449  0.057 -0.651 -0.005 -0.021  0.02  -1.01 ]
+t: 48	 action: [-0.375  0.078 -0.599 -0.013 -0.014  0.012  0.94 ]
+t: 49	 action: [-0.237  0.092 -0.54  -0.012 -0.004  0.004  1.005]
+t: 50	 action: [-2.410e-01 -3.812e-05 -4.604e-01 -1.688e-03  8.256e-03  1.847e-02  9.838e-01]
+t: 51	 action: [-0.216 -0.012 -0.409 -0.015  0.009  0.012  0.996]
+t: 52	 action: [-0.114  0.013 -0.254 -0.011  0.025  0.013  0.978]
+t: 53	 action: [-7.175e-02  2.634e-03 -1.671e-01 -1.851e-02  1.289e-02 -9.683e-04  9.866e-01]
+t: 54	 action: [-0.096  0.004 -0.135 -0.036  0.019 -0.007  1.011]
+t: 55	 action: [-0.061 -0.015 -0.027 -0.027  0.008 -0.02   0.995]
+t: 56	 action: [-0.017  0.021  0.089 -0.039  0.021 -0.022  1.011]
+t: 57	 action: [ 0.002  0.033  0.353 -0.038  0.006 -0.031  0.993]
+[07-31 02:03:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.614 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6672
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 1.614 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=58: Selected seed 195 with value = 0.6672
+t: 58	 action: [-0.113 -0.078 -0.205  0.003 -0.027 -0.039  1.006]
+t: 59	 action: [-0.146 -0.099 -0.162 -0.001 -0.024 -0.053  0.998]
+t: 60	 action: [-0.106 -0.008 -0.011  0.001 -0.041 -0.052  1.017]
+t: 61	 action: [-0.115 -0.053  0.08   0.006 -0.035 -0.055  1.002]
+t: 62	 action: [-4.486e-02 -8.884e-03  3.163e-01 -6.376e-04 -4.618e-02 -6.281e-02  1.015e+00]
+t: 63	 action: [-4.383e-02  5.976e-03  5.586e-01 -5.820e-04 -4.571e-02 -6.910e-02  9.847e-01]
+t: 64	 action: [-0.018 -0.01   0.783  0.004 -0.036 -0.065  1.014]
+t: 65	 action: [-0.015 -0.032  0.898  0.009 -0.019 -0.065  0.99 ]
+t: 66	 action: [-0.006 -0.17   0.914  0.02  -0.007 -0.046  0.992]
+t: 67	 action: [-0.02  -0.266  0.951  0.033  0.002 -0.046  0.998]
+t: 68	 action: [-0.038 -0.371  0.895  0.028  0.012 -0.036  0.989]
+t: 69	 action: [-0.053 -0.527  0.874  0.037  0.024 -0.033  0.996]
+t: 70	 action: [-0.128 -0.554  0.818  0.037  0.031 -0.028  1.004]
+t: 71	 action: [-0.195 -0.658  0.778  0.042  0.016 -0.025  0.992]
+t: 72	 action: [-0.201 -0.682  0.616  0.03   0.039 -0.014  1.008]
+t: 73	 action: [-0.243 -0.766  0.498  0.039  0.029 -0.012  0.991]
+[07-31 02:03:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.755 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8582
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 1.755 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=74: Selected seed 195 with value = 0.8582
+t: 74	 action: [-0.222 -0.725  0.025  0.037  0.04  -0.002  0.98 ]
+t: 75	 action: [-0.257 -0.732 -0.03   0.039  0.041  0.002  0.989]
+t: 76	 action: [-0.279 -0.702 -0.157  0.03   0.036 -0.002  0.978]
+t: 77	 action: [-0.301 -0.652 -0.221  0.03   0.031  0.01   0.995]
+t: 78	 action: [-0.321 -0.604 -0.326  0.017  0.028  0.003  0.995]
+t: 79	 action: [-0.318 -0.525 -0.43   0.015  0.016  0.014  0.988]
+t: 80	 action: [-0.301 -0.405 -0.506 -0.002  0.018  0.011  0.993]
+t: 81	 action: [-0.289 -0.301 -0.574 -0.013  0.003  0.024  1.002]
+t: 82	 action: [-1.879e-01 -1.612e-01 -5.783e-01 -6.280e-03  3.864e-05  2.698e-02  9.951e-01]
+t: 83	 action: [-0.179 -0.114 -0.651 -0.025 -0.002  0.037  0.988]
+t: 84	 action: [-1.153e-01 -5.572e-02 -5.810e-01 -3.206e-02 -4.496e-04  3.360e-02  9.999e-01]
+t: 85	 action: [-7.794e-02 -5.178e-02 -5.826e-01 -4.610e-02 -5.914e-04  3.905e-02  1.012e+00]
+t: 86	 action: [-1.006e-01 -7.340e-04 -4.994e-01 -6.593e-02 -1.200e-03  3.017e-02  1.015e+00]
+t: 87	 action: [-0.087  0.01  -0.446 -0.061 -0.013  0.034  0.985]
+t: 88	 action: [-6.285e-02  2.025e-03 -3.111e-01 -7.838e-02 -8.288e-04  2.806e-02  1.010e+00]
+t: 89	 action: [-0.051  0.013 -0.234 -0.064 -0.015  0.033  0.969]
+[07-31 02:03:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.598 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.598 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+t: 90	 action: [ 0.12   0.028  0.255  0.006  0.088 -0.03  -0.999]
+t: 91	 action: [ 0.137  0.023  0.289 -0.004  0.081 -0.038 -1.017]
+t: 92	 action: [ 0.106  0.015  0.279  0.005  0.083 -0.031 -0.987]
+t: 93	 action: [ 0.147  0.017  0.299 -0.001  0.083 -0.035 -1.013]
+t: 94	 action: [ 0.078  0.02   0.304  0.006  0.078 -0.035 -1.011]
+t: 95	 action: [ 0.076  0.029  0.285  0.002  0.082 -0.035 -1.013]
+t: 96	 action: [ 0.078  0.01   0.266  0.005  0.073 -0.029 -1.002]
+t: 97	 action: [ 0.08   0.022  0.222  0.003  0.071 -0.034 -1.012]
+t: 98	 action: [ 0.058  0.016  0.188  0.013  0.043 -0.025 -0.998]
+t: 99	 action: [ 0.063 -0.018  0.193  0.01   0.049 -0.035 -1.017]
+t: 100	 action: [ 0.043  0.014  0.123  0.01   0.028 -0.019 -0.99 ]
+t: 101	 action: [ 0.065 -0.026  0.115  0.008  0.033 -0.03  -1.009]
+t: 102	 action: [ 0.036  0.002  0.11   0.008  0.028 -0.019 -1.013]
+t: 103	 action: [ 0.023 -0.022  0.076  0.007  0.022 -0.026 -1.017]
+t: 104	 action: [ 0.029  0.002  0.081  0.005  0.02  -0.015 -1.009]
+t: 105	 action: [ 0.027 -0.031  0.048  0.006  0.015 -0.023 -1.018]
+[07-31 02:03:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.814 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.814 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+t: 106	 action: [ 0.087  0.042  0.276  0.008  0.079 -0.011 -1.017]
+t: 107	 action: [ 0.067  0.042  0.205  0.003  0.066 -0.02  -1.009]
+t: 108	 action: [ 0.061  0.047  0.178  0.008  0.068 -0.008 -1.013]
+t: 109	 action: [ 0.066  0.05   0.159  0.005  0.066 -0.019 -0.995]
+t: 110	 action: [ 0.042  0.048  0.151  0.002  0.049 -0.018 -1.016]
+t: 111	 action: [ 0.028  0.055  0.147  0.008  0.06  -0.016 -1.019]
+t: 112	 action: [ 0.042  0.049  0.139  0.001  0.051 -0.016 -1.018]
+t: 113	 action: [ 0.034  0.061  0.128  0.009  0.061 -0.017 -1.003]
+t: 114	 action: [ 0.071  0.043  0.151  0.009  0.061 -0.007 -1.021]
+t: 115	 action: [ 0.056  0.046  0.142  0.003  0.061 -0.019 -1.018]
+t: 116	 action: [ 0.057  0.043  0.133  0.008  0.057 -0.005 -1.014]
+t: 117	 action: [ 0.053  0.053  0.122  0.005  0.062 -0.018 -1.01 ]
+t: 118	 action: [ 0.045  0.038  0.128  0.003  0.053 -0.011 -1.025]
+t: 119	 action: [ 0.023  0.058  0.115  0.008  0.054 -0.018 -1.015]
+t: 120	 action: [ 0.043  0.043  0.122  0.002  0.052 -0.014 -1.017]
+t: 121	 action: [ 0.029  0.062  0.115  0.009  0.058 -0.015 -1.015]
+[07-31 02:03:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.588 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9975
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 1.588 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=122: Selected seed 195 with value = 0.9975
+t: 122	 action: [ 0.004  0.026  0.054  0.011  0.012  0.007 -1.014]
+t: 123	 action: [ 0.002  0.007  0.052  0.007  0.013 -0.003 -1.009]
+t: 124	 action: [ 5.691e-04  3.751e-02  6.725e-02  8.315e-03  1.716e-02  5.485e-03 -1.013e+00]
+t: 125	 action: [ 0.008  0.025  0.069  0.004  0.022 -0.006 -0.996]
+t: 126	 action: [ 5.467e-04  2.735e-02  6.279e-02  9.841e-03  1.719e-02 -2.124e-04 -1.016e+00]
+t: 127	 action: [ 0.003  0.023  0.099  0.01   0.017 -0.005 -1.022]
+t: 128	 action: [ 0.004  0.039  0.097  0.004  0.024 -0.004 -1.018]
+t: 129	 action: [ 0.002  0.04   0.138  0.006  0.028 -0.011 -1.006]
+t: 130	 action: [ 0.013  0.014  0.044  0.008  0.015  0.004 -1.022]
+t: 131	 action: [ 0.01   0.014  0.032  0.006  0.01  -0.004 -1.022]
+t: 132	 action: [ 0.01   0.031  0.061  0.004  0.016  0.003 -1.019]
+t: 133	 action: [ 0.012  0.027  0.045  0.004  0.014 -0.004 -1.015]
+t: 134	 action: [ 0.005  0.018  0.06   0.004  0.019 -0.003 -1.027]
+t: 135	 action: [-0.005  0.031  0.06   0.01   0.009 -0.007 -1.008]
+t: 136	 action: [ 4.905e-03  3.276e-02  8.590e-02  5.025e-04  2.209e-02 -7.098e-03 -1.022e+00]
+t: 137	 action: [-0.004  0.043  0.103  0.006  0.018 -0.006 -1.015]
+[07-31 02:03:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.861 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9954
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 1.861 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=138: Selected seed 195 with value = 0.9954
+t: 138	 action: [-0.057  0.028 -0.109  0.006 -0.014  0.008 -1.003]
+t: 139	 action: [-0.036  0.005 -0.153  0.003 -0.011 -0.003 -1.015]
+t: 140	 action: [-0.039  0.036 -0.057  0.004 -0.013  0.006 -0.998]
+t: 141	 action: [-0.014  0.015 -0.07  -0.002 -0.007 -0.007 -1.007]
+t: 142	 action: [-0.036  0.024 -0.051  0.003 -0.014  0.002 -1.004]
+t: 143	 action: [-0.009  0.021 -0.051  0.005 -0.013 -0.007 -1.032]
+t: 144	 action: [-2.118e-02  2.844e-02  5.204e-03  2.452e-04 -9.429e-03 -1.234e-03 -9.982e-01]
+t: 145	 action: [-6.307e-03  2.432e-02 -4.182e-04 -2.348e-04 -8.457e-03 -1.450e-02 -1.022e+00]
+t: 146	 action: [-0.046  0.013 -0.122  0.005 -0.016  0.005 -1.007]
+t: 147	 action: [-0.011  0.002 -0.12   0.002 -0.011 -0.002 -0.997]
+t: 148	 action: [-3.421e-02  2.513e-02 -6.441e-02  5.942e-04 -1.620e-02  3.960e-03 -1.005e+00]
+t: 149	 action: [ 0.004  0.014 -0.053 -0.002 -0.01   0.008 -0.901]
+t: 150	 action: [-3.494e-02  9.152e-03 -6.660e-02  2.423e-03 -1.516e-02 -5.289e-04 -1.011e+00]
+t: 151	 action: [-0.018  0.018 -0.04   0.005 -0.017 -0.005 -0.858]
+t: 152	 action: [-0.025  0.017 -0.007 -0.003 -0.013 -0.005 -0.977]
+t: 153	 action: [-1.480e-02  2.463e-02 -5.660e-03 -2.032e-05 -1.403e-02  5.574e-03  2.455e-01]
+[07-31 02:03:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.587 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9892
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 1.587 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=154: Selected seed 195 with value = 0.9892
+t: 154	 action: [-0.071  0.022 -0.149  0.006 -0.01   0.008 -1.003]
+t: 155	 action: [-0.055 -0.017 -0.203  0.001 -0.005 -0.006 -1.016]
+t: 156	 action: [-0.054  0.024 -0.104  0.007 -0.008  0.006 -1.009]
+t: 157	 action: [-2.551e-02 -9.377e-03 -1.323e-01 -4.783e-04 -2.775e-03 -9.824e-03 -1.009e+00]
+t: 158	 action: [-0.037  0.01  -0.075  0.003 -0.007  0.002 -1.001]
+t: 159	 action: [-1.110e-02 -4.919e-04 -6.650e-02  4.722e-03 -6.525e-03 -7.289e-03 -1.020e+00]
+t: 160	 action: [-0.018  0.013 -0.021  0.002 -0.001 -0.002 -1.017]
+t: 161	 action: [-0.014  0.004 -0.009  0.001 -0.004 -0.016 -1.015]
+t: 162	 action: [-0.052  0.002 -0.198  0.003 -0.007  0.004 -1.005]
+t: 163	 action: [-1.441e-02 -2.298e-02 -1.527e-01 -7.355e-05 -3.593e-03 -1.708e-03 -9.625e-01]
+t: 164	 action: [-4.293e-02  1.671e-02 -1.280e-01 -4.109e-04 -7.140e-03  3.326e-03 -7.737e-01]
+t: 165	 action: [-0.023 -0.006 -0.098 -0.003 -0.004  0.004  0.514]
+t: 166	 action: [-0.033 -0.003 -0.109  0.001 -0.005 -0.001 -1.   ]
+t: 167	 action: [-0.015 -0.006 -0.05   0.003 -0.009  0.002  0.935]
+t: 168	 action: [-0.016  0.006 -0.04  -0.003 -0.002 -0.005  0.936]
+t: 169	 action: [ 4.918e-02  7.935e-03 -1.383e-02 -1.910e-03 -8.008e-03 -6.388e-04  8.187e-01]
+[07-31 02:03:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.791 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9819
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 1.791 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=170: Selected seed 195 with value = 0.9819
+t: 170	 action: [-0.068 -0.002  0.182  0.001 -0.022  0.005 -0.985]
+t: 171	 action: [-0.062 -0.013  0.139  0.001 -0.015 -0.001 -1.   ]
+t: 172	 action: [-0.066  0.006  0.142  0.002 -0.028  0.003 -0.991]
+t: 173	 action: [-0.054  0.002  0.106  0.005 -0.018 -0.004 -0.998]
+t: 174	 action: [-6.705e-02  8.673e-03  9.450e-02  1.789e-03 -3.165e-02  5.006e-04 -1.008e+00]
+t: 175	 action: [-7.191e-02  1.706e-02  8.256e-02  8.881e-03 -2.306e-02 -1.637e-04 -1.024e+00]
+t: 176	 action: [-5.705e-02  1.612e-02  8.788e-02  4.846e-03 -2.588e-02 -6.097e-04 -1.010e+00]
+t: 177	 action: [-0.055  0.032  0.054  0.01  -0.016 -0.007 -1.003]
+t: 178	 action: [-0.031  0.032  0.022  0.006 -0.037  0.005 -1.012]
+t: 179	 action: [-2.997e-02  3.786e-02  3.709e-02  4.273e-04 -2.596e-02 -5.324e-03 -1.022e+00]
+t: 180	 action: [-0.035  0.035  0.014  0.005 -0.037  0.004 -1.01 ]
+t: 181	 action: [-0.021  0.039  0.03   0.001 -0.023 -0.004 -1.012]
+t: 182	 action: [-2.233e-02  3.253e-02  1.769e-02  1.796e-03 -3.631e-02  5.936e-04 -1.032e+00]
+t: 183	 action: [-0.041  0.059  0.05   0.004 -0.025 -0.006 -1.021]
+t: 184	 action: [-0.015  0.043  0.032  0.001 -0.028 -0.003 -1.026]
+t: 185	 action: [-0.028  0.057  0.053  0.002 -0.017 -0.004 -1.006]
+[07-31 02:03:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.618 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9884
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 1.618 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=186: Selected seed 195 with value = 0.9884
+t: 186	 action: [-0.003  0.021  0.038  0.014 -0.009  0.004 -1.02 ]
+t: 187	 action: [-0.007 -0.015  0.025  0.01  -0.002 -0.01  -1.011]
+t: 188	 action: [-0.014  0.027  0.048  0.011 -0.004  0.002 -1.016]
+t: 189	 action: [-0.006 -0.002  0.041  0.009  0.002 -0.013 -1.   ]
+t: 190	 action: [-0.002  0.014  0.042  0.014 -0.002 -0.002 -1.025]
+t: 191	 action: [-0.003  0.008  0.048  0.014 -0.003 -0.009 -1.019]
+t: 192	 action: [-0.004  0.023  0.073  0.008  0.005 -0.005 -1.024]
+t: 193	 action: [-0.008  0.023  0.083  0.011  0.003 -0.016 -1.006]
+t: 194	 action: [-1.159e-02  1.276e-02  7.677e-03  9.250e-03 -8.099e-03 -1.312e-06 -1.028e+00]
+t: 195	 action: [-0.004 -0.005  0.014  0.01  -0.003 -0.011 -1.019]
+t: 196	 action: [-0.023  0.024  0.044  0.008 -0.004 -0.002 -1.024]
+t: 197	 action: [ 2.370e-04  3.261e-03  2.955e-02  8.602e-03 -2.385e-03 -9.429e-03 -1.017e+00]
+t: 198	 action: [-0.009  0.012  0.026  0.005 -0.001 -0.005 -1.036]
+t: 199	 action: [-0.014  0.017  0.025  0.014 -0.006 -0.011 -1.013]
+t: 200	 action: [-0.015  0.025  0.065  0.003  0.004 -0.009 -1.028]
+t: 201	 action: [-0.013  0.025  0.061  0.011 -0.003 -0.008 -0.991]
+[07-31 02:03:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.838 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9850
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 1.838 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=202: Selected seed 195 with value = 0.9850
+t: 202	 action: [-0.025  0.013 -0.029  0.011 -0.016  0.005 -1.017]
+t: 203	 action: [-0.018 -0.03  -0.039  0.007 -0.008 -0.011 -1.012]
+t: 204	 action: [-0.044  0.022  0.004  0.008 -0.013  0.002 -1.008]
+t: 205	 action: [-0.017 -0.015 -0.009  0.004 -0.005 -0.015 -1.004]
+t: 206	 action: [-2.644e-02  7.289e-03 -7.655e-03  7.613e-03 -1.264e-02 -1.269e-04 -1.023e+00]
+t: 207	 action: [-0.014 -0.001 -0.011  0.009 -0.012 -0.009 -1.02 ]
+t: 208	 action: [-0.033  0.016  0.04   0.004 -0.007 -0.004 -1.015]
+t: 209	 action: [-0.017  0.012  0.025  0.006 -0.006 -0.017 -1.015]
+t: 210	 action: [-0.061  0.009 -0.051  0.008 -0.017  0.002 -1.023]
+t: 211	 action: [-0.016 -0.021 -0.039  0.006 -0.01  -0.013 -1.016]
+t: 212	 action: [-6.812e-02  1.857e-02 -1.145e-03  5.893e-03 -1.472e-02 -4.896e-04 -1.016e+00]
+t: 213	 action: [-1.114e-02 -1.087e-02 -5.592e-04  3.971e-03 -7.613e-03 -6.511e-03 -9.865e-01]
+t: 214	 action: [-0.057  0.006 -0.026  0.004 -0.013 -0.003 -1.034]
+t: 215	 action: [-0.025  0.005 -0.015  0.009 -0.016 -0.011 -1.017]
+t: 216	 action: [-5.371e-02  1.819e-02  2.882e-02  9.242e-04 -8.627e-03 -7.834e-03 -1.019e+00]
+t: 217	 action: [-0.026  0.015  0.02   0.006 -0.011 -0.003 -0.819]
+[07-31 02:03:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.619 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9826
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 1.619 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=218: Selected seed 195 with value = 0.9826
+t: 218	 action: [-0.031  0.005 -0.033  0.01  -0.02   0.005 -1.016]
+t: 219	 action: [-0.018 -0.035 -0.056  0.005 -0.011 -0.011 -1.014]
+t: 220	 action: [-0.056  0.017 -0.007  0.008 -0.018  0.003 -1.009]
+t: 221	 action: [-0.022 -0.02  -0.032  0.003 -0.006 -0.014 -1.007]
+t: 222	 action: [-3.538e-02  3.029e-03 -2.416e-02  6.659e-03 -1.853e-02  7.722e-04 -1.023e+00]
+t: 223	 action: [-0.017 -0.003 -0.034  0.008 -0.017 -0.008 -1.019]
+t: 224	 action: [-0.045  0.012  0.016  0.004 -0.013 -0.003 -1.016]
+t: 225	 action: [-0.021  0.009 -0.01   0.005 -0.009 -0.015 -1.017]
+t: 226	 action: [-0.077  0.006 -0.06   0.008 -0.022  0.003 -1.024]
+t: 227	 action: [-0.02  -0.027 -0.059  0.005 -0.015 -0.013 -1.018]
+t: 228	 action: [-8.313e-02  1.484e-02 -1.523e-02  5.646e-03 -1.982e-02  2.278e-04 -1.017e+00]
+t: 229	 action: [-0.02  -0.017 -0.023  0.003 -0.011 -0.006 -0.989]
+t: 230	 action: [-0.075  0.005 -0.046  0.004 -0.02  -0.001 -1.034]
+t: 231	 action: [-0.029  0.003 -0.033  0.008 -0.021 -0.011 -1.017]
+t: 232	 action: [-6.834e-02  1.488e-02  3.691e-03  9.582e-04 -1.569e-02 -5.731e-03 -1.020e+00]
+t: 233	 action: [-0.033  0.011 -0.009  0.006 -0.015 -0.003 -0.814]
+[07-31 02:03:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.737 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9845
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 1.737 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=234: Selected seed 195 with value = 0.9845
+t: 234	 action: [-0.021  0.009  0.03   0.01  -0.021  0.004 -1.02 ]
+t: 235	 action: [-0.009 -0.025 -0.008  0.004 -0.014 -0.011 -1.018]
+t: 236	 action: [-0.048  0.015  0.034  0.008 -0.02   0.002 -1.016]
+t: 237	 action: [-0.016 -0.016  0.003  0.002 -0.008 -0.013 -1.009]
+t: 238	 action: [-0.036  0.004  0.014  0.007 -0.022  0.002 -1.025]
+t: 239	 action: [-0.019  0.003 -0.018  0.007 -0.021 -0.007 -1.018]
+t: 240	 action: [-0.048  0.012  0.037  0.005 -0.018 -0.001 -1.025]
+t: 241	 action: [-0.024  0.013 -0.003  0.005 -0.012 -0.012 -1.013]
+t: 242	 action: [-0.063  0.008 -0.008  0.008 -0.024  0.003 -1.027]
+t: 243	 action: [-0.014 -0.018 -0.009  0.004 -0.018 -0.014 -1.023]
+t: 244	 action: [-7.454e-02  1.278e-02  1.912e-02  6.179e-03 -2.251e-02  2.769e-04 -1.024e+00]
+t: 245	 action: [-0.018 -0.013  0.006  0.003 -0.014 -0.011 -1.021]
+t: 246	 action: [-7.208e-02  5.821e-03 -1.081e-02  3.788e-03 -2.368e-02  5.719e-04 -1.035e+00]
+t: 247	 action: [-0.029  0.009 -0.016  0.008 -0.025 -0.011 -1.018]
+t: 248	 action: [-0.07   0.015  0.023  0.002 -0.02  -0.003 -1.03 ]
+t: 249	 action: [-3.629e-02  1.370e-02 -1.907e-04  5.546e-03 -1.826e-02 -5.895e-03 -9.829e-01]
+[07-31 02:03:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.599 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9819
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 1.599 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=250: Selected seed 195 with value = 0.9819
+t: 250	 action: [-0.015  0.01   0.029  0.008 -0.018  0.002 -1.021]
+t: 251	 action: [-0.004 -0.017 -0.02  -0.001 -0.013 -0.012 -1.019]
+t: 252	 action: [-3.997e-02  1.324e-02  2.718e-02  6.040e-03 -1.893e-02  7.453e-04 -1.018e+00]
+t: 253	 action: [-0.009 -0.008 -0.015 -0.003 -0.009 -0.012 -1.011]
+t: 254	 action: [-0.036  0.005  0.004  0.003 -0.021  0.002 -1.026]
+t: 255	 action: [-0.018  0.013 -0.043  0.001 -0.024 -0.007 -1.018]
+t: 256	 action: [-4.776e-02  1.523e-02  2.371e-02  2.114e-03 -2.009e-02 -2.054e-04 -1.028e+00]
+t: 257	 action: [-0.019  0.023 -0.03  -0.001 -0.016 -0.011 -1.011]
+t: 258	 action: [-0.057  0.011 -0.021  0.007 -0.025  0.003 -1.028]
+t: 259	 action: [-1.238e-02 -1.164e-02 -2.291e-02 -7.413e-04 -1.924e-02 -1.537e-02 -1.023e+00]
+t: 260	 action: [-0.069  0.013  0.004  0.005 -0.026  0.001 -1.026]
+t: 261	 action: [-0.011 -0.008 -0.01  -0.003 -0.016 -0.013 -1.024]
+t: 262	 action: [-0.072  0.009 -0.028  0.003 -0.026  0.002 -1.034]
+t: 263	 action: [-0.029  0.016 -0.031  0.002 -0.029 -0.011 -1.017]
+t: 264	 action: [-7.077e-02  1.977e-02  4.202e-03  3.905e-04 -2.418e-02 -7.318e-04 -1.032e+00]
+t: 265	 action: [-3.346e-02  2.102e-02 -1.733e-02 -8.610e-04 -2.248e-02 -7.331e-03 -1.006e+00]
+[07-31 02:04:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.789 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9777
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 1.789 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=266: Selected seed 195 with value = 0.9777
+t: 266	 action: [-5.538e-03  5.079e-03 -3.717e-03  5.834e-03 -9.252e-03  1.344e-04 -1.023e+00]
+t: 267	 action: [-5.392e-04 -2.448e-02 -3.490e-02 -3.408e-03 -6.568e-03 -1.192e-02 -1.019e+00]
+t: 268	 action: [-2.924e-02  1.148e-02  2.518e-04  4.384e-03 -1.303e-02  1.578e-03 -1.018e+00]
+t: 269	 action: [-0.004 -0.013 -0.031 -0.006 -0.005 -0.011 -1.011]
+t: 270	 action: [-0.033  0.003 -0.028  0.002 -0.016  0.001 -1.028]
+t: 271	 action: [-0.015  0.007 -0.061 -0.003 -0.02  -0.007 -1.02 ]
+t: 272	 action: [-4.184e-02  1.610e-02 -6.682e-03  3.228e-04 -1.692e-02  6.949e-04 -1.027e+00]
+t: 273	 action: [-0.013  0.018 -0.05  -0.006 -0.012 -0.009 -1.013]
+t: 274	 action: [-0.046  0.011 -0.043  0.006 -0.019  0.004 -1.029]
+t: 275	 action: [-0.01  -0.018 -0.037 -0.004 -0.012 -0.015 -1.022]
+t: 276	 action: [-0.057  0.013 -0.028  0.003 -0.022  0.003 -1.026]
+t: 277	 action: [-0.005 -0.013 -0.03  -0.007 -0.01  -0.012 -1.022]
+t: 278	 action: [-0.072  0.009 -0.057  0.001 -0.023  0.003 -1.037]
+t: 279	 action: [-0.027  0.01  -0.047 -0.002 -0.025 -0.011 -1.018]
+t: 280	 action: [-6.528e-02  2.032e-02 -3.135e-02 -1.224e-03 -2.284e-02  9.218e-04 -1.032e+00]
+t: 281	 action: [-0.026  0.016 -0.036 -0.006 -0.019 -0.006 -0.991]
+[07-31 02:04:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.590 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9769
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 1.590 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=282: Selected seed 195 with value = 0.9769
+t: 282	 action: [ 0.002  0.001  0.011  0.006  0.002 -0.003 -1.021]
+t: 283	 action: [ 3.695e-03 -2.981e-02 -1.012e-02 -2.385e-03  4.312e-04 -1.417e-02 -1.019e+00]
+t: 284	 action: [-1.971e-02  1.020e-02  1.123e-02  4.038e-03 -2.289e-03  1.386e-04 -1.014e+00]
+t: 285	 action: [-2.675e-03 -1.746e-02 -9.320e-03 -5.421e-03  3.588e-04 -1.284e-02 -1.011e+00]
+t: 286	 action: [-2.750e-02  1.160e-03 -1.380e-02  7.527e-04 -5.501e-03 -6.551e-04 -1.028e+00]
+t: 287	 action: [-0.012  0.002 -0.034 -0.003 -0.007 -0.01  -1.019]
+t: 288	 action: [-3.175e-02  1.666e-02  1.207e-02 -1.546e-04 -6.775e-03 -7.038e-04 -1.023e+00]
+t: 289	 action: [-0.009  0.014 -0.019 -0.006 -0.003 -0.012 -1.015]
+t: 290	 action: [-0.028  0.012 -0.014  0.005 -0.005  0.002 -1.028]
+t: 291	 action: [-6.353e-03 -2.312e-02 -1.183e-02 -2.550e-03 -2.332e-04 -1.741e-02 -1.023e+00]
+t: 292	 action: [-0.043  0.012 -0.013  0.003 -0.009  0.002 -1.025]
+t: 293	 action: [-0.002 -0.017 -0.008 -0.006 -0.001 -0.013 -1.016]
+t: 294	 action: [-6.116e-02  8.883e-03 -3.646e-02  4.121e-04 -1.058e-02  1.052e-03 -1.036e+00]
+t: 295	 action: [-0.022  0.004 -0.029 -0.003 -0.01  -0.014 -1.019]
+t: 296	 action: [-5.470e-02  2.247e-02 -1.456e-02 -1.953e-03 -1.144e-02 -5.564e-04 -1.029e+00]
+t: 297	 action: [-0.02   0.012 -0.015 -0.008 -0.007 -0.007 -0.952]
+[07-31 02:04:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.625 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9775
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9775
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 12
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 9 (75.0%)
+
+
 24%|██▍       | 12/50 [03:33<14:11, 22.40s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 13...
+Query 1/1: Action query time = 1.625 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=298: Selected seed 195 with value = 0.9775
+t: 298	 action: [-0.009  0.006  0.045  0.008  0.007 -0.002 -1.017]
+t: 299	 action: [-1.642e-03 -3.023e-02  1.409e-02 -3.504e-04  2.398e-03 -1.412e-02 -1.021e+00]
+t: 300	 action: [-3.199e-02  7.891e-03  4.507e-02  5.133e-03  2.083e-03  8.453e-04 -1.015e+00]
+t: 301	 action: [-0.007 -0.023  0.019 -0.003  0.002 -0.013 -1.01 ]
+t: 302	 action: [-4.003e-02  1.868e-04  2.188e-02  2.980e-03 -1.457e-03 -3.502e-04 -1.025e+00]
+t: 303	 action: [-1.562e-02 -4.143e-03 -1.156e-02 -8.087e-04 -3.480e-03 -1.040e-02 -1.023e+00]
+t: 304	 action: [-4.687e-02  1.336e-02  5.563e-02  1.000e-03 -1.722e-03 -5.190e-04 -1.026e+00]
+t: 305	 action: [-0.014  0.003  0.013 -0.003 -0.002 -0.012 -1.013]
+t: 306	 action: [-3.252e-02  1.082e-02  2.098e-02  6.305e-03 -3.045e-04  1.745e-03 -1.023e+00]
+t: 307	 action: [-9.258e-03 -2.481e-02  1.453e-02 -6.408e-04  1.957e-03 -1.717e-02 -1.026e+00]
+t: 308	 action: [-0.05   0.009  0.028  0.004 -0.004  0.002 -1.023]
+t: 309	 action: [-7.539e-03 -2.227e-02  2.108e-02 -3.484e-03  5.948e-04 -1.396e-02 -1.022e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=12--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=12--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+[07-31 02:04:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.735 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4530
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4530
+Query 1/1: Action query time = 1.735 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4530
+t=10: Selected seed 195 with value = 0.4530
+t: 10	 action: [ 0.1    0.077 -0.001  0.002  0.017  0.004 -1.007]
+t: 11	 action: [ 0.212  0.175  0.014  0.002  0.026  0.007 -0.997]
+t: 12	 action: [ 3.157e-01  2.641e-01 -1.070e-02  2.642e-04  2.190e-02  7.540e-03 -1.001e+00]
+t: 13	 action: [ 0.46   0.373  0.012  0.002  0.025  0.007 -0.997]
+t: 14	 action: [ 0.58   0.461  0.005 -0.002  0.027  0.008 -1.014]
+t: 15	 action: [ 0.699  0.506 -0.002  0.004  0.032  0.013 -1.009]
+t: 16	 action: [ 0.772  0.56  -0.006 -0.004  0.033  0.008 -1.002]
+t: 17	 action: [ 0.82   0.558 -0.024  0.004  0.029  0.011 -1.01 ]
+t: 18	 action: [ 0.785  0.544 -0.059  0.004  0.027  0.013 -1.004]
+t: 19	 action: [ 7.974e-01  5.584e-01 -5.159e-02 -2.183e-04  2.318e-02  9.584e-03 -1.002e+00]
+t: 20	 action: [ 0.841  0.553 -0.123  0.004  0.019  0.01  -1.006]
+t: 21	 action: [ 0.823  0.531 -0.132 -0.002  0.015  0.008 -0.998]
+t: 22	 action: [ 0.876  0.534 -0.152 -0.002  0.014  0.007 -1.002]
+t: 23	 action: [ 0.881  0.534 -0.217  0.003  0.003  0.01  -1.006]
+t: 24	 action: [ 0.903  0.498 -0.298 -0.001  0.006  0.006 -1.002]
+t: 25	 action: [ 8.968e-01  4.426e-01 -3.594e-01  3.002e-03  5.899e-04  7.470e-03 -1.010e+00]
+[07-31 02:04:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.612 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 1.612 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=26: Selected seed 195 with value = 0.4973
+t: 26	 action: [ 0.943  0.468 -0.271  0.002  0.024  0.016 -1.003]
+t: 27	 action: [ 0.95   0.456 -0.345 -0.008  0.024  0.014 -1.006]
+t: 28	 action: [ 9.326e-01  4.242e-01 -3.765e-01  7.219e-04  2.004e-02  1.467e-02 -1.001e+00]
+t: 29	 action: [ 0.873  0.346 -0.456 -0.008  0.012  0.013 -1.004]
+t: 30	 action: [ 8.075e-01  3.177e-01 -4.988e-01 -9.165e-04  6.780e-03  6.608e-03 -1.007e+00]
+t: 31	 action: [ 6.676e-01  2.441e-01 -6.210e-01  9.929e-04  8.152e-04  5.903e-03 -1.011e+00]
+t: 32	 action: [ 5.138e-01  1.446e-01 -7.128e-01  5.057e-04 -7.019e-03  6.532e-03 -1.007e+00]
+t: 33	 action: [ 0.409  0.114 -0.802  0.003 -0.006  0.006 -1.008]
+t: 34	 action: [ 0.309  0.045 -0.896  0.008 -0.018  0.012 -1.015]
+t: 35	 action: [ 0.202  0.017 -0.942  0.002 -0.015  0.01  -1.001]
+t: 36	 action: [ 0.157 -0.003 -0.943  0.006 -0.027  0.012 -1.018]
+t: 37	 action: [ 0.076 -0.032 -0.961  0.002 -0.027  0.01  -0.997]
+t: 38	 action: [ 1.094e-03  3.869e-03 -9.394e-01  5.932e-04 -3.932e-02  9.549e-03 -1.016e+00]
+t: 39	 action: [-0.09  -0.019 -0.936  0.001 -0.042  0.009 -1.003]
+t: 40	 action: [-0.172 -0.077 -0.937 -0.001 -0.042  0.012 -1.015]
+t: 41	 action: [-2.466e-01 -6.627e-02 -9.274e-01  2.371e-04 -4.777e-02  1.055e-02 -9.960e-01]
+[07-31 02:04:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.647 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6035
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6035
+Query 1/1: Action query time = 1.647 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6035
+t=42: Selected seed 195 with value = 0.6035
+t: 42	 action: [-0.183  0.003 -0.937  0.004 -0.056  0.032 -1.024]
+t: 43	 action: [-0.321 -0.005 -0.929 -0.005 -0.061  0.042 -1.002]
+t: 44	 action: [-3.845e-01 -5.154e-04 -9.242e-01  3.516e-03 -5.855e-02  3.320e-02 -1.023e+00]
+t: 45	 action: [-0.473  0.002 -0.896 -0.001 -0.064  0.042 -1.003]
+t: 46	 action: [-0.541  0.006 -0.902  0.003 -0.066  0.034 -1.027]
+t: 47	 action: [-0.588  0.013 -0.87  -0.003 -0.066  0.041 -1.011]
+t: 48	 action: [-0.601 -0.002 -0.861  0.002 -0.062  0.035 -1.027]
+t: 49	 action: [-6.138e-01  2.974e-02 -8.215e-01 -8.047e-04 -5.136e-02  3.731e-02 -1.005e+00]
+t: 50	 action: [-0.571 -0.005 -0.802  0.006 -0.022  0.047 -0.813]
+t: 51	 action: [-5.638e-01 -9.139e-04 -7.064e-01 -1.004e-02 -6.328e-03  4.666e-02  9.597e-01]
+t: 52	 action: [-0.402  0.02  -0.612 -0.004 -0.008  0.047  0.982]
+t: 53	 action: [-3.477e-01  1.802e-02 -4.490e-01 -2.224e-02 -8.454e-04  4.298e-02  9.984e-01]
+t: 54	 action: [-0.331  0.034 -0.33  -0.012 -0.009  0.027  0.952]
+t: 55	 action: [-0.283  0.019 -0.191 -0.021  0.005  0.035  0.976]
+t: 56	 action: [-0.08   0.026  0.021 -0.026  0.002  0.013  1.008]
+t: 57	 action: [-0.045  0.005  0.142 -0.035  0.01   0.03   0.99 ]
+[07-31 02:04:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.609 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6904
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6904
+Query 1/1: Action query time = 1.609 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6904
+t=58: Selected seed 195 with value = 0.6904
+t: 58	 action: [-0.056 -0.047 -0.015 -0.021 -0.022 -0.027  0.992]
+t: 59	 action: [-8.641e-04 -6.226e-02  9.138e-02 -2.336e-02 -8.687e-03 -4.149e-02  9.936e-01]
+t: 60	 action: [-0.005  0.028  0.323 -0.014 -0.015 -0.047  0.993]
+t: 61	 action: [ 0.02  -0.006  0.539 -0.014 -0.005 -0.047  0.996]
+t: 62	 action: [ 0.059  0.038  0.69  -0.017  0.004 -0.042  0.996]
+t: 63	 action: [ 0.07   0.062  0.825 -0.013  0.008 -0.05   0.978]
+t: 64	 action: [ 0.093  0.029  0.905 -0.005  0.022 -0.05   0.991]
+t: 65	 action: [ 8.218e-02  2.425e-03  9.207e-01  5.524e-04  3.680e-02 -4.921e-02  9.826e-01]
+t: 66	 action: [ 0.132 -0.071  0.912  0.004  0.037 -0.039  0.979]
+t: 67	 action: [ 0.09  -0.211  0.951  0.02   0.045 -0.036  0.992]
+t: 68	 action: [ 0.083 -0.323  0.903  0.015  0.062 -0.021  0.978]
+t: 69	 action: [ 0.057 -0.499  0.905  0.03   0.071 -0.023  0.988]
+t: 70	 action: [-0.015 -0.584  0.847  0.029  0.09  -0.019  0.993]
+t: 71	 action: [-0.019 -0.704  0.802  0.036  0.085 -0.019  0.987]
+t: 72	 action: [-0.086 -0.731  0.696  0.034  0.091 -0.006  0.997]
+t: 73	 action: [-0.089 -0.793  0.577  0.037  0.074 -0.008  0.984]
+[07-31 02:04:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.614 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8164
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8164
+Query 1/1: Action query time = 1.614 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8164
+t=74: Selected seed 195 with value = 0.8164
+t: 74	 action: [-0.116 -0.84   0.22   0.058  0.044 -0.003  0.987]
+t: 75	 action: [-1.892e-01 -8.208e-01  9.436e-02  6.076e-02  3.487e-02 -1.224e-04  9.902e-01]
+t: 76	 action: [-0.193 -0.877 -0.004  0.061  0.044 -0.002  0.984]
+t: 77	 action: [-0.242 -0.814 -0.067  0.056  0.034  0.004  0.988]
+t: 78	 action: [-2.421e-01 -8.079e-01 -1.116e-01  5.883e-02  3.435e-02  9.294e-04  9.970e-01]
+t: 79	 action: [-0.255 -0.706 -0.222  0.054  0.023  0.01   0.992]
+t: 80	 action: [-0.234 -0.563 -0.353  0.029  0.03   0.004  0.996]
+t: 81	 action: [-0.249 -0.456 -0.516  0.032  0.02   0.016  0.995]
+t: 82	 action: [-0.213 -0.295 -0.569  0.006  0.012  0.017  0.974]
+t: 83	 action: [-2.290e-01 -1.525e-01 -6.882e-01  8.061e-04  3.155e-03  3.098e-02  9.912e-01]
+t: 84	 action: [-0.208 -0.081 -0.737 -0.004  0.003  0.023  0.96 ]
+t: 85	 action: [-0.199 -0.035 -0.785 -0.014  0.003  0.034  0.994]
+t: 86	 action: [-0.21   0.009 -0.82  -0.017 -0.003  0.036  0.986]
+t: 87	 action: [-0.214 -0.01  -0.795 -0.019 -0.005  0.041  0.982]
+t: 88	 action: [-2.060e-01  6.794e-03 -7.225e-01 -2.753e-02  6.936e-04  3.710e-02  9.737e-01]
+t: 89	 action: [-0.195 -0.004 -0.623 -0.024 -0.004  0.044  0.982]
+[07-31 02:04:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.607 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9959
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9959
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 13
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 10 (76.9%)
+
+
 26%|██▌       | 13/50 [03:48<12:30, 20.30s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 14...
+Query 1/1: Action query time = 1.607 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=90: Selected seed 195 with value = 0.9959
+t: 90	 action: [ 0.022  0.005  0.264 -0.004  0.042  0.008 -0.989]
+t: 91	 action: [ 0.026 -0.017  0.292 -0.013  0.031 -0.002 -1.027]
+t: 92	 action: [ 2.474e-02  8.872e-04  3.084e-01  6.353e-04  3.659e-02  5.423e-03 -9.830e-01]
+t: 93	 action: [ 4.038e-02 -1.352e-02  3.367e-01 -6.390e-03  3.050e-02 -3.486e-04 -1.011e+00]
+t: 94	 action: [ 2.182e-02  1.792e-03  3.322e-01 -2.944e-04  2.856e-02 -2.442e-03 -1.002e+00]
+t: 95	 action: [ 0.019 -0.003  0.324 -0.003  0.026 -0.005 -1.016]
+t: 96	 action: [ 3.023e-02 -1.119e-04  3.105e-01  2.550e-05  3.168e-02 -1.232e-03 -9.988e-01]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+87 87 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 14...
+[07-31 02:04:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.615 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4250
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4250
+Query 1/1: Action query time = 1.615 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4250
+t=10: Selected seed 195 with value = 0.4250
+t: 10	 action: [ 0.422  0.319 -0.001  0.004  0.017  0.002 -0.994]
+t: 11	 action: [ 5.502e-01  3.791e-01  1.478e-02  4.625e-03  2.152e-02 -5.659e-04 -9.956e-01]
+t: 12	 action: [ 0.636  0.469 -0.006  0.002  0.018  0.004 -0.989]
+t: 13	 action: [ 0.724  0.497  0.016  0.003  0.017  0.002 -0.991]
+t: 14	 action: [ 0.788  0.54   0.012  0.002  0.025  0.003 -0.996]
+t: 15	 action: [ 0.812  0.537  0.002  0.005  0.021  0.004 -1.007]
+t: 16	 action: [ 8.353e-01  5.682e-01 -9.270e-05  1.868e-04  2.598e-02  5.303e-03 -9.927e-01]
+t: 17	 action: [ 0.877  0.551 -0.009  0.004  0.017  0.005 -1.002]
+t: 18	 action: [ 0.829  0.57  -0.041  0.004  0.021  0.01  -0.99 ]
+t: 19	 action: [ 0.856  0.547 -0.03  -0.004  0.018  0.005 -0.994]
+t: 20	 action: [ 0.836  0.557 -0.079 -0.001  0.021  0.011 -0.987]
+t: 21	 action: [ 0.856  0.523 -0.086 -0.005  0.019  0.007 -0.989]
+t: 22	 action: [ 0.842  0.492 -0.139 -0.002  0.021  0.008 -0.994]
+t: 23	 action: [ 0.846  0.449 -0.191 -0.002  0.01   0.005 -1.009]
+t: 24	 action: [ 0.783  0.405 -0.246 -0.005  0.02   0.008 -0.995]
+t: 25	 action: [ 7.971e-01  3.215e-01 -3.511e-01 -8.835e-04  1.291e-02  6.536e-03 -1.007e+00]
+[07-31 02:04:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.621 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4395
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4395
+Query 1/1: Action query time = 1.621 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4395
+t=26: Selected seed 195 with value = 0.4395
+t: 26	 action: [ 8.991e-01  3.958e-01 -3.478e-01  5.440e-04  2.317e-02  1.060e-02 -9.983e-01]
+t: 27	 action: [ 0.798  0.345 -0.423 -0.002  0.016  0.011 -1.008]
+t: 28	 action: [ 0.748  0.296 -0.482  0.002  0.013  0.009 -1.008]
+t: 29	 action: [ 0.631  0.209 -0.57   0.004  0.005  0.009 -1.007]
+t: 30	 action: [ 0.486  0.188 -0.674  0.005 -0.009  0.005 -1.003]
+t: 31	 action: [ 0.351  0.102 -0.811  0.013 -0.011  0.007 -1.007]
+t: 32	 action: [ 0.262  0.092 -0.884  0.006 -0.024  0.003 -1.011]
+t: 33	 action: [ 0.173  0.052 -0.933  0.013 -0.028  0.007 -1.007]
+t: 34	 action: [ 0.117 -0.007 -0.939  0.003 -0.042  0.009 -1.021]
+t: 35	 action: [ 0.049 -0.04  -0.946  0.003 -0.045  0.007 -1.002]
+t: 36	 action: [-7.776e-03 -7.184e-02 -9.526e-01  8.800e-04 -4.933e-02  7.528e-03 -1.021e+00]
+t: 37	 action: [-4.723e-02 -9.426e-02 -9.440e-01  6.407e-06 -5.595e-02  4.992e-03 -9.997e-01]
+t: 38	 action: [-0.126 -0.11  -0.926 -0.001 -0.063  0.006 -1.021]
+t: 39	 action: [-0.201 -0.118 -0.928 -0.002 -0.072  0.004 -1.002]
+t: 40	 action: [-0.282 -0.165 -0.926 -0.002 -0.064  0.004 -1.017]
+t: 41	 action: [-0.374 -0.149 -0.911 -0.005 -0.075  0.003 -1.003]
+[07-31 02:04:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.650 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6046
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6046
+Query 1/1: Action query time = 1.650 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6046
+t=42: Selected seed 195 with value = 0.6046
+t: 42	 action: [-0.325 -0.069 -0.902  0.009 -0.067  0.021 -1.019]
+t: 43	 action: [-0.409 -0.088 -0.885  0.001 -0.078  0.029 -0.994]
+t: 44	 action: [-0.467 -0.026 -0.855  0.005 -0.06   0.024 -1.022]
+t: 45	 action: [-5.036e-01 -4.863e-02 -8.296e-01 -9.693e-04 -6.797e-02  2.824e-02 -1.004e+00]
+t: 46	 action: [-0.51   0.005 -0.802  0.005 -0.06   0.023 -1.023]
+t: 47	 action: [-0.55  -0.022 -0.817  0.005 -0.063  0.03  -1.009]
+t: 48	 action: [-0.517  0.022 -0.711  0.001 -0.047  0.026 -1.027]
+t: 49	 action: [-5.109e-01  1.609e-02 -7.430e-01  8.337e-05 -3.947e-02  2.608e-02 -1.006e+00]
+t: 50	 action: [-0.403 -0.015 -0.648  0.008 -0.009  0.026  0.992]
+t: 51	 action: [-0.357 -0.026 -0.559 -0.008 -0.001  0.022  1.004]
+t: 52	 action: [-2.153e-01  1.869e-03 -4.080e-01 -2.138e-04  9.551e-03  2.312e-02  9.843e-01]
+t: 53	 action: [-0.168 -0.012 -0.28  -0.014  0.004  0.011  0.997]
+t: 54	 action: [-0.132 -0.016 -0.173 -0.025  0.017  0.012  1.016]
+t: 55	 action: [-0.089 -0.027 -0.05  -0.015  0.007  0.006  0.986]
+t: 56	 action: [-0.045 -0.004  0.08  -0.027  0.031  0.003  1.007]
+t: 57	 action: [-0.024 -0.013  0.233 -0.017  0.018 -0.006  0.988]
+[07-31 02:04:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.617 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6897
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6897
+Query 1/1: Action query time = 1.617 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6897
+t=58: Selected seed 195 with value = 0.6897
+t: 58	 action: [-7.778e-04 -7.859e-03  2.771e-02 -6.308e-03 -5.018e-03 -6.490e-02  9.870e-01]
+t: 59	 action: [ 2.946e-02 -3.371e-02  1.277e-01 -1.042e-02 -4.482e-04 -7.160e-02  9.921e-01]
+t: 60	 action: [ 0.024  0.023  0.401 -0.002  0.003 -0.081  0.988]
+t: 61	 action: [ 0.02  -0.02   0.652 -0.005  0.013 -0.075  0.995]
+t: 62	 action: [ 0.061  0.012  0.752 -0.005  0.022 -0.078  0.996]
+t: 63	 action: [ 0.04   0.004  0.863 -0.004  0.035 -0.079  0.977]
+t: 64	 action: [ 4.579e-02 -2.989e-02  9.339e-01  8.541e-04  3.763e-02 -7.714e-02  9.897e-01]
+t: 65	 action: [ 0.013 -0.103  0.931  0.013  0.069 -0.073  0.986]
+t: 66	 action: [ 0.057 -0.25   0.906  0.017  0.063 -0.06   0.98 ]
+t: 67	 action: [ 0.037 -0.39   0.933  0.028  0.071 -0.049  0.99 ]
+t: 68	 action: [-9.499e-04 -4.467e-01  8.811e-01  2.742e-02  7.179e-02 -3.309e-02  9.794e-01]
+t: 69	 action: [ 0.006 -0.596  0.845  0.032  0.085 -0.031  0.986]
+t: 70	 action: [-0.104 -0.639  0.752  0.029  0.082 -0.032  0.992]
+t: 71	 action: [-0.126 -0.712  0.663  0.033  0.081 -0.028  0.983]
+t: 72	 action: [-0.181 -0.725  0.503  0.029  0.072 -0.009  0.997]
+t: 73	 action: [-0.186 -0.764  0.385  0.032  0.064 -0.012  0.982]
+[07-31 02:04:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.723 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8410
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8410
+Query 1/1: Action query time = 1.723 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8410
+t=74: Selected seed 195 with value = 0.8410
+t: 74	 action: [-0.189 -0.787  0.035  0.029  0.031 -0.008  0.975]
+t: 75	 action: [-0.271 -0.787 -0.023  0.029  0.021 -0.007  0.987]
+t: 76	 action: [-0.284 -0.774 -0.135  0.032  0.02  -0.005  0.975]
+t: 77	 action: [-3.421e-01 -7.025e-01 -2.233e-01  2.670e-02  6.053e-03  3.427e-04  9.868e-01]
+t: 78	 action: [-0.322 -0.678 -0.281  0.018  0.008  0.002  0.994]
+t: 79	 action: [-0.319 -0.55  -0.441  0.023 -0.004  0.006  0.979]
+t: 80	 action: [-0.323 -0.402 -0.511  0.003 -0.005  0.006  0.995]
+t: 81	 action: [-0.307 -0.272 -0.667  0.007 -0.006  0.017  0.988]
+t: 82	 action: [-0.178 -0.157 -0.635 -0.002 -0.017  0.017  0.979]
+t: 83	 action: [-0.179 -0.059 -0.718 -0.017 -0.02   0.034  0.988]
+t: 84	 action: [-0.114  0.007 -0.706 -0.029 -0.013  0.03   0.973]
+t: 85	 action: [-0.104  0.042 -0.718 -0.036 -0.012  0.038  0.998]
+t: 86	 action: [-0.106  0.065 -0.668 -0.047 -0.017  0.04   0.995]
+t: 87	 action: [-0.103  0.067 -0.607 -0.057 -0.014  0.045  0.975]
+t: 88	 action: [-0.073  0.065 -0.488 -0.06  -0.002  0.044  0.988]
+t: 89	 action: [-0.091  0.08  -0.332 -0.062 -0.002  0.048  0.972]
+[07-31 02:04:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.608 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 1.0000
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 14
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 11 (78.6%)
+
+
 28%|██▊       | 14/50 [04:04<11:18, 18.85s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 15...
+Query 1/1: Action query time = 1.608 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+t: 90	 action: [ 0.144  0.015  0.345  0.004  0.117 -0.006 -0.993]
+t: 91	 action: [ 0.176  0.007  0.384  0.005  0.108 -0.016 -1.024]
+t: 92	 action: [ 0.154  0.008  0.396  0.005  0.111 -0.012 -0.983]
+t: 93	 action: [ 0.187  0.009  0.426  0.009  0.107 -0.016 -1.013]
+t: 94	 action: [ 0.152 -0.002  0.372  0.005  0.097 -0.018 -0.998]
+t: 95	 action: [ 0.168  0.005  0.36   0.008  0.093 -0.018 -1.013]
+t: 96	 action: [ 0.153 -0.002  0.317  0.004  0.084 -0.02  -0.994]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=14--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+87 87 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=14--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 11 (78.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 15...
+[07-31 02:04:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.613 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4237
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4237
+Query 1/1: Action query time = 1.613 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4237
+t=10: Selected seed 195 with value = 0.4237
+t: 10	 action: [ 0.064 -0.007 -0.011  0.002 -0.008  0.002 -0.996]
+t: 11	 action: [ 1.498e-01  6.507e-02  8.017e-03 -6.885e-03  1.384e-03 -1.752e-04 -9.850e-01]
+t: 12	 action: [ 0.218  0.154 -0.009 -0.001 -0.004  0.005 -0.991]
+t: 13	 action: [ 0.371  0.263  0.007 -0.01   0.002  0.001 -0.987]
+t: 14	 action: [ 0.449  0.3    0.016 -0.006  0.007  0.005 -1.006]
+t: 15	 action: [ 0.599  0.402 -0.004 -0.009  0.004  0.008 -1.   ]
+t: 16	 action: [ 0.667  0.476  0.009 -0.009  0.012  0.007 -0.995]
+t: 17	 action: [ 0.757  0.494 -0.022 -0.01   0.005  0.008 -1.004]
+t: 18	 action: [ 0.702  0.5   -0.054 -0.006  0.007  0.013 -0.995]
+t: 19	 action: [ 0.72   0.495 -0.088 -0.013  0.008  0.009 -0.996]
+t: 20	 action: [ 0.753  0.489 -0.112 -0.013  0.007  0.014 -0.992]
+t: 21	 action: [ 0.762  0.473 -0.165 -0.014  0.01   0.009 -0.99 ]
+t: 22	 action: [ 0.804  0.53  -0.133 -0.011  0.011  0.013 -0.993]
+t: 23	 action: [ 0.812  0.5   -0.243 -0.009  0.002  0.013 -1.004]
+t: 24	 action: [ 0.817  0.5   -0.247 -0.008  0.011  0.01  -0.99 ]
+t: 25	 action: [ 0.838  0.403 -0.365 -0.006  0.002  0.013 -1.01 ]
+[07-31 02:04:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.613 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4993
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4993
+Query 1/1: Action query time = 1.613 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4993
+t=26: Selected seed 195 with value = 0.4993
+t: 26	 action: [ 0.936  0.434 -0.242 -0.002 -0.003  0.009 -1.006]
+t: 27	 action: [ 0.955  0.424 -0.317 -0.006  0.003  0.006 -1.001]
+t: 28	 action: [ 0.921  0.421 -0.347  0.002 -0.012  0.008 -0.998]
+t: 29	 action: [ 8.871e-01  3.654e-01 -4.087e-01 -5.547e-04 -2.833e-03  9.973e-04 -1.003e+00]
+t: 30	 action: [ 0.856  0.389 -0.397 -0.001 -0.018  0.001 -1.011]
+t: 31	 action: [ 7.172e-01  3.441e-01 -5.299e-01  3.177e-03 -2.810e-02 -6.784e-04 -1.004e+00]
+t: 32	 action: [ 0.579  0.262 -0.585  0.001 -0.031 -0.001 -1.005]
+t: 33	 action: [ 0.424  0.217 -0.713  0.013 -0.049 -0.005 -1.006]
+t: 34	 action: [ 2.476e-01  1.394e-01 -7.302e-01  3.187e-02 -4.408e-02  3.525e-04 -1.005e+00]
+t: 35	 action: [ 0.133  0.095 -0.812  0.029 -0.045 -0.011 -0.99 ]
+t: 36	 action: [ 1.160e-01  5.075e-02 -8.541e-01  3.964e-02 -5.298e-02 -1.271e-04 -1.007e+00]
+t: 37	 action: [ 0.038  0.019 -0.899  0.028 -0.058 -0.013 -0.989]
+t: 38	 action: [ 0.029  0.023 -0.904  0.031 -0.058 -0.006 -1.008]
+t: 39	 action: [-0.025  0.028 -0.919  0.018 -0.062 -0.015 -0.995]
+t: 40	 action: [-0.091 -0.002 -0.906  0.023 -0.064 -0.006 -1.01 ]
+t: 41	 action: [-0.146 -0.021 -0.925  0.011 -0.067 -0.015 -0.997]
+[07-31 02:04:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.590 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5961
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5961
+Query 1/1: Action query time = 1.590 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5961
+t=42: Selected seed 195 with value = 0.5961
+t: 42	 action: [-0.383  0.073 -0.937  0.018 -0.083  0.024 -1.006]
+t: 43	 action: [-0.46   0.093 -0.931  0.006 -0.097  0.029 -0.997]
+t: 44	 action: [-0.543  0.084 -0.901  0.025 -0.073  0.036 -1.001]
+t: 45	 action: [-0.584  0.09  -0.895  0.011 -0.085  0.033 -1.001]
+t: 46	 action: [-0.57   0.085 -0.908  0.006 -0.067  0.022 -1.017]
+t: 47	 action: [-0.507  0.103 -0.862  0.005 -0.064  0.026 -1.013]
+t: 48	 action: [-0.401  0.087 -0.811  0.005 -0.045  0.027 -1.023]
+t: 49	 action: [-0.283  0.081 -0.787  0.005 -0.023  0.023 -1.022]
+t: 50	 action: [-0.294  0.058 -0.695  0.005  0.01   0.024 -1.011]
+t: 51	 action: [-0.239  0.021 -0.693 -0.004  0.014  0.026 -1.038]
+t: 52	 action: [-0.171  0.011 -0.634  0.004  0.021  0.017 -0.961]
+t: 53	 action: [-0.123 -0.015 -0.572 -0.006  0.031  0.016  0.957]
+t: 54	 action: [-1.363e-01 -6.843e-04 -4.655e-01  3.946e-04  3.102e-02  6.727e-03  9.786e-01]
+t: 55	 action: [-0.071 -0.035 -0.392 -0.019  0.039  0.006  1.001]
+t: 56	 action: [-0.102 -0.03  -0.294 -0.004  0.038  0.003  0.987]
+t: 57	 action: [-0.053 -0.054 -0.175 -0.032  0.053  0.002  1.009]
+[07-31 02:04:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.777 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7141
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7141
+Query 1/1: Action query time = 1.777 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7141
+t=58: Selected seed 195 with value = 0.7141
+t: 58	 action: [-1.383e-01 -5.021e-02 -3.722e-01 -4.808e-03  1.815e-02 -4.469e-04  9.781e-01]
+t: 59	 action: [-0.062 -0.061 -0.246 -0.011  0.019 -0.029  0.981]
+t: 60	 action: [-0.024 -0.11  -0.103 -0.001  0.03  -0.032  0.974]
+t: 61	 action: [ 0.015 -0.099 -0.004 -0.009  0.034 -0.045  0.984]
+t: 62	 action: [ 0.009 -0.074  0.143 -0.014  0.04  -0.046  0.984]
+t: 63	 action: [ 0.042 -0.064  0.324 -0.011  0.04  -0.045  0.974]
+t: 64	 action: [ 0.045 -0.058  0.528 -0.003  0.037 -0.07   0.982]
+t: 65	 action: [ 6.196e-02 -3.722e-02  7.216e-01 -6.065e-04  3.418e-02 -5.891e-02  9.812e-01]
+t: 66	 action: [ 0.068 -0.076  0.87  -0.003  0.024 -0.064  0.982]
+t: 67	 action: [ 0.088 -0.148  0.905  0.002  0.018 -0.063  0.98 ]
+t: 68	 action: [ 0.076 -0.212  0.932 -0.001  0.017 -0.055  0.973]
+t: 69	 action: [ 0.051 -0.316  0.939  0.012  0.009 -0.054  0.983]
+t: 70	 action: [-0.021 -0.475  0.932  0.016  0.013 -0.031  0.996]
+t: 71	 action: [-0.012 -0.543  0.887  0.036  0.004 -0.033  0.98 ]
+t: 72	 action: [-0.057 -0.643  0.888  0.028  0.013 -0.022  0.996]
+t: 73	 action: [-0.053 -0.688  0.759  0.049  0.003 -0.024  0.986]
+[07-31 02:04:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.588 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8474
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8474
+Query 1/1: Action query time = 1.588 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8474
+t=74: Selected seed 195 with value = 0.8474
+t: 74	 action: [-0.108 -0.757  0.408  0.045  0.042 -0.007  0.965]
+t: 75	 action: [-0.162 -0.762  0.256  0.052  0.039 -0.011  0.983]
+t: 76	 action: [-0.185 -0.813  0.122  0.046  0.032 -0.003  0.963]
+t: 77	 action: [-0.24  -0.781  0.036  0.049  0.023 -0.004  0.985]
+t: 78	 action: [-0.247 -0.795 -0.06   0.046  0.031 -0.006  0.981]
+t: 79	 action: [-0.317 -0.744 -0.195  0.042  0.011 -0.006  0.983]
+t: 80	 action: [-0.286 -0.723 -0.31   0.029  0.017 -0.001  0.977]
+t: 81	 action: [-0.332 -0.619 -0.471  0.023  0.002  0.003  0.993]
+t: 82	 action: [-0.282 -0.47  -0.545  0.007 -0.014  0.01   0.984]
+t: 83	 action: [-0.308 -0.332 -0.725  0.005 -0.017  0.021  0.982]
+t: 84	 action: [-0.214 -0.228 -0.676 -0.002 -0.024  0.019  0.979]
+t: 85	 action: [-0.184 -0.139 -0.766 -0.012 -0.022  0.028  0.992]
+t: 86	 action: [-0.153 -0.038 -0.736 -0.01  -0.037  0.029  0.992]
+t: 87	 action: [-0.133 -0.003 -0.749 -0.029 -0.031  0.036  0.987]
+t: 88	 action: [-0.071  0.044 -0.621 -0.033 -0.024  0.034  0.989]
+t: 89	 action: [-0.039  0.062 -0.506 -0.036 -0.016  0.04   0.994]
+[07-31 02:04:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.744 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9961
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9961
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 15
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 12 (80.0%)
+
+
 30%|███       | 15/50 [04:19<10:25, 17.86s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 16...
+Query 1/1: Action query time = 1.744 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=90: Selected seed 195 with value = 0.9961
+t: 90	 action: [ 0.002  0.019  0.294 -0.002  0.054  0.005 -0.969]
+t: 91	 action: [ 0.008  0.017  0.307 -0.003  0.055 -0.011 -1.004]
+t: 92	 action: [ 1.918e-02  1.725e-02  3.300e-01  7.208e-04  5.005e-02 -2.074e-03 -9.789e-01]
+t: 93	 action: [ 0.033  0.023  0.354  0.002  0.052 -0.014 -1.011]
+t: 94	 action: [ 5.228e-02  3.629e-02  3.613e-01 -2.753e-04  2.667e-02 -1.217e-02 -9.958e-01]
+t: 95	 action: [ 3.753e-02  4.617e-02  3.490e-01 -2.505e-04  2.191e-02 -1.562e-02 -1.025e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=15--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+86 86 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=15--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 12 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 16...
+[07-31 02:05:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.866 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4293
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4293
+Query 1/1: Action query time = 1.866 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4293
+t=10: Selected seed 195 with value = 0.4293
+t: 10	 action: [ 0.074 -0.019  0.01   0.005 -0.004  0.004 -1.003]
+t: 11	 action: [ 0.143  0.011  0.01  -0.006  0.003 -0.002 -0.994]
+t: 12	 action: [ 0.235  0.1   -0.006  0.002 -0.003  0.005 -1.003]
+t: 13	 action: [ 0.365  0.179  0.009 -0.007  0.002  0.002 -0.993]
+t: 14	 action: [ 0.52   0.261  0.01  -0.002  0.007  0.005 -1.012]
+t: 15	 action: [ 0.645  0.383 -0.007 -0.008  0.005  0.005 -1.009]
+t: 16	 action: [ 0.739  0.47  -0.011 -0.004  0.012  0.007 -1.006]
+t: 17	 action: [ 0.776  0.497 -0.023 -0.007  0.006  0.008 -1.01 ]
+t: 18	 action: [ 0.741  0.556 -0.053 -0.007  0.016  0.013 -1.005]
+t: 19	 action: [ 0.74   0.557 -0.029 -0.018  0.014  0.008 -1.   ]
+t: 20	 action: [ 0.787  0.577 -0.092 -0.009  0.015  0.016 -1.01 ]
+t: 21	 action: [ 0.774  0.571 -0.057 -0.016  0.016  0.011 -0.996]
+t: 22	 action: [ 0.837  0.618 -0.105 -0.012  0.019  0.012 -1.004]
+t: 23	 action: [ 0.855  0.605 -0.091 -0.017  0.007  0.011 -1.006]
+t: 24	 action: [ 0.847  0.62  -0.175 -0.008  0.018  0.013 -1.008]
+t: 25	 action: [ 0.871  0.583 -0.161 -0.013  0.007  0.013 -1.01 ]
+[07-31 02:05:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.606 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5161
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5161
+Query 1/1: Action query time = 1.606 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5161
+t=26: Selected seed 195 with value = 0.5161
+t: 26	 action: [ 0.921  0.428 -0.246 -0.003  0.013  0.011 -1.005]
+t: 27	 action: [ 0.944  0.411 -0.303 -0.008  0.011  0.009 -0.999]
+t: 28	 action: [ 8.927e-01  3.840e-01 -3.542e-01  9.087e-04  3.262e-03  9.280e-03 -9.992e-01]
+t: 29	 action: [ 8.582e-01  3.130e-01 -4.220e-01 -9.540e-04  6.789e-03  4.247e-03 -1.001e+00]
+t: 30	 action: [ 0.807  0.305 -0.459 -0.002 -0.01   0.001 -1.011]
+t: 31	 action: [ 0.66   0.256 -0.613  0.005 -0.014 -0.002 -1.004]
+t: 32	 action: [ 0.509  0.159 -0.7    0.004 -0.028 -0.001 -1.007]
+t: 33	 action: [ 0.385  0.135 -0.838  0.017 -0.039 -0.005 -1.005]
+t: 34	 action: [ 2.290e-01  8.930e-02 -8.518e-01  2.431e-02 -4.487e-02 -5.479e-04 -1.006e+00]
+t: 35	 action: [ 0.135  0.063 -0.906  0.02  -0.047 -0.013 -0.986]
+t: 36	 action: [ 0.107  0.051 -0.909  0.025 -0.051 -0.002 -1.007]
+t: 37	 action: [ 0.034  0.027 -0.933  0.018 -0.056 -0.017 -0.986]
+t: 38	 action: [ 0.062  0.044 -0.92   0.014 -0.054 -0.012 -1.009]
+t: 39	 action: [ 0.007  0.031 -0.941  0.011 -0.058 -0.021 -0.998]
+t: 40	 action: [-0.012  0.04  -0.923  0.003 -0.055 -0.013 -1.005]
+t: 41	 action: [-0.042  0.012 -0.935  0.004 -0.059 -0.023 -0.998]
+[07-31 02:05:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6203
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6203
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6203
+t=42: Selected seed 195 with value = 0.6203
+t: 42	 action: [-0.38   0.068 -0.945  0.003 -0.063  0.012 -1.013]
+t: 43	 action: [-0.398  0.076 -0.931 -0.003 -0.071  0.02  -1.   ]
+t: 44	 action: [-0.389  0.059 -0.919  0.003 -0.056  0.014 -1.01 ]
+t: 45	 action: [-3.340e-01  6.616e-02 -8.830e-01 -8.765e-04 -5.932e-02  2.255e-02 -1.001e+00]
+t: 46	 action: [-0.288  0.051 -0.872 -0.001 -0.05   0.008 -1.03 ]
+t: 47	 action: [-0.216  0.065 -0.868 -0.004 -0.045  0.015 -1.013]
+t: 48	 action: [-0.175  0.028 -0.775 -0.002 -0.035  0.007 -1.029]
+t: 49	 action: [-0.163  0.039 -0.786 -0.004 -0.019  0.011 -1.017]
+t: 50	 action: [-0.186  0.03  -0.739  0.003  0.006  0.024 -0.988]
+t: 51	 action: [-0.199  0.017 -0.653 -0.017  0.006  0.02  -0.693]
+t: 52	 action: [-0.145  0.01  -0.568 -0.002  0.016  0.025  0.975]
+t: 53	 action: [-0.121 -0.007 -0.426 -0.021  0.015  0.017  1.006]
+t: 54	 action: [-0.159  0.003 -0.293 -0.01   0.018  0.009  0.987]
+t: 55	 action: [-0.118  0.002 -0.182 -0.027  0.016  0.011  1.03 ]
+t: 56	 action: [-0.088 -0.006 -0.059 -0.016  0.025  0.002  0.992]
+t: 57	 action: [-6.178e-02 -2.659e-02  1.421e-02 -3.237e-02  2.991e-02 -8.926e-04  1.008e+00]
+[07-31 02:05:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7216
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7216
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7216
+t=58: Selected seed 195 with value = 0.7216
+t: 58	 action: [ 0.105  0.004  0.15  -0.048  0.062  0.01   0.968]
+t: 59	 action: [ 0.162 -0.008  0.251 -0.035  0.078  0.012  0.973]
+t: 60	 action: [ 0.221  0.001  0.535 -0.041  0.09   0.005  0.972]
+t: 61	 action: [ 0.299 -0.029  0.685 -0.025  0.09   0.003  0.969]
+t: 62	 action: [ 0.343  0.007  0.85  -0.034  0.104  0.002  0.99 ]
+t: 63	 action: [ 0.36  -0.017  0.898 -0.019  0.083 -0.004  0.977]
+t: 64	 action: [ 0.343 -0.066  0.975 -0.016  0.08  -0.006  0.982]
+t: 65	 action: [ 0.347 -0.13   0.937 -0.007  0.054 -0.007  0.98 ]
+t: 66	 action: [ 0.346 -0.283  0.939  0.005  0.032  0.006  0.97 ]
+t: 67	 action: [ 0.327 -0.464  0.952  0.01   0.021  0.001  0.993]
+t: 68	 action: [ 0.236 -0.514  0.923  0.01   0.021  0.005  0.971]
+t: 69	 action: [ 0.171 -0.646  0.903  0.018  0.009  0.003  0.998]
+t: 70	 action: [ 0.078 -0.734  0.844  0.028  0.01   0.003  0.993]
+t: 71	 action: [ 0.023 -0.771  0.722  0.025  0.004  0.006  0.994]
+t: 72	 action: [-0.023 -0.798  0.643  0.032 -0.004  0.001  0.997]
+t: 73	 action: [-0.092 -0.81   0.439  0.029 -0.006  0.004  0.998]
+[07-31 02:05:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8525
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8525
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8525
+t=74: Selected seed 195 with value = 0.8525
+t: 74	 action: [-0.215 -0.927  0.179  0.021 -0.049  0.014  0.977]
+t: 75	 action: [-0.305 -0.896  0.051  0.021 -0.048  0.021  0.993]
+t: 76	 action: [-0.337 -0.892 -0.092  0.026 -0.066  0.016  0.972]
+t: 77	 action: [-0.397 -0.8   -0.215  0.022 -0.074  0.025  0.993]
+t: 78	 action: [-0.455 -0.718 -0.36   0.018 -0.092  0.011  0.992]
+t: 79	 action: [-0.479 -0.603 -0.538  0.014 -0.107  0.025  0.982]
+t: 80	 action: [-0.488 -0.457 -0.649  0.006 -0.114  0.018  0.99 ]
+t: 81	 action: [-0.5   -0.331 -0.813  0.009 -0.119  0.029  0.987]
+t: 82	 action: [-0.378 -0.185 -0.82   0.006 -0.111  0.022  0.982]
+t: 83	 action: [-0.424 -0.117 -0.866 -0.001 -0.118  0.034  0.993]
+t: 84	 action: [-0.359 -0.024 -0.858  0.003 -0.078  0.033  0.981]
+t: 85	 action: [-0.339 -0.007 -0.831 -0.006 -0.071  0.039  1.005]
+t: 86	 action: [-0.23   0.057 -0.741 -0.004 -0.055  0.032  0.997]
+t: 87	 action: [-0.207  0.046 -0.645 -0.006 -0.03   0.038  0.981]
+t: 88	 action: [-0.121  0.073 -0.462 -0.015 -0.013  0.037  0.996]
+t: 89	 action: [-0.106  0.066 -0.283 -0.009  0.011  0.038  0.982]
+[07-31 02:05:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9899
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9899
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 16
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 13 (81.2%)
+
+
 32%|███▏      | 16/50 [04:32<09:14, 16.31s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 17...
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=90: Selected seed 195 with value = 0.9899
+t: 90	 action: [-0.082  0.005 -0.33  -0.008  0.042  0.023  1.006]
+t: 91	 action: [-0.044  0.035 -0.14  -0.009  0.035  0.025  0.985]
+t: 92	 action: [-0.04   0.004 -0.062 -0.004  0.05   0.014 -0.976]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=16--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+83 83 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=16--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 13 (81.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 17...
+[07-31 02:05:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.014 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4398
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4398
+Query 1/1: Action query time = 1.014 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4398
+t=10: Selected seed 195 with value = 0.4398
+t: 10	 action: [ 7.622e-02  1.513e-01 -2.901e-04 -7.893e-04 -1.904e-03 -5.147e-04 -1.003e+00]
+t: 11	 action: [ 2.005e-01  2.184e-01  9.843e-03 -2.700e-04  5.942e-03 -2.397e-03 -9.966e-01]
+t: 12	 action: [ 0.303  0.367 -0.008 -0.001 -0.002  0.001 -1.006]
+t: 13	 action: [ 4.297e-01  4.256e-01  1.174e-02 -7.826e-04  4.347e-03 -2.075e-03 -1.002e+00]
+t: 14	 action: [ 5.668e-01  4.847e-01 -1.502e-03 -3.111e-03  1.225e-03  8.173e-04 -1.019e+00]
+t: 15	 action: [ 0.686  0.489 -0.005  0.002  0.002  0.005 -1.013]
+t: 16	 action: [ 0.76   0.55  -0.013 -0.005  0.002  0.003 -1.008]
+t: 17	 action: [ 8.295e-01  5.267e-01 -1.786e-02  3.804e-03  5.450e-04  4.023e-03 -1.016e+00]
+t: 18	 action: [ 0.769  0.51  -0.046  0.003 -0.004  0.013 -1.001]
+t: 19	 action: [ 0.805  0.479 -0.039  0.006  0.002  0.007 -1.003]
+t: 20	 action: [ 0.841  0.495 -0.097  0.004 -0.015  0.01  -1.003]
+t: 21	 action: [ 0.837  0.441 -0.1    0.005 -0.009  0.006 -1.003]
+t: 22	 action: [ 0.858  0.436 -0.152 -0.002 -0.018  0.01  -0.997]
+t: 23	 action: [ 0.879  0.384 -0.214  0.008 -0.021  0.009 -1.003]
+t: 24	 action: [ 0.862  0.35  -0.27  -0.001 -0.026  0.007 -1.   ]
+t: 25	 action: [ 0.888  0.261 -0.342  0.008 -0.03   0.008 -1.01 ]
+[07-31 02:05:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4568
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4568
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4568
+t=26: Selected seed 195 with value = 0.4568
+t: 26	 action: [ 0.745  0.47  -0.306  0.005 -0.004 -0.002 -1.004]
+t: 27	 action: [ 0.64   0.367 -0.383  0.004 -0.004 -0.008 -0.998]
+t: 28	 action: [ 0.548  0.271 -0.505  0.003 -0.008 -0.007 -1.002]
+t: 29	 action: [ 0.459  0.18  -0.628  0.008 -0.004 -0.01  -0.995]
+t: 30	 action: [ 0.357  0.134 -0.717  0.005 -0.011 -0.019 -1.011]
+t: 31	 action: [ 0.282  0.053 -0.826  0.01  -0.016 -0.015 -1.011]
+t: 32	 action: [ 0.231  0.077 -0.921  0.004 -0.013 -0.025 -1.007]
+t: 33	 action: [ 0.187  0.061 -0.949  0.009 -0.017 -0.018 -1.01 ]
+t: 34	 action: [ 0.064  0.041 -0.95   0.006 -0.018 -0.032 -1.01 ]
+t: 35	 action: [ 1.931e-02  4.449e-02 -9.519e-01  6.871e-04 -1.407e-02 -2.706e-02 -9.991e-01]
+t: 36	 action: [-0.01   0.029 -0.956  0.002 -0.015 -0.029 -1.008]
+t: 37	 action: [-0.015  0.024 -0.952 -0.005 -0.012 -0.025 -0.996]
+t: 38	 action: [-0.046  0.034 -0.945  0.001 -0.017 -0.032 -1.014]
+t: 39	 action: [-0.061  0.043 -0.94  -0.004 -0.027 -0.029 -1.014]
+t: 40	 action: [-0.082  0.033 -0.938 -0.004 -0.012 -0.027 -1.012]
+t: 41	 action: [-0.103  0.034 -0.924 -0.01  -0.021 -0.025 -1.01 ]
+[07-31 02:05:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5689
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5689
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5689
+t=42: Selected seed 195 with value = 0.5689
+t: 42	 action: [-1.921e-01  1.028e-01 -8.415e-01  8.765e-04 -6.049e-03  6.424e-03 -1.004e+00]
+t: 43	 action: [-0.133  0.113 -0.837  0.004 -0.002  0.009 -1.007]
+t: 44	 action: [-0.088  0.054 -0.739  0.001  0.015  0.007 -1.   ]
+t: 45	 action: [-0.024  0.058 -0.735  0.003  0.016  0.012 -1.004]
+t: 46	 action: [ 1.357e-02  3.467e-02 -6.528e-01 -5.115e-04  3.417e-02  3.838e-03 -9.989e-01]
+t: 47	 action: [ 0.026  0.034 -0.611  0.003  0.034  0.005 -1.004]
+t: 48	 action: [ 6.110e-03  8.670e-03 -5.516e-01 -8.745e-04  5.004e-02  1.984e-03 -1.002e+00]
+t: 49	 action: [-0.026 -0.017 -0.561  0.001  0.046 -0.002 -1.009]
+t: 50	 action: [-1.549e-01  3.076e-03 -5.386e-01  1.134e-03  3.140e-02 -7.522e-04 -1.003e+00]
+t: 51	 action: [-1.881e-01 -1.967e-02 -5.557e-01  4.552e-04  3.797e-02 -5.565e-04 -1.031e+00]
+t: 52	 action: [-2.122e-01 -2.447e-02 -4.966e-01  1.501e-03  2.746e-02  4.072e-04  9.842e-01]
+t: 53	 action: [-2.246e-01 -3.446e-02 -5.150e-01 -6.816e-04  3.198e-02 -5.650e-03  1.001e+00]
+t: 54	 action: [-0.217 -0.027 -0.41   0.004  0.039 -0.013  0.995]
+t: 55	 action: [-1.792e-01 -4.462e-02 -3.476e-01  2.942e-04  3.562e-02 -1.560e-02  1.016e+00]
+t: 56	 action: [-0.194 -0.048 -0.298  0.002  0.034 -0.016  0.996]
+t: 57	 action: [-0.155 -0.046 -0.188 -0.006  0.034 -0.021  1.011]
+[07-31 02:05:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7122
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=58: Selected seed 195 with value = 0.7122
+t: 58	 action: [-0.082 -0.093 -0.145 -0.003  0.025 -0.023  0.986]
+t: 59	 action: [-0.037 -0.087 -0.067 -0.008  0.017 -0.035  0.983]
+t: 60	 action: [-0.034 -0.06   0.049 -0.002  0.018 -0.037  0.989]
+t: 61	 action: [ 0.013 -0.072  0.14  -0.009  0.013 -0.039  0.986]
+t: 62	 action: [ 0.019 -0.03   0.252 -0.007  0.013 -0.046  0.993]
+t: 63	 action: [ 0.01  -0.02   0.481 -0.008  0.011 -0.041  0.981]
+t: 64	 action: [ 0.056 -0.012  0.715 -0.004  0.014 -0.053  0.996]
+t: 65	 action: [ 0.033 -0.009  0.836 -0.005  0.015 -0.045  0.99 ]
+t: 66	 action: [ 0.052 -0.005  0.89  -0.001  0.007 -0.046  0.977]
+t: 67	 action: [ 0.047 -0.067  0.928  0.009  0.014 -0.046  0.981]
+t: 68	 action: [ 0.05  -0.141  0.928  0.008  0.014 -0.035  0.969]
+t: 69	 action: [ 0.037 -0.264  0.946  0.025  0.023 -0.037  0.983]
+t: 70	 action: [-0.014 -0.388  0.902  0.037  0.028 -0.031  0.987]
+t: 71	 action: [-0.008 -0.505  0.866  0.044  0.03  -0.021  0.989]
+t: 72	 action: [-0.062 -0.598  0.83   0.056  0.037 -0.019  0.986]
+t: 73	 action: [-0.06  -0.677  0.644  0.059  0.041 -0.013  0.993]
+[07-31 02:05:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8149
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=74: Selected seed 195 with value = 0.8149
+t: 74	 action: [-0.044 -0.783  0.667  0.047  0.074 -0.025  0.968]
+t: 75	 action: [-0.085 -0.793  0.463  0.042  0.07  -0.021  0.989]
+t: 76	 action: [-0.139 -0.833  0.274  0.029  0.058 -0.023  0.963]
+t: 77	 action: [-0.181 -0.803  0.11   0.032  0.054 -0.017  0.989]
+t: 78	 action: [-0.224 -0.804  0.037  0.018  0.041 -0.014  0.981]
+t: 79	 action: [-0.285 -0.758 -0.12   0.015  0.029 -0.013  0.984]
+t: 80	 action: [-0.3   -0.727 -0.217  0.008  0.019 -0.013  0.976]
+t: 81	 action: [-0.323 -0.625 -0.392  0.006  0.009 -0.01   0.99 ]
+t: 82	 action: [-0.3   -0.493 -0.443  0.002 -0.024  0.004  0.969]
+t: 83	 action: [-0.337 -0.342 -0.6   -0.011 -0.028  0.008  0.985]
+t: 84	 action: [-0.278 -0.258 -0.641 -0.014 -0.047  0.006  0.966]
+t: 85	 action: [-0.29  -0.169 -0.743 -0.025 -0.052  0.012  0.989]
+t: 86	 action: [-0.307 -0.116 -0.71  -0.024 -0.076  0.012  0.985]
+t: 87	 action: [-0.286 -0.085 -0.763 -0.037 -0.074  0.02   0.984]
+t: 88	 action: [-0.23  -0.049 -0.702 -0.04  -0.078  0.011  0.979]
+t: 89	 action: [-0.177 -0.053 -0.652 -0.043 -0.075  0.022  0.984]
+[07-31 02:05:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9401
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9401
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 17
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 14 (82.4%)
+
+
 34%|███▍      | 17/50 [04:43<08:08, 14.81s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 18...
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9401
+t=90: Selected seed 195 with value = 0.9401
+t: 90	 action: [-0.055  0.047 -0.144 -0.016  0.095  0.066  0.995]
+t: 91	 action: [-0.009  0.035 -0.062 -0.021  0.094  0.052  0.999]
+t: 92	 action: [-0.01   0.069  0.074 -0.008  0.096  0.054  0.978]
+t: 93	 action: [ 0.008  0.037  0.165 -0.007  0.095  0.043 -0.452]
+t: 94	 action: [ 0.025  0.034  0.194 -0.006  0.104  0.034 -0.987]
+t: 95	 action: [ 0.013  0.02   0.314 -0.002  0.099  0.031 -1.036]
+t: 96	 action: [ 6.251e-02  2.166e-02  3.051e-01  1.643e-04  8.414e-02  5.669e-03 -9.939e-01]
+t: 97	 action: [ 0.042  0.019  0.339  0.012  0.068  0.015 -1.017]
+t: 98	 action: [ 2.172e-02  2.336e-02  2.307e-01  6.285e-03  7.971e-03 -1.126e-05 -9.954e-01]
+t: 99	 action: [ 0.012  0.026  0.211  0.008 -0.004 -0.009 -1.004]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=17--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+90 90 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=17--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 14 (82.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 18...
+[07-31 02:05:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4320
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4320
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4320
+t=10: Selected seed 195 with value = 0.4320
+t: 10	 action: [ 0.049  0.069 -0.006  0.005  0.003  0.004 -0.997]
+t: 11	 action: [ 0.172  0.145  0.014  0.004  0.003  0.001 -0.993]
+t: 12	 action: [ 0.271  0.266 -0.009  0.002  0.007  0.005 -0.999]
+t: 13	 action: [ 4.193e-01  3.466e-01  1.481e-02  7.929e-04  1.602e-03  1.990e-03 -9.951e-01]
+t: 14	 action: [ 5.478e-01  4.330e-01  5.877e-03  7.770e-04  1.280e-02  2.942e-03 -1.008e+00]
+t: 15	 action: [ 0.67   0.484  0.004 -0.002  0.006  0.004 -1.01 ]
+t: 16	 action: [ 0.76   0.56  -0.003 -0.002  0.019  0.003 -1.001]
+t: 17	 action: [ 0.798  0.563 -0.006 -0.004  0.005  0.003 -1.012]
+t: 18	 action: [ 0.781  0.563 -0.039  0.006  0.025  0.011 -0.998]
+t: 19	 action: [ 0.781  0.551 -0.019 -0.005  0.018  0.005 -1.003]
+t: 20	 action: [ 0.818  0.574 -0.084  0.004  0.022  0.01  -1.002]
+t: 21	 action: [ 0.805  0.542 -0.066 -0.005  0.02   0.008 -0.999]
+t: 22	 action: [ 8.487e-01  5.692e-01 -1.031e-01  2.855e-04  2.591e-02  7.329e-03 -9.943e-01]
+t: 23	 action: [ 0.82   0.549 -0.094 -0.004  0.01   0.006 -1.009]
+t: 24	 action: [ 8.505e-01  5.260e-01 -2.384e-01  2.645e-04  2.137e-02  5.620e-03 -9.995e-01]
+t: 25	 action: [ 0.825  0.463 -0.233 -0.003  0.01   0.008 -1.011]
+[07-31 02:05:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4916
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4916
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4916
+t=26: Selected seed 195 with value = 0.4916
+t: 26	 action: [ 0.905  0.454 -0.178  0.005  0.019  0.015 -1.003]
+t: 27	 action: [ 0.915  0.425 -0.207 -0.003  0.017  0.013 -1.003]
+t: 28	 action: [ 0.882  0.402 -0.261  0.003  0.013  0.012 -0.999]
+t: 29	 action: [ 0.847  0.34  -0.282  0.001  0.009  0.01  -1.004]
+t: 30	 action: [ 7.948e-01  3.142e-01 -3.768e-01 -5.823e-04  9.812e-04  3.935e-03 -1.005e+00]
+t: 31	 action: [ 0.681  0.271 -0.498  0.006 -0.004  0.006 -1.005]
+t: 32	 action: [ 0.561  0.173 -0.625  0.003 -0.013  0.001 -1.   ]
+t: 33	 action: [ 0.451  0.135 -0.761  0.014 -0.017  0.004 -1.005]
+t: 34	 action: [ 0.337  0.078 -0.856  0.012 -0.036  0.01  -1.005]
+t: 35	 action: [ 0.245  0.082 -0.903  0.008 -0.035  0.003 -1.001]
+t: 36	 action: [ 0.205  0.045 -0.918  0.01  -0.04   0.007 -1.003]
+t: 37	 action: [ 1.142e-01  3.714e-02 -9.388e-01  6.222e-03 -4.322e-02  1.949e-04 -1.000e+00]
+t: 38	 action: [ 1.067e-01  6.351e-02 -9.240e-01  2.009e-03 -4.456e-02  9.542e-04 -1.008e+00]
+t: 39	 action: [ 2.484e-02  5.889e-02 -9.358e-01  6.710e-04 -4.699e-02 -3.684e-03 -1.009e+00]
+t: 40	 action: [-9.604e-03  2.727e-02 -9.214e-01 -2.908e-03 -4.379e-02 -3.591e-04 -1.004e+00]
+t: 41	 action: [-0.058  0.02  -0.932 -0.004 -0.052 -0.004 -1.01 ]
+[07-31 02:05:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5828
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5828
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5828
+t=42: Selected seed 195 with value = 0.5828
+t: 42	 action: [-0.347  0.062 -0.932  0.007 -0.059  0.01  -0.993]
+t: 43	 action: [-0.37   0.074 -0.937  0.004 -0.064  0.015 -0.999]
+t: 44	 action: [-0.404  0.076 -0.903  0.014 -0.047  0.013 -0.994]
+t: 45	 action: [-0.362  0.071 -0.861  0.01  -0.049  0.019 -1.004]
+t: 46	 action: [-0.329  0.047 -0.856  0.007 -0.03   0.01  -1.001]
+t: 47	 action: [-0.27   0.086 -0.816  0.006 -0.023  0.011 -1.01 ]
+t: 48	 action: [-0.191  0.023 -0.758  0.007 -0.015  0.009 -1.01 ]
+t: 49	 action: [-0.162  0.043 -0.709  0.008 -0.003  0.006 -1.019]
+t: 50	 action: [-0.253  0.03  -0.629  0.021  0.03   0.026 -0.993]
+t: 51	 action: [-0.271  0.001 -0.594  0.017  0.026  0.027 -1.027]
+t: 52	 action: [-0.249  0.009 -0.56   0.019  0.025  0.01   0.963]
+t: 53	 action: [-0.209 -0.038 -0.506  0.012  0.023  0.012  0.989]
+t: 54	 action: [-0.257  0.006 -0.495  0.01   0.022 -0.006  1.006]
+t: 55	 action: [-0.219 -0.028 -0.437  0.007  0.009 -0.011  0.99 ]
+t: 56	 action: [-0.226 -0.011 -0.336  0.006  0.014 -0.012  1.006]
+t: 57	 action: [-0.156 -0.056 -0.247 -0.006  0.012 -0.032  0.996]
+[07-31 02:05:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7012
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7012
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7012
+t=58: Selected seed 195 with value = 0.7012
+t: 58	 action: [-0.102 -0.18  -0.197 -0.003  0.025 -0.004  0.991]
+t: 59	 action: [-0.094 -0.149 -0.085 -0.012  0.021 -0.021  0.991]
+t: 60	 action: [-0.069 -0.115  0.019 -0.001  0.014 -0.036  0.991]
+t: 61	 action: [-0.029 -0.097  0.153 -0.007  0.014 -0.036  0.994]
+t: 62	 action: [-0.022 -0.06   0.307 -0.009  0.02  -0.021  0.996]
+t: 63	 action: [-0.015 -0.019  0.609 -0.008  0.012 -0.028  0.98 ]
+t: 64	 action: [ 0.006 -0.035  0.787  0.002  0.02  -0.047  0.99 ]
+t: 65	 action: [-0.011 -0.024  0.883  0.002  0.018 -0.041  0.987]
+t: 66	 action: [-0.009 -0.183  0.911  0.008  0.02  -0.029  0.981]
+t: 67	 action: [-0.002 -0.24   0.938  0.015  0.025 -0.031  0.984]
+t: 68	 action: [-0.046 -0.368  0.93   0.014  0.018 -0.02   0.974]
+t: 69	 action: [-0.041 -0.463  0.925  0.022  0.029 -0.022  0.991]
+t: 70	 action: [-0.114 -0.593  0.855  0.026  0.026 -0.009  0.99 ]
+t: 71	 action: [-0.152 -0.638  0.833  0.034  0.016 -0.003  0.985]
+t: 72	 action: [-0.18  -0.714  0.754  0.024  0.02  -0.006  0.99 ]
+t: 73	 action: [-0.204 -0.733  0.661  0.035  0.011  0.003  0.99 ]
+[07-31 02:05:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8380
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8380
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8380
+t=74: Selected seed 195 with value = 0.8380
+t: 74	 action: [-0.181 -0.775  0.323  0.01  -0.001  0.004  0.974]
+t: 75	 action: [-0.261 -0.747  0.201  0.014 -0.001  0.003  0.983]
+t: 76	 action: [-0.29  -0.775  0.015  0.011 -0.01   0.002  0.973]
+t: 77	 action: [-0.334 -0.716 -0.079  0.017 -0.009  0.006  0.986]
+t: 78	 action: [-0.36  -0.683 -0.191  0.016 -0.016  0.002  0.989]
+t: 79	 action: [-0.401 -0.602 -0.311  0.011 -0.025  0.006  0.988]
+t: 80	 action: [-0.425 -0.503 -0.45   0.005 -0.033  0.001  0.989]
+t: 81	 action: [-0.403 -0.365 -0.599  0.003 -0.049  0.009  0.998]
+t: 82	 action: [-0.363 -0.207 -0.649 -0.019 -0.049  0.007  0.985]
+t: 83	 action: [-0.383 -0.133 -0.765 -0.033 -0.044  0.016  0.991]
+t: 84	 action: [-0.252 -0.089 -0.74  -0.036 -0.046  0.008  0.991]
+t: 85	 action: [-0.194 -0.041 -0.761 -0.042 -0.035  0.017  1.001]
+t: 86	 action: [-0.131  0.018 -0.708 -0.051 -0.041  0.008  0.998]
+t: 87	 action: [-0.08   0.035 -0.649 -0.042 -0.045  0.018  0.99 ]
+t: 88	 action: [-0.004  0.039 -0.469 -0.057 -0.016  0.005  1.   ]
+t: 89	 action: [ 0.047  0.058 -0.304 -0.045 -0.015  0.015  0.996]
+[07-31 02:05:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9890
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9890
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 18
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 15 (83.3%)
+
+
 36%|███▌      | 18/50 [04:55<07:19, 13.73s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 19...
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=90: Selected seed 195 with value = 0.9890
+t: 90	 action: [-0.044  0.01   0.049 -0.004  0.051 -0.008 -0.91 ]
+t: 91	 action: [ 0.002 -0.014  0.114 -0.011  0.042 -0.022 -0.951]
+t: 92	 action: [-0.012 -0.003  0.144  0.001  0.048 -0.017 -0.978]
+t: 93	 action: [ 0.018 -0.02   0.187 -0.001  0.048 -0.026 -1.006]
+t: 94	 action: [ 2.222e-02  5.547e-03  2.502e-01  1.268e-04  5.238e-02 -2.515e-02 -9.946e-01]
+t: 95	 action: [ 0.02  -0.008  0.232  0.004  0.054 -0.027 -1.031]
+t: 96	 action: [ 0.03  -0.007  0.268  0.001  0.058 -0.028 -1.007]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=18--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+87 87 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=18--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 15 (83.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 19...
+[07-31 02:05:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4387
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4387
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4387
+t=10: Selected seed 195 with value = 0.4387
+t: 10	 action: [ 0.196  0.068 -0.005  0.011  0.007  0.005 -0.986]
+t: 11	 action: [ 0.31   0.151  0.013  0.019  0.007  0.006 -0.996]
+t: 12	 action: [ 0.431  0.226 -0.011  0.01   0.008  0.006 -0.992]
+t: 13	 action: [ 0.529  0.299  0.008  0.018  0.005  0.008 -0.997]
+t: 14	 action: [ 0.665  0.376  0.005  0.005  0.013  0.003 -0.995]
+t: 15	 action: [ 0.736  0.423 -0.002  0.018  0.007  0.01  -1.013]
+t: 16	 action: [ 0.793  0.475 -0.008  0.004  0.015  0.004 -0.998]
+t: 17	 action: [ 0.819  0.493 -0.013  0.017  0.004  0.01  -1.013]
+t: 18	 action: [ 0.782  0.525 -0.066  0.011  0.012  0.011 -0.995]
+t: 19	 action: [ 0.758  0.519 -0.047  0.012  0.009  0.009 -1.003]
+t: 20	 action: [ 0.796  0.552 -0.107  0.008  0.008  0.012 -0.996]
+t: 21	 action: [ 0.78   0.546 -0.088  0.007  0.008  0.012 -0.998]
+t: 22	 action: [ 0.825  0.558 -0.122  0.006  0.014  0.01  -0.993]
+t: 23	 action: [ 0.827  0.535 -0.131  0.011  0.006  0.012 -1.002]
+t: 24	 action: [ 0.789  0.542 -0.224  0.004  0.012  0.009 -0.996]
+t: 25	 action: [ 0.808  0.497 -0.262  0.007  0.005  0.014 -1.003]
+[07-31 02:05:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4821
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4821
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4821
+t=26: Selected seed 195 with value = 0.4821
+t: 26	 action: [ 0.874  0.442 -0.315  0.005  0.009  0.019 -0.999]
+t: 27	 action: [ 0.861  0.451 -0.336 -0.002  0.008  0.021 -1.001]
+t: 28	 action: [ 0.836  0.414 -0.427  0.004  0.006  0.018 -1.001]
+t: 29	 action: [ 0.774  0.387 -0.424  0.002  0.004  0.02  -1.002]
+t: 30	 action: [ 0.702  0.357 -0.475  0.001  0.002  0.014 -1.005]
+t: 31	 action: [ 0.555  0.296 -0.566  0.007 -0.002  0.019 -1.006]
+t: 32	 action: [ 0.456  0.241 -0.643  0.007 -0.009  0.012 -1.007]
+t: 33	 action: [ 0.338  0.161 -0.705  0.014 -0.01   0.018 -1.008]
+t: 34	 action: [ 0.23   0.092 -0.875  0.013 -0.021  0.02  -1.005]
+t: 35	 action: [ 0.156  0.066 -0.881  0.013 -0.016  0.022 -0.999]
+t: 36	 action: [ 0.122  0.041 -0.917  0.012 -0.023  0.019 -1.009]
+t: 37	 action: [ 0.049  0.009 -0.905  0.011 -0.023  0.019 -0.995]
+t: 38	 action: [ 0.025  0.024 -0.924  0.005 -0.039  0.013 -1.013]
+t: 39	 action: [-0.017 -0.003 -0.925  0.005 -0.04   0.015 -1.005]
+t: 40	 action: [-7.610e-02 -1.319e-02 -9.238e-01  2.196e-04 -3.647e-02  9.722e-03 -1.014e+00]
+t: 41	 action: [-9.501e-02 -4.096e-02 -9.124e-01  3.676e-05 -4.318e-02  1.265e-02 -1.007e+00]
+[07-31 02:05:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5583
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=42: Selected seed 195 with value = 0.5583
+t: 42	 action: [-0.263  0.005 -0.92   0.01  -0.049  0.018 -1.001]
+t: 43	 action: [-0.371  0.006 -0.913  0.009 -0.061  0.028 -1.005]
+t: 44	 action: [-0.391  0.014 -0.888  0.015 -0.04   0.021 -1.   ]
+t: 45	 action: [-0.459  0.02  -0.853  0.012 -0.049  0.028 -1.004]
+t: 46	 action: [-0.538  0.013 -0.865  0.012 -0.025  0.023 -1.005]
+t: 47	 action: [-0.559  0.017 -0.788  0.01  -0.028  0.03  -1.015]
+t: 48	 action: [-0.574  0.019 -0.791  0.009 -0.017  0.022 -1.011]
+t: 49	 action: [-0.569  0.025 -0.72   0.01  -0.013  0.023 -1.015]
+t: 50	 action: [-0.499  0.008 -0.681  0.013  0.003  0.019 -1.003]
+t: 51	 action: [-0.506 -0.046 -0.683  0.009  0.002  0.022 -1.039]
+t: 52	 action: [-0.362 -0.039 -0.604  0.011  0.013  0.012 -0.954]
+t: 53	 action: [-0.292 -0.092 -0.595  0.004  0.008  0.011  0.82 ]
+t: 54	 action: [-0.303 -0.015 -0.518  0.008  0.019  0.002  0.96 ]
+t: 55	 action: [-0.211 -0.081 -0.396  0.002  0.016 -0.005  1.006]
+t: 56	 action: [-0.136 -0.075 -0.363  0.006  0.029 -0.004  0.997]
+t: 57	 action: [-0.042 -0.117 -0.208 -0.005  0.038 -0.012  0.995]
+[07-31 02:05:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6936
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6936
+t=58: Selected seed 195 with value = 0.6936
+t: 58	 action: [-0.059 -0.076 -0.229 -0.02   0.021  0.036  0.976]
+t: 59	 action: [-0.023 -0.078 -0.112 -0.018  0.021  0.021  0.98 ]
+t: 60	 action: [-0.021 -0.044  0.024 -0.007  0.007  0.003  0.974]
+t: 61	 action: [ 8.224e-03 -4.644e-02  1.790e-01 -5.425e-03  9.632e-03  7.016e-04  9.876e-01]
+t: 62	 action: [ 0.009 -0.026  0.363 -0.016  0.015  0.002  0.989]
+t: 63	 action: [-0.003  0.003  0.681 -0.012  0.005 -0.001  0.98 ]
+t: 64	 action: [ 3.798e-02 -5.222e-03  8.596e-01  3.192e-04  1.115e-02 -9.507e-03  9.840e-01]
+t: 65	 action: [ 1.727e-02 -6.647e-04  9.198e-01  5.484e-03  6.465e-03 -1.787e-02  9.867e-01]
+t: 66	 action: [ 6.313e-02 -1.422e-01  9.302e-01  1.099e-02  3.442e-03 -5.857e-04  9.677e-01]
+t: 67	 action: [ 0.033 -0.21   0.949  0.019  0.004 -0.012  0.983]
+t: 68	 action: [ 0.026 -0.354  0.927  0.013 -0.003 -0.002  0.958]
+t: 69	 action: [-6.448e-06 -4.579e-01  9.267e-01  1.756e-02  1.958e-03 -8.433e-03  9.861e-01]
+t: 70	 action: [-8.262e-02 -6.085e-01  8.093e-01  2.274e-02  1.100e-02 -3.305e-04  9.865e-01]
+t: 71	 action: [-1.206e-01 -6.562e-01  7.145e-01  2.532e-02  7.704e-04  5.578e-03  9.848e-01]
+t: 72	 action: [-0.137 -0.757  0.597  0.017  0.002  0.001  0.98 ]
+t: 73	 action: [-0.188 -0.758  0.433  0.019 -0.002  0.009  0.988]
+[07-31 02:05:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8364
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8364
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 19
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 16 (84.2%)
+
+
 38%|███▊      | 19/50 [05:04<06:29, 12.57s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 20...
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=74: Selected seed 195 with value = 0.8364
+t: 74	 action: [-0.207 -0.742  0.09   0.019  0.008  0.002  0.963]
+t: 75	 action: [-0.282 -0.73  -0.005  0.026  0.003  0.013  0.979]
+t: 76	 action: [-3.161e-01 -7.116e-01 -1.337e-01  1.730e-02  3.115e-04  3.020e-03  9.674e-01]
+t: 77	 action: [-0.332 -0.653 -0.257  0.021 -0.003  0.017  0.978]
+t: 78	 action: [-0.407 -0.572 -0.406  0.015 -0.008  0.01   0.981]
+t: 79	 action: [-0.401 -0.494 -0.525  0.015 -0.01   0.019  0.989]
+t: 80	 action: [-4.230e-01 -3.800e-01 -6.127e-01  9.157e-04 -1.866e-02  1.215e-02  9.899e-01]
+t: 81	 action: [-0.387 -0.291 -0.709 -0.001 -0.019  0.021  0.992]
+t: 82	 action: [-0.351 -0.153 -0.75  -0.007 -0.025  0.016  0.988]
+t: 83	 action: [-0.399 -0.141 -0.818 -0.016 -0.01   0.027  0.994]
+t: 84	 action: [-0.276 -0.096 -0.731 -0.019 -0.01   0.015  0.991]
+t: 85	 action: [-0.229 -0.089 -0.657 -0.025  0.003  0.024  0.997]
+t: 86	 action: [-0.149 -0.015 -0.545 -0.033 -0.013  0.008  0.998]
+t: 87	 action: [-0.138 -0.02  -0.387 -0.029 -0.011  0.014  0.99 ]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=19--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+78 78 5 5
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=19--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 16 (84.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 20...
+[07-31 02:05:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.210 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4552
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4552
+Query 1/1: Action query time = 1.210 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4552
+t=10: Selected seed 195 with value = 0.4552
+t: 10	 action: [ 0.105  0.07   0.034  0.001  0.008  0.003 -0.997]
+t: 11	 action: [ 0.224  0.18   0.051  0.002  0.012  0.004 -0.99 ]
+t: 12	 action: [ 3.158e-01  2.892e-01  4.072e-02  5.158e-04  1.035e-02  4.055e-03 -9.974e-01]
+t: 13	 action: [ 4.451e-01  3.775e-01  6.267e-02  9.684e-04  1.273e-02  3.851e-03 -9.934e-01]
+t: 14	 action: [ 5.684e-01  4.737e-01  8.034e-02 -6.531e-04  2.007e-02  1.353e-03 -1.009e+00]
+t: 15	 action: [ 6.670e-01  5.350e-01  6.166e-02 -5.045e-04  1.661e-02  6.596e-03 -1.007e+00]
+t: 16	 action: [ 0.716  0.581  0.078 -0.002  0.022  0.002 -1.002]
+t: 17	 action: [ 7.601e-01  5.803e-01  3.956e-02 -6.037e-04  1.383e-02  5.401e-03 -1.007e+00]
+t: 18	 action: [ 0.733  0.569  0.014  0.006  0.022  0.01  -0.993]
+t: 19	 action: [ 0.736  0.546  0.017 -0.002  0.017  0.003 -0.992]
+t: 20	 action: [ 0.775  0.559 -0.024  0.005  0.013  0.008 -0.996]
+t: 21	 action: [ 7.608e-01  5.145e-01 -4.996e-03  1.060e-04  1.306e-02  2.657e-03 -9.908e-01]
+t: 22	 action: [ 0.797  0.544 -0.049  0.003  0.018  0.004 -0.995]
+t: 23	 action: [ 8.222e-01  5.014e-01 -5.521e-02  8.630e-04  4.417e-03  2.156e-03 -1.001e+00]
+t: 24	 action: [ 0.801  0.462 -0.137  0.002  0.009  0.002 -0.998]
+t: 25	 action: [ 0.825  0.393 -0.177  0.004  0.001  0.002 -1.003]
+[07-31 02:05:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.144 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5058
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 1.144 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=26: Selected seed 195 with value = 0.5058
+t: 26	 action: [ 0.73   0.488 -0.168  0.003  0.021  0.008 -1.004]
+t: 27	 action: [ 6.655e-01  3.821e-01 -2.050e-01  7.554e-04  1.503e-02  5.253e-03 -1.004e+00]
+t: 28	 action: [ 5.999e-01  2.806e-01 -3.103e-01  8.444e-04  1.715e-02  6.710e-03 -1.001e+00]
+t: 29	 action: [ 0.547  0.165 -0.408  0.005  0.011  0.004 -0.998]
+t: 30	 action: [ 4.766e-01  9.228e-02 -5.251e-01  7.608e-04  8.755e-03  5.297e-04 -1.006e+00]
+t: 31	 action: [ 4.211e-01  4.579e-02 -6.801e-01  1.023e-02  4.020e-03  7.697e-04 -1.011e+00]
+t: 32	 action: [ 3.562e-01  9.348e-03 -8.457e-01  9.035e-03  4.915e-03  6.429e-04 -1.004e+00]
+t: 33	 action: [ 3.334e-01  2.319e-02 -9.515e-01  1.578e-02  2.461e-03 -3.011e-04 -1.007e+00]
+t: 34	 action: [ 0.209 -0.068 -0.937  0.016 -0.012  0.004 -1.012]
+t: 35	 action: [ 1.161e-01 -2.135e-02 -9.695e-01  9.431e-03 -5.330e-03  3.987e-04 -1.003e+00]
+t: 36	 action: [ 0.093 -0.022 -0.965  0.01  -0.014  0.005 -1.008]
+t: 37	 action: [ 0.031  0.002 -0.978  0.005 -0.009  0.002 -1.   ]
+t: 38	 action: [-0.019  0.032 -0.963  0.002 -0.021  0.002 -1.015]
+t: 39	 action: [-0.056  0.041 -0.972  0.003 -0.021  0.004 -1.011]
+t: 40	 action: [-0.105  0.032 -0.953 -0.002 -0.019  0.004 -1.011]
+t: 41	 action: [-0.142  0.056 -0.95  -0.002 -0.021  0.007 -1.008]
+[07-31 02:05:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5741
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=42: Selected seed 195 with value = 0.5741
+t: 42	 action: [-0.058  0.068 -0.948  0.007 -0.034  0.01  -1.012]
+t: 43	 action: [-0.065  0.053 -0.95   0.005 -0.036  0.013 -1.011]
+t: 44	 action: [-0.07   0.027 -0.924  0.008 -0.032  0.009 -1.008]
+t: 45	 action: [-0.092  0.02  -0.908  0.008 -0.032  0.012 -1.01 ]
+t: 46	 action: [-0.118 -0.01  -0.883  0.004 -0.027  0.006 -1.014]
+t: 47	 action: [-0.178 -0.01  -0.841  0.005 -0.027  0.012 -1.018]
+t: 48	 action: [-0.216 -0.015 -0.829  0.002 -0.026  0.006 -1.014]
+t: 49	 action: [-0.297 -0.022 -0.803  0.006 -0.024  0.004 -1.025]
+t: 50	 action: [-0.371  0.009 -0.777  0.008 -0.028  0.012 -0.977]
+t: 51	 action: [-0.408  0.009 -0.77   0.002 -0.021  0.015 -1.043]
+t: 52	 action: [-0.432  0.006 -0.727  0.006 -0.026  0.01  -0.961]
+t: 53	 action: [-0.411 -0.015 -0.704 -0.003 -0.012  0.007  0.928]
+t: 54	 action: [-0.472  0.021 -0.617  0.004 -0.015  0.005  0.987]
+t: 55	 action: [-4.360e-01 -2.864e-05 -5.514e-01 -5.846e-03 -7.463e-03  6.651e-03  1.006e+00]
+t: 56	 action: [-3.713e-01  1.795e-02 -4.645e-01  8.942e-04 -8.890e-03  2.634e-03  9.902e-01]
+t: 57	 action: [-2.601e-01 -8.339e-03 -3.318e-01 -1.897e-02  7.339e-04  7.246e-04  1.002e+00]
+[07-31 02:05:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7026
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7026
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7026
+t=58: Selected seed 195 with value = 0.7026
+t: 58	 action: [-0.269 -0.094 -0.269 -0.005  0.006  0.007  0.972]
+t: 59	 action: [-0.224 -0.073 -0.191 -0.01   0.008 -0.004  0.988]
+t: 60	 action: [-0.123 -0.104 -0.1   -0.008  0.014 -0.002  0.979]
+t: 61	 action: [-0.066 -0.076  0.025 -0.014  0.015 -0.012  0.99 ]
+t: 62	 action: [-0.04  -0.087  0.158 -0.013  0.028 -0.007  0.986]
+t: 63	 action: [ 0.019 -0.057  0.352 -0.011  0.025 -0.009  0.984]
+t: 64	 action: [ 0.035 -0.013  0.596 -0.011  0.035 -0.017  0.987]
+t: 65	 action: [ 0.043  0.004  0.798 -0.008  0.033 -0.019  0.993]
+t: 66	 action: [ 0.093  0.006  0.896  0.003  0.035 -0.027  0.977]
+t: 67	 action: [ 0.096 -0.069  0.933  0.005  0.038 -0.029  0.984]
+t: 68	 action: [ 0.076 -0.141  0.93   0.003  0.03  -0.019  0.976]
+t: 69	 action: [ 0.046 -0.231  0.952  0.013  0.029 -0.022  0.988]
+t: 70	 action: [-0.016 -0.405  0.912  0.019  0.03  -0.005  0.993]
+t: 71	 action: [-0.033 -0.469  0.892  0.034  0.024 -0.002  0.987]
+t: 72	 action: [-0.075 -0.602  0.871  0.021  0.027 -0.004  0.995]
+t: 73	 action: [-0.099 -0.663  0.78   0.039  0.022  0.003  0.994]
+[07-31 02:05:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8214
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=74: Selected seed 195 with value = 0.8214
+t: 74	 action: [-0.123 -0.713  0.56   0.015  0.012  0.002  0.973]
+t: 75	 action: [-0.202 -0.728  0.382  0.021  0.013  0.003  0.988]
+t: 76	 action: [-0.242 -0.768  0.174  0.016  0.002  0.001  0.972]
+t: 77	 action: [-0.288 -0.736  0.075  0.025  0.002  0.007  0.985]
+t: 78	 action: [-3.064e-01 -7.617e-01 -1.931e-02  2.239e-02 -3.719e-04  2.413e-03  9.902e-01]
+t: 79	 action: [-0.355 -0.718 -0.133  0.019 -0.004  0.004  0.996]
+t: 80	 action: [-0.379 -0.678 -0.235  0.012 -0.014  0.002  0.992]
+t: 81	 action: [-0.38  -0.594 -0.372  0.009 -0.015  0.008  1.003]
+t: 82	 action: [-0.369 -0.387 -0.469 -0.001 -0.036  0.007  0.979]
+t: 83	 action: [-0.412 -0.287 -0.621 -0.021 -0.033  0.019  0.99 ]
+t: 84	 action: [-0.351 -0.2   -0.674 -0.022 -0.049  0.008  0.977]
+t: 85	 action: [-0.333 -0.119 -0.769 -0.037 -0.043  0.023  0.994]
+t: 86	 action: [-0.28  -0.029 -0.776 -0.035 -0.065  0.014  0.997]
+t: 87	 action: [-0.27   0.031 -0.794 -0.046 -0.093  0.024  0.991]
+t: 88	 action: [-0.146  0.039 -0.742 -0.055 -0.055  0.01   0.994]
+t: 89	 action: [-0.088  0.065 -0.664 -0.052 -0.074  0.025  0.999]
+[07-31 02:05:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9934
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9934
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 20
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 17 (85.0%)
+
+
 40%|████      | 20/50 [05:16<06:07, 12.25s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 21...
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=90: Selected seed 195 with value = 0.9934
+t: 90	 action: [ 0.034  0.009  0.121  0.002  0.02  -0.032 -0.98 ]
+t: 91	 action: [ 0.03  -0.015  0.151 -0.006  0.025 -0.035 -1.012]
+t: 92	 action: [ 1.876e-02  8.424e-04  1.503e-01  3.563e-03  2.776e-02 -3.171e-02 -9.814e-01]
+t: 93	 action: [ 2.962e-02 -1.792e-02  1.860e-01 -2.899e-04  3.097e-02 -3.434e-02 -1.011e+00]
+t: 94	 action: [ 0.014  0.004  0.19   0.004  0.035 -0.035 -1.002]
+t: 95	 action: [ 0.011  0.003  0.184  0.004  0.037 -0.038 -1.024]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=20--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+86 86 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=20--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 17 (85.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 21...
+[07-31 02:05:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4355
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4355
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4355
+t=10: Selected seed 195 with value = 0.4355
+t: 10	 action: [ 2.663e-01  2.529e-01 -5.896e-04  3.464e-03  8.425e-03  4.851e-03 -9.910e-01]
+t: 11	 action: [ 0.39   0.324  0.006  0.005  0.011  0.008 -0.998]
+t: 12	 action: [ 0.518  0.432 -0.011  0.002  0.012  0.009 -0.989]
+t: 13	 action: [ 0.633  0.469  0.006  0.004  0.011  0.01  -0.998]
+t: 14	 action: [ 0.745  0.525  0.006  0.001  0.019  0.007 -0.993]
+t: 15	 action: [ 0.794  0.52  -0.003  0.004  0.01   0.013 -1.012]
+t: 16	 action: [ 8.417e-01  5.563e-01 -1.247e-02  1.303e-04  2.188e-02  1.020e-02 -9.911e-01]
+t: 17	 action: [ 0.877  0.555 -0.024  0.004  0.011  0.013 -1.011]
+t: 18	 action: [ 0.848  0.558 -0.065  0.003  0.018  0.013 -0.99 ]
+t: 19	 action: [ 0.871  0.546 -0.046 -0.006  0.017  0.011 -0.998]
+t: 20	 action: [ 0.876  0.563 -0.096 -0.003  0.017  0.014 -0.992]
+t: 21	 action: [ 0.893  0.543 -0.092 -0.009  0.02   0.013 -0.993]
+t: 22	 action: [ 0.902  0.549 -0.124 -0.003  0.02   0.012 -0.988]
+t: 23	 action: [ 0.902  0.534 -0.148 -0.006  0.01   0.014 -1.005]
+t: 24	 action: [ 0.894  0.523 -0.211 -0.007  0.019  0.011 -0.994]
+t: 25	 action: [ 0.892  0.487 -0.269 -0.006  0.011  0.014 -1.005]
+[07-31 02:05:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4811
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4811
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4811
+t=26: Selected seed 195 with value = 0.4811
+t: 26	 action: [ 0.867  0.383 -0.446  0.005  0.009  0.011 -0.999]
+t: 27	 action: [ 0.78   0.356 -0.49   0.003  0.007  0.012 -1.006]
+t: 28	 action: [ 0.721  0.311 -0.552  0.006  0.006  0.01  -1.007]
+t: 29	 action: [ 0.603  0.27  -0.563  0.006  0.003  0.012 -1.006]
+t: 30	 action: [ 0.477  0.248 -0.625  0.004 -0.01   0.007 -1.005]
+t: 31	 action: [ 0.365  0.212 -0.684  0.012 -0.005  0.011 -1.006]
+t: 32	 action: [ 0.27   0.171 -0.742  0.007 -0.017  0.007 -1.011]
+t: 33	 action: [ 0.186  0.152 -0.752  0.014 -0.011  0.012 -1.006]
+t: 34	 action: [ 0.117  0.03  -0.891  0.008 -0.017  0.017 -1.015]
+t: 35	 action: [ 0.051  0.011 -0.906  0.008 -0.017  0.022 -1.002]
+t: 36	 action: [-0.018 -0.022 -0.913  0.009 -0.022  0.018 -1.018]
+t: 37	 action: [-0.066 -0.069 -0.923  0.008 -0.027  0.022 -1.001]
+t: 38	 action: [-0.144 -0.091 -0.903  0.004 -0.039  0.017 -1.018]
+t: 39	 action: [-0.229 -0.106 -0.909  0.006 -0.052  0.018 -1.005]
+t: 40	 action: [-0.308 -0.208 -0.909  0.002 -0.041  0.016 -1.021]
+t: 41	 action: [-0.379 -0.165 -0.907  0.003 -0.058  0.021 -1.006]
+[07-31 02:06:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5625
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5625
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5625
+t=42: Selected seed 195 with value = 0.5625
+t: 42	 action: [-0.279 -0.003 -0.889  0.008 -0.035  0.014 -1.022]
+t: 43	 action: [-0.343 -0.006 -0.851 -0.004 -0.053  0.019 -1.005]
+t: 44	 action: [-0.351  0.014 -0.795  0.007 -0.029  0.012 -1.018]
+t: 45	 action: [-0.371  0.024 -0.752 -0.005 -0.043  0.016 -1.001]
+t: 46	 action: [-0.379  0.048 -0.74   0.004 -0.021  0.008 -1.02 ]
+t: 47	 action: [-0.392  0.061 -0.673 -0.002 -0.027  0.013 -1.008]
+t: 48	 action: [-0.384  0.084 -0.623  0.002 -0.015  0.006 -1.025]
+t: 49	 action: [-0.362  0.082 -0.58  -0.005 -0.015  0.006 -1.   ]
+t: 50	 action: [-0.289  0.013 -0.524  0.009  0.002  0.013 -0.993]
+t: 51	 action: [-0.279 -0.04  -0.548 -0.004  0.005  0.008  0.481]
+t: 52	 action: [-0.16  -0.015 -0.418  0.004  0.013  0.01   0.971]
+t: 53	 action: [-0.11  -0.055 -0.411 -0.007  0.012 -0.002  1.001]
+t: 54	 action: [-1.471e-01 -4.854e-02 -3.270e-01 -4.128e-04  1.792e-02 -2.384e-03  9.831e-01]
+t: 55	 action: [-0.104 -0.085 -0.249 -0.008  0.011 -0.015  0.982]
+t: 56	 action: [-0.049 -0.078 -0.139 -0.005  0.026 -0.007  1.006]
+t: 57	 action: [-0.016 -0.089 -0.07  -0.015  0.013 -0.025  1.008]
+[07-31 02:06:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6659
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6659
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6659
+t=58: Selected seed 195 with value = 0.6659
+t: 58	 action: [-0.071 -0.06  -0.075 -0.003 -0.02  -0.055  0.989]
+t: 59	 action: [-0.007 -0.095 -0.015 -0.008 -0.009 -0.066  0.992]
+t: 60	 action: [-0.041 -0.005  0.164 -0.001 -0.02  -0.073  0.991]
+t: 61	 action: [ 0.006 -0.056  0.298 -0.004 -0.008 -0.073  0.996]
+t: 62	 action: [ 2.470e-02 -4.384e-04  5.338e-01 -4.836e-03 -8.423e-03 -7.023e-02  9.922e-01]
+t: 63	 action: [ 0.023  0.005  0.732 -0.004 -0.001 -0.075  0.977]
+t: 64	 action: [ 0.042 -0.013  0.883  0.002  0.005 -0.078  0.987]
+t: 65	 action: [ 0.024 -0.043  0.91   0.007  0.01  -0.075  0.983]
+t: 66	 action: [ 0.076 -0.111  0.914  0.009  0.019 -0.057  0.983]
+t: 67	 action: [ 0.042 -0.226  0.96   0.024  0.023 -0.054  0.993]
+t: 68	 action: [ 0.054 -0.322  0.928  0.02   0.038 -0.041  0.982]
+t: 69	 action: [ 0.035 -0.458  0.953  0.033  0.046 -0.04   0.99 ]
+t: 70	 action: [-0.023 -0.538  0.878  0.037  0.063 -0.04   0.996]
+t: 71	 action: [-0.023 -0.641  0.844  0.041  0.06  -0.033  0.987]
+t: 72	 action: [-0.071 -0.689  0.748  0.042  0.07  -0.023  1.   ]
+t: 73	 action: [-0.078 -0.743  0.652  0.044  0.059 -0.022  0.985]
+[07-31 02:06:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8197
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8197
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8197
+t=74: Selected seed 195 with value = 0.8197
+t: 74	 action: [-0.055 -0.773  0.242  0.038  0.064 -0.01   0.976]
+t: 75	 action: [-0.134 -0.78   0.103  0.04   0.054 -0.008  0.997]
+t: 76	 action: [-0.113 -0.822  0.037  0.044  0.066 -0.009  0.976]
+t: 77	 action: [-0.196 -0.775 -0.041  0.038  0.055 -0.004  0.997]
+t: 78	 action: [-1.758e-01 -8.078e-01 -7.874e-02  3.077e-02  5.038e-02 -5.114e-04  9.946e-01]
+t: 79	 action: [-0.201 -0.751 -0.183  0.03   0.036  0.005  0.99 ]
+t: 80	 action: [-0.196 -0.686 -0.269  0.014  0.052  0.003  0.993]
+t: 81	 action: [-0.223 -0.574 -0.419  0.014  0.037  0.011  0.996]
+t: 82	 action: [-0.145 -0.441 -0.387  0.012  0.038  0.022  0.977]
+t: 83	 action: [-0.164 -0.285 -0.495 -0.004  0.031  0.036  0.987]
+t: 84	 action: [-0.149 -0.193 -0.575 -0.004  0.02   0.027  0.965]
+t: 85	 action: [-0.15  -0.091 -0.659 -0.027  0.013  0.039  0.993]
+t: 86	 action: [-0.165 -0.029 -0.677 -0.036 -0.005  0.04   0.995]
+t: 87	 action: [-0.176  0.006 -0.741 -0.056 -0.013  0.046  0.981]
+t: 88	 action: [-0.151  0.02  -0.64  -0.058 -0.014  0.037  0.982]
+t: 89	 action: [-0.153  0.038 -0.655 -0.067 -0.012  0.047  0.98 ]
+[07-31 02:06:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9943
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9943
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 21
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 18 (85.7%)
+
+
 42%|████▏     | 21/50 [05:27<05:45, 11.92s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 22...
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=90: Selected seed 195 with value = 0.9943
+t: 90	 action: [ 0.125  0.016  0.297 -0.006  0.071 -0.012 -0.981]
+t: 91	 action: [ 0.139 -0.003  0.329 -0.012  0.06  -0.023 -1.02 ]
+t: 92	 action: [ 0.119  0.01   0.363  0.002  0.071 -0.018 -0.981]
+t: 93	 action: [ 0.155  0.001  0.392 -0.003  0.064 -0.021 -1.008]
+t: 94	 action: [ 1.102e-01  2.747e-03  3.623e-01  6.531e-04  5.923e-02 -2.459e-02 -9.972e-01]
+t: 95	 action: [ 0.125  0.013  0.343 -0.004  0.058 -0.026 -1.019]
+t: 96	 action: [ 0.119  0.004  0.319  0.002  0.06  -0.023 -0.994]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=21--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+87 87 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=21--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 18 (85.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 22...
+[07-31 02:06:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4398
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4398
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4398
+t=10: Selected seed 195 with value = 0.4398
+t: 10	 action: [ 0.084 -0.004 -0.023  0.004  0.006  0.001 -0.999]
+t: 11	 action: [ 0.168  0.056  0.002  0.003  0.006  0.004 -0.996]
+t: 12	 action: [ 0.259  0.149 -0.032  0.002  0.007  0.004 -1.001]
+t: 13	 action: [ 4.151e-01  2.532e-01 -5.697e-04  8.572e-04  3.699e-03  3.414e-03 -9.946e-01]
+t: 14	 action: [ 5.079e-01  3.402e-01 -3.025e-02 -1.673e-05  5.652e-03  2.440e-03 -1.016e+00]
+t: 15	 action: [ 0.66   0.423 -0.019  0.005  0.003  0.008 -1.006]
+t: 16	 action: [ 0.732  0.524 -0.04  -0.002  0.007  0.003 -1.007]
+t: 17	 action: [ 0.809  0.533 -0.036  0.004  0.002  0.006 -1.009]
+t: 18	 action: [ 0.764  0.539 -0.065  0.005  0.014  0.015 -1.01 ]
+t: 19	 action: [ 0.802  0.557 -0.055  0.005  0.01   0.013 -1.003]
+t: 20	 action: [ 0.811  0.56  -0.092  0.006  0.01   0.013 -1.011]
+t: 21	 action: [ 0.833  0.556 -0.081  0.002  0.009  0.011 -0.999]
+t: 22	 action: [ 8.419e-01  5.686e-01 -1.166e-01  4.626e-04  6.287e-03  1.491e-02 -1.007e+00]
+t: 23	 action: [ 8.700e-01  5.912e-01 -1.471e-01  7.886e-03  1.622e-04  1.446e-02 -1.004e+00]
+t: 24	 action: [ 8.699e-01  5.524e-01 -2.007e-01  4.669e-04  2.832e-03  1.103e-02 -1.009e+00]
+t: 25	 action: [ 9.012e-01  5.279e-01 -2.147e-01  5.394e-03  4.943e-04  1.218e-02 -1.012e+00]
+[07-31 02:06:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4903
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4903
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4903
+t=26: Selected seed 195 with value = 0.4903
+t: 26	 action: [ 0.876  0.442 -0.269  0.008  0.004  0.013 -0.994]
+t: 27	 action: [ 0.856  0.398 -0.337  0.004  0.004  0.013 -1.003]
+t: 28	 action: [ 0.83   0.38  -0.404  0.006  0.002  0.013 -0.991]
+t: 29	 action: [ 0.768  0.302 -0.449  0.006  0.003  0.01  -1.002]
+t: 30	 action: [ 0.72   0.31  -0.491  0.003 -0.002  0.005 -1.   ]
+t: 31	 action: [ 5.742e-01  2.570e-01 -5.833e-01  8.243e-03 -5.631e-04  5.224e-03 -1.005e+00]
+t: 32	 action: [ 0.483  0.218 -0.666  0.005 -0.008  0.004 -0.996]
+t: 33	 action: [ 0.377  0.165 -0.714  0.009 -0.004  0.003 -1.005]
+t: 34	 action: [ 0.282  0.054 -0.78   0.015 -0.018  0.003 -1.004]
+t: 35	 action: [ 0.203  0.027 -0.815  0.013 -0.009 -0.002 -1.   ]
+t: 36	 action: [ 0.155  0.026 -0.872  0.014 -0.024  0.005 -1.008]
+t: 37	 action: [ 0.068 -0.019 -0.892  0.01  -0.019 -0.002 -0.999]
+t: 38	 action: [ 0.078  0.018 -0.906  0.015 -0.03  -0.005 -1.008]
+t: 39	 action: [ 0.007 -0.013 -0.901  0.011 -0.038 -0.007 -1.003]
+t: 40	 action: [-0.039 -0.027 -0.91   0.007 -0.033 -0.004 -1.008]
+t: 41	 action: [-0.066 -0.052 -0.898  0.008 -0.043 -0.006 -1.004]
+[07-31 02:06:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5677
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5677
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5677
+t=42: Selected seed 195 with value = 0.5677
+t: 42	 action: [-0.243  0.026 -0.927  0.011 -0.06   0.01  -0.987]
+t: 43	 action: [-0.31   0.04  -0.93   0.007 -0.066  0.012 -0.996]
+t: 44	 action: [-0.345  0.034 -0.89   0.016 -0.046  0.014 -0.98 ]
+t: 45	 action: [-0.41   0.033 -0.874  0.011 -0.048  0.015 -1.001]
+t: 46	 action: [-0.51   0.041 -0.857  0.009 -0.024  0.014 -0.989]
+t: 47	 action: [-0.54   0.078 -0.797  0.008 -0.016  0.018 -1.007]
+t: 48	 action: [-0.487  0.007 -0.766  0.01  -0.009  0.013 -0.989]
+t: 49	 action: [-0.487  0.032 -0.714  0.008  0.001  0.012 -1.008]
+t: 50	 action: [-0.519  0.013 -0.661  0.017  0.001  0.009 -0.991]
+t: 51	 action: [-0.556 -0.033 -0.686  0.01   0.003  0.005 -1.009]
+t: 52	 action: [-0.452 -0.032 -0.618  0.012  0.015  0.008 -0.951]
+t: 53	 action: [-0.419 -0.08  -0.631  0.006  0.015  0.006 -0.999]
+t: 54	 action: [-0.454 -0.037 -0.59   0.01   0.013  0.002 -1.018]
+t: 55	 action: [-0.391 -0.071 -0.543  0.005  0.011 -0.007 -1.016]
+t: 56	 action: [-0.373 -0.075 -0.555  0.008  0.021 -0.003 -0.643]
+t: 57	 action: [-0.239 -0.081 -0.502  0.002  0.02  -0.01   0.824]
+[07-31 02:06:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6493
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6493
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6493
+t=58: Selected seed 195 with value = 0.6493
+t: 58	 action: [-4.176e-01 -4.658e-03 -5.947e-01  1.691e-04  1.315e-02  7.302e-02  9.666e-01]
+t: 59	 action: [-0.371 -0.003 -0.534 -0.009  0.014  0.059  0.985]
+t: 60	 action: [-0.262 -0.007 -0.332 -0.003  0.032  0.058  0.986]
+t: 61	 action: [-0.209 -0.024 -0.25  -0.015  0.031  0.047  0.994]
+t: 62	 action: [-0.138 -0.082 -0.164 -0.021  0.053  0.04   1.   ]
+t: 63	 action: [-0.05  -0.093 -0.028 -0.022  0.057  0.035  1.   ]
+t: 64	 action: [-2.373e-02 -7.522e-02  7.164e-04 -1.672e-02  6.715e-02  1.970e-02  1.009e+00]
+t: 65	 action: [ 0.01  -0.088  0.12  -0.02   0.061  0.013  1.01 ]
+t: 66	 action: [ 3.361e-02 -9.526e-02  2.308e-01 -4.590e-03  2.999e-02 -1.241e-04  9.730e-01]
+t: 67	 action: [ 0.051 -0.059  0.37  -0.009  0.023 -0.009  0.985]
+t: 68	 action: [ 0.081 -0.019  0.583 -0.003  0.01  -0.005  0.97 ]
+t: 69	 action: [ 0.085 -0.024  0.775 -0.007  0.013 -0.013  0.985]
+t: 70	 action: [ 5.625e-02  7.612e-03  8.579e-01  1.032e-04  8.076e-03 -4.614e-03  9.901e-01]
+t: 71	 action: [ 1.331e-02 -8.154e-04  9.306e-01  1.784e-03  1.104e-03 -5.640e-03  9.872e-01]
+t: 72	 action: [ 5.319e-02 -1.656e-02  9.180e-01  4.368e-03  6.837e-04 -5.805e-03  1.000e+00]
+t: 73	 action: [ 0.022 -0.097  0.951  0.016  0.006 -0.003  0.996]
+[07-31 02:06:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7691
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7691
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7691
+t=74: Selected seed 195 with value = 0.7691
+t: 74	 action: [ 0.058 -0.385  0.934  0.012  0.035  0.003  0.992]
+t: 75	 action: [-0.008 -0.508  0.9    0.015  0.021  0.014  0.996]
+t: 76	 action: [-0.033 -0.572  0.799  0.019  0.011  0.002  0.985]
+t: 77	 action: [-0.13  -0.679  0.643  0.022  0.009  0.015  0.99 ]
+t: 78	 action: [-1.360e-01 -7.358e-01  4.083e-01  2.685e-02 -1.754e-04  3.767e-03  1.005e+00]
+t: 79	 action: [-0.239 -0.768  0.268  0.024 -0.005  0.02   0.998]
+t: 80	 action: [-0.239 -0.785  0.114  0.021 -0.014  0.004  1.001]
+t: 81	 action: [-0.323 -0.784  0.018  0.017 -0.008  0.021  1.002]
+t: 82	 action: [-0.303 -0.8   -0.047  0.033 -0.022  0.007  0.992]
+t: 83	 action: [-0.345 -0.771 -0.13   0.027 -0.02   0.02   0.992]
+t: 84	 action: [-0.364 -0.649 -0.273  0.013 -0.034  0.007  0.976]
+t: 85	 action: [-0.375 -0.62  -0.395  0.012 -0.03   0.021  0.99 ]
+t: 86	 action: [-0.406 -0.45  -0.502  0.006 -0.049  0.009  1.003]
+t: 87	 action: [-0.428 -0.389 -0.611  0.008 -0.063  0.021  0.995]
+t: 88	 action: [-0.362 -0.263 -0.703 -0.003 -0.051  0.007  0.988]
+t: 89	 action: [-0.375 -0.195 -0.773 -0.003 -0.058  0.021  0.996]
+[07-31 02:06:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9383
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9383
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 22
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 19 (86.4%)
+
+
 44%|████▍     | 22/50 [05:38<05:28, 11.72s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 23...
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=90: Selected seed 195 with value = 0.9383
+t: 90	 action: [-0.054 -0.068 -0.46   0.006  0.036  0.003  0.999]
+t: 91	 action: [ 6.377e-03 -7.483e-02 -3.253e-01  2.759e-03  3.856e-02  3.746e-04  1.023e+00]
+t: 92	 action: [ 2.399e-02 -3.225e-02 -2.550e-01  3.670e-03  5.288e-02  9.517e-04  9.968e-01]
+t: 93	 action: [ 4.273e-02 -4.298e-02 -1.123e-01 -6.960e-04  5.631e-02 -1.393e-02  9.620e-01]
+t: 94	 action: [ 0.04  -0.011 -0.077  0.003  0.067 -0.003  1.018]
+t: 95	 action: [ 0.053 -0.036 -0.019  0.001  0.064 -0.013  1.01 ]
+t: 96	 action: [ 0.092 -0.022  0.027  0.001  0.066 -0.024  0.955]
+t: 97	 action: [ 0.05  -0.04   0.065 -0.003  0.057 -0.023 -1.008]
+t: 98	 action: [ 0.077 -0.049  0.125  0.005  0.051 -0.031 -1.017]
+t: 99	 action: [ 0.045 -0.062  0.163 -0.006  0.039 -0.035 -1.009]
+t: 100	 action: [ 0.044 -0.061  0.12   0.003  0.033 -0.033 -1.016]
+t: 101	 action: [ 0.038 -0.065  0.15  -0.006  0.023 -0.037 -0.999]
+t: 102	 action: [ 0.04  -0.027  0.131  0.002  0.015 -0.037 -1.013]
+t: 103	 action: [ 0.018 -0.025  0.166 -0.003  0.007 -0.039 -1.015]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=22--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+94 94 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=22--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 19 (86.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 23...
+[07-31 02:06:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4622
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4622
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4622
+t=10: Selected seed 195 with value = 0.4622
+t: 10	 action: [ 0.02  -0.002 -0.054  0.007 -0.008  0.003 -0.989]
+t: 11	 action: [ 0.119  0.059 -0.012  0.008  0.002  0.001 -0.991]
+t: 12	 action: [ 0.196  0.135 -0.064  0.003 -0.002  0.004 -0.991]
+t: 13	 action: [ 0.376  0.232 -0.014  0.004  0.001  0.002 -0.994]
+t: 14	 action: [ 4.821e-01  3.193e-01 -5.888e-02 -1.465e-04  7.971e-04  2.366e-03 -1.003e+00]
+t: 15	 action: [ 0.664  0.429 -0.038  0.003  0.002  0.006 -1.008]
+t: 16	 action: [ 0.747  0.5   -0.069 -0.003  0.01   0.003 -0.996]
+t: 17	 action: [ 0.812  0.529 -0.065  0.002  0.005  0.006 -1.01 ]
+t: 18	 action: [ 0.796  0.5   -0.112  0.006  0.01   0.009 -0.991]
+t: 19	 action: [ 8.189e-01  5.042e-01 -9.517e-02 -5.501e-05  9.855e-03  3.456e-03 -1.002e+00]
+t: 20	 action: [ 0.856  0.53  -0.166  0.004  0.009  0.009 -0.998]
+t: 21	 action: [ 0.869  0.513 -0.144 -0.003  0.011  0.004 -0.998]
+t: 22	 action: [ 0.903  0.561 -0.177  0.001  0.01   0.006 -0.989]
+t: 23	 action: [ 0.918  0.552 -0.192  0.001  0.002  0.004 -1.006]
+t: 24	 action: [ 9.316e-01  5.615e-01 -2.768e-01 -7.683e-04  9.434e-03  5.462e-03 -9.964e-01]
+t: 25	 action: [ 9.335e-01  4.959e-01 -3.030e-01  2.794e-04  1.283e-03  4.458e-03 -1.012e+00]
+[07-31 02:06:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=26: Selected seed 195 with value = 0.4977
+t: 26	 action: [ 0.889  0.414 -0.242  0.002 -0.009  0.009 -0.998]
+t: 27	 action: [ 8.911e-01  3.957e-01 -2.926e-01 -2.022e-03 -6.347e-04  6.713e-03 -1.002e+00]
+t: 28	 action: [ 0.857  0.373 -0.348  0.002 -0.017  0.008 -0.995]
+t: 29	 action: [ 0.816  0.307 -0.376  0.005 -0.012  0.006 -1.003]
+t: 30	 action: [ 0.741  0.297 -0.419 -0.001 -0.021  0.002 -1.005]
+t: 31	 action: [ 0.635  0.241 -0.549  0.005 -0.031  0.004 -1.007]
+t: 32	 action: [ 5.034e-01  1.718e-01 -6.405e-01  3.537e-03 -3.431e-02  5.593e-04 -1.002e+00]
+t: 33	 action: [ 0.414  0.116 -0.789  0.016 -0.052  0.004 -1.007]
+t: 34	 action: [ 0.31   0.111 -0.84   0.016 -0.057  0.007 -1.003]
+t: 35	 action: [ 2.310e-01  8.002e-02 -8.683e-01  1.533e-02 -5.351e-02  1.907e-04 -9.925e-01]
+t: 36	 action: [ 0.166  0.059 -0.895  0.012 -0.061  0.007 -1.006]
+t: 37	 action: [ 0.093  0.024 -0.91   0.012 -0.057 -0.003 -0.991]
+t: 38	 action: [ 7.911e-02  5.232e-02 -9.153e-01  4.486e-03 -6.493e-02  3.280e-04 -1.010e+00]
+t: 39	 action: [ 0.019  0.021 -0.94   0.005 -0.064 -0.005 -1.001]
+t: 40	 action: [-0.01   0.026 -0.916 -0.002 -0.057 -0.001 -1.012]
+t: 41	 action: [-4.131e-02 -2.716e-03 -9.269e-01 -8.722e-04 -5.907e-02 -6.442e-03 -1.006e+00]
+[07-31 02:06:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6011
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6011
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6011
+t=42: Selected seed 195 with value = 0.6011
+t: 42	 action: [-0.366  0.064 -0.955  0.028 -0.078  0.026 -1.014]
+t: 43	 action: [-0.421  0.082 -0.929  0.012 -0.087  0.032 -0.995]
+t: 44	 action: [-0.475  0.044 -0.923  0.029 -0.068  0.032 -1.01 ]
+t: 45	 action: [-0.489  0.056 -0.881  0.016 -0.072  0.034 -1.   ]
+t: 46	 action: [-0.494  0.031 -0.906  0.007 -0.052  0.021 -1.027]
+t: 47	 action: [-0.45   0.061 -0.86   0.007 -0.05   0.028 -1.012]
+t: 48	 action: [-0.371  0.012 -0.819  0.003 -0.031  0.024 -1.029]
+t: 49	 action: [-0.323  0.036 -0.785  0.006 -0.014  0.024 -1.02 ]
+t: 50	 action: [-0.281  0.03  -0.722  0.006  0.017  0.014 -1.017]
+t: 51	 action: [-0.235 -0.002 -0.67  -0.007  0.025  0.018 -1.01 ]
+t: 52	 action: [-0.161  0.01  -0.566  0.003  0.02   0.016  0.976]
+t: 53	 action: [-0.081 -0.02  -0.429 -0.016  0.034  0.014  0.981]
+t: 54	 action: [-0.106  0.006 -0.327 -0.005  0.033  0.005  0.981]
+t: 55	 action: [-0.054 -0.009 -0.196 -0.023  0.049  0.008  1.021]
+t: 56	 action: [-0.043 -0.004 -0.096 -0.016  0.034  0.004  0.993]
+t: 57	 action: [-2.024e-04 -4.169e-02  3.496e-04 -3.552e-02  5.764e-02  2.079e-03  9.925e-01]
+[07-31 02:06:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7451
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7451
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7451
+t=58: Selected seed 195 with value = 0.7451
+t: 58	 action: [-0.094 -0.125 -0.202 -0.01  -0.001 -0.014  0.987]
+t: 59	 action: [-0.102 -0.121 -0.104 -0.016  0.003 -0.031  0.986]
+t: 60	 action: [-5.124e-02 -1.192e-01  1.482e-02 -7.905e-03 -4.384e-04 -3.999e-02  9.899e-01]
+t: 61	 action: [-0.024 -0.115  0.177 -0.01   0.004 -0.043  0.99 ]
+t: 62	 action: [-0.017 -0.112  0.38  -0.009  0.006 -0.035  0.995]
+t: 63	 action: [-0.002 -0.062  0.662 -0.004  0.005 -0.042  0.979]
+t: 64	 action: [ 0.007 -0.123  0.829  0.004  0.015 -0.052  0.992]
+t: 65	 action: [-0.004 -0.097  0.892  0.01   0.02  -0.05   0.984]
+t: 66	 action: [ 0.008 -0.252  0.906  0.024  0.034 -0.041  0.976]
+t: 67	 action: [ 0.013 -0.325  0.931  0.034  0.036 -0.041  0.982]
+t: 68	 action: [-0.026 -0.425  0.913  0.039  0.043 -0.033  0.971]
+t: 69	 action: [-0.006 -0.513  0.924  0.047  0.053 -0.029  0.984]
+t: 70	 action: [-0.096 -0.622  0.836  0.064  0.07  -0.016  0.988]
+t: 71	 action: [-0.099 -0.652  0.759  0.065  0.077 -0.018  0.982]
+t: 72	 action: [-0.149 -0.723  0.699  0.068  0.078 -0.006  0.987]
+t: 73	 action: [-0.132 -0.723  0.519  0.068  0.083 -0.008  0.984]
+[07-31 02:06:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8840
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8840
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 23
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 20 (87.0%)
+
+
 46%|████▌     | 23/50 [05:48<05:00, 11.12s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 24...
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=74: Selected seed 195 with value = 0.8840
+t: 74	 action: [-0.165 -0.813  0.166  0.049  0.051  0.002  0.972]
+t: 75	 action: [-0.175 -0.798  0.06   0.05   0.056  0.004  0.986]
+t: 76	 action: [-0.208 -0.806 -0.115  0.046  0.038  0.003  0.975]
+t: 77	 action: [-0.225 -0.734 -0.242  0.042  0.036  0.014  0.984]
+t: 78	 action: [-0.242 -0.661 -0.388  0.032  0.029  0.007  0.984]
+t: 79	 action: [-0.272 -0.564 -0.528  0.022  0.011  0.021  0.986]
+t: 80	 action: [-0.234 -0.455 -0.677  0.005  0.013  0.019  0.985]
+t: 81	 action: [-0.261 -0.335 -0.781 -0.002 -0.002  0.029  0.997]
+t: 82	 action: [-0.158 -0.182 -0.791 -0.006 -0.017  0.028  0.986]
+t: 83	 action: [-0.191 -0.14  -0.857 -0.016 -0.003  0.034  0.99 ]
+t: 84	 action: [-0.125 -0.079 -0.777 -0.029 -0.011  0.035  0.989]
+t: 85	 action: [-1.315e-01 -7.309e-02 -7.107e-01 -3.534e-02 -5.537e-04  3.597e-02  1.004e+00]
+t: 86	 action: [-0.152 -0.038 -0.624 -0.044 -0.007  0.031  1.002]
+t: 87	 action: [-0.162 -0.055 -0.495 -0.051 -0.004  0.037  0.988]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=23--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+78 78 5 5
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=23--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 20 (87.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 24...
+[07-31 02:06:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4548
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4548
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4548
+t=10: Selected seed 195 with value = 0.4548
+t: 10	 action: [ 0.169  0.068 -0.025  0.005  0.008  0.003 -1.002]
+t: 11	 action: [ 0.272  0.168  0.006  0.008  0.015  0.005 -0.998]
+t: 12	 action: [ 0.396  0.243 -0.034  0.003  0.012  0.005 -1.   ]
+t: 13	 action: [ 5.166e-01  3.389e-01  1.722e-04  7.885e-03  1.155e-02  5.671e-03 -9.980e-01]
+t: 14	 action: [ 0.62   0.444 -0.019 -0.002  0.016  0.003 -1.008]
+t: 15	 action: [ 0.712  0.503 -0.012  0.009  0.016  0.009 -1.008]
+t: 16	 action: [ 0.771  0.541 -0.036 -0.003  0.021  0.004 -1.002]
+t: 17	 action: [ 0.817  0.554 -0.038  0.009  0.014  0.008 -1.009]
+t: 18	 action: [ 0.784  0.547 -0.096  0.011  0.02   0.011 -1.005]
+t: 19	 action: [ 0.783  0.545 -0.075  0.012  0.016  0.01  -1.004]
+t: 20	 action: [ 0.823  0.569 -0.15   0.006  0.015  0.011 -1.009]
+t: 21	 action: [ 0.799  0.531 -0.135  0.008  0.011  0.009 -1.001]
+t: 22	 action: [ 0.855  0.541 -0.167  0.003  0.016  0.007 -1.002]
+t: 23	 action: [ 0.852  0.535 -0.187  0.012  0.004  0.008 -1.008]
+t: 24	 action: [ 8.642e-01  5.096e-01 -2.946e-01 -2.293e-04  1.086e-02  5.049e-03 -1.005e+00]
+t: 25	 action: [ 8.632e-01  4.506e-01 -3.211e-01  9.318e-03 -5.360e-04  6.503e-03 -1.011e+00]
+[07-31 02:06:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5035
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5035
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5035
+t=26: Selected seed 195 with value = 0.5035
+t: 26	 action: [ 0.92   0.447 -0.259  0.003  0.023  0.018 -0.995]
+t: 27	 action: [ 0.9    0.442 -0.327 -0.005  0.025  0.016 -1.005]
+t: 28	 action: [ 0.874  0.381 -0.381  0.003  0.017  0.016 -0.997]
+t: 29	 action: [ 0.794  0.324 -0.446 -0.003  0.01   0.015 -1.002]
+t: 30	 action: [ 7.120e-01  2.906e-01 -4.967e-01  7.727e-04  8.607e-03  7.151e-03 -1.001e+00]
+t: 31	 action: [ 5.649e-01  2.260e-01 -6.380e-01  3.772e-03  4.556e-04  8.116e-03 -1.007e+00]
+t: 32	 action: [ 0.438  0.148 -0.688  0.003 -0.007  0.005 -1.001]
+t: 33	 action: [ 0.34   0.106 -0.781  0.006 -0.007  0.008 -1.005]
+t: 34	 action: [ 0.269  0.04  -0.866  0.01  -0.016  0.01  -1.009]
+t: 35	 action: [ 0.175  0.014 -0.906  0.007 -0.011  0.004 -0.998]
+t: 36	 action: [ 0.139 -0.002 -0.923  0.006 -0.027  0.009 -1.013]
+t: 37	 action: [ 0.059 -0.028 -0.934  0.005 -0.025  0.003 -0.995]
+t: 38	 action: [ 0.022 -0.013 -0.922  0.002 -0.039  0.002 -1.01 ]
+t: 39	 action: [-0.044 -0.03  -0.93   0.002 -0.042 -0.002 -1.002]
+t: 40	 action: [-0.108 -0.073 -0.925 -0.002 -0.043  0.003 -1.011]
+t: 41	 action: [-1.632e-01 -6.824e-02 -9.228e-01 -1.058e-03 -4.682e-02 -8.737e-04 -9.980e-01]
+[07-31 02:06:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5780
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=42: Selected seed 195 with value = 0.5780
+t: 42	 action: [-0.406  0.078 -0.941  0.004 -0.044  0.016 -1.011]
+t: 43	 action: [-0.429  0.092 -0.925 -0.004 -0.048  0.031 -0.997]
+t: 44	 action: [-0.427  0.085 -0.919  0.006 -0.037  0.022 -1.014]
+t: 45	 action: [-0.4    0.083 -0.868  0.003 -0.036  0.032 -1.   ]
+t: 46	 action: [-0.381  0.065 -0.871  0.002 -0.029  0.017 -1.021]
+t: 47	 action: [-0.332  0.104 -0.823 -0.006 -0.024  0.024 -1.012]
+t: 48	 action: [-0.297  0.049 -0.794  0.002 -0.017  0.017 -1.027]
+t: 49	 action: [-0.304  0.077 -0.759 -0.001 -0.007  0.018 -1.019]
+t: 50	 action: [-0.279  0.055 -0.687  0.009  0.011  0.035 -0.984]
+t: 51	 action: [-0.306  0.035 -0.649 -0.001  0.009  0.033 -0.941]
+t: 52	 action: [-0.234  0.024 -0.595  0.005  0.006  0.025  0.973]
+t: 53	 action: [-0.199 -0.003 -0.475 -0.007  0.007  0.028  1.009]
+t: 54	 action: [-0.217  0.014 -0.397  0.002  0.009  0.008  0.968]
+t: 55	 action: [-0.199  0.001 -0.288 -0.01   0.006  0.013  0.996]
+t: 56	 action: [-0.129  0.006 -0.14  -0.006  0.011  0.002  0.991]
+t: 57	 action: [-0.103 -0.035 -0.045 -0.027  0.011  0.004  1.01 ]
+[07-31 02:06:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7039
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7039
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7039
+t=58: Selected seed 195 with value = 0.7039
+t: 58	 action: [-0.07  -0.173 -0.192 -0.007  0.019  0.008  0.996]
+t: 59	 action: [-0.075 -0.138 -0.079 -0.016  0.016  0.001  0.995]
+t: 60	 action: [-6.445e-02 -1.042e-01  2.786e-02  6.235e-04  6.126e-03 -4.038e-03  9.992e-01]
+t: 61	 action: [-0.045 -0.085  0.158 -0.001  0.007 -0.013  0.998]
+t: 62	 action: [-0.03  -0.036  0.308 -0.004  0.013 -0.004  1.001]
+t: 63	 action: [-0.032 -0.013  0.615 -0.008  0.005 -0.01   0.981]
+t: 64	 action: [-0.007 -0.018  0.803  0.007  0.011 -0.018  0.996]
+t: 65	 action: [-0.016 -0.021  0.9    0.008  0.01  -0.022  0.989]
+t: 66	 action: [-0.012 -0.171  0.917  0.016  0.009 -0.008  0.981]
+t: 67	 action: [-0.016 -0.243  0.947  0.023  0.009 -0.019  0.991]
+t: 68	 action: [-0.051 -0.361  0.929  0.021  0.008 -0.006  0.975]
+t: 69	 action: [-0.065 -0.482  0.918  0.027  0.011 -0.013  0.995]
+t: 70	 action: [-0.128 -0.593  0.845  0.029  0.018 -0.004  0.991]
+t: 71	 action: [-0.188 -0.663  0.8    0.033  0.004  0.005  0.991]
+t: 72	 action: [-0.193 -0.726  0.708  0.025  0.012 -0.002  0.99 ]
+t: 73	 action: [-0.234 -0.763  0.574  0.033 -0.001  0.011  0.995]
+[07-31 02:06:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8360
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8360
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 24
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 21 (87.5%)
+
+
 48%|████▊     | 24/50 [05:58<04:37, 10.66s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 25...
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8360
+t=74: Selected seed 195 with value = 0.8360
+t: 74	 action: [-0.221 -0.778  0.076  0.023 -0.001  0.001  0.96 ]
+t: 75	 action: [-0.304 -0.774 -0.001  0.032 -0.004  0.01   0.983]
+t: 76	 action: [-0.345 -0.772 -0.124  0.026 -0.015  0.002  0.957]
+t: 77	 action: [-0.36  -0.725 -0.204  0.029 -0.018  0.016  0.98 ]
+t: 78	 action: [-0.396 -0.634 -0.346  0.023 -0.037  0.01   0.981]
+t: 79	 action: [-0.418 -0.551 -0.472  0.023 -0.047  0.015  0.989]
+t: 80	 action: [-0.434 -0.427 -0.555  0.005 -0.053  0.018  0.983]
+t: 81	 action: [-0.414 -0.324 -0.666  0.006 -0.064  0.022  0.993]
+t: 82	 action: [-0.367 -0.165 -0.784 -0.004 -0.071  0.022  0.98 ]
+t: 83	 action: [-0.45  -0.125 -0.812 -0.016 -0.082  0.034  0.995]
+t: 84	 action: [-0.351 -0.056 -0.804 -0.025 -0.065  0.03   0.978]
+t: 85	 action: [-0.342 -0.055 -0.758 -0.033 -0.063  0.038  0.997]
+t: 86	 action: [-0.284  0.008 -0.687 -0.034 -0.073  0.029  0.996]
+t: 87	 action: [-0.306  0.014 -0.593 -0.042 -0.065  0.03   0.989]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=24--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+78 78 5 5
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=24--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 21 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 25...
+[07-31 02:06:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.185 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4250
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4250
+Query 1/1: Action query time = 1.185 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4250
+t=10: Selected seed 195 with value = 0.4250
+t: 10	 action: [ 4.064e-02  5.472e-02 -3.156e-02  2.744e-03 -9.101e-03  2.127e-04 -9.971e-01]
+t: 11	 action: [ 1.251e-01  1.183e-01 -1.493e-02 -8.346e-04  3.355e-04 -3.247e-03 -9.933e-01]
+t: 12	 action: [ 1.904e-01  2.041e-01 -3.825e-02  8.984e-04 -1.016e-02  3.003e-03 -1.007e+00]
+t: 13	 action: [ 0.331  0.299 -0.018 -0.003 -0.002 -0.004 -0.995]
+t: 14	 action: [ 4.208e-01  3.634e-01 -3.327e-02 -1.350e-03 -9.372e-03  1.311e-04 -1.016e+00]
+t: 15	 action: [ 5.554e-01  4.160e-01 -3.388e-02 -1.418e-04 -4.780e-03 -1.320e-03 -1.007e+00]
+t: 16	 action: [ 0.643  0.49  -0.039 -0.004 -0.009  0.001 -1.012]
+t: 17	 action: [ 0.743  0.497 -0.052 -0.002 -0.005 -0.003 -1.01 ]
+t: 18	 action: [ 0.711  0.504 -0.057  0.004 -0.003  0.01  -1.01 ]
+t: 19	 action: [ 0.741  0.501 -0.057 -0.001  0.003  0.006 -1.002]
+t: 20	 action: [ 0.774  0.521 -0.087  0.004 -0.007  0.01  -1.011]
+t: 21	 action: [ 0.795  0.494 -0.087 -0.006  0.004  0.004 -0.997]
+t: 22	 action: [ 8.170e-01  5.396e-01 -9.910e-02 -5.691e-04 -5.567e-03  7.815e-03 -1.002e+00]
+t: 23	 action: [ 8.430e-01  5.218e-01 -1.365e-01 -8.616e-04 -5.871e-03  4.385e-03 -1.005e+00]
+t: 24	 action: [ 0.855  0.537 -0.16  -0.001 -0.008  0.007 -1.003]
+t: 25	 action: [ 0.889  0.47  -0.195 -0.004 -0.004  0.003 -1.011]
+[07-31 02:06:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.200 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5302
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5302
+Query 1/1: Action query time = 1.200 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5302
+t=26: Selected seed 195 with value = 0.5302
+t: 26	 action: [ 0.862  0.463 -0.344  0.003 -0.013  0.008 -1.   ]
+t: 27	 action: [ 8.281e-01  3.957e-01 -3.733e-01 -5.104e-04 -4.172e-03  3.306e-03 -9.972e-01]
+t: 28	 action: [ 0.808  0.367 -0.493  0.003 -0.021  0.006 -0.997]
+t: 29	 action: [ 7.455e-01  2.260e-01 -5.635e-01  4.825e-03 -1.673e-02 -5.205e-04 -9.989e-01]
+t: 30	 action: [ 0.673  0.217 -0.616  0.002 -0.031 -0.002 -1.005]
+t: 31	 action: [ 0.541  0.113 -0.697  0.009 -0.037 -0.006 -1.004]
+t: 32	 action: [ 0.476  0.087 -0.816  0.012 -0.039 -0.004 -1.002]
+t: 33	 action: [ 0.415  0.036 -0.849  0.018 -0.051 -0.009 -1.006]
+t: 34	 action: [ 2.619e-01  3.576e-02 -9.313e-01  2.164e-02 -5.594e-02  3.226e-04 -1.014e+00]
+t: 35	 action: [ 0.216 -0.003 -0.958  0.018 -0.054 -0.011 -0.997]
+t: 36	 action: [ 0.157  0.018 -0.951  0.012 -0.055  0.002 -1.012]
+t: 37	 action: [ 0.117 -0.021 -0.964  0.011 -0.054 -0.011 -0.995]
+t: 38	 action: [ 0.09   0.026 -0.95   0.007 -0.051 -0.006 -1.02 ]
+t: 39	 action: [ 0.047 -0.007 -0.949  0.01  -0.056 -0.017 -1.002]
+t: 40	 action: [ 0.011  0.027 -0.948 -0.001 -0.044 -0.005 -1.012]
+t: 41	 action: [-0.004 -0.007 -0.933  0.002 -0.05  -0.016 -1.002]
+[07-31 02:06:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.173 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5922
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5922
+Query 1/1: Action query time = 1.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5922
+t=42: Selected seed 195 with value = 0.5922
+t: 42	 action: [-0.099  0.044 -0.879  0.008 -0.044  0.017 -0.999]
+t: 43	 action: [-0.121  0.063 -0.883  0.004 -0.055  0.026 -0.998]
+t: 44	 action: [-0.117  0.018 -0.837  0.006 -0.035  0.018 -0.99 ]
+t: 45	 action: [-0.112  0.043 -0.83   0.004 -0.041  0.023 -1.003]
+t: 46	 action: [-1.927e-01  1.102e-02 -7.486e-01  5.160e-04 -3.434e-02  1.481e-02 -1.010e+00]
+t: 47	 action: [-0.213  0.007 -0.745  0.003 -0.035  0.023 -1.003]
+t: 48	 action: [-2.085e-01 -8.414e-03 -6.816e-01 -4.263e-04 -2.722e-02  9.425e-03 -1.007e+00]
+t: 49	 action: [-2.308e-01 -1.227e-02 -7.148e-01  6.449e-04 -2.385e-02  1.135e-02 -1.012e+00]
+t: 50	 action: [-0.24  -0.001 -0.688  0.003 -0.01   0.006 -1.006]
+t: 51	 action: [-0.249 -0.036 -0.682 -0.008 -0.006  0.01  -1.034]
+t: 52	 action: [-0.3   -0.049 -0.606  0.002 -0.002  0.004 -0.946]
+t: 53	 action: [-0.277 -0.063 -0.575 -0.012 -0.003  0.006  0.951]
+t: 54	 action: [-0.222 -0.028 -0.44  -0.001  0.009 -0.006  0.988]
+t: 55	 action: [-0.163 -0.076 -0.323 -0.013  0.005 -0.018  1.013]
+t: 56	 action: [-0.134 -0.074 -0.269 -0.004  0.025 -0.012  0.987]
+t: 57	 action: [-0.057 -0.091 -0.13  -0.019  0.03  -0.015  1.036]
+[07-31 02:06:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.125 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6953
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6953
+Query 1/1: Action query time = 1.125 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6953
+t=58: Selected seed 195 with value = 0.6953
+t: 58	 action: [-0.087 -0.04  -0.297 -0.01  -0.004 -0.004  0.981]
+t: 59	 action: [-0.052 -0.065 -0.176 -0.012  0.004 -0.025  0.988]
+t: 60	 action: [-0.024 -0.091 -0.074 -0.003  0.016 -0.027  0.977]
+t: 61	 action: [ 0.006 -0.093  0.058 -0.008  0.021 -0.039  0.991]
+t: 62	 action: [ 0.014 -0.074  0.168 -0.005  0.03  -0.041  0.992]
+t: 63	 action: [ 0.025 -0.07   0.373 -0.006  0.026 -0.041  0.979]
+t: 64	 action: [ 3.172e-02 -6.436e-02  5.810e-01  6.150e-04  3.815e-02 -6.033e-02  9.914e-01]
+t: 65	 action: [ 0.032 -0.039  0.748  0.003  0.031 -0.053  0.984]
+t: 66	 action: [ 4.166e-02 -9.735e-02  8.672e-01  6.900e-04 -3.364e-03 -5.800e-02  9.820e-01]
+t: 67	 action: [ 0.034 -0.157  0.952  0.009  0.007 -0.063  0.989]
+t: 68	 action: [ 0.019 -0.22   0.914  0.012  0.005 -0.052  0.974]
+t: 69	 action: [ 0.035 -0.313  0.959  0.022  0.019 -0.052  0.991]
+t: 70	 action: [-0.046 -0.435  0.871  0.049  0.033 -0.044  1.003]
+t: 71	 action: [-0.027 -0.482  0.844  0.055  0.028 -0.037  0.987]
+t: 72	 action: [-0.097 -0.604  0.719  0.064  0.048 -0.03   1.001]
+t: 73	 action: [-0.085 -0.626  0.613  0.067  0.045 -0.02   0.994]
+[07-31 02:06:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.154 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8146
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 1.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=74: Selected seed 195 with value = 0.8146
+t: 74	 action: [-0.1   -0.761  0.394  0.053  0.05  -0.027  0.977]
+t: 75	 action: [-0.132 -0.762  0.285  0.055  0.049 -0.027  0.989]
+t: 76	 action: [-0.164 -0.794  0.177  0.051  0.044 -0.027  0.982]
+t: 77	 action: [-0.194 -0.772  0.088  0.05   0.036 -0.021  0.989]
+t: 78	 action: [-0.212 -0.788  0.032  0.057  0.043 -0.018  0.987]
+t: 79	 action: [-0.281 -0.755 -0.09   0.051  0.026 -0.019  0.985]
+t: 80	 action: [-0.263 -0.734 -0.184  0.043  0.034 -0.011  0.988]
+t: 81	 action: [-0.289 -0.667 -0.298  0.037  0.02  -0.011  0.992]
+t: 82	 action: [-0.209 -0.583 -0.363  0.013  0.021  0.008  0.983]
+t: 83	 action: [-0.215 -0.466 -0.506  0.011  0.022  0.021  0.981]
+t: 84	 action: [-0.141 -0.401 -0.559  0.005  0.018  0.014  0.983]
+t: 85	 action: [-0.066 -0.264 -0.646 -0.003  0.023  0.026  0.992]
+t: 86	 action: [-0.017 -0.135 -0.705 -0.012  0.011  0.03   0.996]
+t: 87	 action: [ 0.002 -0.053 -0.696 -0.013  0.015  0.039  0.989]
+t: 88	 action: [ 4.010e-02 -2.912e-04 -6.753e-01 -2.817e-02  2.312e-02  3.536e-02  9.905e-01]
+t: 89	 action: [ 0.028  0.06  -0.617 -0.019  0.032  0.043  0.991]
+[07-31 02:06:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9620
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9620
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 25
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 22 (88.0%)
+
+
 50%|█████     | 25/50 [06:10<04:35, 11.02s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 26...
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=90: Selected seed 195 with value = 0.9620
+t: 90	 action: [-0.092  0.074 -0.323 -0.018  0.089  0.059  0.996]
+t: 91	 action: [-0.053  0.067 -0.201 -0.017  0.114  0.034  1.009]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=25--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+82 82 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=25--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 22 (88.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 26...
+[07-31 02:06:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4140
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4140
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4140
+t=10: Selected seed 195 with value = 0.4140
+t: 10	 action: [ 1.985e-01  1.048e-01  8.750e-04  7.840e-03  1.219e-02  6.915e-03 -9.927e-01]
+t: 11	 action: [ 0.324  0.189  0.011  0.014  0.013  0.01  -0.995]
+t: 12	 action: [ 0.422  0.273 -0.002  0.006  0.017  0.01  -0.991]
+t: 13	 action: [ 0.532  0.342  0.013  0.013  0.015  0.012 -0.994]
+t: 14	 action: [ 0.63   0.412  0.012  0.002  0.023  0.008 -0.998]
+t: 15	 action: [ 0.712  0.441  0.003  0.012  0.022  0.014 -1.008]
+t: 16	 action: [ 0.762  0.498  0.011  0.001  0.031  0.01  -0.995]
+t: 17	 action: [ 0.801  0.505  0.002  0.011  0.024  0.014 -1.009]
+t: 18	 action: [ 0.785  0.534 -0.021  0.008  0.027  0.014 -0.995]
+t: 19	 action: [ 7.841e-01  5.330e-01 -2.753e-04  4.924e-03  2.564e-02  1.313e-02 -9.966e-01]
+t: 20	 action: [ 0.801  0.554 -0.048  0.007  0.026  0.014 -0.993]
+t: 21	 action: [ 8.036e-01  5.337e-01 -2.442e-02  2.228e-04  2.600e-02  1.375e-02 -9.927e-01]
+t: 22	 action: [ 0.833  0.562 -0.062  0.004  0.029  0.014 -0.991]
+t: 23	 action: [ 0.818  0.54  -0.049  0.003  0.021  0.015 -1.001]
+t: 24	 action: [ 0.807  0.539 -0.162  0.002  0.028  0.01  -0.993]
+t: 25	 action: [ 0.807  0.469 -0.157 -0.001  0.019  0.015 -1.003]
+[07-31 02:06:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4228
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4228
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4228
+t=26: Selected seed 195 with value = 0.4228
+t: 26	 action: [ 0.921  0.432 -0.185  0.001  0.032  0.018 -1.001]
+t: 27	 action: [ 0.929  0.43  -0.255 -0.006  0.042  0.019 -1.005]
+t: 28	 action: [ 0.907  0.395 -0.291  0.003  0.028  0.017 -0.998]
+t: 29	 action: [ 0.866  0.345 -0.356 -0.004  0.025  0.018 -1.005]
+t: 30	 action: [ 8.525e-01  3.835e-01 -3.301e-01 -9.947e-04  1.916e-02  1.088e-02 -1.004e+00]
+t: 31	 action: [ 0.728  0.326 -0.469  0.001  0.006  0.016 -1.009]
+t: 32	 action: [ 6.252e-01  2.588e-01 -5.065e-01  4.454e-04  3.305e-03  9.063e-03 -1.002e+00]
+t: 33	 action: [ 0.477  0.19  -0.633  0.004 -0.005  0.016 -1.012]
+t: 34	 action: [ 0.34   0.087 -0.783  0.003 -0.025  0.016 -1.009]
+t: 35	 action: [ 0.205  0.042 -0.856 -0.004 -0.029  0.02  -1.005]
+t: 36	 action: [ 0.121  0.02  -0.893  0.002 -0.036  0.016 -1.01 ]
+t: 37	 action: [ 0.046 -0.055 -0.922 -0.004 -0.046  0.022 -1.001]
+t: 38	 action: [-0.057 -0.076 -0.917  0.001 -0.063  0.019 -1.012]
+t: 39	 action: [-0.153 -0.149 -0.924 -0.003 -0.07   0.02  -1.007]
+t: 40	 action: [-2.863e-01 -2.250e-01 -9.269e-01 -1.184e-04 -6.957e-02  2.054e-02 -1.014e+00]
+t: 41	 action: [-0.378 -0.217 -0.92  -0.004 -0.079  0.024 -1.004]
+[07-31 02:06:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5779
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5779
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5779
+t=42: Selected seed 195 with value = 0.5779
+t: 42	 action: [-0.033  0.03  -0.927  0.006 -0.07   0.047 -1.007]
+t: 43	 action: [-1.705e-01  1.422e-02 -9.487e-01  8.220e-04 -7.761e-02  5.101e-02 -9.982e-01]
+t: 44	 action: [-0.254 -0.006 -0.923  0.013 -0.075  0.05  -1.011]
+t: 45	 action: [-0.408 -0.017 -0.925  0.008 -0.083  0.053 -0.999]
+t: 46	 action: [-0.517 -0.045 -0.92   0.006 -0.079  0.055 -1.008]
+t: 47	 action: [-0.632 -0.036 -0.88   0.005 -0.087  0.053 -1.004]
+t: 48	 action: [-0.695 -0.037 -0.889  0.006 -0.081  0.054 -1.014]
+t: 49	 action: [-0.733 -0.018 -0.84   0.006 -0.08   0.05  -1.009]
+t: 50	 action: [-0.675 -0.008 -0.814  0.01  -0.05   0.061 -0.988]
+t: 51	 action: [-6.875e-01 -2.144e-02 -8.118e-01  1.080e-04 -4.392e-02  5.768e-02 -1.052e+00]
+t: 52	 action: [-0.599 -0.008 -0.746  0.005 -0.035  0.055 -0.867]
+t: 53	 action: [-0.543 -0.027 -0.705 -0.006 -0.022  0.051  0.953]
+t: 54	 action: [-0.589  0.012 -0.641  0.002 -0.03   0.034  0.971]
+t: 55	 action: [-0.46  -0.016 -0.494 -0.007 -0.018  0.036  0.993]
+t: 56	 action: [-0.348  0.007 -0.404 -0.009 -0.01   0.025  0.962]
+t: 57	 action: [-2.153e-01 -2.488e-02 -2.217e-01 -1.895e-02  7.182e-04  2.922e-02  9.946e-01]
+[07-31 02:06:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6569
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6569
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6569
+t=58: Selected seed 195 with value = 0.6569
+t: 58	 action: [-0.151  0.028 -0.152 -0.048 -0.008  0.021  0.984]
+t: 59	 action: [-0.095  0.05  -0.063 -0.053 -0.004  0.01   0.98 ]
+t: 60	 action: [-0.042  0.059  0.093 -0.054  0.004  0.004  0.989]
+t: 61	 action: [ 0.013  0.079  0.132 -0.048  0.003 -0.005  0.987]
+t: 62	 action: [ 0.082  0.088  0.238 -0.059  0.029 -0.01   1.001]
+t: 63	 action: [ 0.134  0.136  0.428 -0.049  0.039 -0.027  0.986]
+t: 64	 action: [ 0.217  0.17   0.642 -0.07   0.052 -0.044  1.001]
+t: 65	 action: [ 0.228  0.173  0.793 -0.036  0.063 -0.052  0.982]
+t: 66	 action: [ 0.267  0.163  0.841 -0.054  0.027 -0.06   0.964]
+t: 67	 action: [ 0.315  0.145  0.857 -0.043  0.02  -0.06   0.986]
+t: 68	 action: [ 0.31   0.129  0.905 -0.045  0.029 -0.063  0.961]
+t: 69	 action: [ 0.287  0.146  0.925 -0.029  0.034 -0.058  0.984]
+t: 70	 action: [ 0.222  0.049  0.927 -0.018  0.057 -0.076  0.983]
+t: 71	 action: [ 0.136 -0.028  0.896 -0.006  0.063 -0.062  0.991]
+t: 72	 action: [ 0.059 -0.18   0.907  0.01   0.07  -0.063  0.984]
+t: 73	 action: [ 0.022 -0.336  0.854  0.022  0.075 -0.051  0.99 ]
+[07-31 02:06:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8010
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8010
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8010
+t=74: Selected seed 195 with value = 0.8010
+t: 74	 action: [ 0.139 -0.716  0.833  0.04   0.085 -0.008  0.989]
+t: 75	 action: [ 0.048 -0.774  0.736  0.044  0.075 -0.006  0.996]
+t: 76	 action: [ 0.014 -0.85   0.581  0.052  0.068 -0.002  0.988]
+t: 77	 action: [-0.069 -0.873  0.413  0.056  0.062 -0.001  0.997]
+t: 78	 action: [-0.105 -0.944  0.278  0.05   0.051  0.002  1.001]
+t: 79	 action: [-0.151 -0.884  0.173  0.049  0.042  0.013  0.992]
+t: 80	 action: [-0.224 -0.93   0.043  0.047  0.038  0.005  0.997]
+t: 81	 action: [-0.278 -0.869 -0.088  0.046  0.027  0.019  0.999]
+t: 82	 action: [-0.286 -0.907 -0.18   0.043  0.008  0.022  0.981]
+t: 83	 action: [-3.603e-01 -7.638e-01 -3.631e-01  3.224e-02  8.687e-04  3.893e-02  9.915e-01]
+t: 84	 action: [-0.368 -0.681 -0.506  0.024 -0.016  0.039  0.975]
+t: 85	 action: [-0.391 -0.516 -0.691  0.015 -0.017  0.049  1.005]
+t: 86	 action: [-0.417 -0.348 -0.767  0.004 -0.042  0.053  0.991]
+t: 87	 action: [-4.242e-01 -2.228e-01 -9.163e-01 -1.339e-04 -4.562e-02  5.816e-02  9.878e-01]
+t: 88	 action: [-0.34  -0.074 -0.869 -0.004 -0.044  0.066  0.986]
+t: 89	 action: [-0.314 -0.027 -0.928 -0.013 -0.035  0.067  1.001]
+[07-31 02:06:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9450
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9450
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 26
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 23 (88.5%)
+
+
 52%|█████▏    | 26/50 [06:21<04:28, 11.17s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 27...
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=90: Selected seed 195 with value = 0.9450
+t: 90	 action: [-0.282 -0.058 -0.744  0.002  0.007  0.048  1.005]
+t: 91	 action: [-0.215 -0.042 -0.603 -0.006  0.017  0.049  0.985]
+t: 92	 action: [-0.117  0.005 -0.477 -0.003  0.038  0.045  1.003]
+t: 93	 action: [-0.027  0.01  -0.24  -0.011  0.05   0.037  0.975]
+t: 94	 action: [ 0.014  0.016 -0.102 -0.013  0.073  0.027  1.024]
+t: 95	 action: [ 0.037  0.011  0.076 -0.013  0.077  0.032  0.984]
+t: 96	 action: [ 0.074  0.011  0.145 -0.01   0.095  0.005 -0.939]
+t: 97	 action: [ 0.088  0.008  0.255 -0.011  0.086  0.002 -1.038]
+t: 98	 action: [ 0.146 -0.003  0.292 -0.002  0.072  0.008 -1.016]
+t: 99	 action: [ 1.236e-01 -1.495e-02  3.294e-01 -3.537e-03  6.135e-02  8.435e-04 -1.015e+00]
+t: 100	 action: [ 0.113 -0.006  0.313  0.002  0.067  0.002 -1.01 ]
+t: 101	 action: [ 1.036e-01 -2.162e-02  3.351e-01  1.087e-04  6.411e-02 -3.102e-03 -1.008e+00]
+t: 102	 action: [ 0.081 -0.002  0.337  0.002  0.059 -0.009 -1.02 ]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=26--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+93 93 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=26--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 23 (88.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 27...
+[07-31 02:07:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4428
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4428
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4428
+t=10: Selected seed 195 with value = 0.4428
+t: 10	 action: [ 0.082  0.047  0.036 -0.004  0.007  0.002 -1.   ]
+t: 11	 action: [ 0.228  0.129  0.03  -0.012  0.007 -0.004 -0.992]
+t: 12	 action: [ 0.332  0.233  0.025 -0.01   0.008  0.004 -1.   ]
+t: 13	 action: [ 0.482  0.33   0.018 -0.016  0.007 -0.004 -0.993]
+t: 14	 action: [ 0.572  0.403  0.037 -0.015  0.012  0.002 -1.012]
+t: 15	 action: [ 6.885e-01  4.317e-01  5.955e-03 -1.526e-02  7.957e-03 -7.562e-04 -1.009e+00]
+t: 16	 action: [ 0.755  0.506  0.02  -0.018  0.013  0.003 -1.002]
+t: 17	 action: [ 8.206e-01  4.962e-01  6.061e-04 -1.757e-02  5.686e-03 -2.412e-03 -1.008e+00]
+t: 18	 action: [ 0.792  0.471 -0.023 -0.01   0.017  0.008 -1.001]
+t: 19	 action: [ 0.817  0.462 -0.012 -0.018  0.016 -0.001 -0.999]
+t: 20	 action: [ 0.846  0.488 -0.061 -0.013  0.01   0.009 -1.001]
+t: 21	 action: [ 0.861  0.459 -0.036 -0.018  0.013 -0.002 -0.994]
+t: 22	 action: [ 0.876  0.494 -0.077 -0.014  0.01   0.005 -0.998]
+t: 23	 action: [ 8.992e-01  4.726e-01 -1.006e-01 -1.560e-02  4.883e-03 -1.000e-03 -1.004e+00]
+t: 24	 action: [ 0.906  0.464 -0.149 -0.013  0.003  0.005 -0.999]
+t: 25	 action: [ 0.926  0.416 -0.164 -0.014  0.004 -0.001 -1.007]
+[07-31 02:07:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5155
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5155
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5155
+t=26: Selected seed 195 with value = 0.5155
+t: 26	 action: [ 9.051e-01  4.284e-01 -1.879e-01 -9.248e-04 -7.141e-03  7.869e-03 -1.002e+00]
+t: 27	 action: [ 0.902  0.39  -0.247 -0.002 -0.005  0.004 -1.003]
+t: 28	 action: [ 0.887  0.327 -0.3    0.003 -0.016  0.007 -0.997]
+t: 29	 action: [ 0.828  0.247 -0.376  0.007 -0.016  0.002 -1.   ]
+t: 30	 action: [ 7.950e-01  1.769e-01 -4.132e-01  5.205e-03 -2.372e-02  6.171e-04 -1.002e+00]
+t: 31	 action: [ 6.917e-01  1.016e-01 -5.649e-01  1.576e-02 -3.707e-02 -5.683e-04 -1.010e+00]
+t: 32	 action: [ 0.551  0.068 -0.663  0.021 -0.038  0.001 -1.003]
+t: 33	 action: [ 0.45   0.041 -0.781  0.029 -0.051 -0.002 -1.011]
+t: 34	 action: [ 0.329  0.039 -0.84   0.033 -0.043  0.008 -1.007]
+t: 35	 action: [ 0.201  0.058 -0.912  0.026 -0.046  0.003 -1.   ]
+t: 36	 action: [ 0.147  0.043 -0.903  0.027 -0.05   0.008 -1.009]
+t: 37	 action: [ 0.068  0.064 -0.953  0.018 -0.056  0.002 -0.998]
+t: 38	 action: [-0.029  0.078 -0.918  0.023 -0.057  0.004 -1.013]
+t: 39	 action: [-0.116  0.098 -0.959  0.018 -0.064  0.003 -1.008]
+t: 40	 action: [-0.208  0.1   -0.917  0.009 -0.058  0.005 -1.01 ]
+t: 41	 action: [-0.291  0.097 -0.951  0.01  -0.065  0.003 -1.01 ]
+[07-31 02:07:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5983
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5983
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5983
+t=42: Selected seed 195 with value = 0.5983
+t: 42	 action: [-0.328  0.039 -0.957  0.013 -0.084  0.011 -1.01 ]
+t: 43	 action: [-4.449e-01  5.025e-02 -9.370e-01  6.347e-04 -9.669e-02  2.123e-02 -9.927e-01]
+t: 44	 action: [-0.548  0.039 -0.931  0.023 -0.082  0.03  -1.006]
+t: 45	 action: [-0.612  0.057 -0.914  0.007 -0.092  0.033 -0.999]
+t: 46	 action: [-0.674  0.054 -0.945  0.007 -0.082  0.022 -1.013]
+t: 47	 action: [-0.659  0.067 -0.906  0.006 -0.089  0.027 -1.01 ]
+t: 48	 action: [-0.665  0.089 -0.883  0.007 -0.064  0.04  -1.021]
+t: 49	 action: [-0.607  0.075 -0.859  0.006 -0.055  0.034 -1.019]
+t: 50	 action: [-0.567  0.076 -0.748  0.013  0.001  0.046 -0.995]
+t: 51	 action: [-0.482  0.056 -0.744  0.001  0.006  0.043 -1.023]
+t: 52	 action: [-0.392  0.054 -0.7    0.006  0.025  0.04  -1.005]
+t: 53	 action: [-0.289  0.042 -0.636 -0.006  0.039  0.036 -1.02 ]
+t: 54	 action: [-0.306  0.032 -0.528  0.003  0.032  0.03   0.905]
+t: 55	 action: [-0.171  0.012 -0.494 -0.008  0.036  0.026  1.021]
+t: 56	 action: [-0.106  0.016 -0.341 -0.004  0.047  0.019  1.003]
+t: 57	 action: [-0.035  0.023 -0.251 -0.024  0.048  0.019  1.001]
+[07-31 02:07:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6780
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6780
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6780
+t=58: Selected seed 195 with value = 0.6780
+t: 58	 action: [-0.424 -0.021 -0.555 -0.003  0.022  0.01   0.967]
+t: 59	 action: [-0.286 -0.033 -0.484 -0.013  0.032  0.008  0.982]
+t: 60	 action: [-0.199 -0.032 -0.276 -0.017  0.048  0.003  0.985]
+t: 61	 action: [-0.084 -0.047 -0.185 -0.019  0.052 -0.004  0.986]
+t: 62	 action: [ 0.005 -0.069 -0.027 -0.031  0.068 -0.008  0.998]
+t: 63	 action: [ 0.07  -0.071  0.061 -0.017  0.072 -0.019  0.99 ]
+t: 64	 action: [ 0.074 -0.056  0.13  -0.02   0.071 -0.033  1.003]
+t: 65	 action: [ 0.087 -0.06   0.237 -0.012  0.074 -0.041  0.994]
+t: 66	 action: [ 0.11  -0.021  0.409 -0.009  0.042 -0.044  0.983]
+t: 67	 action: [ 0.158 -0.036  0.609 -0.017  0.049 -0.049  0.988]
+t: 68	 action: [ 0.144 -0.033  0.757 -0.011  0.023 -0.047  0.97 ]
+t: 69	 action: [ 0.185 -0.068  0.892 -0.016  0.034 -0.053  0.98 ]
+t: 70	 action: [ 0.1   -0.087  0.92  -0.008  0.013 -0.045  1.   ]
+t: 71	 action: [ 0.087 -0.191  0.957 -0.011  0.011 -0.045  0.985]
+t: 72	 action: [ 0.049 -0.265  0.92  -0.004 -0.004 -0.039  0.997]
+t: 73	 action: [ 0.056 -0.374  0.954  0.002  0.006 -0.038  0.989]
+[07-31 02:07:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7950
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7950
+t=74: Selected seed 195 with value = 0.7950
+t: 74	 action: [ 0.092 -0.391  0.903  0.031  0.082 -0.009  0.981]
+t: 75	 action: [ 0.067 -0.511  0.927  0.046  0.093 -0.011  0.985]
+t: 76	 action: [ 0.054 -0.624  0.841  0.051  0.088 -0.005  0.977]
+t: 77	 action: [ 0.03  -0.693  0.794  0.061  0.09  -0.009  0.985]
+t: 78	 action: [ 0.008 -0.792  0.681  0.058  0.077 -0.003  0.99 ]
+t: 79	 action: [-0.015 -0.789  0.538  0.06   0.071  0.002  0.979]
+t: 80	 action: [-0.023 -0.826  0.396  0.058  0.067 -0.001  0.985]
+t: 81	 action: [-3.025e-02 -7.985e-01  2.615e-01  6.031e-02  5.519e-02  5.735e-04  9.861e-01]
+t: 82	 action: [-0.105 -0.849  0.109  0.062  0.05   0.006  0.98 ]
+t: 83	 action: [-0.123 -0.827 -0.033  0.056  0.025  0.011  0.976]
+t: 84	 action: [-0.168 -0.804 -0.138  0.052  0.027  0.007  0.966]
+t: 85	 action: [-0.183 -0.708 -0.306  0.045  0.009  0.015  0.985]
+t: 86	 action: [-0.233 -0.612 -0.406  0.035 -0.009  0.011  0.987]
+t: 87	 action: [-0.262 -0.495 -0.633  0.025 -0.01   0.018  0.973]
+t: 88	 action: [-0.232 -0.393 -0.716  0.013 -0.025  0.013  0.973]
+t: 89	 action: [-0.235 -0.251 -0.808  0.01  -0.02   0.019  0.986]
+[07-31 02:07:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9028
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9028
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 27
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 24 (88.9%)
+
+
 54%|█████▍    | 27/50 [06:33<04:20, 11.31s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 28...
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9028
+t=90: Selected seed 195 with value = 0.9028
+t: 90	 action: [-7.421e-02 -1.007e-01 -7.957e-01  5.444e-04  4.004e-02  3.393e-02  9.718e-01]
+t: 91	 action: [-0.074 -0.044 -0.839 -0.01   0.051  0.038  0.976]
+t: 92	 action: [-0.117  0.005 -0.77  -0.002  0.047  0.045  0.972]
+t: 93	 action: [-0.152  0.008 -0.742 -0.014  0.053  0.043  0.975]
+t: 94	 action: [-0.12   0.01  -0.581 -0.008  0.045  0.05   0.989]
+t: 95	 action: [-0.186  0.047 -0.412 -0.016  0.051  0.048  0.986]
+t: 96	 action: [-0.104  0.008 -0.32  -0.011  0.049  0.042  0.99 ]
+t: 97	 action: [-0.098  0.058 -0.154 -0.016  0.048  0.037  0.998]
+t: 98	 action: [-0.083  0.017 -0.038 -0.012  0.045  0.038  0.999]
+t: 99	 action: [-0.066 -0.006  0.025 -0.009  0.022  0.016 -1.007]
+t: 100	 action: [-0.031 -0.001  0.131 -0.004  0.016  0.01  -1.024]
+t: 101	 action: [ 0.006 -0.018  0.193 -0.005  0.007  0.005 -0.991]
+t: 102	 action: [-0.002 -0.003  0.231 -0.003 -0.011 -0.002 -0.95 ]
+t: 103	 action: [-0.02   0.008  0.322 -0.002  0.002 -0.006 -1.   ]
+t: 104	 action: [ 2.942e-02 -1.836e-03  2.806e-01 -4.998e-03 -1.096e-02 -2.402e-04 -1.013e+00]
+t: 105	 action: [ 5.114e-02  1.908e-02  3.325e-01 -2.360e-03  6.690e-04 -5.875e-03 -1.004e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=27--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+96 96 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=27--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 24 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 28...
+[07-31 02:07:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4183
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4183
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4183
+t=10: Selected seed 195 with value = 0.4183
+t: 10	 action: [ 1.015e-01  6.789e-02  8.429e-04  2.923e-03 -2.728e-03  3.919e-04 -1.005e+00]
+t: 11	 action: [ 0.177  0.122  0.006 -0.002  0.003 -0.007 -0.992]
+t: 12	 action: [ 2.348e-01  2.012e-01 -6.981e-03  6.196e-04 -2.769e-03  3.100e-03 -1.011e+00]
+t: 13	 action: [ 0.364  0.295  0.009 -0.002  0.002 -0.006 -0.994]
+t: 14	 action: [ 3.945e-01  3.363e-01 -3.982e-03 -1.431e-04  1.200e-03 -1.229e-04 -1.014e+00]
+t: 15	 action: [ 5.367e-01  3.974e-01 -8.566e-03  2.071e-04  2.179e-03 -5.013e-03 -1.005e+00]
+t: 16	 action: [ 0.636  0.493 -0.01  -0.003  0.003  0.002 -1.011]
+t: 17	 action: [ 7.430e-01  5.046e-01 -1.390e-02  5.718e-04  1.030e-03 -4.967e-03 -1.009e+00]
+t: 18	 action: [ 0.715  0.534 -0.057  0.005  0.007  0.008 -1.01 ]
+t: 19	 action: [ 0.742  0.538 -0.028 -0.002  0.008  0.002 -0.999]
+t: 20	 action: [ 0.768  0.547 -0.083  0.005  0.001  0.009 -1.013]
+t: 21	 action: [ 7.805e-01  5.319e-01 -5.553e-02 -2.603e-03  7.290e-03  9.837e-04 -9.964e-01]
+t: 22	 action: [ 0.801  0.546 -0.098  0.001  0.003  0.006 -1.005]
+t: 23	 action: [ 8.169e-01  5.265e-01 -1.073e-01  2.625e-04 -1.474e-03  2.875e-04 -1.003e+00]
+t: 24	 action: [ 8.248e-01  5.175e-01 -1.529e-01  8.469e-04 -2.306e-03  6.079e-03 -1.008e+00]
+t: 25	 action: [ 8.490e-01  4.634e-01 -1.686e-01  1.751e-04 -2.172e-03  2.807e-04 -1.010e+00]
+[07-31 02:07:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5003
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5003
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5003
+t=26: Selected seed 195 with value = 0.5003
+t: 26	 action: [ 0.842  0.424 -0.227  0.008  0.001  0.011 -1.002]
+t: 27	 action: [ 0.796  0.363 -0.24   0.007  0.003  0.01  -1.002]
+t: 28	 action: [ 0.779  0.333 -0.354  0.006 -0.004  0.009 -0.999]
+t: 29	 action: [ 0.713  0.24  -0.405  0.011  0.002  0.007 -1.002]
+t: 30	 action: [ 0.655  0.254 -0.464  0.003 -0.015  0.002 -1.006]
+t: 31	 action: [ 5.070e-01  1.799e-01 -5.505e-01  1.165e-02 -1.625e-02  3.075e-04 -1.004e+00]
+t: 32	 action: [ 4.578e-01  1.673e-01 -6.693e-01  7.514e-03 -2.476e-02  6.416e-04 -1.003e+00]
+t: 33	 action: [ 0.373  0.119 -0.734  0.017 -0.029 -0.002 -1.004]
+t: 34	 action: [ 0.244  0.057 -0.862  0.015 -0.028  0.007 -1.01 ]
+t: 35	 action: [ 0.177  0.054 -0.901  0.014 -0.029 -0.001 -0.999]
+t: 36	 action: [ 0.154  0.04  -0.921  0.009 -0.029  0.006 -1.008]
+t: 37	 action: [ 0.082  0.031 -0.929  0.009 -0.032 -0.005 -0.996]
+t: 38	 action: [ 1.014e-01  4.646e-02 -9.371e-01  1.115e-02 -3.184e-02  1.335e-04 -1.015e+00]
+t: 39	 action: [ 0.039  0.04  -0.926  0.011 -0.032 -0.008 -1.003]
+t: 40	 action: [ 9.856e-03  2.919e-02 -9.426e-01  1.557e-03 -2.803e-02 -9.113e-04 -1.010e+00]
+t: 41	 action: [-0.016  0.013 -0.916  0.005 -0.03  -0.009 -1.003]
+[07-31 02:07:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5746
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5746
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5746
+t=42: Selected seed 195 with value = 0.5746
+t: 42	 action: [-0.198  0.014 -0.925  0.016 -0.041  0.008 -0.989]
+t: 43	 action: [-0.245  0.009 -0.929  0.007 -0.045  0.002 -0.996]
+t: 44	 action: [-0.251  0.005 -0.88   0.018 -0.032  0.011 -0.99 ]
+t: 45	 action: [-2.821e-01 -2.401e-02 -8.591e-01  8.356e-03 -3.198e-02  9.194e-04 -1.004e+00]
+t: 46	 action: [-0.375  0.021 -0.839  0.009 -0.019  0.008 -0.996]
+t: 47	 action: [-0.389 -0.03  -0.79   0.007 -0.022  0.003 -0.997]
+t: 48	 action: [-0.307 -0.024 -0.752  0.008 -0.013  0.005 -0.997]
+t: 49	 action: [-0.307 -0.085 -0.725  0.005 -0.011 -0.006 -0.999]
+t: 50	 action: [-3.848e-01 -2.351e-02 -6.619e-01  8.181e-03 -1.842e-04  2.965e-03 -9.996e-01]
+t: 51	 action: [-3.997e-01 -7.412e-02 -6.742e-01  2.176e-03 -4.281e-04 -1.456e-02 -9.957e-01]
+t: 52	 action: [-0.447 -0.064 -0.661  0.007  0.003 -0.005 -0.986]
+t: 53	 action: [-0.387 -0.092 -0.639 -0.002 -0.003 -0.012 -1.036]
+t: 54	 action: [-0.48  -0.063 -0.647  0.005 -0.006 -0.018 -1.032]
+t: 55	 action: [-0.409 -0.099 -0.582 -0.004 -0.006 -0.028 -0.983]
+t: 56	 action: [-0.353 -0.065 -0.591 -0.002 -0.001 -0.03   0.959]
+t: 57	 action: [-0.19  -0.091 -0.455 -0.014 -0.002 -0.031  1.026]
+[07-31 02:07:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6731
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=58: Selected seed 195 with value = 0.6731
+t: 58	 action: [-0.36  -0.073 -0.468 -0.003  0.016 -0.038  0.971]
+t: 59	 action: [-0.255 -0.082 -0.34   0.003  0.017 -0.044  0.98 ]
+t: 60	 action: [-0.174 -0.131 -0.241 -0.003  0.042 -0.059  0.986]
+t: 61	 action: [-0.085 -0.122 -0.129 -0.002  0.041 -0.062  0.985]
+t: 62	 action: [-0.037 -0.172 -0.033 -0.009  0.056 -0.053  0.994]
+t: 63	 action: [ 0.024 -0.177  0.057 -0.008  0.068 -0.054  0.992]
+t: 64	 action: [ 0.041 -0.134  0.105 -0.009  0.065 -0.077  1.003]
+t: 65	 action: [ 0.043 -0.134  0.216 -0.008  0.073 -0.074  0.996]
+t: 66	 action: [ 0.084 -0.044  0.308 -0.006  0.021 -0.101  0.977]
+t: 67	 action: [ 0.133 -0.054  0.489 -0.013  0.028 -0.085  0.975]
+t: 68	 action: [ 0.107 -0.056  0.625 -0.004  0.002 -0.1    0.973]
+t: 69	 action: [ 0.119 -0.066  0.806 -0.01   0.013 -0.084  0.977]
+t: 70	 action: [ 0.051 -0.122  0.882  0.001  0.005 -0.088  0.994]
+t: 71	 action: [ 0.028 -0.164  0.931  0.001  0.007 -0.073  0.983]
+t: 72	 action: [ 0.017 -0.271  0.937  0.002 -0.001 -0.073  1.   ]
+t: 73	 action: [ 0.016 -0.333  0.959  0.013  0.008 -0.058  0.991]
+[07-31 02:07:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7908
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7908
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7908
+t=74: Selected seed 195 with value = 0.7908
+t: 74	 action: [-0.024 -0.434  0.908  0.021  0.024 -0.056  0.996]
+t: 75	 action: [ 0.007 -0.503  0.978  0.033  0.03  -0.035  1.002]
+t: 76	 action: [-0.071 -0.601  0.858  0.046  0.043 -0.051  0.989]
+t: 77	 action: [-0.049 -0.642  0.783  0.051  0.049 -0.032  0.996]
+t: 78	 action: [-0.084 -0.741  0.696  0.061  0.061 -0.033  1.002]
+t: 79	 action: [-0.126 -0.686  0.494  0.064  0.061 -0.017  0.997]
+t: 80	 action: [-0.142 -0.766  0.378  0.055  0.069 -0.023  0.99 ]
+t: 81	 action: [-0.188 -0.712  0.161  0.061  0.061 -0.012  0.995]
+t: 82	 action: [-0.205 -0.77   0.042  0.05   0.049 -0.014  0.987]
+t: 83	 action: [-0.222 -0.703 -0.045  0.044  0.044 -0.008  1.   ]
+t: 84	 action: [-2.062e-01 -6.692e-01 -2.026e-01  3.655e-02  4.751e-02 -7.251e-04  9.802e-01]
+t: 85	 action: [-0.219 -0.567 -0.301  0.031  0.039  0.002  0.998]
+t: 86	 action: [-0.267 -0.439 -0.428  0.02   0.039  0.002  0.994]
+t: 87	 action: [-0.245 -0.376 -0.529  0.022  0.039  0.016  0.998]
+t: 88	 action: [-0.178 -0.243 -0.64  -0.002  0.04   0.005  0.988]
+t: 89	 action: [-0.114 -0.161 -0.636  0.006  0.047  0.021  0.995]
+[07-31 02:07:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8815
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8815
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8815
+t=90: Selected seed 195 with value = 0.8815
+t: 90	 action: [-0.332 -0.061 -0.747 -0.01  -0.021  0.02   0.978]
+t: 91	 action: [-0.28  -0.044 -0.641 -0.019 -0.017  0.029  0.992]
+t: 92	 action: [-0.231  0.011 -0.642 -0.018 -0.005  0.028  0.985]
+t: 93	 action: [-0.187  0.008 -0.463 -0.021  0.005  0.033  0.994]
+t: 94	 action: [-0.149  0.037 -0.34  -0.022  0.028  0.039  0.991]
+t: 95	 action: [-0.12   0.022 -0.183 -0.022  0.043  0.042  0.988]
+t: 96	 action: [-0.042  0.046 -0.092 -0.019  0.065  0.038  0.992]
+t: 97	 action: [-0.025  0.025  0.007 -0.014  0.08   0.036  0.993]
+t: 98	 action: [-0.003  0.009  0.034 -0.012  0.085  0.026  1.007]
+t: 99	 action: [-0.018  0.014  0.042 -0.013  0.071  0.015  0.933]
+t: 100	 action: [ 0.027  0.009  0.15  -0.012  0.075  0.011 -0.945]
+t: 101	 action: [ 0.01   0.016  0.157 -0.006  0.049  0.007 -1.001]
+t: 102	 action: [ 0.019  0.015  0.195 -0.006  0.027 -0.005 -1.002]
+t: 103	 action: [ 1.237e-02  1.905e-02  2.531e-01 -4.393e-03  5.483e-03 -4.093e-04 -1.041e+00]
+t: 104	 action: [ 0.084  0.018  0.342 -0.003  0.008 -0.011 -1.011]
+t: 105	 action: [ 7.536e-02  3.298e-02  3.572e-01 -1.967e-04 -3.969e-03 -7.952e-03 -1.004e+00]
+[07-31 02:07:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9637
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9637
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 28
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 25 (89.3%)
+
+
 56%|█████▌    | 28/50 [06:45<04:17, 11.68s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 29...
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=106: Selected seed 195 with value = 0.9637
+t: 106	 action: [0.037 0.038 0.216 0.003 0.052 0.013 0.961]
+t: 107	 action: [0.039 0.026 0.15  0.008 0.03  0.015 0.928]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=28--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+98 98 7 7
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=28--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 25 (89.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 29...
+[07-31 02:07:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4357
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4357
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4357
+t=10: Selected seed 195 with value = 0.4357
+t: 10	 action: [ 0.116  0.092 -0.004  0.005  0.006  0.01  -0.998]
+t: 11	 action: [ 0.25   0.172  0.008  0.005  0.008  0.011 -0.991]
+t: 12	 action: [ 0.327  0.268 -0.012  0.003  0.01   0.014 -0.992]
+t: 13	 action: [ 0.488  0.354  0.015  0.005  0.007  0.013 -0.989]
+t: 14	 action: [ 5.660e-01  4.149e-01 -8.611e-03  9.918e-04  1.290e-02  1.814e-02 -1.006e+00]
+t: 15	 action: [ 0.686  0.452 -0.002  0.005  0.006  0.02  -1.003]
+t: 16	 action: [ 7.558e-01  5.042e-01 -7.003e-03 -3.405e-04  1.933e-02  2.005e-02 -9.938e-01]
+t: 17	 action: [ 0.817  0.528 -0.002  0.006  0.008  0.02  -1.003]
+t: 18	 action: [ 7.953e-01  5.500e-01 -4.089e-03  5.195e-04  2.157e-02  1.854e-02 -9.906e-01]
+t: 19	 action: [ 0.829  0.581  0.01  -0.006  0.015  0.016 -0.994]
+t: 20	 action: [ 0.82   0.563 -0.034 -0.004  0.022  0.018 -0.987]
+t: 21	 action: [ 0.832  0.581 -0.025 -0.007  0.019  0.017 -0.99 ]
+t: 22	 action: [ 0.858  0.561 -0.072 -0.004  0.027  0.019 -0.991]
+t: 23	 action: [ 0.848  0.587 -0.074 -0.003  0.008  0.02  -1.005]
+t: 24	 action: [ 0.859  0.545 -0.164 -0.005  0.028  0.016 -0.988]
+t: 25	 action: [ 0.85   0.525 -0.189 -0.004  0.011  0.02  -1.008]
+[07-31 02:07:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.009 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4806
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4806
+Query 1/1: Action query time = 1.009 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4806
+t=26: Selected seed 195 with value = 0.4806
+t: 26	 action: [ 0.925  0.379 -0.321  0.005  0.018  0.018 -1.007]
+t: 27	 action: [ 0.939  0.383 -0.393 -0.004  0.019  0.02  -1.004]
+t: 28	 action: [ 0.9    0.375 -0.437  0.005  0.016  0.018 -1.   ]
+t: 29	 action: [ 0.858  0.328 -0.477 -0.003  0.011  0.019 -1.004]
+t: 30	 action: [ 8.407e-01  3.595e-01 -4.993e-01  9.718e-04  6.858e-03  9.200e-03 -1.013e+00]
+t: 31	 action: [ 0.698  0.328 -0.605  0.002  0.002  0.014 -1.005]
+t: 32	 action: [ 0.552  0.269 -0.647  0.002 -0.005  0.01  -1.007]
+t: 33	 action: [ 0.405  0.239 -0.689  0.004 -0.004  0.012 -1.005]
+t: 34	 action: [ 0.286  0.093 -0.774  0.009 -0.006  0.013 -1.006]
+t: 35	 action: [ 0.183  0.052 -0.827  0.011 -0.005  0.012 -0.998]
+t: 36	 action: [ 0.122  0.018 -0.857  0.013 -0.013  0.012 -1.01 ]
+t: 37	 action: [ 0.053 -0.029 -0.885  0.012 -0.019  0.011 -0.997]
+t: 38	 action: [ 0.014 -0.032 -0.888  0.018 -0.029  0.008 -1.009]
+t: 39	 action: [-0.064 -0.044 -0.882  0.013 -0.04   0.008 -0.999]
+t: 40	 action: [-0.141 -0.14  -0.895  0.012 -0.034  0.007 -1.011]
+t: 41	 action: [-0.206 -0.105 -0.885  0.01  -0.048  0.009 -0.998]
+[07-31 02:07:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.082 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5638
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5638
+Query 1/1: Action query time = 1.082 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5638
+t=42: Selected seed 195 with value = 0.5638
+t: 42	 action: [-0.083  0.024 -0.913  0.007 -0.064  0.036 -1.003]
+t: 43	 action: [-0.205  0.003 -0.926  0.002 -0.073  0.044 -1.003]
+t: 44	 action: [-2.760e-01 -2.359e-04 -8.921e-01  1.102e-02 -6.431e-02  3.868e-02 -1.004e+00]
+t: 45	 action: [-0.389 -0.007 -0.884  0.007 -0.071  0.045 -0.998]
+t: 46	 action: [-0.482 -0.012 -0.881  0.005 -0.064  0.043 -1.005]
+t: 47	 action: [-0.559  0.006 -0.838  0.003 -0.068  0.044 -1.008]
+t: 48	 action: [-5.960e-01  2.101e-04 -8.286e-01  4.622e-03 -6.229e-02  4.200e-02 -1.013e+00]
+t: 49	 action: [-0.614  0.026 -0.784  0.004 -0.056  0.04  -1.013]
+t: 50	 action: [-0.542  0.013 -0.709  0.007 -0.029  0.05  -1.002]
+t: 51	 action: [-0.553 -0.01  -0.727 -0.002 -0.016  0.047 -1.046]
+t: 52	 action: [-0.421  0.009 -0.611  0.002 -0.019  0.039  0.987]
+t: 53	 action: [-0.322 -0.013 -0.563 -0.006 -0.002  0.04   0.993]
+t: 54	 action: [-0.351  0.022 -0.52  -0.005 -0.015  0.021  0.988]
+t: 55	 action: [-0.247 -0.013 -0.396 -0.009 -0.006  0.023  0.99 ]
+t: 56	 action: [-1.580e-01  7.722e-04 -2.809e-01 -1.662e-02 -2.834e-03  9.637e-03  1.006e+00]
+t: 57	 action: [-0.068 -0.034 -0.128 -0.021  0.002  0.01   0.995]
+[07-31 02:07:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.100 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6545
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6545
+Query 1/1: Action query time = 1.100 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6545
+t=58: Selected seed 195 with value = 0.6545
+t: 58	 action: [-0.108  0.047 -0.25  -0.035  0.009  0.045  0.967]
+t: 59	 action: [-0.049  0.084 -0.169 -0.046  0.011  0.023  0.989]
+t: 60	 action: [-0.019  0.079 -0.082 -0.061  0.01   0.013  0.971]
+t: 61	 action: [ 0.003  0.107 -0.024 -0.051  0.011  0.005  1.001]
+t: 62	 action: [ 0.052  0.12   0.083 -0.047  0.017 -0.011  0.993]
+t: 63	 action: [ 0.068  0.146  0.169 -0.036  0.012 -0.024  0.992]
+t: 64	 action: [ 0.152  0.173  0.344 -0.059  0.013 -0.036  0.992]
+t: 65	 action: [ 0.186  0.173  0.501 -0.034  0.013 -0.05   0.994]
+t: 66	 action: [ 0.207  0.129  0.603 -0.055 -0.003 -0.05   0.972]
+t: 67	 action: [ 0.257  0.146  0.744 -0.035 -0.002 -0.049  0.987]
+t: 68	 action: [ 0.244  0.116  0.87  -0.044 -0.004 -0.047  0.968]
+t: 69	 action: [ 2.585e-01  1.485e-01  9.352e-01 -2.708e-02 -4.489e-06 -4.330e-02  9.904e-01]
+t: 70	 action: [ 0.189  0.07   0.962 -0.026  0.01  -0.05   1.   ]
+t: 71	 action: [ 0.131  0.015  0.952 -0.006  0.01  -0.043  0.987]
+t: 72	 action: [ 1.008e-01 -7.919e-02  9.552e-01  6.919e-04  1.854e-02 -3.926e-02  9.982e-01]
+t: 73	 action: [ 0.043 -0.213  0.925  0.01   0.022 -0.036  0.991]
+[07-31 02:07:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.186 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7778
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7778
+Query 1/1: Action query time = 1.186 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7778
+t=74: Selected seed 195 with value = 0.7778
+t: 74	 action: [ 0.193 -0.411  0.919  0.02   0.051 -0.006  0.979]
+t: 75	 action: [ 0.104 -0.543  0.916  0.025  0.055 -0.009  0.999]
+t: 76	 action: [ 8.511e-02 -7.022e-01  7.807e-01  4.487e-02  4.206e-02  6.685e-05  9.788e-01]
+t: 77	 action: [ 0.016 -0.782  0.688  0.047  0.048 -0.002  0.995]
+t: 78	 action: [-4.503e-02 -8.449e-01  5.436e-01  4.218e-02  3.607e-02 -6.408e-04  9.961e-01]
+t: 79	 action: [-0.085 -0.839  0.459  0.044  0.039  0.01   0.994]
+t: 80	 action: [-0.146 -0.892  0.243  0.047  0.03   0.003  0.992]
+t: 81	 action: [-0.172 -0.868  0.126  0.047  0.03   0.016  0.996]
+t: 82	 action: [-0.15  -0.941  0.01   0.039  0.011  0.019  0.976]
+t: 83	 action: [-0.226 -0.871 -0.092  0.034  0.004  0.03   0.994]
+t: 84	 action: [-0.228 -0.867 -0.236  0.038 -0.009  0.03   0.964]
+t: 85	 action: [-0.275 -0.711 -0.42   0.025 -0.01   0.036  1.   ]
+t: 86	 action: [-0.326 -0.643 -0.518  0.017 -0.022  0.032  0.991]
+t: 87	 action: [-0.301 -0.513 -0.642  0.017 -0.025  0.04   0.993]
+t: 88	 action: [-0.273 -0.381 -0.786  0.006 -0.032  0.042  0.979]
+t: 89	 action: [-0.239 -0.217 -0.84   0.007 -0.028  0.046  0.999]
+[07-31 02:07:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.188 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9142
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9142
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 29
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 26 (89.7%)
+
+
 58%|█████▊    | 29/50 [06:58<04:10, 11.92s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 30...
+Query 1/1: Action query time = 1.188 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9142
+t=90: Selected seed 195 with value = 0.9142
+t: 90	 action: [-0.46  -0.186 -0.803  0.005 -0.004  0.026  0.977]
+t: 91	 action: [-4.359e-01 -1.109e-01 -8.291e-01 -5.419e-04  2.693e-03  4.039e-02  9.866e-01]
+t: 92	 action: [-3.493e-01 -1.843e-02 -7.781e-01 -2.713e-06  1.089e-02  4.021e-02  9.729e-01]
+t: 93	 action: [-0.285  0.009 -0.701 -0.012  0.018  0.046  0.98 ]
+t: 94	 action: [-0.199  0.041 -0.571 -0.011  0.034  0.047  0.987]
+t: 95	 action: [-0.141  0.077 -0.429 -0.015  0.034  0.048  0.99 ]
+t: 96	 action: [-0.022  0.093 -0.256 -0.021  0.055  0.041  0.981]
+t: 97	 action: [ 0.027  0.113 -0.114 -0.02   0.054  0.037  0.994]
+t: 98	 action: [ 0.055  0.085 -0.013 -0.01   0.056  0.025  0.951]
+t: 99	 action: [ 0.069  0.051  0.08  -0.014  0.063  0.021 -1.01 ]
+t: 100	 action: [ 0.097  0.03   0.21  -0.006  0.052  0.01  -1.03 ]
+t: 101	 action: [ 0.117  0.024  0.284 -0.007  0.06   0.01  -0.993]
+t: 102	 action: [ 0.087 -0.007  0.369 -0.003  0.045  0.003 -0.962]
+t: 103	 action: [ 0.021  0.009  0.386 -0.002  0.06   0.003 -1.008]
+t: 104	 action: [ 6.056e-02  2.187e-03  3.950e-01 -2.133e-03  3.999e-02  6.971e-04 -1.025e+00]
+t: 105	 action: [ 0.02   0.013  0.376  0.002  0.054  0.002 -1.008]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=29--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+96 96 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=29--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 26 (89.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 30...
+[07-31 02:07:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.110 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4252
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4252
+Query 1/1: Action query time = 1.110 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4252
+t=10: Selected seed 195 with value = 0.4252
+t: 10	 action: [ 2.152e-01  1.176e-01 -4.014e-02  2.913e-03 -3.153e-03  3.236e-04 -1.001e+00]
+t: 11	 action: [ 0.323  0.192 -0.008  0.006  0.003 -0.002 -0.998]
+t: 12	 action: [ 0.441  0.304 -0.045  0.002 -0.001  0.002 -0.993]
+t: 13	 action: [ 5.534e-01  3.767e-01 -1.702e-02  5.531e-03 -5.581e-04 -1.872e-03 -9.982e-01]
+t: 14	 action: [ 6.553e-01  4.603e-01 -2.448e-02 -3.052e-03  6.244e-03  9.501e-04 -1.013e+00]
+t: 15	 action: [ 7.250e-01  4.972e-01 -2.799e-02  5.128e-03  5.809e-04  5.374e-03 -1.012e+00]
+t: 16	 action: [ 0.781  0.528 -0.034 -0.004  0.009  0.002 -1.002]
+t: 17	 action: [ 0.812  0.535 -0.06   0.006 -0.003  0.005 -1.012]
+t: 18	 action: [ 0.789  0.534 -0.09   0.004 -0.004  0.007 -0.999]
+t: 19	 action: [ 8.029e-01  5.182e-01 -9.043e-02 -1.954e-04  1.395e-03  3.987e-03 -1.001e+00]
+t: 20	 action: [ 0.829  0.537 -0.139  0.004 -0.008  0.006 -0.999]
+t: 21	 action: [ 8.327e-01  4.926e-01 -1.509e-01 -5.804e-03  6.285e-04  4.291e-03 -9.966e-01]
+t: 22	 action: [ 0.86   0.494 -0.163 -0.002 -0.007  0.004 -1.005]
+t: 23	 action: [ 0.862  0.496 -0.203 -0.003 -0.012  0.008 -1.009]
+t: 24	 action: [ 0.877  0.468 -0.273 -0.005 -0.01   0.003 -1.004]
+t: 25	 action: [ 0.875  0.425 -0.307 -0.006 -0.011  0.008 -1.011]
+[07-31 02:07:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.099 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4562
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 1.099 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=26: Selected seed 195 with value = 0.4562
+t: 26	 action: [ 0.794  0.415 -0.32   0.003  0.003  0.002 -1.001]
+t: 27	 action: [ 6.914e-01  3.197e-01 -3.777e-01  3.094e-03  2.632e-04 -6.590e-03 -1.002e+00]
+t: 28	 action: [ 0.609  0.23  -0.509  0.004 -0.006 -0.006 -1.004]
+t: 29	 action: [ 0.519  0.14  -0.606  0.009 -0.008 -0.011 -1.   ]
+t: 30	 action: [ 0.409  0.082 -0.719  0.007 -0.02  -0.011 -1.006]
+t: 31	 action: [ 0.316  0.023 -0.816  0.015 -0.03  -0.013 -1.01 ]
+t: 32	 action: [ 0.257  0.037 -0.925  0.009 -0.03  -0.023 -1.006]
+t: 33	 action: [ 0.201  0.026 -0.95   0.014 -0.042 -0.016 -1.011]
+t: 34	 action: [ 0.119  0.028 -0.954  0.007 -0.051 -0.034 -1.018]
+t: 35	 action: [ 0.033  0.01  -0.951  0.005 -0.048 -0.032 -1.   ]
+t: 36	 action: [ 4.002e-03  8.372e-03 -9.623e-01  7.716e-04 -5.221e-02 -3.497e-02 -1.016e+00]
+t: 37	 action: [-3.321e-02 -6.834e-03 -9.506e-01  2.774e-04 -4.988e-02 -3.108e-02 -9.969e-01]
+t: 38	 action: [-6.873e-02  2.833e-02 -9.493e-01 -2.383e-04 -4.765e-02 -3.827e-02 -1.018e+00]
+t: 39	 action: [-9.759e-02  1.446e-02 -9.342e-01  5.595e-04 -5.515e-02 -3.646e-02 -1.009e+00]
+t: 40	 action: [-0.12   0.021 -0.94  -0.003 -0.04  -0.038 -1.016]
+t: 41	 action: [-0.165  0.005 -0.915 -0.005 -0.048 -0.033 -1.006]
+[07-31 02:07:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6085
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6085
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6085
+t=42: Selected seed 195 with value = 0.6085
+t: 42	 action: [-0.172  0.087 -0.91   0.003 -0.03   0.006 -1.014]
+t: 43	 action: [-1.351e-01  9.040e-02 -9.131e-01 -4.884e-05 -2.456e-02  8.367e-04 -1.004e+00]
+t: 44	 action: [-0.117  0.045 -0.849  0.003 -0.02   0.007 -1.008]
+t: 45	 action: [-6.157e-02  5.287e-02 -8.168e-01 -1.529e-04 -7.278e-03  5.428e-03 -1.002e+00]
+t: 46	 action: [-0.064  0.016 -0.774 -0.002 -0.011  0.002 -1.023]
+t: 47	 action: [-6.223e-02  2.539e-02 -7.430e-01 -3.296e-03 -3.533e-03 -8.193e-04 -1.010e+00]
+t: 48	 action: [-0.086  0.001 -0.661 -0.002 -0.002  0.001 -1.021]
+t: 49	 action: [-0.113 -0.01  -0.656 -0.005  0.002 -0.005 -1.005]
+t: 50	 action: [-1.783e-01  4.102e-04 -6.213e-01 -2.292e-04  8.557e-03  2.488e-04 -9.051e-01]
+t: 51	 action: [-0.192 -0.022 -0.575 -0.017  0.012 -0.01   0.921]
+t: 52	 action: [-0.196 -0.013 -0.462 -0.005  0.016 -0.001  0.972]
+t: 53	 action: [-0.233 -0.033 -0.396 -0.022  0.019 -0.011  1.012]
+t: 54	 action: [-0.206 -0.02  -0.266 -0.002  0.02  -0.016  0.964]
+t: 55	 action: [-0.174 -0.056 -0.157 -0.023  0.027 -0.021  0.979]
+t: 56	 action: [-0.145 -0.046 -0.091 -0.002  0.024 -0.023  0.996]
+t: 57	 action: [-0.141 -0.072 -0.004 -0.031  0.035 -0.022  1.009]
+[07-31 02:07:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5352
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5352
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5352
+t=58: Selected seed 195 with value = 0.5352
+t: 58	 action: [-0.089 -0.029 -0.073 -0.018 -0.026 -0.033  0.969]
+t: 59	 action: [-0.055 -0.015 -0.035 -0.022 -0.012 -0.044  0.978]
+t: 60	 action: [-0.077  0.032  0.085 -0.011 -0.033 -0.055  0.97 ]
+t: 61	 action: [-0.027  0.017  0.13  -0.016 -0.017 -0.053  0.986]
+t: 62	 action: [-0.064  0.037  0.245 -0.024 -0.02  -0.058  0.996]
+t: 63	 action: [-0.012  0.053  0.524 -0.021 -0.006 -0.066  0.985]
+t: 64	 action: [-0.06   0.038  0.736 -0.002 -0.015 -0.076  0.993]
+t: 65	 action: [-2.205e-02  2.600e-02  8.595e-01 -4.661e-03 -6.268e-04 -7.339e-02  9.909e-01]
+t: 66	 action: [-0.02   0.005  0.903  0.013  0.021 -0.062  0.978]
+t: 67	 action: [-0.009 -0.038  0.923  0.03   0.026 -0.057  0.981]
+t: 68	 action: [-0.034 -0.089  0.925  0.033  0.042 -0.055  0.98 ]
+t: 69	 action: [-0.016 -0.202  0.924  0.05   0.053 -0.049  0.983]
+t: 70	 action: [-0.053 -0.26   0.901  0.06   0.06  -0.055  1.003]
+t: 71	 action: [-0.079 -0.304  0.834  0.078  0.072 -0.048  0.996]
+t: 72	 action: [-0.086 -0.414  0.654  0.073  0.075 -0.041  1.013]
+t: 73	 action: [-0.098 -0.423  0.431  0.087  0.091 -0.038  1.003]
+[07-31 02:07:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7879
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7879
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7879
+t=74: Selected seed 195 with value = 0.7879
+t: 74	 action: [-0.009 -0.601  0.764  0.054  0.037 -0.055  0.982]
+t: 75	 action: [-0.003 -0.644  0.632  0.054  0.038 -0.054  0.986]
+t: 76	 action: [-0.037 -0.676  0.499  0.057  0.035 -0.058  0.989]
+t: 77	 action: [-0.038 -0.694  0.369  0.06   0.033 -0.052  0.987]
+t: 78	 action: [-0.07  -0.709  0.26   0.06   0.038 -0.052  0.99 ]
+t: 79	 action: [-0.089 -0.711  0.157  0.063  0.028 -0.048  0.996]
+t: 80	 action: [-0.105 -0.718  0.097  0.067  0.034 -0.057  0.991]
+t: 81	 action: [-0.119 -0.704 -0.01   0.063  0.025 -0.048  1.   ]
+t: 82	 action: [-0.135 -0.698 -0.07   0.059  0.017 -0.048  0.97 ]
+t: 83	 action: [-0.149 -0.653 -0.153  0.047  0.014 -0.044  0.98 ]
+t: 84	 action: [-0.136 -0.626 -0.244  0.039  0.013 -0.038  0.963]
+t: 85	 action: [-0.152 -0.539 -0.35   0.029  0.01  -0.037  0.985]
+t: 86	 action: [-2.099e-01 -4.625e-01 -4.118e-01  1.584e-02  5.895e-04 -2.634e-02  9.839e-01]
+t: 87	 action: [-0.214 -0.373 -0.533  0.017  0.003 -0.021  0.999]
+t: 88	 action: [-1.746e-01 -2.715e-01 -5.926e-01 -6.067e-03 -4.856e-04 -1.418e-02  9.774e-01]
+t: 89	 action: [-1.682e-01 -1.957e-01 -6.312e-01 -1.988e-04  3.505e-03 -1.326e-02  9.991e-01]
+[07-31 02:07:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9100
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9100
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 30
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 27 (90.0%)
+
+
 60%|██████    | 30/50 [07:10<03:57, 11.89s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 31...
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9100
+t=90: Selected seed 195 with value = 0.9100
+t: 90	 action: [-0.103 -0.143 -0.653  0.002  0.04   0.008  0.981]
+t: 91	 action: [-5.235e-02 -9.619e-02 -5.635e-01 -8.027e-04  3.603e-02  2.342e-02  1.006e+00]
+t: 92	 action: [-0.07  -0.015 -0.575 -0.002  0.063  0.021  0.992]
+t: 93	 action: [-0.04  -0.006 -0.467 -0.007  0.063  0.034  1.004]
+t: 94	 action: [ 0.005  0.027 -0.333 -0.015  0.081  0.031  0.991]
+t: 95	 action: [-0.006  0.043 -0.204 -0.014  0.099  0.043  1.   ]
+t: 96	 action: [ 0.005  0.044 -0.107 -0.021  0.105  0.038  1.   ]
+t: 97	 action: [-0.011  0.069 -0.014 -0.014  0.114  0.039  0.941]
+t: 98	 action: [-0.036  0.047  0.024 -0.016  0.096  0.035  0.96 ]
+t: 99	 action: [-0.016  0.072  0.064 -0.02   0.081  0.018 -1.008]
+t: 100	 action: [-0.026  0.058  0.208 -0.012  0.075  0.012 -1.015]
+t: 101	 action: [-0.021  0.087  0.283 -0.015  0.055  0.009 -0.991]
+t: 102	 action: [-2.196e-03  8.571e-02  3.156e-01 -1.918e-02  3.689e-02  7.866e-04 -9.513e-01]
+t: 103	 action: [-0.027  0.112  0.412 -0.019  0.021  0.003 -1.002]
+t: 104	 action: [ 0.022  0.105  0.431 -0.01   0.019 -0.003 -1.024]
+t: 105	 action: [ 0.025  0.119  0.446 -0.013  0.012  0.004 -1.004]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=30--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+96 96 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=30--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 27 (90.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 31...
+[07-31 02:07:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4136
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4136
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4136
+t=10: Selected seed 195 with value = 0.4136
+t: 10	 action: [ 0.046  0.055  0.007  0.003  0.006  0.002 -0.997]
+t: 11	 action: [ 0.158  0.108  0.016 -0.005  0.004 -0.003 -0.992]
+t: 12	 action: [ 3.137e-01  2.121e-01  4.949e-03 -6.014e-04  6.781e-03  5.001e-03 -1.001e+00]
+t: 13	 action: [ 0.479  0.282  0.017 -0.008  0.002 -0.002 -0.992]
+t: 14	 action: [ 0.613  0.359  0.032 -0.005  0.016  0.002 -1.008]
+t: 15	 action: [ 7.296e-01  3.875e-01  4.664e-03 -6.314e-03  7.174e-03  7.430e-04 -1.010e+00]
+t: 16	 action: [ 0.803  0.47   0.024 -0.009  0.019  0.004 -1.002]
+t: 17	 action: [ 8.463e-01  4.844e-01  3.396e-03 -8.498e-03  3.676e-03  4.331e-04 -1.011e+00]
+t: 18	 action: [ 0.821  0.491  0.007 -0.003  0.017  0.009 -1.002]
+t: 19	 action: [ 0.84   0.494  0.014 -0.014  0.012  0.003 -1.   ]
+t: 20	 action: [ 0.864  0.518 -0.001 -0.01   0.013  0.01  -1.002]
+t: 21	 action: [ 0.866  0.515  0.009 -0.015  0.011  0.004 -0.997]
+t: 22	 action: [ 0.888  0.525 -0.002 -0.012  0.019  0.007 -0.998]
+t: 23	 action: [ 0.896  0.532 -0.015 -0.012  0.004  0.004 -1.008]
+t: 24	 action: [ 0.907  0.519 -0.043 -0.014  0.014  0.006 -1.001]
+t: 25	 action: [ 0.91   0.501 -0.045 -0.012  0.002  0.006 -1.01 ]
+[07-31 02:07:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4932
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4932
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4932
+t=26: Selected seed 195 with value = 0.4932
+t: 26	 action: [ 0.89   0.434 -0.211  0.001  0.003  0.009 -1.003]
+t: 27	 action: [ 0.89   0.414 -0.229 -0.003  0.006  0.006 -0.998]
+t: 28	 action: [ 0.87   0.36  -0.316  0.004 -0.003  0.007 -0.999]
+t: 29	 action: [ 0.818  0.303 -0.34   0.004  0.002  0.003 -0.997]
+t: 30	 action: [ 7.842e-01  2.164e-01 -4.082e-01  4.009e-03 -1.179e-02  1.492e-04 -1.008e+00]
+t: 31	 action: [ 0.623  0.137 -0.516  0.014 -0.021 -0.001 -1.002]
+t: 32	 action: [ 4.964e-01  7.511e-02 -5.749e-01  1.521e-02 -2.550e-02 -9.043e-04 -1.004e+00]
+t: 33	 action: [ 0.386  0.045 -0.652  0.024 -0.044 -0.003 -1.004]
+t: 34	 action: [ 0.305  0.05  -0.741  0.022 -0.037  0.007 -1.003]
+t: 35	 action: [ 0.189  0.061 -0.804  0.025 -0.045  0.002 -1.001]
+t: 36	 action: [ 0.132  0.033 -0.846  0.028 -0.048  0.007 -1.007]
+t: 37	 action: [ 5.496e-02  3.387e-02 -8.841e-01  2.420e-02 -6.213e-02 -7.697e-05 -1.002e+00]
+t: 38	 action: [ 0.002  0.047 -0.881  0.037 -0.055  0.003 -1.007]
+t: 39	 action: [-7.162e-02  5.527e-02 -9.015e-01  2.998e-02 -7.011e-02  5.351e-04 -1.004e+00]
+t: 40	 action: [-0.129  0.043 -0.894  0.03  -0.059  0.003 -1.006]
+t: 41	 action: [-1.926e-01  4.580e-02 -9.076e-01  2.566e-02 -7.360e-02  8.617e-04 -1.006e+00]
+[07-31 02:07:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.022 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5719
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5719
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5719
+t=42: Selected seed 195 with value = 0.5719
+t: 42	 action: [-0.528  0.118 -0.9    0.015 -0.071  0.005 -0.984]
+t: 43	 action: [-0.554  0.155 -0.893  0.008 -0.073  0.002 -0.989]
+t: 44	 action: [-0.618  0.109 -0.864  0.03  -0.059  0.008 -0.979]
+t: 45	 action: [-0.657  0.122 -0.854  0.015 -0.055  0.009 -0.999]
+t: 46	 action: [-0.639  0.133 -0.872  0.009 -0.034  0.009 -0.986]
+t: 47	 action: [-0.578  0.163 -0.819  0.01  -0.023  0.005 -1.005]
+t: 48	 action: [-0.458  0.104 -0.777  0.015 -0.008  0.007 -0.991]
+t: 49	 action: [-0.292  0.126 -0.704  0.014  0.012  0.004 -1.013]
+t: 50	 action: [-0.183  0.053 -0.549  0.037  0.044  0.007 -0.974]
+t: 51	 action: [-0.078  0.011 -0.518  0.022  0.052  0.002 -0.991]
+t: 52	 action: [-0.05   0.002 -0.493  0.031  0.065  0.005 -0.98 ]
+t: 53	 action: [-0.023 -0.05  -0.476  0.019  0.068 -0.001 -1.03 ]
+t: 54	 action: [-0.064 -0.016 -0.521  0.017  0.057 -0.021 -0.971]
+t: 55	 action: [-0.099 -0.039 -0.577  0.017  0.051 -0.028  0.623]
+t: 56	 action: [-0.133 -0.034 -0.509  0.012  0.057 -0.047  0.961]
+t: 57	 action: [-0.11  -0.035 -0.572  0.014  0.054 -0.032  0.996]
+[07-31 02:07:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.047 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6891
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6891
+Query 1/1: Action query time = 1.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6891
+t=58: Selected seed 195 with value = 0.6891
+t: 58	 action: [-0.173 -0.038 -0.348 -0.002  0.064 -0.026  0.975]
+t: 59	 action: [-0.122 -0.078 -0.285  0.003  0.065 -0.039  0.984]
+t: 60	 action: [-0.067 -0.138 -0.201 -0.001  0.061 -0.06   0.976]
+t: 61	 action: [-0.015 -0.146 -0.075  0.004  0.063 -0.062  0.984]
+t: 62	 action: [ 0.006 -0.21   0.022 -0.003  0.049 -0.053  0.988]
+t: 63	 action: [ 0.006 -0.198  0.161 -0.004  0.051 -0.055  0.987]
+t: 64	 action: [ 0.043 -0.211  0.414 -0.002  0.034 -0.087  0.987]
+t: 65	 action: [ 0.025 -0.148  0.68  -0.004  0.036 -0.076  0.989]
+t: 66	 action: [ 0.065 -0.131  0.714 -0.001  0.007 -0.058  0.982]
+t: 67	 action: [ 5.761e-02 -1.794e-01  8.490e-01  1.762e-03 -7.758e-05 -5.999e-02  9.762e-01]
+t: 68	 action: [ 0.059 -0.235  0.877  0.003 -0.003 -0.054  0.973]
+t: 69	 action: [ 0.042 -0.305  0.936  0.01  -0.003 -0.054  0.976]
+t: 70	 action: [-0.013 -0.412  0.916  0.02  -0.004 -0.032  0.998]
+t: 71	 action: [-0.029 -0.474  0.934  0.031 -0.012 -0.029  0.979]
+t: 72	 action: [-0.047 -0.584  0.906  0.036 -0.006 -0.021  1.001]
+t: 73	 action: [-0.052 -0.626  0.89   0.042 -0.013 -0.018  0.983]
+[07-31 02:07:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.044 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8209
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8209
+Query 1/1: Action query time = 1.044 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8209
+t=74: Selected seed 195 with value = 0.8209
+t: 74	 action: [-0.054 -0.78   0.749  0.042  0.052 -0.002  0.977]
+t: 75	 action: [-7.141e-02 -8.023e-01  6.029e-01  4.401e-02  5.747e-02 -7.682e-04  9.843e-01]
+t: 76	 action: [-0.123 -0.839  0.401  0.037  0.042 -0.001  0.976]
+t: 77	 action: [-0.168 -0.821  0.212  0.042  0.045  0.001  0.982]
+t: 78	 action: [-0.183 -0.845  0.115  0.035  0.038 -0.001  0.99 ]
+t: 79	 action: [-0.26  -0.808 -0.045  0.033  0.029  0.006  0.984]
+t: 80	 action: [-2.772e-01 -7.890e-01 -1.653e-01  2.438e-02  1.425e-02 -6.307e-04  9.867e-01]
+t: 81	 action: [-0.309 -0.705 -0.335  0.023  0.005  0.006  0.99 ]
+t: 82	 action: [-0.316 -0.487 -0.435  0.001 -0.018  0.005  0.971]
+t: 83	 action: [-0.374 -0.353 -0.647 -0.014 -0.017  0.018  0.979]
+t: 84	 action: [-0.352 -0.268 -0.705 -0.018 -0.037  0.008  0.966]
+t: 85	 action: [-0.378 -0.182 -0.84  -0.032 -0.04   0.024  0.988]
+t: 86	 action: [-0.401 -0.134 -0.78  -0.03  -0.054  0.019  0.988]
+t: 87	 action: [-0.403 -0.1   -0.853 -0.04  -0.049  0.031  0.984]
+t: 88	 action: [-0.347 -0.072 -0.758 -0.053 -0.045  0.019  0.983]
+t: 89	 action: [-0.287 -0.063 -0.717 -0.05  -0.044  0.033  0.987]
+[07-31 02:07:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9640
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9640
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 31
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 28 (90.3%)
+
+
 62%|██████▏   | 31/50 [07:21<03:43, 11.78s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 32...
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=90: Selected seed 195 with value = 0.9640
+t: 90	 action: [0.11  0.042 0.033 0.005 0.076 0.008 0.986]
+t: 91	 action: [ 0.089  0.005 -0.008 -0.005  0.058 -0.002  0.954]
+t: 92	 action: [ 0.118  0.039  0.175  0.002  0.071  0.006 -0.983]
+t: 93	 action: [ 0.116  0.015  0.16  -0.003  0.057 -0.006 -1.013]
+t: 94	 action: [ 0.176  0.03   0.11  -0.016  0.043 -0.008 -0.996]
+t: 95	 action: [ 1.481e-01  4.237e-02  2.069e-01 -7.417e-03  4.820e-02  2.758e-04 -1.025e+00]
+t: 96	 action: [ 0.17   0.019  0.153 -0.012  0.047 -0.006 -1.003]
+t: 97	 action: [ 1.548e-01  3.428e-02  2.262e-01 -9.361e-04  4.301e-02 -1.078e-02 -1.029e+00]
+t: 98	 action: [ 0.136  0.05   0.293  0.004  0.011  0.004 -0.998]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=31--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+89 89 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=31--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 28 (90.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 32...
+[07-31 02:08:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4421
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4421
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4421
+t=10: Selected seed 195 with value = 0.4421
+t: 10	 action: [ 0.198  0.067 -0.006  0.006  0.012  0.007 -0.995]
+t: 11	 action: [ 0.334  0.177  0.016  0.009  0.016  0.009 -0.994]
+t: 12	 action: [ 0.408  0.257 -0.021  0.004  0.02   0.015 -0.991]
+t: 13	 action: [ 0.554  0.351  0.01   0.006  0.022  0.013 -0.992]
+t: 14	 action: [ 6.244e-01  4.311e-01 -9.151e-03  3.442e-04  2.600e-02  1.254e-02 -9.963e-01]
+t: 15	 action: [ 0.758  0.504 -0.007  0.007  0.027  0.017 -1.003]
+t: 16	 action: [ 7.765e-01  5.282e-01 -3.726e-02 -8.102e-04  3.395e-02  2.146e-02 -9.914e-01]
+t: 17	 action: [ 0.844  0.559 -0.041  0.006  0.033  0.018 -1.002]
+t: 18	 action: [ 0.762  0.571 -0.12   0.007  0.033  0.019 -0.998]
+t: 19	 action: [ 0.781  0.557 -0.085  0.004  0.032  0.016 -1.004]
+t: 20	 action: [ 0.793  0.59  -0.19   0.004  0.029  0.021 -1.003]
+t: 21	 action: [ 0.805  0.548 -0.168 -0.001  0.029  0.018 -0.998]
+t: 22	 action: [ 0.825  0.592 -0.215  0.002  0.03   0.017 -0.995]
+t: 23	 action: [ 0.843  0.582 -0.204  0.003  0.018  0.018 -1.008]
+t: 24	 action: [ 8.183e-01  5.783e-01 -3.853e-01  2.512e-04  2.226e-02  1.601e-02 -9.962e-01]
+t: 25	 action: [ 8.280e-01  5.172e-01 -3.571e-01  5.272e-04  1.304e-02  1.809e-02 -1.009e+00]
+[07-31 02:08:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4562
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=26: Selected seed 195 with value = 0.4562
+t: 26	 action: [ 0.888  0.477 -0.235  0.002  0.028  0.02  -0.998]
+t: 27	 action: [ 0.885  0.492 -0.301 -0.005  0.026  0.019 -1.004]
+t: 28	 action: [ 0.858  0.434 -0.345  0.002  0.022  0.018 -1.006]
+t: 29	 action: [ 0.784  0.396 -0.394 -0.002  0.013  0.018 -1.006]
+t: 30	 action: [ 6.885e-01  3.433e-01 -4.364e-01  6.924e-04  6.444e-03  1.096e-02 -1.003e+00]
+t: 31	 action: [ 0.517  0.274 -0.556  0.009 -0.003  0.015 -1.011]
+t: 32	 action: [ 0.419  0.189 -0.654  0.006 -0.01   0.008 -1.01 ]
+t: 33	 action: [ 0.293  0.112 -0.748  0.015 -0.014  0.015 -1.012]
+t: 34	 action: [ 0.2    0.031 -0.882  0.006 -0.032  0.012 -1.01 ]
+t: 35	 action: [ 0.094  0.02  -0.917  0.003 -0.033  0.01  -1.003]
+t: 36	 action: [ 0.092 -0.022 -0.922  0.004 -0.042  0.011 -1.013]
+t: 37	 action: [ 2.150e-02 -4.222e-02 -9.388e-01  4.907e-04 -4.670e-02  9.075e-03 -9.985e-01]
+t: 38	 action: [-0.005 -0.025 -0.917 -0.001 -0.057  0.006 -1.013]
+t: 39	 action: [-0.05  -0.065 -0.945 -0.002 -0.061  0.007 -1.013]
+t: 40	 action: [-0.136 -0.096 -0.918 -0.003 -0.06   0.004 -1.016]
+t: 41	 action: [-0.193 -0.111 -0.934 -0.005 -0.069  0.007 -1.012]
+[07-31 02:08:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5683
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5683
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5683
+t=42: Selected seed 195 with value = 0.5683
+t: 42	 action: [-0.18   0.03  -0.899  0.005 -0.047  0.022 -1.015]
+t: 43	 action: [-0.268  0.012 -0.896  0.001 -0.056  0.032 -1.009]
+t: 44	 action: [-0.293  0.009 -0.87   0.007 -0.044  0.021 -1.012]
+t: 45	 action: [-0.334  0.001 -0.817  0.006 -0.051  0.03  -1.005]
+t: 46	 action: [-0.362 -0.005 -0.841  0.004 -0.042  0.021 -1.019]
+t: 47	 action: [-0.38   0.001 -0.782  0.003 -0.045  0.029 -1.01 ]
+t: 48	 action: [-3.822e-01 -2.910e-04 -7.748e-01  2.163e-03 -3.713e-02  1.798e-02 -1.022e+00]
+t: 49	 action: [-0.384  0.013 -0.704  0.004 -0.033  0.022 -1.005]
+t: 50	 action: [-0.357  0.024 -0.679  0.008 -0.014  0.032 -0.995]
+t: 51	 action: [-0.363 -0.003 -0.667  0.001 -0.001  0.03   0.298]
+t: 52	 action: [-0.239  0.016 -0.554  0.005 -0.005  0.022  0.96 ]
+t: 53	 action: [-0.197 -0.013 -0.476 -0.002  0.004  0.022  1.012]
+t: 54	 action: [-0.198  0.021 -0.365 -0.007 -0.004  0.008  0.981]
+t: 55	 action: [-1.548e-01 -1.422e-02 -2.241e-01 -1.148e-02  1.192e-04  5.307e-03  9.887e-01]
+t: 56	 action: [-6.173e-02  1.894e-04 -8.436e-02 -1.664e-02  2.851e-03 -6.214e-04  9.952e-01]
+t: 57	 action: [-0.023 -0.034  0.01  -0.024  0.004 -0.004  1.005]
+[07-31 02:08:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6769
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6769
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6769
+t=58: Selected seed 195 with value = 0.6769
+t: 58	 action: [-0.107 -0.153 -0.169 -0.004 -0.025 -0.023  1.001]
+t: 59	 action: [-0.115 -0.146 -0.092 -0.013 -0.02  -0.041  0.995]
+t: 60	 action: [-0.092 -0.057  0.022 -0.001 -0.031 -0.038  1.005]
+t: 61	 action: [-0.067 -0.076  0.132 -0.003 -0.024 -0.044  1.   ]
+t: 62	 action: [-0.038 -0.014  0.341 -0.007 -0.027 -0.035  1.007]
+t: 63	 action: [-0.003  0.011  0.579 -0.006 -0.021 -0.048  0.977]
+t: 64	 action: [-0.006  0.004  0.779  0.002 -0.017 -0.044  0.998]
+t: 65	 action: [ 0.007 -0.013  0.891  0.006 -0.004 -0.049  0.986]
+t: 66	 action: [ 0.03  -0.117  0.908  0.004  0.003 -0.044  0.986]
+t: 67	 action: [ 0.021 -0.204  0.951  0.017  0.01  -0.042  0.994]
+t: 68	 action: [-0.003 -0.303  0.927  0.012  0.022 -0.032  0.983]
+t: 69	 action: [-0.004 -0.442  0.935  0.023  0.03  -0.029  0.995]
+t: 70	 action: [-0.089 -0.523  0.876  0.029  0.044 -0.026  0.997]
+t: 71	 action: [-0.12  -0.641  0.835  0.037  0.044 -0.021  0.987]
+t: 72	 action: [-0.164 -0.66   0.807  0.031  0.056 -0.012  0.999]
+t: 73	 action: [-0.199 -0.742  0.667  0.038  0.051 -0.01   0.989]
+[07-31 02:08:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8367
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8367
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 32
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 29 (90.6%)
+
+
 64%|██████▍   | 32/50 [07:31<03:21, 11.19s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 33...
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8367
+t=74: Selected seed 195 with value = 0.8367
+t: 74	 action: [-0.179 -0.764  0.115  0.044  0.04   0.001  0.968]
+t: 75	 action: [-0.238 -0.77   0.029  0.051  0.035  0.007  0.986]
+t: 76	 action: [-2.693e-01 -8.006e-01 -6.640e-02  5.248e-02  2.970e-02 -9.669e-04  9.676e-01]
+t: 77	 action: [-0.304 -0.772 -0.132  0.049  0.021  0.012  0.981]
+t: 78	 action: [-0.288 -0.738 -0.228  0.054  0.02   0.004  0.984]
+t: 79	 action: [-0.348 -0.672 -0.348  0.045  0.006  0.014  0.987]
+t: 80	 action: [-0.321 -0.598 -0.44   0.028  0.005  0.012  0.985]
+t: 81	 action: [-0.365 -0.479 -0.596  0.022 -0.002  0.024  0.991]
+t: 82	 action: [-0.298 -0.349 -0.63   0.008 -0.015  0.031  0.977]
+t: 83	 action: [-0.338 -0.235 -0.73   0.004 -0.013  0.041  0.993]
+t: 84	 action: [-0.266 -0.134 -0.727 -0.012 -0.023  0.041  0.974]
+t: 85	 action: [-0.253 -0.098 -0.751 -0.02  -0.014  0.045  0.993]
+t: 86	 action: [-0.203 -0.008 -0.695 -0.031 -0.044  0.033  0.991]
+t: 87	 action: [-0.188 -0.012 -0.674 -0.047 -0.041  0.042  0.983]
+t: 88	 action: [-0.114  0.023 -0.508 -0.059 -0.039  0.032  0.986]
+t: 89	 action: [-0.095  0.022 -0.402 -0.057 -0.029  0.044  0.981]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=32--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+80 80 5 5
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=32--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 29 (90.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 33...
+[07-31 02:08:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4201
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4201
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4201
+t=10: Selected seed 195 with value = 0.4201
+t: 10	 action: [ 0.088  0.076 -0.016  0.007 -0.006  0.004 -0.993]
+t: 11	 action: [ 0.22   0.15   0.011  0.011  0.003  0.005 -0.993]
+t: 12	 action: [ 0.3    0.254 -0.007  0.004 -0.003  0.006 -0.997]
+t: 13	 action: [ 4.457e-01  3.257e-01  1.980e-02  7.861e-03  6.515e-04  5.730e-03 -9.928e-01]
+t: 14	 action: [ 5.784e-01  3.818e-01  4.067e-03  9.490e-04  1.247e-03  3.882e-03 -1.006e+00]
+t: 15	 action: [ 0.67   0.424  0.005  0.008  0.001  0.01  -1.008]
+t: 16	 action: [ 7.683e-01  4.822e-01  1.769e-02 -7.610e-04  5.108e-03  4.845e-03 -1.002e+00]
+t: 17	 action: [ 8.148e-01  4.997e-01  7.775e-03  5.513e-03 -3.722e-04  9.253e-03 -1.006e+00]
+t: 18	 action: [ 8.331e-01  5.113e-01  1.697e-02  7.902e-04  1.317e-02  1.349e-02 -9.899e-01]
+t: 19	 action: [ 0.852  0.532  0.019 -0.005  0.008  0.009 -0.996]
+t: 20	 action: [ 0.867  0.516 -0.005 -0.005  0.011  0.013 -0.988]
+t: 21	 action: [ 0.874  0.524  0.003 -0.006  0.009  0.011 -0.994]
+t: 22	 action: [ 0.886  0.5   -0.03  -0.007  0.016  0.012 -0.99 ]
+t: 23	 action: [ 0.864  0.516 -0.029 -0.005  0.003  0.014 -1.002]
+t: 24	 action: [ 0.89   0.475 -0.099 -0.01   0.014  0.01  -0.993]
+t: 25	 action: [ 0.873  0.453 -0.114 -0.006  0.004  0.015 -1.003]
+[07-31 02:08:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5013
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5013
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5013
+t=26: Selected seed 195 with value = 0.5013
+t: 26	 action: [ 0.876  0.398 -0.284  0.008  0.002  0.015 -0.995]
+t: 27	 action: [ 0.858  0.367 -0.331  0.003  0.005  0.018 -0.998]
+t: 28	 action: [ 0.822  0.362 -0.391  0.007  0.002  0.014 -0.993]
+t: 29	 action: [ 0.759  0.305 -0.417  0.005  0.003  0.016 -0.999]
+t: 30	 action: [ 0.722  0.287 -0.457  0.006  0.001  0.007 -1.002]
+t: 31	 action: [ 5.843e-01  2.541e-01 -5.464e-01  9.297e-03  2.921e-04  1.313e-02 -1.002e+00]
+t: 32	 action: [ 0.474  0.197 -0.585  0.012 -0.002  0.007 -0.999]
+t: 33	 action: [ 3.793e-01  1.709e-01 -6.422e-01  1.131e-02 -1.133e-05  1.160e-02 -1.004e+00]
+t: 34	 action: [ 0.285  0.059 -0.681  0.018 -0.011  0.012 -1.001]
+t: 35	 action: [ 2.239e-01  3.703e-02 -7.383e-01  1.476e-02 -2.539e-04  7.985e-03 -1.001e+00]
+t: 36	 action: [ 0.17   0.027 -0.801  0.021 -0.016  0.012 -1.004]
+t: 37	 action: [ 0.101 -0.011 -0.829  0.014 -0.01   0.007 -1.   ]
+t: 38	 action: [ 0.09   0.019 -0.866  0.027 -0.019  0.005 -1.007]
+t: 39	 action: [ 0.023  0.021 -0.876  0.015 -0.024  0.005 -1.005]
+t: 40	 action: [-0.007 -0.007 -0.88   0.021 -0.02   0.005 -1.006]
+t: 41	 action: [-0.044 -0.011 -0.892  0.012 -0.031  0.006 -1.006]
+[07-31 02:08:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5593
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5593
+Query 1/1: Action query time = 0.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5593
+t=42: Selected seed 195 with value = 0.5593
+t: 42	 action: [-0.251  0.022 -0.917  0.01  -0.061  0.018 -0.988]
+t: 43	 action: [-0.342  0.036 -0.93   0.006 -0.071  0.026 -0.999]
+t: 44	 action: [-0.374  0.038 -0.886  0.018 -0.053  0.032 -0.985]
+t: 45	 action: [-0.464  0.048 -0.881  0.012 -0.058  0.035 -1.   ]
+t: 46	 action: [-0.56   0.042 -0.878  0.009 -0.032  0.032 -0.99 ]
+t: 47	 action: [-0.603  0.082 -0.836  0.007 -0.025  0.032 -1.015]
+t: 48	 action: [-0.586  0.03  -0.805  0.011 -0.021  0.04  -0.993]
+t: 49	 action: [-0.6    0.063 -0.761  0.008 -0.006  0.034 -1.019]
+t: 50	 action: [-0.562  0.025 -0.658  0.021  0.004  0.03  -0.977]
+t: 51	 action: [-0.585 -0.009 -0.693  0.014  0.008  0.028 -1.046]
+t: 52	 action: [-0.447 -0.022 -0.594  0.015  0.018  0.018 -0.988]
+t: 53	 action: [-0.37  -0.075 -0.62   0.009  0.024  0.023 -1.032]
+t: 54	 action: [-0.422 -0.005 -0.578  0.011  0.013  0.007 -0.994]
+t: 55	 action: [-0.365 -0.044 -0.536  0.008  0.018  0.002 -0.245]
+t: 56	 action: [-0.261 -0.031 -0.519  0.008  0.023  0.003  0.966]
+t: 57	 action: [-1.452e-01 -6.887e-02 -4.562e-01  2.816e-03  2.995e-02 -8.213e-04  9.774e-01]
+[07-31 02:08:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6563
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6563
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6563
+t=58: Selected seed 195 with value = 0.6563
+t: 58	 action: [-0.091  0.091 -0.498 -0.004  0.03   0.108  0.977]
+t: 59	 action: [-0.055  0.118 -0.417 -0.021  0.039  0.08   0.981]
+t: 60	 action: [-0.027  0.053 -0.25  -0.019  0.042  0.095  0.98 ]
+t: 61	 action: [-0.014  0.065 -0.143 -0.021  0.044  0.07   0.989]
+t: 62	 action: [ 0.011  0.004 -0.015 -0.049  0.041  0.066  0.999]
+t: 63	 action: [-0.004  0.008  0.12  -0.033  0.04   0.048  0.995]
+t: 64	 action: [ 0.048  0.001  0.222 -0.038  0.041  0.041  0.999]
+t: 65	 action: [ 0.012  0.005  0.398 -0.022  0.033  0.025  1.   ]
+t: 66	 action: [ 0.096 -0.021  0.658 -0.011  0.013  0.004  0.983]
+t: 67	 action: [ 0.119 -0.028  0.802 -0.011  0.001 -0.005  0.987]
+t: 68	 action: [ 1.425e-01 -2.538e-02  8.818e-01 -5.079e-03 -7.223e-04  1.132e-03  9.713e-01]
+t: 69	 action: [ 0.161 -0.037  0.948 -0.004 -0.003 -0.007  0.981]
+t: 70	 action: [ 0.089 -0.009  0.95   0.003 -0.011  0.002  0.994]
+t: 71	 action: [ 0.044 -0.101  0.969  0.012 -0.012  0.005  0.992]
+t: 72	 action: [ 0.057 -0.175  0.928  0.016 -0.014  0.001  1.   ]
+t: 73	 action: [ 0.025 -0.283  0.919  0.028 -0.012  0.009  0.994]
+[07-31 02:08:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7793
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7793
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7793
+t=74: Selected seed 195 with value = 0.7793
+t: 74	 action: [ 0.019 -0.542  0.84   0.024  0.037  0.002  0.98 ]
+t: 75	 action: [-0.046 -0.634  0.709  0.024  0.035  0.009  0.999]
+t: 76	 action: [-0.085 -0.692  0.558  0.029  0.02   0.002  0.978]
+t: 77	 action: [-0.157 -0.74   0.343  0.031  0.027  0.007  0.994]
+t: 78	 action: [-0.172 -0.791  0.205  0.034  0.018  0.002  0.995]
+t: 79	 action: [-0.269 -0.792  0.087  0.027  0.007  0.013  1.004]
+t: 80	 action: [-0.264 -0.799 -0.025  0.028  0.009  0.002  0.995]
+t: 81	 action: [-0.32  -0.754 -0.145  0.023  0.005  0.009  1.007]
+t: 82	 action: [-0.289 -0.782 -0.214  0.027 -0.004  0.011  0.991]
+t: 83	 action: [-0.345 -0.682 -0.331  0.019 -0.004  0.019  0.993]
+t: 84	 action: [-0.328 -0.569 -0.442  0.008 -0.017  0.01   0.981]
+t: 85	 action: [-0.347 -0.465 -0.582  0.003 -0.008  0.02   0.992]
+t: 86	 action: [-3.473e-01 -3.129e-01 -6.505e-01  7.207e-04 -2.990e-02  1.442e-02  1.002e+00]
+t: 87	 action: [-4.124e-01 -2.076e-01 -7.498e-01  1.927e-05 -3.498e-02  1.816e-02  9.994e-01]
+t: 88	 action: [-0.271 -0.166 -0.743 -0.007 -0.03   0.012  0.993]
+t: 89	 action: [-0.307 -0.097 -0.782 -0.008 -0.026  0.017  1.001]
+[07-31 02:08:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9462
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9462
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 33
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 30 (90.9%)
+
+
 66%|██████▌   | 33/50 [07:42<03:11, 11.25s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 34...
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9462
+t=90: Selected seed 195 with value = 0.9462
+t: 90	 action: [-0.075 -0.035 -0.352  0.003  0.074  0.003  1.017]
+t: 91	 action: [-3.924e-03 -5.053e-02 -1.677e-01  3.148e-04  7.694e-02 -2.348e-03  9.871e-01]
+t: 92	 action: [ 0.005 -0.023 -0.111  0.002  0.086 -0.003  1.014]
+t: 93	 action: [ 0.035 -0.041  0.016  0.003  0.081 -0.016  0.953]
+t: 94	 action: [-1.688e-02 -2.272e-02  4.307e-02  7.293e-04  8.150e-02 -8.256e-03  1.030e+00]
+t: 95	 action: [ 0.02  -0.033  0.08   0.003  0.065 -0.017  0.926]
+t: 96	 action: [ 0.069 -0.05   0.13   0.002  0.075 -0.032 -0.981]
+t: 97	 action: [ 0.089 -0.036  0.202  0.004  0.051 -0.024 -1.046]
+t: 98	 action: [ 0.07  -0.064  0.162  0.006  0.044 -0.024 -1.016]
+t: 99	 action: [ 3.821e-02 -6.519e-02  1.929e-01 -4.354e-04  2.889e-02 -3.057e-02 -1.014e+00]
+t: 100	 action: [ 0.051 -0.078  0.14   0.006  0.023 -0.027 -1.012]
+t: 101	 action: [ 3.540e-02 -6.774e-02  1.540e-01 -2.188e-04  1.362e-02 -3.263e-02 -1.007e+00]
+t: 102	 action: [ 0.041 -0.043  0.131  0.003  0.005 -0.035 -1.016]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=33--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+93 93 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=33--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 30 (90.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 34...
+[07-31 02:08:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4447
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4447
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4447
+t=10: Selected seed 195 with value = 0.4447
+t: 10	 action: [ 0.061  0.038 -0.01   0.001 -0.005  0.001 -1.   ]
+t: 11	 action: [ 0.161  0.093  0.008 -0.002  0.004 -0.005 -0.995]
+t: 12	 action: [ 2.834e-01  2.161e-01 -1.714e-02  6.972e-04 -3.148e-03  2.658e-03 -9.961e-01]
+t: 13	 action: [ 0.415  0.294  0.006 -0.003  0.002 -0.005 -0.996]
+t: 14	 action: [ 0.506  0.409  0.006 -0.005  0.006  0.001 -1.009]
+t: 15	 action: [ 0.643  0.467 -0.005 -0.005  0.002  0.002 -1.016]
+t: 16	 action: [ 0.711  0.521 -0.004 -0.005  0.008  0.002 -0.996]
+t: 17	 action: [ 0.769  0.526 -0.023 -0.003  0.001  0.001 -1.015]
+t: 18	 action: [ 0.755  0.54  -0.014 -0.002  0.002  0.012 -0.993]
+t: 19	 action: [ 0.764  0.539 -0.008 -0.011  0.008  0.009 -1.   ]
+t: 20	 action: [ 0.803  0.551 -0.066 -0.013 -0.002  0.012 -0.99 ]
+t: 21	 action: [ 0.792  0.525 -0.056 -0.013  0.007  0.01  -0.993]
+t: 22	 action: [ 0.835  0.553 -0.074 -0.008  0.005  0.009 -0.992]
+t: 23	 action: [ 8.415e-01  5.487e-01 -1.064e-01 -9.587e-03 -3.378e-04  1.348e-02 -1.010e+00]
+t: 24	 action: [ 0.858  0.533 -0.166 -0.013  0.002  0.009 -0.988]
+t: 25	 action: [ 8.613e-01  4.878e-01 -2.000e-01 -1.002e-02 -5.917e-04  1.368e-02 -1.010e+00]
+[07-31 02:08:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5018
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5018
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5018
+t=26: Selected seed 195 with value = 0.5018
+t: 26	 action: [ 0.816  0.516 -0.296 -0.01  -0.003 -0.002 -1.004]
+t: 27	 action: [ 0.75   0.424 -0.386 -0.008 -0.002 -0.009 -0.997]
+t: 28	 action: [ 0.706  0.347 -0.47   0.001 -0.007 -0.005 -1.003]
+t: 29	 action: [ 6.235e-01  2.235e-01 -6.060e-01 -2.212e-04 -2.249e-03 -1.001e-02 -9.965e-01]
+t: 30	 action: [ 5.228e-01  1.620e-01 -6.610e-01 -8.022e-04 -6.969e-03 -1.436e-02 -1.011e+00]
+t: 31	 action: [ 0.421  0.072 -0.809  0.002 -0.012 -0.014 -1.011]
+t: 32	 action: [ 0.341  0.056 -0.913  0.004 -0.008 -0.016 -1.009]
+t: 33	 action: [ 0.282  0.04  -0.968  0.008 -0.012 -0.015 -1.011]
+t: 34	 action: [ 0.166  0.026 -0.946  0.01  -0.008 -0.023 -1.012]
+t: 35	 action: [ 0.069  0.02  -0.96   0.003 -0.004 -0.02  -0.999]
+t: 36	 action: [ 0.032  0.009 -0.96   0.004 -0.012 -0.015 -1.011]
+t: 37	 action: [-0.008  0.007 -0.965 -0.003 -0.012 -0.019 -0.996]
+t: 38	 action: [-0.067  0.025 -0.95   0.002 -0.018 -0.014 -1.016]
+t: 39	 action: [-0.093  0.025 -0.96  -0.004 -0.027 -0.017 -1.008]
+t: 40	 action: [-0.149  0.024 -0.944 -0.002 -0.02  -0.008 -1.014]
+t: 41	 action: [-0.19   0.022 -0.943 -0.012 -0.03  -0.015 -1.006]
+[07-31 02:08:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5061
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5061
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5061
+t=42: Selected seed 195 with value = 0.5061
+t: 42	 action: [-0.156  0.023 -0.97   0.004 -0.019  0.007 -1.018]
+t: 43	 action: [-0.119 -0.019 -0.941 -0.003 -0.02   0.012 -1.007]
+t: 44	 action: [-0.071 -0.006 -0.904  0.004 -0.013  0.007 -1.009]
+t: 45	 action: [-0.016 -0.038 -0.849 -0.006 -0.011  0.015 -1.002]
+t: 46	 action: [-6.839e-04 -1.410e-02 -8.283e-01 -4.779e-03 -4.548e-03  4.878e-03 -1.020e+00]
+t: 47	 action: [ 0.005 -0.036 -0.797 -0.009 -0.004  0.013 -1.017]
+t: 48	 action: [-3.089e-02 -2.198e-02 -7.000e-01 -6.260e-03  2.638e-04  5.019e-03 -1.015e+00]
+t: 49	 action: [-6.347e-02 -4.134e-02 -6.919e-01 -1.294e-02  8.991e-04  8.567e-03 -1.018e+00]
+t: 50	 action: [-2.128e-01 -6.954e-03 -6.515e-01 -1.070e-02  2.484e-06  1.588e-02 -1.006e+00]
+t: 51	 action: [-0.259 -0.009 -0.593 -0.016  0.005  0.017 -1.014]
+t: 52	 action: [-2.408e-01 -4.152e-04 -5.031e-01 -1.832e-02  8.029e-03  1.510e-02  1.002e+00]
+t: 53	 action: [-0.262  0.003 -0.46  -0.019  0.009  0.016  1.009]
+t: 54	 action: [-0.243  0.025 -0.301 -0.024  0.016  0.002  0.997]
+t: 55	 action: [-0.202  0.04  -0.169 -0.018  0.008  0.012  1.014]
+t: 56	 action: [-0.181  0.024 -0.112 -0.039  0.018 -0.004  1.004]
+t: 57	 action: [-1.353e-01  3.596e-02 -2.178e-02 -2.485e-02  1.269e-02 -3.271e-04  1.009e+00]
+[07-31 02:08:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7062
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7062
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7062
+t=58: Selected seed 195 with value = 0.7062
+t: 58	 action: [-0.05  -0.06   0.115 -0.026  0.013  0.008  0.973]
+t: 59	 action: [ 0.018 -0.033  0.26  -0.024  0.028  0.007  0.98 ]
+t: 60	 action: [ 0.028 -0.012  0.499 -0.011  0.026  0.005  0.972]
+t: 61	 action: [ 0.066 -0.021  0.698 -0.012  0.036 -0.001  0.979]
+t: 62	 action: [ 0.113  0.008  0.813 -0.01   0.046 -0.002  0.988]
+t: 63	 action: [ 0.121  0.006  0.881 -0.004  0.047 -0.003  0.976]
+t: 64	 action: [ 0.129 -0.037  0.931  0.004  0.053 -0.006  0.984]
+t: 65	 action: [ 0.123 -0.087  0.926  0.016  0.051 -0.009  0.982]
+t: 66	 action: [ 0.128 -0.242  0.92   0.023  0.04  -0.002  0.974]
+t: 67	 action: [ 0.106 -0.41   0.932  0.04   0.054 -0.01   0.989]
+t: 68	 action: [ 0.057 -0.496  0.893  0.049  0.039 -0.001  0.971]
+t: 69	 action: [ 0.046 -0.619  0.857  0.058  0.051 -0.008  0.987]
+t: 70	 action: [-0.016 -0.726  0.775  0.064  0.04  -0.003  0.989]
+t: 71	 action: [-0.031 -0.752  0.604  0.068  0.039 -0.002  0.983]
+t: 72	 action: [-0.086 -0.797  0.506  0.069  0.032 -0.004  0.987]
+t: 73	 action: [-1.209e-01 -7.886e-01  3.548e-01  7.282e-02  2.763e-02 -9.731e-04  9.849e-01]
+[07-31 02:08:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8188
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8188
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8188
+t=74: Selected seed 195 with value = 0.8188
+t: 74	 action: [-0.156 -0.874  0.243  0.05   0.011  0.004  0.972]
+t: 75	 action: [-0.216 -0.859  0.095  0.057  0.008  0.007  0.986]
+t: 76	 action: [-2.228e-01 -9.021e-01  7.045e-04  6.166e-02  7.667e-03  2.140e-03  9.648e-01]
+t: 77	 action: [-0.272 -0.846 -0.068  0.058  0.003  0.009  0.985]
+t: 78	 action: [-0.288 -0.817 -0.159  0.053  0.004  0.003  0.976]
+t: 79	 action: [-0.321 -0.723 -0.293  0.042 -0.008  0.012  0.99 ]
+t: 80	 action: [-0.291 -0.657 -0.392  0.037 -0.007  0.004  0.969]
+t: 81	 action: [-0.309 -0.51  -0.561  0.029 -0.013  0.014  0.991]
+t: 82	 action: [-0.238 -0.464 -0.644  0.013 -0.035  0.009  0.97 ]
+t: 83	 action: [-0.26  -0.34  -0.743  0.008 -0.038  0.018  0.981]
+t: 84	 action: [-0.233 -0.2   -0.773  0.005 -0.047  0.013  0.955]
+t: 85	 action: [-0.219 -0.143 -0.796 -0.006 -0.045  0.021  0.982]
+t: 86	 action: [-0.17  -0.053 -0.789 -0.005 -0.051  0.014  0.984]
+t: 87	 action: [-0.18  -0.068 -0.768 -0.005 -0.044  0.025  0.98 ]
+t: 88	 action: [-0.19  -0.003 -0.719 -0.016 -0.043  0.019  0.971]
+t: 89	 action: [-0.206 -0.019 -0.595 -0.009 -0.032  0.029  0.976]
+[07-31 02:08:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9826
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=90: Selected seed 195 with value = 0.9826
+t: 90	 action: [ 0.043  0.028 -0.048 -0.008  0.086  0.02   0.937]
+t: 91	 action: [ 0.032  0.018  0.064 -0.016  0.086  0.017  0.669]
+t: 92	 action: [ 0.055  0.027  0.18  -0.004  0.069  0.006 -1.002]
+t: 93	 action: [ 7.520e-02  3.235e-02  2.903e-01 -1.090e-02  6.538e-02 -6.998e-04 -1.015e+00]
+t: 94	 action: [ 0.08   0.041  0.282 -0.027  0.044 -0.005 -1.001]
+t: 95	 action: [ 0.049  0.064  0.38  -0.02   0.038 -0.001 -1.017]
+t: 96	 action: [ 0.082  0.053  0.368 -0.01   0.037 -0.01  -1.005]
+t: 97	 action: [ 0.083  0.068  0.379 -0.009  0.03  -0.014 -1.021]
+t: 98	 action: [ 0.072  0.08   0.391 -0.009  0.015  0.003 -1.009]
+t: 99	 action: [ 0.061  0.075  0.373 -0.011  0.01  -0.009 -1.028]
+t: 100	 action: [ 5.328e-02  7.541e-02  3.462e-01 -5.274e-03  7.128e-04  1.490e-03 -1.009e+00]
+t: 101	 action: [ 0.058  0.07   0.322 -0.01   0.004 -0.007 -1.013]
+t: 102	 action: [ 4.642e-02  9.128e-02  3.299e-01 -3.998e-03  2.435e-03 -1.539e-04 -1.016e+00]
+t: 103	 action: [ 2.630e-02  8.359e-02  3.351e-01 -6.989e-03 -6.494e-04 -8.739e-03 -1.030e+00]
+t: 104	 action: [ 0.044  0.087  0.281 -0.005 -0.008 -0.002 -1.013]
+t: 105	 action: [ 0.034  0.079  0.287 -0.007 -0.005 -0.005 -1.025]
+[07-31 02:08:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9978
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=106: Selected seed 195 with value = 0.9978
+t: 106	 action: [ 0.064  0.058  0.077 -0.005  0.012  0.003 -0.991]
+t: 107	 action: [ 3.178e-02  4.484e-02  3.841e-02 -1.395e-02  7.395e-04 -7.477e-03 -1.010e+00]
+t: 108	 action: [ 0.026  0.058  0.03  -0.005 -0.005  0.003 -0.993]
+t: 109	 action: [ 0.015  0.051  0.016 -0.011 -0.003 -0.006 -1.007]
+t: 110	 action: [ 2.103e-02  6.457e-02  2.091e-02 -1.018e-02 -1.572e-02 -8.728e-04 -1.008e+00]
+t: 111	 action: [-0.006  0.059  0.003 -0.012 -0.011 -0.004 -1.027]
+t: 112	 action: [ 0.011  0.053  0.011 -0.008 -0.014  0.001 -1.013]
+t: 113	 action: [-0.007  0.06  -0.003 -0.009 -0.011 -0.004 -1.022]
+t: 114	 action: [ 1.810e-02  4.397e-02 -2.369e-02 -1.432e-04 -2.524e-02  4.470e-03 -9.945e-01]
+t: 115	 action: [ 0.007  0.047  0.002 -0.009 -0.01  -0.003 -1.013]
+t: 116	 action: [ 0.007  0.044 -0.018 -0.002 -0.025  0.005 -0.991]
+t: 117	 action: [ 0.011  0.05   0.002 -0.007 -0.007 -0.002 -1.007]
+t: 118	 action: [ 0.01   0.037 -0.022 -0.004 -0.022  0.003 -1.01 ]
+t: 119	 action: [-0.01   0.054 -0.005 -0.007 -0.015 -0.002 -1.026]
+t: 120	 action: [ 0.008  0.044 -0.013 -0.005 -0.019  0.002 -1.008]
+t: 121	 action: [-5.122e-03  5.632e-02 -6.775e-03 -7.006e-03 -1.112e-02  5.533e-04 -1.024e+00]
+[07-31 02:08:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+t: 122	 action: [ 0.058  0.025 -0.014 -0.004 -0.005  0.005 -0.994]
+t: 123	 action: [ 4.864e-02  2.959e-02 -3.069e-03 -9.595e-03 -6.662e-04  2.250e-03 -1.005e+00]
+t: 124	 action: [ 4.424e-02  3.604e-02 -2.683e-02 -5.147e-04 -9.775e-03  4.441e-03 -9.926e-01]
+t: 125	 action: [ 0.044  0.038 -0.004 -0.007 -0.003  0.004 -0.998]
+t: 126	 action: [ 3.977e-02  3.753e-02 -3.142e-02 -6.324e-03 -1.534e-02  6.320e-04 -1.002e+00]
+t: 127	 action: [ 0.019  0.042 -0.023 -0.008 -0.009  0.006 -1.019]
+t: 128	 action: [ 4.320e-02  3.676e-02 -2.784e-02 -2.018e-03 -1.055e-02  9.757e-04 -1.006e+00]
+t: 129	 action: [ 0.028  0.047 -0.018 -0.005 -0.007  0.005 -1.013]
+t: 130	 action: [ 0.06   0.035 -0.038  0.004 -0.014  0.006 -0.997]
+t: 131	 action: [ 0.059  0.038 -0.005 -0.005 -0.003  0.004 -1.006]
+t: 132	 action: [ 0.045  0.032 -0.035  0.003 -0.013  0.006 -0.993]
+t: 133	 action: [ 0.05   0.04  -0.004 -0.005 -0.004  0.004 -1.001]
+t: 134	 action: [ 4.977e-02  4.023e-02 -3.707e-02  9.389e-04 -9.747e-03  2.616e-03 -1.007e+00]
+t: 135	 action: [ 0.035  0.046 -0.011 -0.005 -0.007  0.004 -1.024]
+t: 136	 action: [ 4.670e-02  3.704e-02 -3.018e-02  7.294e-05 -6.439e-03  1.212e-03 -1.005e+00]
+t: 137	 action: [ 0.031  0.045 -0.012 -0.004 -0.008  0.006 -1.019]
+[07-31 02:08:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9999
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=138: Selected seed 195 with value = 0.9999
+t: 138	 action: [ 0.089  0.016 -0.014  0.002  0.003  0.005 -0.998]
+t: 139	 action: [ 9.468e-02  1.368e-02  5.788e-04 -6.965e-03  4.085e-03  7.905e-03 -1.005e+00]
+t: 140	 action: [ 0.076  0.023 -0.015  0.003  0.005  0.004 -0.995]
+t: 141	 action: [ 0.087  0.017  0.006 -0.006  0.004  0.008 -0.995]
+t: 142	 action: [ 7.674e-02  2.594e-02 -1.913e-02 -1.590e-03  4.790e-04  1.306e-03 -1.002e+00]
+t: 143	 action: [ 0.082  0.027 -0.009 -0.005 -0.002  0.011 -1.019]
+t: 144	 action: [ 7.756e-02  2.215e-02 -7.106e-03  6.110e-04  7.278e-03  4.355e-04 -1.003e+00]
+t: 145	 action: [ 7.978e-02  2.701e-02 -3.758e-03 -3.981e-03  8.767e-04  8.382e-03 -1.009e+00]
+t: 146	 action: [ 0.09   0.013 -0.016  0.007  0.005  0.006 -1.   ]
+t: 147	 action: [ 0.104  0.018  0.002 -0.005  0.006  0.007 -1.008]
+t: 148	 action: [ 0.072  0.016 -0.012  0.005  0.007  0.006 -0.995]
+t: 149	 action: [ 0.09   0.019  0.002 -0.004  0.012  0.007 -1.004]
+t: 150	 action: [ 0.082  0.023 -0.014  0.003  0.009  0.002 -1.007]
+t: 151	 action: [ 0.086  0.029 -0.002 -0.004  0.003  0.007 -1.023]
+t: 152	 action: [ 7.535e-02  1.944e-02 -6.037e-03  1.863e-03  1.291e-02  1.126e-04 -1.004e+00]
+t: 153	 action: [ 0.074  0.026 -0.006 -0.003  0.009  0.008 -1.02 ]
+[07-31 02:08:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9971
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=154: Selected seed 195 with value = 0.9971
+t: 154	 action: [ 0.094  0.014  0.022  0.006  0.016  0.007 -1.003]
+t: 155	 action: [ 0.09   0.003  0.018 -0.003  0.017  0.011 -1.01 ]
+t: 156	 action: [ 0.077  0.022  0.011  0.006  0.02   0.006 -1.   ]
+t: 157	 action: [ 0.08   0.009  0.019 -0.003  0.021  0.01  -0.996]
+t: 158	 action: [ 0.088  0.027  0.025  0.004  0.017  0.002 -1.006]
+t: 159	 action: [ 9.263e-02  2.023e-02  1.808e-02 -1.054e-04  1.435e-02  1.302e-02 -1.021e+00]
+t: 160	 action: [ 8.502e-02  2.643e-02  2.941e-02  3.380e-03  2.445e-02  4.961e-04 -1.008e+00]
+t: 161	 action: [ 8.087e-02  2.273e-02  2.438e-02 -9.855e-04  2.187e-02  8.815e-03 -1.009e+00]
+t: 162	 action: [ 0.084  0.013  0.017  0.007  0.019  0.007 -1.009]
+t: 163	 action: [ 0.09   0.008  0.012 -0.003  0.017  0.009 -1.015]
+t: 164	 action: [ 0.067  0.017  0.009  0.005  0.021  0.006 -1.004]
+t: 165	 action: [ 0.074  0.01   0.009 -0.004  0.022  0.009 -1.01 ]
+t: 166	 action: [ 0.078  0.03   0.023  0.004  0.023  0.001 -1.015]
+t: 167	 action: [ 7.552e-02  2.459e-02  1.128e-02 -3.653e-04  1.471e-02  7.404e-03 -1.024e+00]
+t: 168	 action: [ 7.428e-02  2.222e-02  2.205e-02  2.420e-03  2.796e-02 -5.706e-04 -1.012e+00]
+t: 169	 action: [ 0.06   0.024  0.009 -0.002  0.023  0.008 -1.02 ]
+[07-31 02:08:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9938
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=170: Selected seed 195 with value = 0.9938
+t: 170	 action: [ 0.066  0.011  0.088  0.008  0.023  0.009 -0.989]
+t: 171	 action: [ 3.781e-02  1.784e-03  8.356e-02  9.889e-04  2.513e-02  1.279e-02 -1.018e+00]
+t: 172	 action: [ 0.073  0.024  0.074  0.007  0.034  0.007 -0.992]
+t: 173	 action: [ 5.485e-02  1.450e-02  8.920e-02  8.301e-04  3.596e-02  7.741e-03 -1.001e+00]
+t: 174	 action: [ 0.095  0.026  0.09   0.005  0.032  0.003 -0.974]
+t: 175	 action: [ 0.083  0.029  0.098  0.003  0.033  0.015 -1.038]
+t: 176	 action: [ 1.081e-01  3.665e-02  9.700e-02  4.378e-03  4.602e-02  1.042e-04 -9.901e-01]
+t: 177	 action: [ 0.07   0.038  0.116  0.002  0.042  0.008 -1.023]
+t: 178	 action: [ 0.063  0.008  0.084  0.008  0.033  0.007 -0.988]
+t: 179	 action: [ 0.046  0.01   0.072 -0.002  0.027  0.017 -0.888]
+t: 180	 action: [ 0.056  0.015  0.072  0.005  0.039  0.006 -0.996]
+t: 181	 action: [ 0.05   0.018  0.056 -0.002  0.031  0.009 -1.016]
+t: 182	 action: [ 6.817e-02  2.362e-02  8.715e-02  4.273e-03  4.082e-02  1.913e-04 -9.679e-01]
+t: 183	 action: [0.038 0.037 0.063 0.001 0.025 0.015 0.383]
+t: 184	 action: [ 0.071  0.022  0.09   0.002  0.048 -0.002 -0.987]
+t: 185	 action: [ 3.051e-02  4.253e-02  6.924e-02 -5.042e-04  3.281e-02  9.820e-03 -1.002e+00]
+[07-31 02:08:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9820
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=186: Selected seed 195 with value = 0.9820
+t: 186	 action: [-0.052 -0.017  0.021  0.003  0.027  0.007 -0.967]
+t: 187	 action: [-5.004e-02 -1.919e-02  2.185e-02 -9.681e-04  2.069e-02  6.710e-03 -1.002e+00]
+t: 188	 action: [-0.04   0.031  0.018  0.002  0.028  0.005 -0.984]
+t: 189	 action: [-0.031  0.023  0.033 -0.002  0.023  0.002 -1.001]
+t: 190	 action: [-0.02   0.039  0.046  0.001  0.027  0.003 -0.987]
+t: 191	 action: [-0.028  0.041  0.046  0.002  0.016  0.013 -1.026]
+t: 192	 action: [ 3.228e-03  7.395e-02  5.390e-02  5.367e-04  3.041e-02  7.632e-05 -9.936e-01]
+t: 193	 action: [-7.803e-03  6.532e-02  7.151e-02  8.488e-04  2.074e-02  5.926e-03 -1.010e+00]
+t: 194	 action: [-0.024  0.02   0.064  0.007  0.02   0.009 -0.981]
+t: 195	 action: [-0.01   0.016  0.094 -0.005  0.018  0.002 -1.015]
+t: 196	 action: [-0.023  0.03   0.051  0.004  0.021  0.007 -0.988]
+t: 197	 action: [ 0.003  0.029  0.079 -0.006  0.017  0.002 -1.017]
+t: 198	 action: [-0.007  0.039  0.068  0.003  0.021  0.002 -1.004]
+t: 199	 action: [-0.024  0.053  0.091 -0.002  0.008  0.002 -1.019]
+t: 200	 action: [ 8.057e-04  3.875e-02  6.722e-02  4.184e-04  2.625e-02 -1.772e-03 -9.956e-01]
+t: 201	 action: [-0.02   0.065  0.091 -0.003  0.008  0.005 -1.011]
+[07-31 02:08:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9535
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 0.961 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=202: Selected seed 195 with value = 0.9535
+t: 202	 action: [-0.157 -0.047 -0.492  0.002  0.027  0.009 -0.962]
+t: 203	 action: [-0.191 -0.06  -0.488  0.006  0.025  0.01  -0.998]
+t: 204	 action: [-0.143 -0.003 -0.424 -0.001  0.028  0.008 -0.984]
+t: 205	 action: [-0.148 -0.039 -0.387  0.002  0.027  0.005 -1.006]
+t: 206	 action: [-1.187e-01  2.348e-02 -3.304e-01 -1.955e-04  2.896e-02  7.349e-03 -9.910e-01]
+t: 207	 action: [-0.121  0.017 -0.311  0.003  0.023  0.009 -1.021]
+t: 208	 action: [-7.515e-02  1.403e-02 -2.742e-01 -4.444e-04  2.748e-02  3.898e-03 -9.929e-01]
+t: 209	 action: [-7.168e-02  7.047e-03 -2.001e-01 -2.532e-04  2.486e-02  2.704e-03 -1.019e+00]
+t: 210	 action: [-0.122 -0.011 -0.25   0.004  0.018  0.008 -0.972]
+t: 211	 action: [-9.635e-02 -5.694e-02 -2.198e-01 -3.272e-03  1.313e-02  4.498e-04 -9.785e-01]
+t: 212	 action: [-0.125 -0.016 -0.259  0.002  0.018  0.007 -0.947]
+t: 213	 action: [-6.549e-02 -5.725e-02 -2.064e-01 -6.755e-03  1.133e-02  8.080e-04 -9.787e-01]
+t: 214	 action: [-0.107 -0.003 -0.17   0.003  0.017  0.002 -0.989]
+t: 215	 action: [-1.062e-01 -2.198e-02 -1.030e-01 -2.551e-03  4.753e-03  7.390e-04  9.702e-01]
+t: 216	 action: [-8.917e-02 -7.218e-03 -1.772e-01 -1.102e-04  1.959e-02 -8.858e-04  1.012e+00]
+t: 217	 action: [-0.018 -0.013 -0.097 -0.006  0.004  0.003  0.973]
+[07-31 02:08:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9723
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=218: Selected seed 195 with value = 0.9723
+t: 218	 action: [-0.03  -0.069  0.191 -0.006  0.047  0.002 -0.964]
+t: 219	 action: [-1.248e-02 -6.322e-02  1.957e-01 -3.773e-03  6.218e-02  7.419e-04 -9.961e-01]
+t: 220	 action: [ 0.005 -0.045  0.163  0.005  0.057  0.002 -0.993]
+t: 221	 action: [ 0.005 -0.044  0.163  0.003  0.068 -0.003 -1.007]
+t: 222	 action: [ 0.016 -0.012  0.142  0.001  0.047 -0.003 -1.008]
+t: 223	 action: [ 9.891e-03 -1.533e-02  1.347e-01  5.746e-03  5.910e-02  9.501e-04 -1.045e+00]
+t: 224	 action: [ 0.027 -0.003  0.116  0.003  0.056 -0.005 -1.012]
+t: 225	 action: [ 0.006  0.003  0.096  0.013  0.062 -0.008 -1.014]
+t: 226	 action: [ 0.038  0.004  0.132  0.016  0.059  0.01  -0.997]
+t: 227	 action: [ 0.025  0.008  0.133  0.011  0.061  0.012 -1.023]
+t: 228	 action: [ 0.042  0.011  0.113  0.016  0.067  0.007 -1.003]
+t: 229	 action: [ 0.028  0.011  0.105  0.012  0.069  0.01  -1.017]
+t: 230	 action: [ 0.049  0.012  0.117  0.014  0.062  0.009 -1.02 ]
+t: 231	 action: [ 0.021  0.033  0.142  0.016  0.063  0.012 -1.021]
+t: 232	 action: [ 0.055  0.023  0.109  0.012  0.072  0.003 -1.015]
+t: 233	 action: [ 0.017  0.036  0.13   0.015  0.071  0.01  -1.009]
+[07-31 02:08:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9784
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=234: Selected seed 195 with value = 0.9784
+t: 234	 action: [-0.043  0.015 -0.128  0.004 -0.003  0.009 -1.01 ]
+t: 235	 action: [-1.938e-02 -2.042e-02 -1.224e-01 -2.693e-04  4.469e-03 -7.084e-03 -1.019e+00]
+t: 236	 action: [-0.044  0.011 -0.11   0.007 -0.004  0.007 -1.007]
+t: 237	 action: [-0.02  -0.029 -0.114  0.003  0.005 -0.009 -1.014]
+t: 238	 action: [-0.023  0.009 -0.078  0.005 -0.001  0.004 -1.011]
+t: 239	 action: [-3.543e-02 -9.396e-03 -3.583e-02  1.370e-03  5.680e-05 -8.406e-03 -1.019e+00]
+t: 240	 action: [-0.033  0.008 -0.06   0.005  0.001  0.001 -1.017]
+t: 241	 action: [-0.058 -0.01  -0.034  0.004  0.001 -0.014 -1.02 ]
+t: 242	 action: [-0.057 -0.009 -0.168  0.002 -0.003  0.004 -0.948]
+t: 243	 action: [-3.070e-02 -3.648e-02 -1.820e-01 -1.514e-03  2.649e-04 -5.817e-03 -9.676e-01]
+t: 244	 action: [-0.061 -0.016 -0.139  0.002 -0.006  0.005  0.993]
+t: 245	 action: [ 1.685e-02 -3.767e-02 -1.488e-01 -9.349e-04 -3.423e-04  6.372e-03  1.023e+00]
+t: 246	 action: [-5.604e-02 -1.169e-03 -1.280e-01 -6.631e-04 -2.928e-03  2.537e-03  9.767e-01]
+t: 247	 action: [-8.345e-04 -4.812e-03 -1.083e-01  1.181e-03 -9.897e-03 -2.062e-03  9.725e-01]
+t: 248	 action: [-6.199e-02 -1.462e-02 -9.300e-02  1.094e-03 -2.113e-03  5.622e-04  9.826e-01]
+t: 249	 action: [ 8.949e-03 -8.142e-03 -7.064e-02  1.941e-04 -7.571e-03  1.586e-03  9.621e-01]
+[07-31 02:08:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9231
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 0.962 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=250: Selected seed 195 with value = 0.9231
+t: 250	 action: [-0.188 -0.083 -0.47  -0.028 -0.056  0.009  1.004]
+t: 251	 action: [-0.198 -0.119 -0.442 -0.035 -0.061  0.015  1.025]
+t: 252	 action: [-0.103 -0.019 -0.369 -0.035 -0.064  0.009  1.008]
+t: 253	 action: [-0.079 -0.057 -0.296 -0.034 -0.065  0.003  0.952]
+t: 254	 action: [-0.063 -0.066 -0.141 -0.026 -0.06   0.008  1.017]
+t: 255	 action: [-0.053 -0.06  -0.041 -0.025 -0.05   0.015  1.001]
+t: 256	 action: [ 0.022 -0.022  0.008 -0.014 -0.048  0.003  0.971]
+t: 257	 action: [ 9.750e-04 -1.800e-02  6.206e-02 -1.251e-02 -3.237e-02  1.696e-03 -9.934e-01]
+t: 258	 action: [ 0.068  0.027  0.105 -0.012 -0.015  0.01  -1.006]
+t: 259	 action: [ 7.055e-02  4.342e-02  1.776e-01 -8.624e-03 -9.208e-05 -3.647e-03 -1.010e+00]
+t: 260	 action: [ 8.937e-02  2.339e-02  1.792e-01  8.867e-04 -9.364e-04  5.690e-03 -1.014e+00]
+t: 261	 action: [ 8.403e-02  3.352e-02  2.117e-01  9.426e-04  1.337e-02 -8.228e-03 -1.006e+00]
+t: 262	 action: [ 6.992e-02  3.727e-02  2.210e-01 -3.358e-03 -2.892e-04  1.468e-03 -1.027e+00]
+t: 263	 action: [ 3.829e-02  7.021e-02  2.790e-01  8.442e-03  2.273e-04 -8.421e-03 -1.017e+00]
+t: 264	 action: [ 0.079  0.032  0.28  -0.002  0.016 -0.003 -1.022]
+t: 265	 action: [ 0.04   0.06   0.275  0.014  0.015 -0.007 -1.012]
+[07-31 02:08:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9771
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=266: Selected seed 195 with value = 0.9771
+t: 266	 action: [ 0.02  -0.041  0.272  0.007  0.044  0.003 -0.992]
+t: 267	 action: [ 0.032 -0.046  0.223  0.008  0.062  0.005 -1.02 ]
+t: 268	 action: [ 0.027 -0.031  0.16   0.009  0.047  0.004 -0.998]
+t: 269	 action: [ 0.033 -0.032  0.112  0.012  0.061  0.003 -1.009]
+t: 270	 action: [ 0.016 -0.012  0.098  0.004  0.032 -0.002 -1.008]
+t: 271	 action: [ 0.017 -0.014  0.062  0.012  0.039  0.006 -1.039]
+t: 272	 action: [ 0.019 -0.008  0.058  0.009  0.035 -0.002 -1.014]
+t: 273	 action: [ 1.002e-02  4.781e-03  1.908e-02  1.536e-02  3.887e-02 -6.644e-04 -1.016e+00]
+t: 274	 action: [ 0.047  0.002  0.055  0.013  0.042  0.015 -0.999]
+t: 275	 action: [ 0.036  0.007  0.046  0.01   0.044  0.02  -1.022]
+t: 276	 action: [ 0.046  0.009  0.044  0.01   0.048  0.011 -0.998]
+t: 277	 action: [ 0.031  0.007  0.039  0.01   0.053  0.018 -1.013]
+t: 278	 action: [ 0.048  0.01   0.059  0.008  0.045  0.018 -1.02 ]
+t: 279	 action: [ 0.025  0.026  0.062  0.012  0.044  0.021 -1.023]
+t: 280	 action: [ 0.053  0.017  0.066  0.005  0.053  0.01  -1.014]
+t: 281	 action: [ 0.022  0.026  0.074  0.011  0.055  0.019 -1.011]
+[07-31 02:08:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9777
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=282: Selected seed 195 with value = 0.9777
+t: 282	 action: [-0.051  0.015 -0.102  0.005 -0.005  0.007 -0.999]
+t: 283	 action: [-0.029 -0.02  -0.093  0.001  0.004 -0.01  -1.018]
+t: 284	 action: [-0.049  0.017 -0.094  0.007 -0.006  0.006 -1.   ]
+t: 285	 action: [-0.018 -0.025 -0.087  0.004  0.005 -0.011 -1.016]
+t: 286	 action: [-0.034  0.01  -0.063  0.005 -0.002  0.001 -1.003]
+t: 287	 action: [-0.035 -0.013 -0.019  0.003 -0.001 -0.012 -1.018]
+t: 288	 action: [-3.373e-02  1.402e-02 -4.862e-02  5.209e-03 -1.853e-04 -5.005e-04 -1.011e+00]
+t: 289	 action: [-4.210e-02 -1.075e-02 -1.425e-02  4.909e-03  7.708e-05 -1.571e-02 -1.018e+00]
+t: 290	 action: [-4.913e-02  9.245e-05 -1.330e-01  3.112e-03 -3.573e-03  2.336e-03 -9.450e-01]
+t: 291	 action: [-1.085e-02 -3.028e-02 -1.359e-01  1.768e-04  1.640e-04 -6.157e-03 -9.629e-01]
+t: 292	 action: [-0.061 -0.006 -0.124  0.004 -0.008  0.004  0.941]
+t: 293	 action: [ 0.015 -0.032 -0.125  0.001 -0.001  0.005  1.002]
+t: 294	 action: [-0.058  0.002 -0.104  0.002 -0.003 -0.001  0.928]
+t: 295	 action: [-0.012 -0.009 -0.087  0.002 -0.012 -0.005  0.962]
+t: 296	 action: [-0.067 -0.008 -0.086  0.004 -0.004 -0.003  0.986]
+t: 297	 action: [ 0.008 -0.008 -0.06   0.002 -0.011  0.002  0.97 ]
+[07-31 02:08:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9258
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9258
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 34
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 30 (88.2%)
+
+
 68%|██████▊   | 34/50 [08:14<04:35, 17.25s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 35...
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=298: Selected seed 195 with value = 0.9258
+t: 298	 action: [-0.128 -0.113 -0.347 -0.025 -0.052  0.008  1.019]
+t: 299	 action: [-0.092 -0.103 -0.345 -0.03  -0.05   0.01   1.007]
+t: 300	 action: [-0.027 -0.021 -0.206 -0.022 -0.057  0.006  0.995]
+t: 301	 action: [ 1.931e-04 -4.206e-02 -1.462e-01 -2.538e-02 -5.428e-02 -3.497e-03  9.411e-01]
+t: 302	 action: [ 0.026 -0.059 -0.042 -0.015 -0.053  0.004  1.037]
+t: 303	 action: [ 0.007 -0.015  0.036 -0.016 -0.043  0.013  0.974]
+t: 304	 action: [ 6.933e-02 -1.568e-02  7.610e-02 -5.353e-03 -3.950e-02  4.573e-04 -9.971e-01]
+t: 305	 action: [ 0.045  0.02   0.111 -0.001 -0.026 -0.001 -1.037]
+t: 306	 action: [ 0.091  0.024  0.131  0.003 -0.012  0.008 -1.008]
+t: 307	 action: [ 8.037e-02  4.317e-02  1.897e-01  8.608e-04  1.721e-03 -2.228e-03 -1.013e+00]
+t: 308	 action: [ 0.081  0.02   0.181  0.005  0.002  0.007 -1.006]
+t: 309	 action: [ 0.07   0.032  0.198  0.006  0.015 -0.005 -1.007]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=34--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=34--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 30 (88.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 35...
+[07-31 02:08:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4485
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4485
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4485
+t=10: Selected seed 195 with value = 0.4485
+t: 10	 action: [ 0.208  0.05  -0.026  0.005  0.006  0.004 -1.   ]
+t: 11	 action: [ 0.313  0.121 -0.007  0.004  0.005  0.005 -0.998]
+t: 12	 action: [ 0.429  0.194 -0.047  0.003  0.006  0.008 -0.993]
+t: 13	 action: [ 0.537  0.28  -0.02   0.004  0.002  0.007 -0.997]
+t: 14	 action: [ 6.188e-01  3.843e-01 -4.394e-02  2.368e-04  6.724e-03  9.422e-03 -1.007e+00]
+t: 15	 action: [ 0.692  0.448 -0.042  0.005 -0.001  0.012 -1.007]
+t: 16	 action: [ 7.579e-01  4.883e-01 -7.293e-02 -8.761e-04  5.859e-03  1.267e-02 -9.995e-01]
+t: 17	 action: [ 0.796  0.515 -0.092  0.007 -0.003  0.013 -1.008]
+t: 18	 action: [ 0.805  0.539 -0.118  0.006  0.006  0.026 -0.999]
+t: 19	 action: [ 0.816  0.558 -0.108  0.002  0.004  0.019 -1.   ]
+t: 20	 action: [ 0.817  0.582 -0.162  0.003  0.004  0.026 -0.999]
+t: 21	 action: [ 0.818  0.579 -0.162 -0.005  0.005  0.019 -0.994]
+t: 22	 action: [ 8.173e-01  5.758e-01 -2.011e-01  1.050e-04  3.808e-03  2.556e-02 -1.005e+00]
+t: 23	 action: [ 0.803  0.594 -0.239  0.003 -0.003  0.021 -1.007]
+t: 24	 action: [ 0.809  0.568 -0.33  -0.002  0.004  0.023 -1.005]
+t: 25	 action: [ 0.801  0.534 -0.361 -0.001 -0.002  0.019 -1.008]
+[07-31 02:08:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4939
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4939
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4939
+t=26: Selected seed 195 with value = 0.4939
+t: 26	 action: [ 0.88   0.441 -0.362  0.006  0.015  0.021 -1.   ]
+t: 27	 action: [ 8.573e-01  4.298e-01 -3.964e-01  3.482e-04  1.571e-02  2.488e-02 -1.002e+00]
+t: 28	 action: [ 0.814  0.405 -0.476  0.006  0.013  0.019 -1.002]
+t: 29	 action: [ 0.741  0.344 -0.482  0.004  0.008  0.022 -1.003]
+t: 30	 action: [ 0.699  0.314 -0.551  0.004  0.009  0.011 -1.006]
+t: 31	 action: [ 0.546  0.241 -0.664  0.012  0.004  0.018 -1.004]
+t: 32	 action: [ 4.255e-01  1.876e-01 -6.789e-01  1.405e-02  7.662e-04  8.639e-03 -1.007e+00]
+t: 33	 action: [ 3.229e-01  1.345e-01 -7.397e-01  1.606e-02  3.706e-04  1.585e-02 -1.006e+00]
+t: 34	 action: [ 0.215  0.045 -0.766  0.016 -0.009  0.017 -1.004]
+t: 35	 action: [ 1.349e-01  7.894e-03 -8.048e-01  1.575e-02  3.550e-04  1.696e-02 -9.936e-01]
+t: 36	 action: [ 0.102 -0.022 -0.854  0.023 -0.014  0.015 -1.007]
+t: 37	 action: [ 0.026 -0.046 -0.863  0.016 -0.009  0.015 -0.995]
+t: 38	 action: [ 0.038 -0.023 -0.882  0.024 -0.021  0.008 -1.008]
+t: 39	 action: [-0.017 -0.03  -0.903  0.018 -0.024  0.009 -0.998]
+t: 40	 action: [-0.05  -0.058 -0.888  0.015 -0.021  0.006 -1.007]
+t: 41	 action: [-0.099 -0.059 -0.902  0.015 -0.029  0.008 -1.   ]
+[07-31 02:08:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5473
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5473
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5473
+t=42: Selected seed 195 with value = 0.5473
+t: 42	 action: [-0.144  0.01  -0.889  0.01  -0.055  0.035 -0.986]
+t: 43	 action: [-0.241 -0.005 -0.875  0.01  -0.06   0.041 -1.004]
+t: 44	 action: [-0.255  0.011 -0.844  0.013 -0.045  0.032 -0.987]
+t: 45	 action: [-0.314  0.005 -0.794  0.012 -0.048  0.038 -1.   ]
+t: 46	 action: [-0.354  0.023 -0.78   0.007 -0.034  0.033 -0.986]
+t: 47	 action: [-0.395  0.037 -0.738  0.01  -0.032  0.036 -1.01 ]
+t: 48	 action: [-0.399  0.023 -0.694  0.006 -0.025  0.025 -0.996]
+t: 49	 action: [-0.403  0.035 -0.656  0.008 -0.02   0.025 -1.015]
+t: 50	 action: [-0.347  0.024 -0.596  0.011 -0.004  0.027 -1.002]
+t: 51	 action: [-0.356 -0.03  -0.613  0.007  0.004  0.029 -1.032]
+t: 52	 action: [-0.266 -0.003 -0.53   0.009 -0.005  0.014  0.966]
+t: 53	 action: [-0.222 -0.065 -0.509  0.002  0.003  0.021  0.985]
+t: 54	 action: [-0.226 -0.001 -0.464  0.003  0.002  0.002  0.996]
+t: 55	 action: [-1.650e-01 -7.032e-02 -3.946e-01  3.519e-04  9.363e-04 -3.520e-03  9.819e-01]
+t: 56	 action: [-0.138 -0.056 -0.327 -0.004  0.002 -0.004  1.009]
+t: 57	 action: [-0.088 -0.098 -0.203 -0.007  0.002 -0.02   0.995]
+[07-31 02:08:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6916
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6916
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6916
+t=58: Selected seed 195 with value = 0.6916
+t: 58	 action: [-2.833e-02 -1.128e-01 -1.817e-01 -4.930e-03 -7.782e-04  9.524e-03  9.876e-01]
+t: 59	 action: [-0.007 -0.107 -0.078 -0.011  0.002  0.007  0.991]
+t: 60	 action: [-0.012 -0.025  0.064 -0.001 -0.012 -0.003  0.988]
+t: 61	 action: [ 5.535e-03 -3.346e-02  2.299e-01  9.349e-04 -2.589e-03 -8.365e-03  9.988e-01]
+t: 62	 action: [ 0.02   0.017  0.414 -0.012 -0.005 -0.006  1.001]
+t: 63	 action: [-0.002  0.064  0.695 -0.01  -0.004 -0.019  0.99 ]
+t: 64	 action: [ 0.041  0.019  0.864  0.001 -0.001 -0.024  0.994]
+t: 65	 action: [ 0.008  0.034  0.921  0.003 -0.003 -0.029  0.996]
+t: 66	 action: [ 0.036 -0.109  0.93   0.01   0.002 -0.021  0.973]
+t: 67	 action: [ 0.011 -0.175  0.961  0.023  0.009 -0.025  0.993]
+t: 68	 action: [-0.027 -0.328  0.924  0.014  0.006 -0.02   0.967]
+t: 69	 action: [-0.053 -0.462  0.912  0.025  0.013 -0.018  0.996]
+t: 70	 action: [-0.122 -0.574  0.805  0.015  0.022 -0.008  0.991]
+t: 71	 action: [-0.196 -0.644  0.706  0.027  0.01  -0.002  0.996]
+t: 72	 action: [-0.195 -0.729  0.556  0.014  0.017 -0.004  0.992]
+t: 73	 action: [-0.242 -0.775  0.398  0.025  0.007  0.003  0.996]
+[07-31 02:09:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8520
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8520
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 35
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 31 (88.6%)
+
+
 70%|███████   | 35/50 [08:24<03:46, 15.13s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 36...
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8520
+t=74: Selected seed 195 with value = 0.8520
+t: 74	 action: [-0.272 -0.709 -0.072  0.023  0.016  0.018  0.973]
+t: 75	 action: [-0.305 -0.694 -0.142  0.029  0.011  0.031  0.98 ]
+t: 76	 action: [-0.33  -0.6   -0.307  0.011  0.012  0.02   0.977]
+t: 77	 action: [-0.329 -0.525 -0.428  0.017  0.004  0.033  0.986]
+t: 78	 action: [-0.385 -0.42  -0.563  0.005  0.007  0.031  0.987]
+t: 79	 action: [-0.352 -0.333 -0.599  0.005 -0.002  0.036  0.989]
+t: 80	 action: [-3.406e-01 -2.198e-01 -7.048e-01 -3.069e-03  4.248e-04  3.345e-02  9.926e-01]
+t: 81	 action: [-0.295 -0.156 -0.742 -0.011 -0.002  0.035  1.001]
+t: 82	 action: [-0.235 -0.069 -0.712 -0.017  0.008  0.043  0.995]
+t: 83	 action: [-0.263 -0.073 -0.697 -0.021  0.025  0.044  0.997]
+t: 84	 action: [-0.16  -0.04  -0.527 -0.03   0.022  0.038  0.999]
+t: 85	 action: [-0.124 -0.045 -0.387 -0.029  0.038  0.035  0.951]
+t: 86	 action: [-0.088 -0.004 -0.298 -0.046  0.021  0.017  1.015]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=35--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+77 77 5 5
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=35--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 31 (88.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 36...
+[07-31 02:09:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.178 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4236
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4236
+Query 1/1: Action query time = 1.178 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4236
+t=10: Selected seed 195 with value = 0.4236
+t: 10	 action: [ 0.101  0.016 -0.041  0.005 -0.014  0.001 -0.996]
+t: 11	 action: [ 0.214  0.08  -0.011 -0.002 -0.006 -0.007 -0.992]
+t: 12	 action: [ 0.286  0.166 -0.044  0.003 -0.016  0.003 -1.002]
+t: 13	 action: [ 0.421  0.257 -0.015 -0.002 -0.01  -0.005 -0.993]
+t: 14	 action: [ 5.426e-01  3.510e-01 -4.353e-02 -2.739e-04 -1.125e-02  9.464e-04 -1.007e+00]
+t: 15	 action: [ 0.623  0.43  -0.035 -0.002 -0.009 -0.003 -1.01 ]
+t: 16	 action: [ 0.725  0.488 -0.05  -0.003 -0.009  0.001 -1.004]
+t: 17	 action: [ 0.745  0.51  -0.063 -0.001 -0.007 -0.002 -1.012]
+t: 18	 action: [ 0.726  0.525 -0.071  0.005 -0.001  0.01  -1.004]
+t: 19	 action: [ 0.742  0.524 -0.052 -0.005  0.004  0.004 -1.001]
+t: 20	 action: [ 0.778  0.539 -0.1    0.003 -0.003  0.011 -1.007]
+t: 21	 action: [ 0.79   0.516 -0.078 -0.007  0.005  0.005 -0.997]
+t: 22	 action: [ 8.285e-01  5.589e-01 -1.130e-01 -4.301e-04 -7.014e-04  6.870e-03 -9.984e-01]
+t: 23	 action: [ 0.84   0.538 -0.121 -0.004 -0.004  0.004 -1.007]
+t: 24	 action: [ 0.837  0.534 -0.173 -0.002 -0.002  0.006 -1.002]
+t: 25	 action: [ 0.845  0.47  -0.174 -0.004 -0.003  0.004 -1.011]
+[07-31 02:09:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.204 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5184
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5184
+Query 1/1: Action query time = 1.204 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5184
+t=26: Selected seed 195 with value = 0.5184
+t: 26	 action: [ 0.859  0.51  -0.416  0.002 -0.031  0.007 -1.006]
+t: 27	 action: [ 0.831  0.492 -0.444 -0.002 -0.026  0.005 -0.994]
+t: 28	 action: [ 0.801  0.456 -0.551  0.002 -0.039  0.005 -1.006]
+t: 29	 action: [ 7.381e-01  3.502e-01 -5.782e-01  2.487e-03 -3.281e-02  5.690e-04 -9.976e-01]
+t: 30	 action: [ 6.669e-01  3.231e-01 -6.171e-01  4.718e-04 -3.997e-02  3.865e-04 -1.011e+00]
+t: 31	 action: [ 0.532  0.229 -0.705  0.007 -0.048 -0.002 -1.006]
+t: 32	 action: [ 0.421  0.176 -0.8    0.006 -0.046 -0.001 -1.014]
+t: 33	 action: [ 0.354  0.107 -0.853  0.015 -0.053 -0.005 -1.009]
+t: 34	 action: [ 0.208  0.037 -0.917  0.011 -0.051  0.007 -1.016]
+t: 35	 action: [ 0.126  0.008 -0.932  0.011 -0.048  0.005 -0.988]
+t: 36	 action: [ 0.084  0.007 -0.947  0.004 -0.05   0.007 -1.014]
+t: 37	 action: [ 0.029 -0.023 -0.941  0.004 -0.05   0.004 -0.988]
+t: 38	 action: [ 1.381e-02  1.174e-02 -9.557e-01  2.725e-04 -5.732e-02  4.216e-03 -1.023e+00]
+t: 39	 action: [-0.008 -0.008 -0.956 -0.005 -0.064  0.004 -0.997]
+t: 40	 action: [-0.022  0.01  -0.962 -0.004 -0.049  0.004 -1.018]
+t: 41	 action: [-0.031 -0.018 -0.942 -0.021 -0.061  0.003 -1.   ]
+[07-31 02:09:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.307 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5966
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5966
+Query 1/1: Action query time = 1.307 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5966
+t=42: Selected seed 195 with value = 0.5966
+t: 42	 action: [-0.124  0.016 -0.888  0.013 -0.064  0.015 -1.008]
+t: 43	 action: [-0.081 -0.003 -0.879  0.009 -0.065  0.018 -1.001]
+t: 44	 action: [-0.054 -0.011 -0.839  0.01  -0.05   0.016 -1.   ]
+t: 45	 action: [-7.608e-04 -2.409e-02 -8.044e-01  6.171e-03 -4.902e-02  1.734e-02 -1.004e+00]
+t: 46	 action: [-0.037 -0.005 -0.765  0.004 -0.041  0.011 -1.017]
+t: 47	 action: [-0.035 -0.042 -0.775  0.007 -0.044  0.017 -1.009]
+t: 48	 action: [-2.155e-02 -1.823e-02 -6.943e-01 -4.677e-05 -2.666e-02  7.183e-03 -1.012e+00]
+t: 49	 action: [-0.05  -0.044 -0.711  0.002 -0.026  0.009 -1.017]
+t: 50	 action: [-0.145 -0.027 -0.659  0.003 -0.006  0.006 -1.013]
+t: 51	 action: [-0.166 -0.075 -0.658 -0.015  0.001  0.007 -1.016]
+t: 52	 action: [-1.266e-01 -3.380e-02 -5.364e-01 -6.715e-04  6.157e-03  3.617e-03  9.932e-01]
+t: 53	 action: [-0.116 -0.064 -0.478 -0.016  0.007 -0.004  0.991]
+t: 54	 action: [-0.153 -0.01  -0.365 -0.008  0.023 -0.009  0.993]
+t: 55	 action: [-0.131 -0.045 -0.263 -0.023  0.007 -0.015  1.024]
+t: 56	 action: [-0.11  -0.006 -0.148 -0.019  0.037 -0.021  1.006]
+t: 57	 action: [-0.068 -0.045 -0.038 -0.033  0.024 -0.033  1.02 ]
+[07-31 02:09:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.239 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6566
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6566
+Query 1/1: Action query time = 1.239 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6566
+t=58: Selected seed 195 with value = 0.6566
+t: 58	 action: [-0.015  0.02  -0.051 -0.028  0.005 -0.006  0.983]
+t: 59	 action: [ 0.021 -0.011  0.024 -0.033  0.006 -0.033  0.986]
+t: 60	 action: [ 0.018  0.023  0.127 -0.016  0.008 -0.038  0.987]
+t: 61	 action: [ 0.039 -0.011  0.245 -0.022  0.011 -0.051  0.993]
+t: 62	 action: [ 0.057  0.004  0.433 -0.021  0.007 -0.06   0.996]
+t: 63	 action: [ 0.068  0.008  0.692 -0.024  0.005 -0.074  0.992]
+t: 64	 action: [ 0.062 -0.001  0.85  -0.003  0.026 -0.079  0.997]
+t: 65	 action: [ 0.056 -0.033  0.925 -0.008  0.024 -0.08   0.993]
+t: 66	 action: [ 0.096 -0.115  0.922  0.005  0.036 -0.076  0.965]
+t: 67	 action: [ 0.075 -0.226  0.942  0.013  0.045 -0.073  0.977]
+t: 68	 action: [ 0.051 -0.255  0.94   0.013  0.042 -0.062  0.97 ]
+t: 69	 action: [ 0.036 -0.367  0.95   0.025  0.054 -0.057  0.983]
+t: 70	 action: [-0.007 -0.435  0.934  0.023  0.062 -0.06   0.986]
+t: 71	 action: [-0.007 -0.514  0.935  0.039  0.068 -0.05   0.997]
+t: 72	 action: [-0.052 -0.605  0.901  0.039  0.065 -0.035  0.996]
+t: 73	 action: [-0.058 -0.639  0.828  0.052  0.067 -0.033  0.997]
+[07-31 02:09:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.206 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7669
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7669
+Query 1/1: Action query time = 1.206 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7669
+t=74: Selected seed 195 with value = 0.7669
+t: 74	 action: [-0.096 -0.691  0.536  0.05   0.065 -0.025  0.98 ]
+t: 75	 action: [-0.08  -0.712  0.405  0.05   0.066 -0.025  0.991]
+t: 76	 action: [-0.131 -0.749  0.288  0.05   0.058 -0.03   0.981]
+t: 77	 action: [-0.122 -0.728  0.166  0.05   0.053 -0.025  0.989]
+t: 78	 action: [-0.169 -0.752  0.11   0.059  0.05  -0.023  0.979]
+t: 79	 action: [-0.192 -0.739 -0.003  0.056  0.036 -0.021  0.982]
+t: 80	 action: [-0.194 -0.738 -0.083  0.055  0.044 -0.027  0.981]
+t: 81	 action: [-0.215 -0.702 -0.175  0.048  0.035 -0.021  0.988]
+t: 82	 action: [-0.18  -0.722 -0.305  0.031  0.035 -0.008  0.978]
+t: 83	 action: [-0.18  -0.619 -0.427  0.023  0.039 -0.006  0.986]
+t: 84	 action: [-1.974e-01 -6.205e-01 -4.615e-01  1.248e-02  3.347e-02  9.371e-04  9.714e-01]
+t: 85	 action: [-0.19  -0.491 -0.555  0.01   0.038  0.001  0.99 ]
+t: 86	 action: [-0.251 -0.443 -0.604  0.004  0.025  0.002  0.989]
+t: 87	 action: [-0.235 -0.369 -0.638  0.004  0.038  0.015  0.981]
+t: 88	 action: [-2.142e-01 -2.814e-01 -6.477e-01  5.511e-04  3.866e-02  7.607e-03  9.827e-01]
+t: 89	 action: [-0.18  -0.217 -0.647 -0.004  0.066  0.024  0.987]
+[07-31 02:09:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.096 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9279
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9279
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 36
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 32 (88.9%)
+
+
 72%|███████▏  | 36/50 [08:36<03:21, 14.42s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 37...
+Query 1/1: Action query time = 1.096 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9279
+t=90: Selected seed 195 with value = 0.9279
+t: 90	 action: [-0.08   0.008 -0.761 -0.003  0.009  0.017  0.994]
+t: 91	 action: [-0.068  0.01  -0.624 -0.013  0.008  0.033  1.012]
+t: 92	 action: [-0.036  0.066 -0.559 -0.004  0.042  0.034  0.958]
+t: 93	 action: [-0.042  0.052 -0.445 -0.013  0.051  0.032  0.986]
+t: 94	 action: [-0.064  0.067 -0.284 -0.015  0.074  0.045  1.016]
+t: 95	 action: [-0.055  0.08  -0.113 -0.013  0.096  0.046  0.991]
+t: 96	 action: [-0.023  0.058 -0.049 -0.008  0.1    0.038  0.801]
+t: 97	 action: [-0.034  0.05   0.075 -0.004  0.11   0.02  -1.037]
+t: 98	 action: [ 0.028  0.046  0.177 -0.003  0.101  0.01  -1.011]
+t: 99	 action: [ 0.021  0.043  0.195 -0.007  0.09   0.004 -1.012]
+t: 100	 action: [ 0.043  0.047  0.266  0.001  0.091  0.006 -1.004]
+t: 101	 action: [ 0.035  0.041  0.284 -0.002  0.084  0.001 -1.002]
+t: 102	 action: [ 4.881e-02  3.707e-02  3.521e-01 -3.976e-04  6.963e-02 -4.956e-03 -1.021e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=36--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+93 93 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=36--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 32 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 37...
+[07-31 02:09:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4275
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4275
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4275
+t=10: Selected seed 195 with value = 0.4275
+t: 10	 action: [ 0.161  0.045 -0.018  0.003  0.007  0.002 -0.997]
+t: 11	 action: [ 3.019e-01  1.247e-01  1.457e-03 -2.729e-03  9.899e-03 -3.260e-04 -9.920e-01]
+t: 12	 action: [ 0.393  0.261 -0.023  0.002  0.012  0.004 -0.997]
+t: 13	 action: [ 0.527  0.346 -0.001 -0.003  0.014  0.001 -0.991]
+t: 14	 action: [ 0.62   0.407 -0.01  -0.003  0.02   0.002 -1.002]
+t: 15	 action: [ 0.711  0.48  -0.015 -0.004  0.021  0.003 -1.009]
+t: 16	 action: [ 0.775  0.527 -0.011 -0.003  0.029  0.002 -0.997]
+t: 17	 action: [ 0.798  0.547 -0.037 -0.004  0.029  0.003 -1.01 ]
+t: 18	 action: [ 0.791  0.547 -0.062  0.004  0.022  0.008 -0.997]
+t: 19	 action: [ 8.069e-01  5.344e-01 -7.058e-02 -9.643e-03  2.119e-02  6.787e-04 -9.975e-01]
+t: 20	 action: [ 8.291e-01  5.575e-01 -1.010e-01  7.218e-04  1.772e-02  8.179e-03 -1.000e+00]
+t: 21	 action: [ 0.832  0.528 -0.116 -0.01   0.017  0.001 -0.994]
+t: 22	 action: [ 0.869  0.561 -0.116 -0.003  0.019  0.004 -0.993]
+t: 23	 action: [ 8.713e-01  5.372e-01 -1.659e-01 -7.846e-03  6.780e-03  4.445e-05 -1.007e+00]
+t: 24	 action: [ 0.877  0.532 -0.198 -0.005  0.015  0.003 -0.998]
+t: 25	 action: [ 8.619e-01  4.647e-01 -2.670e-01 -7.321e-03  3.045e-03  4.265e-04 -1.011e+00]
+[07-31 02:09:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4102
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4102
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4102
+t=26: Selected seed 195 with value = 0.4102
+t: 26	 action: [ 0.878  0.428 -0.231  0.001  0.015  0.008 -1.002]
+t: 27	 action: [ 0.845  0.399 -0.282 -0.001  0.012  0.003 -1.008]
+t: 28	 action: [ 0.817  0.368 -0.306  0.002  0.008  0.006 -1.007]
+t: 29	 action: [ 7.398e-01  2.918e-01 -3.521e-01  5.278e-03  6.215e-03  6.252e-04 -1.009e+00]
+t: 30	 action: [ 6.195e-01  2.386e-01 -4.516e-01  1.345e-03 -7.042e-03  6.746e-04 -1.002e+00]
+t: 31	 action: [ 0.499  0.2   -0.594  0.014 -0.01  -0.001 -1.011]
+t: 32	 action: [ 0.386  0.13  -0.729  0.011 -0.019 -0.001 -1.008]
+t: 33	 action: [ 0.302  0.096 -0.868  0.022 -0.025 -0.004 -1.012]
+t: 34	 action: [ 0.154  0.039 -0.917  0.019 -0.04   0.004 -1.012]
+t: 35	 action: [ 5.786e-02  4.264e-02 -9.524e-01  1.520e-02 -4.295e-02 -4.551e-04 -1.004e+00]
+t: 36	 action: [ 0.051  0.011 -0.951  0.016 -0.042  0.004 -1.015]
+t: 37	 action: [ 1.250e-03 -1.841e-02 -9.729e-01  1.210e-02 -4.614e-02  7.093e-04 -1.004e+00]
+t: 38	 action: [-5.264e-02 -2.274e-02 -9.376e-01  5.475e-03 -4.316e-02  1.518e-04 -1.011e+00]
+t: 39	 action: [-0.075 -0.072 -0.95   0.005 -0.05  -0.002 -1.01 ]
+t: 40	 action: [-1.894e-01 -1.122e-01 -9.414e-01  3.799e-04 -4.004e-02 -5.767e-04 -1.015e+00]
+t: 41	 action: [-2.423e-01 -1.204e-01 -9.373e-01  2.705e-04 -5.290e-02  5.380e-04 -1.013e+00]
+[07-31 02:09:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6023
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6023
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6023
+t=42: Selected seed 195 with value = 0.6023
+t: 42	 action: [-0.369  0.024 -0.937  0.012 -0.06   0.009 -1.014]
+t: 43	 action: [-0.444  0.027 -0.926  0.007 -0.07   0.016 -0.999]
+t: 44	 action: [-0.49   0.018 -0.895  0.017 -0.05   0.014 -1.012]
+t: 45	 action: [-0.512  0.023 -0.873  0.01  -0.059  0.019 -1.001]
+t: 46	 action: [-0.576  0.03  -0.876  0.009 -0.042  0.007 -1.015]
+t: 47	 action: [-0.538  0.054 -0.791  0.011 -0.039  0.015 -1.01 ]
+t: 48	 action: [-0.53   0.025 -0.771  0.007 -0.027  0.011 -1.019]
+t: 49	 action: [-0.479  0.043 -0.72   0.008 -0.014  0.012 -1.018]
+t: 50	 action: [-0.455  0.014 -0.66   0.019  0.019  0.009 -1.001]
+t: 51	 action: [-0.444 -0.024 -0.611  0.016  0.022  0.019 -1.018]
+t: 52	 action: [-0.362 -0.005 -0.569  0.014  0.024  0.008  0.985]
+t: 53	 action: [-0.291 -0.046 -0.495  0.011  0.033  0.007  0.991]
+t: 54	 action: [-0.349 -0.006 -0.454  0.008  0.041 -0.001  1.   ]
+t: 55	 action: [-0.249 -0.05  -0.341  0.007  0.038 -0.001  0.997]
+t: 56	 action: [-0.214 -0.043 -0.21   0.003  0.057 -0.002  1.021]
+t: 57	 action: [-1.406e-01 -7.461e-02 -7.811e-02  3.937e-04  6.117e-02 -1.830e-02  1.005e+00]
+[07-31 02:09:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7148
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7148
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7148
+t=58: Selected seed 195 with value = 0.7148
+t: 58	 action: [-0.058 -0.263 -0.137  0.003  0.038 -0.015  0.991]
+t: 59	 action: [-0.078 -0.226 -0.057 -0.003  0.034 -0.032  0.987]
+t: 60	 action: [-0.041 -0.225  0.07   0.001  0.027 -0.049  0.991]
+t: 61	 action: [-0.015 -0.172  0.212  0.001  0.028 -0.046  0.991]
+t: 62	 action: [-2.918e-02 -1.321e-01  3.643e-01 -9.831e-04  2.408e-02 -3.790e-02  1.001e+00]
+t: 63	 action: [-0.018 -0.077  0.654 -0.001  0.016 -0.039  0.979]
+t: 64	 action: [ 0.004 -0.076  0.794  0.003  0.022 -0.059  0.996]
+t: 65	 action: [-0.004 -0.058  0.893  0.005  0.019 -0.049  0.989]
+t: 66	 action: [ 0.033 -0.191  0.909  0.014  0.021 -0.031  0.98 ]
+t: 67	 action: [ 0.028 -0.242  0.937  0.019  0.017 -0.034  0.982]
+t: 68	 action: [ 0.005 -0.36   0.917  0.018  0.017 -0.021  0.974]
+t: 69	 action: [-0.003 -0.457  0.916  0.023  0.017 -0.023  0.986]
+t: 70	 action: [-0.097 -0.586  0.825  0.034  0.022 -0.007  0.995]
+t: 71	 action: [-0.135 -0.638  0.786  0.038  0.009 -0.002  0.985]
+t: 72	 action: [-0.157 -0.716  0.656  0.03   0.016 -0.003  0.993]
+t: 73	 action: [-0.191 -0.736  0.532  0.039  0.007  0.006  0.992]
+[07-31 02:09:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8737
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=74: Selected seed 195 with value = 0.8737
+t: 74	 action: [-2.739e-01 -8.147e-01  6.976e-04  1.348e-02  2.820e-02  4.624e-04  9.702e-01]
+t: 75	 action: [-3.098e-01 -7.676e-01 -7.539e-02  1.209e-02  6.659e-03  1.570e-04  9.815e-01]
+t: 76	 action: [-3.431e-01 -7.124e-01 -2.687e-01  7.738e-03  1.110e-02  9.030e-04  9.835e-01]
+t: 77	 action: [-0.352 -0.578 -0.431  0.002 -0.003  0.008  0.993]
+t: 78	 action: [-0.352 -0.483 -0.527  0.002 -0.022  0.007  0.985]
+t: 79	 action: [-0.352 -0.37  -0.622 -0.01  -0.024  0.01   1.   ]
+t: 80	 action: [-0.333 -0.226 -0.724 -0.026 -0.043  0.011  0.995]
+t: 81	 action: [-0.31  -0.114 -0.802 -0.033 -0.049  0.017  1.013]
+t: 82	 action: [-0.186 -0.012 -0.758 -0.047 -0.053  0.012  1.003]
+t: 83	 action: [-0.213 -0.013 -0.772 -0.058 -0.046  0.021  0.985]
+t: 84	 action: [-0.096  0.02  -0.637 -0.072 -0.032  0.01   0.99 ]
+t: 85	 action: [-0.081  0.037 -0.456 -0.072 -0.014  0.012  1.002]
+t: 86	 action: [-0.085  0.019 -0.392 -0.083 -0.013  0.011  1.029]
+t: 87	 action: [-0.059  0.025 -0.193 -0.068 -0.014  0.015  0.991]
+t: 88	 action: [ 0.013  0.02   0.045 -0.073  0.011  0.003 -0.989]
+t: 89	 action: [ 2.990e-02  6.380e-03  1.817e-01 -5.972e-02  2.451e-03 -8.111e-04 -1.017e+00]
+[07-31 02:09:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9972
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+t: 90	 action: [ 0.053  0.019  0.245 -0.006  0.098 -0.018 -0.998]
+t: 91	 action: [ 0.081  0.012  0.299 -0.004  0.11  -0.024 -1.019]
+t: 92	 action: [ 1.081e-01  1.619e-02  3.525e-01 -1.077e-04  1.016e-01 -2.695e-02 -9.973e-01]
+t: 93	 action: [ 0.147  0.023  0.397  0.004  0.116 -0.025 -1.009]
+t: 94	 action: [ 0.176  0.025  0.416  0.003  0.106 -0.037 -1.009]
+t: 95	 action: [ 0.185  0.028  0.402  0.006  0.114 -0.031 -1.013]
+t: 96	 action: [ 0.186  0.016  0.402  0.005  0.106 -0.041 -1.006]
+t: 97	 action: [ 0.187  0.032  0.379  0.013  0.111 -0.032 -1.016]
+t: 98	 action: [ 0.146  0.018  0.266  0.016  0.114 -0.023 -1.004]
+t: 99	 action: [ 0.147  0.016  0.265  0.018  0.125 -0.029 -1.01 ]
+t: 100	 action: [ 0.112  0.017  0.187  0.014  0.104 -0.022 -1.005]
+t: 101	 action: [ 0.122  0.018  0.19   0.017  0.119 -0.027 -1.008]
+t: 102	 action: [ 0.123  0.013  0.16   0.01   0.094 -0.02  -1.015]
+t: 103	 action: [ 0.124  0.024  0.145  0.014  0.103 -0.028 -1.016]
+t: 104	 action: [ 0.109  0.015  0.13   0.008  0.091 -0.02  -1.014]
+t: 105	 action: [ 0.105  0.024  0.129  0.013  0.102 -0.026 -1.02 ]
+[07-31 02:09:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.007 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9864
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 1.007 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=106: Selected seed 195 with value = 0.9864
+t: 106	 action: [ 0.097  0.003 -0.034  0.008  0.048 -0.02  -0.993]
+t: 107	 action: [ 0.1   -0.036 -0.026  0.003  0.049 -0.033 -1.012]
+t: 108	 action: [ 0.095  0.007 -0.023  0.007  0.048 -0.021 -0.993]
+t: 109	 action: [ 0.09  -0.036  0.003  0.005  0.056 -0.031 -1.001]
+t: 110	 action: [ 1.056e-01  1.829e-03  8.193e-04  3.817e-03  5.027e-02 -2.075e-02 -9.908e-01]
+t: 111	 action: [ 0.104 -0.008  0.027  0.006  0.064 -0.031 -1.009]
+t: 112	 action: [ 0.106  0.007  0.024  0.003  0.055 -0.02  -1.002]
+t: 113	 action: [ 0.066 -0.008  0.063  0.006  0.072 -0.033 -1.011]
+t: 114	 action: [ 0.067 -0.063 -0.076  0.006  0.052 -0.018 -0.933]
+t: 115	 action: [ 0.093 -0.062 -0.052  0.002  0.055 -0.023 -0.954]
+t: 116	 action: [ 0.088 -0.032 -0.068  0.004  0.046 -0.01   0.857]
+t: 117	 action: [ 1.848e-01 -5.080e-02 -3.915e-02 -1.077e-04  5.097e-02 -2.142e-02  9.361e-01]
+t: 118	 action: [ 0.063 -0.012 -0.046  0.003  0.051 -0.017  0.971]
+t: 119	 action: [ 0.122 -0.028 -0.011  0.005  0.056 -0.014  0.951]
+t: 120	 action: [ 8.086e-02 -1.219e-02 -2.291e-02  7.786e-05  4.924e-02 -1.437e-02  5.799e-01]
+t: 121	 action: [ 0.131 -0.024  0.012  0.002  0.058 -0.01  -0.899]
+[07-31 02:09:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9384
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9384
+Query 1/1: Action query time = 1.003 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=122: Selected seed 195 with value = 0.9384
+t: 122	 action: [-0.107 -0.271 -0.431 -0.024 -0.034  0.011  0.975]
+t: 123	 action: [-0.094 -0.241 -0.455 -0.031 -0.043  0.016  1.013]
+t: 124	 action: [-0.096 -0.166 -0.43  -0.04  -0.049  0.012  0.983]
+t: 125	 action: [-0.058 -0.126 -0.419 -0.043 -0.063  0.009  0.953]
+t: 126	 action: [-0.083 -0.082 -0.37  -0.057 -0.052  0.009  0.98 ]
+t: 127	 action: [-0.047 -0.097 -0.235 -0.063 -0.055  0.023  1.011]
+t: 128	 action: [-0.019 -0.009 -0.226 -0.052 -0.05   0.007  0.975]
+t: 129	 action: [ 0.009 -0.03  -0.1   -0.052 -0.045  0.012 -0.905]
+t: 130	 action: [ 1.734e-04  1.589e-02 -3.518e-02 -3.101e-02 -5.255e-02  4.045e-03 -8.855e-01]
+t: 131	 action: [ 0.014 -0.007  0.032 -0.029 -0.052 -0.013 -1.007]
+t: 132	 action: [ 0.004  0.014  0.038 -0.016 -0.055 -0.003 -1.001]
+t: 133	 action: [ 0.013  0.002  0.076 -0.016 -0.047 -0.018 -1.006]
+t: 134	 action: [-0.007  0.017  0.072 -0.013 -0.063 -0.005 -1.042]
+t: 135	 action: [-0.016  0.038  0.143 -0.015 -0.061 -0.02  -1.021]
+t: 136	 action: [-1.003e-03  3.015e-02  1.023e-01 -5.259e-03 -5.142e-02 -8.597e-03 -1.014e+00]
+t: 137	 action: [-0.007  0.043  0.159 -0.007 -0.049 -0.019 -1.014]
+[07-31 02:09:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9978
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.999 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=138: Selected seed 195 with value = 0.9978
+t: 138	 action: [ 0.032  0.013  0.327  0.006  0.007 -0.008 -0.995]
+t: 139	 action: [ 0.008  0.003  0.29   0.003  0.001 -0.02  -1.013]
+t: 140	 action: [ 0.022  0.017  0.232  0.008 -0.006 -0.013 -0.997]
+t: 141	 action: [ 0.001  0.005  0.194  0.005 -0.007 -0.023 -0.991]
+t: 142	 action: [ 0.006  0.034  0.173  0.012 -0.022 -0.013 -1.003]
+t: 143	 action: [-0.027  0.018  0.142  0.004 -0.024 -0.022 -1.026]
+t: 144	 action: [-0.009  0.034  0.116  0.018 -0.023 -0.013 -1.009]
+t: 145	 action: [-0.03   0.027  0.091  0.007 -0.022 -0.027 -1.004]
+t: 146	 action: [-0.001  0.04   0.072  0.009 -0.045 -0.01  -1.009]
+t: 147	 action: [-1.241e-02  2.408e-02  6.517e-02 -8.641e-04 -4.213e-02 -1.990e-02 -1.016e+00]
+t: 148	 action: [-0.02   0.043  0.043  0.007 -0.048 -0.01  -1.009]
+t: 149	 action: [-0.021  0.028  0.046 -0.002 -0.043 -0.021 -1.003]
+t: 150	 action: [-0.022  0.062  0.052  0.005 -0.049 -0.008 -1.019]
+t: 151	 action: [-0.054  0.047  0.064  0.001 -0.044 -0.021 -1.022]
+t: 152	 action: [-0.026  0.071  0.048  0.002 -0.043 -0.009 -1.017]
+t: 153	 action: [-4.864e-02  5.023e-02  6.808e-02 -3.450e-04 -3.437e-02 -1.860e-02 -1.013e+00]
+[07-31 02:09:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9932
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 1.000 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=154: Selected seed 195 with value = 0.9932
+t: 154	 action: [-1.954e-02  1.469e-02 -1.272e-01 -3.865e-04 -1.904e-02 -1.304e-02 -9.929e-01]
+t: 155	 action: [-0.016 -0.013 -0.115 -0.015 -0.018 -0.025 -1.015]
+t: 156	 action: [-1.452e-02  2.413e-02 -6.783e-02 -3.284e-04 -1.721e-02 -1.304e-02 -9.918e-01]
+t: 157	 action: [-0.009 -0.004 -0.053 -0.015 -0.012 -0.025 -1.   ]
+t: 158	 action: [-0.006  0.019 -0.067 -0.001 -0.021 -0.014 -0.989]
+t: 159	 action: [ 0.002  0.014 -0.02  -0.011 -0.02  -0.027 -1.011]
+t: 160	 action: [ 0.008  0.038 -0.024 -0.001 -0.015 -0.015 -1.002]
+t: 161	 action: [-4.372e-05  1.832e-02  1.063e-03 -1.270e-02 -1.162e-02 -2.974e-02 -1.007e+00]
+t: 162	 action: [-0.002  0.022 -0.119 -0.011 -0.02  -0.009 -0.941]
+t: 163	 action: [-0.004 -0.021 -0.085 -0.019 -0.016 -0.026 -0.975]
+t: 164	 action: [-0.004  0.023 -0.11  -0.017 -0.021 -0.01  -0.552]
+t: 165	 action: [-0.007  0.002 -0.051 -0.02  -0.017 -0.023  0.893]
+t: 166	 action: [ 0.007  0.031 -0.076 -0.008 -0.018 -0.01   0.964]
+t: 167	 action: [ 0.04   0.011 -0.03  -0.014 -0.023 -0.018  0.951]
+t: 168	 action: [ 0.005  0.034 -0.044 -0.012 -0.016 -0.013  0.191]
+t: 169	 action: [ 0.011  0.029 -0.009 -0.017 -0.019 -0.016 -0.986]
+[07-31 02:09:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9914
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=170: Selected seed 195 with value = 0.9914
+t: 170	 action: [-5.772e-02 -2.594e-02  1.546e-01 -6.530e-04  4.536e-02 -5.377e-04 -5.384e-01]
+t: 171	 action: [-0.077 -0.02   0.099 -0.003  0.015 -0.012 -0.39 ]
+t: 172	 action: [-0.039  0.013  0.177  0.001  0.008 -0.014 -0.977]
+t: 173	 action: [-0.035 -0.024  0.149  0.005 -0.005 -0.022 -0.995]
+t: 174	 action: [-0.013  0.028  0.171 -0.003  0.004 -0.016 -1.017]
+t: 175	 action: [-0.075 -0.001  0.151  0.005 -0.013 -0.014 -1.076]
+t: 176	 action: [-0.033  0.011  0.157  0.002 -0.008 -0.017 -0.997]
+t: 177	 action: [-0.048 -0.013  0.123  0.009 -0.027 -0.028 -1.012]
+t: 178	 action: [-0.04  -0.005  0.07   0.007 -0.047 -0.015 -0.999]
+t: 179	 action: [-0.067 -0.034  0.059 -0.002 -0.05  -0.025 -1.019]
+t: 180	 action: [-0.061  0.004  0.029  0.005 -0.052 -0.013 -0.999]
+t: 181	 action: [-0.071 -0.028  0.035 -0.003 -0.052 -0.025 -0.998]
+t: 182	 action: [-0.044  0.013  0.053  0.002 -0.059 -0.016 -1.016]
+t: 183	 action: [-0.087 -0.004  0.052 -0.001 -0.06  -0.027 -1.024]
+t: 184	 action: [-6.116e-02  1.746e-02  4.138e-02  1.383e-04 -5.012e-02 -1.569e-02 -1.012e+00]
+t: 185	 action: [-0.087  0.003  0.041 -0.002 -0.049 -0.024 -1.014]
+[07-31 02:09:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9974
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=186: Selected seed 195 with value = 0.9974
+t: 186	 action: [-4.049e-02  3.465e-02  4.227e-02 -4.352e-04 -4.571e-02  6.956e-03 -9.934e-01]
+t: 187	 action: [-0.039  0.048  0.064 -0.012 -0.047 -0.006 -1.007]
+t: 188	 action: [-5.219e-02  3.758e-02  3.802e-02 -3.421e-04 -5.029e-02  5.036e-03 -9.919e-01]
+t: 189	 action: [-0.064  0.047  0.061 -0.011 -0.052 -0.008 -0.996]
+t: 190	 action: [-3.112e-02  5.019e-02  3.418e-02 -2.891e-03 -5.715e-02  8.542e-04 -9.971e-01]
+t: 191	 action: [-0.038  0.069  0.039 -0.01  -0.06  -0.006 -1.018]
+t: 192	 action: [-3.351e-02  4.833e-02  5.699e-02 -3.029e-04 -5.106e-02 -6.077e-04 -1.002e+00]
+t: 193	 action: [-0.041  0.068  0.067 -0.008 -0.054 -0.008 -1.011]
+t: 194	 action: [-0.04   0.033  0.025  0.001 -0.064  0.005 -1.   ]
+t: 195	 action: [-0.057  0.037  0.034 -0.014 -0.063 -0.012 -1.009]
+t: 196	 action: [-4.534e-02  3.308e-02  3.717e-02  6.536e-04 -6.183e-02  4.045e-03 -1.002e+00]
+t: 197	 action: [-0.058  0.04   0.045 -0.012 -0.063 -0.01  -1.004]
+t: 198	 action: [-1.793e-02  3.388e-02  4.031e-02 -1.621e-04 -6.201e-02  3.437e-05 -1.011e+00]
+t: 199	 action: [-0.039  0.053  0.039 -0.009 -0.058 -0.013 -1.021]
+t: 200	 action: [-2.174e-02  3.210e-02  6.119e-02 -9.044e-04 -5.502e-02 -2.175e-03 -1.013e+00]
+t: 201	 action: [-0.043  0.058  0.061 -0.009 -0.053 -0.011 -1.017]
+[07-31 02:09:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9933
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=202: Selected seed 195 with value = 0.9933
+t: 202	 action: [-0.035  0.036 -0.211  0.004  0.002  0.009 -0.991]
+t: 203	 action: [-3.391e-02  6.541e-02 -1.628e-01 -5.100e-03  5.994e-04  9.774e-03 -9.976e-01]
+t: 204	 action: [-0.063  0.035 -0.207  0.004 -0.007  0.009 -0.982]
+t: 205	 action: [-0.064  0.061 -0.136 -0.007 -0.008  0.008 -0.991]
+t: 206	 action: [-4.769e-02  3.860e-02 -2.097e-01  1.129e-04 -1.191e-02  1.250e-02 -1.002e+00]
+t: 207	 action: [-0.073  0.081 -0.204 -0.007 -0.014  0.017 -1.017]
+t: 208	 action: [-5.286e-02  2.951e-02 -1.686e-01  1.095e-04 -1.161e-02  1.100e-02 -9.952e-01]
+t: 209	 action: [-0.057  0.067 -0.121 -0.008 -0.014  0.014 -1.009]
+t: 210	 action: [-0.067  0.014 -0.138  0.003 -0.036  0.011 -1.   ]
+t: 211	 action: [-0.059  0.027 -0.088 -0.011 -0.043 -0.002 -1.01 ]
+t: 212	 action: [-7.157e-02  1.463e-02 -1.117e-01  1.472e-04 -2.988e-02  1.028e-02 -9.975e-01]
+t: 213	 action: [-0.048  0.027 -0.025 -0.011 -0.037  0.002 -1.002]
+t: 214	 action: [-5.439e-02  1.917e-02 -8.178e-02  2.083e-04 -3.243e-02  6.728e-03 -1.019e+00]
+t: 215	 action: [-0.06   0.041 -0.029 -0.008 -0.042  0.002 -1.021]
+t: 216	 action: [-0.062  0.016 -0.058 -0.003 -0.021  0.004 -1.015]
+t: 217	 action: [-0.07   0.039 -0.003 -0.008 -0.032  0.007 -1.016]
+[07-31 02:09:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9884
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=218: Selected seed 195 with value = 0.9884
+t: 218	 action: [-0.099 -0.012 -0.457 -0.007 -0.005  0.013 -0.986]
+t: 219	 action: [-0.091  0.007 -0.452 -0.021 -0.003  0.003 -1.   ]
+t: 220	 action: [-0.109 -0.004 -0.396 -0.002 -0.004  0.011 -0.977]
+t: 221	 action: [-0.113  0.001 -0.371 -0.017  0.002  0.004 -0.993]
+t: 222	 action: [-0.106  0.015 -0.366 -0.008 -0.003  0.01  -0.986]
+t: 223	 action: [-9.896e-02  3.797e-02 -3.151e-01 -1.654e-02  3.384e-04  1.083e-02 -9.990e-01]
+t: 224	 action: [-0.071  0.021 -0.306 -0.005  0.004  0.008 -0.981]
+t: 225	 action: [-0.06   0.038 -0.237 -0.012  0.008  0.01  -0.994]
+t: 226	 action: [-8.155e-02 -1.845e-03 -3.433e-01 -5.848e-03  2.041e-04  1.756e-02 -9.642e-01]
+t: 227	 action: [-5.744e-02 -9.793e-03 -2.581e-01 -1.824e-02  6.047e-04  2.849e-02 -9.936e-01]
+t: 228	 action: [-0.035  0.016 -0.255 -0.003  0.008  0.017 -0.96 ]
+t: 229	 action: [-0.031 -0.001 -0.137 -0.015  0.005  0.033 -0.954]
+t: 230	 action: [-0.042  0.023 -0.191 -0.005  0.005  0.018  0.957]
+t: 231	 action: [ 0.008  0.014 -0.063 -0.014  0.001  0.03   0.974]
+t: 232	 action: [-0.01   0.01  -0.07  -0.008  0.012  0.011  0.967]
+t: 233	 action: [ 0.028  0.013  0.043 -0.012  0.009  0.032  0.944]
+[07-31 02:09:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9515
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=234: Selected seed 195 with value = 0.9515
+t: 234	 action: [-0.059 -0.038 -0.11   0.001  0.049  0.018 -0.921]
+t: 235	 action: [-0.057 -0.049 -0.096 -0.001  0.043  0.027 -0.569]
+t: 236	 action: [-0.011 -0.006  0.15   0.007  0.066  0.016 -0.909]
+t: 237	 action: [ 0.005 -0.015  0.15   0.012  0.06   0.024 -0.935]
+t: 238	 action: [ 0.001 -0.014  0.127  0.001  0.061  0.02   0.942]
+t: 239	 action: [ 0.037 -0.019  0.187  0.005  0.077  0.032  0.963]
+t: 240	 action: [0.077 0.003 0.395 0.006 0.078 0.011 0.878]
+t: 241	 action: [0.117 0.022 0.416 0.012 0.093 0.018 0.936]
+t: 242	 action: [0.093 0.023 0.489 0.019 0.074 0.016 1.008]
+t: 243	 action: [0.109 0.034 0.457 0.011 0.065 0.011 0.954]
+t: 244	 action: [0.15  0.025 0.531 0.025 0.08  0.014 0.984]
+t: 245	 action: [0.17  0.02  0.47  0.016 0.072 0.006 0.97 ]
+t: 246	 action: [ 0.192  0.01   0.585  0.026  0.083  0.009 -0.951]
+t: 247	 action: [ 0.165  0.043  0.49   0.015  0.075  0.014 -0.995]
+t: 248	 action: [ 0.225  0.01   0.533  0.022  0.081  0.006 -0.976]
+t: 249	 action: [ 0.227  0.018  0.377  0.015  0.077  0.013 -1.027]
+[07-31 02:09:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8981
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8981
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8981
+t=250: Selected seed 195 with value = 0.8981
+t: 250	 action: [ 0.086 -0.318 -0.491  0.004  0.002 -0.016  0.999]
+t: 251	 action: [ 6.299e-02 -2.395e-01 -4.860e-01  1.873e-03 -8.379e-04 -1.604e-02  1.040e+00]
+t: 252	 action: [ 0.096 -0.136 -0.558  0.001  0.007 -0.01   1.01 ]
+t: 253	 action: [ 0.04  -0.059 -0.538 -0.004 -0.002 -0.026  0.962]
+t: 254	 action: [ 0.048 -0.008 -0.478 -0.007  0.011 -0.011  1.01 ]
+t: 255	 action: [ 0.014  0.047 -0.389 -0.009  0.012 -0.014  1.029]
+t: 256	 action: [ 0.014  0.035 -0.326 -0.008  0.026 -0.011  1.011]
+t: 257	 action: [ 0.001  0.064 -0.218 -0.011  0.037 -0.026 -0.272]
+t: 258	 action: [-0.005  0.031 -0.174 -0.004  0.055  0.007  0.987]
+t: 259	 action: [ 0.01   0.012 -0.06  -0.009  0.063 -0.014 -1.011]
+t: 260	 action: [ 0.023  0.017  0.048 -0.006  0.069  0.005 -1.042]
+t: 261	 action: [ 0.022  0.003  0.111 -0.012  0.073 -0.018 -1.009]
+t: 262	 action: [ 5.326e-02  3.301e-02  2.100e-01 -1.395e-02  7.935e-02 -3.792e-05 -9.683e-01]
+t: 263	 action: [ 0.101  0.041  0.295 -0.019  0.081 -0.026 -1.012]
+t: 264	 action: [ 0.092  0.028  0.326 -0.011  0.09  -0.003 -1.031]
+t: 265	 action: [ 0.102  0.051  0.363 -0.014  0.098 -0.022 -1.013]
+[07-31 02:09:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.209 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9965
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 1.209 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=266: Selected seed 195 with value = 0.9965
+t: 266	 action: [ 0.04   0.004  0.452  0.01   0.043 -0.014 -0.996]
+t: 267	 action: [ 0.03  -0.006  0.402  0.013  0.024 -0.021 -1.014]
+t: 268	 action: [ 0.02   0.009  0.39   0.014  0.022 -0.02  -0.992]
+t: 269	 action: [ 0.014  0.003  0.332  0.018  0.01  -0.022 -1.003]
+t: 270	 action: [-1.137e-04  2.428e-02  2.588e-01  1.706e-02  5.416e-03 -2.366e-02 -1.005e+00]
+t: 271	 action: [-1.191e-02  9.756e-03  2.458e-01  1.600e-02  1.937e-04 -2.477e-02 -1.029e+00]
+t: 272	 action: [-0.006  0.024  0.193  0.019 -0.002 -0.022 -1.005]
+t: 273	 action: [-0.014  0.02   0.173  0.016 -0.006 -0.028 -1.02 ]
+t: 274	 action: [-0.019  0.027  0.123  0.011 -0.038 -0.03  -1.007]
+t: 275	 action: [-0.016  0.031  0.121  0.006 -0.037 -0.03  -1.013]
+t: 276	 action: [-0.03   0.027  0.086  0.007 -0.046 -0.024 -1.003]
+t: 277	 action: [-0.021  0.032  0.086  0.003 -0.045 -0.028 -1.003]
+t: 278	 action: [-0.015  0.036  0.083  0.005 -0.044 -0.021 -1.016]
+t: 279	 action: [-0.02   0.051  0.085  0.002 -0.044 -0.029 -1.026]
+t: 280	 action: [-0.017  0.048  0.078  0.002 -0.045 -0.018 -1.013]
+t: 281	 action: [-1.946e-02  5.381e-02  8.516e-02 -6.131e-04 -4.524e-02 -2.449e-02 -1.021e+00]
+[07-31 02:09:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.148 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9975
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 1.148 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=282: Selected seed 195 with value = 0.9975
+t: 282	 action: [ 0.001  0.013 -0.138 -0.006 -0.024  0.011 -0.992]
+t: 283	 action: [ 0.01   0.016 -0.142 -0.017 -0.027  0.003 -1.015]
+t: 284	 action: [-0.024  0.015 -0.108 -0.008 -0.026  0.009 -0.989]
+t: 285	 action: [-0.019  0.012 -0.077 -0.018 -0.026  0.006 -1.009]
+t: 286	 action: [-0.018  0.018 -0.09  -0.008 -0.039  0.006 -0.992]
+t: 287	 action: [-0.007  0.047 -0.078 -0.012 -0.045  0.005 -1.025]
+t: 288	 action: [-0.02   0.02  -0.055 -0.006 -0.033  0.006 -0.994]
+t: 289	 action: [-0.009  0.037 -0.016 -0.013 -0.038  0.006 -1.02 ]
+t: 290	 action: [-0.027  0.012 -0.104 -0.008 -0.036  0.01  -0.995]
+t: 291	 action: [-0.011 -0.003 -0.108 -0.017 -0.031  0.002 -1.017]
+t: 292	 action: [-0.034  0.015 -0.08  -0.01  -0.034  0.009 -0.998]
+t: 293	 action: [-2.248e-02 -5.656e-04 -6.225e-02 -1.778e-02 -2.987e-02  4.048e-03 -1.014e+00]
+t: 294	 action: [-0.024  0.007 -0.072 -0.008 -0.04   0.006 -1.004]
+t: 295	 action: [-2.279e-02  1.699e-02 -4.004e-02 -1.166e-02 -4.437e-02 -1.004e-03 -1.032e+00]
+t: 296	 action: [-0.023  0.011 -0.039 -0.007 -0.034  0.004 -1.005]
+t: 297	 action: [-0.028  0.02  -0.013 -0.012 -0.039  0.002 -1.025]
+[07-31 02:09:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.123 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9946
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9946
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 37
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 32 (86.5%)
+
+
 74%|███████▍  | 37/50 [09:09<04:17, 19.80s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 38...
+Query 1/1: Action query time = 1.123 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=298: Selected seed 195 with value = 0.9946
+t: 298	 action: [-0.039 -0.002 -0.337 -0.029 -0.024  0.012 -0.975]
+t: 299	 action: [-0.04  -0.003 -0.27  -0.028 -0.024  0.003 -1.011]
+t: 300	 action: [-0.052  0.011 -0.207 -0.024 -0.016  0.009 -0.979]
+t: 301	 action: [-0.09  -0.004 -0.152 -0.024 -0.01   0.008 -1.007]
+t: 302	 action: [-0.039  0.002 -0.179 -0.029 -0.024  0.008 -0.978]
+t: 303	 action: [-0.028  0.041 -0.136 -0.024 -0.019  0.003 -1.016]
+t: 304	 action: [-0.026  0.014 -0.111 -0.018 -0.013  0.006 -0.986]
+t: 305	 action: [-0.026  0.038 -0.049 -0.02  -0.006  0.007 -1.02 ]
+t: 306	 action: [-0.06   0.013 -0.199 -0.022 -0.023  0.009 -0.977]
+t: 307	 action: [-0.064 -0.026 -0.179 -0.028 -0.016  0.005 -0.98 ]
+t: 308	 action: [-0.035  0.014 -0.163 -0.019 -0.015  0.007 -0.963]
+t: 309	 action: [-0.027 -0.019 -0.118 -0.027 -0.006  0.008 -0.975]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=37--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=37--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 37
+# successes: 32 (86.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 38...
+[07-31 02:09:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4156
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4156
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4156
+t=10: Selected seed 195 with value = 0.4156
+t: 10	 action: [ 0.128  0.098 -0.009  0.003  0.006  0.005 -1.011]
+t: 11	 action: [ 2.093e-01  1.744e-01  7.350e-03 -8.668e-04  7.929e-03  7.202e-03 -9.951e-01]
+t: 12	 action: [ 0.322  0.299 -0.015  0.001  0.009  0.009 -1.005]
+t: 13	 action: [ 4.466e-01  3.794e-01  6.279e-03  2.802e-05  8.411e-03  9.572e-03 -9.946e-01]
+t: 14	 action: [ 5.320e-01  4.370e-01 -7.486e-03 -3.293e-04  1.856e-02  8.173e-03 -1.012e+00]
+t: 15	 action: [ 0.627  0.506 -0.001 -0.001  0.013  0.014 -1.007]
+t: 16	 action: [ 0.719  0.551 -0.013 -0.001  0.024  0.012 -1.   ]
+t: 17	 action: [ 7.720e-01  5.869e-01 -2.115e-02  4.515e-04  1.468e-02  1.475e-02 -1.009e+00]
+t: 18	 action: [ 0.693  0.618 -0.065  0.003  0.023  0.015 -1.006]
+t: 19	 action: [ 0.719  0.605 -0.07  -0.006  0.018  0.015 -1.001]
+t: 20	 action: [ 0.737  0.64  -0.109  0.002  0.021  0.016 -1.005]
+t: 21	 action: [ 0.755  0.611 -0.136 -0.007  0.017  0.016 -0.997]
+t: 22	 action: [ 0.798  0.651 -0.129 -0.002  0.023  0.015 -0.998]
+t: 23	 action: [ 0.83   0.643 -0.192 -0.006  0.007  0.018 -1.006]
+t: 24	 action: [ 0.809  0.65  -0.227 -0.001  0.021  0.014 -0.997]
+t: 25	 action: [ 0.849  0.591 -0.331 -0.005  0.006  0.018 -1.009]
+[07-31 02:09:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5228
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5228
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5228
+t=26: Selected seed 195 with value = 0.5228
+t: 26	 action: [ 0.854  0.406 -0.297  0.005 -0.005  0.01  -0.999]
+t: 27	 action: [ 8.136e-01  3.647e-01 -3.470e-01  3.704e-03  2.262e-04  7.862e-03 -9.955e-01]
+t: 28	 action: [ 0.744  0.277 -0.413  0.006 -0.014  0.009 -1.002]
+t: 29	 action: [ 0.684  0.222 -0.471  0.009 -0.01   0.006 -0.997]
+t: 30	 action: [ 0.575  0.178 -0.586  0.002 -0.029  0.001 -1.008]
+t: 31	 action: [ 4.609e-01  1.691e-01 -6.970e-01  9.706e-03 -3.798e-02 -6.726e-04 -1.006e+00]
+t: 32	 action: [ 3.910e-01  1.486e-01 -8.269e-01  8.466e-03 -3.823e-02  2.370e-04 -1.009e+00]
+t: 33	 action: [ 0.309  0.138 -0.881  0.014 -0.044 -0.003 -1.003]
+t: 34	 action: [ 0.147  0.098 -0.924  0.022 -0.046  0.008 -1.012]
+t: 35	 action: [ 0.074  0.109 -0.948  0.013 -0.048  0.003 -1.004]
+t: 36	 action: [ 0.075  0.108 -0.95   0.013 -0.044  0.007 -1.014]
+t: 37	 action: [ 2.727e-02  9.456e-02 -9.580e-01  5.891e-03 -4.417e-02 -1.153e-04 -1.001e+00]
+t: 38	 action: [-0.006  0.121 -0.942  0.003 -0.043  0.002 -1.015]
+t: 39	 action: [-3.013e-02  7.999e-02 -9.426e-01  1.448e-03 -4.359e-02 -8.777e-04 -1.014e+00]
+t: 40	 action: [-9.829e-02  5.386e-02 -9.375e-01 -2.494e-04 -3.614e-02  6.368e-04 -1.016e+00]
+t: 41	 action: [-0.114  0.037 -0.92  -0.007 -0.039 -0.002 -1.013]
+[07-31 02:09:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5843
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=42: Selected seed 195 with value = 0.5843
+t: 42	 action: [-0.533  0.11  -0.822  0.008 -0.019  0.01  -1.01 ]
+t: 43	 action: [-0.448  0.121 -0.807  0.007 -0.016  0.005 -1.007]
+t: 44	 action: [-0.384  0.112 -0.729  0.011  0.008  0.01  -1.001]
+t: 45	 action: [-0.25   0.099 -0.706  0.01   0.005  0.003 -1.006]
+t: 46	 action: [-0.192  0.103 -0.617  0.006  0.039  0.005 -1.023]
+t: 47	 action: [-0.11   0.102 -0.556  0.007  0.033  0.002 -1.013]
+t: 48	 action: [-0.082  0.066 -0.53   0.004  0.055  0.003 -1.017]
+t: 49	 action: [-0.12   0.061 -0.498  0.008  0.059 -0.008 -1.017]
+t: 50	 action: [-0.149  0.012 -0.604  0.006  0.038  0.004 -1.009]
+t: 51	 action: [-0.192 -0.007 -0.546  0.002  0.03  -0.007 -1.02 ]
+t: 52	 action: [-0.159 -0.009 -0.562  0.006  0.038  0.003 -0.805]
+t: 53	 action: [-0.149 -0.048 -0.515 -0.002  0.029 -0.015  0.965]
+t: 54	 action: [-0.15  -0.019 -0.441  0.005  0.049 -0.016  0.988]
+t: 55	 action: [-0.117 -0.048 -0.354  0.001  0.038 -0.027  1.006]
+t: 56	 action: [-0.108 -0.059 -0.307  0.004  0.057 -0.018  1.015]
+t: 57	 action: [-0.076 -0.075 -0.21  -0.005  0.07  -0.025  1.032]
+[07-31 02:09:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.143 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7013
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 1.143 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=58: Selected seed 195 with value = 0.7013
+t: 58	 action: [-2.222e-01 -1.726e-01 -2.455e-01  8.451e-04  3.368e-02 -1.522e-02  9.740e-01]
+t: 59	 action: [-0.226 -0.142 -0.15  -0.003  0.033 -0.027  0.98 ]
+t: 60	 action: [-1.660e-01 -1.538e-01 -1.840e-02  3.067e-06  2.701e-02 -3.790e-02  9.753e-01]
+t: 61	 action: [-0.134 -0.119  0.113  0.002  0.029 -0.036  0.986]
+t: 62	 action: [-0.086 -0.123  0.278  0.002  0.031 -0.022  0.984]
+t: 63	 action: [-0.037 -0.078  0.596  0.002  0.028 -0.022  0.971]
+t: 64	 action: [-0.016 -0.066  0.784  0.004  0.03  -0.037  0.98 ]
+t: 65	 action: [ 0.018 -0.047  0.902  0.011  0.031 -0.031  0.98 ]
+t: 66	 action: [ 0.022 -0.092  0.906  0.008  0.025 -0.016  0.975]
+t: 67	 action: [ 0.027 -0.145  0.934  0.016  0.019 -0.025  0.982]
+t: 68	 action: [ 0.029 -0.268  0.921  0.012  0.018 -0.009  0.966]
+t: 69	 action: [ 0.026 -0.347  0.939  0.022  0.015 -0.019  0.987]
+t: 70	 action: [-0.032 -0.543  0.882  0.031  0.024 -0.004  0.987]
+t: 71	 action: [-0.028 -0.599  0.879  0.038  0.011 -0.002  0.978]
+t: 72	 action: [-0.073 -0.698  0.813  0.029  0.019 -0.002  0.982]
+t: 73	 action: [-0.064 -0.73   0.759  0.039  0.01   0.002  0.983]
+[07-31 02:09:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.102 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8364
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8364
+Query 1/1: Action query time = 1.102 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=74: Selected seed 195 with value = 0.8364
+t: 74	 action: [-0.104 -0.83   0.523  0.014  0.025 -0.004  0.971]
+t: 75	 action: [-0.142 -0.83   0.328  0.01   0.024 -0.011  0.993]
+t: 76	 action: [-0.198 -0.866  0.127  0.011  0.011 -0.004  0.973]
+t: 77	 action: [-0.233 -0.811 -0.003  0.012  0.003 -0.007  0.993]
+t: 78	 action: [-0.259 -0.783 -0.088  0.011 -0.011 -0.002  0.989]
+t: 79	 action: [-0.312 -0.717 -0.275  0.005 -0.013 -0.002  0.996]
+t: 80	 action: [-0.341 -0.617 -0.364  0.003 -0.038 -0.003  0.989]
+t: 81	 action: [-0.344 -0.488 -0.592 -0.001 -0.042 -0.002  1.003]
+t: 82	 action: [-0.316 -0.277 -0.657 -0.017 -0.081  0.008  0.979]
+t: 83	 action: [-0.351 -0.167 -0.795 -0.039 -0.065  0.005  0.988]
+t: 84	 action: [-0.324 -0.15  -0.783 -0.036 -0.095  0.008  0.98 ]
+t: 85	 action: [-0.305 -0.093 -0.853 -0.048 -0.073  0.005  1.   ]
+t: 86	 action: [-0.281 -0.062 -0.778 -0.043 -0.087  0.011  0.998]
+t: 87	 action: [-0.233 -0.043 -0.779 -0.047 -0.072  0.013  0.994]
+t: 88	 action: [-0.098 -0.019 -0.665 -0.055 -0.052  0.006  0.993]
+t: 89	 action: [-0.005 -0.015 -0.495 -0.049 -0.043  0.011  0.999]
+[07-31 02:09:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.056 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 1.0000
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 38
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 33 (86.8%)
+
+
 76%|███████▌  | 38/50 [09:21<03:28, 17.37s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 39...
+Query 1/1: Action query time = 1.056 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+t: 90	 action: [ 0.312  0.018  0.301  0.006  0.092 -0.068 -0.991]
+t: 91	 action: [ 0.265 -0.017  0.317  0.005  0.093 -0.058 -1.013]
+t: 92	 action: [ 0.238  0.005  0.322  0.006  0.082 -0.07  -0.98 ]
+t: 93	 action: [ 0.224 -0.006  0.329  0.008  0.09  -0.057 -1.002]
+t: 94	 action: [ 1.528e-01  7.532e-03  2.604e-01  7.264e-04  7.222e-02 -7.553e-02 -9.970e-01]
+t: 95	 action: [ 0.152  0.009  0.268  0.004  0.062 -0.059 -1.016]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=38--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+86 86 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=38--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 33 (86.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 39...
+[07-31 02:10:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.003 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4264
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4264
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4264
+t=10: Selected seed 195 with value = 0.4264
+t: 10	 action: [ 1.152e-01  8.362e-02  3.197e-02  4.431e-04  9.689e-03  8.973e-04 -1.003e+00]
+t: 11	 action: [ 2.731e-01  1.557e-01  2.149e-02 -2.979e-03  1.079e-02 -1.740e-04 -9.960e-01]
+t: 12	 action: [ 0.346  0.28   0.033 -0.001  0.011  0.003 -1.006]
+t: 13	 action: [ 0.503  0.367  0.019 -0.006  0.009  0.001 -1.   ]
+t: 14	 action: [ 5.759e-01  4.184e-01  3.051e-02 -3.682e-03  1.481e-02  2.089e-04 -1.007e+00]
+t: 15	 action: [ 0.693  0.458  0.003 -0.005  0.005  0.002 -1.011]
+t: 16	 action: [ 0.753  0.511  0.02  -0.006  0.016  0.002 -1.002]
+t: 17	 action: [ 0.83   0.521 -0.002 -0.008  0.003  0.003 -1.013]
+t: 18	 action: [ 0.816  0.507 -0.028  0.003  0.016  0.01  -0.999]
+t: 19	 action: [ 0.846  0.49  -0.025 -0.006  0.011  0.004 -1.   ]
+t: 20	 action: [ 0.863  0.517 -0.08   0.002  0.006  0.009 -0.999]
+t: 21	 action: [ 0.875  0.485 -0.085 -0.006  0.01   0.002 -0.997]
+t: 22	 action: [ 0.895  0.491 -0.112 -0.002  0.006  0.006 -0.994]
+t: 23	 action: [ 9.075e-01  4.556e-01 -1.674e-01 -5.216e-03  6.124e-04  6.979e-04 -1.004e+00]
+t: 24	 action: [ 0.915  0.458 -0.205 -0.003 -0.003  0.005 -0.995]
+t: 25	 action: [ 9.230e-01  3.873e-01 -2.684e-01 -4.398e-03 -2.022e-03 -5.753e-05 -1.008e+00]
+[07-31 02:10:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=26: Selected seed 195 with value = 0.4997
+t: 26	 action: [ 0.909  0.395 -0.303  0.006  0.016  0.011 -1.001]
+t: 27	 action: [ 0.851  0.336 -0.392  0.003  0.008  0.008 -1.004]
+t: 28	 action: [ 0.819  0.288 -0.443  0.004  0.008  0.009 -1.002]
+t: 29	 action: [ 0.73   0.205 -0.545  0.006  0.005  0.005 -1.004]
+t: 30	 action: [ 0.629  0.19  -0.603  0.005 -0.012  0.002 -1.005]
+t: 31	 action: [ 4.797e-01  1.091e-01 -7.250e-01  1.143e-02 -1.540e-02 -4.114e-04 -1.009e+00]
+t: 32	 action: [ 0.391  0.112 -0.821  0.007 -0.03   0.002 -1.007]
+t: 33	 action: [ 0.304  0.077 -0.849  0.014 -0.035 -0.002 -1.01 ]
+t: 34	 action: [ 0.205  0.044 -0.923  0.007 -0.03   0.005 -1.017]
+t: 35	 action: [ 0.102  0.025 -0.948  0.007 -0.026 -0.003 -1.   ]
+t: 36	 action: [ 0.075  0.02  -0.945  0.004 -0.035  0.005 -1.018]
+t: 37	 action: [ 0.025 -0.015 -0.953  0.004 -0.035 -0.003 -1.   ]
+t: 38	 action: [-1.181e-02  1.917e-02 -9.346e-01  2.559e-03 -4.101e-02 -8.553e-04 -1.016e+00]
+t: 39	 action: [-0.072 -0.034 -0.935  0.008 -0.044 -0.007 -1.004]
+t: 40	 action: [-1.611e-01 -4.386e-02 -9.363e-01  2.427e-04 -4.278e-02  7.564e-04 -1.016e+00]
+t: 41	 action: [-0.245 -0.075 -0.923  0.004 -0.048 -0.005 -1.004]
+[07-31 02:10:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5918
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=42: Selected seed 195 with value = 0.5918
+t: 42	 action: [-0.404  0.01  -0.927  0.012 -0.058  0.017 -1.003]
+t: 43	 action: [-0.435  0.012 -0.919  0.004 -0.08   0.029 -0.997]
+t: 44	 action: [-0.47   0.011 -0.857  0.015 -0.041  0.033 -0.998]
+t: 45	 action: [-0.474  0.019 -0.849  0.006 -0.057  0.033 -1.   ]
+t: 46	 action: [-0.475  0.044 -0.798  0.007 -0.034  0.026 -1.01 ]
+t: 47	 action: [-0.425  0.041 -0.733  0.007 -0.026  0.029 -1.005]
+t: 48	 action: [-0.365  0.069 -0.657  0.006 -0.016  0.032 -1.012]
+t: 49	 action: [-3.233e-01  4.819e-02 -6.562e-01  4.081e-03 -3.843e-04  2.505e-02 -1.012e+00]
+t: 50	 action: [-0.282  0.017 -0.582  0.012  0.039  0.022 -1.013]
+t: 51	 action: [-0.27  -0.028 -0.54   0.005  0.045  0.029 -1.023]
+t: 52	 action: [-0.264 -0.009 -0.542  0.009  0.048  0.014 -0.986]
+t: 53	 action: [-2.386e-01 -5.234e-02 -5.140e-01 -6.861e-05  5.373e-02  1.719e-02 -1.028e+00]
+t: 54	 action: [-0.399 -0.015 -0.486  0.006  0.036  0.002  0.746]
+t: 55	 action: [-3.014e-01 -6.031e-02 -4.115e-01  1.448e-03  2.718e-02  5.181e-04  1.009e+00]
+t: 56	 action: [-2.313e-01 -3.550e-02 -3.458e-01  4.070e-03  4.235e-02  9.849e-04  1.008e+00]
+t: 57	 action: [-0.156 -0.065 -0.235 -0.005  0.043 -0.006  0.988]
+[07-31 02:10:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6669
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6669
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6669
+t=58: Selected seed 195 with value = 0.6669
+t: 58	 action: [-0.155 -0.067 -0.364 -0.006  0.008  0.007  0.965]
+t: 59	 action: [-0.148 -0.071 -0.287 -0.005  0.009 -0.009  0.984]
+t: 60	 action: [-0.093 -0.106 -0.216 -0.004  0.015 -0.011  0.973]
+t: 61	 action: [-0.079 -0.097 -0.143 -0.004  0.012 -0.024  0.99 ]
+t: 62	 action: [-0.083 -0.108 -0.049 -0.006  0.013 -0.02   0.988]
+t: 63	 action: [-0.056 -0.116  0.06  -0.004  0.004 -0.031  0.993]
+t: 64	 action: [-0.022 -0.092  0.146 -0.005  0.013 -0.047  0.989]
+t: 65	 action: [-0.017 -0.086  0.29  -0.004  0.004 -0.05   0.999]
+t: 66	 action: [ 3.131e-02 -2.195e-02  4.599e-01  2.741e-04  6.464e-03 -5.670e-02  9.722e-01]
+t: 67	 action: [ 0.038 -0.044  0.672  0.002  0.01  -0.06   0.979]
+t: 68	 action: [ 3.529e-02 -5.663e-02  8.180e-01  2.557e-03  7.687e-04 -5.567e-02  9.714e-01]
+t: 69	 action: [ 0.025 -0.087  0.914  0.008  0.008 -0.057  0.983]
+t: 70	 action: [ 0.011 -0.148  0.941  0.012  0.007 -0.037  0.997]
+t: 71	 action: [-0.005 -0.228  0.931  0.024  0.011 -0.035  0.986]
+t: 72	 action: [-0.039 -0.357  0.919  0.03   0.015 -0.025  1.   ]
+t: 73	 action: [-0.029 -0.422  0.908  0.039  0.015 -0.024  0.994]
+[07-31 02:10:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7913
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7913
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7913
+t=74: Selected seed 195 with value = 0.7913
+t: 74	 action: [ 0.091 -0.509  0.892  0.044  0.099 -0.013  0.98 ]
+t: 75	 action: [ 0.048 -0.599  0.853  0.045  0.104 -0.012  0.993]
+t: 76	 action: [ 0.051 -0.687  0.741  0.06   0.103 -0.01   0.979]
+t: 77	 action: [ 0.013 -0.732  0.612  0.055  0.104 -0.012  0.985]
+t: 78	 action: [-1.336e-02 -8.257e-01  4.685e-01  5.137e-02  9.007e-02 -9.209e-04  9.943e-01]
+t: 79	 action: [-0.051 -0.813  0.301  0.051  0.086  0.004  0.987]
+t: 80	 action: [-4.016e-02 -8.320e-01  1.675e-01  4.603e-02  8.056e-02  3.106e-04  9.882e-01]
+t: 81	 action: [-0.077 -0.804  0.057  0.042  0.072  0.003  0.991]
+t: 82	 action: [-0.13  -0.805 -0.039  0.059  0.054  0.009  0.979]
+t: 83	 action: [-0.138 -0.762 -0.169  0.04   0.044  0.015  0.983]
+t: 84	 action: [-0.134 -0.669 -0.286  0.028  0.028  0.012  0.961]
+t: 85	 action: [-0.123 -0.579 -0.433  0.022  0.013  0.018  0.983]
+t: 86	 action: [-1.402e-01 -3.804e-01 -5.657e-01 -4.989e-06 -1.027e-02  1.671e-02  9.878e-01]
+t: 87	 action: [-0.13  -0.301 -0.749 -0.008 -0.015  0.023  0.976]
+t: 88	 action: [-0.149 -0.126 -0.777 -0.018 -0.032  0.016  0.971]
+t: 89	 action: [-0.125 -0.073 -0.848 -0.033 -0.027  0.025  0.984]
+[07-31 02:10:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.073 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9325
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9325
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 39
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 34 (87.2%)
+
+
 78%|███████▊  | 39/50 [09:32<02:52, 15.68s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 40...
+Query 1/1: Action query time = 1.073 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=90: Selected seed 195 with value = 0.9325
+t: 90	 action: [-0.097 -0.13  -0.688 -0.005  0.054  0.029  0.999]
+t: 91	 action: [-0.126 -0.098 -0.687 -0.023  0.046  0.036  1.006]
+t: 92	 action: [-0.118 -0.019 -0.504 -0.014  0.063  0.026  1.   ]
+t: 93	 action: [-0.138 -0.017 -0.406 -0.029  0.054  0.028  0.981]
+t: 94	 action: [-0.123 -0.017 -0.244 -0.036  0.036  0.017  1.03 ]
+t: 95	 action: [-0.163  0.054 -0.074 -0.031  0.038  0.029  1.   ]
+t: 96	 action: [-0.05   0.002 -0.013 -0.042  0.031  0.005 -0.983]
+t: 97	 action: [ 0.001  0.033  0.106 -0.031  0.029  0.002 -1.042]
+t: 98	 action: [ 0.058  0.031  0.23  -0.05   0.002  0.005 -1.01 ]
+t: 99	 action: [ 0.062  0.042  0.299 -0.032 -0.002 -0.005 -1.014]
+t: 100	 action: [ 0.079  0.023  0.323 -0.04  -0.012  0.002 -1.006]
+t: 101	 action: [ 0.087  0.035  0.38  -0.024 -0.003 -0.008 -1.005]
+t: 102	 action: [ 0.087  0.034  0.385 -0.016 -0.01  -0.01  -1.015]
+t: 103	 action: [ 9.502e-02  6.178e-02  4.404e-01 -1.130e-02 -5.032e-04 -1.461e-02 -1.016e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=39--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+94 94 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=39--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 34 (87.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 40...
+[07-31 02:10:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4506
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4506
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4506
+t=10: Selected seed 195 with value = 0.4506
+t: 10	 action: [ 7.248e-02  2.993e-02 -2.723e-02  1.034e-02 -4.090e-05  3.648e-03 -9.874e-01]
+t: 11	 action: [ 2.135e-01  9.787e-02  4.672e-03  1.737e-02  2.845e-03 -2.112e-04 -9.921e-01]
+t: 12	 action: [ 0.301  0.17  -0.036  0.009  0.002  0.005 -0.992]
+t: 13	 action: [ 4.407e-01  2.529e-01 -4.944e-03  1.528e-02  4.835e-04  1.925e-03 -9.933e-01]
+t: 14	 action: [ 0.55   0.318 -0.028  0.004  0.004  0.002 -0.999]
+t: 15	 action: [ 0.674  0.416 -0.016  0.013  0.003  0.004 -1.012]
+t: 16	 action: [ 0.737  0.459 -0.044  0.002  0.009  0.003 -0.996]
+t: 17	 action: [ 0.783  0.5   -0.051  0.011  0.002  0.005 -1.012]
+t: 18	 action: [ 0.775  0.525 -0.089  0.01   0.013  0.01  -0.996]
+t: 19	 action: [ 0.773  0.526 -0.072  0.01   0.009  0.006 -1.002]
+t: 20	 action: [ 0.805  0.557 -0.12   0.008  0.01   0.011 -0.999]
+t: 21	 action: [ 0.801  0.56  -0.108  0.004  0.008  0.011 -0.997]
+t: 22	 action: [ 0.819  0.569 -0.136  0.005  0.011  0.008 -0.995]
+t: 23	 action: [ 0.816  0.566 -0.137  0.008  0.002  0.012 -1.006]
+t: 24	 action: [ 0.805  0.588 -0.223  0.002  0.009  0.009 -1.001]
+t: 25	 action: [ 8.061e-01  5.367e-01 -2.644e-01  3.374e-03  6.470e-04  1.593e-02 -1.006e+00]
+[07-31 02:10:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5362
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5362
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5362
+t=26: Selected seed 195 with value = 0.5362
+t: 26	 action: [ 0.908  0.474 -0.321  0.01  -0.003  0.013 -1.01 ]
+t: 27	 action: [ 9.291e-01  4.792e-01 -3.732e-01  1.069e-02  4.867e-04  1.393e-02 -9.969e-01]
+t: 28	 action: [ 0.898  0.464 -0.413  0.008 -0.009  0.014 -1.011]
+t: 29	 action: [ 0.891  0.426 -0.45   0.013 -0.007  0.013 -1.001]
+t: 30	 action: [ 0.853  0.44  -0.484  0.008 -0.007  0.007 -1.016]
+t: 31	 action: [ 0.746  0.402 -0.561  0.019 -0.019  0.013 -1.007]
+t: 32	 action: [ 0.66   0.325 -0.673  0.018 -0.02   0.009 -1.021]
+t: 33	 action: [ 0.512  0.272 -0.735  0.028 -0.046  0.013 -1.009]
+t: 34	 action: [ 0.382  0.193 -0.894  0.042 -0.055  0.016 -1.01 ]
+t: 35	 action: [ 0.286  0.128 -0.919  0.044 -0.07   0.017 -0.99 ]
+t: 36	 action: [ 0.21   0.123 -0.94   0.042 -0.056  0.019 -1.017]
+t: 37	 action: [ 0.123  0.074 -0.937  0.039 -0.071  0.014 -0.994]
+t: 38	 action: [ 0.084  0.088 -0.955  0.031 -0.075  0.011 -1.022]
+t: 39	 action: [ 0.014  0.076 -0.951  0.034 -0.083  0.012 -0.998]
+t: 40	 action: [-0.034  0.052 -0.958  0.015 -0.064  0.007 -1.024]
+t: 41	 action: [-0.071  0.042 -0.936  0.025 -0.072  0.009 -1.003]
+[07-31 02:10:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5778
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5778
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5778
+t=42: Selected seed 195 with value = 0.5778
+t: 42	 action: [-0.284  0.046 -0.918  0.015 -0.066  0.015 -1.017]
+t: 43	 action: [-3.002e-01  2.595e-02 -8.950e-01 -9.285e-04 -6.460e-02  2.372e-02 -1.006e+00]
+t: 44	 action: [-0.308  0.018 -0.898  0.013 -0.064  0.013 -1.006]
+t: 45	 action: [-3.091e-01  5.954e-04 -8.463e-01  2.914e-03 -6.740e-02  2.188e-02 -9.977e-01]
+t: 46	 action: [-0.336 -0.011 -0.858  0.003 -0.045  0.011 -1.027]
+t: 47	 action: [-0.327  0.009 -0.833 -0.004 -0.048  0.025 -1.016]
+t: 48	 action: [-0.312 -0.024 -0.805  0.002 -0.039  0.011 -1.024]
+t: 49	 action: [-0.312 -0.008 -0.79  -0.003 -0.036  0.017 -1.018]
+t: 50	 action: [-0.382  0.004 -0.798  0.006 -0.026  0.014 -1.012]
+t: 51	 action: [-0.44  -0.034 -0.774 -0.011 -0.019  0.019 -1.005]
+t: 52	 action: [-0.331  0.013 -0.657 -0.005 -0.015  0.02   0.976]
+t: 53	 action: [-0.302 -0.019 -0.536 -0.022 -0.005  0.021  0.997]
+t: 54	 action: [-0.278  0.038 -0.43  -0.024  0.006  0.01   0.995]
+t: 55	 action: [-0.211  0.019 -0.258 -0.059  0.011  0.016  1.028]
+t: 56	 action: [-0.119  0.05  -0.109 -0.054  0.019  0.009  0.999]
+t: 57	 action: [-0.064  0.019  0.044 -0.079  0.032  0.009  1.004]
+[07-31 02:10:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7208
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7208
+Query 1/1: Action query time = 0.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7208
+t=58: Selected seed 195 with value = 0.7208
+t: 58	 action: [ 0.004 -0.013 -0.033 -0.049  0.005  0.009  0.987]
+t: 59	 action: [ 3.075e-02 -3.601e-02  7.916e-02 -4.279e-02  7.846e-03  3.539e-04  9.897e-01]
+t: 60	 action: [ 0.078  0.02   0.273 -0.049  0.006 -0.004  0.985]
+t: 61	 action: [ 0.093 -0.017  0.459 -0.031  0.014 -0.013  0.993]
+t: 62	 action: [ 0.104  0.012  0.677 -0.04   0.017 -0.007  0.993]
+t: 63	 action: [ 0.13   0.03   0.831 -0.023  0.017 -0.014  0.979]
+t: 64	 action: [ 0.137 -0.008  0.948 -0.022  0.029 -0.02   0.983]
+t: 65	 action: [ 0.144 -0.046  0.938 -0.006  0.034 -0.022  0.982]
+t: 66	 action: [ 0.131 -0.235  0.919  0.009  0.027 -0.019  0.975]
+t: 67	 action: [ 0.081 -0.357  0.946  0.021  0.037 -0.024  0.999]
+t: 68	 action: [ 0.061 -0.426  0.921  0.021  0.036 -0.014  0.972]
+t: 69	 action: [ 0.042 -0.531  0.922  0.03   0.044 -0.017  1.001]
+t: 70	 action: [-0.061 -0.624  0.851  0.035  0.064 -0.012  0.992]
+t: 71	 action: [-0.068 -0.686  0.741  0.036  0.06  -0.015  0.991]
+t: 72	 action: [-0.146 -0.713  0.731  0.043  0.07  -0.003  0.993]
+t: 73	 action: [-0.156 -0.719  0.53   0.039  0.06  -0.007  0.991]
+[07-31 02:10:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8341
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8341
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8341
+t=74: Selected seed 195 with value = 0.8341
+t: 74	 action: [-0.218 -0.796  0.291  0.024  0.011  0.003  0.974]
+t: 75	 action: [-0.28  -0.792  0.176  0.031  0.008  0.008  0.988]
+t: 76	 action: [-0.304 -0.835  0.065  0.036  0.007  0.003  0.976]
+t: 77	 action: [-3.296e-01 -7.972e-01 -1.394e-02  3.936e-02  2.646e-05  1.368e-02  9.832e-01]
+t: 78	 action: [-0.328 -0.78  -0.156  0.043  0.003  0.002  0.984]
+t: 79	 action: [-0.372 -0.717 -0.267  0.035 -0.008  0.016  0.988]
+t: 80	 action: [-0.355 -0.666 -0.42   0.036 -0.006  0.008  0.988]
+t: 81	 action: [-0.362 -0.548 -0.552  0.03  -0.016  0.022  0.994]
+t: 82	 action: [-0.337 -0.45  -0.692  0.017 -0.013  0.026  0.988]
+t: 83	 action: [-0.353 -0.306 -0.789  0.012 -0.005  0.035  0.984]
+t: 84	 action: [-0.291 -0.213 -0.797  0.006 -0.008  0.032  0.987]
+t: 85	 action: [-2.277e-01 -1.214e-01 -8.064e-01 -6.262e-04 -1.460e-03  3.819e-02  9.905e-01]
+t: 86	 action: [-0.196 -0.047 -0.808 -0.006 -0.011  0.036  0.997]
+t: 87	 action: [-0.144 -0.02  -0.723 -0.012 -0.012  0.039  0.983]
+t: 88	 action: [-0.053  0.025 -0.631 -0.017  0.011  0.037  0.997]
+t: 89	 action: [-0.009  0.031 -0.465 -0.017  0.008  0.04   0.989]
+[07-31 02:10:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9859
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9859
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 40
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 35 (87.5%)
+
+
 80%|████████  | 40/50 [09:43<02:23, 14.34s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 41...
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=90: Selected seed 195 with value = 0.9859
+t: 90	 action: [-0.001  0.003  0.092 -0.003  0.095  0.019 -0.795]
+t: 91	 action: [ 0.029  0.008  0.147 -0.009  0.088  0.014 -0.96 ]
+t: 92	 action: [ 0.027  0.007  0.235 -0.002  0.08   0.01  -0.974]
+t: 93	 action: [ 0.063  0.024  0.305 -0.009  0.073  0.008 -1.019]
+t: 94	 action: [ 2.688e-02  2.248e-02  3.283e-01 -1.068e-02  6.052e-02 -8.686e-04 -9.804e-01]
+t: 95	 action: [ 0.04   0.049  0.368 -0.013  0.052  0.002 -1.033]
+t: 96	 action: [ 4.694e-02  2.259e-02  3.417e-01 -6.634e-03  5.984e-02 -5.904e-04 -9.937e-01]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=40--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+87 87 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=40--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 35 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 41...
+[07-31 02:10:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4418
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4418
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4418
+t=10: Selected seed 195 with value = 0.4418
+t: 10	 action: [ 0.083  0.016 -0.013  0.007  0.008  0.006 -0.985]
+t: 11	 action: [ 0.236  0.101  0.015  0.009  0.009  0.009 -0.989]
+t: 12	 action: [ 0.308  0.182 -0.008  0.003  0.017  0.008 -0.985]
+t: 13	 action: [ 0.479  0.279  0.014  0.005  0.015  0.011 -0.989]
+t: 14	 action: [ 0.569  0.351  0.006  0.002  0.024  0.008 -0.995]
+t: 15	 action: [ 0.726  0.43  -0.003  0.005  0.025  0.014 -1.   ]
+t: 16	 action: [ 7.642e-01  4.904e-01 -6.279e-03  3.719e-04  3.247e-02  1.003e-02 -9.891e-01]
+t: 17	 action: [ 0.829  0.517 -0.016  0.003  0.026  0.015 -1.   ]
+t: 18	 action: [ 0.75   0.522 -0.081  0.008  0.03   0.017 -0.991]
+t: 19	 action: [ 7.659e-01  5.125e-01 -9.499e-02  4.334e-04  2.997e-02  1.533e-02 -9.998e-01]
+t: 20	 action: [ 0.781  0.538 -0.157  0.006  0.025  0.017 -0.993]
+t: 21	 action: [ 0.797  0.507 -0.183 -0.001  0.027  0.019 -0.996]
+t: 22	 action: [ 0.802  0.568 -0.188  0.003  0.025  0.014 -0.986]
+t: 23	 action: [ 0.796  0.542 -0.206  0.002  0.016  0.017 -1.005]
+t: 24	 action: [ 0.776  0.543 -0.377  0.001  0.019  0.013 -0.989]
+t: 25	 action: [ 0.778  0.46  -0.396  0.002  0.013  0.019 -1.006]
+[07-31 02:10:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4938
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4938
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4938
+t=26: Selected seed 195 with value = 0.4938
+t: 26	 action: [ 9.218e-01  4.682e-01 -1.611e-01  4.686e-04  2.560e-02  2.195e-02 -9.932e-01]
+t: 27	 action: [ 0.962  0.472 -0.248 -0.004  0.025  0.02  -0.995]
+t: 28	 action: [ 0.919  0.436 -0.248  0.002  0.022  0.019 -0.996]
+t: 29	 action: [ 0.905  0.407 -0.32  -0.002  0.011  0.018 -0.998]
+t: 30	 action: [ 8.518e-01  3.779e-01 -3.355e-01 -5.968e-04  1.232e-02  1.142e-02 -9.985e-01]
+t: 31	 action: [ 0.727  0.311 -0.486  0.008 -0.001  0.016 -1.003]
+t: 32	 action: [ 0.626  0.224 -0.542  0.002 -0.004  0.009 -1.004]
+t: 33	 action: [ 0.461  0.162 -0.703  0.015 -0.016  0.015 -1.007]
+t: 34	 action: [ 0.319  0.103 -0.842  0.008 -0.035  0.015 -1.004]
+t: 35	 action: [ 0.221  0.096 -0.885  0.01  -0.036  0.014 -0.991]
+t: 36	 action: [ 0.173  0.055 -0.908  0.006 -0.043  0.012 -1.011]
+t: 37	 action: [ 0.07   0.038 -0.921  0.008 -0.048  0.01  -0.99 ]
+t: 38	 action: [ 7.618e-02  6.343e-02 -9.090e-01  1.011e-03 -5.746e-02  5.053e-03 -1.012e+00]
+t: 39	 action: [ 0.002  0.04  -0.945  0.004 -0.059  0.008 -1.008]
+t: 40	 action: [-5.680e-02  2.194e-02 -9.178e-01 -7.089e-04 -5.589e-02  1.879e-03 -1.017e+00]
+t: 41	 action: [-0.097 -0.008 -0.936  0.002 -0.064  0.004 -1.01 ]
+[07-31 02:10:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5528
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5528
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5528
+t=42: Selected seed 195 with value = 0.5528
+t: 42	 action: [-0.181  0.061 -0.895  0.004 -0.043  0.034 -1.   ]
+t: 43	 action: [-0.244  0.064 -0.888 -0.007 -0.047  0.045 -1.003]
+t: 44	 action: [-0.254  0.055 -0.869  0.004 -0.039  0.036 -0.998]
+t: 45	 action: [-2.717e-01  5.671e-02 -8.222e-01 -3.808e-04 -4.013e-02  4.399e-02 -9.979e-01]
+t: 46	 action: [-2.773e-01  3.262e-02 -8.342e-01 -5.694e-05 -3.364e-02  3.602e-02 -1.009e+00]
+t: 47	 action: [-0.285  0.067 -0.802 -0.007 -0.029  0.039 -1.01 ]
+t: 48	 action: [-2.725e-01  2.415e-02 -7.706e-01  8.948e-04 -2.767e-02  3.222e-02 -1.015e+00]
+t: 49	 action: [-0.289  0.055 -0.736 -0.003 -0.019  0.031 -1.016]
+t: 50	 action: [-2.645e-01  5.882e-02 -6.702e-01  3.001e-03  8.648e-04  5.614e-02 -9.903e-01]
+t: 51	 action: [-0.296  0.045 -0.685 -0.004  0.006  0.048 -0.946]
+t: 52	 action: [-2.104e-01  3.346e-02 -5.701e-01 -7.951e-04  3.997e-04  4.371e-02  9.761e-01]
+t: 53	 action: [-0.188  0.021 -0.498 -0.007  0.005  0.038  1.007]
+t: 54	 action: [-0.19   0.024 -0.393 -0.01  -0.005  0.015  0.982]
+t: 55	 action: [-1.651e-01  2.804e-02 -2.963e-01 -1.377e-02 -9.669e-05  2.133e-02  9.943e-01]
+t: 56	 action: [-1.002e-01  1.454e-02 -1.362e-01 -2.119e-02 -3.850e-03  8.544e-04  9.940e-01]
+t: 57	 action: [-0.067  0.002 -0.044 -0.027  0.003  0.003  1.007]
+[07-31 02:10:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6900
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6900
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6900
+t=58: Selected seed 195 with value = 0.6900
+t: 58	 action: [-0.087  0.033 -0.071 -0.049 -0.011  0.013  0.976]
+t: 59	 action: [-0.01   0.03   0.074 -0.061 -0.001  0.01   0.979]
+t: 60	 action: [ 0.041  0.057  0.256 -0.044 -0.002  0.001  0.984]
+t: 61	 action: [ 0.127  0.045  0.419 -0.052  0.003 -0.003  0.985]
+t: 62	 action: [ 0.135  0.041  0.616 -0.055  0.02  -0.004  0.991]
+t: 63	 action: [ 0.259  0.076  0.792 -0.048  0.021 -0.013  0.983]
+t: 64	 action: [ 0.237  0.039  0.906 -0.041  0.033 -0.02   0.991]
+t: 65	 action: [ 0.31   0.04   0.912 -0.035  0.036 -0.025  0.986]
+t: 66	 action: [ 0.333  0.023  0.893 -0.022  0.024 -0.026  0.966]
+t: 67	 action: [ 0.368 -0.056  0.941 -0.032  0.023 -0.025  0.986]
+t: 68	 action: [ 0.298 -0.149  0.913 -0.017  0.03  -0.018  0.966]
+t: 69	 action: [ 0.256 -0.272  0.958 -0.012  0.035 -0.016  0.983]
+t: 70	 action: [ 0.094 -0.446  0.909  0.007  0.061 -0.018  0.98 ]
+t: 71	 action: [ 0.066 -0.532  0.882  0.008  0.06  -0.012  0.992]
+t: 72	 action: [-0.059 -0.689  0.853  0.015  0.066 -0.009  0.987]
+t: 73	 action: [-0.07  -0.732  0.764  0.021  0.05  -0.005  0.989]
+[07-31 02:10:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8450
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8450
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8450
+t=74: Selected seed 195 with value = 0.8450
+t: 74	 action: [-4.778e-02 -9.292e-01  5.015e-01  3.888e-02  7.568e-04  1.156e-02  9.745e-01]
+t: 75	 action: [-0.163 -0.901  0.287  0.038 -0.006  0.023  0.994]
+t: 76	 action: [-0.225 -0.97   0.094  0.03  -0.024  0.021  0.981]
+t: 77	 action: [-0.318 -0.905 -0.028  0.033 -0.021  0.035  0.986]
+t: 78	 action: [-0.377 -0.919 -0.136  0.023 -0.033  0.022  0.986]
+t: 79	 action: [-0.408 -0.828 -0.266  0.02  -0.042  0.038  0.989]
+t: 80	 action: [-0.499 -0.72  -0.457  0.012 -0.062  0.04   0.993]
+t: 81	 action: [-0.515 -0.609 -0.634  0.015 -0.07   0.045  0.984]
+t: 82	 action: [-0.474 -0.384 -0.744  0.011 -0.087  0.046  0.976]
+t: 83	 action: [-0.512 -0.253 -0.84   0.005 -0.087  0.054  0.99 ]
+t: 84	 action: [-0.516 -0.112 -0.851  0.008 -0.086  0.06   0.974]
+t: 85	 action: [-0.513 -0.079 -0.91  -0.002 -0.077  0.059  1.004]
+t: 86	 action: [-0.501  0.026 -0.844  0.002 -0.072  0.071  0.995]
+t: 87	 action: [-0.448  0.021 -0.836 -0.003 -0.051  0.061  0.987]
+t: 88	 action: [-0.323  0.073 -0.719 -0.005 -0.038  0.074  0.994]
+t: 89	 action: [-0.275  0.062 -0.597 -0.007 -0.014  0.062  0.993]
+[07-31 02:10:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9802
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9802
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 41
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 36 (87.8%)
+
+
 82%|████████▏ | 41/50 [09:55<02:00, 13.37s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 42...
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=90: Selected seed 195 with value = 0.9802
+t: 90	 action: [-0.184 -0.034 -0.431 -0.003  0.018  0.029  1.012]
+t: 91	 action: [-0.087 -0.014 -0.231 -0.006  0.028  0.031  1.011]
+t: 92	 action: [-0.071 -0.005 -0.15  -0.005  0.041  0.016  0.998]
+t: 93	 action: [-0.006 -0.006  0.018 -0.005  0.051  0.016 -0.994]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=41--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+84 84 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=41--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 36 (87.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 42...
+[07-31 02:10:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.012 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4166
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4166
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4166
+t=10: Selected seed 195 with value = 0.4166
+t: 10	 action: [ 1.064e-01  3.691e-02 -2.006e-02  1.769e-03 -2.386e-03  8.635e-04 -1.003e+00]
+t: 11	 action: [ 0.236  0.11  -0.004 -0.007  0.005 -0.006 -0.991]
+t: 12	 action: [ 2.938e-01  2.351e-01 -2.775e-02  1.295e-04 -3.371e-03  2.525e-03 -1.008e+00]
+t: 13	 action: [ 0.436  0.321 -0.013 -0.007  0.003 -0.005 -0.994]
+t: 14	 action: [ 0.544  0.425 -0.025 -0.004 -0.001  0.002 -1.014]
+t: 15	 action: [ 6.294e-01  4.795e-01 -3.245e-02 -5.554e-03  9.332e-04 -1.969e-03 -1.009e+00]
+t: 16	 action: [ 7.164e-01  5.573e-01 -3.498e-02 -4.755e-03  8.569e-04  1.585e-03 -1.007e+00]
+t: 17	 action: [ 7.652e-01  5.631e-01 -6.717e-02 -5.321e-03  6.993e-05 -2.492e-03 -1.014e+00]
+t: 18	 action: [ 7.082e-01  5.684e-01 -6.341e-02  8.953e-04  4.354e-03  9.114e-03 -1.006e+00]
+t: 19	 action: [ 0.739  0.55  -0.089 -0.01   0.007  0.002 -1.   ]
+t: 20	 action: [ 7.544e-01  5.662e-01 -8.042e-02 -3.702e-04  3.367e-04  9.627e-03 -1.007e+00]
+t: 21	 action: [ 0.77   0.537 -0.114 -0.01   0.007  0.002 -0.997]
+t: 22	 action: [ 0.805  0.552 -0.103 -0.004  0.003  0.006 -0.999]
+t: 23	 action: [ 0.829  0.506 -0.185 -0.006 -0.002  0.001 -1.007]
+t: 24	 action: [ 0.817  0.49  -0.141 -0.003  0.001  0.004 -1.   ]
+t: 25	 action: [ 0.845  0.401 -0.244 -0.005 -0.003  0.002 -1.014]
+[07-31 02:10:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5317
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5317
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5317
+t=26: Selected seed 195 with value = 0.5317
+t: 26	 action: [ 0.839  0.264 -0.458  0.006 -0.025  0.004 -1.003]
+t: 27	 action: [ 0.798  0.177 -0.51   0.004 -0.02  -0.006 -0.999]
+t: 28	 action: [ 7.407e-01  1.649e-01 -6.053e-01  5.491e-03 -3.422e-02  1.314e-04 -9.987e-01]
+t: 29	 action: [ 0.699  0.099 -0.668  0.008 -0.036 -0.013 -0.998]
+t: 30	 action: [ 0.634  0.115 -0.766  0.005 -0.05  -0.008 -1.009]
+t: 31	 action: [ 0.515  0.101 -0.834  0.007 -0.06  -0.016 -1.009]
+t: 32	 action: [ 0.461  0.131 -0.923  0.004 -0.056 -0.012 -1.006]
+t: 33	 action: [ 0.362  0.119 -0.937  0.008 -0.064 -0.021 -1.005]
+t: 34	 action: [ 1.820e-01  1.084e-01 -9.490e-01  1.201e-02 -6.334e-02 -9.155e-05 -1.012e+00]
+t: 35	 action: [ 0.086  0.11  -0.956  0.009 -0.066 -0.011 -0.997]
+t: 36	 action: [ 7.661e-02  1.183e-01 -9.453e-01  4.420e-03 -5.421e-02  5.469e-05 -1.009e+00]
+t: 37	 action: [ 0.026  0.098 -0.946  0.002 -0.055 -0.012 -0.994]
+t: 38	 action: [ 2.966e-03  1.227e-01 -9.488e-01  1.686e-04 -5.792e-02 -2.759e-04 -1.018e+00]
+t: 39	 action: [-0.025  0.103 -0.945 -0.003 -0.052 -0.011 -1.005]
+t: 40	 action: [-6.214e-02  5.721e-02 -9.362e-01 -1.613e-03 -4.672e-02 -5.434e-04 -1.013e+00]
+t: 41	 action: [-0.069  0.062 -0.925 -0.011 -0.043 -0.01  -1.007]
+[07-31 02:10:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6093
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6093
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6093
+t=42: Selected seed 195 with value = 0.6093
+t: 42	 action: [-1.569e-01  5.053e-02 -8.250e-01  6.588e-04 -5.057e-02  1.191e-02 -1.003e+00]
+t: 43	 action: [-0.091  0.062 -0.818 -0.009 -0.045  0.019 -0.999]
+t: 44	 action: [-5.671e-02  1.967e-02 -7.712e-01 -2.684e-04 -3.903e-02  1.621e-02 -9.990e-01]
+t: 45	 action: [ 0.007  0.026 -0.734 -0.011 -0.028  0.021 -0.999]
+t: 46	 action: [-0.017  0.002 -0.688 -0.005 -0.034  0.01  -1.016]
+t: 47	 action: [-0.026 -0.016 -0.693 -0.008 -0.028  0.018 -1.004]
+t: 48	 action: [-0.025 -0.015 -0.637 -0.008 -0.022  0.01  -1.016]
+t: 49	 action: [-0.052 -0.026 -0.65  -0.011 -0.013  0.011 -1.009]
+t: 50	 action: [-9.182e-02 -3.852e-05 -5.972e-01 -1.261e-02 -5.803e-03  4.634e-03 -1.004e+00]
+t: 51	 action: [-0.115 -0.04  -0.558 -0.024  0.001  0.01  -1.004]
+t: 52	 action: [-0.098 -0.013 -0.427 -0.01   0.004  0.004  0.992]
+t: 53	 action: [-0.098 -0.047 -0.346 -0.025  0.006 -0.001  0.994]
+t: 54	 action: [-0.116 -0.017 -0.277 -0.014  0.019 -0.014  0.99 ]
+t: 55	 action: [-0.102 -0.065 -0.153 -0.02   0.011 -0.017  1.027]
+t: 56	 action: [-0.094 -0.032 -0.073 -0.012  0.027 -0.028  1.004]
+t: 57	 action: [-0.063 -0.069  0.032 -0.023  0.023 -0.039  1.027]
+[07-31 02:10:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.013 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6805
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6805
+Query 1/1: Action query time = 1.013 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6805
+t=58: Selected seed 195 with value = 0.6805
+t: 58	 action: [ 0.013 -0.01  -0.009 -0.035  0.029 -0.002  0.975]
+t: 59	 action: [ 0.036 -0.047  0.08  -0.026  0.033 -0.027  0.988]
+t: 60	 action: [ 0.056 -0.036  0.284 -0.018  0.035 -0.026  0.981]
+t: 61	 action: [ 0.08  -0.08   0.445 -0.014  0.044 -0.036  0.989]
+t: 62	 action: [ 0.097 -0.062  0.707 -0.015  0.037 -0.035  0.986]
+t: 63	 action: [ 0.114 -0.091  0.857 -0.009  0.036 -0.046  0.99 ]
+t: 64	 action: [ 0.091 -0.135  0.948  0.006  0.051 -0.046  0.986]
+t: 65	 action: [ 0.105 -0.18   0.965  0.011  0.046 -0.048  0.992]
+t: 66	 action: [ 0.102 -0.291  0.93   0.015  0.044 -0.041  0.968]
+t: 67	 action: [ 0.085 -0.418  0.941  0.027  0.049 -0.042  0.987]
+t: 68	 action: [ 0.033 -0.469  0.928  0.024  0.048 -0.027  0.975]
+t: 69	 action: [ 0.04  -0.565  0.933  0.037  0.049 -0.03   0.988]
+t: 70	 action: [-0.029 -0.586  0.893  0.036  0.06  -0.024  0.992]
+t: 71	 action: [-0.031 -0.649  0.822  0.043  0.053 -0.025  0.999]
+t: 72	 action: [-0.098 -0.69   0.75   0.044  0.06  -0.013  1.001]
+t: 73	 action: [-0.13  -0.702  0.581  0.051  0.045 -0.016  0.998]
+[07-31 02:10:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8264
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8264
+Query 1/1: Action query time = 0.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8264
+t=74: Selected seed 195 with value = 0.8264
+t: 74	 action: [-0.178 -0.772  0.084  0.041  0.042 -0.011  0.968]
+t: 75	 action: [-0.239 -0.733  0.012  0.043  0.038 -0.013  0.986]
+t: 76	 action: [-0.276 -0.764 -0.077  0.038  0.034 -0.005  0.967]
+t: 77	 action: [-0.317 -0.681 -0.183  0.035  0.018 -0.004  0.987]
+t: 78	 action: [-0.344 -0.701 -0.244  0.032  0.02  -0.008  0.978]
+t: 79	 action: [-0.376 -0.637 -0.357  0.032  0.004 -0.004  0.978]
+t: 80	 action: [-3.762e-01 -5.444e-01 -4.611e-01  1.362e-02  1.012e-02 -8.843e-04  9.805e-01]
+t: 81	 action: [-3.767e-01 -4.575e-01 -5.876e-01  1.907e-02 -3.239e-04  6.082e-03  9.901e-01]
+t: 82	 action: [-0.311 -0.376 -0.592  0.007 -0.005  0.011  0.985]
+t: 83	 action: [-0.322 -0.229 -0.683  0.003 -0.004  0.024  0.988]
+t: 84	 action: [-2.251e-01 -1.572e-01 -6.320e-01 -2.669e-05  1.771e-03  2.425e-02  9.852e-01]
+t: 85	 action: [-0.177 -0.076 -0.653 -0.009  0.001  0.031  0.995]
+t: 86	 action: [-0.134  0.008 -0.623 -0.009 -0.003  0.038  0.997]
+t: 87	 action: [-0.081  0.034 -0.542 -0.01   0.007  0.043  0.981]
+t: 88	 action: [-0.023  0.058 -0.42  -0.019  0.019  0.046  0.994]
+t: 89	 action: [-0.006  0.093 -0.276 -0.016  0.036  0.047  0.982]
+[07-31 02:10:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.018 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9585
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9585
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 42
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 37 (88.1%)
+
+
 84%|████████▍ | 42/50 [10:06<01:42, 12.79s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 43...
+Query 1/1: Action query time = 1.018 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=90: Selected seed 195 with value = 0.9585
+t: 90	 action: [-0.056  0.04  -0.303 -0.005  0.044  0.009  0.998]
+t: 91	 action: [-0.01   0.035 -0.164 -0.012  0.049  0.009  1.004]
+t: 92	 action: [-0.002  0.053 -0.059 -0.004  0.065  0.004  1.001]
+t: 93	 action: [ 2.907e-02  3.165e-02  3.322e-02 -5.213e-03  6.838e-02 -6.715e-04 -1.002e+00]
+t: 94	 action: [ 0.066  0.035  0.144 -0.006  0.085  0.002 -0.999]
+t: 95	 action: [ 0.067  0.024  0.244 -0.003  0.095  0.004 -1.036]
+t: 96	 action: [ 0.096  0.023  0.301 -0.002  0.086 -0.009 -0.989]
+t: 97	 action: [ 0.097  0.031  0.345  0.008  0.096 -0.014 -1.016]
+t: 98	 action: [ 0.089  0.034  0.356  0.003  0.07  -0.01  -0.997]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=42--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+89 89 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=42--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 37 (88.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 43...
+[07-31 02:10:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.086 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4362
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4362
+Query 1/1: Action query time = 1.086 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4362
+t=10: Selected seed 195 with value = 0.4362
+t: 10	 action: [ 0.146  0.135 -0.014  0.002 -0.005  0.002 -0.996]
+t: 11	 action: [ 0.305  0.231  0.011 -0.003  0.003 -0.004 -0.99 ]
+t: 12	 action: [ 3.951e-01  3.543e-01 -1.227e-02  4.675e-04 -3.456e-03  2.429e-03 -9.977e-01]
+t: 13	 action: [ 0.524  0.421  0.014 -0.004  0.002 -0.005 -0.995]
+t: 14	 action: [ 6.110e-01  4.919e-01 -6.675e-03 -2.736e-03 -7.760e-04  2.562e-03 -1.005e+00]
+t: 15	 action: [ 6.821e-01  5.112e-01 -1.240e-03 -2.821e-03  7.590e-04 -8.011e-04 -1.007e+00]
+t: 16	 action: [ 0.73   0.547 -0.013 -0.004  0.002  0.002 -0.998]
+t: 17	 action: [ 7.639e-01  5.379e-01 -2.289e-02 -2.932e-03 -2.841e-04 -2.628e-03 -1.011e+00]
+t: 18	 action: [ 0.78   0.552 -0.003  0.002  0.01   0.008 -0.998]
+t: 19	 action: [ 8.066e-01  5.214e-01 -8.393e-03 -2.093e-03  1.003e-02 -3.461e-04 -9.962e-01]
+t: 20	 action: [ 0.814  0.528 -0.037  0.002  0.006  0.008 -1.001]
+t: 21	 action: [ 8.228e-01  4.622e-01 -4.990e-02  3.584e-04  9.746e-03 -1.649e-03 -9.974e-01]
+t: 22	 action: [ 0.834  0.46  -0.055 -0.001  0.009  0.005 -0.996]
+t: 23	 action: [ 8.260e-01  4.212e-01 -1.008e-01  1.962e-03  1.427e-03 -8.526e-04 -1.005e+00]
+t: 24	 action: [ 0.815  0.349 -0.125 -0.001  0.005  0.002 -1.   ]
+t: 25	 action: [ 8.045e-01  2.963e-01 -1.944e-01  5.184e-03  2.533e-04 -1.766e-03 -1.011e+00]
+[07-31 02:10:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.084 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4965
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4965
+Query 1/1: Action query time = 1.084 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4965
+t=26: Selected seed 195 with value = 0.4965
+t: 26	 action: [ 0.809  0.326 -0.312  0.004 -0.005  0.002 -1.   ]
+t: 27	 action: [ 7.428e-01  2.319e-01 -3.681e-01  1.205e-03  7.116e-04 -6.106e-03 -9.996e-01]
+t: 28	 action: [ 6.629e-01  1.786e-01 -4.585e-01  3.563e-03 -9.798e-03 -2.279e-04 -9.979e-01]
+t: 29	 action: [ 0.602  0.112 -0.557  0.007 -0.003 -0.009 -0.997]
+t: 30	 action: [ 0.527  0.106 -0.639  0.001 -0.018 -0.007 -1.004]
+t: 31	 action: [ 0.413  0.078 -0.769  0.008 -0.016 -0.012 -1.008]
+t: 32	 action: [ 0.367  0.098 -0.897  0.004 -0.021 -0.008 -1.002]
+t: 33	 action: [ 0.278  0.086 -0.942  0.011 -0.02  -0.014 -1.006]
+t: 34	 action: [ 1.425e-01  5.307e-02 -9.526e-01  1.025e-02 -2.023e-02 -7.358e-04 -1.009e+00]
+t: 35	 action: [ 0.063  0.064 -0.961  0.008 -0.021 -0.007 -0.996]
+t: 36	 action: [ 5.740e-02  6.480e-02 -9.654e-01  2.772e-03 -1.844e-02  8.179e-04 -1.007e+00]
+t: 37	 action: [ 0.025  0.061 -0.964  0.001 -0.019 -0.007 -0.993]
+t: 38	 action: [ 3.174e-03  1.008e-01 -9.681e-01 -1.557e-03 -2.042e-02 -8.697e-04 -1.013e+00]
+t: 39	 action: [-0.021  0.067 -0.951 -0.005 -0.019 -0.006 -1.005]
+t: 40	 action: [-5.204e-02  4.216e-02 -9.601e-01 -6.100e-03 -1.600e-02 -2.476e-04 -1.013e+00]
+t: 41	 action: [-0.071  0.035 -0.924 -0.012 -0.014 -0.004 -1.005]
+[07-31 02:10:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.044 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5987
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5987
+Query 1/1: Action query time = 1.044 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5987
+t=42: Selected seed 195 with value = 0.5987
+t: 42	 action: [-0.594  0.13  -0.862  0.005 -0.047  0.006 -1.016]
+t: 43	 action: [-0.525  0.138 -0.826  0.009 -0.032  0.002 -1.002]
+t: 44	 action: [-0.365  0.076 -0.763  0.006 -0.011  0.006 -1.011]
+t: 45	 action: [-0.21   0.073 -0.698  0.01  -0.003  0.003 -1.003]
+t: 46	 action: [-0.087  0.034 -0.607  0.008  0.048  0.004 -1.029]
+t: 47	 action: [ 0.005  0.025 -0.522  0.014  0.043 -0.003 -1.01 ]
+t: 48	 action: [ 1.082e-03  5.927e-04 -5.023e-01  4.398e-03  7.504e-02  6.613e-04 -1.026e+00]
+t: 49	 action: [-0.056 -0.006 -0.474  0.013  0.077 -0.011 -1.015]
+t: 50	 action: [-1.215e-01  1.307e-03 -5.512e-01  6.681e-03  5.107e-02  5.266e-04 -1.000e+00]
+t: 51	 action: [-0.145 -0.033 -0.489  0.003  0.062 -0.002 -1.02 ]
+t: 52	 action: [-0.179 -0.021 -0.461  0.005  0.046  0.003  0.988]
+t: 53	 action: [-0.145 -0.059 -0.431 -0.002  0.057 -0.002  0.998]
+t: 54	 action: [-0.174 -0.03  -0.335  0.004  0.074 -0.023  0.998]
+t: 55	 action: [-0.139 -0.055 -0.223  0.002  0.075 -0.025  0.997]
+t: 56	 action: [-1.765e-01 -6.630e-02 -1.687e-01  4.873e-04  7.360e-02 -2.270e-02  1.009e+00]
+t: 57	 action: [-0.136 -0.081 -0.059 -0.006  0.087 -0.036  1.009]
+[07-31 02:10:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7250
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7250
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7250
+t=58: Selected seed 195 with value = 0.7250
+t: 58	 action: [-0.097 -0.186 -0.019 -0.001  0.035 -0.015  0.987]
+t: 59	 action: [-0.085 -0.145  0.091 -0.002  0.026 -0.025  0.99 ]
+t: 60	 action: [-0.064 -0.123  0.382  0.002  0.024 -0.031  0.985]
+t: 61	 action: [-0.029 -0.118  0.606  0.003  0.027 -0.029  0.991]
+t: 62	 action: [-0.022 -0.104  0.772  0.002  0.026 -0.018  0.992]
+t: 63	 action: [-0.014 -0.093  0.899  0.004  0.027 -0.024  0.98 ]
+t: 64	 action: [-0.003 -0.133  0.959  0.003  0.024 -0.024  0.982]
+t: 65	 action: [-0.007 -0.175  0.949  0.013  0.032 -0.025  0.987]
+t: 66	 action: [-0.006 -0.328  0.947  0.016  0.012  0.007  0.982]
+t: 67	 action: [ 0.001 -0.425  0.956  0.028  0.013 -0.004  0.989]
+t: 68	 action: [-0.025 -0.522  0.926  0.026  0.009  0.008  0.972]
+t: 69	 action: [-1.324e-02 -6.122e-01  8.840e-01  3.551e-02  9.209e-03  8.759e-04  9.930e-01]
+t: 70	 action: [-0.092 -0.702  0.791  0.045  0.007  0.003  0.989]
+t: 71	 action: [-0.107 -0.735  0.638  0.045  0.007  0.008  0.979]
+t: 72	 action: [-1.419e-01 -7.696e-01  5.014e-01  3.875e-02  1.358e-04  5.204e-03  9.818e-01]
+t: 73	 action: [-1.638e-01 -7.807e-01  3.356e-01  4.257e-02  5.729e-04  1.088e-02  9.839e-01]
+[07-31 02:10:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8636
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8636
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 43
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 38 (88.4%)
+
+
 86%|████████▌ | 43/50 [10:16<01:24, 12.05s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 44...
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=74: Selected seed 195 with value = 0.8636
+t: 74	 action: [-0.301 -0.848  0.019  0.012 -0.005  0.005  0.955]
+t: 75	 action: [-0.352 -0.813 -0.097  0.009 -0.006 -0.005  0.983]
+t: 76	 action: [-0.389 -0.764 -0.251  0.009 -0.029  0.006  0.955]
+t: 77	 action: [-4.301e-01 -6.394e-01 -4.502e-01  7.764e-04 -4.178e-02  1.601e-03  9.832e-01]
+t: 78	 action: [-0.455 -0.524 -0.577 -0.002 -0.075  0.002  0.982]
+t: 79	 action: [-0.466 -0.406 -0.715 -0.005 -0.089  0.002  0.987]
+t: 80	 action: [-0.472 -0.269 -0.761 -0.005 -0.102  0.003  0.989]
+t: 81	 action: [-0.442 -0.185 -0.858 -0.011 -0.116  0.006  0.996]
+t: 82	 action: [-0.389 -0.168 -0.834 -0.009 -0.111  0.005  0.98 ]
+t: 83	 action: [-0.324 -0.128 -0.848 -0.013 -0.107  0.005  0.997]
+t: 84	 action: [-0.202 -0.118 -0.725 -0.019 -0.08   0.007  0.998]
+t: 85	 action: [-0.065 -0.074 -0.634 -0.015 -0.053  0.008  1.014]
+t: 86	 action: [ 0.007 -0.014 -0.447 -0.025 -0.004  0.005  1.001]
+t: 87	 action: [ 0.062 -0.003 -0.258 -0.015  0.035  0.002  0.999]
+t: 88	 action: [ 0.201  0.023 -0.076 -0.028  0.075  0.003  1.015]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=43--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+79 79 5 5
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=43--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 38 (88.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 44...
+[07-31 02:10:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.208 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4433
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4433
+Query 1/1: Action query time = 1.208 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4433
+t=10: Selected seed 195 with value = 0.4433
+t: 10	 action: [ 0.315  0.162 -0.023  0.003  0.016  0.002 -1.001]
+t: 11	 action: [ 4.566e-01  2.270e-01 -1.987e-03 -1.318e-03  1.649e-02 -7.894e-05 -1.003e+00]
+t: 12	 action: [ 0.551  0.314 -0.033  0.003  0.019  0.003 -0.992]
+t: 13	 action: [ 6.564e-01  3.656e-01 -1.317e-02 -1.456e-04  1.311e-02  1.850e-03 -1.002e+00]
+t: 14	 action: [ 7.381e-01  4.786e-01 -1.241e-02 -3.725e-04  1.983e-02  7.319e-03 -1.004e+00]
+t: 15	 action: [ 0.775  0.464 -0.021  0.003  0.013  0.01  -1.01 ]
+t: 16	 action: [ 8.255e-01  5.272e-01 -1.659e-02 -8.946e-04  2.140e-02  7.879e-03 -9.995e-01]
+t: 17	 action: [ 0.855  0.512 -0.039  0.005  0.01   0.011 -1.009]
+t: 18	 action: [ 0.838  0.541 -0.022  0.004  0.01   0.024 -0.998]
+t: 19	 action: [ 8.605e-01  5.266e-01  1.140e-03  7.373e-04  5.207e-03  1.767e-02 -1.006e+00]
+t: 20	 action: [ 8.615e-01  5.641e-01 -6.385e-02 -2.193e-03 -5.173e-04  2.476e-02 -9.955e-01]
+t: 21	 action: [ 0.867  0.523 -0.045 -0.003  0.003  0.018 -1.   ]
+t: 22	 action: [ 0.862  0.5   -0.145 -0.003 -0.005  0.019 -1.004]
+t: 23	 action: [ 0.85   0.484 -0.185  0.005 -0.007  0.019 -1.012]
+t: 24	 action: [ 0.857  0.452 -0.305 -0.005 -0.013  0.016 -1.004]
+t: 25	 action: [ 0.849  0.363 -0.361  0.004 -0.015  0.018 -1.01 ]
+[07-31 02:10:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.175 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4881
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 1.175 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=26: Selected seed 195 with value = 0.4881
+t: 26	 action: [ 0.917  0.402 -0.426  0.008  0.009  0.014 -0.996]
+t: 27	 action: [ 0.836  0.34  -0.472  0.003  0.003  0.012 -1.004]
+t: 28	 action: [ 0.756  0.32  -0.541  0.006  0.003  0.013 -1.003]
+t: 29	 action: [ 6.407e-01  2.470e-01 -5.907e-01  2.802e-03  1.786e-04  9.689e-03 -1.004e+00]
+t: 30	 action: [ 0.547  0.237 -0.698  0.007 -0.004  0.006 -1.   ]
+t: 31	 action: [ 0.376  0.175 -0.813  0.011 -0.006  0.008 -1.011]
+t: 32	 action: [ 0.303  0.184 -0.864  0.007 -0.012  0.006 -1.002]
+t: 33	 action: [ 0.178  0.149 -0.908  0.009 -0.014  0.008 -1.01 ]
+t: 34	 action: [ 0.133  0.044 -0.915  0.009 -0.02   0.007 -1.014]
+t: 35	 action: [ 0.049  0.016 -0.909  0.005 -0.014  0.002 -0.999]
+t: 36	 action: [-0.04   0.005 -0.931  0.01  -0.023  0.012 -1.017]
+t: 37	 action: [-0.094 -0.042 -0.914  0.005 -0.02   0.011 -0.998]
+t: 38	 action: [-0.125 -0.027 -0.916  0.014 -0.025  0.011 -1.012]
+t: 39	 action: [-0.205 -0.023 -0.89   0.013 -0.032  0.011 -1.004]
+t: 40	 action: [-0.278 -0.081 -0.909  0.01  -0.023  0.017 -1.013]
+t: 41	 action: [-0.352 -0.06  -0.876  0.013 -0.03   0.021 -1.003]
+[07-31 02:11:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5601
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5601
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5601
+t=42: Selected seed 195 with value = 0.5601
+t: 42	 action: [-0.171  0.011 -0.91   0.01  -0.053  0.033 -1.006]
+t: 43	 action: [-0.258 -0.002 -0.921  0.002 -0.06   0.042 -1.002]
+t: 44	 action: [-0.321  0.023 -0.859  0.01  -0.044  0.037 -1.006]
+t: 45	 action: [-0.364  0.021 -0.834  0.005 -0.045  0.042 -0.997]
+t: 46	 action: [-0.42   0.031 -0.828  0.005 -0.041  0.041 -1.01 ]
+t: 47	 action: [-0.467  0.067 -0.768  0.001 -0.038  0.04  -1.01 ]
+t: 48	 action: [-0.428  0.027 -0.733  0.004 -0.032  0.04  -1.019]
+t: 49	 action: [-0.442  0.057 -0.682  0.002 -0.021  0.034 -1.017]
+t: 50	 action: [-3.488e-01  3.647e-02 -5.738e-01  5.340e-03 -1.065e-04  5.204e-02 -1.006e+00]
+t: 51	 action: [-0.344  0.002 -0.597 -0.003  0.006  0.047 -1.031]
+t: 52	 action: [-0.206  0.01  -0.482  0.004  0.004  0.036  0.995]
+t: 53	 action: [-0.141 -0.023 -0.446 -0.004  0.006  0.04   0.993]
+t: 54	 action: [-0.13   0.007 -0.4   -0.003  0.005  0.013  0.991]
+t: 55	 action: [-0.074 -0.046 -0.3   -0.008  0.005  0.018  0.995]
+t: 56	 action: [-6.183e-02 -2.765e-02 -2.133e-01 -7.496e-03  7.681e-03  6.194e-04  1.006e+00]
+t: 57	 action: [-0.023 -0.067 -0.104 -0.016  0.009  0.001  1.006]
+[07-31 02:11:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6779
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6779
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6779
+t=58: Selected seed 195 with value = 0.6779
+t: 58	 action: [-4.494e-02 -8.374e-02 -2.296e-01  9.733e-04  8.986e-03 -3.181e-04  9.819e-01]
+t: 59	 action: [-0.05  -0.092 -0.12  -0.009  0.005 -0.019  0.988]
+t: 60	 action: [-0.021 -0.041 -0.061 -0.002 -0.001 -0.026  0.986]
+t: 61	 action: [ 0.006 -0.058  0.034 -0.006  0.003 -0.035  0.994]
+t: 62	 action: [-0.009 -0.024  0.183 -0.005 -0.008 -0.035  0.998]
+t: 63	 action: [-0.003  0.022  0.423 -0.009 -0.003 -0.045  0.99 ]
+t: 64	 action: [ 0.047  0.01   0.645 -0.008 -0.006 -0.06   0.996]
+t: 65	 action: [ 0.031  0.04   0.819 -0.004 -0.002 -0.058  0.993]
+t: 66	 action: [ 0.071 -0.066  0.902  0.004  0.009 -0.057  0.97 ]
+t: 67	 action: [ 0.044 -0.115  0.954  0.007  0.018 -0.052  0.989]
+t: 68	 action: [ 0.022 -0.264  0.932  0.01   0.011 -0.044  0.971]
+t: 69	 action: [ 0.013 -0.362  0.948  0.014  0.029 -0.039  0.988]
+t: 70	 action: [-0.084 -0.514  0.867  0.021  0.024 -0.034  0.99 ]
+t: 71	 action: [-0.103 -0.571  0.848  0.026  0.031 -0.026  0.994]
+t: 72	 action: [-0.149 -0.692  0.71   0.024  0.026 -0.017  0.993]
+t: 73	 action: [-0.178 -0.752  0.613  0.032  0.038 -0.012  0.993]
+[07-31 02:11:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8533
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8533
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 44
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 39 (88.6%)
+
+
 88%|████████▊ | 44/50 [10:27<01:09, 11.56s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 45...
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8533
+t=74: Selected seed 195 with value = 0.8533
+t: 74	 action: [-0.23  -0.698  0.024  0.021 -0.001  0.003  0.975]
+t: 75	 action: [-0.298 -0.748 -0.022  0.033 -0.002  0.014  0.976]
+t: 76	 action: [-0.336 -0.675 -0.17   0.02  -0.007  0.003  0.971]
+t: 77	 action: [-0.362 -0.657 -0.24   0.028 -0.011  0.02   0.984]
+t: 78	 action: [-0.413 -0.575 -0.365  0.02  -0.009  0.01   0.994]
+t: 79	 action: [-0.399 -0.5   -0.469  0.02  -0.015  0.022  0.978]
+t: 80	 action: [-0.438 -0.376 -0.582  0.004 -0.02   0.016  0.992]
+t: 81	 action: [-3.943e-01 -2.782e-01 -6.385e-01 -9.546e-05 -3.213e-02  2.944e-02  9.922e-01]
+t: 82	 action: [-0.331 -0.133 -0.673 -0.012 -0.019  0.019  0.988]
+t: 83	 action: [-0.361 -0.087 -0.749 -0.019 -0.018  0.032  0.976]
+t: 84	 action: [-0.232 -0.044 -0.661 -0.032 -0.007  0.02   0.996]
+t: 85	 action: [-0.193 -0.032 -0.557 -0.031 -0.007  0.031  1.001]
+t: 86	 action: [-0.167  0.027 -0.501 -0.06  -0.012  0.01   1.013]
+t: 87	 action: [-0.13   0.022 -0.35  -0.045 -0.026  0.023  0.974]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=44--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+78 78 5 5
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=44--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 39 (88.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 45...
+[07-31 02:11:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4493
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4493
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4493
+t=10: Selected seed 195 with value = 0.4493
+t: 10	 action: [ 0.124  0.079 -0.008  0.006  0.005  0.003 -1.002]
+t: 11	 action: [ 2.223e-01  1.624e-01  1.228e-02  1.086e-02  5.148e-03 -6.861e-04 -9.957e-01]
+t: 12	 action: [ 0.323  0.255 -0.015  0.004  0.006  0.005 -0.999]
+t: 13	 action: [ 4.302e-01  3.457e-01  7.093e-03  8.909e-03  2.306e-03  1.248e-04 -9.943e-01]
+t: 14	 action: [ 0.528  0.436 -0.006  0.002  0.011  0.003 -1.008]
+t: 15	 action: [ 0.613  0.481  0.002  0.009  0.005  0.004 -1.008]
+t: 16	 action: [ 6.872e-01  5.426e-01 -1.909e-02  6.929e-04  1.449e-02  3.744e-03 -9.979e-01]
+t: 17	 action: [ 0.72   0.562 -0.023  0.007  0.002  0.002 -1.009]
+t: 18	 action: [ 0.674  0.554 -0.076  0.007  0.013  0.009 -1.001]
+t: 19	 action: [ 0.677  0.538 -0.087  0.007  0.008  0.003 -1.   ]
+t: 20	 action: [ 0.725  0.573 -0.097  0.005  0.008  0.01  -0.998]
+t: 21	 action: [ 0.715  0.535 -0.115  0.003  0.004  0.004 -0.996]
+t: 22	 action: [ 0.761  0.586 -0.095  0.004  0.01   0.007 -0.994]
+t: 23	 action: [ 0.775  0.548 -0.138  0.005 -0.001  0.005 -1.001]
+t: 24	 action: [ 0.781  0.561 -0.149  0.002  0.008  0.006 -0.993]
+t: 25	 action: [ 0.792  0.476 -0.233  0.002 -0.004  0.005 -1.004]
+[07-31 02:11:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5194
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5194
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5194
+t=26: Selected seed 195 with value = 0.5194
+t: 26	 action: [ 0.876  0.38  -0.272  0.005 -0.021  0.006 -1.002]
+t: 27	 action: [ 0.875  0.353 -0.311  0.003 -0.013  0.002 -0.999]
+t: 28	 action: [ 0.831  0.342 -0.362  0.004 -0.031  0.005 -1.   ]
+t: 29	 action: [ 0.809  0.293 -0.407  0.005 -0.025 -0.002 -0.998]
+t: 30	 action: [ 7.272e-01  2.869e-01 -5.297e-01 -4.093e-04 -4.009e-02 -2.487e-03 -1.008e+00]
+t: 31	 action: [ 0.634  0.274 -0.629  0.004 -0.051 -0.007 -1.007]
+t: 32	 action: [ 5.435e-01  2.445e-01 -7.555e-01 -3.379e-04 -5.129e-02 -4.681e-03 -1.006e+00]
+t: 33	 action: [ 0.445  0.201 -0.852  0.008 -0.059 -0.01  -1.005]
+t: 34	 action: [ 0.29   0.172 -0.92   0.015 -0.067  0.006 -1.011]
+t: 35	 action: [ 2.112e-01  1.376e-01 -9.483e-01  1.257e-02 -7.038e-02  4.951e-04 -1.000e+00]
+t: 36	 action: [ 0.18   0.133 -0.949  0.008 -0.063  0.005 -1.014]
+t: 37	 action: [ 1.019e-01  9.283e-02 -9.669e-01  7.542e-03 -6.221e-02 -4.186e-04 -9.973e-01]
+t: 38	 action: [ 0.087  0.125 -0.947 -0.001 -0.063  0.002 -1.016]
+t: 39	 action: [ 2.407e-02  7.480e-02 -9.556e-01  9.696e-04 -5.963e-02 -3.875e-04 -1.008e+00]
+t: 40	 action: [ 4.404e-03  5.373e-02 -9.442e-01 -2.903e-03 -4.978e-02 -8.581e-04 -1.017e+00]
+t: 41	 action: [-3.837e-02  2.826e-02 -9.383e-01 -4.725e-03 -4.737e-02 -3.541e-05 -1.011e+00]
+[07-31 02:11:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=42: Selected seed 195 with value = 0.5950
+t: 42	 action: [-0.303  0.043 -0.906  0.031 -0.048  0.016 -1.012]
+t: 43	 action: [-0.352  0.04  -0.911  0.018 -0.053  0.019 -1.001]
+t: 44	 action: [-0.345  0.004 -0.871  0.028 -0.041  0.014 -1.002]
+t: 45	 action: [-3.626e-01 -1.287e-04 -8.521e-01  1.754e-02 -4.417e-02  1.546e-02 -1.004e+00]
+t: 46	 action: [-0.413 -0.005 -0.808  0.021 -0.03   0.007 -1.015]
+t: 47	 action: [-0.391 -0.012 -0.795  0.017 -0.034  0.013 -1.007]
+t: 48	 action: [-0.345 -0.029 -0.726  0.01  -0.02   0.003 -1.015]
+t: 49	 action: [-0.333 -0.038 -0.739  0.012 -0.016  0.002 -1.016]
+t: 50	 action: [-0.33  -0.003 -0.686  0.008  0.009  0.004 -1.014]
+t: 51	 action: [-0.307 -0.054 -0.657 -0.005  0.011  0.003 -1.007]
+t: 52	 action: [-0.274 -0.011 -0.573  0.002  0.015  0.004  0.979]
+t: 53	 action: [-0.199 -0.057 -0.471 -0.016  0.028 -0.004  0.974]
+t: 54	 action: [-1.850e-01 -2.028e-02 -3.904e-01 -4.062e-04  3.127e-02 -7.327e-03  9.833e-01]
+t: 55	 action: [-0.1   -0.073 -0.241 -0.018  0.038 -0.018  0.996]
+t: 56	 action: [-0.105 -0.031 -0.169 -0.011  0.044 -0.01   0.993]
+t: 57	 action: [-0.034 -0.086 -0.027 -0.034  0.067 -0.022  1.006]
+[07-31 02:11:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7432
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7432
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7432
+t=58: Selected seed 195 with value = 0.7432
+t: 58	 action: [-0.095 -0.149 -0.231 -0.01  -0.001 -0.038  0.986]
+t: 59	 action: [-0.13  -0.146 -0.142 -0.015  0.002 -0.05   0.981]
+t: 60	 action: [-0.05  -0.176 -0.034 -0.005 -0.003 -0.06   0.986]
+t: 61	 action: [-3.439e-02 -1.569e-01  1.036e-01 -1.053e-02  3.179e-04 -5.953e-02  9.834e-01]
+t: 62	 action: [-0.026 -0.164  0.25  -0.005 -0.003 -0.054  0.995]
+t: 63	 action: [-9.431e-03 -1.071e-01  5.439e-01 -4.095e-03  9.718e-04 -5.656e-02  9.738e-01]
+t: 64	 action: [ 0.003 -0.159  0.722  0.005  0.005 -0.065  0.989]
+t: 65	 action: [-0.003 -0.114  0.854  0.005  0.007 -0.061  0.979]
+t: 66	 action: [-2.879e-04 -2.568e-01  8.962e-01  2.895e-02  1.501e-02 -5.080e-02  9.743e-01]
+t: 67	 action: [ 0.01  -0.31   0.922  0.041  0.019 -0.049  0.976]
+t: 68	 action: [-0.02  -0.409  0.905  0.045  0.028 -0.043  0.967]
+t: 69	 action: [ 0.001 -0.481  0.926  0.054  0.038 -0.037  0.981]
+t: 70	 action: [-0.074 -0.573  0.846  0.068  0.053 -0.028  0.99 ]
+t: 71	 action: [-0.068 -0.602  0.811  0.069  0.062 -0.026  0.981]
+t: 72	 action: [-0.111 -0.679  0.724  0.073  0.069 -0.017  0.989]
+t: 73	 action: [-0.099 -0.686  0.597  0.075  0.077 -0.017  0.985]
+[07-31 02:11:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8765
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8765
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 45
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 40 (88.9%)
+
+
 90%|█████████ | 45/50 [10:37<00:55, 11.08s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 46...
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8765
+t=74: Selected seed 195 with value = 0.8765
+t: 74	 action: [-0.08  -0.819  0.283  0.061  0.074 -0.008  0.971]
+t: 75	 action: [-0.064 -0.803  0.166  0.065  0.083 -0.011  0.983]
+t: 76	 action: [-0.1   -0.821  0.032  0.059  0.072 -0.005  0.973]
+t: 77	 action: [-0.104 -0.784 -0.08   0.053  0.075 -0.008  0.981]
+t: 78	 action: [-0.172 -0.727 -0.145  0.056  0.073 -0.004  0.981]
+t: 79	 action: [-2.062e-01 -6.810e-01 -2.705e-01  4.172e-02  5.673e-02  9.138e-04  9.832e-01]
+t: 80	 action: [-1.822e-01 -5.763e-01 -4.129e-01  2.615e-02  6.319e-02 -8.800e-04  9.823e-01]
+t: 81	 action: [-0.196 -0.47  -0.565  0.018  0.045  0.006  0.988]
+t: 82	 action: [-0.14  -0.381 -0.601  0.004  0.026  0.004  0.984]
+t: 83	 action: [-0.172 -0.323 -0.717 -0.01   0.019  0.005  0.979]
+t: 84	 action: [-0.127 -0.247 -0.73  -0.01   0.02   0.006  0.982]
+t: 85	 action: [-0.13  -0.212 -0.711 -0.022  0.015  0.01   0.987]
+t: 86	 action: [-0.156 -0.161 -0.72  -0.028  0.016  0.012  0.997]
+t: 87	 action: [-0.149 -0.138 -0.673 -0.026  0.017  0.029  0.982]
+t: 88	 action: [-0.137 -0.105 -0.619 -0.048  0.02   0.019  0.994]
+t: 89	 action: [-0.12  -0.092 -0.486 -0.035  0.022  0.033  0.982]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=45--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+80 80 5 5
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=45--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 40 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 46...
+[07-31 02:11:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4736
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4736
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4736
+t=10: Selected seed 195 with value = 0.4736
+t: 10	 action: [ 0.27   0.23  -0.026  0.003  0.002  0.003 -0.998]
+t: 11	 action: [ 0.369  0.313 -0.003  0.009  0.004  0.004 -0.998]
+t: 12	 action: [ 0.492  0.416 -0.043  0.002  0.001  0.005 -0.994]
+t: 13	 action: [ 0.565  0.476 -0.014  0.007  0.003  0.004 -0.996]
+t: 14	 action: [ 6.325e-01  5.180e-01 -4.068e-02  2.524e-04  5.475e-03  3.026e-03 -9.955e-01]
+t: 15	 action: [ 6.816e-01  5.400e-01 -3.807e-02  7.523e-03  5.373e-04  7.390e-03 -1.006e+00]
+t: 16	 action: [ 7.258e-01  5.757e-01 -6.590e-02 -7.039e-04  5.709e-03  3.903e-03 -9.916e-01]
+t: 17	 action: [ 7.566e-01  5.806e-01 -8.160e-02  5.926e-03 -9.278e-04  6.590e-03 -1.006e+00]
+t: 18	 action: [ 0.705  0.588 -0.126  0.006  0.003  0.011 -0.998]
+t: 19	 action: [ 0.713  0.559 -0.146  0.005  0.006  0.009 -1.001]
+t: 20	 action: [ 0.721  0.588 -0.166  0.005 -0.003  0.011 -0.997]
+t: 21	 action: [ 0.725  0.548 -0.194  0.002  0.003  0.011 -0.995]
+t: 22	 action: [ 0.724  0.588 -0.187  0.002 -0.002  0.01  -0.989]
+t: 23	 action: [ 0.73   0.557 -0.269  0.005 -0.005  0.011 -1.001]
+t: 24	 action: [ 0.693  0.553 -0.272  0.002 -0.004  0.008 -0.991]
+t: 25	 action: [ 0.697  0.489 -0.386  0.004 -0.005  0.012 -1.   ]
+[07-31 02:11:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5481
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5481
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5481
+t=26: Selected seed 195 with value = 0.5481
+t: 26	 action: [ 0.882  0.402 -0.424  0.004 -0.042  0.006 -1.   ]
+t: 27	 action: [ 8.287e-01  3.586e-01 -4.729e-01  2.919e-03 -4.167e-02 -8.780e-04 -9.970e-01]
+t: 28	 action: [ 0.767  0.33  -0.591  0.004 -0.053  0.004 -1.006]
+t: 29	 action: [ 0.689  0.246 -0.662  0.006 -0.051 -0.004 -0.994]
+t: 30	 action: [ 5.491e-01  1.930e-01 -7.749e-01  2.273e-03 -6.358e-02 -5.651e-04 -1.010e+00]
+t: 31	 action: [ 0.427  0.15  -0.868  0.011 -0.079 -0.006 -1.007]
+t: 32	 action: [ 0.348  0.16  -0.918  0.002 -0.072 -0.002 -1.016]
+t: 33	 action: [ 0.247  0.128 -0.94   0.011 -0.081 -0.009 -1.004]
+t: 34	 action: [ 0.145  0.105 -0.937  0.009 -0.069  0.005 -1.014]
+t: 35	 action: [ 0.05   0.1   -0.943  0.009 -0.071  0.001 -0.998]
+t: 36	 action: [ 0.048  0.069 -0.943  0.003 -0.065  0.006 -1.016]
+t: 37	 action: [-0.003  0.063 -0.943  0.002 -0.064  0.002 -0.994]
+t: 38	 action: [-4.025e-02  7.522e-02 -9.297e-01 -5.997e-04 -7.426e-02  5.097e-03 -1.019e+00]
+t: 39	 action: [-0.077  0.051 -0.929 -0.001 -0.075  0.004 -1.006]
+t: 40	 action: [-0.115  0.021 -0.927 -0.006 -0.063  0.004 -1.022]
+t: 41	 action: [-0.173  0.017 -0.91  -0.008 -0.062  0.006 -1.006]
+[07-31 02:11:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6104
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=42: Selected seed 195 with value = 0.6104
+t: 42	 action: [-0.167 -0.023 -0.888  0.013 -0.039  0.009 -0.993]
+t: 43	 action: [-0.207 -0.037 -0.845  0.011 -0.041  0.018 -1.01 ]
+t: 44	 action: [-0.247 -0.072 -0.839  0.012 -0.026  0.008 -1.002]
+t: 45	 action: [-0.287 -0.068 -0.796  0.007 -0.021  0.014 -1.031]
+t: 46	 action: [-0.312 -0.079 -0.724  0.006 -0.009  0.005 -0.99 ]
+t: 47	 action: [-0.291 -0.07  -0.682  0.008 -0.009  0.015  0.708]
+t: 48	 action: [-2.798e-01 -6.342e-02 -5.832e-01  7.996e-04  6.844e-03  3.330e-03  9.702e-01]
+t: 49	 action: [-2.355e-01 -4.013e-02 -5.203e-01 -6.973e-04  3.289e-03  1.731e-03  9.877e-01]
+t: 50	 action: [-2.410e-01 -3.431e-02 -3.675e-01 -5.342e-04  1.889e-02  5.853e-03  9.705e-01]
+t: 51	 action: [-0.213 -0.055 -0.266 -0.019  0.018  0.001  0.987]
+t: 52	 action: [-0.141 -0.022 -0.172 -0.011  0.036  0.005  0.971]
+t: 53	 action: [-0.087 -0.072 -0.086 -0.025  0.03  -0.005  0.977]
+t: 54	 action: [-0.093 -0.032  0.012 -0.02   0.055 -0.015  0.989]
+t: 55	 action: [-0.035 -0.061  0.117 -0.028  0.037 -0.023  0.981]
+t: 56	 action: [-0.02  -0.041  0.334 -0.031  0.059 -0.031  0.995]
+t: 57	 action: [ 0.016 -0.046  0.631 -0.031  0.045 -0.031  0.993]
+[07-31 02:11:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7787
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7787
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7787
+t=58: Selected seed 195 with value = 0.7787
+t: 58	 action: [-3.651e-02 -1.425e-01  2.724e-01  2.797e-04 -1.104e-02 -4.436e-02  9.849e-01]
+t: 59	 action: [-0.025 -0.199  0.439  0.007  0.002 -0.046  0.991]
+t: 60	 action: [-3.703e-02 -2.160e-01  6.425e-01  1.120e-02 -6.458e-04 -4.642e-02  9.852e-01]
+t: 61	 action: [-0.027 -0.294  0.806  0.025  0.009 -0.042  0.991]
+t: 62	 action: [-0.048 -0.381  0.846  0.035  0.02  -0.034  0.987]
+t: 63	 action: [-0.034 -0.397  0.894  0.048  0.039 -0.035  0.976]
+t: 64	 action: [-0.08  -0.527  0.88   0.059  0.039 -0.026  0.985]
+t: 65	 action: [-0.066 -0.558  0.889  0.064  0.059 -0.027  0.98 ]
+t: 66	 action: [-0.058 -0.626  0.844  0.08   0.088 -0.007  0.981]
+t: 67	 action: [-0.074 -0.665  0.8    0.079  0.096 -0.012  0.98 ]
+t: 68	 action: [-9.160e-02 -7.069e-01  6.926e-01  7.893e-02  8.808e-02  7.203e-04  9.817e-01]
+t: 69	 action: [-0.102 -0.713  0.565  0.079  0.092 -0.004  0.983]
+t: 70	 action: [-1.730e-01 -7.552e-01  4.772e-01  7.057e-02  8.891e-02 -4.460e-04  9.887e-01]
+t: 71	 action: [-1.975e-01 -7.434e-01  3.450e-01  7.351e-02  8.077e-02 -9.528e-04  9.742e-01]
+t: 72	 action: [-0.178 -0.756  0.248  0.063  0.081  0.005  0.991]
+t: 73	 action: [-0.191 -0.738  0.128  0.063  0.068  0.006  0.979]
+[07-31 02:11:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8924
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=74: Selected seed 195 with value = 0.8924
+t: 74	 action: [-0.204 -0.667 -0.437  0.02   0.021  0.008  0.971]
+t: 75	 action: [-0.237 -0.581 -0.541  0.019  0.018  0.012  0.978]
+t: 76	 action: [-0.215 -0.437 -0.72   0.007  0.015  0.009  0.982]
+t: 77	 action: [-0.215 -0.325 -0.755  0.003  0.004  0.014  0.991]
+t: 78	 action: [-0.212 -0.266 -0.853 -0.007  0.002  0.008  0.984]
+t: 79	 action: [-0.2   -0.207 -0.818 -0.007 -0.004  0.016  0.997]
+t: 80	 action: [-0.179 -0.142 -0.854 -0.026  0.007  0.009  0.999]
+t: 81	 action: [-0.184 -0.115 -0.835 -0.021  0.003  0.015  1.006]
+t: 82	 action: [-0.062 -0.125 -0.773 -0.026  0.014  0.016  0.987]
+t: 83	 action: [-0.131 -0.116 -0.663 -0.034  0.027  0.023  0.988]
+t: 84	 action: [-0.15  -0.079 -0.568 -0.046  0.031  0.016  0.953]
+t: 85	 action: [-0.248 -0.08  -0.415 -0.046  0.038  0.014  1.006]
+t: 86	 action: [-0.238 -0.061 -0.267 -0.068  0.013  0.008  1.022]
+t: 87	 action: [-0.247 -0.031 -0.117 -0.056  0.003  0.015  1.008]
+t: 88	 action: [-0.142 -0.024  0.032 -0.062  0.006  0.005 -0.911]
+t: 89	 action: [-8.362e-02 -1.735e-02  1.273e-01 -5.278e-02  9.704e-04  1.039e-02 -1.006e+00]
+[07-31 02:11:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 1.0000
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+t: 90	 action: [ 0.19   0.079  0.29  -0.005  0.083 -0.018 -1.005]
+t: 91	 action: [ 0.179  0.048  0.326 -0.022  0.089 -0.03  -1.016]
+t: 92	 action: [ 0.19   0.077  0.387 -0.008  0.083 -0.026 -0.989]
+t: 93	 action: [ 0.216  0.06   0.421 -0.015  0.096 -0.029 -1.006]
+t: 94	 action: [ 0.149  0.064  0.427 -0.013  0.083 -0.03  -1.011]
+t: 95	 action: [ 0.16   0.076  0.466 -0.006  0.088 -0.025 -1.017]
+t: 96	 action: [ 0.173  0.054  0.455 -0.007  0.083 -0.028 -0.998]
+t: 97	 action: [ 0.197  0.077  0.465 -0.002  0.082 -0.027 -1.011]
+t: 98	 action: [ 0.162  0.063  0.441  0.007  0.06  -0.018 -1.001]
+t: 99	 action: [ 0.175  0.03   0.415  0.003  0.067 -0.027 -1.014]
+t: 100	 action: [ 0.143  0.047  0.355  0.007  0.048 -0.016 -0.989]
+t: 101	 action: [ 0.184  0.022  0.341  0.004  0.048 -0.025 -1.003]
+t: 102	 action: [ 0.121  0.04   0.315  0.005  0.042 -0.012 -1.012]
+t: 103	 action: [ 0.096  0.033  0.272  0.006  0.037 -0.021 -1.016]
+t: 104	 action: [ 0.106  0.035  0.239  0.004  0.035 -0.011 -1.004]
+t: 105	 action: [ 0.108  0.023  0.219  0.005  0.027 -0.019 -1.014]
+[07-31 02:11:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=106: Selected seed 195 with value = 0.9977
+t: 106	 action: [ 0.043  0.05   0.312  0.007  0.006 -0.024 -1.005]
+t: 107	 action: [ 2.364e-02  5.542e-02  2.369e-01 -4.823e-04  1.705e-03 -2.412e-02 -1.012e+00]
+t: 108	 action: [ 0.029  0.056  0.203  0.006  0.007 -0.023 -1.004]
+t: 109	 action: [ 2.848e-02  6.244e-02  1.780e-01  5.324e-04  2.940e-03 -2.630e-02 -9.992e-01]
+t: 110	 action: [ 0.025  0.057  0.162  0.004  0.003 -0.021 -1.009]
+t: 111	 action: [ 0.012  0.066  0.144  0.002 -0.003 -0.022 -1.025]
+t: 112	 action: [ 0.024  0.062  0.139  0.002  0.009 -0.021 -1.013]
+t: 113	 action: [ 1.648e-02  6.877e-02  1.243e-01  2.746e-03 -5.380e-04 -2.675e-02 -1.013e+00]
+t: 114	 action: [ 0.04   0.078  0.139  0.006 -0.002 -0.012 -1.01 ]
+t: 115	 action: [ 1.648e-02  6.889e-02  1.217e-01 -2.254e-03  7.114e-05 -2.385e-02 -1.014e+00]
+t: 116	 action: [ 0.031  0.066  0.123  0.004  0.001 -0.017 -1.006]
+t: 117	 action: [ 0.025  0.067  0.108 -0.002  0.002 -0.026 -1.006]
+t: 118	 action: [ 3.182e-02  7.160e-02  1.126e-01  6.304e-04  3.022e-03 -1.363e-02 -1.014e+00]
+t: 119	 action: [ 7.874e-03  7.772e-02  1.002e-01  1.364e-04 -4.026e-03 -2.511e-02 -1.023e+00]
+t: 120	 action: [ 3.055e-02  6.829e-02  1.129e-01 -3.427e-04  8.868e-03 -1.970e-02 -1.013e+00]
+t: 121	 action: [ 1.284e-02  7.245e-02  1.032e-01  8.436e-05 -2.692e-03 -2.567e-02 -1.019e+00]
+[07-31 02:11:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9929
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=122: Selected seed 195 with value = 0.9929
+t: 122	 action: [ 0.018  0.07   0.061  0.003 -0.015  0.004 -1.002]
+t: 123	 action: [ 0.007  0.059  0.04  -0.004 -0.016 -0.005 -1.004]
+t: 124	 action: [ 0.017  0.081  0.048 -0.001 -0.012  0.001 -1.002]
+t: 125	 action: [ 0.009  0.065  0.055 -0.006 -0.009 -0.009 -0.999]
+t: 126	 action: [ 0.021  0.084  0.056 -0.003 -0.014 -0.002 -1.009]
+t: 127	 action: [ 0.003  0.069  0.075 -0.004 -0.021 -0.006 -1.023]
+t: 128	 action: [ 0.023  0.078  0.066 -0.004 -0.007 -0.005 -1.009]
+t: 129	 action: [ 0.004  0.07   0.092 -0.006 -0.011 -0.011 -1.013]
+t: 130	 action: [ 0.019  0.062  0.059  0.005 -0.017  0.006 -1.005]
+t: 131	 action: [ 0.005  0.064  0.057 -0.005 -0.008 -0.007 -1.006]
+t: 132	 action: [ 1.691e-02  7.074e-02  5.483e-02  3.731e-04 -1.465e-02  2.972e-03 -1.006e+00]
+t: 133	 action: [ 0.013  0.068  0.061 -0.007 -0.006 -0.008 -1.003]
+t: 134	 action: [ 1.833e-02  7.583e-02  6.207e-02 -9.160e-04 -1.227e-02 -1.658e-03 -1.016e+00]
+t: 135	 action: [-0.005  0.074  0.083 -0.004 -0.014 -0.01  -1.023]
+t: 136	 action: [ 0.021  0.074  0.071 -0.004 -0.007 -0.006 -1.011]
+t: 137	 action: [-0.003  0.073  0.096 -0.007 -0.011 -0.01  -1.02 ]
+[07-31 02:11:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9755
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=138: Selected seed 195 with value = 0.9755
+t: 138	 action: [-4.492e-02  2.784e-02 -3.233e-01  3.945e-03  1.743e-02 -8.143e-04 -9.761e-01]
+t: 139	 action: [-0.026  0.013 -0.45  -0.003  0.01  -0.002 -0.993]
+t: 140	 action: [-0.053  0.032 -0.341  0.001  0.014  0.004 -0.993]
+t: 141	 action: [-0.029  0.019 -0.441 -0.005  0.008 -0.002 -1.001]
+t: 142	 action: [-0.036  0.044 -0.338  0.002  0.008  0.004 -1.008]
+t: 143	 action: [-0.036  0.071 -0.371 -0.003 -0.003  0.004 -1.015]
+t: 144	 action: [-3.174e-02  4.486e-02 -3.577e-01 -7.086e-06  8.874e-03  4.174e-03 -1.011e+00]
+t: 145	 action: [-2.517e-02  6.805e-02 -3.303e-01 -4.388e-03 -8.381e-04  1.555e-03 -1.013e+00]
+t: 146	 action: [-0.057  0.029 -0.26   0.006  0.01   0.011 -0.991]
+t: 147	 action: [-2.835e-02  7.125e-03 -3.460e-01 -2.444e-03  3.847e-03  5.212e-04 -9.936e-01]
+t: 148	 action: [-0.062  0.028 -0.288  0.002  0.008  0.011 -1.005]
+t: 149	 action: [-0.011  0.013 -0.34  -0.005  0.003  0.003 -0.996]
+t: 150	 action: [-0.055  0.034 -0.241  0.002  0.003  0.007 -1.021]
+t: 151	 action: [-4.968e-02  4.594e-02 -2.334e-01 -9.377e-04 -5.575e-03  2.408e-03 -1.016e+00]
+t: 152	 action: [-0.047  0.036 -0.276 -0.002  0.004  0.004 -1.02 ]
+t: 153	 action: [-0.035  0.049 -0.219 -0.003 -0.005  0.006 -1.007]
+[07-31 02:11:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9069
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9069
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9069
+t=154: Selected seed 195 with value = 0.9069
+t: 154	 action: [-0.159 -0.018 -0.645 -0.002 -0.02   0.002 -0.977]
+t: 155	 action: [-0.138 -0.059 -0.691 -0.01  -0.016 -0.015 -1.008]
+t: 156	 action: [-1.368e-01 -2.938e-02 -5.531e-01 -2.902e-03 -1.645e-02 -5.135e-04 -9.797e-01]
+t: 157	 action: [-0.102 -0.064 -0.575 -0.01  -0.007 -0.003 -0.991]
+t: 158	 action: [-1.293e-01  4.419e-04 -4.134e-01 -1.211e-02 -9.457e-03 -4.900e-04 -9.856e-01]
+t: 159	 action: [-0.115  0.005 -0.338 -0.011 -0.003 -0.015 -1.016]
+t: 160	 action: [-0.078  0.011 -0.298 -0.012  0.003 -0.001 -0.954]
+t: 161	 action: [-0.075  0.005 -0.211 -0.01   0.004 -0.003  0.883]
+t: 162	 action: [-4.567e-02 -5.957e-02 -3.596e-01 -7.619e-03  1.714e-02 -8.585e-04  9.984e-01]
+t: 163	 action: [ 0.018 -0.07  -0.183 -0.019  0.016 -0.002  1.008]
+t: 164	 action: [ 0.027 -0.042 -0.116 -0.015  0.03   0.002  0.983]
+t: 165	 action: [ 6.425e-02 -4.849e-02 -2.216e-02 -1.965e-02  2.963e-02  3.533e-04  1.003e+00]
+t: 166	 action: [ 0.012 -0.043 -0.019 -0.015  0.035 -0.006  1.004]
+t: 167	 action: [ 5.124e-02 -5.310e-02  8.493e-02 -1.769e-02  4.042e-02 -6.906e-04  9.887e-01]
+t: 168	 action: [ 0.056 -0.024  0.088 -0.007  0.045 -0.005  0.996]
+t: 169	 action: [ 0.085 -0.031  0.236 -0.016  0.052  0.003  0.988]
+[07-31 02:11:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8767
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=170: Selected seed 195 with value = 0.8767
+t: 170	 action: [-0.049 -0.087  0.111 -0.048 -0.012  0.003  1.022]
+t: 171	 action: [-1.359e-02 -1.053e-01  2.419e-01 -3.288e-02 -1.589e-03 -3.639e-04  1.017e+00]
+t: 172	 action: [-0.104 -0.041  0.374 -0.01  -0.009 -0.001  0.954]
+t: 173	 action: [-1.303e-01 -5.414e-02  5.177e-01 -1.750e-02  1.166e-04 -2.464e-02  9.047e-01]
+t: 174	 action: [-4.723e-02 -4.321e-05  5.822e-01 -1.053e-02 -2.258e-03  5.363e-05  1.019e+00]
+t: 175	 action: [ 0.005  0.038  0.673 -0.004  0.005 -0.006  0.879]
+t: 176	 action: [ 0.049  0.039  0.797  0.003  0.011 -0.009 -0.939]
+t: 177	 action: [ 0.101  0.046  0.73   0.013  0.024 -0.018 -0.984]
+t: 178	 action: [ 0.13  -0.04   0.583 -0.005  0.034 -0.019 -0.998]
+t: 179	 action: [ 0.108 -0.045  0.507  0.007  0.032 -0.029 -1.011]
+t: 180	 action: [ 0.232 -0.046  0.446 -0.003  0.05  -0.02  -1.014]
+t: 181	 action: [ 0.219 -0.076  0.318  0.013  0.053 -0.033 -1.01 ]
+t: 182	 action: [ 0.156 -0.163  0.337  0.008  0.039 -0.009 -1.034]
+t: 183	 action: [ 0.157 -0.158  0.269  0.016  0.033 -0.028 -1.004]
+t: 184	 action: [ 0.189 -0.14   0.196  0.006  0.049 -0.011 -1.017]
+t: 185	 action: [ 0.232 -0.181  0.14   0.016  0.044 -0.031 -0.954]
+[07-31 02:11:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9885
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=186: Selected seed 195 with value = 0.9885
+t: 186	 action: [ 2.977e-02  1.362e-02  4.404e-02 -2.917e-04 -6.719e-04 -2.651e-03 -9.184e-01]
+t: 187	 action: [ 0.014  0.007 -0.04  -0.008 -0.012 -0.01  -0.91 ]
+t: 188	 action: [ 0.013  0.021  0.023 -0.002 -0.017 -0.005 -0.989]
+t: 189	 action: [-0.002  0.015 -0.005 -0.008 -0.026 -0.018 -1.   ]
+t: 190	 action: [ 0.009  0.015  0.013 -0.004 -0.024 -0.007 -0.996]
+t: 191	 action: [-0.026  0.03  -0.011 -0.006 -0.039 -0.011 -1.032]
+t: 192	 action: [ 0.004  0.026  0.023 -0.002 -0.022 -0.006 -1.007]
+t: 193	 action: [-0.024  0.03   0.006 -0.005 -0.036 -0.018 -1.012]
+t: 194	 action: [ 8.973e-04  4.014e-02 -4.377e-03  1.310e-03 -2.510e-02  3.715e-03 -9.809e-01]
+t: 195	 action: [-0.008  0.029  0.001 -0.009 -0.025 -0.013 -1.004]
+t: 196	 action: [-4.694e-03  3.488e-02 -6.648e-03  6.586e-04 -2.890e-02  2.037e-04 -1.001e+00]
+t: 197	 action: [-0.002  0.026  0.009 -0.008 -0.027 -0.016 -1.003]
+t: 198	 action: [ 5.703e-03  3.759e-02  6.299e-04 -2.733e-03 -3.083e-02 -2.723e-03 -1.011e+00]
+t: 199	 action: [-0.023  0.04   0.008 -0.006 -0.037 -0.016 -1.026]
+t: 200	 action: [ 0.005  0.038  0.012 -0.002 -0.027 -0.006 -1.014]
+t: 201	 action: [-0.019  0.035  0.011 -0.006 -0.032 -0.016 -1.017]
+[07-31 02:11:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9936
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=202: Selected seed 195 with value = 0.9936
+t: 202	 action: [ 0.011  0.027  0.012  0.004  0.011  0.01  -1.009]
+t: 203	 action: [-0.002  0.018 -0.003 -0.004  0.005  0.001 -1.013]
+t: 204	 action: [-0.007  0.033  0.008  0.003  0.009  0.007 -1.005]
+t: 205	 action: [-0.005  0.021  0.016 -0.006  0.005 -0.004 -1.001]
+t: 206	 action: [ 2.234e-04  2.485e-02  1.692e-02  2.243e-04  5.031e-03  4.250e-03 -1.015e+00]
+t: 207	 action: [-7.097e-03  2.821e-02  2.253e-02 -2.611e-03 -4.902e-03 -5.518e-04 -1.025e+00]
+t: 208	 action: [-7.093e-03  2.724e-02  3.041e-02  3.787e-04  6.333e-03 -5.530e-05 -1.014e+00]
+t: 209	 action: [-0.007  0.029  0.049 -0.003 -0.001 -0.007 -1.013]
+t: 210	 action: [ 0.001  0.025  0.002  0.004  0.009  0.009 -1.017]
+t: 211	 action: [ 6.754e-04  1.447e-02  1.175e-02 -4.402e-03  4.153e-03 -1.114e-05 -1.015e+00]
+t: 212	 action: [-0.014  0.026  0.002  0.002  0.005  0.006 -1.015]
+t: 213	 action: [ 1.479e-04  1.774e-02  2.205e-02 -6.195e-03  2.483e-03 -2.378e-03 -1.008e+00]
+t: 214	 action: [-9.395e-03  2.404e-02  4.257e-03  4.821e-04  4.317e-03  2.434e-03 -1.026e+00]
+t: 215	 action: [-0.016  0.024  0.022 -0.002 -0.007 -0.003 -1.022]
+t: 216	 action: [-1.678e-02  2.168e-02  1.757e-02 -1.008e-03  3.198e-03 -2.759e-03 -1.022e+00]
+t: 217	 action: [-0.015  0.026  0.049 -0.004 -0.006 -0.004 -1.018]
+[07-31 02:11:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9932
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=218: Selected seed 195 with value = 0.9932
+t: 218	 action: [ 0.007  0.022 -0.072  0.005  0.007  0.011 -1.   ]
+t: 219	 action: [-0.004  0.013 -0.121 -0.005  0.004  0.004 -1.014]
+t: 220	 action: [-0.009  0.031 -0.062  0.003  0.002  0.008 -0.999]
+t: 221	 action: [-7.237e-03  1.943e-02 -6.568e-02 -8.859e-03  2.287e-03 -2.385e-04 -1.001e+00]
+t: 222	 action: [ 1.442e-03  2.571e-02 -4.908e-02  9.047e-04 -1.345e-03  6.937e-03 -1.007e+00]
+t: 223	 action: [-0.004  0.037 -0.041 -0.003 -0.006  0.003 -1.025]
+t: 224	 action: [-3.921e-03  3.268e-02 -2.691e-02  3.504e-04 -1.248e-03  2.665e-03 -1.009e+00]
+t: 225	 action: [-0.006  0.036 -0.006 -0.006 -0.003 -0.002 -1.014]
+t: 226	 action: [-0.009  0.023 -0.093  0.004  0.001  0.009 -1.011]
+t: 227	 action: [ 0.001  0.007 -0.103 -0.007  0.002  0.004 -0.998]
+t: 228	 action: [-1.826e-02  2.517e-02 -7.844e-02 -7.305e-04 -4.148e-03  5.825e-03 -1.016e+00]
+t: 229	 action: [ 3.818e-03  1.210e-02 -5.151e-02 -1.080e-02 -7.622e-04  2.270e-03 -9.971e-01]
+t: 230	 action: [-0.017  0.024 -0.078  0.002 -0.007  0.004 -1.022]
+t: 231	 action: [-0.021  0.029 -0.045 -0.004 -0.009  0.003 -0.986]
+t: 232	 action: [-1.885e-02  2.191e-02 -5.028e-02 -2.125e-03 -8.497e-03 -6.878e-04 -1.022e+00]
+t: 233	 action: [-0.018  0.028 -0.006 -0.008 -0.009  0.002 -0.974]
+[07-31 02:11:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.018 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9830
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 1.018 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=234: Selected seed 195 with value = 0.9830
+t: 234	 action: [-0.09   0.009 -0.308  0.004 -0.004  0.003 -0.992]
+t: 235	 action: [-0.073 -0.014 -0.482 -0.007 -0.002 -0.017 -1.013]
+t: 236	 action: [-0.06   0.019 -0.294  0.003 -0.006  0.002 -0.99 ]
+t: 237	 action: [-5.218e-02 -2.067e-03 -4.068e-01 -8.035e-03  3.867e-04 -1.563e-02 -1.008e+00]
+t: 238	 action: [-0.032  0.016 -0.237  0.003 -0.008  0.001 -0.998]
+t: 239	 action: [-0.012  0.045 -0.238 -0.004 -0.009 -0.014 -1.013]
+t: 240	 action: [-6.428e-03  2.104e-02 -2.308e-01  1.209e-03 -3.247e-03 -2.647e-05 -1.003e+00]
+t: 241	 action: [-0.013  0.05  -0.197 -0.006 -0.002 -0.016 -1.015]
+t: 242	 action: [-0.082  0.002 -0.383 -0.003 -0.011  0.004 -0.963]
+t: 243	 action: [-0.081 -0.025 -0.485 -0.022  0.001 -0.01  -0.983]
+t: 244	 action: [-0.01   0.006 -0.315 -0.014 -0.011  0.004  0.963]
+t: 245	 action: [ 0.038 -0.016 -0.325 -0.029  0.001  0.005  1.024]
+t: 246	 action: [-0.051  0.007 -0.249 -0.008 -0.014  0.002  0.976]
+t: 247	 action: [ 8.295e-04  3.370e-02 -1.923e-01 -1.879e-02 -1.189e-02  1.887e-03  9.776e-01]
+t: 248	 action: [-1.274e-03  1.472e-03 -1.244e-01 -1.455e-02 -1.091e-02 -9.145e-04  9.559e-01]
+t: 249	 action: [ 0.037  0.015 -0.038 -0.025 -0.007  0.004  0.963]
+[07-31 02:11:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9497
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9497
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=250: Selected seed 195 with value = 0.9497
+t: 250	 action: [-0.004 -0.149 -0.194 -0.01   0.048 -0.003  1.013]
+t: 251	 action: [ 0.011 -0.107 -0.095 -0.009  0.047 -0.018  1.007]
+t: 252	 action: [ 0.021 -0.105 -0.028 -0.008  0.04  -0.01   0.997]
+t: 253	 action: [ 0.029 -0.073  0.04  -0.005  0.038 -0.02  -0.858]
+t: 254	 action: [ 0.082 -0.044  0.1   -0.027  0.039 -0.012 -0.966]
+t: 255	 action: [ 0.044 -0.06   0.183 -0.014  0.033 -0.013 -1.027]
+t: 256	 action: [ 0.117 -0.015  0.253 -0.005  0.029 -0.023 -0.984]
+t: 257	 action: [ 8.647e-02 -2.091e-02  2.843e-01 -8.448e-04  3.169e-02 -2.789e-02 -1.006e+00]
+t: 258	 action: [ 0.002 -0.051  0.244  0.002  0.004 -0.037 -0.996]
+t: 259	 action: [-0.015 -0.046  0.261  0.005  0.002 -0.041 -1.014]
+t: 260	 action: [ 0.005 -0.026  0.242  0.003  0.002 -0.034 -0.999]
+t: 261	 action: [ 0.004 -0.041  0.258  0.007  0.006 -0.04  -1.003]
+t: 262	 action: [-1.143e-02 -2.609e-03  2.557e-01  4.788e-03 -3.147e-04 -2.788e-02 -1.023e+00]
+t: 263	 action: [-0.027 -0.023  0.269  0.008 -0.003 -0.037 -1.001]
+t: 264	 action: [-4.656e-03  2.537e-04  2.433e-01  6.387e-03  2.080e-03 -2.368e-02 -1.019e+00]
+t: 265	 action: [-0.008 -0.022  0.261  0.01   0.006 -0.033 -0.982]
+[07-31 02:11:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9867
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=266: Selected seed 195 with value = 0.9867
+t: 266	 action: [-0.016  0.019 -0.022  0.004 -0.008 -0.019 -0.999]
+t: 267	 action: [-0.035 -0.024 -0.008 -0.009 -0.005 -0.033 -1.016]
+t: 268	 action: [-7.765e-04  2.066e-02  1.710e-02  3.882e-03 -9.773e-03 -2.327e-02 -1.001e+00]
+t: 269	 action: [-0.025 -0.014  0.033 -0.007 -0.002 -0.035 -1.01 ]
+t: 270	 action: [ 0.012  0.01   0.021 -0.001 -0.012 -0.021 -1.005]
+t: 271	 action: [-0.003  0.001  0.057 -0.008 -0.011 -0.034 -1.016]
+t: 272	 action: [ 2.591e-02  1.708e-02  5.082e-02  5.628e-06 -9.891e-03 -2.365e-02 -1.013e+00]
+t: 273	 action: [ 7.177e-04  9.672e-03  7.714e-02 -6.100e-03 -5.332e-03 -3.777e-02 -1.010e+00]
+t: 274	 action: [ 0.021  0.018  0.025 -0.01  -0.002 -0.017 -0.055]
+t: 275	 action: [ 0.028 -0.014  0.031 -0.016  0.001 -0.027 -0.347]
+t: 276	 action: [ 0.038  0.019  0.054 -0.011 -0.007 -0.02   0.933]
+t: 277	 action: [ 4.148e-02 -4.372e-03  5.975e-02 -1.429e-02  4.086e-04 -2.590e-02  9.305e-01]
+t: 278	 action: [ 0.039  0.013  0.02  -0.012 -0.011 -0.015  0.87 ]
+t: 279	 action: [ 0.122  0.012  0.037 -0.014 -0.014 -0.02   0.926]
+t: 280	 action: [ 0.047  0.015  0.062 -0.009 -0.015 -0.018 -0.966]
+t: 281	 action: [ 0.009  0.018  0.091 -0.012 -0.01  -0.02  -0.984]
+[07-31 02:11:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9845
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=282: Selected seed 195 with value = 0.9845
+t: 282	 action: [ 0.015 -0.138  0.048  0.002  0.027 -0.027  0.959]
+t: 283	 action: [-0.011 -0.062 -0.019 -0.002  0.009 -0.027  0.92 ]
+t: 284	 action: [-0.013 -0.026  0.154  0.004 -0.011 -0.035 -0.992]
+t: 285	 action: [-0.078 -0.02   0.122  0.003 -0.01  -0.039 -1.005]
+t: 286	 action: [ 0.009  0.037  0.05  -0.004 -0.026 -0.045 -0.955]
+t: 287	 action: [-0.073  0.019  0.12  -0.008 -0.03  -0.025 -1.003]
+t: 288	 action: [-0.021  0.026  0.12   0.001 -0.033 -0.038 -1.006]
+t: 289	 action: [-7.074e-02  2.448e-02  1.613e-01 -2.264e-04 -4.339e-02 -4.508e-02 -1.014e+00]
+t: 290	 action: [-0.057  0.007  0.082  0.005 -0.055 -0.019 -0.996]
+t: 291	 action: [-0.111 -0.036  0.082 -0.004 -0.048 -0.032 -1.014]
+t: 292	 action: [-0.054 -0.007  0.048  0.002 -0.057 -0.018 -1.   ]
+t: 293	 action: [-0.076 -0.036  0.057 -0.004 -0.047 -0.031 -1.003]
+t: 294	 action: [-3.496e-02 -6.029e-04  4.567e-02  7.995e-04 -6.195e-02 -1.818e-02 -1.015e+00]
+t: 295	 action: [-0.088 -0.019  0.07  -0.005 -0.062 -0.031 -1.02 ]
+t: 296	 action: [-3.652e-02  5.837e-04  4.731e-02 -2.679e-04 -5.515e-02 -1.736e-02 -1.014e+00]
+t: 297	 action: [-0.07  -0.018  0.059 -0.005 -0.052 -0.029 -1.014]
+[07-31 02:11:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9980
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.9980
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 46
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 40 (87.0%)
+
+
 92%|█████████▏| 46/50 [11:09<01:09, 17.31s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 47...
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=298: Selected seed 195 with value = 0.9980
+t: 298	 action: [-0.046  0.028  0.121  0.004 -0.054 -0.004 -0.999]
+t: 299	 action: [-5.049e-02  5.785e-04  1.678e-01 -4.525e-03 -4.937e-02 -1.406e-02 -1.009e+00]
+t: 300	 action: [-0.053  0.024  0.131  0.005 -0.057 -0.002 -0.994]
+t: 301	 action: [-0.069 -0.004  0.182 -0.001 -0.051 -0.013 -1.001]
+t: 302	 action: [-0.034  0.015  0.146  0.002 -0.058 -0.004 -1.004]
+t: 303	 action: [-4.030e-02  1.088e-02  1.635e-01 -9.724e-04 -5.925e-02 -9.342e-03 -1.024e+00]
+t: 304	 action: [-0.033  0.018  0.166  0.004 -0.054 -0.003 -1.004]
+t: 305	 action: [-3.882e-02  1.241e-02  1.850e-01  9.709e-04 -5.244e-02 -9.067e-03 -1.015e+00]
+t: 306	 action: [-4.174e-02  1.312e-02  1.283e-01  5.323e-03 -6.279e-02 -1.267e-04 -1.001e+00]
+t: 307	 action: [-0.057 -0.001  0.165 -0.004 -0.05  -0.014 -1.011]
+t: 308	 action: [-5.007e-02  1.556e-02  1.345e-01  5.185e-03 -6.246e-02  4.993e-04 -9.987e-01]
+t: 309	 action: [-0.065 -0.003  0.176 -0.002 -0.051 -0.013 -1.005]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=46--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=46--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 46
+# successes: 40 (87.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 47...
+[07-31 02:11:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4528
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4528
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4528
+t=10: Selected seed 195 with value = 0.4528
+t: 10	 action: [ 0.048  0.006 -0.043  0.008 -0.003  0.004 -0.992]
+t: 11	 action: [ 0.176  0.094 -0.001  0.012  0.002  0.005 -0.992]
+t: 12	 action: [ 2.538e-01  1.878e-01 -4.709e-02  5.707e-03 -8.354e-04  5.981e-03 -9.932e-01]
+t: 13	 action: [ 4.319e-01  2.994e-01 -5.911e-03  1.029e-02 -2.692e-04  6.775e-03 -9.923e-01]
+t: 14	 action: [ 5.029e-01  3.812e-01 -4.609e-02 -3.269e-04  3.065e-03  3.872e-03 -1.002e+00]
+t: 15	 action: [ 0.674  0.481 -0.017  0.009  0.002  0.009 -1.008]
+t: 16	 action: [ 0.733  0.554 -0.046 -0.002  0.008  0.006 -0.993]
+t: 17	 action: [ 0.813  0.58  -0.038  0.008  0.001  0.009 -1.012]
+t: 18	 action: [ 0.769  0.592 -0.074  0.009  0.008  0.014 -1.001]
+t: 19	 action: [ 0.788  0.606 -0.071  0.002  0.005  0.01  -1.001]
+t: 20	 action: [ 0.79   0.61  -0.114  0.008  0.005  0.013 -1.003]
+t: 21	 action: [ 7.973e-01  6.017e-01 -1.174e-01  2.394e-04  4.910e-03  1.145e-02 -9.983e-01]
+t: 22	 action: [ 0.821  0.616 -0.153  0.002  0.008  0.011 -0.996]
+t: 23	 action: [ 0.801  0.607 -0.194  0.003 -0.003  0.01  -1.009]
+t: 24	 action: [ 0.812  0.593 -0.298  0.001  0.004  0.009 -0.998]
+t: 25	 action: [ 0.798  0.502 -0.331  0.003 -0.003  0.011 -1.018]
+[07-31 02:11:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4857
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4857
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4857
+t=26: Selected seed 195 with value = 0.4857
+t: 26	 action: [ 0.875  0.396 -0.253  0.006  0.007  0.012 -1.   ]
+t: 27	 action: [ 0.866  0.368 -0.288  0.003  0.008  0.013 -1.002]
+t: 28	 action: [ 0.839  0.364 -0.366  0.005  0.004  0.011 -0.993]
+t: 29	 action: [ 0.797  0.3   -0.392  0.006  0.005  0.011 -1.004]
+t: 30	 action: [ 7.604e-01  3.325e-01 -4.055e-01  1.448e-03 -3.588e-04  3.924e-03 -1.004e+00]
+t: 31	 action: [ 0.653  0.293 -0.503  0.008 -0.001  0.009 -1.001]
+t: 32	 action: [ 0.544  0.242 -0.546  0.007 -0.01   0.002 -0.998]
+t: 33	 action: [ 0.451  0.198 -0.624  0.012 -0.01   0.006 -1.004]
+t: 34	 action: [ 0.337  0.119 -0.726  0.019 -0.024  0.01  -1.   ]
+t: 35	 action: [ 0.262  0.075 -0.776  0.018 -0.022  0.007 -1.001]
+t: 36	 action: [ 0.194  0.044 -0.843  0.025 -0.03   0.009 -1.   ]
+t: 37	 action: [ 0.118 -0.002 -0.865  0.018 -0.035  0.005 -0.999]
+t: 38	 action: [ 0.102 -0.004 -0.895  0.024 -0.043  0.002 -1.006]
+t: 39	 action: [ 3.091e-02 -2.736e-02 -9.072e-01  1.282e-02 -5.116e-02 -3.338e-04 -1.004e+00]
+t: 40	 action: [-1.336e-02 -5.491e-02 -8.988e-01  1.631e-02 -4.544e-02  9.090e-04 -1.005e+00]
+t: 41	 action: [-0.048 -0.07  -0.91   0.008 -0.057 -0.001 -1.007]
+[07-31 02:11:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5575
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5575
+Query 1/1: Action query time = 1.006 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5575
+t=42: Selected seed 195 with value = 0.5575
+t: 42	 action: [-0.158  0.019 -0.924  0.014 -0.073  0.016 -0.983]
+t: 43	 action: [-0.21   0.003 -0.938  0.007 -0.079  0.022 -0.994]
+t: 44	 action: [-0.241  0.01  -0.901  0.021 -0.068  0.021 -0.982]
+t: 45	 action: [-0.315 -0.01  -0.897  0.012 -0.076  0.024 -1.001]
+t: 46	 action: [-0.424  0.023 -0.858  0.012 -0.054  0.021 -0.985]
+t: 47	 action: [-0.504  0.025 -0.827  0.01  -0.052  0.024 -1.008]
+t: 48	 action: [-0.485  0.008 -0.791  0.012 -0.045  0.021 -0.988]
+t: 49	 action: [-0.537  0.003 -0.763  0.01  -0.039  0.02  -1.012]
+t: 50	 action: [-0.538 -0.004 -0.667  0.015 -0.026  0.014 -0.986]
+t: 51	 action: [-0.551 -0.071 -0.701  0.01  -0.019  0.007 -1.017]
+t: 52	 action: [-0.499 -0.062 -0.638  0.011 -0.016  0.01  -0.987]
+t: 53	 action: [-0.447 -0.111 -0.65   0.001 -0.011  0.009 -1.029]
+t: 54	 action: [-0.547 -0.03  -0.628  0.009 -0.017  0.002 -1.012]
+t: 55	 action: [-0.484 -0.085 -0.564  0.003 -0.008 -0.01  -0.825]
+t: 56	 action: [-0.375 -0.058 -0.583  0.008 -0.006 -0.003  0.961]
+t: 57	 action: [-0.229 -0.097 -0.465 -0.01   0.001 -0.016  0.988]
+[07-31 02:11:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.090 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6495
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6495
+Query 1/1: Action query time = 1.090 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6495
+t=58: Selected seed 195 with value = 0.6495
+t: 58	 action: [-0.22   0.005 -0.436 -0.01   0.015  0.036  0.968]
+t: 59	 action: [-0.178 -0.018 -0.342 -0.024  0.017  0.027  0.981]
+t: 60	 action: [-0.089 -0.004 -0.209 -0.033  0.034  0.016  0.98 ]
+t: 61	 action: [-0.031 -0.023 -0.13  -0.035  0.032  0.016  0.984]
+t: 62	 action: [ 0.024 -0.036 -0.026 -0.038  0.047 -0.002  0.997]
+t: 63	 action: [ 3.245e-02 -5.667e-02  5.505e-02 -3.088e-02  3.931e-02 -9.171e-04  9.932e-01]
+t: 64	 action: [ 0.092 -0.029  0.128 -0.041  0.049 -0.017  1.001]
+t: 65	 action: [ 0.063 -0.032  0.239 -0.036  0.036 -0.024  0.997]
+t: 66	 action: [ 0.166 -0.021  0.494 -0.021  0.026 -0.043  0.982]
+t: 67	 action: [ 0.198 -0.023  0.723 -0.021  0.019 -0.05   0.983]
+t: 68	 action: [ 0.17  -0.036  0.817 -0.016  0.011 -0.042  0.975]
+t: 69	 action: [ 0.157 -0.073  0.929 -0.016  0.009 -0.048  0.98 ]
+t: 70	 action: [ 8.813e-02 -9.993e-02  9.479e-01 -1.219e-02  5.594e-05 -4.335e-02  9.951e-01]
+t: 71	 action: [ 0.051 -0.177  0.958 -0.005  0.004 -0.038  0.988]
+t: 72	 action: [-0.005 -0.322  0.927 -0.003 -0.012 -0.034  1.002]
+t: 73	 action: [-0.01  -0.387  0.93   0.007  0.004 -0.027  0.995]
+[07-31 02:11:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.096 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8296
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8296
+Query 1/1: Action query time = 1.096 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8296
+t=74: Selected seed 195 with value = 0.8296
+t: 74	 action: [-0.101 -0.642  0.692  0.025  0.011  0.004  0.981]
+t: 75	 action: [-0.13  -0.681  0.572  0.033  0.013  0.008  0.997]
+t: 76	 action: [-0.19  -0.722  0.402  0.029  0.006  0.003  0.971]
+t: 77	 action: [-0.223 -0.747  0.262  0.039  0.005  0.012  0.99 ]
+t: 78	 action: [-0.236 -0.777  0.138  0.038  0.018  0.004  0.99 ]
+t: 79	 action: [-0.309 -0.751 -0.01   0.037  0.002  0.015  0.983]
+t: 80	 action: [-0.302 -0.743 -0.082  0.035  0.01   0.005  0.983]
+t: 81	 action: [-0.34  -0.692 -0.214  0.033 -0.003  0.02   0.998]
+t: 82	 action: [-0.345 -0.59  -0.349  0.017  0.003  0.011  0.986]
+t: 83	 action: [-0.381 -0.485 -0.468  0.017 -0.003  0.022  0.996]
+t: 84	 action: [-0.319 -0.404 -0.571  0.007  0.003  0.015  0.982]
+t: 85	 action: [-0.31  -0.288 -0.653  0.004 -0.002  0.028  0.998]
+t: 86	 action: [-0.278 -0.102 -0.682  0.002  0.002  0.018  1.002]
+t: 87	 action: [-0.256 -0.05  -0.664  0.002 -0.011  0.03   0.985]
+t: 88	 action: [-0.143  0.043 -0.588 -0.01   0.011  0.023  0.996]
+t: 89	 action: [-0.091  0.06  -0.475 -0.011  0.001  0.034  0.996]
+[07-31 02:11:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9911
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9911
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 47
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 41 (87.2%)
+
+
 94%|█████████▍| 47/50 [11:20<00:46, 15.56s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 48...
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=90: Selected seed 195 with value = 0.9911
+t: 90	 action: [ 0.006  0.005  0.068 -0.001  0.08   0.009 -0.56 ]
+t: 91	 action: [ 3.153e-02 -1.665e-02  1.137e-01 -1.004e-02  6.683e-02  8.538e-04 -8.910e-01]
+t: 92	 action: [ 6.822e-03 -3.246e-03  1.448e-01  1.591e-04  7.174e-02  5.234e-03 -9.696e-01]
+t: 93	 action: [ 0.027 -0.018  0.198 -0.006  0.059 -0.007 -1.008]
+t: 94	 action: [-8.385e-04  2.250e-03  2.172e-01 -4.399e-04  6.087e-02 -3.769e-03 -1.012e+00]
+t: 95	 action: [ 6.115e-04 -6.834e-03  2.416e-01 -6.317e-04  5.673e-02 -7.216e-03 -1.044e+00]
+t: 96	 action: [ 1.113e-02 -4.951e-03  2.219e-01 -4.907e-04  6.029e-02 -7.441e-03 -9.906e-01]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=47--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+87 87 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=47--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 41 (87.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 48...
+[07-31 02:12:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4308
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4308
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4308
+t=10: Selected seed 195 with value = 0.4308
+t: 10	 action: [ 0.259  0.378  0.008 -0.012  0.003  0.005 -0.997]
+t: 11	 action: [ 0.393  0.444  0.016 -0.019  0.006 -0.002 -0.997]
+t: 12	 action: [ 0.518  0.532  0.002 -0.019  0.006  0.005 -0.994]
+t: 13	 action: [ 0.594  0.557  0.011 -0.021  0.006 -0.003 -0.999]
+t: 14	 action: [ 0.681  0.603  0.016 -0.021  0.008  0.006 -0.994]
+t: 15	 action: [ 0.742  0.6   -0.003 -0.018  0.003  0.002 -1.014]
+t: 16	 action: [ 0.75   0.613 -0.008 -0.024  0.011  0.005 -0.989]
+t: 17	 action: [ 7.948e-01  6.066e-01 -4.014e-02 -1.827e-02  1.261e-03 -7.440e-04 -1.015e+00]
+t: 18	 action: [ 0.79   0.605 -0.035 -0.02   0.011  0.012 -0.998]
+t: 19	 action: [ 0.808  0.573 -0.052 -0.014  0.012  0.005 -1.007]
+t: 20	 action: [ 0.812  0.564 -0.117 -0.023  0.007  0.014 -0.996]
+t: 21	 action: [ 0.8    0.49  -0.143 -0.011  0.012  0.006 -1.   ]
+t: 22	 action: [ 0.803  0.439 -0.165 -0.01   0.008  0.009 -0.995]
+t: 23	 action: [ 0.772  0.381 -0.241 -0.003  0.002  0.004 -1.014]
+t: 24	 action: [ 0.719  0.259 -0.336 -0.005  0.003  0.008 -0.994]
+t: 25	 action: [ 6.933e-01  1.874e-01 -4.026e-01  5.805e-03 -9.673e-04  3.868e-03 -1.014e+00]
+[07-31 02:12:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5098
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5098
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5098
+t=26: Selected seed 195 with value = 0.5098
+t: 26	 action: [ 0.686  0.164 -0.452  0.008 -0.01   0.007 -1.003]
+t: 27	 action: [ 0.6    0.101 -0.494  0.014 -0.004  0.004 -1.002]
+t: 28	 action: [ 0.513  0.053 -0.668  0.037 -0.015  0.006 -0.998]
+t: 29	 action: [ 0.461  0.032 -0.741  0.031 -0.015  0.002 -0.998]
+t: 30	 action: [ 0.405  0.02  -0.804  0.053 -0.022  0.001 -1.008]
+t: 31	 action: [ 0.331  0.029 -0.864  0.038 -0.034  0.004 -1.017]
+t: 32	 action: [ 0.294  0.017 -0.916  0.053 -0.03   0.002 -1.001]
+t: 33	 action: [ 0.242  0.046 -0.94   0.034 -0.047  0.002 -1.012]
+t: 34	 action: [ 0.118  0.016 -0.953  0.053 -0.048  0.013 -1.004]
+t: 35	 action: [ 0.036  0.004 -0.965  0.041 -0.061  0.015 -1.001]
+t: 36	 action: [ 0.002  0.011 -0.955  0.031 -0.055  0.016 -1.002]
+t: 37	 action: [-0.02  -0.001 -0.949  0.024 -0.067  0.014 -0.994]
+t: 38	 action: [-0.081  0.011 -0.941  0.023 -0.061  0.012 -1.009]
+t: 39	 action: [-0.073  0.002 -0.944  0.003 -0.065  0.015 -1.011]
+t: 40	 action: [-0.128 -0.001 -0.927  0.005 -0.06   0.011 -1.008]
+t: 41	 action: [-0.121 -0.007 -0.922 -0.007 -0.06   0.014 -1.01 ]
+[07-31 02:12:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5896
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5896
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5896
+t=42: Selected seed 195 with value = 0.5896
+t: 42	 action: [-0.046 -0.049 -0.764  0.024  0.014  0.012 -0.999]
+t: 43	 action: [-0.067 -0.036 -0.69   0.02   0.01   0.012 -1.001]
+t: 44	 action: [-0.088 -0.014 -0.707  0.014  0.018  0.012 -0.988]
+t: 45	 action: [-0.081 -0.012 -0.624  0.015  0.012  0.01  -1.002]
+t: 46	 action: [-0.147  0.015 -0.661  0.005  0.019  0.006 -1.008]
+t: 47	 action: [-0.167  0.026 -0.67   0.013  0.003  0.008 -1.003]
+t: 48	 action: [-0.105  0.03  -0.631  0.002  0.02   0.005 -1.005]
+t: 49	 action: [-0.127  0.041 -0.646  0.006  0.008 -0.001 -1.01 ]
+t: 50	 action: [-0.26  -0.02  -0.658  0.002  0.02   0.007 -1.018]
+t: 51	 action: [-0.261 -0.059 -0.589 -0.004  0.009  0.006 -1.016]
+t: 52	 action: [-0.156 -0.03  -0.57  -0.005  0.028  0.004  0.991]
+t: 53	 action: [-0.088 -0.069 -0.455 -0.007  0.01  -0.006  0.989]
+t: 54	 action: [-0.094 -0.077 -0.419 -0.007  0.044 -0.019  0.982]
+t: 55	 action: [-0.008 -0.09  -0.318 -0.018  0.034 -0.027  1.007]
+t: 56	 action: [-0.006 -0.146 -0.183 -0.031  0.058 -0.034  1.005]
+t: 57	 action: [ 0.043 -0.109 -0.089 -0.046  0.056 -0.049  1.022]
+[07-31 02:12:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7125
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7125
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7125
+t=58: Selected seed 195 with value = 0.7125
+t: 58	 action: [-0.043 -0.282 -0.141  0.004  0.017 -0.091  0.994]
+t: 59	 action: [-0.029 -0.236 -0.07  -0.002  0.009 -0.089  0.992]
+t: 60	 action: [-0.025 -0.218  0.021  0.001  0.006 -0.108  0.994]
+t: 61	 action: [ 7.502e-04 -1.776e-01  1.270e-01 -1.832e-03  2.936e-03 -9.478e-02  9.929e-01]
+t: 62	 action: [ 0.002 -0.105  0.267 -0.002  0.005 -0.103  0.997]
+t: 63	 action: [-0.003 -0.078  0.544 -0.002  0.002 -0.094  0.972]
+t: 64	 action: [ 0.016 -0.07   0.717  0.002  0.008 -0.106  0.995]
+t: 65	 action: [ 0.005 -0.075  0.859  0.001  0.006 -0.091  0.981]
+t: 66	 action: [ 0.019 -0.184  0.895  0.011  0.016 -0.08   0.981]
+t: 67	 action: [ 0.025 -0.27   0.922  0.02   0.021 -0.068  0.984]
+t: 68	 action: [-0.016 -0.356  0.918  0.023  0.024 -0.057  0.976]
+t: 69	 action: [ 0.002 -0.463  0.922  0.031  0.033 -0.051  0.988]
+t: 70	 action: [-0.094 -0.57   0.88   0.047  0.035 -0.042  0.993]
+t: 71	 action: [-0.094 -0.628  0.844  0.053  0.031 -0.032  0.98 ]
+t: 72	 action: [-0.161 -0.712  0.81   0.049  0.042 -0.019  0.991]
+t: 73	 action: [-0.174 -0.711  0.692  0.058  0.039 -0.015  0.985]
+[07-31 02:12:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8107
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.8107
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8107
+t=74: Selected seed 195 with value = 0.8107
+t: 74	 action: [-0.054 -0.729  0.698  0.042  0.034 -0.022  0.977]
+t: 75	 action: [-0.098 -0.734  0.556  0.047  0.031 -0.021  0.99 ]
+t: 76	 action: [-0.135 -0.76   0.307  0.042  0.033 -0.021  0.977]
+t: 77	 action: [-0.187 -0.742  0.154  0.05   0.026 -0.019  0.99 ]
+t: 78	 action: [-0.222 -0.776  0.073  0.051  0.033 -0.019  0.99 ]
+t: 79	 action: [-0.269 -0.71  -0.037  0.051  0.021 -0.015  0.987]
+t: 80	 action: [-0.296 -0.692 -0.179  0.046  0.02  -0.02   0.986]
+t: 81	 action: [-0.292 -0.571 -0.291  0.046  0.005 -0.014  0.99 ]
+t: 82	 action: [-0.33  -0.497 -0.422  0.017 -0.012 -0.002  0.978]
+t: 83	 action: [-0.37  -0.416 -0.518  0.015 -0.01  -0.005  0.99 ]
+t: 84	 action: [-0.327 -0.3   -0.606  0.003 -0.015  0.002  0.978]
+t: 85	 action: [-3.443e-01 -2.375e-01 -6.537e-01  7.305e-04 -9.639e-03  3.551e-03  9.967e-01]
+t: 86	 action: [-0.378 -0.129 -0.674 -0.003 -0.017  0.003  0.994]
+t: 87	 action: [-0.319 -0.079 -0.669 -0.005 -0.01   0.015  0.99 ]
+t: 88	 action: [-0.265 -0.04  -0.622 -0.009 -0.002  0.006  0.991]
+t: 89	 action: [-1.737e-01 -1.011e-02 -5.334e-01 -1.369e-02  1.218e-04  1.951e-02  9.920e-01]
+[07-31 02:12:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9233
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9233
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 48
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 42 (87.5%)
+
+
 96%|█████████▌| 48/50 [11:31<00:28, 14.33s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 49...
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=90: Selected seed 195 with value = 0.9233
+t: 90	 action: [-0.093  0.035 -0.193 -0.014  0.101  0.069  1.014]
+t: 91	 action: [-0.059  0.055 -0.09  -0.025  0.105  0.063  0.993]
+t: 92	 action: [-0.037  0.081  0.06  -0.016  0.113  0.076  0.966]
+t: 93	 action: [-0.015  0.08   0.143 -0.019  0.114  0.052  0.95 ]
+t: 94	 action: [ 0.001  0.106  0.187 -0.018  0.095  0.047  1.041]
+t: 95	 action: [-0.003  0.103  0.299 -0.013  0.09   0.053  0.968]
+t: 96	 action: [ 0.066  0.093  0.334 -0.004  0.084  0.03  -1.002]
+t: 97	 action: [ 0.056  0.09   0.379  0.003  0.08   0.027 -1.046]
+t: 98	 action: [ 7.963e-02  1.207e-01  3.317e-01 -9.439e-04  8.109e-03  1.978e-02 -9.975e-01]
+t: 99	 action: [ 7.597e-02  1.018e-01  3.097e-01 -1.983e-03 -8.038e-04  1.866e-02 -1.007e+00]
+t: 100	 action: [ 8.853e-02  1.092e-01  3.175e-01  2.760e-05 -1.644e-02  1.250e-02 -9.882e-01]
+t: 101	 action: [ 0.075  0.089  0.275  0.004 -0.012  0.017 -0.996]
+t: 102	 action: [ 0.088  0.07   0.25  -0.002 -0.025  0.006 -1.017]
+t: 103	 action: [ 0.077  0.081  0.242 -0.002 -0.027  0.01  -1.011]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=48--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+94 94 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=48--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 42 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 49...
+[07-31 02:12:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4358
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4358
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4358
+t=10: Selected seed 195 with value = 0.4358
+t: 10	 action: [ 1.354e-01  7.252e-02 -7.899e-03  3.240e-03 -1.896e-04  3.787e-03 -9.947e-01]
+t: 11	 action: [ 0.281  0.158  0.017  0.003  0.004  0.003 -0.994]
+t: 12	 action: [ 3.728e-01  2.657e-01 -3.446e-03  1.048e-03  9.796e-04  4.491e-03 -1.001e+00]
+t: 13	 action: [ 0.518  0.341  0.02   0.001  0.003  0.003 -1.   ]
+t: 14	 action: [ 6.185e-01  4.208e-01  1.517e-02 -6.715e-05  5.106e-03  2.975e-03 -1.008e+00]
+t: 15	 action: [ 0.71   0.456  0.008  0.001  0.004  0.006 -1.013]
+t: 16	 action: [ 0.765  0.503  0.009 -0.002  0.008  0.003 -1.004]
+t: 17	 action: [ 8.074e-01  5.057e-01 -2.073e-03  8.322e-04  3.426e-03  3.650e-03 -1.016e+00]
+t: 18	 action: [ 0.779  0.489 -0.01   0.006  0.018  0.012 -1.001]
+t: 19	 action: [ 0.788  0.477 -0.011  0.001  0.015  0.007 -1.003]
+t: 20	 action: [ 0.818  0.478 -0.044  0.004  0.013  0.01  -1.006]
+t: 21	 action: [ 0.819  0.438 -0.048  0.002  0.011  0.006 -1.   ]
+t: 22	 action: [ 0.858  0.485 -0.045  0.002  0.014  0.007 -0.997]
+t: 23	 action: [ 0.877  0.449 -0.078  0.004  0.003  0.005 -1.006]
+t: 24	 action: [ 8.576e-01  4.429e-01 -1.083e-01  8.236e-05  8.728e-03  4.623e-03 -1.003e+00]
+t: 25	 action: [ 8.750e-01  3.640e-01 -1.614e-01  4.397e-03 -5.502e-05  3.792e-03 -1.007e+00]
+[07-31 02:12:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5083
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=26: Selected seed 195 with value = 0.5083
+t: 26	 action: [ 8.742e-01  3.878e-01 -2.933e-01  4.786e-04  1.943e-02  1.076e-02 -1.000e+00]
+t: 27	 action: [ 0.817  0.332 -0.331 -0.003  0.011  0.008 -1.004]
+t: 28	 action: [ 0.776  0.266 -0.439  0.002  0.008  0.008 -1.002]
+t: 29	 action: [ 0.696  0.169 -0.521  0.003  0.004  0.004 -1.006]
+t: 30	 action: [ 6.128e-01  1.739e-01 -6.189e-01  6.538e-04 -1.222e-02  1.955e-03 -1.005e+00]
+t: 31	 action: [ 0.486  0.109 -0.719  0.007 -0.013 -0.002 -1.007]
+t: 32	 action: [ 0.404  0.092 -0.859  0.005 -0.029 -0.002 -1.007]
+t: 33	 action: [ 0.322  0.063 -0.898  0.013 -0.033 -0.004 -1.009]
+t: 34	 action: [ 0.201  0.035 -0.93   0.006 -0.038 -0.004 -1.016]
+t: 35	 action: [ 0.115  0.017 -0.955  0.005 -0.036 -0.015 -0.997]
+t: 36	 action: [ 0.099  0.013 -0.946  0.001 -0.042 -0.005 -1.014]
+t: 37	 action: [ 0.03  -0.009 -0.956  0.001 -0.042 -0.017 -0.997]
+t: 38	 action: [ 0.022  0.027 -0.937 -0.001 -0.045 -0.014 -1.016]
+t: 39	 action: [-1.837e-02 -4.787e-03 -9.390e-01  5.863e-05 -4.370e-02 -2.480e-02 -1.001e+00]
+t: 40	 action: [-0.044  0.002 -0.929 -0.002 -0.043 -0.013 -1.014]
+t: 41	 action: [-0.069 -0.028 -0.913 -0.005 -0.043 -0.024 -0.999]
+[07-31 02:12:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5905
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5905
+t=42: Selected seed 195 with value = 0.5905
+t: 42	 action: [-0.272 -0.027 -0.879  0.013 -0.04   0.012 -0.987]
+t: 43	 action: [-0.284 -0.011 -0.881  0.009 -0.05   0.024 -1.   ]
+t: 44	 action: [-0.282 -0.005 -0.813  0.011 -0.021  0.021 -0.987]
+t: 45	 action: [-0.242  0.001 -0.77   0.008 -0.026  0.027 -1.007]
+t: 46	 action: [-0.203  0.047 -0.746  0.005 -0.016  0.012 -0.995]
+t: 47	 action: [-0.168  0.044 -0.739  0.008 -0.015  0.021 -1.009]
+t: 48	 action: [-1.346e-01  4.411e-02 -6.477e-01  3.375e-03 -4.423e-04  1.339e-02 -9.995e-01]
+t: 49	 action: [-1.340e-01  4.038e-02 -6.806e-01  3.684e-03 -9.242e-04  1.560e-02 -1.015e+00]
+t: 50	 action: [-0.18   0.011 -0.615  0.009  0.012  0.014 -0.992]
+t: 51	 action: [-0.175 -0.038 -0.575  0.004  0.006  0.023 -1.032]
+t: 52	 action: [-0.144 -0.016 -0.585  0.007  0.013  0.009 -0.932]
+t: 53	 action: [-0.111 -0.056 -0.533  0.001  0.007  0.008  0.812]
+t: 54	 action: [-0.201 -0.016 -0.501  0.004  0.013 -0.005  0.991]
+t: 55	 action: [-0.154 -0.041 -0.385 -0.003  0.004 -0.009  0.994]
+t: 56	 action: [-1.331e-01 -3.321e-02 -3.628e-01  3.101e-04  1.460e-02 -9.598e-03  9.889e-01]
+t: 57	 action: [-0.08  -0.053 -0.211 -0.018  0.013 -0.023  0.971]
+[07-31 02:12:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6980
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6980
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6980
+t=58: Selected seed 195 with value = 0.6980
+t: 58	 action: [-1.445e-01 -6.497e-02 -3.689e-01 -4.642e-03  2.694e-04 -2.143e-02  9.807e-01]
+t: 59	 action: [-0.079 -0.06  -0.229 -0.007  0.003 -0.033  0.99 ]
+t: 60	 action: [-0.041 -0.103 -0.144 -0.002  0.007 -0.031  0.984]
+t: 61	 action: [-4.286e-04 -8.679e-02 -4.796e-02 -5.998e-03  7.099e-03 -3.635e-02  9.914e-01]
+t: 62	 action: [ 0.025 -0.047  0.059 -0.009  0.017 -0.041  0.995]
+t: 63	 action: [ 0.029 -0.044  0.197 -0.01   0.009 -0.038  0.992]
+t: 64	 action: [ 0.072 -0.007  0.422 -0.007  0.028 -0.05   0.998]
+t: 65	 action: [ 0.058  0.003  0.628 -0.006  0.016 -0.045  0.999]
+t: 66	 action: [ 9.196e-02  3.441e-02  7.423e-01 -8.227e-04  2.893e-02 -6.117e-02  9.746e-01]
+t: 67	 action: [ 0.139  0.019  0.883 -0.002  0.039 -0.062  0.983]
+t: 68	 action: [ 1.049e-01  1.310e-02  8.988e-01  3.696e-04  2.895e-02 -5.923e-02  9.706e-01]
+t: 69	 action: [ 0.093 -0.049  0.945  0.011  0.035 -0.054  0.986]
+t: 70	 action: [ 0.043 -0.15   0.933  0.017  0.026 -0.042  0.998]
+t: 71	 action: [ 0.008 -0.267  0.915  0.033  0.019 -0.032  0.994]
+t: 72	 action: [-0.034 -0.428  0.917  0.042  0.037 -0.032  1.001]
+t: 73	 action: [-0.042 -0.502  0.839  0.053  0.028 -0.021  1.001]
+[07-31 02:12:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7850
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7850
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7850
+t=74: Selected seed 195 with value = 0.7850
+t: 74	 action: [-0.038 -0.62   0.842  0.014  0.027 -0.018  0.983]
+t: 75	 action: [-0.038 -0.647  0.824  0.021  0.022 -0.013  0.985]
+t: 76	 action: [-0.096 -0.71   0.722  0.018  0.028 -0.018  0.977]
+t: 77	 action: [-0.113 -0.713  0.557  0.024  0.019 -0.01   0.987]
+t: 78	 action: [-0.156 -0.786  0.418  0.021  0.03  -0.013  0.993]
+t: 79	 action: [-0.2   -0.747  0.278  0.026  0.017 -0.012  0.988]
+t: 80	 action: [-0.238 -0.798  0.155  0.017  0.022 -0.011  0.981]
+t: 81	 action: [-2.657e-01 -7.413e-01  4.020e-04  2.167e-02  9.767e-03 -9.223e-03  9.924e-01]
+t: 82	 action: [-2.674e-01 -7.338e-01 -4.559e-02  1.848e-02  2.153e-02 -8.975e-04  9.711e-01]
+t: 83	 action: [-0.291 -0.641 -0.174  0.019  0.002 -0.004  0.99 ]
+t: 84	 action: [-0.325 -0.558 -0.315  0.01   0.007  0.002  0.961]
+t: 85	 action: [-0.334 -0.46  -0.456  0.008 -0.005  0.004  0.99 ]
+t: 86	 action: [-0.393 -0.265 -0.561  0.003 -0.018  0.004  0.984]
+t: 87	 action: [-0.362 -0.186 -0.741 -0.002 -0.024  0.007  0.991]
+t: 88	 action: [-0.379 -0.061 -0.743 -0.005 -0.034  0.007  0.974]
+t: 89	 action: [-0.322 -0.029 -0.816 -0.014 -0.042  0.013  0.994]
+[07-31 02:12:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9023
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9023
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 49
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 43 (87.8%)
+
+
 98%|█████████▊| 49/50 [11:43<00:13, 13.49s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the cream cheese in the bowl
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 50...
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=90: Selected seed 195 with value = 0.9023
+t: 90	 action: [-1.794e-01 -9.117e-02 -7.570e-01 -4.423e-03 -7.971e-02  3.435e-04  9.756e-01]
+t: 91	 action: [-0.155 -0.037 -0.723 -0.018 -0.071  0.008  0.992]
+t: 92	 action: [-0.111  0.014 -0.676 -0.007 -0.054  0.006  0.984]
+t: 93	 action: [-0.101  0.011 -0.55  -0.017 -0.028  0.018  0.989]
+t: 94	 action: [-0.12   0.036 -0.399 -0.023  0.001  0.008  0.991]
+t: 95	 action: [-0.099  0.05  -0.25  -0.014  0.03   0.019  0.993]
+t: 96	 action: [-0.083  0.015 -0.123 -0.018  0.043  0.016  0.998]
+t: 97	 action: [-0.065  0.026 -0.029 -0.008  0.071  0.02   0.994]
+t: 98	 action: [-0.034  0.015  0.034 -0.003  0.085  0.016  1.024]
+t: 99	 action: [-2.885e-02 -7.497e-04  6.289e-02 -4.759e-03  9.118e-02  1.285e-02 -9.754e-01]
+t: 100	 action: [-3.982e-03  1.064e-02  1.622e-01  2.437e-04  9.182e-02  7.721e-03 -1.006e+00]
+t: 101	 action: [ 1.187e-02  5.826e-04  1.972e-01 -6.645e-04  9.091e-02  6.316e-03 -9.917e-01]
+t: 102	 action: [ 1.762e-02 -3.452e-03  2.533e-01 -3.806e-03  7.929e-02 -4.302e-04 -9.523e-01]
+t: 103	 action: [ 2.886e-02  1.414e-02  3.177e-01 -1.132e-05  8.403e-02 -2.463e-03 -1.007e+00]
+t: 104	 action: [ 0.052  0.006  0.327 -0.005  0.073 -0.004 -1.004]
+t: 105	 action: [ 8.854e-02  2.404e-02  3.550e-01  8.175e-04  7.849e-02 -9.081e-04 -1.004e+00]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=49--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+96 96 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=49--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 43 (87.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 50...
+[07-31 02:12:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.161 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4235
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4235
+Query 1/1: Action query time = 1.161 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4235
+t=10: Selected seed 195 with value = 0.4235
+t: 10	 action: [ 0.047  0.023 -0.027  0.004 -0.002  0.003 -1.001]
+t: 11	 action: [ 1.577e-01  1.103e-01  5.197e-03  7.686e-04  4.706e-03  5.350e-03 -9.899e-01]
+t: 12	 action: [ 2.235e-01  1.924e-01 -3.365e-02  1.097e-03  3.822e-04  6.265e-03 -9.985e-01]
+t: 13	 action: [ 3.755e-01  2.978e-01  8.650e-05  5.564e-04  4.371e-03  6.386e-03 -9.911e-01]
+t: 14	 action: [ 4.317e-01  3.477e-01 -2.177e-02 -3.972e-05  6.033e-03  6.764e-03 -1.009e+00]
+t: 15	 action: [ 0.578  0.444 -0.007  0.002  0.005  0.011 -1.002]
+t: 16	 action: [ 0.66   0.514 -0.028 -0.002  0.009  0.009 -0.996]
+t: 17	 action: [ 0.75   0.522 -0.032  0.004  0.006  0.011 -1.004]
+t: 18	 action: [ 0.675  0.53  -0.053  0.007  0.009  0.012 -0.997]
+t: 19	 action: [ 6.972e-01  5.242e-01 -5.207e-02 -7.092e-04  7.506e-03  7.873e-03 -9.991e-01]
+t: 20	 action: [ 0.728  0.52  -0.078  0.006  0.002  0.011 -0.997]
+t: 21	 action: [ 7.290e-01  5.020e-01 -9.665e-02 -9.107e-04  6.358e-03  8.243e-03 -9.938e-01]
+t: 22	 action: [ 0.798  0.58  -0.084  0.003  0.006  0.009 -0.988]
+t: 23	 action: [ 0.82   0.543 -0.127  0.003 -0.001  0.008 -1.001]
+t: 24	 action: [ 8.289e-01  5.522e-01 -1.419e-01  1.746e-03 -1.746e-04  7.705e-03 -9.881e-01]
+t: 25	 action: [ 0.868  0.475 -0.226  0.004 -0.003  0.009 -1.007]
+[07-31 02:12:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5143
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5143
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5143
+t=26: Selected seed 195 with value = 0.5143
+t: 26	 action: [ 0.879  0.401 -0.198  0.005  0.017  0.012 -0.994]
+t: 27	 action: [ 0.882  0.346 -0.246  0.001  0.01   0.009 -1.004]
+t: 28	 action: [ 0.829  0.294 -0.326  0.003  0.007  0.009 -0.988]
+t: 29	 action: [ 0.799  0.203 -0.404  0.005  0.005  0.005 -1.004]
+t: 30	 action: [ 7.307e-01  2.064e-01 -4.537e-01 -2.775e-04 -7.881e-03  7.255e-05 -9.969e-01]
+t: 31	 action: [ 0.633  0.167 -0.583  0.006 -0.016 -0.003 -1.008]
+t: 32	 action: [ 0.534  0.108 -0.696  0.003 -0.025 -0.005 -0.992]
+t: 33	 action: [ 0.439  0.092 -0.804  0.012 -0.046 -0.006 -1.008]
+t: 34	 action: [ 0.278  0.059 -0.869  0.007 -0.049 -0.01  -1.004]
+t: 35	 action: [ 0.207  0.073 -0.91   0.005 -0.05  -0.026 -0.999]
+t: 36	 action: [ 0.177  0.05  -0.922  0.003 -0.053 -0.017 -1.003]
+t: 37	 action: [ 0.12   0.054 -0.952  0.002 -0.054 -0.031 -0.997]
+t: 38	 action: [ 0.117  0.079 -0.936 -0.002 -0.051 -0.028 -1.006]
+t: 39	 action: [ 0.054  0.075 -0.952  0.003 -0.052 -0.038 -1.007]
+t: 40	 action: [ 0.027  0.052 -0.93  -0.005 -0.048 -0.032 -1.002]
+t: 41	 action: [-1.513e-02  5.134e-02 -9.445e-01 -9.145e-04 -5.079e-02 -3.918e-02 -1.009e+00]
+[07-31 02:12:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5861
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.5861
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5861
+t=42: Selected seed 195 with value = 0.5861
+t: 42	 action: [-0.303  0.077 -0.908  0.014 -0.019  0.007 -1.005]
+t: 43	 action: [-0.26   0.124 -0.886  0.004 -0.02   0.015 -1.002]
+t: 44	 action: [-0.236  0.125 -0.858  0.008 -0.007  0.008 -1.   ]
+t: 45	 action: [-0.14   0.145 -0.811  0.003 -0.005  0.015 -1.001]
+t: 46	 action: [-9.132e-02  1.712e-01 -8.383e-01  4.982e-04  4.086e-03  4.974e-03 -1.018e+00]
+t: 47	 action: [-0.026  0.185 -0.784 -0.004  0.006  0.011 -1.01 ]
+t: 48	 action: [-1.735e-02  1.435e-01 -7.419e-01 -7.521e-04  1.368e-02  1.704e-03 -1.020e+00]
+t: 49	 action: [-0.007  0.148 -0.699 -0.006  0.017  0.003 -1.015]
+t: 50	 action: [-0.068  0.034 -0.662  0.004  0.029  0.003 -0.997]
+t: 51	 action: [-1.168e-01  1.948e-02 -6.355e-01 -8.531e-03  2.690e-02  7.602e-04 -1.015e+00]
+t: 52	 action: [-0.14   0.005 -0.592  0.003  0.022  0.002  0.975]
+t: 53	 action: [-0.159 -0.027 -0.498 -0.002  0.02  -0.008  1.009]
+t: 54	 action: [-1.555e-01 -8.750e-04 -4.188e-01 -2.005e-03  2.608e-02 -1.173e-02  9.912e-01]
+t: 55	 action: [-0.132  0.003 -0.295 -0.02   0.02  -0.015  1.013]
+t: 56	 action: [-0.146 -0.002 -0.231 -0.008  0.019 -0.014  0.991]
+t: 57	 action: [-0.123 -0.032 -0.106 -0.043  0.022 -0.021  1.007]
+[07-31 02:12:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6920
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.6920
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6920
+t=58: Selected seed 195 with value = 0.6920
+t: 58	 action: [-0.148 -0.036 -0.274  0.002 -0.01  -0.012  0.98 ]
+t: 59	 action: [-0.098 -0.055 -0.157 -0.007 -0.005 -0.032  0.975]
+t: 60	 action: [-0.073 -0.052 -0.046 -0.002 -0.01  -0.023  0.983]
+t: 61	 action: [-0.003 -0.071  0.08  -0.014 -0.004 -0.036  0.979]
+t: 62	 action: [ 0.015 -0.022  0.256 -0.004 -0.002 -0.036  0.984]
+t: 63	 action: [ 0.035 -0.028  0.457 -0.009  0.001 -0.043  0.973]
+t: 64	 action: [ 0.052 -0.013  0.686 -0.004  0.001 -0.044  0.987]
+t: 65	 action: [ 3.469e-02 -2.206e-02  8.279e-01 -6.171e-03  7.355e-04 -4.883e-02  9.809e-01]
+t: 66	 action: [ 0.051 -0.048  0.904  0.001  0.025 -0.042  0.969]
+t: 67	 action: [ 0.072 -0.128  0.925  0.004  0.033 -0.049  0.974]
+t: 68	 action: [ 0.053 -0.143  0.928  0.009  0.031 -0.041  0.965]
+t: 69	 action: [ 0.049 -0.262  0.925  0.023  0.042 -0.044  0.979]
+t: 70	 action: [ 1.151e-04 -3.486e-01  9.134e-01  3.306e-02  5.706e-02 -3.202e-02  9.834e-01]
+t: 71	 action: [-0.008 -0.463  0.877  0.05   0.058 -0.033  0.983]
+t: 72	 action: [-0.055 -0.531  0.865  0.058  0.069 -0.026  0.985]
+t: 73	 action: [-0.063 -0.619  0.74   0.068  0.064 -0.027  0.99 ]
+[07-31 02:12:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7879
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7879
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7879
+t=74: Selected seed 195 with value = 0.7879
+t: 74	 action: [-0.032 -0.716  0.71   0.044  0.069 -0.033  0.976]
+t: 75	 action: [-0.068 -0.74   0.545  0.046  0.064 -0.027  1.001]
+t: 76	 action: [-0.103 -0.783  0.399  0.047  0.057 -0.031  0.972]
+t: 77	 action: [-0.146 -0.773  0.249  0.05   0.054 -0.025  0.996]
+t: 78	 action: [-0.157 -0.795  0.178  0.036  0.046 -0.021  0.983]
+t: 79	 action: [-0.241 -0.77   0.051  0.039  0.043 -0.02   0.991]
+t: 80	 action: [-0.217 -0.779 -0.038  0.033  0.036 -0.022  0.98 ]
+t: 81	 action: [-0.282 -0.741 -0.147  0.033  0.036 -0.018  0.993]
+t: 82	 action: [-0.238 -0.672 -0.225  0.016  0.007  0.002  0.98 ]
+t: 83	 action: [-0.278 -0.592 -0.346  0.009 -0.004  0.007  0.991]
+t: 84	 action: [-0.231 -0.482 -0.475  0.004 -0.017  0.004  0.967]
+t: 85	 action: [-0.245 -0.378 -0.592 -0.006 -0.011  0.012  0.994]
+t: 86	 action: [-0.242 -0.244 -0.688 -0.009 -0.043  0.011  0.993]
+t: 87	 action: [-0.243 -0.156 -0.746 -0.014 -0.029  0.023  0.987]
+t: 88	 action: [-0.158 -0.079 -0.759 -0.026 -0.046  0.012  0.98 ]
+t: 89	 action: [-0.135 -0.017 -0.737 -0.022 -0.026  0.026  0.99 ]
+[07-31 02:12:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9191
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.9191
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 50
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 44 (88.0%)
+
+
100%|██████████| 50/50 [11:55<00:00, 12.91s/it]
100%|██████████| 50/50 [11:55<00:00, 14.30s/it]
+INFO:cosmos_policy.experiments.robot.robot_utils:Current task success rate: 0.88
+INFO:cosmos_policy.experiments.robot.robot_utils:Current total success rate: 0.88
+
 70%|███████   | 7/10 [11:58<05:07, 102.58s/it]
100%|██████████| 10/10 [11:58<00:00, 71.81s/it]
+INFO:cosmos_policy.experiments.robot.robot_utils:Final results:
+INFO:cosmos_policy.experiments.robot.robot_utils:Total episodes: 50
+INFO:cosmos_policy.experiments.robot.robot_utils:Total successes: 44
+INFO:cosmos_policy.experiments.robot.robot_utils:Overall success rate: 0.8800 (88.0%)
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9191
+t=90: Selected seed 195 with value = 0.9191
+t: 90	 action: [-0.176 -0.062 -0.571 -0.007  0.018  0.016  0.979]
+t: 91	 action: [-0.171 -0.014 -0.525 -0.021  0.031  0.038  1.01 ]
+t: 92	 action: [-0.167  0.04  -0.413 -0.013  0.047  0.036  0.969]
+t: 93	 action: [-0.199  0.049 -0.343 -0.024  0.063  0.038  0.992]
+t: 94	 action: [-0.209  0.051 -0.17  -0.016  0.082  0.039  1.015]
+t: 95	 action: [-0.203  0.071 -0.047 -0.017  0.108  0.046  0.991]
+t: 96	 action: [-0.116  0.076  0.003 -0.012  0.107  0.033 -0.949]
+t: 97	 action: [-0.081  0.057  0.112 -0.009  0.121  0.017 -1.033]
+t: 98	 action: [-0.04   0.031  0.177 -0.014  0.108  0.018 -1.004]
+t: 99	 action: [-0.029  0.04   0.201 -0.01   0.09   0.012 -1.008]
+t: 100	 action: [ 0.014  0.029  0.261 -0.002  0.085  0.006 -0.995]
+t: 101	 action: [ 0.01   0.032  0.275 -0.002  0.073  0.006 -0.996]
+t: 102	 action: [ 0.052  0.031  0.326 -0.002  0.045 -0.002 -1.019]
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=50--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+93 93 6 6
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=50--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 44 (88.0%)
+Current task success rate: 0.88
+Current total success rate: 0.88
+Final results:
+Total episodes: 50
+Total successes: 44
+Overall success rate: 0.8800 (88.0%)
+Exception ignored in: <function MjRenderContext.__del__ at 0x7f1916bdec20>
+Traceback (most recent call last):
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/robosuite/utils/binding_utils.py", line 199, in __del__
+    self.gl_ctx.free()
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f18580dcac0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f1916faf9c0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f1916faf9c0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f1916faf940>,
+	),
+	result = 0
+)
+Exception ignored in: <function EGLGLContext.__del__ at 0x7f1916bdea70>
+Traceback (most recent call last):
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
+    self.free()
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free
+    EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
+  File "/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError
+    raise self._errorClass(
+OpenGL.raw.EGL._errors.EGLError: EGLError(
+	err = EGL_NOT_INITIALIZED,
+	baseOperation = eglMakeCurrent,
+	cArguments = (
+		<OpenGL._opaque.EGLDisplay_pointer object at 0x7f18580dcac0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f1916faf9c0>,
+		<OpenGL._opaque.EGLSurface_pointer object at 0x7f1916faf9c0>,
+		<OpenGL._opaque.EGLContext_pointer object at 0x7f1916faf940>,
+	),
+	result = 0
+)
+sys:1: DeprecationWarning: builtin type swigvarlink has no __module__ attribute